# System Monitor

{% hint style="warning" %}
This window is used during data acquisition and is only visible when you are connected to a lidar system. See [connect to rover](https://docs.phoenixlidar.com/spatialexplorer-8-and-9/user-interface/toolbars/rover/connect-to-rover) for more information. 
{% endhint %}

The System Monitor window displays various system parameters relating to the rover and its attached sensors. The types of parameters monitored are Pose (latitude/longitude, roll/pitch/yaw), GNSS/INS Navigation System (PosStatus, UncertaintyP, CorrAge), and Statistics (number of recorded navigation system packets, lidar data packets, and photos).

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There are numerous statistics displayed in the System Monitor window:

## Pose

* **Lat** - Latitude&#x20;
  * Rover's latitude (WGS84)
* **Lon** - Longitude
  * Rover's longitude (WGS84)
* **Vel H/V** - Velocity Horizontal/Vertical&#x20;
  * Rover's horizontal/vertical velocity in m/s
* **Roll** - Rover's roll orientation in degrees&#x20;
* **Pitch**- Rover's pitch orientation in degrees&#x20;
* **Yaw**- Rover's yaw orientation in degrees&#x20;

## NavigationSystem&#x20;

* **PosStatus** - GNSS Position Status
  * The GNSS solution status (e.g. Solution computed, insufficient observations)
* **PosType** - GNSS Position Type
  * e.g. SinglePoint, IntegerNarrowLane
* **INS** - Navigation System Status
  * [status of the GNSS/IMU navigation filter](https://docs.phoenixlidar.com/data-acquisition-and-uav-piloting/navigation-and-alignment-techniques/further-reading/navigation-system-alignment)
* **Time** - GNSS reference time status
  * e.g. Coarse, Finesteering
* **UncertP** - Uncertainty Position
  * Unitless covariance value relating to the rover’s position uncertainty. The lower the values the better; minimizing this value produces a more accurate sensor trajectories and thus more accurate measurements
* **UncertA** - Uncertainty Attitude
  * Unitless covariance value relating to the rover’s orientation uncertainty. The lower the values the better; minimizing this value produces a more accurate sensor trajectories and thus more accurate measurements
* **CorrAge** - Corrections Age
  * Age of the last received differential correction in seconds (Applies to RTK corrections and will remain 0 when reference station is not connected to rover)
* **Align** - Status of Dual-Antenna Heading Solution
  * This string indicates the position type and satellite count of the dual-antenna, align solution.&#x20;
  * Example: *"**Ok InlN 23**"*
    1. "**Ok**": Align solution status.
    2. "**Fnl**": Position type of secondary antenna. Note that only Integer Narrow Lane (**Inl**) position types will be used by either the **real-time INS** or **post-processing software** (NavLab or Inertial Explorer). Possible position types include:
       * **Fnl**: "float narrow lane"
       * **Inl**: "Integer narrow lane"
    3. "**N"**: Verified ("V") or not verified ("N").  Verification is a secondary check on the secondary antenna position quality, however non-verified updates will still be utilized by the real-time INS and post-processing software. Non-verified updates typically indicate noisy GNSS data on the secondary antenna.&#x20;
    4. "**23**": Number of satellites used in the heading solution.&#x20;
* **CPU Load** - INS CPU load
  * CPU Load of the GNSS/Inertial Navigation System expressed in %
* **Satellites** - Number of Satellites
  * Satellites count observed by rover GNSS receiver&#x20;
* **DOP H/V** - Dilution Of Precision Horizontal/Vertical
  * Term used to specify the error propagation as a mathematical effect of navigation satellite geometry on positional measurement precision. The lower the better.&#x20;
* **Temp** - Navigation/IMU system temperature
  * Temperature in the navigation system/IMU
* **SolAge GNSS** - GNSS Solution Age
  * Age of the last computed GNSS solution in seconds
* **SolAge RTK** - RTK-GNSS Solution Age
  * Age of the last computed RTK-GNSS solution in seconds

## Statistics

* **Packets Nav** **Ok/Err** - Navigation Packets
  * Number of navigation packets collected / Number of packets with detected issues&#x20;
* **Packets IMU**
  * Number of packets received from the IMU
* **Data LiDAR** - LiDAR data recorded
  * Size of recorded LiDAR data file(s)
* **Photos Captured** - Number of photos captured