ZED-F9K - Integration manual
• If the fusion filter was manually turned off by the user with the
CFG-SFCORE-USE_SF
key.
• If the filter diverges due to significantly wrong installation or filter parameters.
3.2.6.2 Accelerated initialization and calibration procedure
This section describes how to perform fast initialization and calibration of the ADR receiver for
evaluation purposes.
The duration of the initialization phases depends on the quality of the GNSS signals and the
dynamics encountered by the vehicle.
You can shorten the initialization time required for reaching the fused navigation mode by following
the procedure in the order described in the table below.
Phase
Procedure
Indicator of success
IMU initialization
After receiver cold start or first receiver use, turn
on car engine and stay stationary under good GNSS
signal reception conditions for at least 3 minutes.
IMU initialization status
UBX-ESF-
STATUS.imuInitStatus
shows
2:INITIALIZED
.
INS initialization
(position and velocity)
Once IMU is initialized, stay stationary under good
GNSS signal reception conditions until a reliable
GNSS fix can be achieved.
GNSS 3D fix achieved, good 3D position
accuracy (at least 5 m), high number of
used SVs (check UBX-NAV-PVT message).
IMU-mount alignment
initialization
Start driving at a minimum speed of 30 km/h and do
a series of approximately 10 left and right turns (at
least 90 degrees).
You can skip this step if automatic IMU-mount
alignment is turned off.
IMU-mount alignment status (
UBX-
ESF-STATUS.mntAlgStatus
) shows
2:INITIALIZED
, the IMU-mount
alignment status
UBX-ESF-ALG.status
shows
3:COARSE ALIGNED
.
Wheel tick sensor
initialization
Drive for at least 500 meters at a minimum speed
of 30 km/h. To shorten this calibration step, drive
the car at a higher speed (around 50 km/h) for at
least 10 seconds under good GNSS visibility.
Wheel tick sensor initialization status
UBX-ESF-STATUS.wtInitStatus
shows
2:INITIALIZED
.
INS initialization
(attitude)
Drive straight for at least 100 meters at a
minimum speed of 40 km/h.
INS initialization status
UBX-ESF-
STATUS.insInitStatus
shows
2:INITIALIZED
.
Table 9: Accelerated initialization procedure
Once initialization is completed, the
UBX-ESF-STATUS.fusionMode
field shows
1:FUSION
,
combined GNSS/dead reckoning fixes (fused solutions) are output and the sensors used in
the navigation filter start to get calibrated. Calibration is a continuous process running in the
background, and it directly impacts the navigation solution quality.
You can shorten the calibration time required for reaching optimal ADR navigation performance by
following the procedure described in the table below.
Phase
Procedure
Indicator of success
IMU-mount alignment
calibration
Keep driving at a minimum speed of 30 km/h and
do a series of left and right turns (at least 90
degrees). At each turn the estimated IMU-mount
misalignment angles are refined and their accuracy
increased.
You can skip this step if automatic IMU-mount
alignment is turned off.
Once the IMU-mount alignment engine
has high confidence in its misalignment
angle estimates, the IMU-mount alignment
status
UBX-ESF-ALG.status
is set to
4:FINE ALIGNED
.
UBX-20046189 - R01
3 Receiver functionality
Page 25 of 105
C1-Public
Early production information
