The RT does not estimate the distance between the two antennas. It is essential to get
this right yourself, otherwise the system will not work correctly and the performance
will be erratic. The measurement needs to be accurate to 5 mm, preferably better than 3
mm.
A wider separation will increase the dual antenna heading solution accuracy. The
maximum recommended separation is 5 m, giving an accuracy of up to 0.05° in both
static and dynamic conditions.
If the antennas are mounted at significantly different heights, or if the mounting angle
is not directly along a vehicle axis (forward or right), then click the ‘Use advanced
settings’ checkbox to enable advanced settings and specify the orientation and height
offset.
Getting the angle wrong by more than 3° can lead the RT to lock on to the wrong heading
solution. The performance will degrade or be erratic if this happens. If the angle between
the antennas cannot be estimated within a 3° tolerance then contact OxTS support for
techniques for identifying the angle of the antennas.
The ‘Enable static initialisation’ option is useful for slow moving vehicles or where it is
essential to start the RT running before moving (for example in autonomous vehicles).
Static initialisation is 99% reliable in open sky, but the reliability decreases in
environments with high multipath. Static initialisation is also faster when the antenna
separation is smaller. This can be configured in the Environment section.
The RT will improve the estimate of the secondary antenna orientation settings. Use the
“Improve configuration” option to use the improved values.
Lateral No-slip and Vertical No-slip tabs
This feature uses characteristics of land vehicle motion to improve heading and slip
angle and to reduce drift. Specifying the position of the non-steered wheels makes a
huge difference to the lateral drift performance of the RT when GNSS is not available.
This feature must be disabled for airborne and marine systems where the lateral velocity
can be significant. This feature is also not suitable for land vehicles that use all wheels
to steer, i.e. no fixed wheels. The vertical settings should not be used if the vehicle can
perform wheelies.
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