eRide
OPUS 6/
eRide
OPUS 7 GV-8620/ GV-8720
Dead Reckoning User
’
s Guide
SE16-900-002-02
9
FURUNO ELECTRIC CO., LTD. All rights reserved.
5.4.2 Auto Orientation Default Range
In case of Figure 5.3 (b), (c) and (d), it is possible to automatically correct the inclination of IMU sensor by
using 3-axis gyro sensor and 3-axis accelerometer.
X
Z
Y
Traveling
direction
+15°
O
This installation is that the rotate angle against
Z-axis is +15 degrees, which means that heading of
IMU sensor is -15 degrees at clockwise against
traveling direction.
(b) (
Δθ
X
,
Δθ
Y
,
Δθ
Z
) = (0, 0, +15)
Z
X
Traveling
direction
Y
-15°
O
This installation is that the rotate angle against
X-axis is -15 degrees, which means that horizontal
plane of IMU sensor is -15 degrees at counter
clockwise against Y-axis.
(c) (
Δθ
X
,
Δθ
Y
,
Δθ
Z
) = (-15, 0, 0)
Z
Y
X
Traveling
direction
O
+30°
This installation is that the rotate angle against
Y-axis is +30 degrees, which means that elevation
angle of IMU sensor is +30 degrees against traveling
direction.
(d) (
Δθ
X
,
Δθ
Y
,
Δθ
Z
) = (0, +30, 0)
Figure 5.3 Installation Examples within Auto Orientation Default Range
