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4. Accelerating hard from standstill to 50 km/h or above, perform two brake stops with a decel force of at least 0.5 g.

When is the calibration required?

When carrying out high dynamic tests such as braking and ESC testing, this recommended process calibrates the
Kalman filter as quickly as possible. When carrying out low dynamic tests such as driving on urban routes, or doing long
term data collection, then this calibration is not as critical.

Re-running the calibration

The Kalman filter is constantly adapting its calibration depending on the information received from GPS and the IMU.
Therefore, if the vehicle is left stationary for a long time, or the IMU is moved from its mounting position, then the
calibration procedure should be repeated if further high dynamic testing is to be carried out.

The calibration should also be repeated after anything which causes the communication to break between IMU and
VBOX, such as:

• Power cycle to either IMU or VBOX.

Note: Using an

external power backup

stops the system shutting down under temporary power loss.

• ‘VBOX Setup' software is used to read IMU settings.

• 'VBOX Setup' software is used to read VBOX settings.

• Modes change using VBOX Manager.

https://en.racelogic.support//Product_Info/VBOX_Data_Loggers/VBOX_3i_Range/VBOX_3i_User_Guide_(All_Variants)/12-1_-

_VB3i_IMU_Integration_-_In-Vehicle_Mounted/Kalman_Filter_Calibration

74

Содержание 3i

Страница 1: ...e and Digital I O 10 VB3i Dynamic Modes 11 VB3i DGPS RTK 12 1 VB3i IMU Integration In Vehicle Mounted How to Mount the IMU Kalman Filter Calibration VB3i V3 V5 Additional IMU04 Channels 12 2 VB3i IMU...

Страница 2: ...es as a power source please note that the minimum operating voltage of the VBOX 3i is 7 V The maximum operating voltage input must not exceed 30 V DC Failure to observe this could result in damage to...

Страница 3: ...hen using external modules VBOX supply must not exceed 15 V DC Hardware Variants VBOX 3i is available in three variants VB3i A single antenna version offering position accuracy of up to 50 cm VB3iD fo...

Страница 4: ...VB3iDR label Inputs Outputs VBOX 3i VB3i https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_ All_Variants 01_ _VB3i_Introduction 4...

Страница 5: ...VBOX 3i Dual Antenna VB3iD VBOX 3i RTK VB3iDR https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_ All_Variants 01_ _VB3i_Introduction 5...

Страница 6: ...bus and up to 64 CAN channels can be logged from other channels When logging data from another source VBOX Setup software can be used to load signal data from an industry standard CAN database file DB...

Страница 7: ...er setting while the second output is a level switch output enabling users to select any one of the logged channels and assign it a threshold value e g output high 5 V when speed greater than 20 kmh 2...

Страница 8: ...is fitted to the highest point of the vehicle away from any obstructions that may block satellite reception The GNSS antenna works best with a metal ground plane underneath a metallic vehicle roof is...

Страница 9: ...to be placed either off the vehicle or on a vehicle that does not have a metallic roof a special ground plane antenna must be used This has an internal ground plane and can operate perfectly without...

Страница 10: ...enna separation 0 067 rms at 1 5 m antenna separation 0 05 rms at 2 0 m antenna separation 0 04 rms at 2 5 m antenna separation 0 14 rms at 0 5 m antenna separation 0 07 rms at 1 0 m antenna separatio...

Страница 11: ...in the same direction This matching positioning ensures that the separation measurement is relative We recommend you measure separation from outer edge of antenna connector A to same outer edge of an...

Страница 12: ...e roof ensure that the antenna placement still follows the guidance of the single antenna above i e clear ground plane away from obstruction Where possible antennas should be placed on a level plane T...

Страница 13: ...educes the total number of received satellites The elevation mask angle can be changed in VBOX Setup and by using VBOX Manager GNSS Coldstart A GNSS coldstart may be required when The GNSS engine has...

