Qinertia 3.2 sample pack:

 - Added a new example to showcase Qinertia 3.2 mechanicalEstimationPass option
 - Improved files organization
 - Improved documentation

README.md

@@ -1,6 +1,7 @@
 # Qinertia CLI Examples
 Qinertia is a professional GNSS/INS post processing software.
-This modern GNSS/INS Post Processing Software can be used with any RTK capable GNSS receivers to deliver centimeter-level Post Processed Kinematic solution (PPK).
+
+This modern GNSS/INS Post Processing Software can be used with any RTK capable GNSS receivers to deliver centimeter-level Post Processed Kinematic solution (PPK).\
 Qinertia can also accepts Inertial Measurement Unit (IMU) data to provide a highly accurate and robust tightly coupled GNSS/INS solution.
 
 Qinertia offers an intuitive and powerful Graphical User Interface as well as an easy to use and full-featured Command Line Interface (CLI).
@@ -12,15 +13,16 @@ The full Qinertia documentation can be found here: https://support.sbg-systems.c
 # GNSS modes
 Qinertia has been designed from the ground up to support latest GNSS technologies and signals to deliver the most reliable, robust and accurate solution on the market.
 
-It offers unique features such as Precise Point Positioning and Virtual Base Station (VBS) GNSS augmentation.
+It offers unique features such as Precise Point Positioning and Virtual Base Station (VBS) GNSS augmentation.\
 Qinertia comes with a built in world-wide CORS (Continuously Operated Reference Stations) GNSS reference stations to offer centimeter-level accuracy.
 
 # Photogrammetry & DJI
 Qinertia includes a dedicated module for photogrammetry. Qinertia can post process GNSS and, if available, IMU data to output a highly accurate orientation and position of each picture.
+
 Qinertia can also update pictures EXIF/XMP metadata with this highly accurate camera orientation (roll, pitch, yaw) and position to enable high quality and reliable 3D photogrammetry reconstructions.
 
-Qinertia has a specific support for DJI UAV such as the Phantom 4 RTK, the Matrice 300 RTK with Zenmuse P1 payloads.
-Qinertia directly reads DJI acquisitions data to compute an accurate Post Processed Kinematic solution (PPK).
+Qinertia has a specific support for DJI UAV such as the Phantom 4 RTK, the Matrice 300 RTK with Zenmuse P1 payloads.\
+Qinertia directly reads DJI acquisitions data to compute an accurate Post Processed Kinematic solution (PPK).\
 The GNSS antenna to CMS lever arm offsets are taken into account to update each picture with an accurate position.
 
 With Qinertia, you get a turnkey solution to enable professional and reliable photogrammetry workflow for any platform and ideal for DJI solutions.
@@ -37,23 +39,18 @@ Please select the right tag version according to the Qinertia version you are us
 Qinertia offers a Command Line Interface (CLI) to automate processing and integrate PPK in a more complex workflow.
 This repository hosts demonstration projects to showcase how to use the Qinertia CLI.
 
-## Simple CLI
+## Simple Demo
 This is a simple NAVSIGHT acquisition used to demonstrate basic Qinertia CLI usage.
-This log uses a single base station to compute a post processed tightly coupled INS solution.
-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
+This log uses a single base station to compute a post processed tightly coupled INS solution for a NAVSIGHT unit.
+
+## Lever Arm Estimation
 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.
+You can use Qinertia to easily estimate mechanical installation parameters such as lever arms and alignments.\
+This project shows primary GNSS antenna lever arm and dual antenna alignment estimation using a loosely coupled processing.
 
-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.
+## Mechanical Estimation Pass
+This project demonstrates the `mechanicalEstimationPass` parameter for Qinertia CLI.
 
