Purpose: The purpose of this Knowledge Base document is to inform end-users of the methods that are used by Inertial Labs for determining Angular Random Walk, Velocity Random Walk and Bias Instability for the MEMS-based Accelerometers and Gyroscopes used by Inertial Labs in the IMU-P.
Topics: IMU-P, Velocity, ARW, Angular, Random, Walk, VRW, Bias, Instability
Purpose: The purpose of this knowledge base article is to explain the method of integration known as Coning and Sculling used by Inertial Labs.
Updated: March, 2020
For strap-down based inertial sensors, the method of integration known as sculling (for linear accelerations) and coning (for angular rates) has been implemented for all Inertial Labs sensing components to reduce the erroneous build up of seemingly valid measurements of accelerations and angular rates. These errors, if left unaccounted for then produce further errors in calculations for velocity and attitude in inertial based navigation systems and attitude and heading reference units.
Topics: Coning, Integration, Methods, Sculling
Purpose: The purpose of this Knowledge Base article to is outline a few commonly seen issues and fixes that surround large GNSS position errors seen internationally. It is important to note that these issues are not at the fault of Inertial Labs products, but satellite line of sight issues, and satellite correction services.
Topics: MRU, INS, receiver, Error, Position, EGNOS, WS, SBAS, Correction
Purpose: The purpose of this Knowledge Base article is to show how information is used from respective sensors inside the Inertial Navigation System. Although a complex product, this diagram breaks down the different functions and explains how data is used and how it can be accessed on the device.
Topics: INS, Data, Flowchart, Flow, Communication, Ports, COM
Purpose: The purpose of the this knowledge base document is to explain the potential interference caused by ports such as USB3.0 in interfering with satellite line of sight (LOS).
Last Updated: March, 2020
High-frequency devices, like high-speed processors or high-speed communication buses (say, USB3 or PCIExpress) are known to produce electromagnetic interference (EMI) in the 1.2 – 1.5 GHz range, where all GNSS signals reside.
Topics: USB, INS, Interference, Satellite, EMI
Purpose: To give insight for the potential user on a commonly seen misunderstanding in the difference between UTC and GPS timestamps.
Last Updated: March, 2020
Customer:
I have found one issue that I am currently confused with. The timestamp recorded from COM1 of the INS is consistently 17-20 seconds fast. If I start recording at 00 seconds, the first timestamp is equal to 17+ seconds, however the location data that comes from the GPS receiver is correct for 00 seconds and not 17+ seconds. Any insights into this issue?
Purpose: To diagnose the common issue of a user being able to connect to an Inertial Labs Inertial Navigation System using Windows 10 but when using a different operating system, such as Windows 7, the unit will not connect.
Purpose: To describe the Inertial Labs ROS Driver Package for INS/MRU/AHRS/IMU.
Last Updated: December 8, 2020
Click Here to Download ROS Package for Inertial Labs Products
The InertialLabs_ros_package package is a linux ROS driver for GPS-Aided Inertial Navigation Systems (INS), IMU-P, AHRS and AHRS-10 of Inertial Labs. The package is developed based on the official SDK v0.2 for Linux.
Last Updated: January 28, 2020
Purpose: To summarize in simple steps the process to setup up the MDC tool to be used for calibrating for magnetic field interference with the OS3D-FG.
Step 1. First, you should set the COM port number to which your OS3D-FG sensor is connected to by modifying the file: inertiallabs_sdk_lite.ini located in the SDK folder inside the included flash drive (IL_SDK → inertiallabs_sdk_lite.ini). For that, simply open it in a text editor and specify the COM port number in line #15.
Then, save the file and close it.
Topics: calibration, Magnetic, OS3D, OS3D-FG, mdc