Home > VBOX Automotive > Modules and accessories > Inertial Measurement Units > IMU/YAW - User Manual > 05 - Using IMU Integration with VB3i

05 - Using IMU Integration with VB3i

Required equipment

IMU04
VB3i (IMU04 ready)
IMU04
VBOX Tools or VBOX Setup
RLCAB119 VBOX – IMU connecting cable
RLCAB001 / RLCAB066-2 – VB3i PC connection cable
VBOX Manager (optional)
IMU03
VB3i (works with all VB3i units)
IMU03
VBOX Tools or VBOX Setup
RLCAB005-CS VBOX – IMU connecting cable
RLCAB001 / RLCAB066-2 – VB3i PC connection cable
VBOX Manager (optional)

Setup

Hardware

Important note: IMU04 must be connected to VB3i before power is applied to ensure data is correctly synchronised.

  1. Fit the VBOX 3i into the test vehicle, and mount the IMU as described here. 
  2. Fit VBOX 3i GPS, GPS/GLONASS antenna to centre of vehicles roof. Connect antenna to VBOX 3i.
  3. Measure the relative position from the top centre of the GPS antenna* to the top centre of the IMU (see mounting section for more detail) and enter these distances in the highlighted box below. Measurements need to be made in all 3-axis, X, Y and Z.
    *When using a twin antenna system, these measurements must be taken from the main antenna (A). 
  4. IMU04Connect CAN/KF port to VBOX 3i V3-V5  25W D analogue input port using RLCAB119 cable.
    IMU03Connect either port on IMU to VBOX RL CAN port using RLCAB005-CS cable.​
  5. After IMU is connected, apply power to VB3i.
  6. Enable IMU integration using either VBOX Manager, VBOX Tools - VBOX Setup or VBOX Setup.

 

VBOX 3i and IMU03 VBOX 3i V3-V5 and IMU04

IMU03.png

 

 

IMU04.png

VBOX Tools

  1. Ensure IMU03/04 is connected, and the VBOX 3i is powered on.
  2. Connect VBOX 3i to PC using RLCAB001 or RLCAB066-2 cable (RS232 or USB).
  3. Open VBOX Tools and connect to VBOX 3i by selecting COM Port (Options from Toolbar).
  4. Run VBOX Setup.
  5. Ensure 'High Dynamics' GPS Optimisation is selected, and log rate is set to '100 Hz' (Logging tab).
  6. Tick 'Use IMU' box and enter the distances measured from GPS antenna to the IMU.

 

  1. If using IMU04, IMU Attitude channels (Head_imu, Pitch_imu and Roll_imu) 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'.

    1.png

 

  1. Perform initialisation and full calibration procedure before commencing testing.

VBOX Setup

  1. Ensure IMU04 is connected via RLCAB119, and the VBOX 3i is powered on.
  2. Connect VBOX 3i to PC using RLCAB001 or RLCAB066-2 cable (RS232 or USB).
  3. Open VBOX Setup and connect to VBOX 3i by selecting COM Port.
  4. Select the 'GPS' menu and the 'Settings' tab, ensure that 'GPS Optimisation' 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 kalman filter'.


     
  7. Enter the distances measured from IMU to required translation point.
  8. If using IMU04, Internal IMU Attitude channels (Head_imu, Pitch_imu and Roll_imu) 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'.


     
  9. Select 'Write to unit' to upload settings to VB3i.
  10. Perform initialisation and full calibration procedure before commencing testing.

VBOX Manager

  1. Ensure IMU04/03 is connected, and the VBOX 3i is powered on.
  2. Enter 'SETUP', select 'IMU-INS' then click on 'ENABLE IMU'.

111.png

  1. Once 'OK' confirmation screen has cleared, ENABLE IMU should be ticked.

 
  1. Set ANTENNA OFFSETS with the distances measured between the IMU and antenna A.

101010.png

 
  1. IMU Attitude and 3 Axis Modules channels will be automatically set to log. If IMU Attitude or 3 Axis data is required to be displayed as a Live Serial data display (with VBOX Tools) then the user must enter VBOX Setup and tick the channels for Send over serial.
  2. Perform initialisation and full calibration procedure before commencing testing.
  3. If the IMU is not mounted on a flat surface, perform ANGLE OFFSETS calibration. This will zero the Pitch_imu and Roll_imu channels. Angle offsets calibration must be performed after the IMU kalman filter calibration has been completed, and the vehicle is static on a level surface.

777.png
  1. If ADAS testing is being conducted, select 'ADAS Mode' from the menu. This option changes the rate at which the kalman filter takes a GPS positional sample to improve the positional performance of the filter. Whilst this is beneficial to ADAS testing, it slightly decreases the accuracy of the filtered speed and therefore shouldn't be selected when undertaking speed based testing such as brake stops.
    Note: Option not available with IMU03.
  1. Once OK confirmation screen has cleared, ADAS Mode should be ticked.

Important notes

  1. To use IMU04 integration, a VB3i-V3, V4 or V5 must be used. This is an IMU04 enabled VBOX 3i unit.
  2. IMU04 cannot be used with IMU integration if it is connected to a VBOX via CAN (RLCAB120 / RLCAB005-CS). This method of connection will only allow standard IMU channels to be logged. See using IMU as CAN module section for details.
  3. The IMU04 standard channels can also be logged when the IMU04 is connected via KF port with cable RLCAB119, without enabling IMU integration
  4. The IMU04 must be in a Racelogic CAN mode to be used for IMU Kalman Filter.
  5. NB ADAS - If using IMU filter with ADAS mode, the GPS antenna and IMU must 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 antenna.
  6. NB ADAS - When using IMU Filter the user cannot use SET POINTS functionality to define contact points in single or multi target ADAS modes

Initialisation

When using IMU integration, an initialisation phase is required when the IMU is first connected to the VBOX after being set up. This will be run through automatically after the VBOX has successfully gained satellite 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 behaviour.

LED Indicators VBOX 3i (V2/V3/V4/V5) and IMU04

  Colour
VBOX 3i LED Solid Orange Flashing Orange Flashing Green Solid Green
IMU IMU enabled, no IMU connected. SAT lock OK. 30 second stationary initialisation in progress. If vehicle moves, LED will continue to flash until 30 seconds stationary completed. Initialisation complete – movement not yet detected. Movement detected – IMU integration working OK.
  Colour
IMU04 LED Red Orange Green
Power Initial boot up phase Temperature checks. If temperature outside optimum operation range, LED will remain orange. Fully operational.
Coms No coms Using IMU integration, inertial data being sent to host VBOX via RS232. Inertial data being sent to host system via CAN.

LED Indicators VBOX 3i (V1)

When the filter is enabled and the IMU is connected, the satellite LED will remain off to act as an indicator for the IMU integration status. Only when the filter is initialised and movement 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 of the VBOX unit.

LED Indicators IMU03

IMU03 LED Colour  
Power Red IMU03 / YAW 03 is connected to a live power source.
Coms Blue Serial or CAN data communications are active.
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