This page explains how to use an IMU03/YAW03 with compatible VBOX data loggers.
The required configuration depends on the connected product, hardware version, and firmware version.
- VBOX 3i RTK
- VBOX 3i Dual Antenna
- VBOX 3i Single Antenna
Before configuring the IMU:
- Install the IMU according to the IMU installation requirements.
- Connect the IMU to the VBOX unit.
- Install and connect any required GNSS antennas.
- Connect the VBOX to a computer running VBOX Setup.
- RLCAB069L / RLCAB015L / RLACS182L - vehicle CAN bus cable (optional for wheel speeds)
If your IMU is mounted inside the vehicle, you must measure the relative position from the top centre of the GNSS antenna* to the top centre of the IMU (see the mounting section for more detail). Measurements need to be made in all 3 axes, X, Y and Z.
*When using a dual-antenna system, these measurements must be taken from the primary antenna (A).
- Ensure IMU03 is connected via RLCAB119 and that the VBOX 3i is powered on.
- Connect VBOX 3i to PC using RLCAB001 or RLCAB066-2 cable (RS232 or USB).
- Open VBOX Setup and connect to VBOX 3i by selecting the COM Port.
- Select the GPS menu and the Settings tab, and ensure that GPS Optimisation is set to High dynamics.
- Select the Logging menu and ensure that Log rate is set to 100 Hz.
- Select the IMU menu and tick Enable IMU integration.
- Enter the distances measured between the IMU and antenna A.
- If you would like to translate the data from the IMU location to another point on the vehicle where all measurements will be made, enter the x,y,z offset values from the required translation point to the IMU.
- If using IMU04, Internal IMU Attitude channels (Head_imu, Pitch_imu, Roll_imu, Pos.Qual., Lng_Jerk, Lat_Jerk and Head_imu2) 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.
- Click Write to unit to upload the settings to the VBOX 3i unit.
IMPORTANT
Ensure that the automatic initialisation phase and a full calibration procedure have been completed before commencing testing.
- Ensure IMU03 is connected and the VBOX 3i is powered on.
- Connect VBOX Manager to the VBOX.
- Enter the SETUP menu on VBOX Manager.
- Select IMU-INS and enter the IMU Integration menu.
- Scroll to Enable and select. Once the OK confirmation screen has cleared, Enabled be displayed.
- Scroll to the Roof Mount menu and ensure it is Disabled.
- Select Ant to IMU Offset and enter the distances measured between the IMU and antenna A.
- If you would like to translate the data from the IMU location to another point on the vehicle where all measurements will be made, select IMU to Ref. Offset and enter the distances measured between the required translation point and the IMU
- Internal IMU Attitude channels (Head_imu, Pitch_imu, Roll_imu, Pos.Qual., Lng_Jerk, Lat_Jerk and Head_imu2) will automatically be set to log. If IMU Attitude data is required to be displayed as a Live Serial data display (with VBOX Test Suite), then the user must enter VBOX Setup Software and tick the channels for Send over serial.
IMPORTANT
Ensure that the automatic initialisation phase and a full IMU Kalman filter calibration procedure have been completed before commencing testing.
If the IMU is not mounted on a flat surface, perform 'Pitch/Roll Offset' calibration. This will zero the Pitch_imu and Roll_imu channels.
IMPORTANT
Angle offset calibration must be performed after the IMU Kalman filter calibration is complete and the vehicle is stationary on a level surface.
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 VBOX 3i front panel has turned a flashing green, the initialisation is complete.
IMPORTANT
If you are using a VBOX 3i V1, which has no IMU LED, and you must rely on the LED indicator on the IMU to confirm when the initialisation phase has been completed.
| IMU03 LED | Colour | Description |
|---|---|---|
| Power | Red | IMU03/YAW03 is connected to a live power source. |
| Coms | Blue | Serial or CAN data communications are active. |