Furuno GV-86 User manual

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FURUNO GNSS Receiver
eRideOPUS 6/ eRideOPUS 7
Model GV-86/ GV-87
Dead Reckoning Solution
User’s Guide
(Document No. SE16-900-002-00)

eRideOPUS 6/ eRideOPUS 7 GV-86/ GV-87
Dead Reckoning User’s Guide
SE16-900-002-00
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.

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Revision History
Revision
Description
Date
0
Initial release
2017.10.24

eRideOPUS 6/ eRideOPUS 7 GV-86/ GV-87
Dead Reckoning User’s Guide
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Table of Contents
1General Description·············································································································1
2FURUNO DR GNSS Receiver ································································································1
3System Configuration··········································································································2
3.1 Available Signal Combination and Supported Sensor ······················································· 2
3.2 Sensor Interface Configuration······················································································· 3
4Reference Circuit ················································································································4
4.1 SMI130 ························································································································ 4
4.2 MPU-6500 ···················································································································· 5
4.3 XV-4001BC and AIS328DQ ····························································································· 6
4.4 ITG-3500 and AIS328DQ································································································· 7
4.5 A3G4250D and AIS328DQ ······························································································ 8
4.6 XV-8000CB and AIS328DQ ····························································································· 9
4.7XV-8100CB and AIS328DQ ····························································································10
5IMU Sensor Installation······································································································ 12
5.1 Automatic Correction by Auto Orientation Function·························································13
5.2 Expand Auto Orientation Range by PERDAPI,AUTOORIENT Command ·····························13
5.3 Set Installation Angle by Misalignment···········································································14
5.4 Sensor Installation Examples························································································15
5.4.1 Zero Angle against Axis of IMU Sensor···································································· 15
5.4.2 Auto Orientation Default Range ·············································································· 16
5.4.3 Auto Orientation Expansion Range ········································································· 17
5.4.4 Out of Auto Orientation Range················································································ 18
6Calibration ······················································································································· 19
6.1 Power on to GNSS Position Fix ·····················································································19
6.2 GNSS Position Fix to DR Valid by Calibration Driving ······················································20
6.3 Calibration of Vehicle Speed Pulse and Accelerometer ····················································20
6.4 Calibration of Gyro Sensor ···························································································21
6.5 Aging and Temperature Fluctuations ·············································································21
7Operating of DR Backup ···································································································· 22
8Recommended NMEA Output Sentence at Customer Evaluation Stage ··································· 22
9Important Notice ··············································································································· 23
9.1 Important Notice for IMU Sensor····················································································23
9.2 Characteristics of IMU Sensor·······················································································23
9.3 Layout Design against Influence of IMU Sensor by External Environment Factor················23
9.4 Calibrating Operation···································································································23
9.5 Receiver Start Operation ······························································································24
10 FAQ······························································································································ 25

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1 General Description
This document describes user’s guide for achieving best performance of FURUNO Dead Reckoning (DR)
GNSS receiver (GNSS+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 ENP6.33D
GNSS+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
GNSS+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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3 System Configuration
3.1 Available Signal Combination and Supported Sensor
Table 3.1 shows available signal source combinations. Based on Table 3.2, which shows FURUNO supported
IMU sensor (Gyro, Accelerometer and Gyro/Accelerometer combo sensor), please design optimized system
on customer platform.
Table 3.1 Signal Source Combination
Combination
Gyro
Accelerometer
Vehicle
speed
pulse(*1)
Reverse
signal(*1)
Notes
A
Detection of elevation pitch
angle is available.
B
-
: Necessary signal source
Table 3.2 Supported Gyro Sensor and Accelerometer(*2)
Sensor category
Product number
Vendor
# of
axis
Automotive
Gyro/Accelerometer
combo sensor
SMI130
Bosch
6
MPU-6500
InvenSense
6
Gyro sensor
XV-4001BC
Seiko Epson
1
ITG-3500
InvenSense
3
A3G4250D
STMicroelectronics
3
XV-8000CB (*3)
Seiko Epson
1
XV-8100CB (*4)
Seiko Epson
1
Accelerometer
AIS328DQ
STMicroelectronics
3
LIS331DLH
STMicroelectronics
3
Notes:
(*1) Specification of vehicle speed pulse and reverse signal
Please check the regulation and electric characteristics by GNSS+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
We verified that GNSS+DR receiver with sensor in Table 3.2 could achieve target performance by proper
calibration described at Chapter 6.
(*3) In case of using XV-8000CB, it is necessary to implement the following devices.
-AD convertor (ADS1100A3: Texas Instruments)
-Thermo sensor (LM73CIMKX-0: Texas Instruments)
-Level shifter from 5V to 3V
(*4) In case of using XV-8100CB, it is necessary to implement the following devices.
-AD convertor (ADS1100A3: Texas Instruments)
-Thermo sensor (LM73CIMKX-0: Texas Instruments)

