CSI Wireless Vector Sensor

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Vector Sensor Reference Manual v

Table of Contents

List of Figures..............................................................................................................................xi

List of Tables..............................................................................................................................xii

Preface ......................................................................................................................................xiv

Organization ....................................................................................................................xv

Customer Service............................................................................................................xv

World Wide Web Site.................................................................................................xvi

Document Conventions................................................................................................xvi

Notes, Cautions, and Warnings..................................................................................xvi

1. Quick Start..................................................................................................................17

1.1 Receiving Your Shipment...................................................................................17

1.2 Unpacking Your Vector Sensor System...........................................................17

1.3 Cable Connections..............................................................................................18

1.4 Understanding the Vector Sensor....................................................................18

1.4.1 Moving Base Station RTK.....................................................................19

1.4.2 Supplemental Sensors - Reduced Search Time................................19

1.4.3 Supplemental Sensors - Heading System Backup.............................19

1.5 Installation Overview..........................................................................................20

1.6 Mounting Configurations and Offset Settings.................................................21

1.7 Gyro Initialization Process.................................................................................21

1.8 NMEA 0183 Message Interface.........................................................................22

1.8.1 Tilt Aiding...............................................................................................22

1.8.2 Tilt Sensor Calibration..........................................................................22

1.8.3 Magnetic Aiding.....................................................................................22

1.8.4 Magnetometer Calibration ...................................................................23

1.8.5 Gyro Aiding............................................................................................24

1.8.6 Time Constants......................................................................................25

1.8.7 Level Operation .....................................................................................28

1.8.8 Heading Compensation ........................................................................28

1.8.9 Configuring for Pitch or Roll...............................................................29

1.8.10 Configuring Negative Pitch or Roll....................................................29

1.8.11 Pitch / Roll Compensation...................................................................30

1.8.12 Forcing a New RTK Search.................................................................31

1.8.13 Antenna Separation...............................................................................31

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