GeneSys Elektronik GmbH
In der Spöck 10
77656 Offenburg
Germany +49 (0) 781 96 92 79
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0 [email protected] www.genesys-offenburg.de
ADMA 3.5 Quick Start Guide.docx
Seite / Page 25 / 32
8
INITIALIZATION
With a quick series of specific manoeuvres, the system can produce the optimum level of
accuracy. This will help the Kalman filter to characterize the outputs from the IMU. Manoeuvres
like this are not completely necessary if the Kalman filter will have enough data within a normal
dynamic drive for a few minutes, included accelerations and decelerations in all axes.
Recommended procedure
Step 1:
Ensure that the position of the vehicle allows you to drive off in a straight line.
Step 2:
Connect the ADMA to the power supply. The start-up takes around 10 seconds,
configuration or measurement commands will be ignored in this timespan.
Step 3:
Start the measurement. Wait for 5 - 30 seconds till the pre-alignment countdown
has elapsed. Make sure the vehicle is not exposed to any other vibrations than the
vehicle engine during the pre-alignment period. Especially shocks from closing
doors or movements in the vehicle must be avoided. During this period, the LED of
the selected CAN interface (if activated) flashes once per second. All data is
available at the full data rate, once the pre-alignment period is over.
Step 4:
Check GNSS reception before going to the next step.
Step 5:
Auto Init. Exceeding the configured velocity threshold (default 18 km/h) for auto init.
Make sure you are driving straight ahead by exceeding this threshold (no slip angle).
The current value of the
Yaw
(0°/360°) change to the real yaw angle to north. This is
essential to compensate the earth's rate of rotation.
Figure 13 Auto Init. - Yaw Angle (True Heading)