Importance Of Rbv Calibration; Figure 22: Rear View Of Smart7 On A Vehicle - Roof Camber; Figure 23: Side View Of Smart7 On A Vehicle - Roof Tilt - Novatel SMART7 Installation And Operation Manual

SMART7 with SPAN Operation

4.3.3 Importance of RBV Calibration

For the SMART7 to provide the best performance, the rotation offset of the IMU body to the
Vehicle frame (RBV) should be known as accurately as possible. Since constraints happen at the
vehicle level, any error in the offset will translate into worse performance.
If the SMART7 is installed as described in Mounting and Orienting the SMART7 on page 22, the
IMU Body frame is aligned with the Vehicle frame. However, aspects of the vehicle design, such
as roof camber or tilt, and slight misalignments in installation can cause the IMU Body frame to
be slightly out of alignment with the Vehicle frame. The misalignment of the IMU Body frame
from the Vehicle frame will add a bias to the SPAN solution.
The following diagrams show a SMART7 on the roof of a vehicle with the three issues mentioned
above.
Figure 22: Rear view of SMART7 on a Vehicle – Roof Camber
Figure 23: Side View of SMART7 on a Vehicle – Roof Tilt
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