Aceinna / INS2000_FR2

Python script to log data

Prerequisite:

​ Python 3.x

scripts:

• Femtomes INS2000_FRII data logging: femtomes_logging.py

• San Jose (SJ) system: Novatel GNSS receiver + iMAR IMU data logging: novatel_imar_logging.py

  1. change the serial port number in the line

  ser = serial.Serial('com140',230400,parity='N',bytesize=8,stopbits=1,timeout=None) 

  2. change the lever arm parameters (refer to respective product manual)

     • Femtomes system:

       SETINSTRANSLATION ANT1 <parameters>
       SETINSTRANSLATION DUALANT <parameters>
       SETINSROTATION RBV <parameters> # not necessary if aligned according to manual

     • NovAtel system:

       setimutoantoffset <parameters>

Decoder executable to parse data

Change the span_decoder.exe1 to span_decoder.exe, and run in the cmd line

aceinna_decoder.exe <data.bin> 1

it works for SJ NovAtel system data and Femtomes data, and decodes the bin files to csv files. Among the decoded csv files, "_gnss.txt" and "_ins.txt" are GNSS and INS solutions respectively.