Страница 14: ...g beep is sounded 2 When the button is released the SATS LED will start to flash red showing that the coldstart has been performed and the GNSS engine is now not locked onto any satellites 3 After app...

Страница 15: ...flash Logging will now not continue even if you are moving until the LOG button is pressed again or the compact flash card is removed and reinserted The VBOX will then continue to log only when moving...

Страница 16: ...232 protocol VBOX 3i is equipped with 2 CAN Bus interfaces and 2 RS232 serial ports The primary RS232 port is used for all communication between the VBOX and laptop PC The primary port is marked SER o...

Страница 17: ...whether logging to the VBOX or logging from the VBOX For dual use of RS232 and CAN from one of the sockets you will require a 5 way Lemo splitter RLVBACS024 Power supplied to external Racelogic CAN m...

Страница 18: ...r C program files Racelogic Drivers VB3i drivers can also be downloaded from the Drivers and Utilities section of vboxautomotive co uk You can find more information about how to install the drivers he...

Страница 19: ...between each sequence Flashing orange sequence indicates the number of GLONASS Satellites currently being tracked Each flash indicates a satellite with a short pause between each sequence Sequence sh...

Страница 20: ...S or SBAS Solid green indicates a Fixed RTK lock either 2 cm RTK MB Rover or NTRIP DUAL VB3i D DR units only Solid orange indicates that dual antenna mode is enabled Solid green indicates dual antenna...

Страница 21: ...ng an IMU04 ensure that it is connected using an RLCAB119 to the 25 way D connector is set to Racelogic CAN mode and is running the latest release firmware Flashing orange shows IMU is connected and i...

Страница 22: ...or so that the logging will start or stop when a data value is exceeded or not Multiple data channels can be combined in a Boolean OR manner to control the logging Compact Flash Memory Cards The VBOX...

Страница 23: ...he VBOX 3i Important Do not remove the CF card or power down whilst the CF LED is flashing If you need to remove the card or power down whilst the CF LED is flashing then press the LOG button first to...

Страница 24: ...a centre points This allows the VB3iD VB3iDR to acquire and maintain dual antenna lock The physical separation distance between the two antennas should be measured as accurately as possible and entere...

Страница 25: ...oll and pitch measurements during their testing By default the VB3iD VB3iDR will be setup for Pitch determination If the user wishes to setup their antennas across the width of the car to measure roll...

Страница 26: ...y using the Clear function This should be completed before the Auto Align Note that any camber on the road or a strong side wind will affect this alignment The calculated alignment offset will be appl...

Страница 27: ...y offset applied to the pitch channel Slip Angle Translation In Dual Antenna mode you may wish to take slip measurements from other locations on the vehicle for instance the centre of gravity or slip...

Страница 28: ...a and the target area for slip measurement Same again for section 2 there is an Ahead offset These offsets will need to be applied by VBOX Manager https en racelogic support Product_Info VBOX_Data_Log...

Страница 29: ...alculate the channels correctly Note If the primary antenna moves the offsets will need to be measured again for example swapping between a pitch and roll setup https en racelogic support Product_Info...

Страница 30: ...drivers are installed to enable communication between the VBOX and the software available to download from here If a USB serial adapter is being used the RS232 to USB Converter driver is required Mic...

Страница 31: ...ud rates to be scanned Software Overview 1 Menu The side bar allows selection between the different settings menus Click the buttons to change 2 Current menu Displays the currently selected menu https...

Страница 32: ...t button should be selected to ensure the settings have been uploaded 8 Close Closes the software if changes have not been saved to the unit you will be prompted to save the settings Settings Menus Th...

Страница 33: ...https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_ All_Variants 07_ _VB3i_VBOX_Setup_Overview 33...

Страница 34: ...s on Note VBOX 3i has an additional channel limit of 64 Additional channels consist of VCI channels up to 16 RL CAN channels up to 32 and any other channels that fall outside the channels on the Stand...

