Data Collection

The INS solution is available in the INS-specific logs with either a standard or short header. Other parameters are available in the logs shown in Table: Solution Parameters:

Solution Parameters
Parameter	Logs
Position	INSPOS or INSPOSS INSPVA or INSPVAS	INSPOSX or INSPVAX
Velocity	INSVEL or INSVELS INSSPD or INSSPDS INSPVA or INSPVAS	INSVELX or INSPVAX
Attitude	INSATT or INSATTS INSPVA or INSPVAS	INSATTX or INSPVAX
Solution Uncertainty	INSSTDEV or INSSTDEVS

The INSATTX log, INSPOSX log, INSPVAX log and INSVELX log contain solution and variance information and are therefore large logs. Use a low logging rate (<20 Hz) only.
These logs also contain solution uncertainty in standard deviation format.

Note that the position, velocity and attitude are available together in the INSPVA log, INSPVAS log and INSPVAX log.

The inertial solution is available up to a rate of 200 Hz. Data can be requested at a specific synchronous time interval, asynchronously matching the IMU output rate, or can be triggered by the mark input trigger at rates up to 200 Hz.

The GNSS-only solution is still available through the GNSS-only logs such as RTKPOS and PSRPOS. Refer to the PSRPOS log and RTKPOS log for more details. INS‑only data logging and output can be at rates of up to the rate of the IMU data.

The highest rate that you should request GNSS logs (RANGE, BESTPOS, RTKPOS, PSRPOS, and so on) while in INS operation is 5 Hz. If the receiver is not running INS (no IMU is attached), GNSS logs can be requested at rates up to 20 Hz.

Logging Restriction Important Notice

Logging excessive amounts of high rate data can overload the system. When configuring the output for SPAN, NovAtel recommends that only one high rate (>50 Hz) message be configured for output at a time. It is possible to log more than one message at high rates, but doing so could have negative impacts on the system. Also, if logging 100/200 Hz data, always use the binary format and, if possible, the short header binary format (available on most INS logs).

For optimal performance, log only one high rate output at a time. These logs could be:

Raw data for post processing
RAWIMUXSB ONNEW (output rate depends on IMU see Table: SPAN-Compatible IMUs)
- RAWIMU logs are not valid with the ONTIME trigger. The raw IMU observations contained in these logs are sequential changes in velocity and rotation. As such, you can only use them for navigation if they are logged at their full rate. See RAWIMU log, RAWIMUS log, RAWIMUSX log and RAWIMUX log for details.
Real time INS solution
IMURATEPVA ONNEW or IMURATEPVAS ONNEW
- Other possible INS solution logs available at high rates are: INSPVASB, INSPOSSB, INSVELSB, INSATTSB

Specific logs need to be collected for post-processing. See Data Collection for Post Processing.

To store data from an OEM7 receiver, connect the receiver to a computer running NovAtel Application Suite or other terminal program capable of recording data. On PwrPak7 and CPT7 receivers, you can also collect data on internal memory.