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eRide

OPUS 6/

eRide

OPUS 7 GV-86/ GV-87

Dead Reckoning User

’

s Guide

SE16-900-002-00

Table of Contents

General Description ············································································································· 1

FURUNO DR GNSS Receiver ································································································ 1

System Configuration ·········································································································· 2

3.1

Available Signal Combination and Supported Sensor ······················································· 2

3.2

Sensor Interface Configuration ······················································································· 3

Reference Circuit ················································································································ 4

4.1

SMI130 ························································································································ 4

4.2

MPU-6500 ···················································································································· 5

4.3

XV-4001BC and AIS328DQ ····························································································· 6

4.4

ITG-3500 and AIS328DQ ································································································· 7

4.5

A3G4250D and AIS328DQ ······························································································ 8

4.6

XV-8000CB and AIS328DQ ····························································································· 9

4.7

XV-8100CB and AIS328DQ ···························································································· 10

IMU Sensor Installation ······································································································ 12

5.1

Automatic Correction by Auto Orientation Function························································· 13

5.2

Expand Auto Orientation Range by PERDAPI,AUTOORIENT Command ····························· 13

5.3

Set Installation Angle by Misalignment ··········································································· 14

5.4

Sensor Installation Examples ························································································ 15

5.4.1

Zero Angle against Axis of IMU Sensor ···································································· 15

5.4.2

Auto Orientation Default Range ·············································································· 16

5.4.3

Auto Orientation Expansion Range ········································································· 17

5.4.4

Out of Auto Orientation Range ················································································ 18

Calibration ······················································································································· 19

6.1

Power on to GNSS Position Fix ····················································································· 19

6.2

GNSS Position Fix to DR Valid by Calibration Driving ······················································ 20

6.3

Calibration of Vehicle Speed Pulse and Accelerometer ···················································· 20

6.4

Calibration of Gyro Sensor ··························································································· 21

6.5

Aging and Temperature Fluctuations ············································································· 21

Operating of DR Backup ···································································································· 22

Recommended NMEA Output Sentence at Customer Evaluation Stage ··································· 22

Important Notice ··············································································································· 23

9.1

Important Notice for IMU Sensor ···················································································· 23

9.2

Characteristics of IMU Sensor ······················································································· 23

9.3

Layout Design against Influence of IMU Sensor by External Environment Factor ················ 23

9.4

Calibrating Operation ··································································································· 23

9.5

Receiver Start Operation ······························································································ 24

FAQ ······························································································································ 25

Содержание GV-86

Страница 1: ...www furuno com FURUNO GNSS Receiver eRideOPUS 6 eRideOPUS 7 Model GV 86 GV 87 Dead Reckoning Solution User s Guide Document No SE16 900 002 00 ...

Страница 2: ...e Application Note will meet your requirements or that the operation of the Application Note will be uninterrupted or error free or that defects in the Application Note will be corrected Furthermore FURUNO does not warrant or make any representations regarding the use or the results of the use of the Application Note in terms of their correctness accuracy reliability or otherwise No oral or writte...

Страница 3: ...eRideOPUS 6 eRideOPUS 7 GV 86 GV 87 Dead Reckoning User s Guide SE16 900 002 00 FURUNO ELECTRIC CO LTD All rights reserved Revision History Revision Description Date 0 Initial release 2017 10 24 ...

Страница 4: ...nd 13 5 3 Set Installation Angle by Misalignment 14 5 4 Sensor Installation Examples 15 5 4 1 Zero Angle against Axis of IMU Sensor 15 5 4 2 Auto Orientation Default Range 16 5 4 3 Auto Orientation Expansion Range 17 5 4 4 Out of Auto Orientation Range 18 6 Calibration 19 6 1 Power on to GNSS Position Fix 19 6 2 GNSS Position Fix to DR Valid by Calibration Driving 20 6 3 Calibration of Vehicle Spe...

Страница 5: ...ware As from ENP6 33D GNSS DR receiver has the following external interface for DR function Signal input from sensor or vehicle This configuration is the way of direct input from vehicle FURUNO supported gyro sensor and accelerometer Vehicle speed pulse signal Vehicle reverse signal 2 FURUNO DR GNSS Receiver GNSS DR receiver can keep the following high accuracy position and velocity performance un...