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3.2 Sensor Interface Configuration
Figure 3.1shows I/O relation between the GNSS+DR receiver and the supported sensor in Table 3.2.
Sensor information
I/O signal
Pin #
ePV6010B /
ePV7010B
GV-86/
GV-87
Gyro sensor,
I2C serial clock
(SCL)
TXD2_SCL
F8
#19
Accelerometer,
Gyro/Accelerometer
combo sensor
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

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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
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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4.2 MPU-6500
I/O signal
Description
Interface connection destination
eRideOPUS 6/7
GV-86/ 87
RESET
External reset signal
NRST
RST_N
SCL
I2C clock
TXD2_SCL
TXD2_SCL
SDA
I2C address/data bus
RXD2_SDA
RXD2_SDA
Figure 4.2 Reference Circuit of MPU-6500
U1
XC8101AA01-GR-G
VOUT
1
VSS
2CE 3
VIN 4
R2
10k
VCC
R1
10k
VCC
SDA
SCL
RESET
U2 MPU-6500
NC
1
NC
2
NC
3
NC
4
NC
5
NC
6
AUX_CL
7
VDDIO
8
SDO/AD0
9
REGOUT
10
FSYNC
11
INT
12
VDD 13
NC 14
NC 15
NC 16
NC 17
GND 18
RESV 19 RESV 20
AUX_DA 21
nCS 22
CSL/SCLK 23
SDA/SDI 24
C1
0.1uF
C3
0.1uF
C2
0.01uF
VCC
VCC
(*4)
(*3)
(*3)
(*1)
(*1)
(*1)
(*2)
(*2)
(*2)
(*2)

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4.3 XV-4001BC and AIS328DQ
I/O signal
Description
Interface connection destination
eRideOPUS 6/7
GV-86/ 87
RESET
External reset signal
NRST
RST_N
SCL
I2C clock
TXD2_SCL
TXD2_SCL
SDA
I2C address/data bus
RXD2_SDA
RXD2_SDA
Figure 4.3 Reference Circuit of XV-4001BC and AIS328DQ
R1
10k
R2
10k
VCC
VCC
U2
XC8101AA01-GR-G
VOUT
1
VSS
2CE 3
VIN 4
SDA
RESET
SCL
U3
AIS328DQ
NC
1
NC
2
INT_2
3
Reserved
4
VDD
5
GND
6
INT_1
7
GND
8
GND
9
GND
10
SPC/SCL
11
CS
12
Reserved 13
VDD_IO 14
SDO/SA0 15
SDI/SDO/SDA 16
NC 17
NC 18
NC 19 NC 20 NC 21 NC 22 NC 23 NC 24
C3
10uF
C4
0.1uF
VCC
U1
XV-4001BC
Reserved
1
SCL
2
SS
3
VDD
4
Reserved
5Reserved 6
GND 7
MOSI 8
SDA 9
Reserved 10
VCC
C2
10uF
C1
0.1uF
(*1)
(*1)
(*1)
(*4)
(*3)
(*3)
(*2)
(*2)
(*2)

