Xpf2Sbet

Purpose

This command line application converts the output *.xpf data file into a SBET data file. The SBET data files can be loaded into RiProcess (LiDAR software edited by RIEGL) or QINSy software (edited by QPS).

 

Usage    

Xpf2Sbet [/version] [/remote] [/autostart \{on|off}] [/a] /c channel [/tr \{week|day}] [/from time] [/to time] [/dec 100] [/an \{smrmsg|accuracy}] [/ap prefix] [/toffset time] [/utcOrigin yyyy-mm-ddThh:mm:ss.sss][/posErr positionError] [/spdErr speedError] [/attErr attitudeError] input output

Parameters

Argument

Value

Description

/version

Optional

Display version information about this application.

/remote

Optional

Remote mode must be used when this application is embedded into an external application. Default is interactive mode.

/autostart

Optional

If autostart is on (default) the process starts immediately, if off, user must type the start command to start the process.

/a

Optional

Output the solution accuracy file. The name of the file has the suffix “-accuracy” (for example myFile-accuracy.out). This file gathers all accuracy data computed by Delph INS Subsea: timing, position, speed and attitude.

/an

Optional

Naming convention for the accuracy file: smrmsg_ (default) or -accuracy

/ap

Optional

Prefix to be removed from the output file name to generate the accuracy file name (default is empty)

/c channel

Mandatory

Indicate channel to extract the data from. If the selected channel does not exist, an error is generated.

/tr

Optional

Time stamping reference (week seconds or day seconds).

/from

Optional

Time of the first frame to be exported (s).

/to

Optional

Time of the last frame to be exported (s).

/dec value

Optional

Decimates output points.

/toffset

Optional

Offset to apply on the file time (seconds). This offset shifts the time stamping of the input file in order to transfer the data in another time reference. It can for instance be used to convert the UTC time into GPS time by taking the leap second into account.

/utcOrigin

Optional

UTC date/time corresponding to the origin of the file time. This option allows the modification of the time origin of the input file time stamping.

/posErr

Optional

Estimated position error factor (default is 1.0)

/spdErr

Optional

Estimated speed error factor (default is 1.0)

/attErr

Optional

Estimated attitude error factor (default is 1.0)

input

Mandatory

Input file name (XPF file).

output

Mandatory

Output file name (SBET file).
In the output file the XPF data packets are converted into SBET data format. The following data are extracted: time, latitude, longitude, altitude, x velocity, y velocity, z velocity, roll, pitch, platform heading.

The following data are set to zero: wander angle, x body acceleration, y body acceleration, z body acceleration, x body angular rate, y body angular rate, z body angular rate.

The speed data are expressed in the vehicle reference frame. The vehicle reference frame is defined in such a way as x positive forward, y positive to the left and z positive upward.

the solution accuracy file (generated only if the /a option is present) is determined according to the /an option:

> /an smrmsg: remove the prefix defined by the /ap option and add the prefix 'smrmsg_' (for example, if the output file is C:\TEMP\sbet_my-process.xpf.out, the accuracy file will be C:\TEMP\smrmsg_my-process.xpf.out when the /a /an smrmsg and /ap smrmsg_ options are set).
> /an accuracy: the suffix -accuracy is added to the output file name (for example, if the output file is C:\TEMP\sbet_my-process.xpf.out, the accuracy file will be C:\TEMP\sbet_my-process-accuracy.xpf.out when the /a /an accuracy options are set; the /ap option is then ignored).

 

 

Example

C:\Program Files\Exail\Delph INS Subsea\Xpf2Sbet.exe" /c primary-nav C:\TEMP\MySession_postprocessing_2023-11-23_104300_part1-replay.xpf C:\TEMP\SBET_MySession_postprocessing_2023-11-23_104300_part1-replay.out