Furuno eRideOPUS 6 User manual

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FURUNO GNSS Receiver
eRideOPUS 6/ eRideOPUS 7
Model GV-8620/ GV-8720
Dead Reckoning Solution
User’s Guide
(Document No. SE16-900-002-02)
*The Dead Reckoning solution is exclusive for
the BOSCH SMI130 sensor users.

eRideOPUS 6/ eRideOPUS 7 GV-8620/ GV-8720
Dead Reckoning User’s Guide
SE16-900-002-02
FURUNO ELECTRIC CO., LTD. All rights reserved.
Important Notice
No part of this manual may be reproduced or transmitted in any form or by any means, electronic or
mechanical, including photocopying and recording, for any purpose without the express written permission of
the publisher, FURUNO ELECTRIC CO., LTD.
FURUNO ELECTRIC CO., LTD. reserves the right to make changes to its products and specifications without
notice.
You expressly acknowledge and agree that use of the "Application Note" is at your sole risk.
This "Application Note" is provided 'AS IS' and without warranty of any kind and FURUNO expressly disclaims
all other warranties, express or implied, including, but not limited to, the implied warranties of merchantability,
fitness for a particular purpose and no infringement.
FURUNO does not warrant that the functions contained in the "Application Note" will meet your requirements,
or that the operation of the "Application Note" will be uninterrupted or error-free, or that defects in the
"Application Note" will be corrected.
Furthermore, FURUNO does not warrant or make any representations regarding the use or the results of the
use of the "Application Note" in terms of their correctness, accuracy, reliability, or otherwise.
No oral or written information or advice given by FURUNO authorized representative shall create a warranty or
in any way increase the scope of this warranty.
Without limiting the foregoing, FURUNO disclaims any and all express or implied warranties of any kind, and
you expressly assume all liabilities and risks, for use or operation of the "Application Note", including without
limitation.
Should the "Application Note" prove defective, you assume the entire cost of all necessary servicing, repair or
correction.
Some jurisdictions do not allow the exclusion of implied warranties, so the above exclusion may not apply to
you.
All brand and product names are registered trademarks, trademarks or service marks of their respective
holders.

eRideOPUS 6/ eRideOPUS 7 GV-8620/ GV-8720
Dead Reckoning User’s Guide
SE16-900-002-02
FURUNO ELECTRIC CO., LTD. All rights reserved.
Revision History
Revision
Description
Date
0
Initial release
2017.10.24
1
Chapter 1 Corrected the available software version.
Section 3.1 Changed the supported IMU sensor.
Section 4.2~4.7 Removed.
Table 5.1, 5.2 Removed the sensor combination.
2017.11.16
2
Updated the cover page.
2018.03.29

eRideOPUS 6/ eRideOPUS 7 GV-8620/ GV-8720
Dead Reckoning User’s Guide
SE16-900-002-02
FURUNO ELECTRIC CO., LTD. All rights reserved.
Table of Contents
1General Description·············································································································1
2FURUNO DR GNSS Receiver ································································································1
3System Configuration··········································································································2
3.1 Supported Sensor········································································································· 2
3.2 Sensor Interface Configuration······················································································· 3
4Reference Circuit ················································································································4
4.1 SMI130 ························································································································ 4
5IMU Sensor Installation········································································································5
5.1 Automatic Correction by Auto Orientation Function·························································· 6
5.2 Expand Auto Orientation Range by PERDAPI,AUTOORIENT Command ······························ 6
5.3 Set Installation Angle by Misalignment············································································ 7
5.4 Sensor Installation Examples························································································· 8
5.4.1 Zero Angle against Axis of IMU Sensor······································································8
5.4.2 Auto Orientation Default Range ················································································9
5.4.3 Auto Orientation Expansion Range ········································································· 10
5.4.4 Out of Auto Orientation Range················································································ 11
6Calibration ······················································································································· 12
6.1 Power on to GNSS Position Fix ·····················································································12
6.2 GNSS Position Fix to DR Valid by Calibration Driving ······················································13
6.3 Calibration of Vehicle Speed Pulse and Accelerometer ····················································13
6.4 Calibration of Gyro Sensor ···························································································14
6.5 Aging and Temperature Fluctuations ·············································································14
7Operating of DR Backup ···································································································· 15
8Recommended NMEA Output Sentence at Customer Evaluation Stage ··································· 15
9Important Notice ··············································································································· 16
9.1 Important Notice for IMU Sensor····················································································16
9.2 Characteristics of IMU Sensor·······················································································16
9.3 Layout Design against Influence of IMU Sensor by External Environment Factor················16
9.4 Calibrating Operation···································································································16
9.5 Receiver Start Operation ······························································································17
10 FAQ······························································································································ 18

