> For the complete documentation index, see [llms.txt](https://docs-7.phoenixlidar.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs-7.phoenixlidar.com/lidarmill-desktop/workflow-kk/trajectory-processing/inertial-explorer-trajectory-upload.md).

# Inertial Explorer Embedded Trajectory Processing and Upload

Inertial Explorer is used to generate high accuracy coupled GNSS aided INS post processed trajectories

To process your trajectory in Inertial Explorer you will need the following:

1. GNSS reference station data loaded into project (Recommended, but not required)
2. Raw NAV trajectory
3. [Inertial Explorer SDK activated license](https://docs.phoenixlidar.com/lidarmill-desktop/installation/licensing#inertial-explorer-sdk-licensing)
4. Internet Connection for some functionality 

### Inertial Explorer Trajectory Upload

If you have already processed an Inertial Explorer trajectory (CTS/CLS/SBET/POF) it can be loaded into Spatial Explorer simply by using **File -> Open File**. You will be required to specify the datum and epoch of the trajectory . Both the raw trajectory and the post processed trajectories are populated under **Trajectories** in the Project Window, and displayed 

## Inertial Explorer Trajectory Processing

### Configure Reference Station

First open the reference station file using **File->Open.** Then configure your reference station by double clicking on the reference station file name within the project window

![](/files/MJuueBtx1BrhDIDLNcYb)

Clicking **Compute Position** and selecting **Inertial Explorer** will compute a PPP position. Alternatively you can input a known position using **Custom** as the position type. 

{% hint style="info" %}
If you have an NRT license, selecting **InertialExplorer** will compute a PPP-AR refined position. 
{% endhint %}

![](/files/TCly08BJIeHXD8u3GJjt)

Once IntertialExplorer is done processing, you can select the refined position from the **Position Type** dropdown list:

![](/files/edYwy2CyR0mhahe5drB3)

Click **OK** once your reference station position has been configured correctly. Ensure that the Coordinate System for the reference station is configured correctly. 

![](/files/K2sTwFyW2qDDmYQlvLvd)

Click on the [Inertial Explorer Trajectory tool](https://docs.phoenixlidar.com/lidarmill-desktop/user-interface/toolbars/trajectory-cloud-reporting#inertial-explorer-trajectory-post-processing-tool) Icon on the Create Toolbar ![](/files/FWwisU2eQdXiwY0Ey0Wy). First, configure the output directory, then configure the **Processing Datum** for the trajectory (defaults to the project datum):

![](/files/6yS1RdRHqWuOxuX0vbZz)

Configure the **Processing Type**:

{% hint style="info" %}
If you have a reference station, typically "Differential GNSS & INS looslely coupled" is processed first, followed by "INS Tightly Coupled with differential GNSS". If you do not have a reference station, typically " Precision point positioning & INS loosely coupled" is processed first, followed by "INS tightly coupled with PPP".
{% endhint %}

![](/files/pOUxuIPXSy1VpRb3RaUF)

Configure the Dynamics model to match the vehicle type used during acquisition

{% hint style="info" %}
Airborne and UAV models both work for datasets collected from a multirotor platform
{% endhint %}

![](/files/9UQOfT80Bx5DWP0qq8gc)

Configure Profile to match the IMU model of your system

![](/files/ec21kOuLoADkpAVGKUC5)

Body to IMU rotations are displayed at the bottom and can be changed by double clicking on **IMU** within the project window

![](/files/Ua1OEkvoXHeES7oZA3WF)

Lever Arms are displayed at the bottom and can be changed by double clicking on **GNSS** within the project window

![](/files/9elC6zCfHZLSdDqqZi9u)

Click Process at the bottom to begin trajectory processing

{% hint style="info" %}
**Enable AR** will be disabled without an active NRT license 
{% endhint %}

![](/files/bje1rBHFmLgM46QJ7aCk)

Once processing has finished a [Trajectory Report](https://docs.phoenixlidar.com/reports/trajectory-report) is automatically generated and the processed trajectory is loaded/listed under the Trajectories dropdown within the Project Window 

![](/files/ygGt8TYYLBSXFTyNnLXT)

#### Estimate Primary Lever Arms Tool

Click on **Estimate Primary lever Arms** at the bottom left.

Inertial Explorer computes X iterations (specified by user) and the resulting lever arm measurement convergence is plotted below, with the X axis showing iteration number, and the Y axis showing lever arm offsets colored by X,Y,Z lever arm calculations (Forward direction on the left, Reverse on the right). Note that Inertial Explorer's ability to estimate lever arm values is dependent on the quality of the inital lever arm measurement input, correct vehicle body rotation, the amount of data collected and vehicle dynamics.

![](/files/xhi0VZ4jqLI79eibwCzR)