IMU Data Commands
The following commands are related to the IMU data and are only applicable if you are doing inertial processing.
|
Command |
-imufile [input] |
|
Example |
-imufile “C:\My Data\Rover.imr” |
|
Description |
Specifies the location of the IMU data file. |
|
Input |
Full file path to the IMR file. |
|
Notes |
This file must be in IMR format. No other format is accepted. NovAtel SPAN users should ignore this command (see –remfile). Wrap the path in quotation marks if it contains spaces. |
|
Required? |
Required for inertial users if IMU data was not collected from a NovAtel SPAN system. |
|
Command |
-imutype [input] |
|
Example |
-imutype SPAN_CPT |
|
Description |
Specifies the NovAtel SPAN IMU type. |
|
Input |
|
|
Notes |
This command is only for NovAtel SPAN users. |
|
Required? |
No. Use this command only if the utility fails to auto-detect the SPAN IMU type. |
|
Command |
-imula [X] [Y] [Z] |
|
Example |
-imula 0.458 -1.112 1.012 |
|
Description |
Specifies the IMU-to-GNSS antenna lever arm. |
|
Input |
The X/Y/Z spatial offsets, in meters, from the IMU to the GNSS antenna. |
|
Notes |
The offsets must be referenced in the X-right, Y-forward, Z-up frame. The IMU’s center of navigation is the origin of the frame. |
|
Required? |
Only if the values are not already written in the header of the IMR file. |
|
Command |
-imurot [X] [Y] [Z] |
|
Example |
-imurot 0.0 -90.0 180.0 |
|
Description |
Specifies the body-to-IMU rotations. |
|
Input |
The X/Y/Z angles, in decimal degrees, needed to rotate the IMU into the vehicle frame. |
|
Notes |
The IMU must be rotated into the X-right, Y-forward, Z-up frame. |
|
Required? |
Only if the values are not already written in the header of the IMR file. |