For comprehensive Waypoint information, visit: www.gnss.ca

gnss.ca

Waypoint

Best-in-class GNSS and GNSS+INS

processing software

For comprehensive Waypoint information, visit: www.gnss.ca

Waypoint

EXCEPTIONAL POST-PROCESSING SOFTWARE

Enhance your Position, Velocity and Attitude Accuracy

For applications requiring accurate post-mission

position, velocity or attitude, post-processing is

an ideal solution. Post-processing with Waypoint

soware maximizes the accuracy of the trajectory

by processing forward and reverse in time,

backsmoothing and combining the results. The

trajectory may then be output, at the required data

rate, in the coordinate frame required. Waypoint

products also provide the ability to assess the

solution reliability and accuracy with extensive

quality analysis plotting tools.

Waypoint Product Matrix

INERTIAL

EXPLORER

INERTIAL

EXPLORER

XPRESS

GRAFNAV

STATIC

Multi-constellation GNSS Processing + + + +

GNSS+INS Processing + +

Moving Baseline Processing +

Precise Point Positioning + + + +

Multi-base Station Support + + +

Heave Computation +

GrafNet Network Adjustment + +

Kinematic Data Processing + + +

Distance Measurement Instrument (DMI) Support + +

Soware Development Kit* + + + +

Command Line Interface* + + + +

* Available as a separate soware license

Initerial Explorer®

Loosely and tightly coupled

GNSS+INS post-processing

Inertial Explorer Xpress

Tightly coupled

GNSS+INS post-processing for

local area mapping

GrafNav

GNSS-only static/kinematic

baseline processor

For comprehensive information on NovAtel® SPAN® GNSS+INS technology, visit www.gnss.ca

For comprehensive Waypoint information, visit: www.gnss.ca

gnss.ca

STEP 01

Capture raw GNSS and IMU data.

STEP 03

The position, velocity and attitude solution

is smoothed to deliver an unparalleled level

of accuracy. In depth quality analysis tools

verify the quality of the trajectory.

STEP 02

Waypoint post-processing soware

maximizes the accuracy of the solution by

independently processing data forward and

reverse in time and combining the results.

STEP 04

Export your results at the

required data rate and in the

coordinate frame required.

For comprehensive Waypoint information, visit: www.gnss.ca

Inertial Explorer

GNSS+INS POST-PROCESSING SOFTWARE

Post-Processing for Improved Accuracy

Inertial Explorer (IE) maximizes the performance of

your GNSS+INS hardware by providing the position,

velocity and attitude accuracy your application

requires. Inertial Explorer is suitable for demanding

applications such as mobile mapping, aerial

photogrammetry and hydrographic surveying.

Real-time GNSS+INS system accuracy is limited by

the quality of the IMU and the duration of GNSS

outage periods. The performance of these systems

can be greatly improved through post-processing.

Inertial Explorer signiﬁcantly reduces the solution dri

during GNSS outages and virtually eliminates the

solution convergence time experienced in real-time

operation.

Flexible Workﬂow Capabilities

Inertial Explorer a has workﬂow to match your business

and your expertise. A project wizard is available

to allow new GNSS+INS users to quickly become

productive. For more experienced users, a variety

of processing conﬁguration options are available.

Automated processing environment detection allows

appropriate GNSS+INS processing settings to be applied

automatically, simpliﬁng workﬂow and reducing the

learning curve needed to start producing quality results.

Features such as automated alignment, robust

automatic ZUPT detection and the application of

various external updates ensure the best possible

accuracies are achieved, even in conditions challenging

to GNSS signal reception.

IE includes support for both tightly and loosely coupled

processing, multiple base stations for large project areas

and Precise Point Positioning (PPP) for applications that

do not require a base station.

With access to over 50 quality control plots, users can

gauge solution accuracy and provide added conﬁdence

if problem areas are identiﬁed. Inertial Explorer provides

access to powerful reprocessing options, quality

analysis tools and world class customer support to

ensure the success of your application.

