Knowledge Base

Inertial Navigation Systems (INS) rely on a combination of inertial sensors and GNSS receivers to provide accurate positioning, velocity, and orientation data. However, requesting additional logs from the receiver is often necessary to optimize system performance and improve data reliability. These logs contain crucial information that enhances sensor fusion, refines navigation calculations, and improves error correction.

This article explores the importance of requesting additional logs, the types of logs available, and how they contribute to improved INS functionality. Understanding how to utilize these logs effectively can significantly enhance navigation accuracy in applications such as autonomous vehicles, UAVs, and geospatial mapping.

Why Request Additional Logs?

Requesting additional logs from the receiver enables users to:

• Enhance Sensor Fusion: By incorporating raw GNSS and inertial data, users can improve the system’s ability to mitigate errors such as drift and GNSS outages.
• Improve Positioning Accuracy: Advanced logs provide insights into satellite signals, ionospheric conditions, and GNSS multipath errors, allowing for better real-time corrections.
• Enable Post-Processing Analysis: With access to comprehensive logs, users can apply advanced post-processing algorithms to refine positioning and trajectory estimations.
• Detect and Diagnose Issues: Additional logs offer a deeper understanding of system behavior, helping identify potential issues related to satellite visibility, interference, or sensor alignment.

Types of Logs That Can Be Requested

Some of the most commonly requested logs from GNSS receivers for INS include:

• Raw IMU Data Logs: Provide unprocessed accelerometer and gyroscope measurements for customized sensor fusion.
• GNSS Observation Logs: Contain raw satellite measurements, including carrier phase and pseudorange, essential for post-processing applications.
• Ephemeris and Almanac Logs: Deliver satellite orbit and clock information to enhance GNSS signal correction.
• Position, Velocity, and Time (PVT) Logs: Offer real-time computed navigation solutions that help validate INS outputs.
• RTK and Differential Corrections Logs: Provide precise correction data for high-accuracy positioning applications.

NOTE: Inertial Labs does not guarantee the correct operation of the INS when the customer requests additional logs from the receiver. This is the responsibility of the customer.

To request the additional logs from the COM2 and COM3 from the receiver, please do the following:

1. Power on the INS and wait until the LED changes to red (or green in the case of auto start).
2. Connect to the COM2 of the INS and send the following command to the receiver using any serial port terminal (like RealTerm): FRESET
3. Wait approx 20 seconds and request all required additional logs for COM2 and COM3
   For example:
   Log COM2 GPGGA ontime 5
   Log COM3 GPRMC ontime 5
4. Send log to save the additional logs:
   Saveconfig
5. Power-cycle the INS.

NOTE: This operation is at the customer’s expense and should only be tampered with if you accept responsibility.

Requesting additional logs from the GNSS receiver is a powerful strategy for optimizing INS performance. By leveraging these logs, users can refine navigation accuracy, enhance error correction techniques, and gain deeper insights into system behavior. Integrating additional logs for real-time applications or post-processing analysis ensures excellent reliability and precision in demanding environments.

For more details on requesting and utilizing these logs effectively, consult the Inertial Labs technical documentation or contact our support team.

Understanding the resolution differences across various data parameters is essential when selecting the right sensor for a given application. Inertial Labs’ high-resolution capabilities provide users with increased measurement accuracy, ensuring optimal performance in critical navigation and positioning tasks. Whether used in drones, autonomous vehicles, or industrial systems, the choice between Regular and High-Resolution modes depends on the level of precision required. By leveraging HR mode, users can significantly improve the accuracy of their systems, leading to better operational outcomes.

For more information on specific resolution values for each sensor type, refer to the detailed table below or contact Inertial Labs for expert consultation.