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Figure 42: Firmware Installation
5.
Calibrate Antenna Installation for GAMS
The Global Navigation Satellite System (GNSS) Azimuth Measurement Subsystem
(GAMS) has the ability to provide vehicle heading aiding to the Aided-Inertial processing
engine by computing the base-line vector in the NED frame between the known
placements of dual antennas on the vehicle.
For GAMS to operate, the baseline vector from the phase centre of the primary antenna to
the phase centre of the secondary antenna must first be measured in the vehicle frame
along with an approximate accuracy (Baseline Length Standard Deviation).
5.1.
Accurate Baseline Measurement
If the baseline vector in the vehicle frame can be measured to an accuracy of 0.01m or
better, then the parameters should be entered into the GNSS Lever Arm window in the
GUI and the 1-sigma value set to 0.002. In this case the system will not attempt to
calibrate the vector but will use the entered values after they are saved.
