1.4Overview of the Products

1.4.1GrafNav

GrafNav is a kinematic and static GNSS post processing package. It supports most single and dual frequency, commercial, receivers and can instantly obtain centimeter accuracies. GrafNav also supports multi-base (MB) processing.

GrafNav switches automatically from static to kinematic processing and a fixed static solution is available for static initialization on short or medium length baselines of up to 25 km. A float static solution is available for long and/or noisy baselines. KAR allows you to start in kinematic mode and GrafNav’s ionospheric processing improves accuracies for dual frequency users. See Chapter 2 on Page 31 for more information.

1.4.2GrafNet

GrafNet is a static network processing package; it creates a single network by tying all the ends of static GNSS baselines together. Within minutes, GrafNet processes the entire project in a single operation. When the processing is completed, GrafNet color codes the baselines so irregular ones are isolated from the project and can be easily analyzed. GrafNet allows three types of static baseline processing solutions: fixed static, float and ionospheric free. See Chapter 3 on Page 147 for more information.

1.4.3GrafNav Lite

GrafNav Lite is a simplified version of GrafNav. It contains all of the conversion and logging utilities, but only supports processing intervals of 1 second or lower. GrafNav Lite only supports single frequency data and will not resolve ambiguities. However, float solution accuracies of 5 - 20 cm are still achievable. See Chapter 2 on Page 31 for more information.

1.4.4GrafNav / GrafNet Static

GrafNav / GrafNet Static is a simplified static network processing package that provides the same processing features as GrafNav/GrafNet for static baselines. See Chapter 2 on Page 31 for more information.

Table 1: Product Capabilities

a.Refer to the Inertial Explorer User manual available on our website at www.novatel.com.

GrafMov Features

Relative Processing

GrafMov has all of the advanced and fast processing features of GrafNav, including KAR, a reliable Kalman Filter, forward/reverse/ combined processing, single and dual frequency support.

Relative Vector Output

GrafMov can export a number of relative vectors including local level, ECEF (earthcentered, earth-fixed), range and bearing.

Relative Velocity

In GrafMov, the relative position is available and the instantaneous differential velocity vector is computed.

Heading Determination

For applications that require heading, GrafMov's KAR, a fast integer ambiguity resolution algorithm, can make use of the separation between the antennas to further decrease initialization times. Pitch can be computed from the relative vector output.

Main Uses of GrafNav Batch

One base station and many remote occupations

The remote occupation can be observed by one or more GNSS units. Up to 128 baselines can be processed in this manner.

One kinematic remote processed with respect to two or more bases

The batch processor can be used to automatically process forward/reverse and combine these solutions into one optimal solution. You can process multi-baselines in GrafNav Batch with two or more base stations.

1.4.5 GrafMov

GrafMov is a moving baseline module that allows for GPS post-processing between two moving platforms. By processing between the two kinematic objects, the accuracy of the relative trajectory can be improved significantly over that obtained from processing against a stationary base. This is especially true if the base station distance is much longer than the relative distance between platforms. If the two antennas are fix-mounted, then GrafMov can also compute the heading.

You can purchase GrafMov as an upgrade from GrafNav / GrafNet or as a package that includes GrafNav / GrafNet. Some of its features are listed in the shaded box.

1.4.6 GrafNav Batch

GrafNav Batch is a program module that comes with GrafNav/GrafNet and GrafMov to facilitate batch processing of static and kinematic baselines. If you are using GrafNav Lite, use GrafNav Batch Lite because GravNet is not available. The two main uses of GrafNav Batch are explained in the shaded box.

GrafNav Batch has many of the features of GrafNav, including data plotting utilities. See GrafNav Batch on Page 179 for more details.

For static baseline processing in GrafNav / GrafNet, GrafNet is a more effective batch processing tool.

1.4.7 Inertial Explorer

Inertial Explorer is a post-processing software suite that integrates rate data from IMU (Inertial Measurement Unit) sensor arrays with GNSS information processed via GrafNav, which is included.

Inertial Explorer is designed to utilize strapdown accelerometer and angular rate information to produce high-rate coordinate and attitude information from a wide variety of IMUs, from high-accuracy navigation grade to inexpensive MEMS (Micro ElectroMechanical Systems) sensor types. Currently, a loosely coupled methodology is used that permits a quality check of the GNSS data before moving on to inertial processing.

Contact NovAtel’s Waypoint Products Group for more information.