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Figure 37: INS Configuration
For testing the system in the lab while stationary, a Static Bench Mode is provided. This
allows the user to initialize the heading of the LVX manually.
Note: The Static Bench Testing Mode must only be enabled during lab testing when
the system is stationary.
Failure to disable this mode before movement will degrade performance!
After entering the Lever Arms and Mounting Angle settings you will be prompted to
reboot the system in order to apply the changes to software.
4.6.12. DMI Scale Factor Calculation
The DMI measures wheel rotation by generating a fixed number of pulses per wheel
revolution. POS LV converts wheel rotation into distance traveled by multiplying the
DMI pulse count by a scale factor that converts pulses to metres. The following formulas
are used to compute the scale factor:
Pulse and Direction DMI (Type 1): s =
𝑛
𝑑𝜋
Quadrature DMI (Type 2): s =
4𝑛
𝑑𝜋
Where n is the number of DMI pulses per revolution, and d is the Instrumented
Wheel diameter in meters.
Note: The number of DMI pulses per revolution is typically stamped on the DMI
nameplate.
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