Waypoint

Waypoint software
Best-in-class GNSS and GNSS+INS post-processing

novatel.com/waypoint

1Waypoint software
EXCEPTIONAL POST-PROCESSING
Enhance your post-mission position, velocity and attitude accuracy
Post-processing with Waypoint software generates a reliable and accurate source of truth by refining GNSS-onlyor GNSS+INS data by processing forward and reverse in time, then combining the results. Built on decades ofGNSS algorithm expertise, Waypoint software's portfolio includes built-in environment and application profiles
to streamline post-processing and quickly export at the required data rate in the coordinate frame required.
A Command Line Interface (CLI) and Software Development Kit (SDK) are available for experienced users tocustomise their entire processing worklow and enable post-processing at scale.

Features

Inertial Explorer

Inertial ExplorerXpress

GrafNav

GrafNav Static

GNSS-only processing✓

✓

✓

✓

GNSS+INS processing✓✓

Precise Point Positioning (PPP)

✓✓

✓

✓

Differential Processing (PPK)✓✓✓✓

Kinematic data processing✓✓✓

Multi-base station support✓✓✓

Unlimited project area✓✓✓✓✓

GrafNet network adjustment
Optional add-onsTerraStar-NRT✓✓✓✓

Extended support plan✓✓✓✓

Command Line Interface (CLI)✓Software Development Kit (SDK)✓2

Waypoint Brochure✓✓✓✓STEP 01

Capture raw GNSS orGNSS and IMU data.

STEP 02

Waypoint post-processing software maximises
the accuracy of the solution by independently
processing data forward and reverse in timeand combining the results.

STEP 03

The position, velocity and attitude solution issmoothed to deliver an unparalleled level ofaccuracy. In-depth quality analysis tools verify
the quality of the trajectory.

STEP 04

Export the truth trajectory at therequired data rate and coordinate
frame, even in generic formats.

novatel.com/waypoint3

Inertial Explorer
THE FLAGSHIP FOR GNSS+INS PROCESSING
Maximising post-processing accuracy

Flexible workflow capabilities

Inertial Explorer (IE) maximises the performance of yourGNSS+INS hardware by processing and outputting atruth trajectory with the position, velocity and attitudeaccuracy your application requires. The tightly coupledintegration of GNSS and inertial data delivers precise
results, even when using lower-grade inertial sensors.

IE has built-in workflows to match your businessand your expertise. A project wizard offers intuitive,efficient guidance for GNSS+INS users of all experiencelevels with with importing their data, processing andoutputting with accurate quality control and acrossformats efficiently.

IE supports a range of applications, including mobile
mapping, aerial and hydrographic surveying, R&D
companies developing autonomous systems andpost-processing-as-a-service integrators. With full
support of major constellations, frequencies and
GNSS corrections processing, IE ensures your data
are reliably precise no matter where in the world youoperate.

Automated profiles for aerial, ground vehicle, pedestrianand marine enable appropriate processing to streamline
your workflow, reduce your learning curve and start
producing quality results quickly. For more experienced
users, a wide range of processing configuration options
are available to fully customise your workflows for yourunique application.

Maximise post-mission accuracy• High availability of GNSS signals for resilient
positioning during data collection• Download base station data from thousandsof reference stations across the globe throughpublic networks and/or HxGN SmartNet• Streamlined workflow with Project Wizard forquick startup• Built-in processing profiles and constraint models
to achieve best results in airborne, ground,pedestrian, UAV and marine projects• Built upon decades of GNSS expertise

4Waypoint Brochure

With access to worldwide base station data fromthousands of reference stations, users can use themost accurate base station data without needing toset up their own RTK infrastructure. Inertial Explorer
provides powerful reprocessing options, quality analysis
tools and world-class customer support to ensure thesuccess of your application.

Powerful features for diverse applications• Full support of all major constellations and frequencies,including GPS L1/L2/L5, GLONASS L1/L2, BeiDou B1I/
B2I/B3I/B1C/B2A, Galileo E1/E5a/E5b & QZSS L1/L2C/L5• Flexible Export Wizard outputs results at any vehicle
location in the required data format, rate andcoordinate frame• Support for up to 32 base stations in each project• Direct output to Google Earth, RIEGL POF/POQ, DXF
and SBET format• Boresight module for computing angular offsets
between IMU and vehicle or camera frames1• Generate HTML quality control reports in one click• Estimate or refine lever arm offsets between IMU andGNSS antenna• Support for various third-party GNSS+INS products
and generic data formats• Loosely and tightly coupled GNSS+INS processing• Easy integration with SPAN GNSS+INS technology• Differential (PPK) and precise point positioning (PPP)
processing• Integrated support for distance measurement
instruments (DMI) updates

