Qinertia 4.1 is an update packed with several new features and enhancements including the PPK certification new solution type, new processing status panels, magnetometer support and T-Pos file format compatibility that greatly improve Qinertia's capabilities.

This release also delivers improvements to the CLI and base station management, along with support for more IMU models and third-party odometer data.

With these enhancements and a comprehensive range of bug fixes, Qinertia 4.1 is an essential upgrade for all users.

Download & Installation

Please find below the setup package for Windows and Qinertia installation script for Linux platforms.

Download Qinertia (Windows) Download Qinertia (Linux)

Highlights

Please find below the main highlights for this Qinertia release:

  • New PPK Fixed Certified solution type
  • Support for magnetic-based heading processing
  • New processing status panels
  • T-Pos file format support
  • Set priority for using precise ephemeris
  • Dropped AppImage in favor of .deb packages
  • CLI general improvements

New Features

  • SBGPP-1505 - New processing status panels: VBS preview report
  • SBGPP-2316 - Add new status output: PPK fixed certification
  • SBGPP-2767 - Static Export: Add an option to only use Fixed/Fixed PPK epochs
  • SBGPP-3062 - CLI: Add an option to allow paid providers in auto selection
  • SBGPP-3063 - Base Stations: Prioritize 30s data rate over 1s for base station PPP controls
  • SBGPP-3076 - SBET Export: Add an option to either output the MSL altitude or ellipsoid height
  • SBGPP-3086 - Add support for T-Pos file format
  • SBGPP-3120 - New processing report panel with summary and detailed info
  • SBGPP-3169 - Magnetometers: Add magnetometer aiding to CLI
  • SBGPP-3180 - Add error models for IMU 59, 71, 79, 90, 93
  • SBGPP-3204 - Licensing: Add Static (GNSS) motion profile in Qinertia UAV
  • SBGPP-3269 - Add support for third party odometer data
  • SBGPP-3304 - Add the possibility to enable time graph high quality rendering
  • SBGPP-3349 - Add support for IMU 17
  • SBGPP-3408 - Auth: Add a refresh button in the login page
  • SBGPP-3420 - Add the possibility to open debug logs directory
  • SBGPP-512   - Magnetometers: Add magnetic based heading aiding module

Improvements

  • SBGPP-1613 - Ublox: Enhance phase signal availability with specific pre-processing steps.
  • SBGPP-2634 - Timeliine Navigation: Improved epoch-by-epoch navigation using left and right arrows.
  • SBGPP-2659 - Log Import: Enhance error messages when importing logs with inconsistent timestamps.
  • SBGPP-2838 - DVL Integration: Rework DVL integration to better reflect ENU or NED systems.
  • SBGPP-2841 - CLI: Add the ability to specify global GNSS resources.
  • SBGPP-2924 - VBS: Request valid datum information only for the master base.
  • SBGPP-2987 - GUI: Increase the number of CORS providers displayed in the window upon opening.
  • SBGPP-3013 - Septentrio: Detect encrypted Meas3 epochs and warn users.
  • SBGPP-3018 - Ephemeris and Corrections Display: Display which ephemeris and additional corrections are used in processing.
  • SBGPP-3019 - PPK Processing: Encourage the use of precise ephemeris in PPK processing, allowing user control.
  • SBGPP-3027 - PPK Processing: Block processing for GNSS observations with a data rate of less than 1 second in non-static motion profiles.
  • SBGPP-3054 - Geodetic Configuration: Make it explicit when the geodetic configuration results in a NOOP (no-operation) transformation.
  • SBGPP-3064 - Project Creation: Show trajectory computation progress in the project creation wizard.
  • SBGPP-3082 - Third-Party POS: Add support for differential corrections.
  • SBGPP-3102 - Update the antenna library.
  • SBGPP-3104 - Update: Add a channel selection option to access experimental updates.
  • SBGPP-3106 - Documentation: Include CLI application settings options for ephemeris selection in the documentation.
  • SBGPP-3125 - Base Station (PPP): Improve GUI feedback for PPP check position mismatches.
  • SBGPP-3126 - Linux: Enhance installation scripts and packaging.
  • SBGPP-3128 - Update Behavior: Improve the application's behavior after an update has been downloaded.
  • SBGPP-3136 - Base Station Identifier: Use the long (9-character) identifier for base stations.
  • SBGPP-3161 - GUI: Standardize header styles in the application settings dialog.
  • SBGPP-3166 - PPP Float Processing: Improve vertical accuracy in PPP float processing.
  • SBGPP-3188 - TECU Scale: Refine TECU scale to better reflect ionospheric conditions.
  • SBGPP-3211 - Loosely Coupled GNSS: Improve loosely coupled performance under challenging GNSS conditions.
  • SBGPP-3243 - Authentication: Add a refresh button.
  • SBGPP-3247 - SBET Output: Output rotation rates and accelerations from the INS solution.
  • SBGPP-3275 - ZARUT Aiding: Relax ZARUT aiding to ensure optimal performance in quasi-static conditions.
  • SBGPP-3298 - Export: Improve exported INS acceleration data at the output monitoring point.
  • SBGPP-3309 - BeiDou Constellation: Update precise ephemeris to include the BeiDou constellation.
  • SBGPP-3368 - SWEPOS File: Download the SWEPOS "receiver" file by default instead of the "stream" file.
  • SBGPP-3375 - Base Station Dialog: Improve the speed at which the base station dialog opens in dense regions.
  • SBGPP-3379 - Improved IMU37 error model and adjust nominal rate from 200Hz to 100Hz
  • SBGPP-3384 - Improved IMU error model for HG1930 and HG1900
  • SBGPP-3388 - Update antenna database

