Inertial Labs INS-P

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INS

GUI User’s Manual

Inertial Labs, Inc

Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.

Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com

Fig. 3.5

Fig. 3.6

Fig. 3.7

Icons for the most often used commands are placed on toolbars.

Run:

- INS visualization, F4;

- Stop INS;

Parameters:

- Restore parameters;

- Save parameters;

Convert:

- Report of experiment, F8;

Options:

- Test options...;

- Device options...;

- Correction options…;

- Swaying compensation options;

- Magnetometers calibration options;

- User defined data.

Main Page

Table of Contents9
Introduction13
The most Important Notes15
General Information17
Installation of Drivers and Configuration of PC Parameters18
Main Menu of the Program19
Options Menu21
- Test Options21
- Devices Options24
- IMU" Tab of "Devices Options25
- GNSS Receiver" Tab of "Devices Options29
- Pressure Sensor" Tab of "Devices Options37
- External Sensors" Tab of "Devices Options38
- Correction Options51
- Swaying Compensation55
- Magnetometers Calibration Options56
- User Defined Data57
Run Menu65
- Ins 3D66
- Cockpit Style of Visualization72
- On-The-Fly Accuracy Style of Visualization73
- Data Graphs Style of Visualization74
- Visualization of ins Relative Position76
- Peculiarities of Data Displayed at the "INS Sensors Data" Format77
- Other Items of the Run Menu78
File Menu80
- Open" Item80
- Save As" Item81
Parameters Menu82
- Load Block Parameters" and "Read Block Parameters" Items82
- Restore Parameters82
- Save Parameters83
- Preset Parameters83
Plugins Menu86
- Embedded86
- Magnetometers Field Calibration88
- Angles Accuracy90
- Magnetometers Axes Alignment94
Convert Menu96
The ins Operation98
- The Main Operation Modes of the ins98
- Control of the GNSS Receiver101
- Features of Altitude Calculation in the ins108
- Calibration of the ins109
- Orientation Accuracy Test of the ins124
- INS Automatic Start131
- INS Operation with Odometer133
- Operations with CAN Data137
- INS and OS3D-FG SAMC Axes Alignment144
Continuous Self-Monitoring of the ins Health148
INS and GNSS Data Post-Processing149
- Recording of Raw GNSS Data149
- Table 12.1 Logs for Raw GNSS Data150
- Table 12.2 Minimal Set of Raw GNSS Data Logs150
- Raw IMU Data Generation153
  - Table 12.3 Binary Structure of Raw IMU Data154
  - Embedding Raw IMU Data into GNSS Stream157
- INS Sensors Error Model for ins + GNSS Data Post-Processing158
Synchronization of ins Data with Lidar and Other Devices160
- Control of PPS Output Signal160
- Processing of Mark Input Signal162
- INS Operation with Lidar162
Choice of 3D Model for Visualization of the ins Orientation165
Troubleshooting166
- How to Repair the ins Parameters166
- What Do You Have to Do at Strange Behavior of the ins166
- What Do You Have to Do if Messages "Cannot Read Parameters!", "Cannot Load Parameters!", or "Cannot Start INS" Appear168
- APPENDIX A. Installation of the COM-To-USB Converter Drivers and Configuration of PC Parameters169
- APPENDIX B. Installation of the MOXA Serial-To-USB Converter Drivers (for ins with RS-422 Interface)177
- APPENDIX C. Description of Data Files184
  - Structure of Binary File184
Table C.1 Structure of the First 50 Bytes of *.Bin File (Short Block of Initial Alignment Data)184
Table C.2 Structure of the First 128 Bytes of *.Bin File at Extended Block of Initial Alignment Data185
- Table C.3 the ins Message Payload at the "INS OPVT" (Orientation, Position, Velocity, Time) Data Format186
Table C.4 Gnss_Info1 - Information about GNSS Data187
Table C.5 Gnss_Info2 - Information about GNSS Data188
Table C.6 New_Gps Indicator of New Update of GNSS Data188
- Table C.7 the ins Message Payload at the "INS QPVT" (Quaternion of Orientation, Position, Velocity, Time) Data Format189
- Table C.8 the ins Message Payload at the "INS OPVT2A" (Orientation, Position, Velocity, Time, Dual-Antenna Receiver Data) Format191
- Table C.9 the ins Message Payload at the "INS OPVT2AW" (Orientation, Position, Velocity, Time, Dual-Antenna Receiver Data, GPS Week) Format193
- Table C.10 the ins Message Payload at the "INS Opvt2Ahr" (Orientation, Position, Velocity, Time, Dual-Antenna Receiver Data, with High Resolution) Data Format195
- Table C.11 the ins Message Payload at the "INS OPVTAD" Data Format197
Table C.12 New Aiding Data Indicator199
Table C.13 the Message Payload at the "INS Sensors Data" Format200
Table C.14 Sol_Stat - GNSS Solution Status202
Table C.15 Pos_Type - GNSS Position or Velocity Type202
Table C.16 Ext_Sol_Stat - GNSS Extended Solution Status203
Table C.17 GPS and GLONASS Signal-Used Mask203
Table C.18 Galileo and Beidou Signal-Used Mask203
Table C.20 the Message Payload at the "INS OPVT & Raw IMU Data" Format204
Table C.19 the Message Payload at the "INS Minimal Data" Format204
Table C.21 the "SPAN Rawimu" Message Structure206
Table C.22 GPS Reference Time Status207
Table C.23 GNSS Receiver Status207
Table C.25 the ins Message Payload at the "INS OPVT Gnssext" Data Format208
Table C.24 IMU Status208
Table C.26 Payload of the "User Defined Data211
Table C.27 Detailed Description of "User Defined Data" Structure211
Table C.28 ins Solution Status (Data Type # 0X54)216
Table C.29. Structure of the "Cobham UAV 200 Satcom" Sentence218
- Text Presentation of Output Data Formats220
- APPENDIX D. the Unit Status Word Definition236
- APPENDIX E. Variants of the Inertial Labstm ins Mounting Relative to Object Axes238
- APPENDIX F. Installation of the GNSS Antennas241
  - Installation of Single GNSS Antenna241
  - Installation of Two GNSS Antennas for INS-D Operation243
- APPENDIX G. Using of the STRSVR Tool246
- APPENDIX H. Using Ethernet Port for Communication with the Inertial Labstm ins248

Inertial Labs INS-P - Page 20

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