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Input formats
You can find below the list of all file formats that can be used to import to data to Qinertia. Several GNSS/IMU/INS manufacturers have a native support in Qinertia but Qinertia is also able to import data from simple generic file formats so any GNSS/IMU/INS can be easily processed.
Type of data
Qinertia can decode and use the following type of data:
| Type | Description |
|---|---|
| INS Solution | Real Time INS solution used for display purposes only. |
| GNSS PVT | Real Time GNSS Position, Velocity and Time data that can be used for Loosely Coupled processing |
| True Heading | True heading measurements most of the time computed by a dual antenna GNSS receiver. The true heading information can be used for all INS processing modes to allow faster INS initializing time in low dynamics conditions and also provide the best achievable heading / INS accuracy. |
| RAW GNSS | RAW GNSS observables that are mandatory to post-processed tightly coupled INS solutions or GNSS only PPK/PPP. Qinertia accepts both RINEX or binary files from major GNSS manufacturers. |
| IMU | Inertial Measurement Unit data that is used to process an INS solution in Qinertia. It contains the body rotation rates and accelerations. The measurements have to be correctly time stamped to UTC/GPS time. |
| Odometer | DMI (Distance Measurement Instrument) also called odometer can improve dead reckoning accuracy for automotive applications by providing the vehicle body velocity. |
| DVL | DVL (Doppler Velocity Log) provides a 3D velocity for marine applications. It can help the most difficult survey under large bridges, tunnels or very narrow channels with tall buildings. |
| Events | Time tag events manly used to time stamp precisely Lidar data, or camera shutter event |
| Photo Match | Photo match files used to list pictures with associated precise time information. Can also provide a GNSS to camera CMOS sensor lever arm to support GNSS only photogrammetry missions. |
| Configuration | Qinertia can read directly the INS configuration to extract lever arms, alignment, etc |
Files formats
Please find below for each manufacturer which formats and messages are supported. You will also find the full documentation for Qinertia generic file formats.