SEPTENTRIO AsteRx SBi, Руководство пользователя

Страница: 17 / 38

CHAPTER 3. CONF I GUR I NG THE ASTERX SB I 3
Figure 3-9: Visual representation of the e ff ect of vertical o ff set between the two
antennas on the Pitch o ff set. Assuming the default antenna con fi guration, the aux
antenna being mounted higher will result in a positive value for the pitch.
3.4 How to compensate alternative
IMU/Receiver orientations
I t is important to take into consideration the mounting direction of the receiver, therefore
the I MU, in the body frame of the vehicle. To correctly translate the motion of the receiver
in the same axes of the body frame it is essential to account for the di ff erences in the axes
orientations.
As such, for many installations, including when the receiver is installed horizontally with the
front panel facing the direction of travel, it will be necessary to compensate for the
I MU ’ s
orientation to make sure the I MU reference frame is aligned with the vehicle reference frame.
The I MU ’ s orientation can be changed by specifying the orientation angles (Theta X, Theta Y,
Theta Z) as shown in Figure 3-10.
17