Ins Profiles; Ins Seed; Multi-Line Body To Vehicle Calibration - Novatel OEM6 Integration Manual

Chapter 2 New for OEM7 – Firmware
OEM6 Command
SETMARKxOFFSET
VEHICLEBODYROTATION
SETIMUORIENTATION
GIMBALSPANROTATION
SETGIMBALORIENTATION
EXTHDGOFFSET
APPLYVEHICLEBODYROTATION

2.4.3 INS Profiles

INS Profiles are a method to improve the performance of the system in different conditions.
When a receiver is configured with an INS Profile, the default receiver settings are modified to
optimize performance in the selected condition. See INS Profiles on page 152 for more inform-
ation.
2.4.4 INS Seed
The INS Seed functionality is an alignment method whereby INS alignment information from a
previous powerup can be injected into the system at startup to achieve an INS alignment very
quickly. This is especially useful for systems that previously required a kinematic alignment.
See INS Seed / Fast INS Initialization on page 155 for more information.

2.4.5 Multi-Line Body to Vehicle Calibration

The Body to Vehicle frame offset calibration feature assumes flat ground when estimating the
roll offsets between the IMU Body and Vehicle frames. For applications where vehicle roll must
be well known, or pass-to-pass accuracy of a highly offset position is especially important, the
Multi-Line IMU Body to Vehicle frame offset calibration routine offers higher 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. See Multi-Line
Body to Vehicle Frame Rotation Calibration Routine on page 153 for more information.
OEM6 to OEM7 Integration Guide v1
OEM7 Command
SETINSTRANSLATION
MARKx
SETINSROTATION
MARKx
SETINSROTATION
RBV
SETINSROTATION
RBM
SETINSROTATION
ALIGN
SETINSROTATION
RBV
Notes
Translational and rotational offsets are
now entered separately.
Markx can be MARK1, MARK2, MARK3 or
MARK4.
The information provided by the OEM6
commands is now combined in the RBV
rotation.
The information provided by the OEM6
commands is now combined in the RBM
rotation.
The RBV rotation must also be specified
for correct operation.
This offset continues to be automatically
calculated if the translational offsets to
the primary and secondary GNSS
antennas are provided.
Default attitude output is now in the
Vehicle Frame, as long as an RBV rotation
is provided. This is overridden if a USER
rotational offset is provided.
150