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. 

Topics: MRU, AHRS, IMU, INS, ROS, Driver

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

• For some applications, the Inertial Labs Inertial Navigation System (INS) is configured to allow external heading input from a Stand-Alone Magnetic Compass (SAMC).

Topics: INS, Magnetic, SAMC, Compass, Stand-Alone

 

Purpose: The purpose of this support article is to help the user configure the AHRS to read magnetic heading.Last Updated: November 2019

Customer:

”Hi I have one of your AHRS devices that I am configuring for a down hole measurement instrument. I want to set it up to measure the magnetic heading. I understand that to do this I want to set the declination angle to 0. What do I set the Lat Long to?

Topics: AHRS, Heading, Latitude, Magnetic, Declination, Longitude

Purpose: The purpose of this article is to help diagnose an accidental break condition. This same situation is capable of occurring for both INS models and MRU models.

Last Updated: July 2019

 

Customer:

The customer connects the AHRS-II-P with the Auto-pilot. Then power is switched on for the AHRS-II-P unit – neither the LED glows nor the unit outputs any data and this remains the same for a long time if left untouched.

Topics: MRU, AHRS, INS, Break, Off, Restarting, AHRS-II-P, Condition, On

Last Updated: February 2020

Purpose: To highlight the benefits and limitations of using aiding data for the Inertial Labs Inertial Navigation System (INS).
Introduction:
The purpose of this article is to explain the benefits of using aiding data when operating an Inertial Labs Inertial Navigation System. For many applications, there is knowledge of position, orientation, or velocities that could be valuable during periods of GNSS outage. This additional information can be delivered to the Inertial Labs Kalman Filter and provide extended operation when other aiding data is not available. Unfortunately, the lack in understanding of how to use this data to benefit the user creates a lost opportunity for higher quality results, therefor this briefing will outline the benefits and overall types of data than can be of use for the Inertial Labs Kalman Filter.

Topics: external, Data, DVL, Aiding, Wheel, Odometer, Wind, Sensor, Gyrocompass, Doppler, Velocity

Last Updated: November 2019

Purpose: Link to the Inertial Labs Software Development Kit (SDK). This SDK applies to all models of the Inertial Labs Inertial Navigation System (INS), Marine Reference Unit (MRU), and Attitude and Heading Reference System (AHRS-II).

Topics: MRU, AHRS, INS, Software, SDK, Development, Kit, Linux

Purpose: To instruct on how to request additional logs from the internal receiver on the INS.
NOTE: Inertial Labs does not guarantee the correct operation of the INS when the customer requests additional logs from the receiver. This is responsibility of the customer.

Topics: INS, receiver, Requesting, Logs

Purpose: The purpose of this article is to show the difference in resolution values for Gyroscope, Accelerometer, Reference Altitude, Reference Position, GNSS Altitude, and GNSS Position data. The table below shows the units for the measurement and compares the maximum resolution for the corresponding data type for both Regular Resolution and HR Resolution. This applies to all Inertial Labs products (with exception of unit that does not contain GNSS receiver) unless specified otherwise.

Topics: MRU, AHRS, IMU, INS, OptoINS, OptoAHRS, Resolution, High, Difference, WOM, HR, Datatypes

Purpose: To instruct the user on what settings need to be configured such that one can monitor linear accelerations from an external monitoring point near, or around the INS.

Note: This will also change the monitoring point for position, and velocity. Additionally, it is assumed that the monitoring point is rigidly attached to the same fixture where the INS is mounted.

Last Updated: February, 2020

If offset is only a change in a few inches then the user may notice that the offset accounted for does not make a noticeable difference in sensor output.

Topics: INS, external, Point, Different, Accelerations, Measuring