Table of Contents
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Table of Contents
Related Manuals for Inertial Labs INS-DL
Summarization of Contents
Installation and Configuration
Installation of Drivers and PC Parameters
Details on installing drivers for COM-to-USB converters and configuring PC parameters.
Main Menu and Options
Main Menu of the Program
Overview of the Inertial Labs INS GUI software main menu items and their functions.
Options Menu
Access to various configuration settings for the INS GUI software.
Test Options
Settings for operation parameters, COM port, and output data format.
Devices Options
Configuration dialog for INS hardware components like IMU, GNSS, and sensors.
IMU Tab in Devices Options
Configuration settings for the Inertial Measurement Unit (IMU) tab.
GNSS Receiver Tab in Devices Options
Configuration settings for the onboard GNSS receiver.
Pressure Sensor Tab in Devices Options
Configuration options for the pressure sensor used in INS altitude correction.
External Sensors Tab in Devices Options
Configuration for external sensors to improve INS calculations during GNSS outages.
Parameters of Encoder-based Odometer
Configuration parameters for encoder-based odometers used with INS.
CAN / COM4 Tab in Devices Options
Configuration for CAN messages output and COM4 port usage.
Triggers Tab in Devices Options
Settings for mark input control and PPS signal processing.
Change of Main COM Port Baud Rate
Procedure for changing the baud rate of the main COM port for INS connection.
Limitation of Maximum Output Data Rate
Explanation of how baud rate and data package length limit the maximum data rate.
Magnetometers Calibration Options
User Defined Data
Configuration for selecting and outputting specific INS data types.
Review and Editing User Defined Data
Reviewing and editing the existing configuration of User Defined Data format.
User Defined Data Format Configuration File
Managing User Defined Data format configuration files (*.udd).
Run Menu and Visualization
Run Menu
Commands for controlling INS operation: visualization, stop, and device information.
INS 3D Visualization
Default INS visualization showing spatial orientation of an airplane.
Cockpit Style Visualization
INS attitude visualization in a cockpit display style.
On-the-fly Accuracy Visualization
Feature for checking INS accuracy during operation with known orientation points.
Data Graphs Visualization
Displaying graphs of current INS outputs like heading, pitch, and roll.
INS Relative Position Visualization
Visualization of INS current position relative to the start point.
INS Sensors Data Format Peculiarities
Details on data displayed in the INS Sensors Data format.
Other Run Menu Items
Description of other items in the Run menu such as Device Information and Device Self Test.
File Menu Operations
Open Item
Procedure for visualizing data saved to files during INS run.
Save As Item
Function to preset the file name for data writing.
Parameters Management
Restore Parameters
Quickly loading INS parameters to nonvolatile memory from a .prm file.
Save Parameters
Saving current INS parameters as a variant in a binary file with .prm extension.
Preset Parameters
Adjusting INS algorithm parameters for specific operational conditions.
Plugins Menu
Embedded Plugin for Magnetometer Calibration
Using embedded procedures for field calibration of INS magnetometers.
Magnetometers Field Calibration Plugin
Convenient INS hard and soft iron calibration using GUI software.
Angles Accuracy Plugin
Checking INS attitude accuracy in orientation angles.
Magnetometers Axes Alignment
Description of Axes Alignment Procedures
Procedure for aligning SAMC axes with INS axes for accurate operation.
Clearing Axes Alignment Parameters
Removing axes alignment results from INS nonvolatile memory.
INS Operation
Main Operation Modes
Step-by-step guide for connecting, starting software, and setting initial parameters.
Control of the GNSS Receiver
Overview of GNSS receiver capabilities and supported systems.
GNSS Correction
Using COM3 port for differential corrections to improve GNSS position accuracy.
Control of GNSS Receiver Model
Managing different functionality levels of the GNSS receiver firmware.
Adding New Model to GNSS Receiver
Procedure for obtaining and adding new models to the GNSS receiver.
Calibration of the INS
Procedures for calibrating INS magnetometers for accurate heading calculation.
