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Wheel speed input signal characteristics:
0 V to 12 V
low < 0.8 V
high > 2.4 V
The wheel that is used should not steer the vehicle. The RT will assume the wheel travels straight.
IMU sync output pulse
The synchronising edge of the PPS is configurable in NAVconfig.
Co-ordinate frame conventions
Measurements made by the INS are available in a number of different reference frames for use in different
applications.
IMU frame
The IMU reference frame used by the RT (shown in Figure 9), is popular with navigation systems – where the
positive X-axis points forwards, the positive Y-axis points right and the positive Z-axis points down.
The RT3000 v4 can be mounted in any orientation, it is not necessary for its axes to match those of the host
vehicle. The configuration file will specify the transformation from the IMU frame to the vehicle frame.
Figure 9: RT3000 v4 IMU coordinate frame axes
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