ANovAtelPrecisePositioningProduct InertialExplorer ...

A NovAtel Precise Positioning Product

Inertial Explorer? Inertial Explorer Xpress

GrafNav / GrafNet GrafNav Static

User Manual

Waypoint Software 8.90 User Manual v9

April 2020

Waypoint Software 8.90 User Manual

Publication Number: OM-20000166 Revision Level: v9 Revision Date: April 2020 This manual reflects Inertial Explorer software version 8.90.

Warranty

NovAtel Inc. warrants that its GNSS products are free from defects in materials and workmanship, subject to the conditions set forth below on our website: products/warranty/ and for the following time periods:

Software Warranty One (1) year

Return instructions

To return products, refer to the instructions on the Returning to NovAtel tab of the warranty page: products/warranty/.

Proprietary Notice

Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc. The software described in this document is furnished under a license agreement or non-disclosure agreement. The software may be used or copied only in accordance with the terms of the agreement. It is against the law to copy the software on any medium except as specifically allowed in the license or non-disclosure agreement. The information contained within this manual is believed to be true and correct at the time of publication. NovAtel, Waypoint, GrafNav/GrafNet, Inertial Explorer, SPAN, OEM7, OEM6, OEMV, OEM4 and AdVance are registered trademarks of NovAtel Inc. All other product or brand names are trademarks of their respective holders.

? Copyright 2020 NovAtel Inc. All rights reserved. Unpublished rights reserved under International copyright laws.

Waypoint Software 8.90 User Manual v9

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Table of Contents

END-USER LICENSE AGREEMENT ("EULA")

Foreword

Chapter 1 Waypoint Software Overview

1.1 Overview of the Waypoint Products 1.1.1 Inertial Explorer 1.1.2 Inertial Explorer Xpress 1.1.3 GrafNav 1.1.4 GrafNet 1.1.5 GrafNav Static 1.1.6 Waypoint TerraStar Near Real-Time (NRT) Precise Products 1.1.7 Moving Baseline Features 1.1.7.1 Relative Processing 1.1.7.2 Relative Vector Output 1.1.7.3 Relative Velocity

1.2 Software Utilities 1.2.1 Concatenate, Slice and Resample 1.2.2 Copy User Files 1.2.3 Download Service Data 1.2.4 GPB Viewer 1.2.5 GNSS Data Converter

1.3 Processing Modes and Solutions 1.3.1 Processing Modes 1.3.1.1 Static Mode 1.3.1.2 Kinematic Mode 1.3.2 Processing Solutions 1.3.2.1 ARTK solution 1.3.2.2 Fixed static solution 1.3.2.3 Float solution

Chapter 2 Installation

2.1 What You Need To Start 2.1.1 Activation ID 2.1.2 Installation file

2.2 Supported Operating Systems 2.3 How to install Waypoint software 2.4 Activate Your License

2.4.1 License Activation Utility 2.4.1.1 Utility Activation 2.4.1.2 Manual/Offline

2.4.2 Auto Activate/Return 2.4.2.1 Closing Waypoint Software 2.4.2.2 Opening Waypoint Software

2.4.3 Retrieve Activator Information

Chapter 3 Inertial Explorer/Inertial Explorer Xpress/GrafNav

3.1 GrafNav Overview 3.2 GrafNav Static Overview 3.3 Inertial Explorer Overview 3.4 Inertial Explorer Xpress Overview 3.5 Getting Started with Inertial Explorer

3.5.1 Data Collection

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3.5.2 Start Inertial Explorer 3.5.3 Create a project using the New Project Wizard 3.5.4 Process Data

3.5.4.1 Process GNSS-only: 3.5.4.2 Process Loosely Coupled [IE only]: 3.5.4.3 Process Tightly Coupled [IE/IEX only] 3.5.5 Plotting and Quality Control (QC) 3.5.6 Smooth Solution (IE/IEX only) 3.5.7 Export Final Coordinates

