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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INS starts use the GNSS track angle for heading correction after
carrier object moves with horizontal speed at least twice more than
“Vh track min” threshold. At the next stops of object the INS
cancels correction from the GNSS track angle if horizontal speed is
less than “Vh track min” threshold (object stop is detected). At this
heading is calculated with correction from magnetometers (if
“Use_mags” is switched on) or using only gyros data (if
“Use_mags” is off).
If “Use_mags” is switched off then initial heading is zero.
Dual GNSS – default INS-D correction using heading calculated by
dual-antenna GNSS receiver inside INS-D unit. This is the most
accurate heading reference for INS correction when GNSS data
are available and narrow-integer RTK solution is achieved for
GNSS heading calculation.
Combined – this correction type uses switching between GNSS
track angle and magnetometers for heading reference, with
changes in INS algorithm. Combined correction is designed for
special applications like UAV. Please contact Inertial Labs about
possibility of using this variant of INS correction in your application.
Inertial – this correction type does not use external heading
information for INS correction but it fuses accelerometers and
gyros data together with GNSS position and velocity to estimate
INS heading. This type of correction can be used for carrier objects
that move with noticeable speed even at lateral motion.
Use_mags – enables or disables using of magnetometers for INS
heading correction. If “Corr.type” is set to “Magnetometers” then
“Use_mags” switch is ON and cannot be changed.
If “Corr.type” is not set to “Magnetometers” then at GNSS data lost the
magnetometers can be used (at “Use_mags” enabled) to continue heading
calculation. At “Use_mags” disabled the INS heading is calculated by
integration of gyros when GNSS data are lost.
Notes:
1. INS does not require calibration of its magnetometers on hard/soft iron if “Use_mags”
switch is disabled.
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