Hello, I have a dataset from a recent field campaign where just a couple of the flights are giving me this error. The log reports:
[2023.09.25 11:43:09.691] [W]imu pose process error, error code: 30
[W]Flight: {file path}.IMU failed, return code: 130
[W]Mission: {folder path} failed, return code: 130

[2023.09.25 11:43:09.691] [SdkLog              ] [11:43:09.691] [W]ppp process error with error code: 130
[2023.09.25 11:43:09.692] [SdkLog              ] [11:43:09.692] <TerraLog>M12-VEonjC7_l2DOJ3vnm4LaPWvxs5yWwEcHmkVRwyeDKLTEiUzQIJGAgOpK2JW0ER9wsx4IW1zP3iJbd97Gq4Rd5GN7vjHCZBV2BgDry5GM6kTH51WrQs8kaIDTm92F<endl>
[2023.09.25 11:43:09.693] [SdkLog              ] [11:43:09.693] <TerraLog>uNP7Jj99sPDCP2XIh1UFkldSWQ8sbdPbQqbzQTDto4U.<endl>
[2023.09.25 11:43:09.695] [SdkLog              ] [11:43:09.695] [I]daGetTextureObjectResourceViewDesc
[2023.09.25 11:43:09.695] [SdkLog              ] [11:43:09.695] <TerraLog>M12-VEonjC7_l2DOJ3vnm4LaPWvxs5yWwEcHmkVRwyf6LbuvO8guwUC1cD1ltOQU0dGbUCao9pLbpT1gPrT-vQ..<endl>
[2023.09.25 11:43:09.696] [SdkLog              ] [11:43:09.696] <TerraLog>2nminSyyS52TZDKoTuSFoi3smDL3gwXMiPquqoGC6Qg.<endl>
[2023.09.25 11:43:09.698] [SdkLog              ] [11:43:09.698] <TerraLog>M12-VEonjC7_l2DOJ3vnm4LaPWvxs5yWwEcHmkVRwyf9kJo7HRm_a_Izervw4VDVXOgM9FhnfZ6iuUpkmWWtBg..<endl>
[2023.09.25 11:43:09.698] [SdkLog              ] [11:43:09.698] <TerraLog>p0paK87ODHK8qiKpaGE4ssocC-Zd5bmvTcYwvAHDcQU.<endl>
[2023.09.25 11:43:09.831] [ext_app             ] Normal [C:/Program Files (x86)/DJI Product/DJI Terra/Assistant/map_gen/DJIPicMapGen.exe] exit with 8130.


I have 2 questions:
1) Is it possible to obtain any data from the files, despite of this error?
2) Is there a likely reason why this error occurrs in only a few of the datasets, when most others from the same day are processing normally?

Thank you!

This kind of issue is common, by either misusing the DRTK2 or working to far from an NTRIP base station. If a close RINEX file is available, try with.

Thank you for this response. The strange thing is that other flights nearby (in time and space) process correctly using the same RINEX file. I have also tried using 2 different RINEX files, 1 from our Emlid RS2+ and 1 from the nearest CORS location.

gl7176 Posted at 9-25 15:14
Thank you for this response. The strange thing is that other flights nearby (in time and space) process correctly using the same RINEX file. I have also tried using 2 different RINEX files, 1 from our Emlid RS2+ and 1 from the nearest CORS location.

Is IMU calibnration activated during the flight ?

LV_Forestry Posted at 9-25 22:49
Is IMU calibnration activated during the flight ?

It was activated, but I may have forgotten to manually calibrate the IMU before starting the automated flight plan (using UGCS)

gl7176 Posted at 9-26 08:13
It was activated, but I may have forgotten to manually calibrate the IMU before starting the automated flight plan (using UGCS)

Ah !
Rule nr 2, do not use UGCS with L1.

The dedicated process with pilot2 is perfect. UGCS claim to be L1 compatible but i also encounter this kind of problem.

LV_Forestry Posted at 9-26 08:32
Ah !
Rule nr 2, do not use UGCS with L1.

Ah very interesting, thanks for this information. I will try out the Pilot2 interface and see if we can switch our protocol over - we survey large regions using many flight plans for each campaign, so UGCS is helpful for pre-planning and organizing our flight plans. Hopefully Pilot2 can allow similar planning for large, complex operations.

My last question - do you know if this data is trash now? Or is it possible to salvage some information despite error 8130?

gl7176 Posted at 9-26 11:13
Ah very interesting, thanks for this information. I will try out the Pilot2 interface and see if we can switch our protocol over - we survey large regions using many flight plans for each campaign, so UGCS is helpful for pre-planning and organizing our flight plans. Hopefully Pilot2 can allow similar planning for large, complex operations.

My last question - do you know if this data is trash now? Or is it possible to salvage some information despite error 8130?

In UGCS there is the export option which allows you to send the flight plan to pilot 2. What I find the simplest is to import a KML and that's it.  

Most probably your dataset is unusable.  I don't remember having managed to repair datasets with this error.

According to the provided LOG error information, check whether the reconstruction error is caused by the failure to solve the POS trajectory of the IMU. The possible reasons are:
1. RTK failed to maintain the full FIX state
2. The flight speed is too slow, less than 5m/s in the whole process
3. Long-term hover collection occurs
4. No calibration

Regarding your 2 questions:
1. This set of data may not be reconstructed at present. If it cannot be solved due to RTK, you can use PPK to test it.
2. The reason for this problem has been explained above.