K902にはオンボードIMUが搭載されていますか。
また、この機能はどのように有効化できますか。
よろしくお願いいたします。
Thank you for your inquiry. To answer your first question: Yes, the K902 module is equipped with an on-board IMU, which allows you to utilize the GNSS+INS integrated navigation system.
Here are the step-by-step instructions to enable and configure this feature:
1. Enable INS Mode
First, send the following commands via your serial interface to activate the INS engine and smooth mode:
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Inscontrol enable
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set smootheddr on
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saveconfig
2. Configure Mounting Orientation and Lever Arm
Next, you must define how the module is physically mounted (using an axis type from 1 to 8) and input the lever arm offset (the 3-axis distance from the INS phase center to the antenna phase center in meters):
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set imuaxestype <axestype>
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saveconfig
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set drleverarm X Y Z
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saveconfig (Note: For the lever arm, X points to the front of the vehicle, Y points to the right, and Z points downward.)
3. Reset the Board
Once you have changed the INS configurations above, you must send a reset command to the board to properly apply and save the new settings.
4. Initialization and Calibration
After enabling the INS, the module must be physically moved to initialize and align the sensors:
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Initialization: Ensure the module has an RTK fixed solution. Drive the vehicle into an open environment, reach a steady speed, and drive for about 10 meters.
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Calibration: To eliminate placement errors, maintain a speed of 5 m/s in an open environment and drive in a straight line for at least 200 meters. Then, perform two 90-degree turns to the left and two 90-degree turns to the right (driving in a "figure-8" pattern is highly recommended if space permits).
5. Verify INS Status
You can check if the calibration was successful by requesting the system status message:
Please let us know if you need further details regarding the specific <axestype> orientation chart or any other commands.
