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ROV Locator
  • ROV Locator
  • Overview
  • General Specifications Mk II
  • General Specifications Mk III
  • System Variants
  • Fundamentals Useful to System Designers
    • Sound Reflection and Absorption
    • Multipath
    • Ping Length
    • What to Do About Multipath and Other Issues
    • Clock Drift Expectations
    • Accuracy Expectations
      • Accuracy Test: Topside GPS
      • Accuracy Test: 110 Meter Slant Range
      • Accuracy Test: 295 Meter Slant Range
    • Operation in a Pool
  • Autosync Option (Mk II Only)
    • Autosync Mission Scenarios and Mission Suitability
    • Autosync Availability
    • Autosync GPS/GNSS Output
  • ROVL Channels (Autosync only; Operating Multiple Units in Proximity)
  • ROVL Coordinate Systems and Angles
    • Definitions
    • NED or “Compass” vs. ENU or “Math” Angles
    • Math to Compass Frame Conversions
    • Transducer Down Orientation
    • Transducer Up Orientation
    • Receiver/Transceiver Orientation Frames
    • Best Operating Envelope
  • Communicating With the ROVL
    • Serial Parameters
    • Packet Format
    • Messages from ROVL to Host
      • $USRTH Receiver-Transmitter Relative Angles Message
      • $USINF Information Message
      • $USERR Error Message
    • Messages from Host to ROVL
      • NMEA-Format Messages to Receiver
      • Valid Commands from Host to ROVL
  • Inertial Measurement Unit (IMU)
    • How To Tell Which IMU is Active
    • Mk II IMU Modes and Calibration
      • Mk II IMU Calibration Background
      • Mk II IMU Calibration General Procedures
    • CIMU Calibration Background
      • CIMU Magnetometer Calibration
      • CIMU Accelerometer Calibration
      • CIMU Gyro Calibration
  • Operating and Accuracy Considerations
  • Multi-Unit Operation (Swarms)
    • Multi-Unit 1:1
    • Multi-Unit 1:2
    • Multi-Unit 2x1:1
    • Multi-Unit n:1 (fixed transmitter)
    • Multi-Unit n:1 (mobile transmitter)
  • ROVL Mounting and Wiring
    • ROV/Deepside Mounting
    • Topside Mounting
    • Simple Topside Deployment Fixture
    • Wiring Notes
    • Electrical Noise
    • USB Interface using Blue Robotics BLUART Board
  • Mechanical Drawings
    • Mounting Footprint and Envelope, "S" Package
    • Mounting Footprint ("P" Package Mk II and Mk III)
    • Envelope Drawing. "P" Package ROVL Mk II Transmitter and Receiver, Mk III Transponder
  • Appendix: Math for Computing Remote Latitude/Longitude
    • Receiver & GPS at Topside and Transmitter Deepside
    • Transmitter & GPS Topside and Receiver Deepside
  • Appendix: Factory Usage Command Set
  • Troubleshooting
    • How to Tell if Your Mk II Receiver is Working
    • How to tell if your Mk II Transmitter is working
    • What to do when you find an unresolvable problem when troubleshooting
  • Copyright
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  1. Inertial Measurement Unit (IMU)
  2. Mk II IMU Modes and Calibration

Mk II IMU Calibration Background

The Mk II Receiver contains an IMU that has internal magnetometers, accelerometers and gyros. These sensors are imperfect and can have manufacturing bias and linearity errors. Additionally, external magnetic disturbances can cause the magnetometers to make a bad estimate of magnetic north. The IMU has a built-in processing system that attempts to compensate for drift and offsets in the IMU’s sensors and for external magnetic influences. Calibrating the IMU can speed up the internal error correction process.

You should only invalidate the stored calibration set while the IMU is happy and thinks it is self-calibrated (i.e., IMU status is stable at "3333"). This is so you can be confident a new calibration set gets stored right away. If your receiver is not mounted on an ROV, you should only need to get one good calibration set stored and then leave it alone. When you power up the receiver, restoring the IMU to fully calibrated should be simple – like turning the receiver upside down a couple of times and waving it around once or twice.

We recommend you do the initial Mk II IMU dance (see following sections) on your boat or on the dock next to your boat rather than back in the shop, as this is likely to be the least magnetically-disturbed environment and most similar to where it is used in the water. Remember your boat engines are probably big cast iron chunks so try not to do it right on top of them.

Leaving the system sit for a long time doesn’t really improve calibration. The Mk II IMU’s algorithm wants to see motion and change in orientation so it can continually self-calibrate. It starts at “zero” and after enough motion, it determines a set of self-calibration constants. These are what we store in the receiver’s flash memory. When the system starts up again, we re-load this set of self-calibration constants back into the IMU, and it then only needs to see enough motion for the IMU to say “oh yeah, the calibration is reasonable, let’s go.” It’s not starting the calibration from zero again.

The IMU normally goes up and down in calibration confidence as the system moves around.

PreviousMk II IMU Modes and CalibrationNextMk II IMU Calibration General Procedures

Last updated 6 months ago