Imu Sensor Installation - Furuno GV-86 User Manual

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.
(1) Method of automatically correcting the inclination and the deviation of installation angle by the Auto
Orientation function
(2) Method of presetting the inclination of the known installation angle by the misalignment command
With these functions, it is possible to correct and eliminate the output error of the IMU sensor caused by the
inclination and deviation.
The Auto Orientation function can also expand the range of angles that can be automatically corrected by
AUTOORIENT command.
<Definition of coordinate system and axis>
Here are definitions of axis against sensor unit installation angle:
- Direction of forward movement: X-axis
- Horizontal to the direction of movement: Y-axis
- Vertical to the direction of movement: Z-axis
Rotation angles to the each axis are defined as follows:
Rotation angle around the X axis: Δθ
-
Rotation angle around the Y axis: Δθ
-
Rotation angle around the Z axis: Δθ
-
Figure 5.1 (a) to (d) shows inclination against each axis.
Y
(a) No inclination
Y
(c) Inclines Δθ
to the horizontal direction
X
FURUNO ELECTRIC CO., LTD. All rights reserved.
Roll angle
X
Pitch angle
Y
Yaw angle
Z
0
Z
0
X
Δθ
X
Z
Figure 5.1 Sensor Unit Installation Angle Definition
eRideOPUS 6/ eRideOPUS 7 GV-86/ GV-87
Surface
X
Y
(b) Inclines Δθ
Z
Y
(d) Inclines Δθ
12
Dead Reckoning User's Guide
SE16-900-002-00
0
Δθ
Z
Z
to the direction of movement
0
Δθ
Y
Z
to the height direction
Y
X
Direction of
movement
X