INSCALIBRATE

Initiate calibration of the INS offsets

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

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 (see page 1) or Binary (see page 1).

-

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.

RBV

11

Use this option to set the INS calibration offset from the IMU Body frame to Vehicle frame rotation.

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.

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.

RESET

3

Resets the current calibration process and removes it from the cumulative average computation. The previous inputs of calibrated values remain.

4

SDThreshold

 

 

Standard Deviation Threshold

(default for lever arm calibration = 0.10 m)
(default for RBV and ALIGN calibration = 0.5 degrees)

Float

4

H+8