eRide
OPUS 6/
eRide
OPUS 7 GV-8620/ GV-8720
Dead Reckoning User
’
s Guide
SE16-900-002-02
13
FURUNO ELECTRIC CO., LTD. All rights reserved.
6.2 GNSS Position Fix to DR Valid by Calibration Driving
[Operation]
Calibration function is available by driving with more than 20 km/h
at open sky. Keep the vehicle speed of more
than 20km/h at open sky. Otherwise calibration function may not work.
20Km/h over
Run
Position status changes from GPS only to DR/GNSS mixed, which means that DR is valid, for a several
minutes with this condition. While DR is valid, it is not equal to complete the calibration operation.
[Check]
a) Check the IMU result verified mode with PERDCRD,R sentence
When Field 3 is 1, DR is valid.
b) Check the DR use mode with PERDCRD,R sentence
When Field 4 is 2, DR/GNSS mixed (hybrid position fix status) is valid.
Example:
$PERDCRD,R,1,2,-0.68,-8.85,-0.01,-0.4,0.1,265.6,1,10*23
6.3 Calibration of Vehicle Speed Pulse and Accelerometer
[Operation]
Same as Section 6.2.
[Check]
Check the calibration status of vehicle speed pulse and accelerometer with the following sentences.
-Vehicle speed pulse:
When Field 3 is 7 or 15
(*1)
at PERDCRI,O sentence, the calibration of vehicle speed pulse is completed.
Example:
$PERDCRI,O,7,29,2,4.00,1.569858*10
$PERDCRI,O,15,0,0,4.02,1.569858*18
Notes:
(*1) In case of detecting reverse signal at status 7, the status becomes 15. It is necessary to check valid of
reverse signal before starting calibration of vehicle speed pulse.
-Accelerometer:
When Field 17 is 3 at PERDCRI,A sentence, the calibration of accelerometer is completed.
Example:
$PERDCRI,A,3,7,724,-701,-25,2572,2572,2572,689,-717,-22,88,44,0,3*19
