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Inertial Labs Manuals
Car Navigation system
INS-P
User manual
Inertial Labs INS-P User Manual
Inertial navigation system. graphical user interface
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Contents
Table of Contents
Troubleshooting
Bookmarks
Table of Contents
Table of Contents
Introduction
The most Important Notes
General Information
Installation of Drivers and Configuration of PC Parameters
Main Menu of the Program
Options Menu
Test Options
Devices Options
IMU" Tab of "Devices Options
GNSS Receiver" Tab of "Devices Options
Pressure Sensor" Tab of "Devices Options
External Sensors" Tab of "Devices Options
Parameters of Encoder-Based Odometer
Using the Main COM1 Port to Receive External Aiding Data
Using External Magnetic Compass
CAN / COM4" Tab of "Devices Options
Configuration of CAN Messages Output
Configuration of COM4 Port
Parameters of OBDII Odometer
Triggers" Tab of "Devices Options
Change of the Main COM Port Baud Rate
Limitation of the ins Maximum Output Data Rate
Table 4.1 ins Maximum Measurement Rate for Different Output Data Formats
Correction Options
Swaying Compensation
Magnetometers Calibration Options
User Defined Data
Table 4.2 Groups and Data Types of the "User Defined Data
Review and Editing of the Existing Configuration of the "User Defined Data" Format in ins Unit
User Defined Data" Format Configuration File (*.Udd)
INS Start with "User Defined Data" Output Format
Run Menu
Ins 3D
Cockpit Style of Visualization
On-The-Fly Accuracy Style of Visualization
Data Graphs Style of Visualization
Visualization of ins Relative Position
Peculiarities of Data Displayed at the "INS Sensors Data" Format
Other Items of the Run Menu
File Menu
Open" Item
Save As" Item
Parameters Menu
Load Block Parameters" and "Read Block Parameters" Items
Restore Parameters
Save Parameters
Preset Parameters
Plugins Menu
Embedded
Magnetometers Field Calibration
Angles Accuracy
Magnetometers Axes Alignment
Convert Menu
The ins Operation
The Main Operation Modes of the ins
Control of the GNSS Receiver
GNSS Correction
Table 10.1 Available Variants of SBAS Data
Control of GNSS Receiver Model
Adding New Model to the GNSS Receiver
Choosing of One of Saved Models for the GNSS Receiver
Removing Model from the GNSS Receiver
Features of Altitude Calculation in the ins
Calibration of the ins
Description of the 2D, 2D-2T, 3D and VG3D Calibration Procedures
Clearing of the Soft and Hard Iron Calibration Parameters
Conditions of Successful Calibration of the ins
On-The-Fly VG3D Calibration
Orientation Accuracy Test of the ins
Separate Accuracy Test for each Reference Angle
On-The-Fly Accuracy Test
Table 10.2 Example of the *.Csv File Created at Accuracy Test
INS Automatic Start
INS Operation with Odometer
INS Operation with OBDII Odometer
INS Operation with Encoder-Based Odometer (Wheel Speed Sensor)
Encoder-Based Odometer Calibration
Operations with CAN Data
Table 10.3. List of Supported CAN Messages
Review and Editing of the Existing Configuration of the "CAN Message Set" Format in ins Unit
CAN Message Set" Format Configuration File (*.Ucan)
INS and OS3D-FG SAMC Axes Alignment
Description of the Axes Alignment Procedures
Table 10.4 Example of Rotation Angles
Clearing Axes Alignment Parameters
Continuous Self-Monitoring of the ins Health
INS and GNSS Data Post-Processing
Recording of Raw GNSS Data
Table 12.1 Logs for Raw GNSS Data
Table 12.2 Minimal Set of Raw GNSS Data Logs
Raw IMU Data Generation
Table 12.3 Binary Structure of Raw IMU Data
Embedding Raw IMU Data into GNSS Stream
INS Sensors Error Model for ins + GNSS Data Post-Processing
