INS Profiles
INS Profiles provide two major functions; simplified configuration and enhanced performance. Each INS Profile sets specific filter behavior to enhance system performance in particular environments.
The INS profile settings are enabled by the receiver model. A receiver model with an INS Mode of S, P, R or K is required to enable INS Profiles. The INS profile adds enhanced behavior such as Dead Reckoning for land and Heave for marine and allows for simple configuration rather than sending many discreet commands.
|
Profile |
Description |
Enhanced Profile Settings |
|---|---|---|
|
DEFAULT |
The default SPAN profile. This profile has legacy SPAN default settings. |
N/A |
|
LAND |
INS Profile for fixed axle land vehicles. Enables robust kinematic alignment routines and configures the update profile. |
Enables intelligent vehicle dynamics modeling for land vehicles (Dead Reckoning) Enables course over ground attitude updates Enables direction detection on kinematic alignment routine |
|
MARINE |
INS profile for marine vessels. Enacts changes to disable static behavior and make the marine solution more robust. |
Disable Zero Velocity Updates Disable turn-on bias estimation Enables Heave algorithms |
|
FIXEDWING |
INS profile for fixed wing aircraft |
None |
|
FOOT |
INS profile for walking or backpack applications |
None |
|
VTOL |
INS profile for Vertical Take Off and Landing aircraft (helicopter, quadcopter, etc.) |
None |
|
RAIL |
INS profile for railway applications |
Enables intelligent vehicle dynamics modeling for rail vehicles (Dead Reckoning) Enable course over ground attitude updates Enable direction detection on kinematic alignment routine |
|
AGRICULTURE |
INS profile for agriculture applications |
Enables direction detection on kinematic alignment routine Enables course over ground attitude updates Enables intelligent vehicle dynamics modeling for agricultural vehicles (Dead Reckoning) |
Use
To use an INS Profile, send the SETINSPROFILE command at startup (or save to NVM) to activate the mode. For example:
SETINSPROFILE LAND
The type of profile activated, basic or enhanced, is determined by the SPAN model.
The currently selected profile option is available in the INSCONFIG log.
RBV Calibration
For the profiles to provide the greatest benefit, the rotation offset of the IMU body to the vehicle frame (RBV) should be known as accurately as possible. Since constraints happen at the vehicle level, any error in the offset will translate into worse performance. These parameters are estimated in the background when the system is fully converged, however it is always better to have this measured as precisely as possible before mission critical data is collected.
The INSCALIBRATE RBV functionality can be used to estimate and save these offsets to NVM in a controlled manner.