Orolia Spectracom VersaPNT, Руководство по началу работы

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To configure the compensation (if set to ON), the INS needs to be operated in Expert
Mode.
Acceleration Compensation : [checkbox: OFF] This setting selects the compensation to
be applied to the acceleration measurements before integration. If set to ON, the Kalman
filter’s real-time estimate of the accel biases will be used to compensate the IMU meas-
urements before integration.
2.4.6 "Frame Rotation" Tab
By default VersaPNT will output the heading, pitch, and roll with respect to the VersaPNT
reference frame as it is shown on the etching on the lid of the unit. To ensure that the out-
put is consistent with the attitude of the vehicle VersaPNT is used in, you will need to align
the unit to the unit such that the X-axis points out the front of the vehicle (bow), the Y-axis
points out the right (starboard), and the Z-axis points down. If it is not possible to orient Ver-
saPNT in this configuration with respect to the vehicle, then you will need to use the Refer-
ence Frame Rotation to set the relative orientation of the unit with respect to the vehicle.
Please note : Some VersaPNT units were released with incorrect axis chassis markings. For
the purpose of these instructions, the correct default X-Y-Z orientation at startup is:
The X-axis pointing toward the back of the unit (along the cover, from the con-
nections side to the back)
The Y-axis pointing toward the right when looking at the connections face
The z-axis pointing down.
The frame rotation matrix allows for the transformation of measured acceleration, mag-
netic, and angular rates from the VersaPNT body frame to any other arbitrary frame of ref-
erence. The frame rotation matrix allows for the sensor to be placed in any arbitrary
orientation with respect to the user’s desired body coordinate frame. This register can also
be used to correct for any orientation errors due to mounting VersaPNT on the user’s
vehicle or platform.
The variables
{X,Y,Z}
Body
are a measured parameter such as acceleration in the body ref-
erence frame with respect to the VersaPNT unit. The variables {X,Y,Z}
U
are a measured
parameter such as acceleration in the user’s frame of reference. The reference frame rota-
tion register thus needs to be loaded with the transformation matrix that will transform
measurements from the body reference frame of the VersaPNT unit to the desired user
frame of reference.
2.4 INS Configuration
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