Racelogic VBOX 3i ADAS Installing page 8

Initialisation
When using IMU integration, an
the VBOX unit after being set up. The initialisation process will automatically run after the VBOX unit has
successfully gained satellite lock. When the initialisation process is complete, the IMU LED on the front panel of
the VBOX unit will start flashing green.
Kalman Filter Calibration
When using IMU filter it is important to perform the full calibration procedure before meaningful testing
commences. The calibration procedure is a series of specific manoeuvres that should be performed that help the
Kalman filter characterise the outputs from the IMU.
Click here to see the Kalman filter calibration information.
If you have enabled IMU Integration, you must perform the full calibration procedure before you can start to
produce meaningful test results. The calibration procedure is a series of specific manoeuvres that you
should perform to help the Kalman Filter characterise the outputs from the IMU.
If you do not perform the calibration procedure, the Kalman Filter will still function. It may, however, not
produce a high level of accuracy until after you have performed dynamic manoeuvres in the X and Y plane
(i.e. left and right-hand turns, braking and accelerating) which could take several minutes of driving.
Recommended procedure
1. Park the vehicle in an open area where the GNSS antenna has a clear view of the sky.
2. Make sure that you have RTK fix.
3. Remain static and wait for the IMU to complete the 30-second stationary initialization.
Note: If the IMU detects movement before the initialisation finishes, the 30-second process will restart
when the vehicle is stationary again.
4. When the LED on the front panel of the IMU changes from flashing orange to flashing green,
drive forward to complete the initialisation of the IMU.
5. Continue to an open area to perform the calibration procedure.
6. Drive in a figure of eight at least twice. The vehicle should be at a speed of more than 5 km/h during this
procedure to generate sufficient force for the calibration process.
Note: If you cannot do figure of eights, you can perform left/right slalom-type manouvres to achieve a similar
effect.
initialisation phase is
https://en.racelogic.support//Product_Info/VBOX_Data_Loggers/VBOX_3i_Product_Range/VBOX_3i_ADAS/
required. This will happen when the IMU is connected to
User_Guide_VBOX_3i_ADAS/04_Installing_VBOX_3i_ADAS_in_the_Vehicle
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