Advanced commands
Advanced commands are options that can be set on the INS to enable functionality or change the behaviour of the INS. They are set in the .cfg file.
The easiest way to set these advanced commands is on the Commands tab inside the Advanced Tools page in NAVconfig. NAVconfig is available for Windows as part of NAVsuite, which is OxTS’ proprietary suite of applications for configuring and interacting with OxTS devices.
NAVsuite can be downloaded from the OxTS website https://support.oxts.com/hc/en-us/sections/115000789105-NAVsuite
You can also manually edit the file by accessing via an FTP connection to your INS.
Option |
Description |
|---|---|
gad_csv_output_[enabled] |
Off: turn off csv_output (default)Immediate: turn on csv output with the data as logged e.g. timestamps as delays Resolved: turn on csv output with the timestamps resolved |
aid_gpsint1_[enabled] |
On/off. Enable GPS1 |
aid_gpsint1_loc_id[leverarm_ID] |
Associate a leverarm_ID to the primary GPS antenna |
aid_gpsatt_[enabled] |
On/off. Enable GNSS dual antenna |
aid_gpsatt_loc_id[heading_angular_offset_ID] |
Associate a heading_angular_offset_ID with the primary GPS antenna |
aid_gpsext_[enabled] |
On/off. Enable external GPS |
aid_gpsext_loc_id[leverarm_ID] |
Associates the external GPS with a fixed leverarm_ID |
aid_wspeed_[enabled] |
On/off. Enable internal wheelspeed |
aid_wspeed_loc_id[leverarm_ID] |
Associates the internal wheelspeed to a fixed leverarm_ID |
gad_[enabled][stream_ID] |
On/off. Enable stream with stream_ID |
gad_loc_id[stream_ID]_[leverarm_ID] |
Associate stream_ID with leverarm_ID |
gad_att_id[stream_ID]_[attitude_ID] |
Associate stream_ID with attitude_ID |
locationA_B_C_D_X |
Create loc ID [A] for Lever Arm ([B],[C],[D]), with common variance [X] |
locationA_B_C_D_X_Y_Z |
Create loc ID [A] for Lever Arm ([B],[C],[D]), with variance ([X],[Y],[Z]) |
attitudeA_B_C_D_X |
Create att ID [A] for Attitude ([B],[C],[D]), with common variance [X] |
attitudeA_B_C_D_X_Y_Z |
Create att ID [A] for Attitude ([B],[C],[D]), with variance ([X],[Y],[Z]) |
gad_init_vel_from_pos_[enabled] |
On/off. Enable dynamic velocity initialisation from GAD position data |
gad_init_hea_from_pos_[enabled] |
On/off. Enable dynamic heading initialisation from position data |
gad_lrf[lrf_id]_[lat]_[lon]_[alt]_[yaw]_[pitch]_[roll] |
This command sets a new GAD local reference frame with a specified Id. Learn more about local reference frames. |
gad_lrf_id[stream_id]_[lrf_id] |
This command sets a specific GAD stream_id to use the lrf_id |
gad_init_vel_from_pos_[enabled] |
on/off. This command allows the system to initialise using velocity estimates from a GAD position stream. Learn more about position-only initialisation. |
motion_speed[speed] |
Set speed for dynamic initialisation, in m/s (default 5.0). It is important to note that the position updates (from a single stream) must be more regular than 1Hz for velocity to be calculated. More than 5 Hz is highly recommended. Furthermore, if there are any available velocity streams, the system will use these for initialisation, rather than the position streams, regardless of this option being set |
gad_csv_output_X |
Off: .gad file output off Immediate: .gad file output on. Output data before the timestamp has been resolved to full GPS time. Can be useful for debugging. Resolved: .gad file output on. Output data once it has been resolved to full GPS time. |