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Supported Platforms
Platform
Duro Inertial
Firmware
≥ 2.1.21
Overview
Duro Inertial is a ruggedized version of Swift Navigation's Piksi® Multi dual-frequency Real Time Kinematics (RTK) GNSS
receiver including inertial sensor fusion algorithm, which combines GNSS and inertial measurements into an unified
solution. The combination of GNSS and inertial measurements allows Duro Inertial to provide highly-accurate, continuous
position solutions during brief GNSS outages and to deliver robust precision navigation solutions in harsh GNSS
environments.
This document describes Duro Inertial with firmware version 3.0.
The INS settings and IMU sensors alignment process have significantly changed between firmware versions 2.4 and 3.0.
For the older firmware use Duro Inertial User Manual v1 (UM-110008-01).
About this Manual
Every effort has been taken to ensure the accuracy of the contents of this manual. This manual is based on Duro Inertial
firmware version 3.0.11. In case of differences between the manual and the product, use the information from the
product.
Prerequisites
This document describes the installation, configuration, and operation of features specific to Duro Inertial. Users should
be familiar with the information contained in the Duro User Manual before following this guide.
Duro User Manual -
https://www.swiftnav.com/latest/duro-user-manual
Duro Inertial User Manual
Version 2
2022-07-13
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Related Manuals for Swift Duro Inertial
Summary of Contents for Swift Duro Inertial
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Page 1: Overview
About this Manual Every effort has been taken to ensure the accuracy of the contents of this manual. This manual is based on Duro Inertial firmware version 3.0.11. In case of differences between the manual and the product, use the information from the product. -
Page 2: Table Of Contents
Appendix B - Duro Inertial Orientations Appendix C - Duro Inertial Installation Worksheet Appendix D - Device and Vehicle Frames Glossary Additional References www.swiftnav.com Page 2 of 21 | ©2018-2022 Swift Navigation, Inc. All rights reserved | Version 2 | UM-110008-02... -
Page 3: System Architecture
Installation For proper Duro Inertial operation it is essential to mount both the Duro Inertial and the GNSS antenna securely and firmly to the vehicle body. During operation, the antenna and Duro Inertial must remain in the same position relative to each other (i.e., both must be mounted on the same frame). -
Page 4: Duro Inertial Mounting
Ensure that the Duro Inertial enclosure is on the same rigid body as the GNSS antenna. Some suspension systems may isolate the chassis from the cab and if the antenna moves when the Duro Inertial does not it will degrade results. When installing the device inside a vehicle, directly mounting it to the vehicle chassis is recommended. -
Page 5: Antenna Offset
Figure 2: Duro Inertial sample installation If it is impractical to mount the entire Duro Inertial system on the top of a vehicle, mounting the Duro Inertial enclosure and GNSS antenna to the same rigid body, while minimizing the distance between them, is recommended. Ideally, the GNSS antenna should be mounted directly above Duro Inertial - with the antenna and enclosure both mounted on the vehicle centerline. - Page 6 GNSS antenna. The phase center of the GPS500 GNSS mini-survey antenna included in the Duro Inertial Starter Kit is located at the center of the antenna, 50 mm above the bottom of the antenna mount (middle point between L1 and L2 phase centers).
