Inertial Explorer 10 is the latest major release of Hexagon | NovAtel’s flagship GNSS+INS post-processing software, designed to maximize the accuracy of inertial navigation trajectories from post-mission data. Released in September 2024 as version 10.00.2409, it integrates GNSS and IMU data through tightly coupled processing modes, delivering centimeter-level positioning, velocity, and attitude solutions even with lower-grade sensors. This version supports a wide range of applications, including aerial surveys, ground vehicle tracking, marine operations, pedestrian navigation, and UAV missions, by leveraging differential (PPK), Precise Point Positioning (PPP), and advanced smoothing techniques. As part of the Waypoint software portfolio, Inertial Explorer 10 ensures backward compatibility with prior versions while enhancing computational efficiency on modern hardware.

The software is fully integrated with NovAtel SPAN hardware but accommodates third-party IMUs, making it versatile for geospatial professionals in surveying, mapping, autonomous systems, and defense.

Key Features and Enhancements in Inertial Explorer 10

This release introduces significant workflow improvements, with a focus on visualization, multi-base station support, and automated processing. Over 15 major updates are included, building on the robust engine for loosely and tightly coupled integrations. Below is a breakdown of the core functionalities:

1. Advanced Processing Modes

  • Tightly Coupled GNSS+INS Integration: Combines GNSS observations and IMU measurements for optimal accuracy, including forward/reverse processing and backward smoothing to refine trajectories.
  • PPK and PPP Support: Handles differential processing with local base stations and satellite-independent PPP for global coverage, incorporating precise orbits and clock data.
  • Multi-GNSS Compatibility: Tracks GPS, GLONASS, BeiDou, Galileo, and QZSS signals from remote and base receivers, with enhanced ambiguity resolution for multi-frequency data.

2. Visualization and Data Management

  • New Satellite Map View: Interactive graphical display of satellite constellations, signal strengths, and sky plots to aid in data quality assessment and troubleshooting.
  • Pre-Configured Profiles: Built-in templates for aerial, ground vehicle, marine, pedestrian, and UAV scenarios, plus a New Project Wizard for quick setup.
  • ZUPT/CUPT Detection: Automatic zero-velocity and zero-update detection using GNSS, IMU, and optional DMI data, with support for external updates via binary PVA files (up to unlimited entries for large datasets).

3. External Sensor and Update Integration

  • Relative Position Updates: Accepts inputs from external sensors like LIDAR or camera arrays for photogrammetric enhancements, supporting relative motion between epochs (e.g., 0.2–2 seconds apart).
  • Triple PPK Base Station Support: Enables processing with up to three base stations simultaneously for improved redundancy and accuracy in complex environments.
  • Decoder Enhancements: Updated NovAtel OEM/SPAN decoders for real-time trajectory output, antenna profile logging (THISANTENNATYPE), and secondary lever arm handling.

4. Usability and Performance Optimizations

  • Merged User Manual: Combines GNSS and INS documentation for streamlined reference, with backward compatibility for legacy GPB files.
  • Batch and Automation Tools: Supports large-scale processing with error handling for malformed inputs, plus integration with the Waypoint SDK for custom workflows.
  • Output Formats: Generates reports, trajectories, and exports in standard formats like ASCII, KML, or SBET for seamless use in GIS and CAD tools.