INS

Use this page to set the INS receiver settings. Select Receiver Configuration / INS.

 

INS Enable – Enable/disable the INS feature in the INS receiver. Select this check box to enable. If disabled, the receiver operates in GNSS-only mode.

Static Bench Testing – For field use, ensure that you clear this check box. This feature is useful for bench testing only. Static Bench Testing mode allows the INS receiver to enter an aligned status without movement.

Heading – The Heading setting allows the heading output to be specified when in Static Bench Testing mode. Trimble recommends after disabling the Static Bench Testing mode, that you restart the receiver to ensure that filters are cleared before resuming normal operation.

Reference to Primary GNSS Lever Arm – A three-dimensional vector defining the displacement of the GNSS Antenna Phase Center (APC) from the origin of the reference frame. These measurements should be made with subcentimeter precision. This displacement is measured in the vehicle frame, not the reference frame. The displacement is measured as follows:

• X – The distance from the reference origin along the x-axis of the vehicle frame to the GNSS APC. A positive value implies the primary GNSS APC is forward of the reference (in the vehicle frame).

• Y – The distance from the reference origin along the y-axis of the vehicle frame to the GNSS APC. A positive value implies the primary GNSS APC is right of the reference (in the vehicle frame).

• Z – The distance from the reference origin along the z-axis of vehicle frame to the GNSS APC. A positive value implies the primary GNSS APC is below the reference (in the vehicle frame).

• 1-σ – The user's estimate of how accurately the measurements have been made.

Reference to IMU Lever Arm – A three-dimensional vector defining the displacement of the IMU (from the center of navigation) origin from the reference. These measurements should be made with subcentimeter precision. This displacement is measured in the reference frame. The displacement is measured as follows:

• X – The distance from the reference along the x-axis of the reference frame to the IMU (center of navigation). A positive value implies the IMU is forward of the reference origin (in the reference frame).

• Y – The distance from the reference along the y-axis of the reference frame to the IMU (center of navigation). A positive value implies the IMU is right of the reference origin (in the reference frame).

• Z – The distance from the reference along the z-axis of the reference frame to the IMU (center of navigation). A positive value implies the IMU is below the reference origin (in the reference frame).

Reference to IMU Mounting Angles – Rotations about each reference frame axis (in the order Z, Y, X) to establish the IMU mounting orientation. Keep in mind that these axes may be in different directions than the vehicle axes based on how the Vehicle to Reference Mounting Angles are set. In extreme cases, down in the reference frame may be up in the vehicle frame.

Vehicle to Reference Mounting Angles – Rotations about each vehicle frame axis (in the order Z, Y, X) to establish the orientation of the reference frame. This will generally be left coplanar with the vehicle frame. In some cases, it may be desirable to rotate this to be coplanar with a camera’s optical axis. It is worth noting that this is a setup coordinate system, it does not need to be rotated to align with other coordinate systems, for example, rotating the reference frame to align with the typical ROS (Robotic Operating System) frame will invert the roll output. Angular measures are made around these axes:

• X [Roll] – The positive x-axis in the vehicle frame points forward on the vehicle.

• Y [Pitch] – The positive y-axis in the vehicle frame points to the right (starboard) side of the vehicle.

• Z [Yaw] – The positive z-axis in the vehicle frame points downward on the vehicle.