Device Description HG G-84300ZD | English, Revision 10 | Date: 01.06.2022
12
Chapter 4 – Drift Compensation / Angle Reset
4.1 Drift Compensation
Inherent to the technology of the Gyro is a drift. This drift depends on different vari
-
ables and changes over time. In order to reduce the effect of the drift on the angle
calculation, the Gyro can perform a Drift Compensation whenever the vehicle is not
moving. It then calculates the amount of the current drift and – when the vehicle is
moving again – compensates the influence of this drift.
Figure 4
Drift compensation process
Using the inputs the vehicle controller (e.g. PLC) can tell the Gyro to activate the drift
compensation calculation whenever the vehicle is not moving. The PLC can then
check that drift compensation is active via the corresponding outputs. The user sees
it from a LED. The PLC then waits until the Gyro signals via the CAN Status Byte that
the drift compensation calculation is completed.
Drift Compensation / Angle Reset
As the accuracy of the angle measurement improves drastically when the Gyro can
use drift compensation it is advisable to let it perform the compensation calcula
-
tion as often as possible.
WARNING
Uncontrolled drift
If the gyro is moved during drift compensation, it determines erroneous values. If
a vehicle is subsequently tracked on the basis of the faulty values, uncontrolled
driving behavior or even leaving the track may occur.
Do not move the gyro during drift compensation.
If an increased drift can be detected or if there is a suspicion that the gyro was
moved during drift compensation:
Perform drift compensation again or
switch the gyro off and on again and do not move it for 10 s.
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Vehicle controller (e.g.
)
sets the bit (
) „Activate Dri
Compensation“ to
PLC
CAN
Vehicle has to stand still
Gyro sets the bit (
)
„Dri Compensation
“ to
CAN
OK
Gyro sets output (
)
„Dri Compensation active“ to
CAN
Duration of Dri compensation:
- Right aer switch-on of the device (self heating
of the sensor) or aer changes of the surrounding temperature:
Up to several minutes
- During normal operation: < 10 s
Time
0
0
0
1
1
2
1
1
3