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Page 7: Vehicle Frame Orientation
For proper operation, and the best performance, Duro Inertial firmware needs to be configured correctly. Duro Inertial has all applicable settings for Piksi Multi and Duro in addition to the Duro Inertial specific settings in the “ins” (inertial navigation system) settings grouping. Follow the instructions below to setup Duro Inertial firmware. -
Page 8: Firmware Settings
Figure 7: Duro Inertial IMU and INS settings Firmware Settings There are a number of firmware settings which directly affect the behavior of Duro Inertial. These are detailed in the tables www.swiftnav.com Page 8 of 21 | ©2018-2022 Swift Navigation, Inc. All rights reserved | Version 2 | UM-110008-02... -
Page 9: Imu Settings
In order to use inertial navigation, imu_raw_output must be enabled and imu_rate must be set to 100 Hz. ● Remember to click the Save on Device button on the Swift Console Settings tab to store new values on the device. INS Settings INS settings control inertial navigation sub-system operation. -
Page 10: Other Settings
Inertial User Manual v1 (UM-110008-01). ● Remember to click the Save on Device button on the Swift Console Settings tab to store new values on the device. Other Settings All other Duro Inertial settings (like ports, protocols, rates, etc.) are the same as a standard Duro GNSS-only receiver. Refer to the Duro User Manual for details about configuring data ports, protocols, message rates, etc. -
Page 11: Rtk Corrections
Duro Inertial requires a valid GNSS solution to initialize (align) the inertial subsystem. After the first valid GNSS solution, Duro Inertial needs to be driven forward to perform the IMU alignment before it’s able to aid GNSS in precise positioning through challenging environments (like tree foliage and urban canyons) and to provide navigation solutions during brief GNSS outages (such as overpasses and short tunnels). -
Page 12: Led Indicators
LED Indicators Duro Inertial uses front panel LEDs to indicate when the INS is operational and the output position is computed using both GNSS and inertial subsystem. Purple lights for the POS LED indicate that INS is in use. Refer to the LED description table below for detailed information. -
Page 13: Device Data Output
Device Data Output Duro Inertial is capable of providing output in Swift Binary Protocol (SBP) and industry standard NMEA 0183 protocol over UART and Ethernet ports. When INS is enabled, messages in both protocols will provide additional data described below. -
Page 14: Nmea Messages
A - Autonomous fix D - DGNSS or SBAS E - Dead Reckoning (Estimated) F - Float RTK R - Fixed RTK www.swiftnav.com Page 14 of 21 | ©2018-2022 Swift Navigation, Inc. All rights reserved | Version 2 | UM-110008-02... -
Page 15: Known Issues
Position Valid (PV, pin 17 on the AUX connector) does not go high during Dead Reckoning. Appendix A - Identifying Duro Inertial Duro Inertial receivers can be identified in following ways: 1. Duro Inertial has a product name and part number located on the bottom of the enclosure. Product Duro® Inertial Duro®... -
Page 16: Appendix B - Duro Inertial Orientations
Pitch: 0 Pitch: 0 Pitch: 0 Roll: Roll: Roll: Roll: Yaw: Yaw: Yaw: Yaw: Pitch: Pitch: Pitch: 90 Pitch: Roll: Roll: Roll: Roll: www.swiftnav.com Page 16 of 21 | ©2018-2022 Swift Navigation, Inc. All rights reserved | Version 2 | UM-110008-02... - Page 17 Pitch: 0 Pitch: Pitch: Roll: Roll: -90 Roll: Roll: Yaw: Yaw: Yaw: Yaw: Pitch: 0 Pitch: Pitch: Pitch: Roll: Roll: Roll: Roll: www.swiftnav.com Page 17 of 21 | ©2018-2022 Swift Navigation, Inc. All rights reserved | Version 2 | UM-110008-02...
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Page 18: Appendix C - Duro Inertial Installation Worksheet
UM-110008-02 _____________________________________________________________________________________________________________________________________________________ Appendix C - Duro Inertial Installation Worksheet Print and use this form to record Duro Inertial installation details and measurements. Antenna offset and vehicle frame rotation need to be entered to firmware settings for proper system operation. General... -
Page 19: Appendix D - Device And Vehicle Frames
For example, a rotation matrix that can be used to rotate a vector from the device frame (i.e a velocity in the Duro Inertial frame X-direction) to the Vehicle Frame, can be represented as follows: Extrinsic rotations are defined as rotations about the body where the body does not move. -
Page 20: Glossary
Swift Navigation’s GNSS receivers. Console displays information and allows the user to adjust the settings on the hardware. Available for Windows, macOS and Linux. Tracking Receiving signals from GNSS satellites www.swiftnav.com Page 20 of 21 | ©2018-2022 Swift Navigation, Inc. All rights reserved | Version 2 | UM-110008-02... -
Page 21: Additional References
Duro Specifications interfaces) are shared with the Duro and are documented in the Duro User Manual. Duro Troubleshooting Guide Hints and troubleshooting advice. www.swiftnav.com Page 21 of 21 | ©2018-2022 Swift Navigation, Inc. All rights reserved | Version 2 | UM-110008-02...
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