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Copyright © 2015 Coda Octopus Products Ltd
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F180R MOTION Sensor User and Reference Guide
If you use a non-standard orientation of the secondary antenna use Advanced settings to
specify the Orientation and Height offset.
During the calibration procedure the system will refine the values using your input as a guide.
It is therefore important to ensure that you describe the arrangement correctly.
5.3.6 Remote Lever Arms
Figure 83: MOTION Settings Wizard - Remote Lever Arms
By default, the output measurements of the F180R System are relative to the measurement
point on the IMU in the Vessel Frame of Reference. However in some deployments you may
wish to map the system output to report the motion of an alternative location such as a sonar
head. To do this you must enter the Remote Lever Arm values that describe the X,Y,Z lever
arm offsets of your new measure point from the F180R System IMU measure point.
When you input the remote lever arm position the the system image to the right will display
the position of the IMU in blue and the new output position in red.
NOTE:
If you have specified a Remote Lever Arm then the position, velocity, heading,
altitude, heave, attitude and iHeave data are for the remote lever arm location.
If you have entered a Vessel Orientation but you have not set a Remote Lever Arm,
the position, altitude, velocity, heave and iHeave outputs are referenced to the IMU
position. The Attitude and Heading outputs are in the Vessel reference frame.
If you have not set either a Remote Lever Arm or a Vessel Orientation, then the
position, altitude, velocity, heave, iHeave outputs are for the IMU location and the
attitude and heading outputs are in the IMU Body Reference Frame.
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