Страница 35: ...ame as the MFD a data channel must be in the first 32 CAN channel ordering for the VBOX 3i to send out data over serial to a live data window on VBOX Test Suite First 32 CAN channel ordering priority...

Страница 36: ...elogic CAN bus i e Racelogic modules such as TC8 on the isolated customer VCI bus The user can configure output data in VBOX Setup using channels from the available channels dropdown list and configur...

Страница 37: ...identifiers optional VB3i CANVEL If an input channel is given the name CANVEL then the VBOX will translate the data of this channel directly through to the GPS speed channel under the following criter...

Страница 38: ...round built up areas or driving under large bridges VB3i CAN Termination The VBOX3i contains an active termination between 0 Ohms and 120 Ohms the active terminations are selectable via VBOX Setup as...

Страница 39: ...hen CAN Delay is set to Fixed the speed delay is 15 5 ms and the position delay is 20 ms When CAN delay is set to Minimum the speed delay is 4 ms 1 ms and the position delay is 8 5 ms 1 5 ms The data...

Страница 40: ...Fixed CAN Delay Example Minimum CAN Delay Example https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_ All_Variants 08_ _VB3i_CAN 40...

Страница 41: ...les Total delay 60 ms All vehicle separation modes with a Moving Base solution 20 ms 5 samples Total delay 70 ms Minimum Static Point and Lane Departure 4 ms 1 5 Total delay 4 ms 1 5 ms All vehicle se...

Страница 42: ...ltage outputs that can be used to power external sensors These are a Vbatt connection which is equal to the VBOX input voltage level and a 5 V DC out connection which is equal to 5 V 2 VB3i V1 V3 unit...

Страница 43: ...ts When using a sensor such as a load cell it may be desirable to store a reading in kg In this case changing the scale and offset to suit the sensor data sheet allows the data stored onto the compact...

Страница 44: ...g is used For more information on Fixed CAN timing read here When loading the VBO file into VBOX Test Suite ensure you are running the very latest version as older versions are not compatible with 500...

Страница 45: ...calculation The trigger event time is logged and used to correct the measured brake stop distance to the exact point at which the trigger was pressed A hand held event marker is also available to all...

Страница 46: ...cted to the VBOX 3i with the use of an additional splitter box as shown in the image below https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_ All_Variants 09_...

Страница 47: ...a false condition gives a 0 V i e Data channel Speed threshold 40 km h When speed is 40 output 5 V speed 40 output 0 V A hysteresis and tolerance value can also be associated to this condition The def...

Страница 48: ...s The High dynamics setting should be used for high accuracy trigger brake stops or any test where time and distance are critical and the vehicle test incorporates highly dynamic manoeuvres Medium Nor...

Страница 49: ...information transmitted by a Local Base Station or NTRIP service Setup using VBOX Setup 1 Run the latest VBOX Setup software 2 Select the correct COM Port and go to the GPS menu 3 Go to the DGPS RTK...

Страница 50: ...then select DGPS Rate within the VBOX menu 4 Choose the correct DGPS baud rate from the available options 5 Select Exit to return to main menu https en racelogic support Product_Info VBOX_Data_Loggers...

Страница 51: ...orrection Not compatible with VB3iDR CMR 2 cm correction Trimble standard message type RTCM v3 2 cm correction RTCM standard message type RECOMMENDED RTCM v3 is recommended as the default RTK 2 cm cor...

Страница 52: ...the position computation at this time 4 RTK Fixed Position computed from GNSS corrected by RTK Fixed means the integer ambiguity is established and the optimum position correction is applied resulting...

Страница 53: ...BOX IMU connecting cable RLCAB001 RLCAB066 2 VB3i PC connection cable VBOX Setup VBOX Manager optional RLCAB069L RLCAB015L RLACS182L vehicle CAN bus cable optional for wheel speeds Setup Hardware Impo...