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4.4 ITG-3500 and AIS328DQ
I/O signal
Description
Interface connection destination
eRideOPUS 6/7
GV-86/ 87
RESET
External reset signal
NRST
RST_N
SCL
I2C clock
TXD2_SCL
TXD2_SCL
SDA
I2C address/data bus
RXD2_SDA
RXD2_SDA
Figure 4.4 Reference Circuit of ITG-3500 and AIS328DQ
U7
AIS328DQ
NC
1
NC
2
INT_2
3
Reserved
4
VDD
5
GND
6
INT_1
7
GND
8
GND
9
GND
10
SPC/SCL
11
CS
12
Reserved 13
VDD_IO 14
SDO/SA0 15
SDI/SDO/SDA 16
NC 17
NC 18
NC 19 NC 20 NC 21 NC 22 NC 23 NC 24
VCC
C5
10uF
C4
0.1uF
U1
XC8101AA01-GR-G
VOUT
1
VSS
2CE 3
VIN 4
C2
0.1uF
U2
ITG-3500
SDA/SDI
1
NC
2
VDDIO
3
/CS
4
RESV
5
AD0/SD0
6
REGOUT
7
FSYNC
8
VDD 9
INT 10
NC 11
GND 12
NC 13
RESV-G 14
NC 15
SCL/SCLK 16
C3
0.1uF
C1
0.01uF
VCC
R2
10k
R1
10k
VCC
VCC
RESET
SDA
SCL
(*4)
(*3)
(*3)
(*1)
(*1)
(*1)
(*2)
(*2)
(*2)

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4.5 A3G4250D and AIS328DQ
I/O signal
Description
Interface connection destination
eRideOPUS 6/7
GV-86/ 87
RESET
External reset signal
NRST
RST_N
SCL
I2C clock
TXD2_SCL
TXD2_SCL
SDA
I2C address/data bus
RXD2_SDA
RXD2_SDA
Figure 4.5 Reference Circuit of A3G4250D and AIS328DQ
R1 10k
U2
A3G4250D
Vdd_IO
1
SCL/SPC
2
SDA/SDI/SDO
3
SDO/SA0
4
CS
5
DRDY/INT2
6
INT
7
RES
8
RES 9
RES 10
RES 11
RES 12
GND 13
PLLFILT 14
RES 15
VDD 16
R3
10k
R2
10k
C5
0.1uF
VCC
VCC
VCC
VCC
C2
10uF C4 0.47uF
C1 0.01uF
C3
0.1uF
U1
XC8101AA01-GR-G
VOUT
1
VSS
2CE 3
VIN 4
SDA
RESET
SCL
U3
AIS328DQ
NC
1
NC
2
INT_2
3
Reserved
4
VDD
5
GND
6
INT_1
7
GND
8
GND
9
GND
10
SPC/SCL
11
CS
12
Reserved 13
VDD_IO 14
SDO/SA0 15
SDI/SDO/SDA 16
NC 17
NC 18
NC 19 NC 20 NC 21 NC 22 NC 23 NC 24
C7
10uF
C6
0.1uF
VCC
(*4)
(*3)
(*3)
(*1)
(*1)
(*1)
(*2)
(*2)
(*2)
(*2)

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4.6 XV-8000CB and AIS328DQ
I/O signal
Description
Interface connection destination
eRideOPUS 6/7
GV-86/ 87
RESET
External reset signal
NRST
RST_N
SCL
I2C clock
TXD2_SCL
TXD2_SCL
SDA
I2C address/data bus
RXD2_SDA
RXD2_SDA
Figure 4.6 Reference Circuit of XV-8000CB and AIS328DQ
C4
2.2uF
VCCI_3V3
U6
LM73CIMKX-0
ADDR
1
GND
2
VDD
3SMBCLK 4
ALERT_N 5
SMBDAT 6
C9
0.1uF
R6
10k
VCCI_3V3
R5
10k
U8
AIS328DQ
NC
1
NC
2
INT_2
3
Reserved
4
VDD
5
GND
6
INT_1
7
GND
8
GND
9
GND
10
SPC/SCL
11
CS
12
Reserved 13
VDD_IO 14
SDO/SA0 15
SDI/SDO/SDA 16
NC 17
NC 18
NC 19 NC 20 NC 21 NC 22 NC 23 NC 24
VCC_3V3
C11
10uF
C10
0.1uF
VCCI_3V3
U2
XC8101AA01-GR-G
VOUT
1
VSS
2CE 3
VIN 4
VCC_3V3
RESET
VCCI_3V3
U1
XC8101AA01-GR-G
VOUT
1
VSS
2CE 3
VIN 4
VCC_5V0
VCCI_3V3
VCCI_5V0
C8
1uF
C2
0.1uF
R1 3.3k R2 3.3k
C1
2.2uF
C3
2.2uF
U3
XV-8000CB
NC
1
GND
2
VDD
3
NC
4NC 5
VOUT 6
VTEMP 7
NC 8
VCCI_5V0 R3
3.3k +/- 1%
R4
3.3k +/- 1%
VCCI_5V0
VCCI_3V3
C6
0.1uF
VCCI_5V0
U5
TCA9517DGKR
VCCA
1
SCLA
2
SDAA
3
GND
4EN 5
SDAB 6
SCLB 7
VCCB 8
C7
0.1uF
SCL
SDA
U4
ADS1100A3IDBVT
Vin+
1
GND
2
SCL
3SDA 4
VDD 5
Vin- 6
VCCI_5V0
R8
10k
R7
10k
VCCI_5V0
C5
0.1uF
(*4)
(*4)
(*3)
(*3)
(*1)
(*1)
(*1)
(*5)
(*5)
(*5)
(*5)
(*6)
(*6)