For comprehensive Waypoint information, visit: www.gnss.ca

gnss.ca

Powerful Features for Diverse Applications

»Simultaneous GNSS, IMU, DMI (wheel sensor), HMR

(dual antenna) and MMR (gimble mount) raw data

conversion if using NovAtel SPAN GNSS+INS hardware

»Simultaneous GNSS and IMU processing and

simultaneous forward and reverse processing

»Download utility provides access to thousands of

publicly available base stations

»Import GNSS data from multiple receiver manufacturers

»Heading updates decoded automatically from NovAtel’s

ALIGN® help maximize accuracy in low dynamic

applications

»Flexible export tool permits reproduction of most ASCII

ﬁle formats

»Output w-p-k angles for photogrammetric applications

»Solve for camera IMU orientation dierence given

w-p-k angles from an external source

»Remove up to 95% of position error over GNSS outages

as compared with a real-time solution

»Model wave dynamics with NovAtel’s Heave option

»Solve the IMU to GNSS lever arm

»Preloaded error models for most popular IMUs as well as

customer created error models

Maximize Accuracy

»Multi-pass processing optimizes attitude accuracy,

especially for low dynamic surveys

»Raw data and solution speciﬁc quality control plots

»IMU-only processing when provided regular

external coordinate updates

»Extensive control over GNSS and IMU processing

options

»DMI data input to further maximize performance in

challenging environments

»Automatic ZUPT detection to help maximize

performance in challenging environments

1 Requires separate photogrammetric adjustment package to determine camera exterior orientation angles.

For comprehensive Waypoint information, visit: www.gnss.ca

Inertial Explorer Xpress

GNSS+INS POST-PROCESSING FOR

LOCAL AREA MAPPING

Transform your Workﬂow

Inertial Explorer Xpress retains the same core

processing and utilities as Inertial Explorer, with

simpliﬁed functionality and a workﬂow tailored to

the technical needs of the UAV market and small

project areas. Cost-eective soware, based on

the industry leading Inertial Explorer, allows you to

eciently post-process data without compromising

the position, velocity and attitude accuracy

expected from Waypoint. Transform your workﬂow

with Inertial Explorer Xpress to produce cm-level

position and attitude solutions compatible with

LiDAR, camera and other sensor data.

Streamlined Post-Processing Solutions

Reduce complexity and processing time with single base

station processing. Inertial Explorer Xpress supports

dierential and Precise Point Positioning (PPP), as well

as tightly coupled processing for GNSS+INS surveys.

Verify and perform quality analysis on your solution with

plots relevant to your application.

Inertial Explorer Xpress

Centroid Circle

A circle encompassing a 3 km radius around the

project centroid will be drawn on the map window.

Only GNSS+INS processed points within this radius

may be exported.

For comprehensive Waypoint information, visit: www.gnss.ca

gnss.ca

GrafNav

GNSS POST-PROCESSING SOFTWARE

Enhanced GNSS Accuracy

GNSS technology is used to compute position and

velocity for a variety of real-time applications,

including vehicle navigation and tracking. The real-

time accuracy of GNSS, however, is limited by

real-time transmission of correction data. In many

applications, where absolute position accuracy is

critical, the position information is not required in real-

time. For these applications, the accuracy of the GNSS

position and velocity solution can be greatly improved

by post-processing with GrafNav.

Multiple Processing Options with

GrafNet

Included with GrafNav is a batch static baseline processor

and network adjustment package called GrafNet. It can be

used to establish or check base station coordinates for later

use within GrafNav or to survey entire static networks.

Within minutes, GrafNet processes the entire project,

containing multiple stations, in a single operation. When

the processing is completed, GrafNet color codes the

baselines so problematic baselines are isolated from the

project and are easily analyzed. Statistics are available on

each baseline misclosure and on the adjustment as a whole.

GrafNet allows three types of static baseline processing

solutions:

»Fixed static

»Float

»Ionospheric free

Powerful, Highly Conﬁgurable Processing

GrafNav post-processing soware features powerful, highly

conﬁgurable processing engine that allows for the best

possible static or kinematic GNSS accuracy. Support of data

formats from most single and multi-frequency commercial

receivers means GrafNav will work with your existing

hardware. A full suite of data and solution visualization

and diagnostic tools are available for quality assurance.

Precise satellite clock and orbit data can be downloaded

from within GrafNav to achieve cm-level position accuracy

without a base station.

»Conﬁgure to optimize results

»Easily make use of project speciﬁc base station data

»Achieve centimetre level position accuracy with

publicly available reference station data

»Supports multi-base processing for large area

projects

»A ﬂoat static solution for long and/or noisy baselines

»Built-in ionospheric processing improves accuracies

for dual-frequency users

For comprehensive Waypoint information, visit: www.gnss.ca

TerraStar-NRT

PRECISE CLOCK AND ORBIT PRODUCTS

TerraStar-NRT provides accurate and

reliable precise clock and orbit

products for Waypoint users.

The TerraStar-NRT service is multi-constellation

delivering GPS, GLONASS, BeiDou and Galileo clock

and orbit corrections at a high rate.

TerraStar-NRT License

A TerraStar-NRT license is available as a yearly

subscription and must be activated in Waypoint

soware through the local license manager to download

and use the service.