Synchronization of ins Data with Lidar and Other Devices
Control of PPS Output Signal
Processing of Mark Input Signal
INS Operation with Lidar
Configuration of ins Main Data
Configuration of COM2 Port for Output of GNSS Raw Data
Configuration of COM3 Port for Output of $GPRMC Messages
Configuration of PPS Signal
Configuration of Mark Input Signal
Choice of 3D Model for Visualization of the ins Orientation
Troubleshooting
How to Repair the ins Parameters
What Do You Have to Do at Strange Behavior of the ins
What Do You Have to Do if Messages "Cannot Read Parameters!", "Cannot Load Parameters!", or "Cannot Start INS" Appear
APPENDIX A. Installation of the COM-To-USB Converter Drivers and Configuration of PC Parameters
APPENDIX B. Installation of the MOXA Serial-To-USB Converter Drivers (for ins with RS-422 Interface)
APPENDIX C. Description of Data Files
Structure of Binary File
Table C.1 Structure of the First 50 Bytes of *.Bin File (Short Block of Initial Alignment Data)
Table C.2 Structure of the First 128 Bytes of *.Bin File at Extended Block of Initial Alignment Data
Table C.3 the ins Message Payload at the "INS OPVT" (Orientation, Position, Velocity, Time) Data Format
Table C.4 Gnss_Info1 - Information about GNSS Data
Table C.5 Gnss_Info2 - Information about GNSS Data
Table C.6 New_Gps Indicator of New Update of GNSS Data
Table C.7 the ins Message Payload at the "INS QPVT" (Quaternion of Orientation, Position, Velocity, Time) Data Format
Table C.8 the ins Message Payload at the "INS OPVT2A" (Orientation, Position, Velocity, Time, Dual-Antenna Receiver Data) Format
Table C.9 the ins Message Payload at the "INS OPVT2AW" (Orientation, Position, Velocity, Time, Dual-Antenna Receiver Data, GPS Week) Format
Table C.10 the ins Message Payload at the "INS Opvt2Ahr" (Orientation, Position, Velocity, Time, Dual-Antenna Receiver Data, with High Resolution) Data Format
Table C.11 the ins Message Payload at the "INS OPVTAD" Data Format
Table C.12 New Aiding Data Indicator
Table C.13 the Message Payload at the "INS Sensors Data" Format
Table C.14 Sol_Stat - GNSS Solution Status
Table C.15 Pos_Type - GNSS Position or Velocity Type
Table C.16 Ext_Sol_Stat - GNSS Extended Solution Status
Table C.17 GPS and GLONASS Signal-Used Mask
Table C.18 Galileo and Beidou Signal-Used Mask
Table C.20 the Message Payload at the "INS OPVT & Raw IMU Data" Format
Table C.19 the Message Payload at the "INS Minimal Data" Format
Table C.21 the "SPAN Rawimu" Message Structure
Table C.22 GPS Reference Time Status
Table C.23 GNSS Receiver Status
Table C.25 the ins Message Payload at the "INS OPVT Gnssext" Data Format
Table C.24 IMU Status
Table C.26 Payload of the "User Defined Data
Table C.27 Detailed Description of "User Defined Data" Structure
Table C.28 ins Solution Status (Data Type # 0X54)
Table C.29. Structure of the "Cobham UAV 200 Satcom" Sentence
Text Presentation of Output Data Formats
APPENDIX D. the Unit Status Word Definition
APPENDIX E. Variants of the Inertial Labstm ins Mounting Relative to Object Axes
APPENDIX F. Installation of the GNSS Antennas
Installation of Single GNSS Antenna
Installation of Two GNSS Antennas for INS-D Operation
APPENDIX G. Using of the STRSVR Tool
APPENDIX H. Using Ethernet Port for Communication with the Inertial Labstm ins
Connection Overview
Connection Steps
Networking Details
Checking the Connection to the Network
Creating a Virtual Serial Port
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INS
GUI User's Manual
Inertial Navigation System
INS
Graphical User Interface
User's Manual
Revision 2.13
TM
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
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