Figure 25: Multi-Line Imu Body To Vehicle Calibration - Novatel SMART7 Installation And Operation Manual

SMART7 with SPAN Operation
calibrated accuracy in roll. This is done by running independent calibrations over the same
ground path in opposite directions; averaging the results cancels out the effect of any terrain
induced roll. A minimum of two iterations are required. Additional iteration pairs can be
executed for increased reliability.

Figure 25: Multi-Line IMU Body to Vehicle Calibration

The steps for the calibration routine are:
1. Apply power to the SMART7.
2. Configure the SPAN system, see .
3. Ensure that an accurate lever arm has been entered into the system.
4. Perform an initial system alignment using one of the methods described in System Start-Up
and Alignment Techniques on page 66. Ensure the system reaches Solution Good.
5. Enable a new calibration using the INSCALIBRATE command, with the optional standard
deviation target omitted:
INSCALIBRATE RBV NEW
6. Start to move the vehicle. Drive a straight course, at a vehicle speed greater than 5 m/s (18
km/hr). A distance of approximately 250 metres is recommended.
To monitor the calibration, log INSCALSTATUS using the ONCHANGED trigger.
7. When the end of the available distance is reached, stop the vehicle. Halt the ongoing cal-
ibration by sending the INSCALIBRATE command again:
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