3.6 File menu 3.6.1 New Project 3.6.1.1 Project Wizard 3.6.1.2 Empty Project 3.6.2 Open Project 3.6.2.1 How to open a project 3.6.2.2 Recent projects 3.6.3 Save Project 3.6.3.1 How to save a project 3.6.4 Save As 3.6.4.1 How to save as a project 3.6.5 Add Master File(s) 3.6.5.1 Master Station Position 3.6.5.2 Datum Selection 3.6.5.3 Epoch Selection 3.6.5.4 Antenna Height 3.6.5.5 Antenna Models 3.6.6 Add Remote File 3.6.6.1 How to add a remote file 3.6.6.2 Compute from Slant 3.6.7 Add IMU File (IE/IEX only) 3.6.8 Add Precise/Alternate Files 3.6.8.1 Broadcast Ephemeris 3.6.8.2 Precise Ephemerides 3.6.8.3 Waypoint TerraStar Near Real-Time (NRT) Precise Satellite Clocks and Orbits 3.6.8.4 Satellite Clock Files 3.6.9 Load 3.6.9.1 GNSS Solution 3.6.9.2 PPP Solution 3.6.9.3 LC Solution (Loosely Coupled) 3.6.9.4 TC Solution (Tightly Coupled) 3.6.9.5 Any Solution 3.6.9.6 Single Point Solution (from .gpb file) 3.6.9.7 Camera Event Marks 3.6.9.8 Station File (.sta/nst) 3.6.9.9 Stations with Known Lat/Long 3.6.10 Preferences 3.6.10.1 Display 3.6.10.2 Solution 3.6.10.3 Export 3.6.10.4 Update 3.6.10.5 Licensing 3.6.11 Exit

3.7 View Menu 3.7.1 Project Overview 3.7.2 Coordinate/Antenna 3.7.2.1 Master Station Settings 3.7.2.2 Coord. Options 3.7.2.3 Save to Favorites

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3.7.2.4 Remote Settings 3.7.3 Moving Baseline Options (GrafNav Only)

3.7.3.1 Azimuth Determination Options 3.7.4 GNSS Observations

3.7.4.1 View Raw GNSS Data 3.7.4.2 View Ephemeris File 3.7.4.3 View Station File 3.7.4.4 Resample/Fill Gaps using the following options 3.7.4.5 Disable 3.7.4.6 Remove 3.7.5 Forward and Reverse Solutions 3.7.5.1 GNSS / PPP Message Log 3.7.5.2 GNSS Summary 3.7.5.3 IMU LC / TC Message Log (IE/IEX only) 3.7.6 Processing Summary 3.7.7 Features 3.7.7.1 Columns on the Features Editor window 3.7.7.2 Buttons on the Features Editor window 3.7.8 ASCII File(s) 3.7.9 Binary File(s) (IE/IEX only) 3.7.10 Raw GNSS Data 3.7.11 Show Map Window 3.7.11.1 Mouse Usage in Map Window

3.8 Process Menu 3.8.1 Process GNSS 3.8.1.1 Processing Method 3.8.1.2 Processing Direction 3.8.1.3 Processing Settings 3.8.1.4 Processing Information 3.8.1.5 General (Differential Settings) 3.8.1.6 General (PPP Settings) 3.8.1.7 ARTK Options (Differential GNSS processing only) 3.8.1.8 Measurement 3.8.1.9 User Cmds (Not available in IEX) 3.8.2 Process LC (Loosely Coupled) and TC (Tightly Coupled) 3.8.2.1 Process Settings 3.8.2.2 IMU Installation (IE/IEX only) 3.8.2.3 Lever Arm Offset (IMU to GNSS Antenna) 3.8.2.4 Body-to-IMU Rotations (Rotate Vehicle Frame into IMU Frame) (IE/IEX only) 3.8.2.5 GNSS Heading Offset (IE/IEX only) 3.8.2.6 Advanced IMU (IE/IEX only) 3.8.2.7 Alignment (IE/IEX only) 3.8.2.8 States (IE/IEX only) 3.8.2.9 GNSS (IE/IEX only) 3.8.2.10 Updates (IE/IEX only) 3.8.2.11 Constraints (IE/IEX only) 3.8.3 Pre-Processing Messages 3.8.4 Processing Window 3.8.4.1 Status 3.8.4.2 Progress 3.8.4.3 View 3.8.4.4 Notifications 3.8.5 Combine Solutions 3.8.6 Smooth Solutions (IE/IEX only) 3.8.6.1 Smoother Settings 3.8.7 Solve Boresighting Angles 3.8.7.1 What You Need to Get Started 3.8.7.2 Show

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