Страница 54: ...AB005 CS cable 5 After IMU is connected apply power to VB3i 6 Enable IMU integration using either VBOX Manager or VBOX Setup VBOX 3i and IMU03 VBOX 3i V3 V5 and IMU04 Configuration VBOX Setup Software...

Страница 55: ...the data from the IMU location to another point on the vehicle where all measurements will be made enter the x y z offset values from the required translation point to the IMU more https en racelogic...

Страница 56: ...and Head_imu2 will automatically be set to log If IMU Attitude data is required to be displayed as a Live Serial data display then the user must tick the channels for Send over serial https en racelog...

Страница 57: ...initialisation and full calibration procedure before commencing testing VBOX Manager 1 Ensure IMU04 03 is connected and the VBOX 3i is powered on 2 Connect VBOX Manager to the VBOX 3 Enter the SETUP m...

Страница 58: ...anslate the data from the IMU location to another point on the vehicle where all measurements will be made Select IMU to Ref Offset and enter the distances measured between the required translation po...

Страница 59: ...e offsets calibration must be performed after the IMU kalman filter calibration has been completed and the vehicle is static on a level surface 12 If ADAS testing is being conducted ensure the ADAS Mo...

Страница 60: ...data accuracy in environments that have poor satellite reception such as areas with trees buildings bridges or tunnels More information on this can be found here In order to obtain the wheel speed inf...

Страница 61: ...x y z distances m between wheel speed reference point and the antenna The reference point is the centre point between the rear wheels as shown in the image below https en racelogic support Product_In...

Страница 62: ...the software and select your vehicle Once selected CAN channels specific to your vehicle will appear on the left If available CAN connection information for the vehicle will also appear on the right...

Страница 63: ...menu of VBOX Manager 4 Select IMU INS and then click on the IMU Integration menu 6 Scroll to the Wheel Speed menu and select 7 Choose Enable and select Once the OK confirmation screen has cleared Ena...

Страница 64: ...if you are using a VB3i V1 which has no IMU LED read the LED indicators section below for LED behaviour LED Indicators VBOX 3i V2 V3 V4 V5 and IMU04 VBOX 3i LED Colour Description Solid Orange IMU en...

Страница 65: ...is detected will the SAT LED return to its normal operation The user will need to leave 1 minute after powering the VBOX on with the IMU connected before starting to move This occurs on every power up...

Страница 66: ...he same point if you are using a non magnetic ground plane antenna the RLACS230 IMU04 Roof Mount should be used instead By co locating the antenna and IMU on the vehicle s roof the distance between th...

Страница 67: ...or fully on a coup s glass roof when trying to achieve a greater antenna separation in a dual antenna setup Suction mount with dual antenna pole fixing RLACS257 If you are testing with a VBOX 3i Dual...

Страница 68: ...uk for more information or to order an IMU Roof Mount https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_ All_Variants 12 1_ _VB3i_IMU_Integration_ _In Vehicle...

Страница 69: ...he accuracy of the results The IMU roof mount can be placed on a non flat surface When placed on a non flat surface the Pitch Roll Offset action should be used to compensate the IMU attitude angle cha...

Страница 70: ...st be co located roof mount or positioned so there is no relative X or Y offset between them If there is a difference manual contact points should reference the IMU location rather than the GPS antenn...

Страница 71: ...firmly to the body of the vehicle mid way along the wheelbase Try to position the unit as close as possible to the centre of the vehicle making sure it is mounted in the direction of travel as shown i...

Страница 72: ...ust then be entered into the VBOX via either VBOX Setup or using VBOX Manager These measurements are required when using either an IMU04 or an IMU03 unit When using a twin antenna system these measure...

Страница 73: ...main static and wait for the IMU to complete the 30 second stationary initialization As this happens the VB3i front panel IMU LED will change from flashing orange to flashing green upon completion If...

Страница 74: ...IMU Therefore if the vehicle is left stationary for a long time or the IMU is moved from its mounting position then the calibration procedure should be repeated if further high dynamic testing is to b...

