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Inertial Explorer8.7 使用手册

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Inertial Explorer 是 NovAtel 公司 Waypoint 产品组研发的强大的、可配置度高的事后处理软件，用于处理所有可用的 GNSS、INS 数据，提供高精度组合导航信息，包括位置、速度和姿态信息。针对精度和稳定性要求比较高，不需要实时定位导航信息的应用，可以通过 GNSS 和 INS 原始数据后处理的方式，提高组合导航解算精度和稳定性。

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Inertial Explorer 8.70 User Manual v4 March 2018

A NovAtel Precise Positioning Product

Inertial Explorer

Inertial Explorer Xpress

GrafNet / GrafNav Static

User Manual

Inertial Explorer 8.70 User Manual v4 2

Inertial Explorer 8.70 User Manual

Publication Number: OM-20000166

Revision Level: v4

Revision Date: March 2018

This manual reflects Inertial Explorer software version 8.70.

Warranty

NovAtel Inc. warrants that its GNSS products are free from defects in materials and workmanship, subject to the

conditions set forth below on our website: www.novatel.com/products/warranty/ and for the following time peri-

ods:

Software Warranty One (1) year

Return instructions

To return products, refer to the instructions on the Returning to NovAtel tab of the warranty page: www.nova-

tel.com/products/warranty/.

Proprietary Notice

Information in this document is subject to change without notice and does not represent a commitment on the

part of NovAtel Inc. The software described in this document is furnished under a licence agreement or non-dis-

closure agreement. The software may be used or copied only in accordance with the terms of the agreement. It

is against the law to copy the software on any medium except as specifically allowed in the license or non-dis-

closure agreement.

The information contained within this manual is believed to be true and correct at the time of publication.

NovAtel, Waypoint, GrafNav/GrafNet, Inertial Explorer, SPAN, OEM6, OEMV, OEM4 and AdVance are

registered trademarks of NovAtel Inc.

All other product or brand names are trademarks of their respective holders.

laws.

Inertial Explorer 8.70 User Manual v4 3

Table of Contents

End-User License Agreement ("EULA")