Страница 6: ...C Seiko Epson 1 ITG 3500 InvenSense 3 A3G4250D STMicroelectronics 3 XV 8000CB 3 Seiko Epson 1 XV 8100CB 4 Seiko Epson 1 Accelerometer AIS328DQ STMicroelectronics 3 LIS331DLH STMicroelectronics 3 Notes 1 Specification of vehicle speed pulse and reverse signal Please check the regulation and electric characteristics by GNSS DR receiver data sheet and keep it otherwise customer may have risk of out o...

Страница 7: ...o sensor I2C serial clock SCL TXD2_SCL F8 19 Accelerometer Gyro Accelerometer combo sensor I2C serial data SDA RXD2_SDA G8 18 Vehicle speed pulse ECNT C7 7 Reverse signal GPIO E6 1 FURUNO Dead Reckoning GNSS Receiver ECNT GPIO RXD2_SDA TXD2_SCL RXD1 TXD1 Output data Position Time Sensor status Command data NMEA setting Mis alignment I2C serial address and data between sensor block I2C serial clock...

Страница 8: ... capacity of the I2C line the H and L levels may deviate from the specified values or the rising slope may become slow causing timing errors In such a case it can be adjusted by decreasing the value of the pull up resistors R1 R2 within the range that the IC can drive Since the wiring capacity varies according to the customer s actual layout of the circuit board the design should be decided by cus...

Страница 9: ...ST RST_N SCL I2C clock TXD2_SCL TXD2_SCL SDA I2C address data bus RXD2_SDA RXD2_SDA Figure 4 2 Reference Circuit of MPU 6500 U1 XC8101AA01 GR G VOUT 1 VSS 2 CE 3 VIN 4 R2 10k VCC R1 10k VCC SDA SCL RESET U2 MPU 6500 NC 1 NC 2 NC 3 NC 4 NC 5 NC 6 AUX_CL 7 VDDIO 8 SDO AD0 9 REGOUT 10 FSYNC 11 INT 12 VDD 13 NC 14 NC 15 NC 16 NC 17 GND 18 RESV 19 RESV 20 AUX_DA 21 nCS 22 CSL SCLK 23 SDA SDI 24 C1 0 1u...

Страница 10: ...ss data bus RXD2_SDA RXD2_SDA Figure 4 3 Reference Circuit of XV 4001BC and AIS328DQ R1 10k R2 10k VCC VCC U2 XC8101AA01 GR G VOUT 1 VSS 2 CE 3 VIN 4 SDA RESET SCL U3 AIS328DQ NC 1 NC 2 INT_2 3 Reserv ed 4 VDD 5 GND 6 INT_1 7 GND 8 GND 9 GND 10 SPC SCL 11 CS 12 Reserv ed 13 VDD_IO 14 SDO SA0 15 SDI SDO SDA 16 NC 17 NC 18 NC 19 NC 20 NC 21 NC 22 NC 23 NC 24 C3 10uF C4 0 1uF VCC U1 XV 4001BC Reserv ...

Страница 11: ...D2_SDA Figure 4 4 Reference Circuit of ITG 3500 and AIS328DQ U7 AIS328DQ NC 1 NC 2 INT_2 3 Reserv ed 4 VDD 5 GND 6 INT_1 7 GND 8 GND 9 GND 10 SPC SCL 11 CS 12 Reserv ed 13 VDD_IO 14 SDO SA0 15 SDI SDO SDA 16 NC 17 NC 18 NC 19 NC 20 NC 21 NC 22 NC 23 NC 24 VCC C5 10uF C4 0 1uF U1 XC8101AA01 GR G VOUT 1 VSS 2 CE 3 VIN 4 C2 0 1uF U2 ITG 3500 SDA SDI 1 NC 2 VDDIO 3 CS 4 RESV 5 AD0 SD0 6 REGOUT 7 FSYNC...

