VN-200 User Manual
UM004
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5.15
GPS Antenna Offset
GPS Antenna Offset
Register ID :
57
Firmware :
v0.1 and up
Access :
Read Only
Comment :
Configures the position offset of the GPS antenna from the VN-200 in the vehicle
reference frame.
Size (Bytes):
12
Example Serial Read
Register Response:
$VNRRG,57,0,0,0*6D
Byte
Offset
Name
Number
Format
Unit
Description
0
PosX
F4
m
Relative position of GPS antenna. (X-axis)
4
PosY
F4
m
Relative position of GPS antenna. (Y-axis)
8
PosZ
F4
m
Relative position of GPS antenna. (Z-axis)
The position of the GPS antenna relative to the sensor in the vehicle coordinate frame also referred to
as the GPS antenna lever arm. In the example scenario shown in Figure 8 below, the GPS antenna offset
is X= +2.5m, Y= +0.0m, Z= -2.0m.
Figure 8 - GPS Antenna Offset
