Overview of the Waypoint Products

Inertial Explorer

Inertial Explorer shares a similar interface with GrafNav and provides both GNSS and INS processing capabilities. Inertial Explorer is powerful and feature rich, including support for both loosely and tightly coupled processing, multi-pass processing, a backsmoother, automatic processing profile detection and many other features. See Inertial Explorer Overview for more information.

Inertial Explorer Xpress

Inertial Explorer Xpress provides the same core processing and utilities as Inertial Explorer along with simplified functions and workflows that have been tailored for UAV markets and small project areas. Data can be post-processed efficiently without compromising position, velocity or attitude accuracy. Inertial Explorer Xpress produces centimeter-level position and attitude solutions compatible with LiDAR, camera and other sensor data.

GrafNav

GrafNav is a kinematic and static GNSS post-processing package. Included with GrafNav is a Precise Point Positioning (PPP) module, support for multi-base applications, and support for moving base applications. See GrafNav Overview for more information.

GrafNet

GrafNet is a batch static baseline processor and network adjustment package. It is often used to check or establish base station coordinates for later use within GrafNav or to survey static networks. GrafNet is included with the installation of GrafNav and Inertial Explorer, but is not included with the installation of Inertial Explorer Xpress. See GrafNet Overview for more information.

GrafNav Static

A GrafNav Static license allows a user to process GNSS data within either GrafNav or GrafNet, however only static data will be processed. See GrafNav Static Overview for more information.

Waypoint TerraStar Near Real-Time (NRT) Precise Products

NovAtel’s Waypoint post-processing software is now available with access to TerraStar Near Real-Time (NRT) precise clock and orbit products. This is a subscription-based service that requires activation of an additional license.

With the NRT feature enabled, TerraStar precise products may be downloaded within Waypoint software with an approximate latency of only 15 minutes and are of comparable accuracy to common correction services (CODE, IGS, STA etc.) with significantly longer latency. This facilitates Precise Point Positioning (PPP) in applications that demand a quick turnaround. When used with NovAtel data, NRT files will also allow for PPP with ambiguity resolution (AR) providing faster convergence times equivalent to TerraStar C-PRO.

The TerraStar NRT service offers the following advantages as compared to publicly available rapid precise products:

  • Fast availability

  • Support for all constellations

  • High rate precise satellite clock data (good for kinematic processing)

  • High reliability and redundancy

Moving Baseline Features

GrafNav includes a moving baseline module that processes GNSS data between two moving antennas. Heading can also be computed if the two antennas are mounted on the same vehicle. Moving baseline capability is not included in Inertial Explorer or Inertial Explorer Xpress.

Relative Processing

All of the same advanced GrafNav processing features including ARTK, a robust Kalman filter, and forward/reverse processing are also supported in moving base processing. The only restriction is that only one base station can be used when processing the relative vector.

For applications where both antennas are mounted on the same vehicle, the surveyed distance between the antennas can be entered to assist ambiguity resolution. Heading can also be computed for these applications.

Relative Vector Output

After processing, the included Export Wizard profiles are available to output the relative vector in local level or ECEF format.

Relative Velocity

In addition to relative position information, GrafNav uses Doppler measurements to compute instantaneous relative velocity between two moving antennas.