**6. Inertial Explorer post-processing software for the final perfection of the MSM accuracy data**

Waypoint Products Group's **Inertial Explorer** post-processing software suite integrates rate data from six degrees of freedom IMU sensor arrays with GNSS information processed with an integrated GNSS post-processor (same as GrafNav's). Inertial Explorer use strapdown accelerometer (Δν) and angular rate (Δθ) information to produce high rate coordinate and attitude information from a wide variety of IMUs. (Kennedy S. NovAtel Inc., Canada & Hinueber E., iMAR GmbH, 2005)

Inertial Explorer implements either a loose coupling of the GNSS and inertial data or tightly coupled (TC) processing that uses GPS carrier phase to limit error during periods where satellite tracking is limited or variable (even if only 2 or 3 satellites are visible). It is important to time-tag the inertial measurements to the GPS time frame during the data collection process. Proper synchronization is vital. Otherwise, the IMU data will not process. In NovAtel's SPAN system, IMU data is automatically synchronized and the Inertial Explorer's GNSS decoder automatically extracts the IMU data.

#### **7. Conclusions**

In order to increase up to 200 – 300 meters, the distance up to which the sighted targets from the terrain can be positioned, it resorts to the use of a single digital camera of high resolution in a fixed montage on a lab vehicle, instead of two cameras which usually are used in the case of classical stereo photogrammetric systems and for which the measurement basis is limited by the montage distance between the two cameras on the lab vehicle, respectively by the dimensional width of the respective vehicle, which is around of 1.2 meters. Due to this fact, the two viewing lines are not intersected on the sighted target, but only with great errors and therefore the bi-cameral stereo photogrammetric systems cannot precisely identify the positions of the objectives that are at distances of more than approximatively 30 meters from the equipment.

So by using a single video camera, the measurement basis of the applied stereo metric method is constituted from the distance interval of 20 – 30 meters, between two triggerings of the camera during the lab vehicle displacement, distance from which the camera sights the same objective.

On this basis, at the returning at the computing center, it follows that from the obtained images to be selected by two images in which the interesting objective is evidenced in a corresponding mode, which will permit the selection of this objective in an electronic modality and the determination of the pixel coordinates, which achieves the objective displaying on the monitor screen. These coordinates together with the other data which accompany the two selected images, will permit to compute, using triangulation proceedings as well as methods for reporting to the spherical system of the terrestrial coordinates, the geographic and elevation coordinates of the sighted objective.

The immediate result of this equipment functioning is represented by the obtaining of a series of digital documents structured in GIS format, documents which contain the data registered in field, with the possibility to update them anytime.

Taking account of its conception, the "Slide Monitor" equipment can be installed not only on a terrestrial vehicle, but also on any kind of boats for the surveillance from an aquatic medium of some isolated objectives disposed on an inaccessible border.