Страница 75: ...ly for the first few minutes until the Kalman Filter is able to calibrate itself We strongly recommend that the Kalman Filter is calibrated when carrying out high dynamic tests https en racelogic supp...

Страница 76: ...annels are calculated from IMU derived data IMU attitude accuracies are available here Position quality is a numerical representation of the quality of the position for use in robot modes More informa...

Страница 77: ...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 T1 channel Internal debug channel logged when IMU Filter is running...

Страница 78: ...ade from the centre of the IMU to the desired location As the IMU is housed within the enclosure precise measurements are not easy to make So a Z measurement can be taken from the centre of the GPS an...

Страница 79: ...t RLCAB119 cable from left hand port on roof mount IMU CAN KF to VBOX 3i V3 V5 25W D analogue input port 4 Take data translation measurements in X Y and Z axis from centre of IMU if required Default 1...

Страница 80: ...ation is set to High dynamics 5 Select the Logging menu and ensure that Log rate is set to 100 Hz 6 Select the IMU menu and tick Enable IMU integration Once VBOX Setup has completed the initial enabli...

Страница 81: ...tomatically be set to log If IMU Attitude data is required to be displayed as a Live Serial data display then the user must tick the channels for Send over serial https en racelogic support Product_In...

Страница 82: ...tion and full calibration procedure before commencing testing VBOX Manager 1 Ensure IMU04 is connected via RLCAB119 and the VBOX 3i is powered on 2 Connect VBOX Manager to the VBOX 3 Enter the SETUP m...

Страница 83: ...distances to translate the IMU location to another point within the vehicle more information on this can be found here An automatic 1 m z offset is added translating the filtered speed down in to the...

Страница 84: ...ngle offsets calibration must be performed after the IMU kalman filter calibration has been completed and the vehicle is static on a level surface 12 If ADAS testing is being conducted ensure the ADAS...

Страница 85: ...this can be found here In order to obtain the wheel speed information the best solution is to use the sensors already fitted to the vehicle by connecting to the vehicle s CAN bus by using an RLCAB069L...

Страница 86: ...the x y z distances m between wheel speed reference point and the antenna The reference point is the centre point between the rear wheels as shown in the image below https en racelogic support Product...

Страница 87: ...hin the software and select your vehicle Once selected CAN channels specific to your vehicle will appear on the left If available CAN connection information for the vehicle will also appear on the rig...

Страница 88: ...TUP menu of VBOX Manager 4 Select IMU INS and then click on the IMU Integration menu 6 Scroll to the Wheel Speed menu and select 7 Choose Enable and select Once the OK confirmation screen has cleared...

Страница 89: ...lock When the IMU LED on VB3i front panel has turned a flashing green the initialisation is complete Note If you are using a VB3i V1 which has no IMU LED read the LED indicators section below for LED...

Страница 90: ...ion range LED will remain orange Using IMU integration inertial data being sent to host VBOX via RS232 Green Fully operational Inertial data being sent to host system via CAN https en racelogic suppor...

Страница 91: ...luetooth antenna connected and the computer will require a Bluetooth module or dongle to establish a virtual connection VBOX 3i will connect to the computer via SPP serial port profile this can be don...

Страница 92: ...ing of the wav file has begun Pressing the switch for a second time will then stop recording this will be confirmed by a second beep through the headset If the switch has only been pressed once the VB...

Страница 93: ...put impedance 2 I Isolated Channel 1 1 8 M Ohms input impedance 3 I Isolated Channel 2 1 8 M Ohms input impedance 4 I Isolated Channel 2 1 8 M Ohms input impedance 5 I Isolated Channel 3 1 8 M Ohms in...

Страница 94: ...I RS232 RxD IMU04 14 O Vbatt Equal to Input Voltage 300 mA 15 O GND Ground 16 O 5 V Out Isolated 5 V 2 120 mA 17 O GND Ground 18 O ISO GND Isolated Ground 19 25 N C https en racelogic support Product...

