Phoenix LiDAR Systems User Manual
  • Welcome
  • SpatialExplorer 8 & 9
    • Introduction
    • Installation
      • System Requirements
      • SpatialExplorer-Compatibility
      • Licensing
      • Change Log
    • User Interface
      • Windows
        • AGL Oracle
        • Classify On Selection
        • Coordinate Reference System
        • Corrections
        • Main View
        • Picks
        • Messages
        • Mission Guidance
        • Photo Viewer
        • Project
          • Rover
            • Cameras
              • Camera Acquisition Settings
              • Camera Calibration Settings
              • Camera Processing Settings
              • Camera Tools
                • Load sensor transform/extrinsics from file
                • Calibrate Sensor Manually
                • Edit Receptor Masks
            • IMU
            • GNSS
            • Lidars
              • Lidar Acquisition Settings
              • Lidar Calibration Settings
              • Lidar Processing Settings
              • Lidar Tools
                • Load sensor transform/extrinsics from file
          • Reference Stations
          • Flightplans
          • Geometry
            • Modifying Geometries
          • Grid
          • Ground Control
          • Images
          • Intervals
          • Trajectories
          • Pointclouds
          • Terrains
        • Project Player
        • Sensors
        • SLAM
          • SLAM Processing Profile
        • System Monitor
      • Toolbars
        • File
        • View
        • Selection
          • Cloud Script Tool
        • Workflow
          • NavLab Embedded
            • Processing Options
            • Estimating Primary Antenna Lever Arm
          • Create Intervals
          • Disambiguate Lidar Ranging
          • Create Cloud
          • LiDARSnap
            • Sensor Calibration
            • Trajectory Optimization
              • Aerial Trajectory Optimization
              • Mobile Trajectory Optimization
            • Ground Control with LiDARSnap
              • Vertical Only Adjustment
              • Full Adjustment
            • LiDARSnap Tuning and Parameters
            • Control Point Clouds
            • Example: Optimizing Data from Multiple Scans
          • CameraSnap
            • Auto-detect without review
            • Auto-detect with manual review
            • Manually-Created Matches
            • CameraSnap Reports
          • Colorize Cloud
          • Align to GCPs
            • Adjusting Automatically to GCPs (Vertical Only)
            • Manual Adjustment (Horizontal and Vertical)
          • Reports
          • Export
        • Analytics
          • Classify
            • Classify By Class
            • Classify Noise
            • Classify Statistical Outliers
            • Classify Ground
            • Classify Powerlines
            • Classify Moving Objects
          • Create
            • Create Maps
            • Create Floorplans
            • Create Contours
            • Create Mesh
            • Compute Normals
            • CloudClean
          • Calculate Distance
          • Measure
            • Std. Dev. Along Surface Normal
            • Surface Area and Point Density
            • Volume
          • Compute SOCS
        • LiDARMill
          • Positions
          • Manage Grids
          • View GNSS Antennas
        • Rover
          • Connect to Rover
          • Disconnect from Rover
          • Rover Settings and Profiles
            • Navigation System
            • Sensors
            • Camera Settings
            • LiDAR Settings
          • Shutdown Rover
        • Tools
          • Navigation
            • Plot Trajectories
          • Camera
            • Edit Camera Events
            • Create Camera Sessions from Data
          • Licensing
          • Create Transformation...
    • Workflows
      • Data Processing Workflows
        • Airborne Lidar Processing
        • Mobile Lidar Processing
        • Backpack and Pedestrian Lidar Processing
        • SLAM Lidar Processing
        • LAZ Processing
        • Field Data Check
    • FAQs
  • LiDARMill Cloud
    • Introduction
    • Login/Register
      • User management
    • Quick Start Guide
    • Overview
    • Post Processing Workflow
      • Create New Project
        • Details
        • Project Reference Setup
        • Summary
      • Create New Mission
        • Uploading a SpatialExplorer Mission
        • Uploading a RECON Mission
        • Uploading a Pointcloud Processing Mission
      • Adding Reference Station Data
      • Adding Ground Control Points and Polygons