Calibration Procedures (2D, 2D-2T, 3D, VG3D)
Detailed steps for performing various INS calibration procedures.
Clearing Soft and Hard Iron Calibration Parameters
Removing magnetometer calibration parameters from INS memory.
On-the-fly VG3D Calibration
Performing VG3D calibration during INS operation for airplanes and UAVs.
Orientation Accuracy Test
Estimating INS accuracy in orientation angles using the INS GUI software.
Separate Accuracy Test for Each Reference Angle
Performing accuracy tests for each reference angle individually.
On-the-fly Accuracy Test
Continuous INS operation for accuracy testing at different reference angles.
INS Automatic Start
Configuring the INS to start operation and data output automatically after power on.
Odometer Operation
INS Operation with OBDII Odometer
Connecting and configuring an OBDII odometer for INS operation.
INS Operation with Encoder-based Odometer
Configuring encoder-based odometers for INS operation.
Encoder-based Odometer Calibration
Calibrating the odometer to accurately estimate the pulse length.
CAN Data Operations
CAN / COM4 Tab Configuration
Configuration for CAN messages output and COM4 port usage.
CAN Messages Output Configuration
Selecting desirable CAN messages for output via CAN interface.
Review and Editing CAN Message Set
Reading and writing the existing configuration of the CAN message set.
CAN Message Set Configuration File (*.ucan)
Transferring CAN message set configurations to other INS units.
INS and SAMC Axes Alignment
Description of Axes Alignment Procedures
Procedures for aligning SAMC axes with INS axes for accurate operation.
Clearing Axes Alignment Parameters
Removing axes alignment results from INS nonvolatile memory.
Data Post-Processing
Recording of Raw GNSS Data
Using additional COM ports for outputting raw GNSS receiver data.
Raw IMU Data Generation
Creating raw IMU data from .bin/.prm files for post-processing.
Embedding Raw IMU Data into GNSS Stream
Combining INS data to raw IMU data with raw GNSS data into a single file.
INS Sensors Error Model for Post-processing
Creating a profile with recommended parameters for IMU sensor error models.
Data Synchronization
Synchronization with LiDAR and Other Devices
Synchronizing INS data with external devices using PPS and mark input signals.
Control of PPS Output Signal
Adjusting PPS signal parameters like polarity, period, and width.
Processing of Mark Input Signal
Configuring the MARK IN pin for triggering specific GNSS raw receiver data.
INS Operation with LiDAR
Making connections for INS data integration with LiDAR systems.
Configuration of INS Main Data
Setting main COM port baud rate, INS data rate, and other parameters.
Configuration of COM2 Port for GNSS Raw Data
Configuring COM2 port settings for outputting raw GNSS data.
Configuration of COM3 Port for $GPRMC Messages
Configuring COM3 port settings for outputting $GPRMC messages.
Configuration of PPS Signal
Setting PPS signal parameters for synchronization.
Configuration of Mark Input Signal
Configuring mark input signal processing for GNSS data triggering.
Troubleshooting
How to Repair INS Parameters
Steps to restore INS parameters, e.g., after incorrect loading.
Handling Strange INS Behavior
Troubleshooting steps for unexpected INS behavior or parameter mismatches.
Troubleshooting Error Messages
Actions to take when encountering "Cannot read parameters!" errors.
APPENDIX C: Description of Data Files
Structure of Binary File
Description of the binary .bin file structure and initial alignment data.
APPENDIX E: INS Mounting Variants
Installation of Single GNSS Antenna
Guidelines for installing a single GNSS antenna relative to the INS unit.
Installation of Two GNSS Antennas for INS-D Operation
Requirements for installing dual GNSS antennas for INS-D.
APPENDIX H: Ethernet Port Communication
Connection Overview
Description of the physical connections for Ethernet communication.
Checking Network Connection
Steps to verify network accessibility and install USR-VCOM software.
Creating a Virtual Serial Port
Procedure for creating a virtual serial port using USR-VCOM for INS communication.
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