eRide
OPUS 6/
eRide
OPUS 7 GV-86/ GV-87
Dead Reckoning User
’
s Guide
SE16-900-002-00
13
FURUNO ELECTRIC CO., LTD. All rights reserved.
When the axis described in the IMU sensor data sheet defines the Z-axis and the Y-axis opposite to the DR
receiver axis definition, the DR receiver changes the Z-axis and Y-axis direction to correspond to the definition
described in this document.
5.1 Automatic Correction by Auto Orientation Function
Auto Orientation is a function to automatically correct the output error due to the inclination and deviation of the
IMU sensor. Table 5.1 shows the IMU sensor combination and the allowable angle range in which the Auto
Orientation operates.
Table 5.1 Functional Range of Auto Orientation (Default)
#
Sensor combination
ΔθZ
Yaw angle
ΔθX
Roll angle
ΔθY
Pitch
angle
Notes
1 3-axis gyro sensor,
3-axis accelerometer,
vehicle speed pulse
±15
±60
±60
2
±45
±45
In case of using A3G4250D
3
1-axis gyro sensor,
3-axis accelerometer,
vehicle speed pulse
±15
±30
4
3-axis or 1-axis gyro sensor,
vehicle speed pulse
±15
±15
5.2 Expand Auto Orientation Range by PERDAPI,AUTOORIENT Command
In case of using 3-axis gyro sensor, 3-axis accelerometer and vehicle speed pulse, it is possible to expand the
Auto Orientation range for the Roll angle or the Pitch angle by $PERDAPI,AUTOORIENT,1*6E. Table 5.2
shows the expanded range.
Table 5.2 Functional Range of Auto Orientation (Expansion)
#
Sensor
combination
ΔθZ
Yaw angle
ΔθX
Roll angle
ΔθY
Pitch angle
Notes
5
3-axis gyro sensor,
3-axis accelerometer,
vehicle speed pulse
±15
±15
±75
Pitch angle expansion
Using SMI130, MPU6500/ ITG3500
6
±180
±45
Roll angle expansion
Using SMI130, MPU6500/ ITG3500
7
±45
-165 to -180
+165 to +180
±45
Roll angle expansion
Using A3G4250D