eRideOPUS 6/ eRideOPUS 7 GV-8620/ GV-8720
Dead Reckoning User’s Guide
SE16-900-002-02
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1 General Description
This document describes user’s guide for achieving best performance of FURUNO Dead Reckoning (DR)
GNSS receiver (DR receiver).
- eRideOPUS 6 (P/N: ePV6010B) Dead Reckoning Chip solution
- eRideOPUS 7 (P/N: ePV7010B) Dead Reckoning Chip solution
- GV-8720
- GV-8620
Available software: As from ENP6.53A
The DR receiver has the following external interface for DR function.
<Signal input from sensor or vehicle>
This configuration is the way of direct input from vehicle.
- FURUNO supported gyro sensor and accelerometer.
- Vehicle speed pulse signal.
- Vehicle reverse signal.
2 FURUNO DR GNSS Receiver
The DR receiver can keep the following high accuracy position and velocity performance under non GNSS
signal reception or unstable area
GNSS stand alone
GNSS+DR hybrid / DR only
GNSS stand alone
GNSS+DR hybrid
Figure 2.1 Ground Tracking Test of GNSS Stand Alone and GNSS+DR
(Upper: Tunnel, Lower: Urban Canyon)

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Dead Reckoning User’s Guide
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3 System Configuration
3.1 Supported Sensor
Table 3.1 shows FURUNO supported IMU sensor. Please design optimized system on customer platform with
the IMU sensor, the vehicle speed pulse and the vehicle reverse signal(*1).
Table 3.1 Supported IMU Sensor(*2)
Product number
Vendor
# of axis
Automotive
SMI130
Bosch
6
Notes:
(*1) Specification of vehicle speed pulse and reverse signal
Please check the regulation and electric characteristics by DR receiver data sheet and keep it, otherwise
customer may have risk of out of performance guarantee. It is necessary to take vehicle speed pulse together
reverse signal.
(*2) Supported IMU sensor
The DR receiver satisfies the DR performance with the appropriate calibration described in Chapter 6 using the
IMU sensor.

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Dead Reckoning User’s Guide
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3.2 Sensor Interface Configuration
Figure 3.1shows I/O relation between the DR receiver and the supported sensor in Table 3.1.
Sensor information
I/O signal
Pin #
ePV6010B /
ePV7010B
GV-86/
GV-87
Gyro/Accelerometer
combo sensor
I2C serial clock
(SCL)
TXD2_SCL
F8
#19
I2C serial data
(SDA)
RXD2_SDA
G8
#18
Vehicle speed pulse
ECNT
C7
#7
Reverse signal
GPIO
E6
#1
FURUNO Dead Reckoning GNSS Receiver
ECNT
GPIO
RXD2_SDA
TXD2_SCL
RXD1
TXD1 Output data (Position, Time, Sensor status, …)
Command data (NMEA setting, Mis-alignment, …)
I2C serial address and data between sensor block
I2C serial clock from sensor block
Vehicle speed pulse
Reverse signal
UART1
I2C
Figure 3.1 Sensor Interface Configuration Block Level Diagram

