System Monitor

This window is used during data acquisition and is only visible when you are connected to a lidar system. See connect to rover for more information.

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).

There are numerous statistics displayed in the System Monitor window:

Pose

  • Lat - Latitude

    • Rover's latitude (WGS84)

  • Lon - Longitude

    • Rover's longitude (WGS84)

  • Vel H/V - Velocity Horizontal/Vertical

    • Rover's horizontal/vertical velocity in m/s

  • Roll - Rover's roll orientation in degrees

  • Pitch- Rover's pitch orientation in degrees

  • Yaw- Rover's yaw orientation in degrees

NavigationSystem

  • 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

  • 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.

    • 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.

      4. "23": Number of satellites used in the heading solution.

  • 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

  • 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.

  • 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

  • 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

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