Inertial Explorer® - Canal Geomatics

Inertial
Explorer ®
Features
Loosely and tightly coupled
processing supported
Boresighting module computes
angular difference between
IMU and camera system 1
Error models for popular IMUs
IMU error models can
be customized
Rauch-Tung-Striebel smoother
for forward, reverse and
combined processing
Configurable data export at
user defined intervals or
specific event times
Benefits
Single interface for GNSS
and IMU processing
Improvement on real time
GNSS/INS accuracy
Extensive quality control
tools available
Inertial Explorer is a powerful post-processing software that combines GNSS, IMU and wheel
sensor data to provide an optimal solution in even the most challenging positioning environment.
Improved Accuracy
Inertial Explorer post-processing software delivers more accurate and reliable solutions as compared to real-time
processing for several reasons. First, independent forward and reverse solutions can be processed and combined.
A user can adjust processing settings to optimize a trajectory using Inertial Explorer’s many quality control plots.
Second, an RTS back smoother is included that can greatly reduce inertial error growth during GNSS data gaps.
Manufacturer Independent GNSS and IMU Processing
Inertial Explorer includes a GNSS data converter that supports 28 GPS data formats for compatibility with
most receiver manufacturers. Also included is an IMU data converter that supports several popular formats.
The IMU data converter can be configured for new or customized data formats.
Both GNSS and IMU data is automatically extracted in a one-step process if using SPAN through the GNSS
data converter.
Loosely or Tightly Coupled Processing Options
Inertial Explorer can bring GNSS and IMU data together two different ways. In loosely coupled processing
the GNSS data is processed first. The computed GNSS position and velocity updates are then used when
processing the IMU data. In tightly coupled mode, the GNSS and IMU data are processed simultaneously.
Benefits of tightly coupled processing include the application of phase updates that limits inertial
error growth when even two GPS satellites are available, as well as through automatic ZUPT detection.
Quality Control
Forward and reverse data processing provides independent position, velocity and attitude
solutions. Comparison of these solutions provides a simple yet effective quality control
tool for visual inspection of solution accuracy. For advanced users, the forward and
reverse trajectory feature may be employed to create new IMU models or refine
existing models. Over 20 IMU specific plots are available in Inertial Explorer
to evaluate the solution integrity.

Inertial Explorer
Inertial Explorer Interface
• GNSSandIMUprocessingunderonecommon
interface
• Simultaneousforwardandreverseprocessing
for both GNSS and IMU data
• Numerous GNSS and IMU specific quality
control plots
• Shows GNSS and IMU data coverage
and gaps
• Interpolatesuptotwoexternaleventtriggers
• Flexible export tool permits reproduction
of most ASCII formats
• Outputs specialized variables such as
IMU rates and accelerations
• Position and velocity can be translated to
another location on vehicle or craft
• Attitude can be corrected for orientation
difference between IMU and another sensor
• Outputsw-p-kanglesforphotogrammetry
• Solvesforcamera-IMUorientationdifference
given w-p-k angles from an external source 1
• Saves processing history
• Precise Point Positioning (PPP) Module
1-800-NOVATEL (U.S. & Canada) or 403-295-4900
Europe +44 (0) 1993 852-436
SE Asia & Australia +61 (0) 400 833-601
sales@novatel.com
novatel.com
GNSS Processing
• Multiplereceivermanufacturessupported
see GrafNav product sheet
IMU Processing
• Coarse,fineandkinematicalignmentsavailable
• Pre-loaded with error models for most
popular IMU types
• Users can create their own error models
• Supports IMU only processing
• Extensive control over GNSS update
measurements
• GNSS-IMU lever arms can be entered
or solved
• Supports zero velocity updates
• Supports coordinate updates
• Utilizes DMI/odometer measurements
• Includes built-in RTS back-smoother
• Permits utilization of external trajectories
• Support for non-standard orientation
installation
• Loosely coupled option
• Tightly coupled option 2
Inertial Explorer 8.00 post processing performance during complete GNSS outages 4
Upgrade/Support
Any versions released within one year from
purchasing will be made available at no charge.
Technical support by phone, fax and e-mail is
also free for one year after date of purchase.
Additional Features
Utilities
• IMU and DMI raw data conversion
• IGS,CORS,IGN,GSI,CDDIS,OLG,ARGN,BKGI,
UNAVCO and ASI GPS data services can be
downloaded, converted and resampled from
the internet
Supported IMU Formats 3
• Honeywell HG1700
• iMAR FMS/FSAS/RQH
• Inertial Science DMARS/ISIS
• Litton LN-200
• Motion Pack
• NovAtel SPAN (all IMUs)
• Tamagawa
1 Requires separate photogrammetric adjustment package
to determine camera exterior orientation angles.
2 Version 8.00 only.
3 Please contact the Waypoint Products Group if support
for another IMU type is desired.
Outage
Position Error
Duration IMU
5 (m) Velocity Error (m/s) Attitude Error (degrees)
2D H 2D H Roll Pitch Heading
0 s LN200 0.010 0.015 0.030 0.030 0.010 0.010 0.025
AG58 0.010 0.015 0.030 0.030 0.013 0.013 0.031
IMAR 0.010 0.015 0.030 0.030 0.015 0.015 0.041
AG62 0.010 0.015 0.030 0.030 0.018 0.018 0.053
10 s LN200 0.020 0.018 0.032 0.031 0.012 0.012 0.027
AG58 0.018 0.018 0.031 0.031 0.015 0.015 0.034
IMAR 0.022 0.018 0.032 0.031 0.017 0.017 0.044
AG62 0.025 0.019 0.032 0.031 0.025 0.025 0.061
60 s LN200 0.119 0.056 0.038 0.033 0.016 0.015 0.030
AG58 0.123 0.050 0.038 0.032 0.019 0.019 0.039
IMAR 0.163 0.061 0.040 0.033 0.024 0.023 0.050
AG62 0.422 0.069 0.056 0.034 0.043 0.044 0.078
120 s LN200 0.440 0.128 0.046 0.035 0.017 0.018 0.033
AG58 0.471 0.105 0.047 0.034 0.022 0.022 0.045
IMAR 0.651 0.147 0.053 0.035 0.028 0.029 0.054
AG62 1.657 0.167 0.073 0.037 0.057 0.058 0.093
4 Outage results were calculated by taking the RMS of the maximum errors for a minimum of 30 outages. Each outage was followed by 200 seconds of full GNSS availability before the next outage
was applied. All results are from a smoothed forward and reverse solution. No wheel sensor data (DMI) was used to generate these results.
5 1 ppm should be added to all values to account for additional error due to baseline length.
Version 2 - Specifications subject to change without notice.
© 2008 NovAtel Inc. All rights reserved. Printed in Canada. D09708
NovAtel ® and Inertial Explorer ® are registered trademarks of NovAtel Inc.
GrafNav , Waypoint , and SPAN are trademarks of NovAtel Inc.