eRideOPUS 6/ eRideOPUS 7 GV-8620/ GV-8720
Dead Reckoning User’s Guide
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4 Reference Circuit
This section shows reference circuits of FURUNO supported sensor. Operation guarantee of these circuits is
just based on FURUNO original development environment, which means that FURUNO is not able to
guarantee operation at customer development environment. Therefore, please verify and check expected
operation at customer end.
For example, in the schematics below, the both I2C lines (TXD2_SCL, RXD2_SDA) are pulled up with the
10kΩresistors (R1, R2). Depending on the wiring capacity of the I2C line, the H and L levels may deviate from
the specified values, or the rising slope may become slow, causing timing errors. In such a case, it can be
adjusted by decreasing the value of the pull-up resistors (R1, R2) within the range that the IC can drive. Since
the wiring capacity varies according to the customer's actual layout of the circuit board, the design should be
decided by customer's evaluation.
4.1 SMI130
I/O signal
Description
Interface connection destination
eRideOPUS 6/7
GV-86/ 87
SCL
I2C clock
TXD2_SCL
TXD2_SCL
SDA
I2C address/data bus
RXD2_SDA
RXD2_SDA
Figure 4.1 Reference Circuit of SMI130
Notes:
(*1) When the I2C master device is eRideOPUS 6/eRideOPUS 7 and using 1.8V I/O power supply, please
change to 3.3V I/O signal voltage with level shifter.
(*2) The power supply (VCC) should be common with the receiver.
(*3) Since this resistance value may not satisfy the electrical characteristics due to the floating capacitance of
the line, please decide the resistance value in consideration of the floating capacitance of the line.
SCL
SDA
R2
10k
C1
0.1uF
R1
10k
C2
0.1uF
U1
SMI130
INT2
1NC
2VDD
3GND
4CSB2
5GNDIO
6PS
7
SCK 8
SDI 9
SDO2 10
VDDIO 11
INT3 12
INT4 13
CSB1 14
SDO1 15
INT1
16
VCC
VCC
VCC
(*1)
(*1)
(*2)
(*2)
(*2)
(*3)
(*3)

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Dead Reckoning User’s Guide
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5 IMU Sensor Installation
For the installation of the IMU sensor, the DR receiver has specification values for the inclination and the
deviation of the coordinate system of the vehicle and the IMU sensor. The DR receiver has a function to
correct the inclination and the deviation within the specification value.
(1) Method of automatically correcting the inclination and the deviation of installation angle by the Auto
Orientation function
(2) Method of presetting the inclination of the known installation angle by the misalignment command
With these functions, it is possible to correct and eliminate the output error of the IMU sensor caused by the
inclination and deviation.
The Auto Orientation function can also expand the range of angles that can be automatically corrected by
AUTOORIENT command.
<Definition of coordinate system and axis>
Here are definitions of axis against sensor unit installation angle:
- Direction of forward movement: X-axis
- Horizontal to the direction of movement: Y-axis
- Vertical to the direction of movement: Z-axis
Rotation angles to the each axis are defined as follows:
- Rotation angle around the X axis: ΔθX Roll angle
- Rotation angle around the Y axis: ΔθY Pitch angle
-Rotation angle around the Z axis: ΔθZ Yaw angle
Figure 5.1 (a) to (d) shows inclination against each axis.
Z
X
Y
(a) No inclination
Z
X
Y
(b) Inclines ΔθZto the direction of movement
Z
X
Y
(c) Inclines ΔθXto the horizontal direction
Z
X
Y
(d) Inclines ΔθYto the height direction
ΔθY
00
0
Surface
0
Direction of
movement
ΔθZ
ΔθX
Figure 5.1 Sensor Unit Installation Angle Definition

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Dead Reckoning User’s Guide
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When the axis described in the IMU sensor data sheet defines the Z-axis and the Y-axis opposite to the DR
receiver axis definition, the DR receiver changes the Z-axis and Y-axis direction to correspond to the definition
described in this document.
5.1 Automatic Correction by Auto Orientation Function
Auto Orientation is a function to automatically correct the output error due to the inclination and deviation of the
IMU sensor. Table 5.1 shows the allowable angle range in which the Auto Orientation operates.
Table 5.1 Functional Range of Auto Orientation (Default)
ΔθZ
Yaw angle
ΔθX
Roll angle
ΔθY
Pitch angle
Notes
±15
±60
±60
5.2 Expand Auto Orientation Range by PERDAPI,AUTOORIENT Command
It is possible to expand the Auto Orientation range for the Roll angle or the Pitch angle by
$PERDAPI,AUTOORIENT,1*6E. Table 5.2 shows the expanded range.
Table 5.2 Functional Range of Auto Orientation (Expansion)
ΔθZ
Yaw angle
ΔθX
Roll angle
ΔθY
Pitch angle
Notes
±15
±15
±75
Pitch angle expansion
±180
±45
Roll angle expansion