Related Manuals for Furuno GV-86
Summary of Contents for Furuno GV-86
- Page 1 FURUNO GNSS Receiver eRideOPUS 6/ eRideOPUS 7 GV-86/ GV-87 Model Dead Reckoning Solution User’s Guide (Document No. SE16-900-002-00) www.furuno.com...
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Page 2: Important Notice
You expressly acknowledge and agree that use of the "Application Note" is at your sole risk. This "Application Note" is provided 'AS IS' and without warranty of any kind and FURUNO expressly disclaims all other warranties, express or implied, including, but not limited to, the implied warranties of merchantability, fitness for a particular purpose and no infringement. -
Page 3: Revision History
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 Revision History Revision Description Date Initial release 2017.10.24 FURUNO ELECTRIC CO., LTD. All rights reserved. -
Page 4: Table Of Contents
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 Table of Contents General Description ············································································································· 1 FURUNO DR GNSS Receiver ································································································ 1 System Configuration ·········································································································· 2 Available Signal Combination and Supported Sensor ······················································· 2 Sensor Interface Configuration ······················································································· 3 Reference Circuit ················································································································... -
Page 5: General Description
Dead Reckoning User’s Guide SE16-900-002-00 1 General Description This document describes user’s guide for achieving best performance of FURUNO Dead Reckoning (DR) GNSS receiver (GNSS+DR receiver). - eRideOPUS 6 (P/N: ePV6010B) Dead Reckoning Chip solution - eRideOPUS 7 (P/N: ePV7010B) Dead Reckoning Chip solution... -
Page 6: System Configuration
3 System Configuration 3.1 Available Signal Combination and Supported Sensor Table 3.1 shows available signal source combinations. Based on Table 3.2, which shows FURUNO supported IMU sensor (Gyro, Accelerometer and Gyro/Accelerometer combo sensor), please design optimized system on customer platform. -
Page 7: Sensor Interface Configuration
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 3.2 Sensor Interface Configuration Figure 3.1shows I/O relation between the GNSS+DR receiver and the supported sensor in Table 3.2. Pin # Sensor information I/O signal ePV6010B / GV-86/ ePV7010B... -
Page 8: Reference Circuit
SE16-900-002-00 4 Reference Circuit This section shows reference circuits of FURUNO supported sensor. Operation guarantee of these circuits is just based on FURUNO original development environment, which means that FURUNO is not able to guarantee operation at customer development environment. Therefore, please verify and check expected operation at customer end. -
Page 9: Mpu-6500
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 4.2 MPU-6500 (*2) VOUT (*4) XC8101AA01-GR-G (*1) RESET (*2) (*3) (*3) (*1) (*2) (*1) MPU-6500 (*2) 0.1uF 0.01uF 0.1uF Interface connection destination I/O signal Description eRideOPUS 6/7 GV-86/ 87... -
Page 10: Xv-4001Bc And Ais328Dq
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 4.3 XV-4001BC and AIS328DQ (*3) (*3) (*1) Reserv ed Reserv ed (*1) (*2) MOSI Reserv ed Reserv ed XV-4001BC 10uF 0.1uF (*2) VOUT (*4) XC8101AA01-GR-G (*1) RESET INT_2 SDI/SDO/SDA... -
Page 11: Itg-3500 And Ais328Dq
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 4.4 ITG-3500 and AIS328DQ (*2) VOUT (*4) XC8101AA01-GR-G (*1) RESET (*3) (*3) (*1) (*1) SDA/SDI (*2) VDDIO 0.01uF 0.1uF ITG-3500 0.1uF INT_2 SDI/SDO/SDA Reserv ed SDO/SA0 (*2) VDD_IO Reserv ed 0.1uF... -
Page 12: A3G4250D And Ais328Dq
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 4.5 A3G4250D and AIS328DQ C1 0.01uF (*2) C4 0.47uF 10uF 0.1uF VOUT (*4) (*2) (*2) XC8101AA01-GR-G (*1) (*3) (*3) RESET 0.1uF Vdd_IO (*1) SCL/SPC (*1) SDA/SDI/SDO SDO/SA0 A3G4250D INT_2... -
Page 13: Xv-8000Cb And Ais328Dq
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 4.6 XV-8000CB and AIS328DQ VCCI_5V0 VCC_5V0 VOUT (*4) XC8101AA01-GR-G VCCI_3V3 VCC_3V3 VOUT (*4) XC8101AA01-GR-G (*1) RESET VCCI_5V0 (*6) VCCI_5V0 3.3k +/- 1% VTEMP (*5) R1 3.3k R2 3.3k VOUT... -
Page 14: Xv-8100Cb And Ais328Dq
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 4.7 XV-8100CB and AIS328DQ VCCI_3V0 VCCI_3V0 VCC_3V0 VOUT (*4) 0.1uF (*7) VREF XC8101AA01-GR-G VOUT VCCI_3V3 VCC_3V3 XV-8100CB VOUT (*4) 3.3k 3.3k XC8101AA01-GR-G (*1) RESET 2.2uF 2.2uF VCCI_3V3 (*3) (*3) - Page 15 (*4) In case only receiver which is eRideOPUS 6/ eRideOPUS 7 or GV-86/GV-87 (I2C master device) has reset from normal operation, there is a risk of misreading data from sensor after releasing reset. In order to avoid this issue, it is necessary to be activating reset of sensor when I2C master device has reset.
