Name: Inertial Labs INS-P
Brand: Inertial Labs
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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

2. If “Corr.type” is set to “GNSS track” or “Inertial”, and “Use_mags” switch is disabled

then initial heading is zero. It becomes true after carrier object moves with horizontal

speed at least twice of “Vh track min” threshold.

 Vh track min (m/s) – is threshold for horizontal speed of carrier

object to allow using of the GNSS track angle for INS correction (if it is

chosen in “Corr.type” field). Default value is 1.2 m/s.

 ZUPT options – enables or disables “Zero Velocity Update” (ZUPT)

option. When enabled, ZUPT allows the INS to reduce its accumulated

errors when stop of the carrier object is detected. The stop is detected if

filtered horizontal and vertical speed are less than Vh_zupt and Vv_zupt

thresholds, and no rotation of the carrier object is detected.

When ZUPT is applied then INS orientation and position are “frozen”.

Note for certain applications where it is known the system will never be

stationary, such as marine or airborne applications, ZUPT option should be

disabled. Default setting is ZUPT disabled.

 Vh_zupt – is minimum horizontal speed of carrier object in m/s below

which stop of the carrier object is detected. Default value is 0.15 m/s;

 Vv_zupt – is minimum vertical speed of carrier object in m/s below

which stop of the carrier object is detected. Default value is 0.15 m/s;

 Tv_zupt – is time constant (in seconds) of low-pass filter for

horizontal and vertical speed used for detection of the carrier object stop.

Default value is 0.10 s.

 Catapult start – is switch to use the special INS algorithm for the

UAV with catapult launching. On default the “Catapult start” is disabled.

 A cut (g) – is the threshold of acceleration at catapult launching. INS

uses specific correction from GNSS data during time when acceleration

exceeds this threshold.

Note: Catapult start is at the testing stage. Please contact Inertial Labs about the

possibility of using the Catapult start.

 Round time stamp – sets round time stamps (if checked) or

accurate time stamps (if unchecked) for all INS output data. See INS ICD

Inertial Labs INS-P User Manual

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