Purpose: To understand which cases ZUPT should be ON and which case ZUPT should be OFF.
Last Updated: June 2020
ZUPT - or Zero Update Position and Timing, is used to mitigate gyroscope bias drift and in turn mitigate heading drift in a GPS-Denied environment. It should be enabled when the user wants to reduce its accumulated orientation and position errors once a carrier object stops. If a completely motionless state is not achievable, then the user should disable the ZUPT option.
Purpose: To determine which type of heading correction is best for different applications of the INS.
Last Updated: June 2020
For INS-D/DL: The “Dual GNSS” type of heading correction can be used for any application that allows the installation of the INS and two GNSS antennas with a baseline of at least 1.5 m (it can be static, quasi-static, and slowly moving objects as well as objects with high dynamic). So, any application where two antennas can be installed with a clear view of the sky and less than 1.5 meters away from one each other. When Dual GNSS type is used, the algorithm starts as soon as the GNSS receiver provides a heading solution.
Topics: INS, INS-D, INS-DL, INS-B, INS-P, GNSS, Heading, Magnetometer, Correction
Purpose: To explain what INS features improve position error in GNSS denied environments.
Last Updated: June 2020
When using the Inertial Navigation System (INS), position error accumulation is always a concern. One way a user can limit this error is by enabling the “Tunnel Guide” feature (only available for fixed-axle land vehicle). When enabled, it allows the INS to reduce its accumulated errors during extended GNSS outages. Use this feature when external aiding data is unavailable. To do so, go to the “Correction options window of the “Options” tab and enable “Tunnel guide” as shown below.
Topics: GPS Denied Navigation, INS, Error, Position, Accuracy, Increase, ZUPT, Outage
Purpose: To understand how to configure the INS to start outputting data after power is on without any command from the host computer.
Last Updated: June 2020
There are two different auto start options in the Graphic User Interface (GUI). The first one gives the ability for the GUI to accept data from the INS when it is in auto start mode. This setting should only be used if the user plans on using the device in the GUI.
Topics: INS, Data, GUI, Auto, Auto-Start, Output, Power, Automatic
Last Updated: June 2020
Purpose: To show what steps to take in order to use the available encoder in the INS.
There are two hardware options for encoder connections. Either the use can use encoder lines used to connect to Ethernet lines in the Multiport Development Kit (which connects to INS) or use encoder lines and connect them to the COM1 port on the Multiport Development Kit which is an RS-422 interface. You can contact Inertial Labs to order an INS unit with encoder input support and select the preferable connection option.
Last Updated: June 2020
Purpose: To provide users with some of the commonly used equations for the Wave Sensor as well as provide other equations that may be helpful in implementing the sensor for the specific end-user application.
