iXBlue HYDRINS, Быстрый старт

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2016-02/MU/HYDRINS/AN/001/Ed. C
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HYDRINS STARTING SEQUENCE
During the first five minutes after powering-on, HYDRINS performs its coarse alignment: HYDRINS inertial sensor
data (accelerometers and gyrometers) are computed to estimate heading, roll and pitch angles.
The coarse alignment phase is followed by a fine alignment phase to improve the accuracy of roll, pitch and heading
estimations. During this phase the position is initialized with valid position data received from the external sensor.
If no position is available, HYDRINS uses the most recent position saved in the non-volatile memory of the system or a
position entered manually. The coarse alignment phase lasts 5 minutes.
The fine alignment is ended automatically by HYDRINS when the heading covariance is below 0.1 degree. In this mode
they will use both inertial sensors and external sensors to compute optimal estimates of attitude, heading, speed and
position.
Figure 1 – HYDRINS Starting Sequence (at powering on or software restart)
(*) Fixed time (**) Variable time