Страница 95: ...2 4 I Channel 2 5 I Channel 3 6 I Channel 3 7 I Channel 4 8 I Channel 4 9 10 N C 11 O 1PPS Output IMU04 12 O RS232 TxD IMU04 13 I RS232 RxD IMU04 14 O Vbatt Equal to Input Voltage 300 mA 15 O GND Gro...

Страница 96: ...Description Range 17 O GND Ground 18 25 N C https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_ All_Variants 15_ _VB3i_Technical_Properties VB3i_Analogue_Input_...

Страница 97: ...annel 1 3 I Channel 2 4 I Channel 2 5 I Channel 3 6 I Channel 3 7 I Channel 4 8 I Channel 4 9 13 N C 14 O Vbatt Equal to Input Voltage 200 mA 15 O GND Ground 16 O 5 V Out 5 V 2 350 mA 17 O GND Ground...

Страница 98: ...annel 1 3 I Channel 2 4 I Channel 2 5 I Channel 3 6 I Channel 3 7 I Channel 4 8 I Channel 4 9 13 N C 14 O Vbatt Equal to Input Voltage 100 mA 15 O GND Ground 16 O 5 V Out 5 V 2 350 mA 17 O GND Ground...

Страница 99: ...Identification Click here for a printable PDF https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_ All_Variants 15_ _VB3i_Technical_Properties VB3i_Cable_Identif...

Страница 100: ...mat Data format Motorola Baud rate 500 kbit s Channel definitions are available here ID Data Bytes 1 2 3 4 5 6 7 8 0x301 1 Satellites 2 Time_Since_Midnight _UTC 3 Position_Latitude 0x302 4 Position_Lo...

Страница 101: ...Quality km h 18 True_Heading 19 Slip_Angle 20 Pitch_Angle 0x307 21 Lateral_Velocity km h 22 Yaw_Rate s 23 Roll_Angle 24 Longitudinal_Velocity km h https en racelogic support Product_Info VBOX_Data_Log...

Страница 102: ...Ang_IMU Pre FW 2 5 Unused Post FW 2 5 43 Status_KF 0x324 44 Dant_Mode 45 MP_Type_Number Unused 46 FW_Version 0x329 47 X_Position 48 Y_Position 0x32A 49 RobotHead_Vehico 50 Speed_Vehico km h 51 Positio...

Страница 103: ...ed 15 Time from last brake trigger event 0 01 seconds per bit 16 Velocity at brake trigger point 0 01 kts per bit interpolated between samples 17 Velocity Quality 0 01 km h per bit 18 True Heading of...

Страница 104: ...n 32 bit unsigned can be split into Major 8 bit Minor 8 bit and build number 16 bit 47 X position in metres from the origin the origin and direction can be set when in Vehico Robot Mode other wise the...

Страница 105: ...r 0 0004 g per bit 7 Z Acceleration 16 bit signed integer 0 0004 g per bit 8 Inverse Path Radius 16 bit signed integer 0 01 s per bit Inverse Path Radius 1 Speed m s yaw rate rad s 9 Slip Angle 16 bit...

Страница 106: ...e 16 bit signed integer 0 005 m s per bit X Velocity Speed m s Cos slip angle 18 Y Velocity car frame 16 bit signed integer 0 005 m s per bit X Velocity Speed m s Cos slip angle https en racelogic sup...

Страница 107: ...EC Declaration of Conformity https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_ All_Variants 15_ _VB3i_Technical_Properties VB3i_EC_Declaration_of_Conformity...

Страница 108: ...https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_ All_Variants 15_ _VB3i_Technical_Properties VB3i_EC_Declaration_of_Conformity 108...

Страница 109: ...ons relating to connectors 2 and 3 Details below For PIN information on the analogue input connector click here Front View of VB3iD V2 V5 https en racelogic support Product_Info VBOX_Data_Loggers VBOX...