        • Ground Control Points (GCPs)
        • Polygons
      • Processing Tools
        • NavLab Pipeline
        • Spatial Fuser Pipeline
        • Pointcloud Optimization Pipeline
      • Cloud Viewer
      • Additional Tabs
    • FAQs
  • FlightPlanner
    • Introduction
    • User Interface
      • FlightPlanner Interface Tools
        • Change Theme
        • Feedback, Help, and Changelog
        • Flight Info
        • Delete All
        • Measurement and Reset View
        • Upload Google KMZ file and Delete All KMLs
        • Take off Location
        • Reverse Waypoint Order, Undo, and Auto Update mission flightlines on setting change
        • Address Search
    • Workflow
      • Missions Library
      • Basic UAS LiDAR Mission Planning (FP 9.0)
      • Mission Type
    • Overlap
    • FAQs
  • Hardware and Interfaces
    • Warnings and Safety Notices
      • LiPo Battery Safety
        • General Guidelines and Warnings
        • Pre-Charging Guidelines
        • Charging Process Guidelines
        • Storage/Transportation Guidelines
        • Battery Care Guidelines
      • Laser Safety
        • Class 1 Lasers
        • VUX-240 Laser Safety
      • Aircraft/Rover Operational Safety
    • Connecting and Interfacing with Phoenix Lidar Systems
      • Connect via Rover's Web Interface
      • Connecting via SpatialExplorer
        • Base Station (Notebook) Setup
          • Configure Windows
            • Disable Automatic Updates
            • Change Active Hours
            • Install Latest NVIDIA Drivers
          • Modify Hosts File
          • Wired Ethernet Network Card Setup
          • Install Software Tools
            • 7-Zip
            • Filezilla
            • Teamviewer
            • PuTTY
            • NovAtel Connect and NovAtel Convert4
        • Connect to Rover
          • Connect to Rover as a UDP Client
            • Connect via Wi-Fi
            • Connect via Ethernet
              • Connect via 900 MHz Radio
            • Connect Via Ground-Station-Wi-Fi (Groove)
              • Connect via Ground Station Wi-Fi (Bullet M5)
          • Connect to Rover using a Serial Port
          • Connect to Rover via Connection Service
            • Connect via Cellular
        • User Interface
          • Settings
            • Rover Settings
              • General
              • Navigation System
              • Network
            • Local Settings
          • System Monitor
          • Sensors
          • Satellites
      • Downloading Rover Data
        • Log Files
      • Updating Rover
    • NavBox
      • FLEXPack
        • Specifications
        • Ports and User Elements
        • Status LED
        • Using the CPU button
        • Preparing the System
        • Recording Data
        • Questions & Troubleshooting
      • Air
        • Specifications
        • Ports and User Elements
        • Status LED
        • Using the CPU Button
        • Preparing the System
        • Recording Data
        • Questions & Troubleshooting
      • Scout
        • Specifications
        • Ports and User Elements
        • Using the CPU/Sensor Button
        • Preparing the System
        • Recording Data
        • Questions & Troubleshooting
      • RECON Series
      • Alpha 3
        • Ports and User Elements
        • IMU-32/IMU-33/IMU-34
        • IMU-41/IMU-52
        • IMU-14/IMU-27
    • Camera
      • Sony Mirrorless Cameras
        • Specifications
        • Camera Settings
        • A7R4 Warning Messages
      • A7R4-Lite
        • Sony A7R4-Lite SD card folder setup procedure
      • A6K-Lite Camera
        • Highlights
        • Specifications
        • Warnings
        • Ports and User Elements
        • Status & Activity LED
        • Settings Wheel
        • Mounting
        • Powering ON the Camera - Self-Check
        • Operating with Spatial Explorer
          • Changing the Trigger Interval / Distance
          • Initial Camera Setup
          • Dual A6K-Lite Setup
        • Changing Camera Settings
        • Troubleshooting
      • Ladybug5+ and LadybugCapPro
        • Pre-Procedure
        • Data Acquisition
    • Lidars
      • Real-Time Point Clouds and MTA Disambiguation
    • Inertial Navigation System
      • Orientation and Offsets
        • IMU
        • GNSS Antennas
        • LiDARs and Cameras
      • Wheel Sensor
    • Miscellaneous Hardware
      • Mobile Roof Rack
        • RFM2-Dual LiDAR Mobile Accessory
      • Backpack Lidar Mount
        • Backpack Telescoping Boom
      • Wi-Fi Range Extenders
      • Accessories
        • Cables
          • SMB to SMA GPS Antenna Cable
