OXTS RT1003, Руководство пользователя

Страница: 57 / 110

RT1003 Manual
Revision:
190628
57
Garage mode
Garage mode is used to stabilise the outputs when GNSS is not available. For example,
GNSS signals can be blocked when the vehicle returns to a garage for modifications to be
made. If the modifications take a long time, the system may drift too far and struggle to
recover.
When Garage mode is active, a gentle velocity update is applied the system assumes the
vehicle is stationary. This keeps the roll, pitch and velocity within acceptable limits while
there are no GNSS signals. With heading lock enabled as well, the RT1003 can also maintain
an accurate heading while stationary.
When using the garage mode option, try to keep the vehicle's movement inside the garage to
a minimum and exit the garage through the same door the car entered.
Initialisation speed
The initialisation speed defines the threshold that must be crossed to trigger dynamic
initialisation (for static initialisation see
Secondary antenna
on page 45). The default value of
5 m/s works well in most situations.
When changing the initialisation speed, be aware that the product makes some assumptions
during initialisation. First, it assumes the vehicle is travelling forwards; and second, it
assumes its travelling in a straight line. For this reason, the initialisation speed should be set
sufficiently high that initialisation is not accidentally triggered while reversing out of a
parking space for example. A higher speed also means there is more time for the steering to
self-centre after any manoeuvres that were performed in order to get to the initialisation area.
Displace output
The RT1003 can displace its outputs to another location in the vehicle reference frame.
Output measurements will then appear to be from the new location, the location of a sensor
for example, rather than the real-world location of the INS. This option displaces all outputs
(position, velocity, acceleration) to this new location.
Very tight Assumes that the heading of the vehicle does not change by more than 0.3° while
the vehicle is stationary. The recovery is fast if the heading of the vehicle does not
change but will be slow if the vehicle turns before it moves. This option can cause
problems during the warm-up period if the vehicle remains stationary for a long
time and then drives suddenly
Table 17. NAVconfig heading lock options (Continued)
Heading Lock Description