Try Waypoint software for yourself
Request a trial and discover why Waypoint is trusted
by companies building maps for the world.
Go to https://novatel.com/contactus/request-a-trial
or scan the QR code.
1 Requires separate photogrammetric adjustment package to determine camera exterior orientation angles.

novatel.com/waypoint

5

Inertial Explorer Xpress
GNSS+INS POST-PROCESSING FOR
LOCAL AREA MAPPINGTransform your workflow

Streamlined post-processing solutions

Tailored for UAV markets and small area surveys, Inertial
Explorer Xpress provides the same core processing andutilities as Inertial Explorer with simplified functions
and streamlined workflows at a lower cost. Postprocess data efficiently with centimetre-level position
and attitude solutions compatible with LiDAR, camera
and other sensor data. Xpress supports various thirdparty GNSS+INS products and generic data formats.

Reduce complexity and processing time with single
base station processing. Differential (PPK), precisepoint positioning (PPP) and tightly coupled processing
for GNSS+INS datasets are supported. Xpress also
provides extensive quality analysis tools and plots toassess your solution prior to export.

Inertial Explorer Xpress
centroid circle
In Xpress, a small area ofGNSS+INS processed points
within a centroid circle is selected
for export. The centroid circle
encompasses a three-kilometre
radius around the project centroid,
an average of all non-stationary
processed coordinates in theproject.

6

Waypoint BrochureGrafNavFOR STATIC OR KINEMATIC GNSS-ONLY
POST-PROCESSING
Enhanced GNSS accuracy

Powerful, highly configurable processing

Waypoint GrafNav post-processing software is a
powerful, highly configurable processing engine providing
the best possible static or kinematic accuracy using
all available GNSS data. Supporting data formats fromthird-party single and multi-frequency commercial
receivers, GrafNav includes a full suite of visualisationand diagnostic tools for quality assurance.

GNSS technology computes position and velocity
for various real-time applications, including vehicle
navigation and tracking. However, additional technologies
like correction services and post-processing are needed
to maximise both GNSS availability and accuracy.

Multiple processing options
No matter your project, GrafNav is configurable to optimise
your results. Up to 32 base stations can be added to eachproject, including publicly available satellite clock andorbit data from thousands of global reference stations.
Users can achieve centimetre-level position accuracy
post-mission using PPP with kinematic trajectories.

GrafNav refines your raw GNSS data by resampling,
concatenating and splicing, processing forward andreverse in time then combining the results to generate afinal trajectory. Moving baseline processing is supported,
as well as heading determination using two fixed
antennas on the same moving vehicle:• Built-in processing profiles for airborne, ground,pedestrian, UAV and marine projects• Easily make use of project specific base station
data and a network of publicly available groundstation networks• Compatibility with various third-party receivers
and generic data formats• Interpolation of coordinates for station markers
and camera trigger events• Supports multi-base processing for large areas• A float static solution for long and/or noisybaselines• Built-in ionospheric processing improves
accuracies for dual-frequency users

novatel.com/waypoint

7

TerraStar-NRT
IMMEDIATE POST-PROCESSING WITHOUT
A BASE STATION
Generate faster results

Immediate post-processing

Adding TerraStar-NRT, a multi-constellation corrections
service, to your Waypoint software provides centimetrelevel post-processing accuracy without having to wait
for open-source correction data. Precise ephemeris isavailable every 15 minutes to provide low noise precise
point positioning (PPP) trajectories when processing
with Waypoint software.

Post-processing using Waypoint with TerraStarNRT, enables PPP and PPP tightly coupledsolutions almost immediately after datacollection with accuracy equivalent to productsthat are currently only available more than twoweeks post-mission.

TerraStar-NRT licence• Save time and achieve accurate post-processing
results directly after data collection

A TerraStar-NRT licence is available as a yearlysubscription and can be purchased by contacting aNovAtel sales representative.

• Consistent accuracy through a global network of
independently owned and operated GNSS referencestations• Simplify data collection work flow by eliminating theneed for a base station• Use TerraStar-NRT to supplement incomplete GPS,BeiDou, Galileo or QZSS broadcast ephemeris data
within a Waypoint project8

Waypoint BrochureWaypoint SDK
GNSS AND GNSS+INS POST-PROCESSINGSOFTWARE DEVELOPMENT KIT
Customise and automate your GNSS orGNSS+INS post-processing

Fast and efficient survey qualitycontrol

The Waypoint Software Development Kit (SDK) delivers
complete control over the GrafNav and Inertial Explorer
post-processing functions. Base station downloads,
data conversion, data processing, solution output
and quality control can all be customised to meet therequirements of any application.

