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Figure 23: NAVconfig IMU orientation tab in the Hardware Setup section
For correct initialisation, it is necessary to get the heading orientation correct. The RT gets its initial heading
by assuming the vehicle is travelling forwards in a straight line. If the definition of the vehicle’s x-axis (forward
direction) is incorrect in the RT then it will not initialise correctly when the vehicle drives forwards.
If the vehicle level option is used, then the pitch and roll orientations must also be correct.
To make small adjustments, select the ‘Specify exact angles’ checkbox to enable the rotations for editing. This
allows any slip angle, pitch or roll offsets to be zeroed.
Primary antenna tab
The RT can calculate the position of the primary antenna itself. However, this takes time and better results can
be achieved sooner if the user measures the distance accurately. Getting these measurements wrong is one
of the main reasons for poor results from the RT, so it is important to be careful. It is recommended to measure
the GNSS antenna position to an accuracy of 10 cm or better. Figure 24 shows the Primary Antenna page.
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