eRide
OPUS 6/
eRide
OPUS 7 GV-8620/ GV-8720
Dead Reckoning User
’
s Guide
SE16-900-002-02
11
FURUNO ELECTRIC CO., LTD. All rights reserved.
5.4.4 Out of Auto Orientation Range
In case of Figure 5.5 (h), (i) and (j), it is necessary to set misalignment data due to out of Auto Orientation
range.
Z
Y
X
Traveling
direction
O
+30°
This installation is that the rotate angle against
Z-axis is +30 degrees, which means that the heading
of IMU sensor is +30 degrees at clockwise against
the traveling direction. When the heading error is
more than +15 degrees, it is necessary to set
misalignment data. In this case (the rotate angle
against Z-axis is +30 degrees), since
Δθ
Z
is out of
Auto Orientation range, it is necessary to send the
following commands as misalignment data.
$PERDAPI,GYROALIGN,0,0,30*16
$PERDAPI,ACCELALIGN,0,0,30*5D
(h) (
Δθ
X
,
Δθ
Y
,
Δθ
Z
) = (0, 0, +30)
+90°
+90°
O
X
Y
Z
Traveling
direction
This installation is that the rotate angle against
X-axis is +90 degrees and the rotate angle against
Z-axis is +90 degrees, which means that heading of
IMU sensor is +90 degrees at clockwise and the
elevation angle of IMU sensor is +90 degrees
against the traveling direction. In this case, since
Δθ
X
and
Δθ
Z
is out of Auto Orientation range, it is
necessary to send the following commands as
misalignment data.
$PERDAPI,GYROALIGN,90,0,90*25
$PERDAPI,ACCELALIGN,90,0,90*6E
(i) (
Δθ
X
,
Δθ
Y
,
Δθ
Z
) = (+90, 0, +90)
O
X
Y
Z
Traveling
direction
+180°
+180°
This installation is that the rotate angle against
X-axis is +180 degrees and the rotate angle against
Z-axis is +180 degrees, which means that the
heading of IMU sensor is +180 degrees at clockwise
and the top side of IMU sensor faces downward. In
this case, since
Δθ
X
and
Δθ
Z
is out of Auto
Orientation range, it is necessary to send the
following commands as misalignment data.
$PERDAPI,GYROALIGN,180,0,180*25
$PERDAPI,ACCELALIGN,180,0,180*6E
(j) (
Δθ
X
,
Δθ
Y
,
Δθ
Z
) = (+180, 0, +180)
Figure 5.5 Installation Examples with Misalignment Command
