Racelogic VBOX 3iS Manual

07 external imu integration single antenna rtk v1

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07 External IMU Integration - VBOX 3iS Single Antenna RTK (v1)

Instead of using the internal IMU on the VBOX 3iS, you can integrate an external IMU04. An external IMU04 will perform

the same functions as the internal IMU, but it can be more beneficial in certain circumstances, such as if an IMU04 is

already mounted on the test car or if the VBOX 3iS is unable to be firmly mounted in the vehicle.

You can either mount an external IMU04 on the roof of the vehicle or inside the vehicle.

If you mount the IMU on the roof, you can translate the data from the roof to another point on the vehicle. When roof-

mounted is enabled, a 1 m Z offset will automatically be added to translate the filtered speed down into the vehicle

and towards the centre of gravity.

If the Kalman Filter data is required relative to an alternate or more precise location on the vehicle, you should make

the measurements from the centre of the IMU to the desired location. As the IMU is housed in an enclosure, it is not

easy to make precise measurements. We recommend that you take the Z measurement from the centre of the GPS

antenna (provided that 3 cm is subtracted from the physical measurement). Any translation measurements must be

https://en.racelogic.support//Product_Info/Sensors/VBOX_3iS_Product_Range/VBOX_3iS_Single_Antenna_with_RTK/

VBOX_3iS_Single_Antenna_RTK_(v1)/User_Guide_-_VBOX_3iS_Single_Antenna_RTK_(v1)/07_External_IMU_Integration_-

_VBOX_3iS_Single_Antenna_RTK_(v1)

Page 1 07 External IMU Integration - VBOX 3iS Single Antenna RTK (v1) Instead of using the internal IMU on the VBOX 3iS, you can integrate an external IMU04. An external IMU04 will perform the same functions as the internal IMU, but it can be more beneficial in certain circumstances, such as if an IMU04 is already mounted on the test car or if the VBOX 3iS is unable to be firmly mounted in the vehicle.
Page 2 Setup Hardware IMPORTANT The IMU04 must be connected to the VBOX 3iS before you apply power. This is to ensure that the data is correctly synchronised. 1. Fit your VBOX 3iS in the test vehicle, and mount the IMU as described here.
Page 3 Note: When mounting the IMU04 on an angle, the raw accelerometer and gyro data will be incorrect as these channels are not pitch compensated. IMPORTANT The IMU04 must be in a Racelogic CAN mode to be used for IMU Kalman Filter. https://en.racelogic.support//Product_Info/Sensors/VBOX_3iS_Product_Range/VBOX_3iS_Single_Antenna_with_RTK/ VBOX_3iS_Single_Antenna_RTK_(v1)/User_Guide_-_VBOX_3iS_Single_Antenna_RTK_(v1)/07_External_IMU_Integration_-...
Page 4 IMU after setting up your VBOX 3iS. This will automatically run through after the VBOX unit has gained satellite lock. When the initialisation process is complete, 'Stationary Initialisation Complete' will display on the front panel for 2 seconds before displaying 'Waiting For Movement'.