Table of Contents
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Table of Contents
Related Manuals for Inertial Labs INS-D
Summarization of Contents
3. Main menu of the program
Run Menu
Provides INS control commands for operation and visualization.
Parameters Menu
Offers operations related to INS parameters, loading, and saving.
Options Menu
Contains INS configuration commands for ports and settings.
4. Options Menu
4.1. Test options
Allows setting INS operation parameters, COM port, and output data format.
4.2. Devices options
4.2.1.“IMU” tab of “Devices options…” window
Configures parameters for the Inertial Measurement Unit (IMU), including data rates.
4.2.2.“GNSS receiver” tab of “Devices options…” window
Manages settings for the onboard GNSS receiver, including measurement rate.
4.2.4. “External sensors” tab of “Devices options…” window
Allows configuring INS operation with various external sensors to improve accuracy.
4.2.7.Change of the main COM port baud rate
Instructions for changing the baud rate of the main COM port for INS connection.
4.3. Correction options
4.4. Swaying compensation
Adjusts INS orientation accuracy by compensating for linear acceleration at the mounting point.
4.5.Magnetometers calibration options
Provides compensation for carrier object hard and soft iron on heading accuracy.
4.6. User defined data
4.6.1. Review and editing of the existing configuration of the “User defined data” format in INS unit
Describes how to review and edit the current user-defined data format configuration.
4.6.2.“User defined data” format configuration file (*.udd)
Details how to transfer user-defined data configurations using .udd files.
5. Run Menu
5.1.INS 3D
Default INS visualization showing spatial orientation as an airplane.
5.2.Cockpit style of visualization
Displays INS attitude in a cockpit display style with heading and attitude indicators.
5.3.On-the-fly accuracy style of visualization
Checks INS accuracy by directing it to points with known orientation.
5.4.Data graphs style of visualization
Shows graphs of current INS outputs, allowing selection of signals to display.
5.7.Other items of the Run menu
Covers other items in the Run menu, such as Stop INS, Device Information, and Device Self Test.
6. File Menu
6.1. “Open” item
Allows visualization of saved data from *.bin files.
6.2. “Save as” item
Allows preset naming of files for data writing.
7. Parameters menu
7.2. Restore parameters
Quickly loads INS parameters to nonvolatile memory from saved .prm files.
7.3. Save parameters
Saves current INS parameters as a variant in a binary file with .prm extension.
7.4. Preset parameters
Adjusts INS algorithm parameters for specific conditions to improve dynamic accuracy.
8. Plugins Menu
8.1. Embedded
Allows INS GUI to account for carrier object soft/hard iron influence on heading accuracy.
8.2.Magnetometers field calibration
Offers a convenient way for INS hard and soft iron calibration using the INS GUI software.
8.3.Angles accuracy
Checks INS attitude accuracy by comparing produced angles with set angles using special equipment.
8.4.Magnetometers axes alignment
Aligns SAMC axes with INS axes to ensure accurate heading and position calculations.
10. The INS operation
10.1. The main operation modes of the INS
Details the procedure for connecting, starting, and configuring the INS GUI for operation.
10.2. Control of the GNSS receiver
Manages the onboard GNSS receiver, including supported systems and model upgrades.
10.3.Features of Altitude calculation in the INS
Explains how the INS calculates altitude using GNSS data and pressure sensor corrections.
10.4.Calibration of the INS
Covers procedures for calibrating the INS magnetometers to compensate for carrier object influences.
10.5. Orientation accuracy test of the INS
10.5.1.Separate accuracy test for each reference angle
Describes how to perform a separate accuracy test for each reference angle, including device setup.
10.5.2.On-the-fly accuracy test
Explains the on-the-fly accuracy test procedure, including data saving and snapshotting.
10.7.INS operation with odometer
10.7.1.INS operation with OBDII odometer
Details the connection and parameter settings for using an OBDII odometer with the INS.
10.7.2.INS operation with encoder-based odometer (wheel speed sensor)
Explains how to configure and use an encoder-based odometer with the INS.
10.7.3.Encoder-based odometer calibration
Describes the process of calibrating an encoder-based odometer to accurately estimate pulse length.
10.8.Operations with CAN data
10.8.1. Review and editing of the existing configuration of the “CAN message set” format in INS unit
Describes how to read, review, and edit the CAN message set configuration from the INS unit.
10.8.2. “CAN message set” format configuration file (*.ucan)
Explains how to transfer CAN message set configurations using .ucan files.
10.9.INS and OS3D-FG SAMC axes alignment
10.9.2.Clearing axes alignment parameters
Details how to clear SAMC axes alignment parameters from INS nonvolatile memory.
12. INS and GNSS data post-processing
12.1.Recording of raw GNSS data
Explains how to record raw GNSS data using additional COM ports for post-processing.
12.2. Raw IMU data generation
Guides on creating raw IMU data files from .bin/.prm pairs for post-processing.
12.3. INS sensors error model for INS + GNSS data post processing
Explains the need to choose an IMU sensor error model for NovAtel Waypoint Inertial Explorer post-processing.
13. Synchronization of INS data with LiDAR and other devices
13.1. Control of PPS output signal
Details how to adjust the Pulse-Per-Second (PPS) signal generated by the GNSS receiver.
13.2.Processing of mark input signal
Explains how to process mark input signals to trigger specific GNSS raw receiver data.
13.3. INS operation with LiDAR
Provides instructions for connecting INS data outputs to a LiDAR system.
15. Troubleshooting
15.1. How to repair the INS parameters
Guides on restoring INS parameters using original or saved .prm files.
15.2.What do you have to do at strange behavior of the INS
Offers steps to diagnose and resolve strange INS behavior, often related to incorrect parameters.
15.3.What do you have to do if messages “Cannot read parameters!”, “Cannot load parameters!”, or “Cannot start INS” appear
Addresses specific error messages like "Cannot read parameters" and provides troubleshooting steps.
APPENDIX C.
C.1. Structure of binary file
Details the structure of the binary .bin files, including initial alignment data.
C.2. Text presentation of output data formats
Provides examples of text file presentations for various INS output data formats.
APPENDIX E.
F.1. Installation of single GNSS antenna
Provides instructions for installing a single GNSS antenna, considering placement relative to INS magnetometers.
F.2. Installation of two GNSS antennas for INS-D operation
Explains the installation of two GNSS antennas for INS-D operation, focusing on dual-antenna heading calculation.
APPENDIX H.
H.1. Connection overview
Details the physical connection overview for Ethernet communication using specific modules and connectors.
H.2. Connection steps
Provides step-by-step instructions for connecting the INS unit via Ethernet.
H.3. Networking details
Explains networking details for the INS Ethernet module, including IP address acquisition.
H.4. Checking the connection to the network
Describes how to check network accessibility using USR-VCOM software.
H.5. Creating a virtual serial port
Guides on creating a virtual serial port using USR-VCOM for INS communication.
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