Purpose: To understand how to run the INS GUI software on Linux.

Last Updated: January 2021

Note: These instructions are only for the users using the INS GUI on Linux, not the regular INS GUI on Windows.

Topics: INS, Software, Linux, COM, GUI

Purpose: To understand the different GNSS correction services that can be used to enhance the performance and precision of the INS-DU.

Last Updated: October 2020

There are 2 different categories of GNSS correction services. These categories are based on either the State Space Representation (SSR) or Observation State Representations (OSR) of the errors. Both categories solve the same problem, but each use different techniques, delivery mechanisms, and core technologies to do so. Both SSR and OSR correction services are used to mitigate key GNSS errors (i.e. orbits, biases, clocks, etc.) in order to enable high precision GNSS performance.

Topics: INS, GNSS, receiver, Service, Correction, INS-DU

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.

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

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.

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

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.

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

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.

Topics: INS, Error, Position, ZUPT

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.

Topics: INS, COM, Hardware, encoder