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4.7 XV-8100CB and AIS328DQ
I/O signal
Description
Interface connection destination
eRideOPUS 6/7
GV-86/ 87
RESET
External reset signal
NRST
RST_N
SCL
I2C clock
TXD2_SCL
TXD2_SCL
SDA
I2C address/data bus
RXD2_SDA
RXD2_SDA
Figure 4.7 Reference Circuit of XV-8100CB and AIS328DQ
C4
0.1uF
VCCI_3V3
U5
LM73CIMKX-0
ADDR
1
GND
2
VDD
3SMBCLK 4
ALERT_N 5
SMBDAT 6
C6
0.1uF
VCCI_3V3
R4
10k
R3
10k
U3
XC8101AA01-GR-G
VOUT
1
VSS
2CE 3
VIN 4
VCC_3V3
RESET
U2
XC8101AA01-GR-G
VOUT
1
VSS
2CE 3
VIN 4
VCCI_3V3
VCC_3V0VCCI_3V0
C1
0.1uF
R13.3k
C3
2.2uF
C2
2.2uF
VCCI_3V0
SDA
SCL
U4
ADS1100A3IDBVT
Vin+
1
GND
2
SCL
3SDA 4
VDD 5
Vin- 6
VCCI_3V0
C5
0.1uF
U1
XV-8100CB
NC
1
NC
2
NC
3
GND
4VOUT 5
VREF 6
NC 7
VDD 8
R23.3k
(*7)
(*7)
(*7)
(*4)
(*4)
(*3)
(*3)
(*1)
(*1)
(*1)

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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.
(*4) In case only receiver which is eRideOPUS 6/ eRideOPUS 7 or GV-86/GV-87 (I2C master device) has
reset from normal operation, there is a risk of misreading data from sensor after releasing reset. In order to
avoid this issue, it is necessary to be activating reset of sensor when I2C master device has reset.
Therefore, it is necessary to control power supply of sensor by using power switch with the reset control
port due to no reset port at the sensor.
(*5) In case of using XV-8000CB, it is necessary to implement the following devices.
- AD convertor (ADS1100A3: Texas Instruments).
- Thermo sensor (LM73CIMKX-0: Texas Instruments).
- Level shifter from 5V to 3.3V.
(*6) 1% resistor is necessary.
(*7) In case of using XV-8100CB, it is necessary to implement the following devices.
- AD convertor (ADS1100A3: Texas Instruments).
- Thermo sensor (LM73CIMKX-0: Texas Instruments).