Страница 12: ...ference Circuit of A3G4250D and AIS328DQ R1 10k U2 A3G4250D Vdd_IO 1 SCL SPC 2 SDA SDI SDO 3 SDO SA0 4 CS 5 DRDY INT2 6 INT 7 RES 8 RES 9 RES 10 RES 11 RES 12 GND 13 PLLFILT 14 RES 15 VDD 16 R3 10k R2 10k C5 0 1uF VCC VCC VCC VCC C2 10uF C4 0 47uF C1 0 01uF C3 0 1uF U1 XC8101AA01 GR G VOUT 1 VSS 2 CE 3 VIN 4 SDA RESET SCL U3 AIS328DQ NC 1 NC 2 INT_2 3 Reserv ed 4 VDD 5 GND 6 INT_1 7 GND 8 GND 9 GN...

Страница 13: ... NC 2 INT_2 3 Reserv ed 4 VDD 5 GND 6 INT_1 7 GND 8 GND 9 GND 10 SPC SCL 11 CS 12 Reserv ed 13 VDD_IO 14 SDO SA0 15 SDI SDO SDA 16 NC 17 NC 18 NC 19 NC 20 NC 21 NC 22 NC 23 NC 24 VCC_3V3 C11 10uF C10 0 1uF VCCI_3V3 U2 XC8101AA01 GR G VOUT 1 VSS 2 CE 3 VIN 4 VCC_3V3 RESET VCCI_3V3 U1 XC8101AA01 GR G VOUT 1 VSS 2 CE 3 VIN 4 VCC_5V0 VCCI_3V3 VCCI_5V0 C8 1uF C2 0 1uF R1 3 3k R2 3 3k C1 2 2uF C3 2 2uF ...

Страница 14: ...bus RXD2_SDA RXD2_SDA Figure 4 7 Reference Circuit of XV 8100CB and AIS328DQ C4 0 1uF VCCI_3V3 U5 LM73CIMKX 0 ADDR 1 GND 2 VDD 3 SMBCLK 4 ALERT_N 5 SMBDAT 6 C6 0 1uF VCCI_3V3 R4 10k R3 10k U3 XC8101AA01 GR G VOUT 1 VSS 2 CE 3 VIN 4 VCC_3V3 RESET U2 XC8101AA01 GR G VOUT 1 VSS 2 CE 3 VIN 4 VCCI_3V3 VCC_3V0 VCCI_3V0 C1 0 1uF R1 3 3k C3 2 2uF C2 2 2uF VCCI_3V0 SDA SCL U4 ADS1100A3IDBVT Vin 1 GND 2 SCL...

Страница 15: ...US 6 eRideOPUS 7 or GV 86 GV 87 I2C master device has reset from normal operation there is a risk of misreading data from sensor after releasing reset In order to avoid this issue it is necessary to be activating reset of sensor when I2C master device has reset Therefore it is necessary to control power supply of sensor by using power switch with the reset control port due to no reset port at the ...

Страница 16: ...ror of the IMU sensor caused by the inclination and deviation The Auto Orientation function can also expand the range of angles that can be automatically corrected by AUTOORIENT command Definition of coordinate system and axis Here are definitions of axis against sensor unit installation angle Direction of forward movement X axis Horizontal to the direction of movement Y axis Vertical to the direc...

Страница 17: ...aw 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...

Страница 18: ... the unit with IMU sensor 2 Check the installation angle of IMU sensor delta angle 3 Operate the GNSS DR receiver with vehicle stop condition 4 Send PERDAPI STOP DRPARK 5D command and stop normal operating of GNSS DR receiver 5 Send delta angle by misalignment set command Gyro sensor misalignment command PERDAPI GYROALIGN Δθx Δθy Δθz hh Accelerometer sensor misalignment command PERDAPI ACCELALIGN ...

Страница 19: ...xis gyro and 3 axis accelerometer installation examples with the GNSS DR receiver evaluation kit VN 871 or VN 861 5 4 1 Zero Angle against Axis of IMU Sensor X Y Z Traveling direction O This installation is ideal which means that this installation angle meets requirement specifications of IMU sensor based on data sheet a ΔθX ΔθY ΔθZ 0 0 0 Figure 5 2 Zero Angle against Axis of IMU Sensor ...

Страница 20: ... which means that heading of IMU sensor is 15 degrees at clockwise against traveling direction b ΔθX ΔθY ΔθZ 0 0 15 Z X Traveling direction Y 15 O This installation is that the rotate angle against X axis is 15 degrees which means that horizontal plane of IMU sensor is 15 degrees at counter clockwise against Y axis c ΔθX ΔθY ΔθZ 15 0 0 Z Y X Traveling direction O 30 This installation is that the r...