With complete access to the trajectory information, theWaypoint SDK allows you to set rules for determining if
the survey meets your accuracy requirements. Whether
you have a few systems or hundreds, automated postprocessing improves results while saving time and money
by increasing the speed of your workflow.

Powerful functionalities

Software integration• Static and kinematic processing• Forward/reverse and triple-pass processing• Tightly coupled differential processing and tightly
coupled PPP processing• Data decoding of multiple receiver and IMUformats• Trajectory smoothing• Local base station, multi-base station and PPP• GPS, GLONASS, BeiDou, Galileo and QZSS support

Nearly all of functionality contained in Waypoint’s
GrafNav and Inertial Explorer software is accessible.
Embed GNSS or GNSS+INS processing functionality right
into your software, provide an optimised workflow foryour customers and increase the value of your software
products. Two separate interfaces are available:• C++ (Windows or Linux)• .NET (Windows only)

Software licencing• Data download for reference stations and precise
satellite orbit and clock data

• Software-based licensing with support for
remote/virtual desktop• Easy import of SPAN GNSS+INS technology data

• One-time software activation through the Internet• Flexible solution export• Term-based licensing with scalable pricing option• Data and solution quality and assurance tools• Coordinate system and datum support

System requirements
Windows• Microsoft Visual Studio 2015 or newer• Microsoft Windows 10 or 11• Microsoft .NET Framework 4.8 or newerLinux• Ubuntu 20.04 and newer• glibc 2.31 or newer• 2 GB RAM or morenovatel.com/waypoint

9STEADY STATE POST-PROCESSED PERFORMANCE 1
Waypoint software gives you unmatched confidence when you require a source of truth for post-mission position, velocity
and attitude trajectories. The following graphs detail Waypoint's post-processing compared to real-time positioning
across three different inertial products. In every case, accuracy was significantly improved when results were postprocessed.

Horizontal Position Error (m)Post-processed results

54

Single-point real-time

32100102030405060

405060Outage Duration(s)3D Velocity Error (m)
0. 40

0. 30

0. 20

0. 10

0. 00
0102030

Outage Duration(s)10Waypoint Brochure

1 Typical: Based on mixed urban road vehicle dynamics and benign GNSS conditions.

Roll Accuracy (degrees)
Post-processed results

0. 08

0. 06

Single-point real-time
0. 04

0. 02

0. 00
0102030
40
Outage Duration(s)506010203040
Outage Duration(s)5060203040
Outage Duration(s)5060

Pitch Accuracy (degrees)
0. 080. 06

0. 04

0. 02

0. 00
0Heading Accuracy (degrees)
0. 20

0. 15

0. 10

0. 05

0. 00
010

novatel.com/waypoint

11About Hexagon | NovAtel
Hexagon is the global leader in digital reality solutions, combining sensor, software and autonomous technologies.
We are putting data to work to boost efficiency, productivity, quality and safety across industrial, manufacturing,infrastructure, public sector, and mobility applications.
Our technologies are shaping production and people-related ecosystems to become increasingly connected andautonomous – ensuring a scalable, sustainable future.
NovAtel, part of Hexagon, is a global technology leader, pioneering end-to-end solutions for assured positioning
for land, sea, and air. NovAtel designs, manufactures and sells high precision positioning technology developed for
efficient and rapid integration. Its solutions are empowering intelligent positioning ecosystems in vital industries that
depend on the ability to tackle the most complex challenges in the most demanding environments. Learn more atnovatel.com.

Novatel Inc.
Hexagon Calgary Campus | 10921 14th St. NE | Calgary, Alberta, Canada T3K 2L5

Contact Information
US & Canada 1-800-NOVATEL or 403-295-4900
China 0086-21-68882300 | Europe 44-1993-848-736 | SE Asia & Australia 61-400-883-601
Website: novatel.com | Email: sales.nov.ap@novatel.com
This document and the information contained herein are provided AS IS and without any representation or warranty of any kind. All warranties,
express or implied, are hereby disclaimed, including but not limited to any warranties of merchantability, non-infringement, and fitness for aparticular purpose. Nothing herein constitutes a binding obligation. The information contained herein is subject to change without notice.
ALIGN, GLIDE, NovAtel, OEM7, PwrPak7, SPAN, TerraStar and Waypoint are trademarks of Hexagon AB and/or its subsidiaries and affiliates, and/ortheir licensors.
All other trademarks are properties of their respective owners.
© Copyright 2016 – 2023 Hexagon AB and/or its subsidiaries and affiliates. All rights reserved. A list of entities within Hexagon's Autonomy &Positioning division is available at https://hexagon.com/company/divisions/autonomy-and-positioning.

Version 10
D18034 September 2023