The generic AIR file is used to input air data measurements from an Air Data Computer (ADC) or equivalent sensor. It provides barometric altitude and airspeed aiding to the INS, which can improve the solution accuracy and robustness in GNSS-degraded or GNSS-denied environments, particularly for airborne applications.
Conventions
Qinertia expects barometric altitude expressed in meters above mean sea level (MSL) and airspeed expressed in m.s⁻¹ along the vehicle X axis.
ASCII Header
The header is used to configure how Qinertia should parse and import the file. The header always starts with the$qeventmagic keyword to identify it. Then each parameter can be set using a succession of<param>:<value>pairs stored line by line.
If there is no header or the parameter is not present in the file, Qinertia will use the default value that is indicated in bold.
Param
Optional
Description
$version
AirData ASCII file format version, should be set to 2
$hasAirSpeed
Indicates whether or not air speed is available in records.
The default value is true
$hasAltitude
Indicates whether or not altitude is available in records.
The default value is true
ASCII data
The ASCII air data part is a succession of time stamped speed and altitude measurement stored line per line. Each column field is separated by a tabulation '\t' or semicolon ';' character.
Field
Type
Unit
Optional
Description
timestamp
-
-
The air data time stamp expressed in the format specified by the $timeSource header field.
