# NavLab Embedded

<figure><img src="https://2222094320-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FdEevfLZRIk38LUPwDa4V%2Fuploads%2FdXPBd5hs3rofambqdC69%2Flogo_inertialexplorer.svg?alt=media&#x26;token=dbcfbe82-a0c1-4f3a-a199-36e29e9919ed" alt=""><figcaption></figcaption></figure>

The NavLab embedded is used to process the lidar systems navigation data through a PPK filter. Typically, a GNSS reference station is used, however PPP processing can also be performed in NavLab. If available, [import your GNSS reference station](https://docs.phoenixlidar.com/spatialexplorer-8-and-9/user-interface/windows/project/reference-stations) prior to running NavLab.&#x20;

NavLab Embedded displays Rover and Reference Station sessions in the **Rover** and **Reference Stations** panes.  If you have multiple flights in the same area, which all require the same GNSS reference station file, you should ensure that all PLP files are opened, and that all rover GNSS sessions are visible in the NavLab window:

<figure><img src="https://2222094320-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FdEevfLZRIk38LUPwDa4V%2Fuploads%2Fyl5PkGS70niHQSDf3CLd%2Fimage.png?alt=media&#x26;token=e36125cf-5d75-424f-85cb-9ff914dbc87e" alt=""><figcaption><p>Multiple Rover sessions in the NavLab window</p></figcaption></figure>

{% hint style="warning" %}
If you are processing with differential GNSS, ensure your reference station Position Name, Antenna Type, and CRS Name are displayed correctly.&#x20;
{% endhint %}

Ensure the following options are correctly selected:

**Output directory**: Output directory of files created by NavLab Embedded.&#x20;

**Processing datum**: Typically, this should be the datum of your project's coordinate reference system. This is NOT necessarily your project coordinate system. NavLab embedded processes within a datum only (spherical coordinate system), so if you are using a projected coordinate system (UTM, State Plane, etc.), select only the datum associated with your coordinate system.&#x20;

**Output Formats**: InertialExplorer is the default format. Users can optionally add SBET or SBTC output formats.&#x20;

**Processing Type**: Processing type determines how GNSS data is processed (PPP or Differential) and how the INS solution is coupled (tightly coupled or loosely coupled). Typically, **Differential GNSS and INS Tightly Coupled** performs the best with aerial, mobile, and pedestrian data.

{% hint style="warning" %}
The **Differential GNSS** processing type generates only a processed GNSS file (.CG file), which has no attitude information and cannot be used to build a point cloud. This processing mode is typically only used for SLAM processing.&#x20;
{% endhint %}

{% hint style="info" %}
Any processing type that utilizes **PPP** GNSS processing does not require reference station data. PPP processing utilizes refined ephemeris products to re-compute the lidar's raw GNSS data, thus it is required to download precise files.
{% endhint %}

**Profile**: Select your IMU and profile (Airborne, mobile, UAV, etc.). With aerial data sets, typically the **Airborne** profile performs best, with the **UAV** profile being a good alternative. Mobile data sets, collected using a ground vehicle, should use the **Ground Vehicle** profile.