-Please contact the support team support@sbg-systems.com if you have any question.
+With this parameter, Qinertia can automatically estimate mechanical parameters such as lever arms and then post process the data using the estimated parameters.

leverArmEstimationCli/README.md → leverArmEstimation/README.md

@@ -1,37 +1,40 @@
 # 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.
+High Performance SBG Systems INS come with and automatic real time lever arm estimation tools.\
+Estimating lever arms requires 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.
+This example, simply processes a calibration acquisition using loosely coupling to compute and export estimated lever arms.\
+Because loosely coupling is used, you have to make sure the real time GNSS provides valid RTK or PPP (Precise Point Positioning) solutions.\
+If you are not able to get real time RTK/PPP positions, 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"
+```console
+qinertia-cli.exe process --license ########## --process-file "pathToData\leverArmEstimation.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.
+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.
+This CLI example has been designed and tested for Qinertia 3.1 versions and above.
 
 # 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.
+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.

mechanicalEstimationPass/README.md

@@ -0,0 +1,28 @@
+# Introduction
+This project demonstrates the `mechanicalEstimationPass` parameter for Qinertia CLI.
+
+Qinertia can automatically post process INS data to estimate mechanical parameters such as lever arms and alignments.\
+Once this estimation is completed, a second post processing run is executed using the estimated parameters to achieve the best accuracy.
+
+The log has been acquired in a car with a NAVSIGHT-S connected to an APOGEE-I.\
+A user supplied Septentrio base station is used to compute the tightly coupled INS solution.\
+The base station position frame is overridden to 'RGF93' datum.
+
+# Launching the Processing
+To start the processing, simple go to the Qinertia CLI directory and type the following command line:
+
+```console
+qinertia-cli.exe process --license ########## --process-file "pathToData\mechanicalEstimationPass.json"
+```
+
+# Qinertia Version
+This CLI example has been designed and tested for Qinertia 3.2 versions and above.
+
+# 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.

mechanicalEstimationPass/mechanicalEstimationPass.json

@@ -0,0 +1,63 @@
+{
+ "version": "1.1",
+ "project": {
+ "name":"Pre Estimate Lever Arm",
+ "author": "Chuck Berry",
+ "organization": "SBG Systems",
+ "description": "Use Qinertia CLI to estimate mechanical installation parameters and then automatically restart a processing.\nThis project post processes a tightly coupled GNSS/INS solution using NAVSIGHT-S APOGEE-I data.\nThe user supplies a GNSS base station and the datum is overridden to RGF93 by the user.",
+ "type":"sbgECom",
+ "path":"rover/"
+ },
+ "settings": {
+ "gnss": {
+ "trajectory": {
+ "preciseSetup": false
+ },
+ "trueHeading": {
+ "preciseSetup": false
+ }
+ }
+ },
+ "processing": {
+ "motionProfile":"automotive",
+ "type":"insSingle",
+ "mechanicalEstimationPass": true,
+ "bases": [
+ {
+ "positionMode": "published",
+ "position": {
+ "frame": "RGF93"
+ },
+ "antenna": {
+ "type": "TWIVP6050_CONE NONE"
+ },
+ "data": [
+ "base/sbgs167p.20d"
+ ]
+ }
+ ]
+ },
+ "exports": [
+ {
+ "name":"Export SBET",
+ "profile":"SBET: 200Hz",
+ "outputDir": "export"
+ },
+ {
+ "name":"Export ASCII",
+ "profile":"ASCII: INS at 200Hz",
+ "outputDir": "export"
+ }
+ ],
+ "reports": [
+ {
+ "name": "JSON report",
+ "template": "Minimal JSON",
+ "outputDir": "reports/json"
+ },
+ {
+ "name": "PDF report",
+ "template": "Full PDF"
+ }
+ ]
+}

simpleCliDemo/README.md → simpleDemo/README.md

@@ -1,22 +1,25 @@
 # Introduction
 This is a simple NAVSIGHT acquisition used to demonstrate basic Qinertia CLI usage.
-This log uses a single base station to compute a post processed tightly coupled INS solution.
-The log has been acquired in a car with a NAVSIGHT-S connected to an APOGEE-I.
+
+This log uses a single base station to compute a post processed tightly coupled INS solution.\
+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.
 
 # 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\cliDemo.json"
+```console
+qinertia-cli.exe process --license ########## --process-file "pathToData\simpleDemo.json"
+```
 
 # Qinertia Version
-This CLI example has been designed and tested for Qinertia 3.1 versions.
+This CLI example has been designed and tested for Qinertia 3.1 versions and above.
 
 # 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 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.