ZED-F9R-Integration manual
Phase Procedure Indicator of success
Wheel tick sensor
initialization
Drive for at least 100 meters at a minimum speed
of 10 km/h.
Wheel tick sensor initialization status
UBX-ESF-STATUS.wtInitStatus shows
2:INITIALIZED.
INS initialization
(attitude)
Drive straight for at least 100 meters at a
minimum speed of 10 km/h.
INS initialization status UBX-ESF-
STATUS.insInitStatus shows
2:INITIALIZED.
IMU calibration
(gyroscope and
accelerometer)
Drive curves and straight segments for a few
minutes by including a few stops lasting at least
30 seconds each. This drive should be carried out
on normal open-sky roads with good GNSS signal
reception conditions.
The calibration status of the used sensors
UBX-ESF-STATUS.calibStatus shows
2/3:CALIBRATED.
Table 14: Accelerated initialization and calibration procedure for e-scooters
Note that the calibration status (UBX-ESF-STATUS.calibStatus) of some used sensors might
fall back to 1:CALIBRATING if the receiver is operated in challenging conditions. In such a case,
fused navigation solution uncertainty increases until optimal conditions are observed again for re-
calibrating the sensors.
In the presence of significant temperature gradient affecting the gyroscopes, the fused
navigation performance might also depend on how well the temperature compensation
table is populated. The table is gradually filled in while the vehicle is stationary and by
observing gyroscope biases at different temperatures. Therefore the quality of the
gyroscope temperature compensation depends on how many temperature bins could be
observed while the vehicle was stationary and on the duration of the observation for each
bin.
3.2.7.3 Automatic IMU-mount alignment
3.2.7.3.1 Alignment solution output
The IMU-mount misalignment angles are shown in UBX-ESF-ALG messages.
•
IMU-mount angle initialization: During IMU-mount angle initialization the (UBX-ESF-
ALG.status field is equal to 2), and the published angles (yaw, pitch and roll)
correspond to the current estimated values but are not yet applied for rotating the IMU
observations.
•
IMU-mount angle initialization complete: After initialization the (UBX-ESF-ALG.status field
is equal to or higher than 3), the published angles correspond to the estimated value and are
applied for rotating the IMU observations.
• Automatic IMU-mount alignment disabled: If automatic IMU-mount alignment is disabled, the
published angles correspond to the IMU-mount angles configured by the the user (see User-
defined IMU-mount Alignment section) and are applied for rotating the IMU observations.
CAUTION If user-defined IMU-mount misalignment angles were configured by the user
using CFG-SFIMU-IMU_MNTALG keys (see User-defined IMU-mount alignment section) and
automatic IMU-mount alignment is active, the angles output in the UBX-ESF-ALG message
still correspond to the definition given above: they represent the full rotation required for
transforming IMU data from installation frame to IMU frame. This means that the output
misalignment angles are computed from the composed rotation of the user-defined rotation
and the internally-estimated rotation.
3.2.7.3.2 Alignment progress
The progress of the automatic IMU-mount alignment can be monitored by checking the UBX-ESF-
ALG.status field.
UBX-20039643 - R06
3 Receiver functionality Page 34 of 119
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