Leica IPAS Pro navigation processing

In the following all output filenames should be suitably named. EG "yyyyjjj.ext"

1. Open IPAS Pro
2. Click "New" on the open project dialog box
   1. Browse to a suitable location (the IPAS data directory for this project?) and enter a new project name (yyyyjjj)
   2. Main processing dialog should open.
   3. Create 'extract' and 'gps' directories to hold extracted raw data and grafnav output respectively.
3. Click Raw Data to open the IMU data extraction dialog
   1. Add .000 data file from raw directory (The first data file containing the IMU Raw data)
   2. Add a path to the extract directory
   3. click options and select RT GPS/ RT Nav if you require real time solutions (dont think we do)
   4. Click Extract to extract the data.
   5. Click Save when it is finished and you have read the log of messages. This returns to main dialog.
4. Click GNSS to open the GPS processing dialog
   1. Click Launch to open Grafnav software. (See the wiki page on Grafnav processing) *If the applanix processing has already been done then you might be able to skip this stage and use the trajectory generated with POSGNSS*
   2. Back in IPAS add the ASCII file that has been exported from Grafnav, and click import. If the file is not in the correct format it will tell you, go back and re-export from Grafnav. Otherwise click OK.
5. Click Configure to open the configurations dialog box
   1. Check the timerange for the IMU lies within that of the GPS. if it doesnt, panic.
   2. Can change the start/end time if you dont want to process the entire line of data
   3. Select output directory/filename.
   4. Click the tabs at the top and verify/edit the GPS and IMU lever arms/boresight if known (values below).
   5. Click Advanced. Use static/in-motion. can use Real Time to initialise the kalman filter if RT solution available. Don't know if this is any better.
   6. Click OK to return to main dialog
6. Click Go to start the processing. Specify the output file and click start.
   • If error occurs - "can't open log file ./proc/..."- then goto the configure tab and change the output sol file path. This could be because the specified directory does not exist.
7. Click Done to finish and start analyzing the data. can view graphs of the raw and processed results.
8. The final processed file is a .sol file, it can be converted to SBET using tools > file converter.
9. Tidy up. All grafnav output should be in 'gps' dir.
10. If there is RCD data for the project then create a sol file for the RCD by changing the lever arm values and output file name to *_camera.sol.

Lever arms (March 2011)

Lever arm values to enter into the software for 2011 onwards are:

For LiDAR processing:

	X	Y	Z
GNSS	-0.144	-0.029	-1.672
IMU	-0.411	0.206	-0.192
User Frame	-0.142	-0.001	-0.188

These values are entered in the flight planning software and should automatically populate in IPAS.

For processing the sol file for the RCD use the following lever arm values:

	X	Y	Z
GNSS	-0.256	-0.090	-1.612
IMU	-0.523	0.145	-0.132

Lever arms (February 2010)

Lever arm values to enter into the software from 2010 onwards are:

	X	Y	Z
GNSS	0.019	-0.024	-1.692
IMU	-0.411	0.206	-0.192
User Frame	-0.142	-0.001	-0.188

These values are entered in the flight planning software and should automatically populate in IPAS.

Lever arms (september 2008)

The GNSS lever arms to enter into the software are (i think): X = 0.159 Y = -0.024 Z = -1.522

The IMU lever arms to enter into the software are: X = -0.269 Y = 0.207 Z = -0.004