eRide
OPUS 6/
eRide
OPUS 7 GV-8620/ GV-8720
Dead Reckoning User
’
s Guide
SE16-900-002-02
18
FURUNO ELECTRIC CO., LTD. All rights reserved.
10 FAQ
Q1. How do we check calibration completion status?
A1. As a first step, please
check “PERDCRD,R” sentence as DR valid. When Field 3 of this sentence is
indicated as
“1”, DR mode is valid. The example of the sentence is as below.
Example
：
$PERDCRD,R,1,2,-2.28,-12.12,0.16,-1.3,-0.5,260.5,3,17*17
Check this value is indicated as
“1”
As the next step, please check the following sentence status as calibration completion with calibration
driving.
Calibration completion status of vehicle speed pulse:
Field 3 (odomtrConf) of PERDCRI,O is 7 or 15
Calibration completion status of accelerometer :
Field 17 (learnmode) of PERDCRI,A is 3
Calibration completion status of accelerometer :
Field 17 (learnmode) of PERDCRI,G is 5, 7, 13 or 15
Q2. The sensors do not become valid.
A2. Please check if the gyro sensor and the accelerometer are installed in accordance with the direction
explained in the chapter 5. In case vehicle speed pulse is used, please confirm the vehicle speed pulse
satisfies the electrical specifications and the count of vehicle speed pulse.
Q3. Is it possible to make DR positioning with gyro sensor only?
A3. No, it is not. It is required to use vehicle speed pulse together with gyro sensor.
Q4. Is the reverse signal required when using vehicle speed pulse?
A4. Yes.
Q5. How do we check the elevation pitch angle based on the sensor information?
A5. Refer Field 9 (pitch) of PERDCRD,R sentence.
Q6. Does altitude data reflect on elevation pitch angle based on sensor information?
A6. No. altitude data with GNS sentence does not reflect on elevation pitch angle.
Q7. In case we lost vehicle speed pulse with combination of gyro sensor, accelerometer and vehicle speed
pulse, what kind of behavior we observe.
A7. In case of non-vehicle speed pulse at first time, position fix status change to DR status by using
information of accelerometer as velocity source. In case of non-vehicle speed pulse on the way, user
observes irregular ground tracking performance for a while until calibration reset. When user observes
Field 11 (counts Status) of PERDCRD,R is 0, accelerometer is available as velocity source.
Q8. Do you have reference circuit regarding IMU sensor interface?
A8. Please refer chapter 4.