Страница 110: ...emo 2 PIN PIN I O Function Range 1 I Power 7 30 V 2 I Ground 0 V https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_ All_Variants 15_ _VB3i_Technical_Properties...

Страница 111: ...1 2 0 5 V 3 O Analogue Ground Shell O Digital Ground V4 V5 PIN I O Function Range 1 O Isolated Analogue Out 1 2 0 5 V 2 O Digital Out 1 2 0 5 V 3 O Isolated Analogue Ground Shell O Digital Ground htt...

Страница 112: ...2 I Digital Input 2 Logging on off 0 5 V 14 V tolerant 3 I Digital Input 1 Brake Trigger 0 5 V 14 V tolerant https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_...

Страница 113: ...x PORT B 12 V 2 I RS232 Rx PORT B 12 V 3 I O CAN High PORT A 4 I O CAN Low PORT A 5 O V Power Same as Power https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_...

Страница 114: ...Tx PORT A 12 V 2 I RS232 Rx PORT A 12 V 3 I O CAN High PORT B 4 I O CAN Low PORT B 5 O V Power Same as Power https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_...

Страница 115: ...IN I O Function Center RF Signal Power for active antenna Chassis Ground https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_ All_Variants 15_ _VB3i_Technical_Pr...

Страница 116: ...ples Units km h or mph Update Rate 100 Hz Maximum Velocity 1000 mph Minimum Velocity 0 1 km h Resolution 0 01 km h Latency more information available here Minimum 4 ms 8 5 ms 1 ms Fixed no IMU integra...

Страница 117: ...ts m ft Update rate 100 Hz Resolution 1 cm https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_ All_Variants 15_ _VB3i_Technical_Properties VB3i_Technical_Specif...

Страница 118: ...Accuracy with SBAS V 1 2 m H 0 8 m Accuracy with DGPS V 0 5 m H 0 3 m Update rate 100 Hz Resolution 1 8 mm Absolute Positioning RMS VB3iDR Dual Antenna with RTK Accuracy Standalone V 1 8 m H 1 2 m Acc...

Страница 119: ...Suite Resolution 0 01 s Resolution 0 01 s Accuracy 0 01 s Accuracy 0 01 s Acceleration Accuracy 0 5 Maximum 20 g Resolution 0 01 g Update rate 100 Hz Heading Resolution 0 01 Accuracy 0 1 https en rac...

Страница 120: ...me Dependent on flash card capacity Brake stop accuracy Accuracy 1 8 cm https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_ All_Variants 15_ _VB3i_Technical_Pro...

Страница 121: ...a at 100 Hz Approx 182 MB per hour total logging capacity Slip Pitch Roll Angle Accuracies Antenna Separation Slip Angle RMS Pitch Roll Angle RMS 0 5 m 0 2 0 14 1 0 m 0 1 0 07 1 5 m 0 067 0 047 2 0 m...

Страница 122: ...gue Voltage range 0 5 V DC Default setting The range settings can be adjusted by the user in VBOX Tools Software Velocity 0 0125 Volts per km h 0 400 km h Accuracy 0 1 km h Update rate 100 Hz Digital...

Страница 123: ...Accuracy 0 1 km h Update rate 100 Hz https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Guide_ All_Variants 15_ _VB3i_Technical_Properties VB3i_Technical_Specificati...

Страница 124: ...tside of the standard channel tab within VBOX Setup e g AD inputs IMU KF channels twin antennas channels ADAS channels Analogue Number of channels 4 Input range 50 V Channel sample order Synchronous D...

Страница 125: ...m x 121 mm x 41 mm Operating Temperature 20 C to 60 C Weight 900 g approximate Storage Temperature 30 C to 80 C https en racelogic support Product_Info VBOX_Data_Loggers VBOX_3i_Range VBOX_3i_User_Gui...

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