Vector Sensor Reference Manual 21
• Configure the supplementary sensors if necessary (the tilt sensor operates by default and the magnetic
sensor and gyro are disabled, but, the magnetic sensor is required to be on after installation is complete)
• Configure for your desired mode of differential operation (either SBAS, beacon, or external corrections)
• If you are using the second dimension of attitude provided by the Vector Sensor (either roll or pitch,
depending on the Antenna Array orientation), configure the Vector Sensor appropriately (the default is
pitch)
• Compensate for pitch / roll error due to installation, within the Vector Sensor configuration (the default
is no compensation)
• If your application does not involve pitching or rolling of more than 10° from horizontal, configuring the
Vector Sensor for level operation will reduce startup and reacquisition times significantly
• Configure the Vector Sensor for the correct antenna separation if not the default 0.5 m measure.
Warning – Use of the Vector Sensor system with the antenna separation beyond 2.0
m is entirely at your risk. For antenna separations between 0.5 and 2.0 m, all
supplemental sensors are required in order to provide a robust heading solution. We
recommend that the antenna separation remain below 1.0 m.
1.6 Mounting Configurations and Offset Settings
The Vector Sensor’s supplemental sensors impose specific installation requirements on the
orientation of the Vector Sensor enclosure with respect to the direction of the Antenna Array.
There are two primary mounting orientations possible with the Vector Sensor system. The first
and most common method is to mount the Antenna Array pointing in a direction parallel to the
axis of the boat, facing the bow. This mounting configuration will provide the ability for the Vector
Sensor system to output both heading and the pitch of the vessel. With this approach to
mounting, the Vector Sensor must also be aligned to the axis of the boat such that the front panel
is facing the boat’s stern. The Vector Sensor should be aligned as reasonably as possible, parallel to
the boat’s axis. The Vector Sensor should also be horizontal. If a gyrocompass is present
onboard, this could be used as truth to calibrate the physical heading to true heading of the boat
by entering a heading bias into the Vector Sensor.
The second method of mounting the Vector Sensor system is to mount the Antenna Array
perpendicular to the boat’s symmetrical axis. This orientation of the Antenna Array will provide
the heading and roll of the vessel. The Vector Sensor is then configured with a heading bias of
+90° or -90° (depending if the Antenna Array faces port or starboard) to correct the heading. In
this setup, the front panel of the Vector Sensor enclosure must point in the opposite direction as
the Antenna Array is pointing. Again, it also must be mounted on a horizontal surface.
A feature is present in the Vector Sensor to change the sign of the roll measurement to be positive
or negative, depending on the required convention for positive / negative roll, if needed.
1.7 Gyro Initialization Process
When the gyro is first initializing itself, it is important that the dynamics that the gyro experiences
during this warm-up period are similar to the regular operating dynamics. For example, if you will
be using the Vector on a high speed, maneuverable craft, it is essential that when gyro aiding in the
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