Orolia Spectracom VersaPNT, Руководство по началу работы

Страница: 40 / 46

Note: The matrix C in the Reference Frame Rotation Register must be an
orthonormal, right-handed matrix. The sensor will output an error if the tol-
erance is not within 1e-5. The sensor will also report an error if any of the
parameters are greater than 1 or less than -1.
2.5 INS Initialization
VersaPNT needs a few orientation laps in order to fully orient itself after startup.
It is recommended that you maneuver in a known, repeating pattern for approximately five
minutes in order to align with your surrounding satellites. (The length of time necessary for
initialization may vary by location, size of route, time of day, etc.).
A figure-eight pattern is ideal in order to excite all possible axes.
There are three possible INS modes:
36 VersaPNT Getting Started Guide Rev. 3.0
2.5 INS Initialization