Inertial Labs INS-P - Using External Magnetic Compass

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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Check “COM1 Aiding data” checkbox (see Fig. 4.13) to allow aiding data
input. By default aiding data input is disabled.
Check/set the following parameters for Kalman Filter, in the next fields:
– “STD_fi_la (m)”, “STD_h (m)” – noise of external horizontal and vertical
position aiding data;
– “STD_Vh (m/s)”, “STD_Vv (m/s)” – noise of horizontal and vertical
speed data;
– “k_Sigma_V”, “k_Sigma_coord” – Kalman filter residuals thresholds.
Please contact Inertial Labs to get recommendations for above parameters
value.
See INS ICD, section “6.6.4. Aiding data input through the main COM port”
for details.
4.2.4.3. Using external magnetic compass
The Inertial Labs
TM
INS can be factory configured to use the external OS3D-
FG Stand Alone Magnetic Compass (SAMC) to measure components of the
Earth magnetic field. The SAMC could be installed in part of carrier object
with good magnetic environment.
Check “Use external magnetic compass” check-box (see Fig. 4.13) to use
the SAMC.
If INS unit contains on-board magnetometers then after check “Use external
magnetic compass” check-box the SAMC will be used instead of on-board
magnetometers.
Notes:
1. Before using of external OS3D-FG SAMC, it is necessary to align the SAMC axes to
INS axes (see section 10.9 for details).
2. If external OS3D-FG SAMC is used, then hard/soft iron calibration of its
magnetometers should be performed in the same way as for INS magnetometers (see
section 10.4 for details).