3DM-CX5-GNSS/INS
User Manual
19
4.2
Computed Outputs
(Estimation Filter)
The computed outputs are measurements from the 3DM-CX5-GNSS/INS IMU sensors and GNSS
receiver that are blended through an Auto- Adaptive Extended Kalman Filter (EKF) algorithm. The
Kalman Filter produces a better estimation of position, velocity, and attitude (PVA) outputs than can be
achieved by the inertial sensors or the GNSS individually. This estimate is output at a higher data rate
than GNSS and is not subject to the integration errors inherent in an inertial-only solution. Refer to
Table 3 - Estimation Filter Outputs
for a complete list of outputs.
In the MIP Monitor software there are user-settable options for how the estimations are made. These
settings are available at: Settings > Device > EF. With the Help window open (accessed with the Help
button), mousing over context-sensitive settings provides a detailed explanation of the setting (
16 - Estimation Filter Settings
Figure 16. Estimation Filter Settings
All of the estimation filter outputs are available to record and most, but not all, are available to view in
real time in MIP Monitor. In addition to the standard position, velocity, attitude, and time (PVA&T)
solution, additional filter outputs, such as uncertainties, inertial sensor bias and scale factors, filter status,
and physical models (WGS84, WMM, and SAM) are available.
To view and record Estimation outputs,