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5 IMU Sensor Installation
For the installation of the IMU sensor, the GNSS+DR receiver has specification values for the inclination and
the deviation of the coordinate system of the vehicle and the IMU sensor. The GNSS+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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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 IMU sensor combination and the allowable angle range in which the Auto
Orientation operates.
Table 5.1 Functional Range of Auto Orientation (Default)
#
Sensor combination
ΔθZ
Yaw angle
ΔθX
Roll angle
ΔθY
Pitch
angle
Notes
1
3-axis gyro sensor,
3-axis accelerometer,
vehicle speed pulse
±15
±60
±60
2
±45
±45
In case of using A3G4250D
3
1-axis gyro sensor,
3-axis accelerometer,
vehicle speed pulse
±15
±30
4
3-axis or 1-axis gyro sensor,
vehicle speed pulse
±15
±15
5.2 Expand Auto Orientation Range by PERDAPI,AUTOORIENT Command
In case of using 3-axis gyro sensor, 3-axis accelerometer and vehicle speed pulse, 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)
#
Sensor
combination
ΔθZ
Yaw angle
ΔθX
Roll angle
ΔθY
Pitch angle
Notes
5
3-axis gyro sensor,
3-axis accelerometer,
vehicle speed pulse
±15
±15
±75
Pitch angle expansion
Using SMI130, MPU6500/ ITG3500
6
±180
±45
Roll angle expansion
Using SMI130, MPU6500/ ITG3500
7
±45
-165 to -180
+165 to +180
±45
Roll angle expansion
Using A3G4250D

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5.3 Set Installation Angle by Misalignment
When the IMU sensor is not installed within the Auto Orientation range, which means that the installation angle
is exceeded the range described in Table 5.1 and Table 5.2, it is possible to set the installation angle by the
misalignment command(*1) (Gyro sensor: PERDAPI,GYROALIGN, Accelerometer: PERDAPI,ACCELALIGN).
Misalignment operating necessity condition and flow is as follow:
Operating necessity condition:
- Initial installation
- Change installation angle.
Operating process flow:
1. Install the unit with IMU sensor.
2. Check the installation angle of IMU sensor.(delta angle)
3. Operate the GNSS+DR receiver with vehicle stop condition.
4. Send $PERDAPI,STOP,DRPARK*5D command and stop normal operating of GNSS+DR receiver.
5. Send delta angle by misalignment set command.
(Gyro sensor misalignment command)
$PERDAPI,GYROALIGN,Δθx,Δθy,Δθz*hh
(Accelerometer sensor misalignment command)
$PERDAPI,ACCELALIGN,Δθx,Δθy,Δθz*hh
*Setting sequence of misalignment angle against absolute axis is ΔθX -> ΔθY -> ΔθZ.
6. Send $PERDAPI,START,SIMCOLD*48 command and initiate normal operating GNSS+DR receiver.(*2)
Notes:
(*1) As the misalignment data returns to the default in the following condition, it is recommended to register the
commands in ESIPLIST.
- Send PERDAPI,STOP,DRPARK command
- Power off
- Hardware reset
(*2) Do not change the installation angle of IMU sensor during normal operating.

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5.4 Sensor Installation Examples
Here are sensor, which is 3-axis gyro and 3-axis accelerometer, installation examples with the GNSS+DR
receiver evaluation kit (VN-871 or VN-861).
5.4.1 Zero Angle against Axis of IMU Sensor
XY
Z
Traveling
direction O
This installation is ideal, which means that this
installation angle meets requirement specifications
of IMU sensor based on data sheet.
(a) (ΔθX, ΔθY, ΔθZ) = (0, 0, 0)
Figure 5.2 Zero Angle against Axis of IMU Sensor

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5.4.2 Auto Orientation Default Range
In case of Figure 5.3 (b), (c) and (d), it is possible to automatically correct the inclination of IMU sensor by
using 3-axis gyro sensor and 3-axis accelerometer.
X
Z
Y
Traveling
direction
+15°
O
This installation is that the rotate angle against
Z-axis is +15 degrees, which means that heading of
IMU sensor is -15 degrees at clockwise against
traveling direction.
(b) (ΔθX, ΔθY, ΔθZ) = (0, 0, +15)
Z
X
Traveling
direction Y
-15°
O
This installation is that the rotate angle against
X-axis is -15 degrees, which means that horizontal
plane of IMU sensor is -15 degrees at counter
clockwise against Y-axis.
(c) (ΔθX, ΔθY, ΔθZ) = (-15, 0, 0)
Z
Y
X
Traveling
direction O
+30°
This installation is that the rotate angle against
Y-axis is +30 degrees, which means that elevation
angle of IMU sensor is +30 degrees against traveling
direction.
(d) (ΔθX, ΔθY, ΔθZ) = (0, +30, 0)
Figure 5.3 Installation Examples within Auto Orientation Default Range