Foreword

Chapter 1 Inertial Explorer

1.1 Inertial Explorer Overview 17

1.2 Inertial Explorer Xpress Overview 17

1.3 Installation 17

1.3.1 What You Need To Start 17

1.3.1.1 Activation ID 17

1.3.1.2 Installation file 18

1.3.2 Prerequisites 18

1.3.2.1 Operating System 18

1.3.3 How to install Waypoint software 18

1.3.4 How to Activate Your License 18

1.3.5 How to Manually Activate/Return Your License 20

1.3.5.1 Manual Activation Process 20

1.3.5.2 Manual Return Process 21

1.3.6 Software Utilities 21

1.3.6.1 Concatenate, Slice and Resample 21

1.3.6.2 Copy User Files 21

1.3.6.3 Download Service Data 22

1.3.6.4 GPB Viewer 22

1.3.6.5 GNSS Data Converter 22

1.4 Getting Started with Inertial Explorer 23

1.4.1 How to start Inertial Explorer 23

1.4.2 Convert and Process GNSS Data 23

1.4.3 Convert IMU Data 23

1.4.3.1 How to convert SPAN IMU data 24

1.4.3.2 How to convert third party IMU data 24

1.4.4 Process SPAN IMU Data 24

1.4.5 Plotting and Quality Control 25

1.4.5.1 Attitude (Roll and Pitch) 25

1.4.5.2 Attitude (Azimuth/Heading) 25

1.4.5.3 Attitude Separation 25

1.4.5.4 IMU-GNSS Position Misclosure 26

1.4.5.5 Smooth Solution 26

1.4.6 Export Final Coordinates 26

1.5 File menu 26

1.5.1 New Project 26

1.5.1.1 Project Wizard 27

1.5.1.2 Empty Project 27

1.5.2 Open Project 28

1.5.2.1 How to open a project 28

1.5.3 Save Project 28

1.5.3.1 How to save a project 28

1.5.4 Save As 28

1.5.4.1 How to save as a project 28

1.5.5 Add Master File(s) 29

1.5.5.1 Master Station Position 30

1.5.5.2 Datum Selection 30

1.5.5.3 Epoch Selection 30

1.5.5.4 Antenna Height 30

1.5.5.5 Antenna Models 31

Inertial Explorer 8.70 User Manual v4 4

1.5.6 Add Remote File 31

1.5.6.1 How to add a remote file 31

1.5.6.2 Compute from Slant 32

1.5.7 Add IMU File 32

1.5.8 Add Precise/Alternate Files 32

1.5.8.1 Broadcast Ephemeris 32

1.5.8.2 Precise Ephemerides 33

1.5.8.3 IONEX Files 33

1.5.8.4 Satellite Clock Files 33

1.5.9 Load 34

1.5.9.1 GNSS Solution 34

1.5.9.2 PPP Solution 34

1.5.9.3 LC Solution (Loosely Coupled) 34

1.5.9.4 TC Solution (Tightly Coupled) 34

1.5.9.5 Any Solution 34

1.5.9.6 Single Point Solution (from .gpb file) 34

1.5.9.7 Camera Event Marks 34

1.5.9.8 Station File (.sta/nst) 35

1.5.9.9 Stations with Known Lat/Long 36

1.5.10 Convert 36

1.5.10.1 Raw GNSS to GPB 36

1.5.10.2 Raw IMU Data to Waypoint Generic (IMR) 37

1.5.11 GPB Utilities 37

1.5.11.1 Concatenate, Slice and Resample 37

1.5.11.2 View Raw GNSS Data 37

1.5.12 Recent projects 37

1.5.13 Exit 37

1.6 View Menu 37

1.6.1 Project Overview 37

1.6.2 GNSS Observations 37

1.6.2.1 View Raw GNSS Data 37

1.6.2.2 View Ephemeris File 37

1.6.2.3 View Station File 37

1.6.2.4 Resample/Fill Gaps using the following options 37

1.6.2.5 Disable 38

1.6.2.6 Remove 38

1.6.3 Forward and Reverse Solutions 38

1.6.3.1 GNSS / PPP Message Log 38

1.6.3.2 GNSS Summary 39

1.6.3.3 IMU LC / TC Message Log 39

1.6.4 Processing Summary 39

1.6.5 Features 39

1.6.5.1 Columns on the Features Editor window 40

1.6.5.2 Buttons on the Features Editor window 41

1.6.6 ASCII File(s) 41

1.6.7 Raw GNSS Data 42

1.6.8 Current CFG File 42

1.7 Process Menu 42

1.7.1 Process GNSS 42

1.7.1.1 Processing Method 42

1.7.1.2 Processing Direction 43

1.7.1.3 Processing Settings 43

1.7.1.4 Processing Information 44

1.7.1.5 General (Differential Settings) 44

1.7.1.6 General (PPP Settings) 46

1.7.1.7 ARTK Options (Differential GNSS processing only) 47

1.7.1.8 Measurement 50

1.7.1.9 User Cmds 52

Inertial Explorer 8.70 User Manual v4 5

1.7.2 Process LC (Loosely Coupled) and TC (Tightly Coupled) 52

1.7.2.1 Process Settings 53

1.7.2.2 IMU Installation 53

1.7.2.3 Lever Arm Offset (IMU to GNSS Antenna) 54

1.7.2.4 Body-to-IMU Rotations (Rotate Vehicle Frame into IMU Frame) 55

1.7.2.5 GNSS Heading Offset 55

1.7.2.6 Advanced IMU 55

1.7.2.7 Alignment 56

1.7.2.8 States 59

1.7.2.9 GNSS 61

1.7.2.10 Updates 62

1.7.3 Combine Solutions 66

1.7.4 Smooth Solutions 67

1.7.5 Solve Boresighting Angles 67

1.7.5.1 Show 68

1.7.5.2 Settings 68

1.7.5.3 Message Window 68

1.7.5.4 Boresight Settings 69

1.8 Settings Menu 70

1.8.1 Coordinate/Antenna 70

1.8.1.1 Master Station Settings 70

1.8.1.2 Coord. Options 71

1.8.1.3 Save to Favorites 72

1.8.1.4 Remote Settings 72

1.8.2 Grid 72

1.8.3 Manage Profiles 72

1.8.3.1 Project/Profile Tools 72

1.8.3.2 CFG Profile Tools 73

1.8.4 Compare Configuration Files 73

1.8.5 Preferences 73

1.8.5.1 Display 73

1.8.5.2 Solution 75

1.8.5.3 Export 76

1.8.5.4 Update 76

1.9 Output Menu 77

1.9.1 Plot Results 77

1.9.1.1 Add Group 78

1.9.1.2 Build Custom 78

1.9.1.3 Plot Options 78

1.9.1.4 Common Plots 80

1.9.2 Plot Multi-Base 85

1.9.3 Export Wizard 85

1.9.3.1 How to create a new Export Wizard profile 86

1.9.3.2 How to use the Export Wizard 87

1.9.3.3 Creating an Output File 87

1.9.3.4 IMU Epoch Settings 89

1.9.4 View Coordinates 89

1.9.5 Build HTML Report 89

1.9.6 Export to Google Earth 89

1.9.6.1 Export and View 89

1.9.6.2 Export Only 89

1.9.7 Export to RIEGL POF/POQ 90

1.9.8 Export to SBET 90

1.9.9 Export to Waypoint Legacy Format 90

1.9.10 Export to DXF 90

1.9.10.1 Output File Name 90

1.9.10.2 Output Components and Options 90

1.9.10.3 Symbol Sizes 90

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