eRide
OPUS 6/
eRide
OPUS 7 GV-8620/ GV-8720
Dead Reckoning User
’
s Guide
SE16-900-002-02
10
FURUNO ELECTRIC CO., LTD. All rights reserved.
5.4.3 Auto Orientation Expansion Range
In case of Figure 5.4 (e), (f) and (g), it is possible to automatically correct the inclination of IMU sensor by using
3-axis gyro sensor and 3-axis accelerometer and
“$PERDAPI,AUTOORIENT,1*6E” command.
+75°
X
Y
Z
Traveling
direction
O
This installation is that the rotate angle against
Y-axis is +75 degrees, which means that elevation
angle of IMU sensor is +75 degrees against traveling
direction.
(e) (
Δθ
X
,
Δθ
Y
,
Δθ
Z
) = (0, +75, 0)
X
Y
Z
Traveling
direction
O
+180°
This installation is that the rotate angle against
X-axis is +180 degrees, which means that the top
side of IMU sensor faces downward.
(f) (
Δθ
X
,
Δθ
Y
,
Δθ
Z
) = (+180, 0, 0)
O
X
Y
Z
Traveling
direction
+180°
+45°
This installation is that the rotate angle against
X-axis is +180 degrees and against Y-axis is +45
degrees, which means that the top side of IMU
sensor faces downward and the elevation angle
in45 degrees.
(g) (
Δθ
X
,
Δθ
Y
,
Δθ
Z
) = (+180, +45, 0)
Figure 5.4 Installation Examples within Auto Orientation Expansion Range
