diff --git a/README.md b/README.md index d20f498..e4daa5a 100644 --- a/README.md +++ b/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 support@sbg-systems.com if you have any question. \ No newline at end of file diff --git a/leverArmEstimationCli/README.md b/leverArmEstimationCli/README.md new file mode 100644 index 0000000..26f4094 --- /dev/null +++ b/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 support@sbg-systems.com if you have any question. \ No newline at end of file diff --git a/leverArmEstimationCli/leverArmEstimationCli.json b/leverArmEstimationCli/leverArmEstimationCli.json new file mode 100644 index 0000000..a983a7c --- /dev/null +++ b/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" + } + ] +} diff --git a/leverArmEstimationCli/rover/apogee-leverArm.000 b/leverArmEstimationCli/rover/apogee-leverArm.000 new file mode 100644 index 0000000..33fb022 Binary files /dev/null and b/leverArmEstimationCli/rover/apogee-leverArm.000 differ diff --git a/leverArmEstimationCli/rover/apogee-leverArm.json b/leverArmEstimationCli/rover/apogee-leverArm.json new file mode 100644 index 0000000..54d3aab --- /dev/null +++ b/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] + } + } + } + } +} \ No newline at end of file