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Kinematica ReferenceManual

Kinematica Reference ManualPage 1 of 14

Version 1.228/11/2016

Table of Contents1 Revision History.........................................................................................................22 Software Changelog...................................................................................................33 Introduction...............................................................................................................54 Quick Start Guide......................................................................................................65 Frequently Asked Questions....................................................................................126 Supported File Formats............................................................................................13


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1 Revision History

Version Date Changes

1.2 28/11/2016 Manual updated for Kinematica version 1.0Updated software changelog, section 2Updated quick start guide, section 4Updated frequently asked questions, section 5Updated supported file formats, section 6

1.1 13/04/2016 Updated software changelog, section 2Added more FAQ, section 5

1.0 22/01/2016 Initial Release

Table 1: Revision history


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2 Software Changelog

Version Date Changes

1.0 14/11/2016 Release versionKinematica is now web basedAutomatic download of base station filesAutomatic download of ephemeris filesAutomatic download of precise ephemeris filesHigher kinematic fix rate in multipath environments and poor view of the skyTightly coupled dual antenna headingSignificant dual antenna fix rate improvementSignificant performance improvementsOdometer supportBeiDou support

0.57 12/04/2016 Added support for RINEX v2.0 base station filesBug fix for when there is no antenna defined in the base station RINEX fileReduced KML output frequency to prevent issues with Google Earth crashing on large data sets

0.55 29/03/2016 Added support for dual antennas mounted left and right

0.54 17/03/2016 Bug fix where certain unusually formatted RINEX v2.1 base station files would throw an errorAdded lock to prevent user from pressing the process button twice

0.52 24/02/2016 Bug fix to stop debug log files from being output

0.51 12/02/2016 Improved GLONASS ambiguity resolutionBug fix for insufficient memory warnings

0.5 21/01/2016 Pre-release VersionFree to download, use and distribute.Time locked to only process data from 1st August 2015 to 1st August 2016.Please note that this version of the software is very slow, version 1.0 addresses this issue.The following features are incomplete and not present in this version. These will be completed for version 1.0.

• BeiDou• Galileo• SBAS• PPP (Precise Point Positioning)• Odometer support• Automatic downloading of ephemeris• Automatic downloading of precise orbits and clocks• Tightly coupled dual antenna heading (currently

loosely coupled dual antenna heading only)


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• Automatic GNSS antenna offset• Automatic misalignment• Mapping and graphs in GUI

Table 2: Software Changelog


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3 IntroductionKinematica is easy to use web based GNSS/INS post processing software that allows users to process raw GNSS and inertial data after collection and achieve higher accuracy results than is possible in real time. Kinematica supports all of Advanced Navigation's GNSS/INS products, is packed with features and provides market leading performance.

If you experience issues using this software please contact [email protected]. Please include any log files that caused the issue.

mailto:[email protected]


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4 Quick Start Guide1. Connect to your device using Spatial Manager.

2. Ensure your GNSS offset and any alignment offset has been entered as per the reference manual installation instructions for your Spatial device.

3. Open the Baud Rates dialogue under the Configuration menu and set the primary port baud rate to 1,000,000. See Illustration 1. If you are using Windowsensure you have adjusted the latency settings for the serial port as detailed in the troubleshooting section of the Spatial device reference manual.

4. Open the Packet Rates dialogue under the Configuration menu and set up the packets as shown in Illustration 1.

5. Power cycle the system and then record an *.anpp log file using Spatial Managerof the track you want to post-process.

6. Go the Kinematica website at the link below and register an account. New accounts receive a free trial period to process 15 minutes worth of data.

https://www.advancednavigation.com.au/kinematica

Illustration 1: Spatial device post processing configuration

https://www.advancednavigation.com.au/kinematica


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7. Click on Datasets from the menu to navigate to the Data Sets page.

8. Click New Data Set and then browse to your ANPP log file. Then click Create to upload the log file and proceed to the next step.

Illustration 2: Screenshot of Data Sets page

Illustration 3: Screenshot of New Data Set page


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9. The next page allows you to edit configuration before processing. Normally no changes are required here and you can begin processing by clicking the Processbutton.

Illustration 4: Screenshot of Edit Configuration page


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10.Kinematica will proceed to download any files required and process the log file. Large log files may take some time to process. You can leave the site and returnlater to collect the processed output files. Click the email me box if you would like to be notified when processing is complete.

Illustration 5: Screenshot of Processing page


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11.Once processing is complete you can click on the View Files button to access the processed output files. Any warnings or errors will be displayed in the terminal. The output selection box allows you to choose the level of detail of theoutput messages from the processing engine.

Illustration 6: Screenshot of Processing Complete page


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12.The view files page allows you to download the resulting processed data. It also provides access to any files automatically downloaded for use in the processing.The output formats are CSV (comma seperated values), GPX (for replayable track in Google Earth) and KML (for detailed information in Google Earth).

Illustration 7: Screenshot of View Files page


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5 Frequently Asked Questions• Where is the configuration ?

◦ Kinematica's configuration is fully automated and there is no configuration that needs to be set by the user. The only configuration is the antenna selection. Kinematica reads the device type from the *.anpp log file and adjusts its settings specifically for that device. In addition it reads the alignment offsets and antenna offsets from the *.anpp log file so it is important these are set correctly in the device.

• Can Kinematica be used with non Advanced Navigation systems ?

◦ The current version can only be used with Advanced Navigation systems. This is because all the tuning and automatic configuration has only been completed on Advanced Navigation systems. Future versions will support a range of third party systems as well as standalone GNSS RINEX processing.


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6 Supported File Formats

File Type Extension Description

Raw IMU data and rover raw satellite data

*.anpp Log file produced by Advanced Navigation's Spatial Dual Manager or Spatial FOG Manager.

Base station observation file

*.*o GNSS observables including pseudorange, carrier-phase and SNR recorded by a stationary base station antenna at a known location. RINEX versions 2.* and 3.* are supported.

Table 3: Supported file formats


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