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RACELOGIC Support Centre

04 - VB3iS VBOX Setup IMU

The IMU menu provides the ability to configure the IMU location, offset position and orientation, as well as the wheel speed inputs.

Settings

Configure the IMU integration, location and offset position.
 

VB3iS VBOX Setup IMU Settings.png

 
  1. IMU integration

VB3iS VBOX Setup IMU Settings Integration.png
 

This option turns on IMU integration. When enabled, the other IMU options are presented and the 'Wheel speed input' tab appears.

  1. Location

VB3iS VBOX Setup IMU Settings Location.png
 

Specifies whether the speed sensor will be using its in-built IMU, or an external IMU.

  1. ADAS mode

VB3iS VBOX Setup IMU Settings ADAS Mode.png
 

Select between the ‘ADAS Mode Disabled’ Kalman Filter, used for Brake Stops and general speed/attitude performance, and the ‘ADAS Mode Enabled’ Kalman Filter that is used for high accurate position..

  1. Roof mount

Note: This option is only presented when the Location is set to ‘External’.
 

VB3iS VBOX Setup IMU Settings Roof Mount.png
 

Specifies whether the Racelogic roof mounted IMU will be used or not. When 'Enabled', an automatic 1 m z offset is added, translating the filtered speed down in to the vehicle towards the centre of gravity and the 'Antenna to IMU offset' will become 'Antenna to reference offset'.

  1. Antenna to IMU/ reference offset

VB3iS VBOX Setup IMU Settings Offset.png
 

  • When Roof Mount is 'Disabled' - Enter the x,y,z offset values from the Speed Sensor/IMU to the antenna that are required for the Kalman Filter algorithm.
  • When Roof Mount is 'Enabled' - Becomes 'Antenna to reference offset' and allows you to enter the x,y,z offset values from the nominated reference point to the roof mounted IMU. The reference point is where all measurements will be made.

Orientation

Note: Options are only presented when the Location is set as 'Internal'.

The IMU orientation dictates which way round the unit is facing and therefore dictates how the raw IMU channels are presented.
 

VB3iS VBOX Setup IMU Orientation.png

  1. Side facing down

Select the appropriate letter for the orientation of the VB3iS side facing down.

 
  1. Side facing forward

Select the appropriate letter for the orientation of the VB3iS side facing forward.

Wheel speed input

Note: This tab is only presented when the IMU integration is 'Enabled'.

The wheel speed input options can be used to configure the wheel speed input channels and reference location.


Combining wheel speed information within the Kalman Filter can improve positioning in locations subject to obstacles. In areas where there is no view of the sky at all, such as tunnels, inertial sensors and wheel-speeds can fill in the gaps for periods of up to 5 minutes. More information is available here.
 

IMPORTANT - Wheel speeds should not be used when conducting brake stops!


VB3iS VBOX Setup IMU Wheel Speed.png

 
  1. Enable wheel speed input

VB3iS VBOX Setup IMU Wheel Speed Input.png
 

Enables the wheel speeds to be passed into the Kalman Filter. Adds Wheel Speeds channel to CAN ID 31D. If no CAN data is detected, a Warning Message is displayed on the front panel.

  1. Antenna to wheel offset

Note: These options are only presented when Wheel speed input is 'Enabled'.
 

VB3iS VBOX Setup IMU Wheel Speed Offsets.png
 

 

Specifies the x,y,z distances (m) between the wheel speed reference point and the antenna. The reference point is the centre point between the rear wheels, as shown in the image below.
 

VB3iS Wheel Speed Ref.png

  1. Configure inputs

Note: These options are only presented when Wheel speed input is 'Enabled'.

Wheel speed 1 and 2 'Configure' buttons open up the CAN setup area where you can load in a .dbc file or manually set up the CAN parameters by selecting the 'User' option. Alternatively, selecting 'Vehicle databaseenables you to browse the Racelogic Vehicle CAN database within 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 of the window. Click on a wheel speed channel and select 'OK' to save the configuration. Repeat for the other wheel speed channel.
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VB3iS VBOX Setup IMU Wheel Speed Configure.png

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