High Performance INS FAQ

The latest SDK version includes the latest tools, drivers, documentations, and C code samples as well as improved performance and reliability.

Firmware V3

The 3.0 firmware series brings major improvements for all High Performance INS products and offer a unified firmware and set of features for EKINOX, APOGEE, NAVSIGHT and QUANTA products.

It aims to ease surveyors’ jobs especially when used with post processing. The datalogger has been improved and refined with a clearer file layout and new modes of operation such as blackbox.
With this release, post processing workflow with Qinertia is further simplified as all the INS settings are automatically read by Qinertia.

In addition, two new motion motion profiles have been added to better support autonomous vehicles such as large trucks and to get the right balance between accuracy and robustness for marine applications.

Finally, algorithms have been refined to deliver outstanding performance in harsh environments. The real time heave behavior and accuracy has also been improved in shallow water conditions.

Info: This update can take up to 5 minutes to be completed. Please don’t interrupt the updateprocess until it’s completed. If you have any doubt, please contact the support team

Warning: After applying this update, it’s not possible to downgrade from 3.x series to 2.x.

If you are updating from an older version of the SDK, it is recommended to uninstall all versions prior to the current SDK before installing a newer one.

Once you get the InertialSDK executable file, you can simply launch it and follow the instructions.

Once this step is done, you can launch the sbgCenter. Connect your device and start configuring and monitoring the outputs.

Status Configuration

On the Ekinox, you have to check the status output is enabled (at the frequency of your choice):

Status panel

All the status are shown through the web interface:


Status definition

General

These fundamental status should be “OK” at all time, in case of trouble they should always be checked first.
Power status on General, IMU and GPS: Let you know if one of these element has a problem on power supply
Settings: Last settings could not be properly loaded, settings by default are used instead.
Temperature: Temperature is out of the specified range [-40 +75] °C
Data Logger: Wrong when data logger is not able to log anymore (for instance it is full)

IMU

General

Communication: Shows if communication is possible between the processing unit and IMU
Built In test: Constantly checks if the IMU is fully working or not.
Sensors

Shows if the accelerometers and gyroscopes are properly initialized at start and if they are out of measurement range.

GPS

Show if a GPS solution is found, the type gives an idea of the accuracy we can expect.

On the position, the possible types are:

No Solution
Single Point
Differential
RTK Float
RTK Int
On the velocity, the possible types are:
No Solution
Doppler

Heave

Shows if the heave can be correctly computed. It will go wrong when a solution can not be found (for instance the heave period is too long). If a too high step is done, this status can go wrong for a short duration.

Magnetometer

Here are the status of the magnetometer, which can be external or internal. In case an external magnetometer is used with its own accelerometers, we have the status of the accelerometers displayed here. In case the internal magnetometers are used, the accelerometers are the internal ones.

A magnetometer module must be enabled to get these status fields displayed.

Aiding Inputs

Shows which aiding equipment is connected and provides valid data. This is the first thing to verify when connecting an external device to the Ekinox in order to see if connection and protocol are valid and received.

Solution

Shows the solution mode (also available on the main screen), this can be:

Vertical gyro: only roll and pitch are computed
AHRS: Roll, pitch and heading are computed
Nav Velocity: Limited navigation data are available (no absolute position is available).
Nav Position: Navigation data are available
In addition to the computation mode, the “Solution” field also shows which aiding input is used in the Kalman filter. It its also important to check this to verify if the Kalman filter correctly uses all aiding equipment.
Interfaces

Shows the status of each port. Even when closed, “receive” and “transmit” status should be green, otherwise contact technical support.

Clock


This status shows if we have a valid input signal to synchronize the Ekinox internal clock on. Then it shows if the clock is aligned. At start it may take some time for the clock to be synchronized. The Clock Alignment status displays “Steering” unitl the flag goes valid.

We also have a status on the UTC information that are received, and if the Ekinox is able to synchronize on it.

Do you provide the GPS Antenna?

On Ekinox-N and Ekinox-D, we can provide the following GNSS antennas:

  • Antcom G3Ant-2AMNT1 (GPS L1 + GLONASS)
  • Antcom G5Ant-3AMT1 (GPS L1+L2, GLONASS)
  • Novatel GPS702GG: Survey grade antenna

Using an other antenna, which specification should I consider?

You have to check the gain of the antenna is between 15 – 35 dB.
Power consumption should be below 70mA at 5 V.

Network configuration

The following table describes how to setup an Ekinox/Apogee within a network for efficient communications.


It takes a long time to detect my Ekinox /Apogee to apply settings in the web page

Connection will be much faster using the following configurations:

Ekinox/Apogee in Dynamic mode, connected to a network that includes a DHCP server
Whole network, including Ekinox/Apogee properly configured in static mode

I cannot find the Ekinox/Apogee on the web page

The sbgCenter (provided with the inertial device) should be always able to find your Ekinox once plugged in the network. If you don’t remember which IP is configured in the Ekinox, or how to connect to it, the sbgCenter will tell you on which IP your Ekinox can be found.

If the IP given by the sbgCenter is not available (the web page doesn’t work), then you have to configure your host PC with correct IP and mask settings.

In case of networking configuration issues, it may take up to 3 minutes to detect your Ekinox.

The sbgCenter can’t find my Ekinox/Apogee!

You probably configured your sensor and host PC with the same IP address. Resolve IP conflict by changing your host PC address, conforming to the recommendations above.