VB3i MANUAL
Page | 22
22 May 2014
Additional IMU channels (IMU04 only)
IMU Attitude
When using IMU04 integration with a VB3i-V3, there are three IMU attitude channels which can be logged. These
body angle channels are heading, pitch and roll calculated from IMU derived data.
RMS Channels
These four channels are for diagnostic purposes only and cannot be turned on or off. They show the noise which is
present on the vertical and horizontal speed channels, as calculated by the VB3i GPS engine.
The RMS (root mean square) channels which will be logged are listed below.
RMS_HPOS
RMS_VPOS
RMS_HVEL
RMS_VVEL
Using IMU as CAN module
Important note:
IMU04 CAN based coms are not supported by Kalman filter, so RLCAB005-CS connection method
cannot be used for IMU04 integration. This CAN module connection can be used purely to log IMU04 data channels.
Required equipment
VB3i (works with all VB3i units)
RLCAB005-CS or RLCAB120 (IMU04 only)
IMU03 / IMU04
RLCAB001 / RLCAB066-2 – VB3i PC connection cable (RS232 or USB)
VBOX Tools
File manager (optional)
Setup
1. Connect IMU to VBOX (RL CAN port) using RLCAB005-CS or RLCAB120 (IMU04 only) cable.
2. Connect VBOX to PC using RLCAB001 or RLCAB066-2 cable (RS232 or USB).
3. Open VBOX Tools and VBOX Setup.
4. Click on the 3 Axis Module tab, and tick all IMU channels to be logged and sent over serial.
5. Mount the VB3i and IMU in test vehicle. The IMU should be mounted rigidly to the vehicle mid-way along the
wheelbase in the direction of vehicle travel.
6. Fit VB3i GPS, GPS/GLONASS antenna to centre of vehicles roof. Connect antenna to VB3i and power up.
