Testing; Analysis - u-blox EVK-M9DR User Manual

1. With the car stationary, power on the EVK-M9DR and wait for a valid 3D GNSS fix.
2. Remain stationary until IMU status in ESF-STATUS shows "
3. Drive a figure-of-eight pattern until the alignment status in ESF-ALG shows "
4. Drive straight at a minimum speed of 40 km/h until INS status in ESF-STATUS shows
" ".
INITIALIZED
Once the calibration is at a sufficient level, the receiver starts using the sensors in navigation and the
fusion filter status in ESF-STATUS will show "
The receiver will continue calibrating the sensors in the background continuously to improve the
quality of the solution. For optimal performance, it is recommended to repeat step 3 until ESF-ALG
shows " " and to drive curves and straight segments until all sensors in ESF-STATUS report
FINE
" " before actual testing.
CALIBRATED
☞
Refer to the NEO-M9V Integration manual [2] for more information about sensor calibration.

3.3 Testing

The device is now ready for actual test drives. For replaying and analyzing the test drives afterwards,
record the data into log files with u-center. To collect a proper log file with sufficient information, do
the following steps:
1. Open u-center.
2. Select the device with Receiver > Connection > COMXX.
3. Enable UBX messages according to what needs to be monitored.
4. Enable debug messages with the debug message button (Figure 1). This step is optional, but
necessary for investigation of issues.
5. Start recording with the record button (Figure 1).
6. When prompted to poll the receiver configuration, select the correct receiver generation, and click
"Yes".
7. Perform the test drive.
8. To stop recording, click the eject button (Figure 1). The log file will be saved automatically.
Figure 1: u-center logging controls

3.4 Analysis

After collecting data over test drives, u-center can be used to replay and analyze the logs in several
ways:
• Checking the general receiver status
• Monitoring data in individual messages
• Using the chart view to monitor certain parameters over time
To replay a log, do the following:
1. Open u-center.
UBX-21049360 - R01
C1-Public
INITIALIZED
".
FUSION
Contents
EVK-M9DR - User guide
".
".
COARSE
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