Managing the INS Processing Parameters
During acquisition, in real-time, the INS receives sensor information with a delay due to:
| > | Processing time of raw measurements in the sensor |
| > | Physics (travel time into water) |
| > | Transmission of data over the connection between the sensor and the INS (ex. RS232 serial link) |
During the post-processing stage, Delph INS Subsea can use external data at the time of their validity rather than at the time these data were received by the INS. This feature cancels the slight sub-optimal processing of delayed external reference in the Kalman filter.