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7 Operating of DR Backup
The GNSS+DR receiver has two kinds of backup source, which are the backup RAM and the Flash ROM. The
backup data is stored into the backup RAM while a backup power is supplied to the GNSS+DR receiver. The
GNSS+DR receiver can also store the backup data into the Flash ROM by sending PERDAPI,STOP,DRPARK
command.
When the backup data is valid at the next operating, the GNSS+DR receiver outputs the position in DR only
mode based on the backup data until GNSS position fix. When the GNSS+DR receiver receives GNSS signals
and confirms the GNSS positioning result is correct, the position fix status changes to DR/GNSS mixed mode.
When changing the vehicle, installation angle and installation position of IMU sensor, the backup data should
be deleted by sending PERDAPI,START,SIMCOLD command. And then, calibrate the IMU sensor parameters
again.
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:
1.
Send STOP command ($PERDAPI,STOP,DRPARK*5D).
2.
Send output command ($PERDAPI,CROUT,DI*09) for output valid of PERDCRD and PERDCRI
sentence.
3.
Send Diag data output command ($PERDSYS,RECPLAY,ON*0B).
4.
Send START command ($PERDAPI,START*37).
Notes:
When outputting the Diag data, it is necessary to change the baud rate to 460800 bps by the following
command.
$PERDCFG,UART1,460800*68
In case of using 460800 bps, taka care about UART communication error rate and do not use this baud rate
except Diag data collection.
FURUNO ELECTRIC CO., LTD. All rights reserved.
eRideOPUS 6/ eRideOPUS 7 GV-86/ GV-87
Dead Reckoning User's Guide
22
SE16-900-002-00
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