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Copyright © 2015 Coda Octopus Products Ltd
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F180R MOTION Sensor User and Reference Guide
NOTE: This number represents the number of satellites in view to the GNSS receiver
and not necessarily in use by the MOTION Control due to enforcement of quality
criteria (such as being above a certain elevation angle).
The F180R System needs to use 4 satellites to complete its heading initialisation when first
switched on. Thereafter, it will operate successfully with as few as 3 usable GPS satellites, and
will tolerate short periods (a few seconds) without GPS satellite reception. Note, however,
that the F180R System is designed as a GPS-aided attitude sensor, and will not provide correct
attitude data in the event of prolonged GNSS outages.
Updates
The Updates area displays the real time status of several parameters:
The Position field indicates the update type relevant to the GNSS position
The Velocity field indicates the update type relevant to the F180R System velocity
The Attitude field indicated the update type relevant to the F180R System attitude
Accuracies
The Accuracies area displays the one-sigma accuracies for Attitude, Heading, Position and
Velocity. The accuracies displayed in this area are determined by cross-checking between the
F180R System Inertial Navigation System's estimates of position, speed, attitude and heading,
and the incoming GNSS data. The F180R System continually reassesses and optimises the
accuracy of the solution reached by the INS, based on GNSS feedback.
NOTE: Position accuracy may vary widely, depending on whether raw GPS, Differential
GPS or Real-Time Kinematic GPS is being used.
There is a coloured bar graph for each variable and can be one of three colours:
Red – accuracy is significantly poorer than the level that one would expect for the
current system configuration (which depends on baseline length, type of system, type
of correction etc).
Orange – accuracy is poorer than, but within 20%, of the level than one would expect for
the current system configuration.
Green – accuracy is at or better than the level that one would expect for the current
system configuration.
The bar across the Attitude and Heading graphs are Calibration Markers and give an indication
on how close your configuration is to the accuracy expected for calibration.
NOTE: The Heading and Attitude accuracies together define whether the system is
calibrated or not. If both these accuracies are with specification (green) then the
system is said to have achieved calibration. However, this calibration may be deemed
invalid if the calibrated GNSS offsets and Orientation angles have deviated
significantly from their initial values. Please refer to the system specification for
details of the specified system accuracy for combinations of baseline and correction
type.
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