Navigation Filter

The 3DM-CV7 is a highly-flexible INS built on a tactical-grade IMU. It is designed to accept many of the external Aiding Measurements available on autonomous vehicles to constrain drift and provide a useful navigation solution in challenging or contested GNSS environments.

Our Adaptive Kalman Filter is applied to all internal and external aiding measurements to reject anomalies in real time. See Adaptive Filtering for a better understanding of how the 3DM-CV7 can improve your application's navigation robustness.

The 3DM-CV7's Navigation Filter can be easily optimized by defining the kinematics for a given application. Filter Kinematic Constraints provides more detail. These can be considered assumptions of constant behavior and are synonymous with aiding measurements.

The Navigation Filter must be provided initial conditions before it will start running. The initial conditions can be generated internally through auto-initialization or provided externally by the user. A single command handles both cases. See Filter Initialization for more details.

Once the filter is set up and running, users should monitor the filter status through the Filter Status message Status (0x82,0x10). The Filter Status section details how to interpret the Status message and explains the Filter Modes.

For a step-by-step guide to setting up 3DM-CV7 for your application, see Getting Started.