  • SBGPP-3423 - Crash Report: Pre-fill email/name with connected user info

Bug Fixes

  • SBGPP-2939 - ASCII Export: Clamp Euler standard deviation to valid values
  • SBGPP-2967 - Export/Analysis/Rejection Span edition issue
  • SBGPP-3037 - Base Station: Fix selected base position not updating correctly in trajectory map
  • SBGPP-3045 - Base Station: Fix PPP control position mismatch when switching providers
  • SBGPP-3049 - Septentrio: Fix high-frequency data loss in lock detection
  • SBGPP-3078 - SBET Export: Investigate discrepancies in X/Y/Z velocity and platform heading definitions
  • SBGPP-3121 - Allow negative L1/L2 antenna offset values
  • SBGPP-3127 - Update: Fix release note not opening on Linux platforms
  • SBGPP-3129 - Linux: Fix Help > Release Note not working on Linux
  • SBGPP-3130 - Linux: Fix news feed and Learn & Support links not functioning
  • SBGPP-3132 - License: Fix license invalidation issues after Stripe renewal
  • SBGPP-3134 - Fix missing general license information
  • SBGPP-3135 - Base Station: Fix antenna information not updating after manual download
  • SBGPP-3143 - Fix separation plots not refreshing after processing
  • SBGPP-3191 - Export ASCII: Intermittent timestamp value issue at second rollover
  • SBGPP-3209 - Export ASCII: Fix use of Unicode characters in date-time format
  • SBGPP-3222 - Fix potential crash when selecting another license
  • SBGPP-3227 - Geodesy: Fix undulation computation when no datum transformation is required
  • SBGPP-3228 - Boresight: Fix issue when exporting at Camera point of interest
  • SBGPP-3233 - Fix partial SP3 import
  • SBGPP-3246 - Export: Fix interpolation and extrapolation behavior for missing data
  • SBGPP-3250 - CLI: Fix license not properly returned on Linux
  • SBGPP-3256 - Timeline: Fix overflow in timeline boundaries
  • SBGPP-3258 - Fix incorrect DVL alignment estimation initial angles unit
  • SBGPP-3268 - Fix broken "Edit Profile" link
  • SBGPP-3270 - Fix odometer lever arm estimation inaccuracy
  • SBGPP-3281 - Time Graph: Fix rendering glitches
  • SBGPP-3285 - Qinertia CLI: Prevent re-alignment of already aligned data in real-time settings
  • SBGPP-3288 - Fix crash when launching PPP on a base with a single epoch
  • SBGPP-3292 - Clarify export filters definition
  • SBGPP-3294 - Doc: Clarify export filters definition
  • SBGPP-3305 - CLI: Offline license invalidated after successive processes
  • SBGPP-3306 - Fix issue with multipass processing
  • SBGPP-3307 - Fix Novatel log not correctly decoded during GPS time acquisition
  • SBGPP-3318 - Base Station: Fix missing antenna height in base station RINEX export
  • SBGPP-3322 - Fix potential crash when displaying map position details panel
  • SBGPP-3357 - Export: Use processed solution for "All Epochs" export
  • SBGPP-3362 - Fix potential crash during online GNSS resource import with multiple Qinertia instances
  • SBGPP-3387 - PPP: Fix crash when using new Galileo E06/E29 satellites
  • SBGPP-3390 - Fix crash when opening export panel with no processed data available
  • SBGPP-3395 - Fix issue with disabling mechanical settings estimation when it shouldn’t be possible

  • SBGPP-3422 - Fix possible wrong log file attached to crash report