Inertial Labs INS-P User Manual

INS
GUI User’s Manual
Inertial Labs, Inc
TM
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
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7. Angular rates, linear accelerations and magnetic fields are in the carrier object axes (X
is lateral axis, Y is longitudinal axis, Z is vertical axis). The INS orientation relative to the
carrier object axes is set by alignment angles (see Appendix B. Variants of the Inertial
Labs
TM
INS mounting relative to the object axes).
8. Temper is averaged temperature in 3 gyros.
9. GNSS_PACC is 3D position accuracy estimate (1 sigma).
10. GNSS_SACC is speed accuracy estimate (1 sigma).
11. The low byte is transmitted by first.
Table C.28 INS solution status (data type # 0x54)
Value
Description
0
INS solution is good
1
INS solution is satisfactory, KF convergence is in progress
2
INS started at absence of GNSS solution and it is still absent
3
Heading correction did not started yet. Maybe vehicle speed is not enough (at
“GNSS track” or “Inertial” type of correction), or dual antenna position did not
reach “Integer narrow-lane ambiguity solution” or “Integer L1 ambiguity solution”
yet (at “Dual antenna GNSS” type of correction)
4
INS operates in autonomous mode (without GNSS or any other aiding data)
5
INS operates without GNSS data but with other external aiding data
6
INS froze position and velocity calculation because time of INS autonomous
operation exceeded set maximum time.
At the “INS NMEA” output the INS data are transmitted in the form of
sentences with printable ASCII characters like the NMEA 0183 format. Each
sentence starts with a "$" sign and ends with <CR><LF> (carriage return
0xD and line feed 0xA symbols). All data fields are separated by commas.
The general form of the “NMEA Output” sentence is the next
$PAPR,LLmm.mmmm,n,YYYmm.mmmm,x,AAAA.aa,B,RRRR.rr,PPP.pp,
HHH.hh,ttttttttt,TTT.t,VV.v,SSSS*CC<CR><LF>
where PAPR is identifier and other fields are listed below:
 LLmm.mmmm is unsigned latitude, where LL are degrees, mm.mmmm are minutes;
 n is N or S (North or South);
 YYYmm.mmmm is unsigned longitude, where YYY are degrees, mm.mmmm are
minutes;
 x is E or W (East or West);
 AAAA.aa is altitude in meters;
 B denotes kind of height data that is defined by switch “Barometric altitude” in the
“Pressure sensor” tab of the “Devices Options” window (see section 10.3):
‘a’ – altitude.

Inertial Labs INS-P Specifications

General

Brand	Inertial Labs
Model	INS-P
Category	Car Navigation system
Language	English