POS MV V5 Installation and Operation Guide
Theory
of Operation
Copyright © Applanix Corporation, 2017
B-1
Appendix B
Theory of Operation
This appendix provides a simplified explanation of the POS MV theory of operation. The explanation
includes some details on each of the main techniques that the system uses to compute an integrated
navigation solution.
Inertial Navigation:
An introduction to the theory of inertial navigation.
Heave Filter:
You can tune the characteristics of the heave filter
to provide optimal performance of POS MV
through a wide range of dynamic conditions.
GNSS Azimuth
Measurement Subsystem:
GAMS uses information from two GNSS receivers
to improve the accuracy of heading measurement.
Heading Measurements:
The unaided system can deliver heading
measurements with reduced accuracy.
Baselines:
An explanation of the baseline definitions used
throughout this appendix.
Baseline Measurement:
How the system measures the baseline vectors of
the GNSS antennas and the IMU.
Carrier Phase Differential
Position:
A simplified description of the process by which
POS MV measures the difference in position
between the two GNSS antennas.
Alignment:
How POS MV levels itself and aligns with true
north in an unaided condition.
Error Sources:
How the position measurements of a free inertial
navigation system would degrade with time
caused by unavoidable errors in the sensing
subsystems.
Aided Inertial Navigation:
POS MV uses a Kalman Filter to compensate for
the effects of errors to deliver a blended navigation
solution that maintains a high degree of accuracy.
Inertial Navigation
An Inertial Navigation System (INS) computes its position on the Earth by a sophisticated form of dead
reckoning. In its simplest form, dead reckoning estimates the current position by measuring the speed,
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