ZED-F9K - Integration manual
Figure 3: Installation frame
In order to prevent significant degradation of the positioning solution the IMU-mount
misalignment angles should be configured with an accuracy of less than 5 degrees.
The following list describes in detail how the CFG-SFIMU-IMU_MNTALG keys are to be interpreted
with respect to the example illustrated in the figure above:
•
CFG-SFIMU-IMU_MNTALG_YAW
: The IMU-mount yaw angle (
yaw
) corresponds to the rotation
around the installation-frame z-axis (vertical) required for aligning the installation frame to
the IMU frame (
yaw
= 344.0 degrees if the IMU-mount misalignment is composed of a single
rotation around the installation-frame z-axis, that is, with no IMU-mount roll and IMU-mount
pitch rotation).
•
CFG-SFIMU-IMU_MNTALG_PITCH
: The IMU-mount pitch angle (
pitch
) corresponds to the
rotation around the installation-frame y-axis required for aligning the installation-frame to
the IMU-frame (
pitch
= 26.5 degrees if the IMU-mount alignment is composed of a single
rotation around the installation frame y-axis, that is, with no IMU-mount roll and IMU-mount
yaw rotation).
•
CFG-SFIMU-IMU_MNTALG_ROLL
: The IMU-mount roll angle (
roll
) corresponds to the
rotation around the installation-frame x-axis required for aligning the installation frame to
the IMU frame (
roll
= -23.5 degrees if the IMU-mount misalignment is composed of a single
UBX-20046189 - R01
3 Receiver functionality
Page 18 of 105
C1-Public
Early production information