Racelogic VBOX 3iS Dual Antenna RTK Manual

07 External IMU Integration - VBOX 3iS Dual Antenna RTK

Instead of using the internal IMU on the VBOX 3iS unit, 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 unit 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
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