Required data packages
In order to use ADMA-PP to calculate an offline navigation solution, the following sensor and GNSS data from an ADMA is required:
| Data Package | Channel-Name | Unit | Min. Frequency |
|---|---|---|---|
| Status | Status_Byte_0 Status_Byte_1 Status_Byte_2 Status_Byte_3 | 50 Hz | |
| Error_and_Warning | Error_Byte_0 Error_Byte_1 Error_Byte_2 Error_Byte_3 | 50 Hz | |
| Rates_body | Rate_Body_X Rate_Body_Y Rate_Body_Z | °/s | 50 Hz |
| Accels_body | Accel_Body_X Accel_Body_Y Accel_Body_Z | g | 50 Hz |
| GNSS_position_absolute | GNSS_Pos_Latitude GNSS_Pos_Longitude | ° | 20 Hz |
| GNSS_EPE (EPE = Expected Position Error) | GNSS_Pos_Stddev_Latitude GNSS_Pos_Stddev_Longitude GNSS_Pos_Stddev_Height | m | 20 Hz |
| GNSS_velocity_frame | GNSS_Vel_Frame_X GNSS_Vel_Frame_Y GNSS_Vel_Frame_Z GNSS_Vel_Latency | m/s m/s m/s s | 20 Hz |
| GNSS_EVE (EVE = Expected Velocity Error) | GNSS_Vel_Stddev_X GNSS_Vel_Stddev_Y GNSS_Vel_Stddev_Z | m/s | 20 Hz |
| GNSS_Time_UTC | GNSS_Time_Milliseconds GNSS_Time_Week | ms | 20 Hz |
| GNSS_AuxData_1 | GNSS_Aux_Differential_Data_Age GNSS_Aux_Satellites_Visible | s | 20 Hz |
| GNSS_Height_MSL | GNSS_Pos_Height | m | 20 Hz |
| INS_Time_UTC | ADMA_Time_Milliseconds ADMA_Time_Week | ms | 50 Hz |
Optional input data for additional augmentation through external velocity and dual antenna:
| Data Package | Channel-Name | Unit | Min. Frequency |
|---|---|---|---|
| External_Velocity_Analog | Ext_Vel_An_X Ext_Vel_An_Y | m/s | 50 Hz |
| External_Velocity_Digital_Pulses | Ext_Vel_Dig_X Ext_Vel_Dig_Y Ext_Vel_Dig_Pulses_X Ext_Vel_Dig_Pulses_Y | m/s | 50 Hz |
| External_Velocity_corrected | External_Vel_X_corrected External_Vel_Y_corrected | m/s | 50 Hz |
| GNSS_DualAnt_Time_UTC | GNSS_DualAnt_Time_msec GNSS_DualAnt_Time_Week | msec | 20 Hz |
| GNSS_DualAnt_Angle | GNSS_DualAnt_Heading GNSS_DualAnt_Pitch | ° | 20 Hz |
| GNSS_DualAnt_Angle_ETE | GNSS_DualAnt_Stddev_Heading GNSS_DualAnt_Stddev_Pitch | ° | 20 Hz |
In addition to the data file, the ADMA configuration file (*.gsci) valid at the point of measurement is also required.
Possible input data formats
1. ADMA System Software ASCII (Legacy Mode)
Required Files:
• ADMA system software ADMA configuration file (*.ini)
• ADMA system software ASCII data file (*.prn)
• ADMA data description file(*.Prn-List.txt)
Optional:
• GNSS Raw data for offline DGNSS correction data
2. ADMA System Software BIN (Legacy Mode)
Required Files:
• ADMA system software ADMA configuration file (*.ini)
• ADMA system software binary data file (*.prn)
Optional:
• GNSS Raw data for offline DGNSS correction data
3. ADMA Ethernet Logger ASCII
Required Files:
• Ethernet Logger Binary Data file (*.gsda)
• ADMA Configuration file (*.gsci)
• ADMA data description file(*.Prn-List.txt)
Optional:
• GNSS Raw data for offline DGNSS correction data
4. ADMA Ethernet Logger BIN
Required Files:
• Ethernet Logger Binary Data file (*.gsdb)
Optional:
• ADMA Configuration file (*.gsci)
• GNSS Raw data for offline DGNSS correction data
Note: The measurement data shouldn’t start or end with a GNSS outage but with valid GNSS data. The kalmanfilter in the ADMA PP needs to get initialized offline, therefore the input data need enough dynamics in all axes. In the best case the full initialization procedure is included in the input file.
