eRide
OPUS 6/
eRide
OPUS 7 GV-8620/ GV-8720
Dead Reckoning User
’
s Guide
SE16-900-002-02
6
FURUNO ELECTRIC CO., LTD. All rights reserved.
When the axis described in the IMU sensor data sheet defines the Z-axis and the Y-axis opposite to the DR
receiver axis definition, the DR receiver changes the Z-axis and Y-axis direction to correspond to the definition
described in this document.
5.1 Automatic Correction by Auto Orientation Function
Auto Orientation is a function to automatically correct the output error due to the inclination and deviation of the
IMU sensor. Table 5.1 shows the allowable angle range in which the Auto Orientation operates.
Table 5.1 Functional Range of Auto Orientation (Default)
ΔθZ
Yaw angle
ΔθX
Roll angle
ΔθY
Pitch angle
Notes
±15
±60
±60
5.2 Expand Auto Orientation Range by PERDAPI,AUTOORIENT Command
It is possible to expand the Auto Orientation range for the Roll angle or the Pitch angle by
$PERDAPI,AUTOORIENT,1*6E. Table 5.2 shows the expanded range.
Table 5.2 Functional Range of Auto Orientation (Expansion)
ΔθZ
Yaw angle
ΔθX
Roll angle
ΔθY
Pitch angle
Notes
±15
±15
±75
Pitch angle expansion
±180
±45
Roll angle expansion