Generate Faster Results

With TerraStar-NRT, centimetre-level post-processing

accuracy can be reached without having to wait for

open source correction data. Precise ephemeris is

available every 15 minutes to provide low noise Precise

Point Positioning (PPP) trajectories when processing

with Waypoint soware. Post-processing using

Waypoint with TerraStar-NRT, enables PPP and PPP

Tightly Coupled (TC) solutions almost immediately aer

data collection with accuracy equivalent to products

that are currently only available more than two weeks

post-mission.

»Save time and achieve accurate post-processing

results directly aer data collection

»With over 80 independently owned and operated

GNSS reference stations, TerraStar's world-wide

reference network oers consistent accuracy

anywhere in the world

»Simplify work ﬂow by eliminating the need for a base

station

»Use TerraStar-NRT to supplement incomplete GPS,

BeiDou, Galileo or QZSS broadcast ephemeris data

within a Waypoint Project

TerraStar provides precise

satellite orbit and

clock corrections in

real-time and for postprocessing

Satellite orbit and clock

corrections are estimated based on

data from the TerraStar global

reference network

GNSS

Constellation

For comprehensive Waypoint information, visit: www.gnss.ca

gnss.ca

Waypoint SDK

GNSS AND GNSS+INS POST-PROCESSING

DEVELOPMENT KIT

Automate your GNSS or GNSS+INS

Post-Processing

The Waypoint Soware Development Kit (SDK)

delivers complete control over the GrafNav and

Inertial Explorer post-processing functions.

Base station downloads, data conversion, data

processing, solution output and quality control

can all be customized to meet the requirements

of any application.

GRAFNAV AND INERTIAL EXPLORER FUNCTIONALITY

»Static and kinematic processing

»Forward/reverse and triple-pass processing

»Tightly coupled dierential processing and tightly

coupled PPP processing

»Data decoding of multiple receiver and IMU

formats

»Trajectory smoothing

»Local base station, multi-base station and PPP

»GPS, GLONASS, BeiDou, Galileo and QZSS

support

»Data download for reference stations and precise

satellite orbit and clock data

»Easy import of NovAtel SPAN® data

»Flexible solution export

»Data and solution quality and assurance tools

»Coordinate system and datum support

SYSTEM REQUIREMENTS

»Microso Visual Studio 2010 or later

»Microso Windows 7, 8 and 10

»2 GB RAM or more

Speed Up and Automate Survey

Quality Control

With complete access to the trajectory information,

the Waypoint SDK allows you to set the rules for

determining if the survey meets your accuracy

requirements.

Whether you have just a few systems or hundreds of

them, automated post-processing with the Waypoint

SDK improves results, while saving time and money by

increasing the speed of your workﬂow.

Soware Integration

Nearly all of the functionality contained in Waypoint’s

GrafNav and Inertial Explorer soware can be

accessed within the Waypoint SDK. This allows

you to embed GNSS or GNSS+INS processing

functionality into your soware, provide an optimized

workﬂow for your customers and increase the value

of your soware products. For your programming

convenience, two separate interfaces are available:

»C++/Win32

».NET 4.0 or higher

SOFTWARE LICENSING

»Soware based licensing with support for

remote/virtual desktop

»One time soware activation through the

Internet

»Term based licensing with scalable pricing option

For comprehensive Waypoint information, visit: www.gnss.ca

STEADY STATE POST-PROCESSED PERFORMANCE

Horizontal Position Error (m)

3D Velocity Error (m)

0.0 0

0.1 0

0.2 0

0.3 0

0.4 0

0 10 20 30 40 50 60

Outage Duration(s)

For comprehensive Waypoint information, visit: www.gnss.ca

gnss.ca

Heading Accuracy (degrees)

0.00

0.02

0.04

0.06

0.08

0 10 20 30 40 50 60

0.00

0.05

0.10

0.15

0.20

0 10 20 30 40 50 60

Pitch Accuracy (degrees)

Outage Duration(s)

0.00

0.02

0.04

0.06

0.08

0 10 20 30 40 50 60

Roll Accuracy (degrees)

Outage Duration(s)

For comprehensive Waypoint information, visit: www.gnss.ca

Version 8 Speciﬁcations subject to change without notice.

SPAN, ALIGN, Waypoint, Inertial Explorer and NovAtel are registered

trademarks of NovAtel Inc.

Refer to www.gnss.ca for latest speciﬁcation revisions.

Printed in Canada

D18034 March 2018

To learn more, visit

www.gnss.ca

sales@gnss.ca

support@gnss.ca

1-855-OEMATEL (US & Canada) or 778-430-5999

China 1-855-OEM-GNSS (636-4677)

Europe 1-855-OEM-GNSS (636-4677)

SE Asia & Australia 1-855-OEM-GNSS (636-4677)

Upgrade/Support

Any soware updates released within one year from purchase are

available at no charge. Technical support by phone and e-mail is also

free for one year aer date of purchase.