          • MCX to RP-SMA WiFi Antenna Cable
          • LiDAR / Camera Cable
          • micro USB to USB Type A Female Cable
          • RJ45 Ethernet Cable
          • HDMI Cable Type D to Type A
          • SMA to TNC Ground Mount GNSS Antenna Cable
          • 7.5” Rover GPS Antenna Cable
          • 24” Rover GPS Antenna Cable
        • Power Supply Parts
          • Power Splitter Cable
          • AC Power Supply
          • XT30 3" Extension Cable
          • XT60 Female to XT30 Male Adapter
          • XT60 Male to XT30 Female Adapter
          • XT60 Female to EC5 Male
          • XT60 Extension Cable
        • Antennas
          • Rover GNSS Antenna
          • UHF Rubber Duck Antenna
          • Ground Mount GNSS Antenna
          • Bullet Long Range Module
          • Omni 12dBi Antenna for Bullet Module
          • Rover 5.8 GHz Wi-Fi Antenna RP-SMA
        • Other Components
          • LiDAR/IMU Cable
          • LiDAR Cable
          • IMU Cable
          • AL3 Power Cable with Integrated Splitter
          • EC5 to XT60 Adapter Cable
          • LiPo with EC5 Connector
          • LiPo Charger
          • 5.8 GHz Directional Panel Antenna
          • TNC 90 Degree Adapter
        • Miscellaneous
          • USB Drive
          • USB to Ethernet Adapter
          • Suction Cups w/ Clamps
          • Multi-Tool
          • SMA Wi-Fi Terminator
          • LiDAR Sensor Cover
          • LiPo Guard Battery Bag
          • Cable Accessories Bag
          • Storm Case
          • Foam Divider
  • Data Acquisition and UAV Piloting
    • Flight Planning
      • UAS LiDAR Hot Swapping
    • UAV Data Acquisition
    • Mobile Acquisition
    • Backpack Acquisition
      • Ranger FLEX Initialization and Acquisition Workflow
      • Recon XT Initialization and Acquisition Workflow
    • SLAM Acquisition
    • Navigation System Configuration
      • Navigation System Basics
      • Real-Time and Post-Processing Differences
      • Further Reading
        • GPS Time Status
        • Navigation Procedures
        • IMU Alignment
        • Navigation System Stabilization
    • RECON UAV Acquisition
    • RECON Series Quick Start Guides
      • RECON-XT M300/M350
      • RECON-XT-A FreeFly Astro
      • RECON-A
    • Calibration Flight Strategy
    • Acquisition FAQs
    • Post Acquisition Checks
  • MissionGuidance
    • Introduction
    • Flightplans
    • Heightmaps
    • Setup
    • Operations
  • GNSS Hardware and Ground Control
    • Reference Stations
    • Downloading Reference Station Data
    • Ground Control - Best Practices
    • Stonex S-900 and Cube-A
      • Cube-A project set up
      • Configure base station
        • Configuring Harxon HX-DU8608D radio
      • Configure rover
      • Surveying ground control points
      • Post processing
        • Post processing base station observations
        • Change base coordinates to a post processed position
        • Export points from Cube-A
  • Reports
    • Processing Report
    • Project Report
    • Trajectory Report
  • 3rd Party Software Documentation
    • Bathymetric LiDAR Processing in RiProcess
      • Creating a Project in RiProcess
        • Adding a Navigation Device
        • Adding a Trajectory
        • Adding a Scanner
        • Adding a Camera
        • Adding Control Objects
        • Processing Parameters
          • Exponential Decomposition
          • Page
        • Adding Records
      • Data Processing Wizard
      • Visualize Data
      • RiPrecision
      • RiHydro Workflow
    • RiParameter
    • TerraSolid and Spatix Install
    • Orthomosaic Production with Pix4D
    • InertialExplorer Desktop 8.70 - 8.90 Processing
    • Hyperspectral Data Processing
    • SDCImport Filter Options
      • MTA (Multiple Time Around)
      • Region of Interest
  • Image Processing using PhaseOne IXCapture
  • General FAQ
    • Accuracy Standards & Quantification
      • Precision
      • Relative Accuracy
      • Absolute Accuracy
      • Further Considerations
    • Mapping Terms and Definitions
    • Abbreviations
    • Examples: How to ensure accurate Georeferencing of Trajectories and Pointclouds
      • Example 1: Static Datum
      • Example 2: Dynamic Datum
    • Clock bias adjustment
    • General FAQs
  • Legacy Documentation
    • Offsets, Rotations, and Reference Frames: SpatialExplorer Version 4-7
    • Legacy TerraSolid Documentation
    • Legacy SpatialExplorer Documentation
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On this page
  1. Data Acquisition and UAV Piloting
  2. Navigation System Configuration
  3. Further Reading

