Novatel
Qinertia offers a full support for Novatel GNSS and SPAN INS binary files. Novatel binary files are directly parsed by Qinertia and you can use them to compute GNSS only and INS solutions. Qinertia will also accept directly Novatel binary files for GNSS base stations so you don't have to bother converting data to RINEX for instance.
The following measurements and information are parsed from Novatel binary files:
- RAW GNSS data
- Ephemeris GNSS data
- Read time dual antenna heading solution
- Real time INS solution (euler and navigation)
- IMU sensor data & status
- Event markers
- Device Configuration such as lever arms
ENU Frame
Novatel SPAN is using an ENU (East, North, Up) reference frame while Qinertia a NED (North, East, Down). Qinertia will thus do this conversion during the import process automatically. However, please setup correctly lever arms as the convention is not the same.
Supported messages
Message | Description |
|---|---|
| RANGE | Satellite range information |
| RANGECMP | Compressed version of the RANGE log |
| RANGECMP2 | Compressed version of the RANGE log |
| GPSEPHEM | Decoded GPS L1 C/A ephemerides |
| GLOEPHEMERIS | Decoded GLONASS L1 C/A ephemeris |
| QZSSEPHEMERIS | Decoded QZSS parameters |
| BDSEPHEMERIS | Decoded BeiDou ephemeris |
| GALFNAVEPHEMERIS | Decoded Galileo FNAV Ephemeris |
| GALINAVEPHEMERIS | Decoded Galileo INAV Ephemeris |
| IONUTC | Ionospheric and UTC data |
| RAWIMUS | IMU Data Legacy (Short Header) |
| RAWIMU | IMU Data Legacy |
| RAWIMUSX | IMU Data Extended (Short Header) |
| RAWIMUX | IMU Data Extended |
| HEADING | Heading information with multiple rovers (legacy) |
| HEADING2 | Heading information with multiple rovers |
| INSPVAX | Inertial PVA – Extended |
| INSCONFIG | Determine required settings for post-processing or system analysis |
| MARK1PVA | Position, Velocity and Attitude at Mark Input Event 1 |
| MARK2PVA | Position, Velocity and Attitude at Mark Input Event 2 |
| MARK3PVA | Position, Velocity and Attitude at Mark Input Event 3 |
| MARK4PVA | Position, Velocity and Attitude at Mark Input Event 4 |
| TAGGEDMARK1PVA | Position, Velocity and Attitude at a Tagged Mark Request 1 |
| TAGGEDMARK2PVA | Position, Velocity and Attitude at a Tagged Mark Request 2 |
| TAGGEDMARK3PVA | Position, Velocity and Attitude at a Tagged Mark Request 3 |
| TAGGEDMARK4PVA | Position, Velocity and Attitude at a Tagged Mark Request 4 |