Страница 21: ...s 75 degrees which means that elevation angle of IMU sensor is 75 degrees against traveling direction e ΔθX ΔθY ΔθZ 0 75 0 X Y Z Traveling direction O 180 This installation is that the rotate angle against X axis is 180 degrees which means that the top side of IMU sensor faces downward f ΔθX ΔθY ΔθZ 180 0 0 O X Y Z Traveling direction 180 45 This installation is that the rotate angle against X axi...

Страница 22: ...tion This installation is that the rotate angle against X axis is 90 degrees and the rotate angle against Z axis is 90 degrees which means that heading of IMU sensor is 90 degrees at clockwise and the elevation angle of IMU sensor is 90 degrees against the traveling direction In this case since ΔθX and ΔθZ is out of Auto Orientation range it is necessary to send the following commands as misalignm...

Страница 23: ...tence Make sure that the position fix status is A or D Example Yellow high light shows the position fix status GNS sentence shows the position fix status of GPS GLONASS and Galileo from left hand GNRMC 071201 776 A 3442 7276 N 13520 1229 E 0 00 30 96 130614 A V 3C GNGNS 071201 776 3442 7276 N 13520 1229 E AAN 18 0 5 3 6 36 7 V 5C 2 Check the C N0 value with GSV sentence The more number of satellit...

Страница 24: ... use mode with PERDCRD R sentence When Field 4 is 2 DR GNSS mixed hybrid position fix status is valid Example PERDCRD R 1 2 0 68 8 85 0 01 0 4 0 1 265 6 1 10 23 6 3 Calibration of Vehicle Speed Pulse and Accelerometer Operation Same as Section 6 2 Check Check the calibration status of vehicle speed pulse and accelerometer with the following sentences Vehicle speed pulse When Field 3 is 7 or 15 1 a...

Страница 25: ...open sky level It is available to do mix calibration with Section 6 2 and 6 3 Turn Left Turn Right Check When Field 17 is 5 7 13 or 15 at PERDCRI G sentence the calibration of gyro sensor is completed Example PERDCRI G 3 7 79 8 27 2601 2601 2601 79 8 27 88 44 0 7 1A 6 5 Aging and Temperature Fluctuations Even after completion of calibration the GNSS DR receiver will continue to estimate bias and g...

Страница 26: ...e When changing the vehicle installation angle and installation position of IMU sensor the backup data should be deleted by sending PERDAPI START SIMCOLD command And then calibrate the IMU sensor parameters again 8 Recommended NMEA Output Sentence at Customer Evaluation Stage When evaluating the DR performance it is recommended to collect PERDCRD PERDCRI sentences and Diag data It is very useful f...

Страница 27: ... sensor Below are examples to avoid this influence a Implement the IMU sensor nearby the holding part of the board b Clip the board by shock absorbing material with labor c Fix the unit or board which IMU sensor is implemented by screws 3 Other factor Because of the gyro sensor and the accelerometer are MEMS devices these devices have a resonant frequency for operating MEMS mechanically and electr...

Страница 28: ...position the direction and the DR parameters At the next power on the GNSS DR receiver starts the positioning in DR only mode by using the backup data After that when the direction calculated by DR is coincident with the GNSS direction the position mode changes to DR GNSS mixed mode The GNSS DR receiver outputs the positioning result by DR only until the position mode changes to the DR GNSS mixed ...

Страница 29: ...ase confirm the vehicle speed pulse satisfies the electrical specifications and the count of vehicle speed pulse Q3 Is it possible to make DR positioning with gyro sensor only A3 No it is not It is required to use vehicle speed pulse together with gyro sensor Q4 Is the reverse signal required when using vehicle speed pulse A4 Yes Q5 How do we check the elevation pitch angle based on the sensor inf...

Страница 30: ...hts reserved Q9 Is it possible to use other than vehicles A9 No The DR receiver is designed for car navigation systems and telematics terminals Q10 Not completed calibration of Gyro A10 Please check whether there are more than the 50 of the number of satellites in use with signal level of over 40dBHz signal level ...

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