Duro Inertial User Manual
UM-110008-02
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The GNSS antenna should have the best achievable sky view, in all directions, down to the horizon. Do not shield or
occlude any portion of the antenna.
The GNSS antenna is sensitive to its environment. Since producing high-accuracy GNSS position solutions requires
tracking carrier phase information from satellites, it is much more sensitive to obstructions than standard consumer
GNSS receivers (like those found in smartphones and handhelds).
All antenna offset measurements should be taken to the phase center of the GNSS antenna.
Duro Inertial Mounting
In order to properly detect motion, Duro Inertial must be securely and firmly mounted to the vehicle. Mounting Duro Inertial
on the vehicle centerline is recommended.
To maximize sensor sensitivity, mounting Duro Inertial in an orientation orthogonal to the vehicle body is recommended.
This means that Duro Inertial should be mounted with all three axes forming angles in multiples of 90° (0°, 90°, 180°,
270°), with respect to the primary direction of vehicle motion. For easier installation and setup, it is recommended to align
the X axis direction of the Duro Inertial with the primary direction of vehicle motion.
Duro Inertial must be rigidly mounted to the body of the vehicle. Any vibration which is not directly related to vehicular
motion will degrade the quality of the inertial data. Installing Duro Inertial on a flexible vehicle rooftop, engine cover, or
fender - where the mounting surface can flex and vibrate independently of the vehicle body - should be avoided. Similarly,
placing the sensor on plush seating of a vehicle with the antenna on the rigid part of the vehicle will yield poor results.
Ensure that the Duro Inertial enclosure is on the same rigid body as the GNSS antenna. Some suspension systems may
isolate the chassis from the cab and if the antenna moves when the Duro Inertial does not it will degrade results. When
installing the device inside a vehicle, directly mounting it to the vehicle chassis is recommended. Ideally, Duro Inertial
should be mounted rigidly to the vehicle’s inertial mass, directly above the center of rotation (i.e the pivot point).
A straightforward approach to installing Duro Inertial is to mount it on a rigid surface, located on the top of the vehicle,
with the GNSS antenna attached to the receiver using an included bracket. This approach is demonstrated in Figure 2.
Mounting the GNSS antenna directly on the top of the receiver improves performance and makes setup easier. In this
configuration, there is no need to measure the antenna lever arm - the default antenna offset settings can be used.
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