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      What is the Initial Alignment and How Does it Improve the Device's Performance?

      Posted by Luke Wilson on Aug 20, 2020 11:52:05 AM

      Purpose: To understand how the initial alignment improves the performance of the INS.

      Last Updated: June 2020

       

      What is it?

      During the Initial Alignment time, the INS estimates biases of the gyroscopes by measuring the current condition it is in (which should be static). The device can use these estimated biases in the Kalman Filter to help the device recognize the difference between when the unit is moving and when the gyroscopes are drifting. As a result, the initial alignment helps to improve the INS dynamic accuracy.

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      Topics: Bias, Increase, Alignment, Performance, Initial, Gyroscope, Gyro, Estimation

      How to Setup RTK Corrections for INS

      Posted by Luke Wilson on Aug 20, 2020 11:46:57 AM

      Purpose: To understand how to arrange RTK corrections for an INS with included RTK.
      Last Updated: July 2020


      For Using Physical Base Station

      To receive the observation data of a remote base station at the rover receiver of the INS and get the RTK solution, the user can use the STRSVR tool from the RTKLIB package.

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      Topics: INS, GNSS, Input, RTCM, Correction, RTK

      Can I Use Dual Antenna INS as Single Antenna System?

      Posted by Luke Wilson on Aug 20, 2020 11:36:23 AM

      Purpose: To understand how to use dual antenna INS as a single antenna INS.

      Last Updated: June 2020

      The user should unplug the second antenna and leave the primary plugged in. For reference the primary antenna port is labeled as “A1” on the device, and the secondary antenna port is labeled as “A2”. Then, change the heading correction type in the Graphic User Interface (GUI) from “Dual GNSS” to the one that fits your application. To do so, go to the “Options” tab and then select “Correction options” and then change the correction type.

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      Topics: INS, GNSS, Heading, Correction, Dual, Single

      Understanding When to Use the Barometer

      Posted by Luke Wilson on Aug 20, 2020 11:31:09 AM

      Purpose: To understand in what cases the barometer should be turned ON and what cases it should be OFF.

      Last Updated: June 2020

      Case 1: In completely GPS-Denied environment, the pressure sensor should be set to primary altitude sensor as shown below.

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      Topics: INS, GPS, Sensor, Barometer, Baro-Altimeter

      What is ZUPT and When Do I Use It?

      Posted by Luke Wilson on Aug 20, 2020 11:25:12 AM

      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.

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      Topics: INS, Error, Position, ZUPT

      What Heading Correction Type Do I Use for My Application?

      Posted by Luke Wilson on Aug 20, 2020 11:21:09 AM

      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.

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      Topics: INS, INS-D, INS-DL, INS-B, INS-P, GNSS, Heading, Magnetometer, Correction

      How to Improve Position Accuracy in GNSS Denied Environments

      Posted by Luke Wilson on Aug 20, 2020 11:13:22 AM

      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.

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      Topics: GPS Denied Navigation, INS, Error, Position, Accuracy, Increase, ZUPT, Outage

      Configuring the INS to Output Data After Power is On (Auto-Start)

      Posted by Luke Wilson on Aug 20, 2020 11:03:57 AM

      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.

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      Topics: INS, Data, GUI, Auto, Auto-Start, Output, Power, Automatic

      How to Use Encoder with the INS

      Posted by Luke Wilson on Aug 20, 2020 10:56:53 AM

      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.

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      Topics: INS, COM, Hardware, encoder

      Useful Wave Sensor Equation and Parameter Definitions

      Posted by Luke Wilson on Aug 20, 2020 10:47:13 AM

      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.

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      Topics: Sensor, Wave, Equations

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