## INS Setup

The sensor connection and setup are performed in accordance with the {doc}`procedure </sections/sensors/navigation-sensors/index>`.

Depending on the architecture, INS may transmit data to a single port or to multiple ports to prevent communication channel overload.

```{important}
During sensor configuration, note that sensor coordinates are specified relative to **CCRP (Center of Common Reference Point)**. If the ship documentation specifies coordinates relative to **CCRS (Center of Common Reference System)**, coordinate recalculation is required. For more information on configuring {doc}`sensor coordinates </sections/sensors/navigation-sensors/index>`.
```

When creating sensors receiving data from INS, the following minimum set of NMEA sentences must be configured for reception. This is a mandatory requirement for correct ECDIS operation:

- **Position**:
  - ``$--GLL``
  - ``$--DTM``
  - ``$--VTG``
  - ``$--ZDA``

- **Heading**:
  - ``$--THS``

- **Speed**:
  - ``$--VBW``
  - ``$--VDR``

- **Depth**:
  - ``$--DPT``

All sensors connected to INS must receive the ``$INNSR`` sentence.

```{hint}
When the ``$INNSR`` sentence is selected, the user-defined sentence selection is automatically disabled, and the recommended sentence set is enabled as specified above.
```

```{note}
The navigator, based on console review, may enable reception of additional sentences from INS for the configured sensor type at their discretion.
```