FASTRAK MANUAL
Rev. G
77
JUNE 2012
n
Macro filter is enabled when
n
>=2 as defined below: (Note this
also sets the macro filter setting for position. See ‘x’ command.)
n=2 No Filter (This macro has the same effect as v,1<> above)
n=3 Low Filter
n=4 Medium Filter
n=5 Heavy Filter
Example:
To select medium filtering, type v4<>
The filter is a single-pole low-pass type with an adaptive pole location (i.e., a
floating filter “parameter/variable”). The pole location is constrained within the
boundary values
FLOW
and
FHIGH
but is continuously self-adaptive between
these limits as a function of the sensitivity parameter F and the sensed (ambient
noise plus rotational rate) input conditions. For input “rate” conditions that fall
within the adaptive range, the adaptive feature varies the pole location between
the
FLOW
and
FHIGH
limits so as to maximize the output resolution for static
inputs while minimizing the output lag for dynamic inputs. Whenever the input
conditions cause the filter to make a transition to a narrower bandwidth (i.e.,
increased filtering), the transition rate of the pole location is constrained to a
maximum allowable rate by the parameter
FACTOR
. If all of the optional
parameters are omitted the current value of each parameter is returned to the user
as an output record of type ‘v’.
Relatives:
None.
Default:
The default mode for all filter parameters is “medium.” These settings may be
used as a starting point for determining optimum filtering in your particular
environment.
F
0.2
FLOW
0.2
FHIGH
0.8
FACTOR
0.95
Example:
Although they are already stored in the system EEPROM, medium filtering can
be selected by sending the following command to the system:
v.2,.2,.8,.95<>
All active stations will now have medium filtering applied to the attitude
measurements.