INSCALIBRATE
Initiate calibration of the INS offsets
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Platform: |
OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S |
Use this command to initiate the calibration of INS offsets.
The RBV calibration requires a valid RBV estimate to be entered prior to initializing the calibration. See the SETINSROTATION command for details on entering a RBV estimate.
For optimal performance of Dual Antenna with SPAN, an accurate ALIGN angular offset is required for each unique installation. This value can be calibrated should the entered value or the value derived from the input lever arms be less accurate than 5 degrees.
Message ID: 1882
Abbreviated ASCII Syntax:
INSCALIBRATE Offset [Trigger] [SDThreshold]
Abbreviated ASCII Example:
INSCALIBRATE RBV NEW 1.0
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Field |
Field Type |
ASCII Value |
Binary Value |
Description |
Binary Format |
Binary Bytes |
Binary Offset |
|
1 |
Command header |
- |
- |
INSCALIBRATE header This field contains the command name for abbreviated ASCII or the message header for ASCII or Binary. |
- |
H |
0 |
|
2 |
Offset |
ANT1 |
1 |
Use this option to set the INS calibration offset from the IMU to the primary GNSS antenna The ANT1 option is available only on IMU Grade 2 or higher IMUs. See Models and Features. |
Enum |
4 |
H |
|
ALIGN |
8 |
Use this option to set the INS calibration offset from the IMU Body frame to ALIGN frame rotation. |
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|
RBV |
11 |
Use this option to set the INS calibration offset from the IMU Body frame to Vehicle frame rotation. |
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|
3 |
Trigger |
STOP |
0 |
Ends the INS calibration and applies the resulting estimate to the system. |
Enum |
4 |
H+4 |
|
NEW |
1 |
Begins a new calibration, overwriting any previous input. |
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|
ADD |
2 |
Begins a new calibration, the results of which will be cumulatively averaged with previously calibrated offsets. If no previous calibration is present, this trigger behaves as the NEW trigger. |
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|
RESET |
3 |
Resets the current calibration process and removes it from the cumulative average computation. The previous inputs of calibrated values remain. |
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|
4 |
SDThreshold |
|
|
Standard Deviation Threshold (default for lever arm calibration = 0.10 m) |
Float |
4 |
H+8 |