Figure 19. 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 21 shows the Primary Antenna page.
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