Definition
Smoothing allows users to set a maximum step size for GNSS control. This means
that if the GNSS data jumps, for example due to poor GNSS conditions, the INS data in the selected POI will
be approximated to the GNSS data by the maximum step size selected. Smoothing is available for INS
Position, INS Velocity and Side Slip Angle in each POI and in the Robot Data output.
In addition, if the difference between the smoothing result and the GNSS data lasts longer than expected
due to a very large jump, the measurement data will be reset to the unaffected values after a user-defined
amount of time. Overall, this feature provides greater control and accuracy in the handling of GNSS and
INS data.
Note: For being authorized using Add-On Smoothing a ADMA License is required.
Configuration
At menu 7️⃣ Add-Ons in the ADMA Webinterface, the Add-On Smoothing settings can be adjusted.
The data can be smoothed in the following data sets seperately:
• Robot Data
• POI 1 – 8 Data
The following data are getting smoothed, when selected:
• INS Lat / Long Abs
• INS Vel Hor X / Y / Z
• Side Slip Angle
Parameters
| Parameter | Description |
|---|---|
| Position CPS | Defines the maximum INS position correction per second when die GNSS raw signal suddenly has major deviations, e.g. in case of bad GNSS conditions. |
| Velocity CPS | Defines the maximum INS velocity correction per second when die GNSS raw signal suddenly has major deviations, e.g. in case of bad GNSS conditions. |
| Position CT | Defines the maximum INS position correction time in seconds. When the major deviation lasts longer than this value, the smoothing is disabled and the data set jumps to the GNSS raw value. |
| Velocity CT | Defines the maximum INS velocity correction time in seconds. When the major deviation lasts longer than this value, the smoothing is disabled and the data set jumps to the GNSS raw value. |
| Data Channels | Selection of the data sets to smooth. |
