Table of Contents

How to process a MS-96 car-based scan

This tutorial describes, end-to-end, the steps to obtain exploitable data. Parameters can be changed by advanced users with specific needs. It assumes that the software is already installed and the working directory is set.


Double click on the icon on your desktop to open PPIMMS.

Create an environment

Click on “File” -> “New environment”. Give a name by clicking on the right icon. Do not change the location or the format.

Then click “Add”.

Create a project

Give a name to the project, then click “Add”.

Import an acquisition

Click on “Import AAR” and look for an .aar file that you exported from the system.


This AAR file will be unzipped and added to the acquisition folder of the software working directory.


Left click to select the acquisition and then click “Add Acquisition To Project”


A pop-up window opens up, asking you to synchronize the acquisition. Click “OK” to confirm and launch the synchronization.


Once the Synchronization is done, the environment will open.

Activate the project

Right-click on the project name and click on “Set as active”.

Odometric Trajectory Computation

Open Qinertia

Open Qinertia.

Click on “New Project”.

Create a project in Qinertia

In “Project name”, give a name to your project.

In “Organization” write the name of your company.

Under “Save Project”, choose (if not already done) the working directory of the software. We recommend having one folder called Qinertia on your main SSD drive and never changing this parameter.

Under “Import Files”, left-click on “browser” to open an explorer. Navigate to the session folder exported from your MS-96 aside the .aar. Then click “Select Folder”. Then click “Next”.

Configure the project in Qinertia

Activate “Geodetic Configuration” by clicking on the toggle icon. Then under “Project Coordinate System” click the search icon. A window opens. In the top field, look for the EPSG / CRS name that you want to use to reference the GNSS data. Then click “Select” on the bottom right. Back on the first window with the motion profile, click “Next”.


On the “Data sources” page, click “Next”.


On the “Trajectory preview” page, click “Next”. If a warning appears, click “Yes”.


On the “Base stations” page, wait for Qinertia to find a base station (visible at the bottom left under “Processing details”). If Qinertia creates a Virtual Base Stations out of a network, you will need to validate the network. Simply accept and move on. Click “Next”.


On the “IMU Model” page, click “Next”.


On the “IMU Installation” page, click “Next”.


On the “IMU Lever Arms”, click “Next”.


On the “GNSS Setup” page, in “Antenna type” (middle right of the page), look for the [VMTRS_MS96_1 NONE] antenna. Then click “Next”.


Your project is now configured. Click “Finish”.

Tight coupling PPK computation in Qinertia

Click on the double-arrows icon, then “Tight Coupling PPK”. Then wait for the computation to be completed (when the “Processing summary” appears).

Export data from Qinertia

Click on “File”, then “Exports”.

Click on the “PPIMMS_TightCoupling_Geodesy” profile. Then click “Launch export” on the bottom right.

The export may take a few seconds to finish. Its status can be seen on the first bottom right icon with a blue stripe incrementing around it. If you click on it and then on the folder icon, you will see the location of the exported file.

You can now close Qinertia.

Import result in PPIMMS

From the post-process menu click on “Odometric Trajectory Computation”. Use the following settings and select the file just computed and exported from the Tight Coupling in Qinertia.


Click “OK” twice to launch the computation.

Add Navigation Constraints

In the “Post Process” menu, click on “Navigation Constraints Computation”.


Open the settings. Next to the first line “External File Name” click on the icon to open an explorer. Navigate to the exported file from Qinertia (same file as for the previous step) select it and click on “Open”.


The lever arm must be “NONE”.


Both the External File EPSG Code and Projection (EPSG Code) must be the code of your chosen projection (the one chosen in the “Geodetic Configuration” in Qinertia).


Click “OK” to validate your settings and “OK” to launch the computation.


Once the computation is done, it is normal that the point clouds disappear from the viewer. It has just shifted to the new coordinate system. To reach it, unfold the “Trajectories” items in the tree structure, right-click on the “Minimized Trajectory” and choose “Center View On”.

Add Loop Constraints

From the post-processing menu, click on “Loop constraints”. Use the following settings.


Left-click “OK” twice to launch the computation.

Add Ground Control Points

This step only applies if you have GCPs to add. Discard if not.

From the post-processing menu, click on “Add Block Constraints”. It will open a window on the right side of the screen.


Select the “GCP” mode.


Choose the EPSG of the coordinates reference system your GCPs are expressed in.


Click as accurately as possible on the point of the point cloud that should have the GCP coordinates.


Write the coordinates in the XYZ fields available.


Set the confidence level to:

  • “Full” if you can click the point with accuracy,
  • “Intermediate” if you cannot.


Click “Add” then “Validate”.


Click “OK” to confirm the change of ESPG code of the project.


Repeat the operation if you have other GCPs to add.

Global Optimization

From the post-processing menu, click on “Global Optimization”. Click “OK” to launch the computation.

Create Result

From the post-processing menu, click on “Create Result”. Click “OK” to launch the result creation.


A new item called “Result” will appear in the tree view on the left.

Edit Mask/Color

Unfold the Result item and “Media Data”. Right-click on “MultiCams” and then on “Edit Mask/Color”.

You can increase the window size and increase the camera stream viewer by zooming using the wheel.

Go to the “Color/Tonal” tab, select “Gamma correction” and increase the “Gamma” value to 2.

Go to the “Mask Editor” tab. Using the right-click, draw a contour around the operator head and shoulder. Then click “Apply”.

Repeat the operation for the “FrontLeft” and “BackRight” cameras, not forgetting about contouring as well the lidar.

When finished close the window.


From the menu “Result”, click on “Colorize Point Cloud” and choose the result to colorize.

Choose the following settings.

Dynamic Objects Filtering

From the menu “Result”, click on “Filter Point Cloud” and choose the result to filter.


Choose the following settings.

Point Cloud Export

From the menu “Result”, click on “Export point cloud” and then the result to export. Choose the following settings.


Confirm and launch the export.


The colorized and referenced point cloud is now available and can be used in third party software.

Images Export

From the menu “Result”, click on “Export Images” and then the result to export.


Choose the following settings.


Please note that you can choose another format for the camera trajectory depending on the third party software that you will be using.

  • XYZ: Orbit GT suite, VisionLidar, Cintoo, AtisCloud, PointCab, Benaco, SCC
  • CSV: e-Cassini
  • TopoDot: TopoDot


Confirm and launch the export.


The panoramic images are then available and can be used in third party software.