Navigation System Stabilization

PreviousIMU AlignmentNextRECON UAV Acquisition

Last updated 10 months ago

You must conduct two to three sets of figure eights, either manually or using waypoint mode. The goal is to stabilize the navigation system and obtain an INS status of SolutionGood in SpatialExplorer during a scan before you are acquiring the data relevant to your mission. This allows the software to process the current IMU drift and noise. We recommend flying a figure eight pattern because it helps lower the covariances (Uncertainty Position and Uncertainty Attitude), which are estimated errors of position and attitude.

Always keep the vehicle direction of flight pointing forward, much like an airplane. As you're flying, the Uncertainty Position (UncertP) and Uncertainty Attitude (UncertA) are both visible in the progress bars in System Monitor in Spatial Explorer. The lower the values the better; minimizing the covariance values produces more accurate sensor trajectories and thus more accurate measurements. Faster motion will be more effective than slower motion.

When not supplying RTK (differential corrections) to the navigational system, the GNSS position will be SinglePoint throughout the mission. However, when using differential corrections, the GNSS position Type steps through several states: SinglePoint, PseudorangeDifferential, FloatingNarrowLane, IntegerNarrowLane, and IntegerNarrowLane (Verified). Upon entering IntegerNarrowLane, the GNSS position acquires a stable RTK fix. During this stage, the RTK algorithm is restarted in the background. If the same fix can be resolved again, this means the state is verified, leading to IntegerNarrowLane (Verified).

Position Status

Description

SinglePoint

Single point position. Rover only knows its position with reference to itself and no external reference point.

PseudorangeDifferential

Pseudorange differential solution.

FloatingNarrowLane

Floating narrow-lane ambiguity solution.

IntergerNarrowLane

Integer narrow-lane ambiguity solution. Upon entering IntegerNarrowLane, the GNSS position acquires a stable RTK fix. During this stage, the RTK algorithm is restarted in the background.

IntegerNarrowLane (verified)

Integer narrow-lane ambiguity solution indicating solution fix has been verified against an external reference point. If the same fix can be resolved again, this means the state is verified, leading to IntegerNarrowLane (Verified).

IntegerWideLane

IntegerWideLane refers to an Integer wide-lane ambiguity position solution. This typically occurs when using Real-Time Kinematics and refers to an ambiguity in the positional fix of the GNSS solution.

Figure-Eight Pattern
Typical status of the navigation system during initialization