Mag Window Size
(
default 400 Hz
): Define the number of magnetometer samples
at the IMU rate which will be averaged for each output measurement.
Accel Window Size
(
default 400 Hz
): Define the number of acceleration sensor
samples at the IMU rate which will be averaged for each output measurement.
Gyro Window Size
(
default 400 Hz
): [Range: ] Define the number of gyroscope
samples at the IMU rate which will be averaged for each output measurement.
Temp Window Size
(
default 400 Hz
): [Range: ] Define the number of temperature
sensor samples at the IMU rate which will be averaged for each output meas-
urement.
Pres Window Size
(
default 400 Hz
): [Range: ] Define the number of pressure
sensor samples at the IMU rate which will be averaged for each output meas-
urement.
The
Filter Mode
parameters for each sensor select which output quantities the filtering
should be applied to. Filtering can be applied to either the uncompensated IMU meas-
urements, compensated (HSI and biases compensated by onboard filters, if applicable), or
both.
Mag Filter Mode
: [
No Filtering
/Uncompensated/Compensated/(Uncom-
pensated/Compensated)]
Accel Filter Mode
: [No Filtering/Uncompensated/Compensated/
(Uncom-
pensated/Compensated)
]
Gyro Filter Mode
: [No Filtering/Uncompensated/Compensated/
(Uncom-
pensated/Compensated)
]
Temp Filter Mode
: [No Filtering/Uncompensated/Compensated/
(Uncom-
pensated/Compensated)
]
Pres Filter Mode
: [
No Filtering
/Uncompensated/Compensated/(Uncom-
pensated/Compensated)]
2.4.5
"Coning/Sculling" Tab
The IMU's coning and sculling algorithms can be configured to operate in multiple frames
and with different compensations applied. The IMU computes and accumulates the coning
and sculling integrals which track the delta angle and delta velocity.
Integration Frame
: [
Body Frame
/NED Frame/ECEF Frame] This setting selects the ref-
erence frame used for coning and sculling. Note that using any frame other than the body
frame will rely on the onboard Kalman filter’s attitude estimate. The factory default state is
to integrate in the sensor body frame.
Gyro Compensation
: [checkbox: OFF] This setting selects the compensation to be
applied to the angular rate measurements before integration. If set to ON, the Kalman fil-
ter’s real-time estimate of the gyro biases will be used to compensate the IMU meas-
urements before integration. For additional information, see the
.
34
VersaPNT Getting Started Guide Rev. 3.0
2.4 INS Configuration