Racelogic VBOX 3iV2 Betriebsanweisung PDF herunterladen (Seite 31)

VBOX 3i User Guide

Page 31 of 46

28/08/2013

IMU Integration

IMU integration should not be enabled for measurement of Braking distances

The main purpose of integrated navigation systems is to take advantage of the complementary attributes of two or more navigation systems (GPS and Inertial

motion unit) to achieve far better performance than through the use of either system on its own.

GPS derives data through two separate methods, Doppler (speed, vertical speed and heading) and Triangulation (latitude longitude and height). The Triangulation

calculated position data is bounded by an error (CEP value), which depends on the quality of the GPS receiver and its environment. GPS measurements are stable

but rely on weak signals, which are subject to signal blockage and interference from the surrounding environment, resulting in poor performance. The quality of the

Doppler derived channels are also affected in a similar way by the same influential factors.

Inertial sensor measurements on the other hand are continuously available but suffer from long-term drift due to the accumulation of integration errors of the

accelerometer and gyro measurements. As a result the IMU derived position error increases without bounds. IMU‟s of a higher accuracy are available but tend to be

large, bulky and expensive.

These complementary properties of IMU and GPS data make them ideal candidates for integration and can accurately compensate for GPS dropouts or noise.

The VBOX 3i has the capability of integrating the GPS data with inertial data from the IMU02 Inertial Measurement Unit allowing accurate smoothing of the following

parameters:

 Latitude

 Longitude

 Velocity

 Heading

 Height

 Vertical Velocity

To use the data from a connected IMU to perform integrated Kalman filtering the VBOX 3i first needs to be set up using VBox Tools.

The screen shots here show the new IMU integrated Speed in blue and the non-integrated raw speed in red.

In these screen shots you can see how the IMU integrated Speed has continued to be produced perfectly through noisy and full dropout conditions

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