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Chapter 2 New for OEM7 – Firmware
SETINSPROFILE LAND
The currently selected profile option is available in the INSCONFIG log.
RBV Calibration
For the profiles to provide the greatest benefit, the rotation offset of the IMU body to the vehicle
frame (RBV) should be known as accurately as possible. Since constraints happen at the vehicle
level, any error in the offset will translate into worse performance. These parameters are estim-
ated in the background when the system is fully converged, however it is always better to have
this measured as precisely as possible before mission critical data is collected.
The INSCALIBRATE RBV functionality can be used to estimate and save these offsets to NVM in a
controlled manor.
2.4.8 Multi-Line Body to Vehicle Frame Rotation Calibration Routine
The single pass Body to Vehicle frame offset calibration feature assumes flat ground when estim-
ating the roll offsets between the IMU Body and Vehicle frames, as this component of the rota-
tional offset is difficult to observe through typical ground vehicle motion. In practice this can
result in an outstanding roll offset error as high as several degrees. 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 cal-
ibrated 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 1: Multi-Line IMU Body to Vehicle Calibration
OEM6 to OEM7 Integration Guide v1
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