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Page 16: Imu Sensor Installation
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 5 IMU Sensor Installation For the installation of the IMU sensor, the GNSS+DR receiver has specification values for the inclination and the deviation of the coordinate system of the vehicle and the IMU sensor. The GNSS+DR receiver has a function to correct the inclination and the deviation within the specification value. -
Page 17: Automatic Correction By Auto Orientation Function
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 When the axis described in the IMU sensor data sheet defines the Z-axis and the Y-axis opposite to the DR receiver axis definition, the DR receiver changes the Z-axis and Y-axis direction to correspond to the definition described in this document. -
Page 18: Set Installation Angle By Misalignment
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 5.3 Set Installation Angle by Misalignment When the IMU sensor is not installed within the Auto Orientation range, which means that the installation angle is exceeded the range described in Table 5.1 and Table 5.2, it is possible to set the installation angle by the... -
Page 19: Sensor Installation Examples
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 5.4 Sensor Installation Examples Here are sensor, which is 3-axis gyro and 3-axis accelerometer, installation examples with the GNSS+DR receiver evaluation kit (VN-871 or VN-861). 5.4.1 Zero Angle against Axis of IMU Sensor... -
Page 20: Auto Orientation Default Range
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 5.4.2 Auto Orientation Default Range In case of Figure 5.3 (b), (c) and (d), it is possible to automatically correct the inclination of IMU sensor by using 3-axis gyro sensor and 3-axis accelerometer. -
Page 21: Auto Orientation Expansion Range
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 5.4.3 Auto Orientation Expansion Range In case of Figure 5.4 (e), (f) and (g), it is possible to automatically correct the inclination of IMU sensor by using 3-axis gyro sensor and 3-axis accelerometer and “$PERDAPI,AUTOORIENT,1*6E” command. -
Page 22: Out Of Auto Orientation Range
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 5.4.4 Out of Auto Orientation Range In case of Figure 5.5 (h), (i) and (j), it is necessary to set misalignment data due to out of Auto Orientation range. -
Page 23: Calibration
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 6 Calibration Calibration is a function to estimate the output errors of IMU sensor and vehicle speed pulse. Estimated output errors are bias and gain. The bias is an output value when the input value is 0, and the gain is a ratio of the input value to the output value. -
Page 24: Gnss Position Fix To Dr Valid By Calibration Driving
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 6.2 GNSS Position Fix to DR Valid by Calibration Driving [Operation] Calibration function is available by driving with more than 20 km/h at open sky. Keep the vehicle speed of more than 20km/h at open sky. -
Page 25: Calibration Of Gyro Sensor
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 6.4 Calibration of Gyro Sensor [Operation] Calibration function of gyro sensor is available by driving with a several times (8 to 12 times) of right or left turn at GNSS or GNSS+DR status of open sky level. It is available to do mix calibration with Section 6.2 and 6.3. -
Page 26: Operating Of Dr Backup
8 Recommended NMEA Output Sentence at Customer Evaluation Stage When evaluating the DR performance, it is recommended to collect PERDCRD, PERDCRI sentences and Diag data. It is very useful for analyzing the log data at FURUNO. The recommended operating is as follow: Send STOP command ($PERDAPI,STOP,DRPARK*5D). -
Page 27: Important Notice
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 9 Important Notice 9.1 Important Notice for IMU Sensor Please design and implement based on the data sheet of IMU sensor. In addition, please verify the products to achieve the target performance. -
Page 28: Receiver Start Operation
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 9.5 Receiver Start Operation The GNSS+DR receiver backs up the last updated position, the direction and the DR parameters. At the next power on, the GNSS+DR receiver starts the positioning in DR only mode by using the backup data. After that, when the direction calculated by DR is coincident with the GNSS direction, the position mode changes to DR/GNSS mixed mode. -
Page 29: Faq
6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 10 FAQ Q1. How do we check calibration completion status? A1. As a first step, please check “PERDCRD,R” sentence as DR valid. When Field 3 of this sentence is indicated as “1”, DR mode is valid. - Page 30 6/ eRideOPUS 7 GV-86/ GV-87 Dead Reckoning User’s Guide SE16-900-002-00 Q9. Is it possible to use other than vehicles? A9. No. The DR receiver is designed for car navigation systems and telematics terminals. Q10. Not completed calibration of Gyro.