Trajectory
Post-Processing Made Simple

• Simple Command-Line Executable (exe)
• Compatible With Most Hardware
• Accurate and Affordable
• Simple Pricing for Perpetual License

A software to fuse IMU and GNSS data into accurate 3D position and orientation trajectories.

Why Post-Process?

The real-time trajectories formed from GNSS and IMU measurements suffer from initialization uncertainties and jumps in the paths when corrections are applied. This is because real-time sensors don't have access to future measurements. So as corrections are applied, the paths can look jagged. Without going back and correcting early outputs, accuracy is left on the table. By using both past and future measurements, trajectory post-processing can significantly improve the accuracy and smoothness of the entire trajectory.

Our post-processing makes it easy to have accurate, smooth, and clean trajectories every time.

No More

❌ Attempting to smoothen jumps in the data using rolling averages.

❌ Throwing away chunks of data because of inaccuracy.

Very Easy to Use

# Open the terminal.
# Navigate to and run executableby specifying three paths:
#   (1) IMU data file 
#   (2) GNSS data file
#   (3) Where to save the processed trajectory
# Results will be saved as a CSV.

> traj_pp.exe --imu IMU.txt --gnss GNSSPVT.pos --output trajectory.csv

Why Use Our Solution

Our post-processing solution is designed to make it simple and affordable to apply trajectory post-processing. The complex sensor fusion is handled internally and even that has been written to support a broad set of sensor manufacturers. Other major trajectory post-processing tools are written to handle numerous edge cases, work with proprietary data formats, process both raw GNSS observables and IMU measurements, and are optimized to support the manufacturer hardware. Adding all these capabilities comes with a price tag, increases the complexity for the user, and makes it difficult to extend to new or custom sensor hardware.

In contrast, we've focused on the most common scenarios, use GNSS position and velocity outputs, leverage generic data formats, and focused on simplicity. The result is an accurate and affordable trajectory post-processing tool that is simple to use.

This is For Engineers Who

✔️ Are busy but also care about trajectory accuracy and smoothness.

✔️ Post-Processing is acceptable for their application.

✔️ Own hardware that logs both IMU and GPS/GNSS (position and velocity) data.

✔️ Can get their data in some kind of CSV or ASCII format.

✔️ Is comfortable opening a terminal and running an .exe with file path arguments.

This is NOT For Anyone Who

❌ Needs to setup custom processing routines for each dataset and wants a graphical menu.

❌ Wants a career applying advanced survey and post-processing tools.
→Learn Inertial Explorer by NovAtel (part of Hexagon)

❌ Their device manufacturer offers post-processing software at a reasonable price.
→ If cost is an issue, our software can be a fit. Otherwise use the manufacturer software.
→ For example, SBG Systems sensors with Qinertia software, or NovAtel SPAN sensors paired with Inertial Explorer, or NAVsuite for OxTS products.

Trajectory Post-Processing Made Simple Command Line Executable (exe)

$1,000 - Perpetual License

Specifications

Operating Sytems: Windows, Linux
Interface: Command-Line Interface
Hardware Compatibility: Most IMU and GNSS devices
IMU Data: Accelerometer, Gyroscope
GNSS Data: Position, Velocity, Time (supports standalone GNSS PVT outputs, as well as RTK and PPK results)

Partners

The GNSS/INS sensor by CTi Sensors can be used for real-time trajectory sensing. Measurements from the internal IMU and GNSS sensors can also be logged for post-processing.

CTi Sensors GNSS/INS

The Lidar Georeferencing software by Mad Nadir Mapping includes an integration of our trajectory post-processing software.

MNMLP Lidar Georeferencing

FAQ

Will this support ______ device?

Yes most likely.
By using generic data formats like CSV for both inputs and outputs our software is not tied to any particular device or manufacturer. We are happy to help setup the data-loading configuration files necessary to support your device. The software will then use those configurations internally to load and prepare the data to match the software requirements (e.g. rename columns, update units, drop any invalid data, etc..) .

Is this a PPK Software?

No.
PPK software is designed to load GNSS reference station data and process GNSS or GPS observables (e.g. RINEX data) into more accurate position measurements.
Our software works directly with GNSS or GPS position and velocity measurements. These measurements are fused with IMU measurements to compute 3D position and orientation trajectories.

However, our software supports any kind of GNSS position and velocity measurements. They can be standalone, SBAS aided, RTK, PPP, or PPK.

What Measurements are Required?

Accelerometer
Gyroscope
GNSS position, velocity, fix status*
Timestamps or a known sampling interval

*Fix status indicates if the GNSS measurement is valid. It may be a numerical value or simply a boolean. An estimated accuracy value, typically provided by GNSS sensors, is also useful.

Is 3D Velocity Also Available as an Output?

Yes.

In addition to 3D position and orientation, velocity is also available in north-east-down convention.