Added leverArmEstimation example to showcase qinertia-cli for mechani…

…cal installation parameter estimation

README.md

@@ -29,8 +29,8 @@ Qinertia is being improved continuously and new features are added to Qinertia C
 Qinertia CLI has been designed to be backward compatible.
 A project working with Qinertia 3.0 should thus still work with future Qinertia releases.
 
-In this repository, you can find demo data for several Qinertia versions to showcase new features.
-Please select the right version according to the Qinertia version you are using.
+In this repository, you can find demo data for each Qinertia versions to showcase new features.
+Please select the right tag version according to the Qinertia version you are using.
 
 # Demo Projets
 Qinertia offers a Command Line Interface (CLI) to automate processing and integrate PPK in a more complex workflow.
@@ -42,4 +42,17 @@ This log uses a single base station to compute a post processed tightly coupled
 The log has been acquired in a car with a NAVSIGHT-S connected to an APOGEE-I.
 The mechanical configuration has been entered in the NAVSIGHT unit itself and is read by Qinertia automatically.
 
+## Lever Arm Estimation CLI
+Demonstrates how to leverage on Qinertia to estimate GNSS primary and secondary lever arms.
+High Performance SBG Systems INS come with and automatic real time lever arm estimation tools.
+Estimating lever arms require some specific maneuvers and some dynamics.
+
+Qinertia post processing software also offers mechanical installation parameter estimation and has several advantages over a real time estimation.
+The estimation process is more stable and accurate especially in low dynamic environments such as large vessels or planes.
+It can also be used for products such as ELLIPSE that don't have a built in lever arm estimation module.
+
+This example, simply process a calibration acquisition using loosely coupling to compute and export estimated lever arms.
+If you use loosely coupling to estimate mechanical installation parameters, you have to make sure the real time GNSS is providing valid RTK or PPP (Precise Point Positioning) positions.
+Otherwise, please consider using Qinertia Tightly Coupled computations to access centimeter-level accuracy.
+
 Please contact the support team [email protected] if you have any question.

leverArmEstimationCli/README.md

@@ -0,0 +1,37 @@
+# Introduction
+Demonstrates how to leverage on Qinertia to estimate GNSS primary and secondary lever arms.
+High Performance SBG Systems INS come with and automatic real time lever arm estimation tools.
+Estimating lever arms require some specific maneuvers and some dynamics.
+
+Qinertia post processing software also offers mechanical installation parameter estimation and has several advantages over a real time estimation.
+The estimation process is more stable and accurate especially in low dynamic environments such as large vessels or planes.
+It can also be used for products such as ELLIPSE that don't have a built in lever arm estimation module.
+
+This example, simply process a calibration acquisition using loosely coupling to compute and export estimated lever arms.
+If you use loosely coupling to estimate mechanical installation parameters, you have to make sure the real time GNSS is providing valid RTK or PPP (Precise Point Positioning) positions.
+Otherwise, please consider using Qinertia Tightly Coupled computations to access centimeter-level accuracy.
+
+# Launching the Processing
+To start the processing, simple go to the Qinertia CLI directory and type the following command line:
+
+  qinertia-cli.exe process --license ########## --process-file "pathToData\leverArmEstimationCli.json"
+
+# Extracting Estimated Lever Arms
+Once the process is successfully done, Qinertia generates a PDF and a JSON processing report.
+The PDF report is used for human QC assessment and to review the estimated lever arms.
+
+The JSON report can be used to automatically extract the estimated lever arms.
+You can find the results and status in the `reports/json/reportMinimal.json` file.
+In the JSON file, you should look at the JSON node: `processing:mechanicalParametersEstimation`
+
+# Qinertia Version
+This CLI example has been designed and tested for Qinertia 3.1 versions.
+
+# Legal Notices
+Copyright (C) 2022 SBG Systems - All Rights Reserved
+
+You can ONLY use the provided data and information to evaluate Qinertia CLI.
+You should NOT distribute the processed data to anyone.
+You should NOT use the provided data with an other software.
+
+Please contact the support team [email protected] if you have any question.

leverArmEstimationCli/leverArmEstimationCli.json

@@ -0,0 +1,36 @@
+{
+  "version": "1.0",
+  "project": {
+    "name":"Lever Arm Estimation CLI",
+    "author": "Marvin Berry",
+    "organization": "SBG Systems",
+    "description": "Showcase Qinertia mechanical installation parameters estimation. Survey marine acquisition done with an APOGEE and a Septentrio GNSS receiver",
+    "type":"sbgECom",
+    "path":"rover/"
+  },
+  "settings": {
+    "gnss": {
+      "trajectory": {
+        "preciseSetup": false
+      },
+      "trueHeading": {
+        "preciseSetup": false
+      }
+    }
+  },
+  "processing": {
+    "motionProfile":"marineHarshSurvey",
+    "type":"insLoosely"
+  },
+  "reports": [
+    {
+      "name": "JSON report",
+      "template": "Minimal JSON",
+      "outputDir": "reports/json"
+    },
+    {
+      "name": "PDF report",
+      "template": "Lever Arm PDF"
+    }
+  ]
+}

leverArmEstimationCli/rover/apogee-leverArm.json

@@ -0,0 +1,48 @@
+{
+	"name":	"Apogee Lever Arm",
+	"mode":	"normal",
+	"device":	{
+		"productCode":	"APOGEE-E-G3A3",
+		"deviceId":	"050000000",
+		"hwRevision":	"2.2.0.0",
+		"mnfDate":	"08/01/18",
+		"macAddress":	"98:5C:93:00:02:85",
+		"fmwVersion":	"3.0.7027-stable",
+		"imu":	{
+			"productCode":	"APOGEE-ISU-G3A3-V2",
+			"deviceId":	"060000000",
+			"hwRevision":	"2.0.0.0",
+			"btVersion":	"1.9.109-stable",
+			"fmwVersion":	"1.5.27-stable"
+		}
+	},
+	"settings":	{
+		"imu":	{
+			"imuId":	"apogee_i_surface_v1",
+			"leverArmId":	"cover_target"
+		},
+		"sensor":	{
+			"motionProfile":	"marineHarshSurvey",
+			"alignment":	{
+				"rough":	["forward", "right"],
+				"fine":	[0, 0, 0]
+			},
+			"leverArm":	[0.0, 0.0, 0.0],
+			"monitoringPoints":	[[0, 0, 0], [0, 0, 0], [0, 0, 0]]
+		},
+		"modules":	{
+			"gnss1":	{
+				"modelId":	"septentrio",
+				"mode":	"dual_manual",
+				"posRejection":	"auto",
+				"hdtRejection":	"auto",
+				"antenna":	{
+					"antexId":	"Generic",
+					"reference":	"arp",
+					"leverArm1":	[0.0, 0.0, -3.0],
+					"leverArm2":	[2.0, 0.0, -2.5]
+				}
+			}
+		}
+	}
+}