V103/113 Vector User Guide Chapter 3 - Operation Page 29 of 35
Tilt Aiding
The V103/113’s accelerometers (internal tilt sensors) are factory calibrated and enabled by default. This constrains
the RTK heading solution beyond the volume associated with just a fixed antenna separation. This is because the
V103/113 knows the approximate inclination of the secondary antenna with respect to the primary antenna. The
search space defined by the tilt sensor will be reduced to a horizontal ring on the sphere’s surface by reducing the
search volume. This considerably decreases instances of incorrect headings as well as startup and reacquisition
times (see Figure 3-2).
Figure 3-2: V103/113 Tilt Aiding
Gyro Aiding
The V103/113’s internal gyro offers several benefits. It reduces the sensor volume for an RTK solution. This
shortens reacquisition times when a GNSS heading is lost because the satellite signals were blocked. The gyro
provides a relative change in angle since the last computed heading, and, when used in conjunction with the tilt
sensor, defines the search space as a wedge- shaped location (see Figure 3-3).
Figure 3-3: V103/113 Gyro Aiding
The gyro aiding accurately smoothes the heading output and the rate of turn. It provides a substitute heading for a
short period, accurate to within 1º per minute for up to three minutes, in times of GNSS loss for either antenna. If
the outage lasts longer than three minutes, the gyro will have drifted too far and the V103/113 begins outputting null
fields in the heading output messages. There is no user control over the timeout period of the gyro.
Calibration, which is set at the factory, is required for the gyro to remove latency from the heading solution as well
as provide backup heading when GNSS is blocked. The receiver will calibrate itself after running for a while but it
may be important to follow the manual calibration instructions if you want to guarantee performance quickly after
powering up the receiver.
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