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Chapter 2 New for OEM7 – Firmware
3. Issue the following command.
IMUCONFIGURATION IMU_KVH_17xx 2
The IMUCONFIGURATION command can be used to configure the KVH17xx IMU's depending
on the value of the Option field.
IMUCONFIGURATION IMUType [Option]
IMU Type
IMU_KVH_1750
IMU_KVH_1725
2.4.7 INS Profiles
INS Profiles are a method to improve the performance of the system in different conditions. Dif-
ferent constraining approaches can be applied to the solution depending on what type motion is
expected during operation. The greatest improvements are currently available in fixed-axle land
vehicles in a method often referred to as dead reckoning. Ships and helicopter type vehicles are
harder to improve as these vehicles can move more freely in lateral or vertical directions.
The LAND profile is currently the only released profile option. The other pro-
files make small changes to default settings and are available for testing.
Profile
Intended for fixed-axle land vehicles.
LAND
Enables non-holonomic constraints for vehicle
motion.
MARINE
Intended for boats
FIXEDWING
Intended for fixed wing aircraft
Intended for Vertical Take Off and Landing
VTOL
aircraft (helicopter, quadcopter, etc.)
RAIL
Intended for railway applications
Use
To use an INS Profile, send the SETINSPROFILE command at startup (or save to NVM) to activ-
ate the mode. For example:
OEM6 to OEM7 Integration Guide v1
Option
0
Configure KVH options for NovAtel communication.
1
Change KVH baud rate to 921,600
2
Change KVH baud rate to 460,800
Table 61: INS Profiles
Description
Configuration Details
Default Settings Modified
Enable Dead Reckoning
Enable direction detection on
kinematic alignment routine
Enable course over ground
attitude updates
Disable Zero Velocity Updates
Disable turn-on bias estimation
Enable Heave algorithms
Disables Zero Velocity Updates
Disable Zero Velocity Updates
Retains Default configuration
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