Furuno GV-86, eRideOPUS 7, GV-87, eRideOPUS 6 User Manual

www.furuno.com

FURUNO GNSS Receiver

eRideOPUS 6/ eRideOPUS

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

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.

eRideOPUS 6/ eRideOPUS 7 GV-86/ GV-87

Dead Reckoning User’s Guide

SE16-900-002-00

Revision History

Revision

Description

Date

Initial release

2017.10.24

eRideOPUS 6/ eRideOPUS 7 GV-86/ GV-87

Dead Reckoning User’s Guide

SE16-900-002-00

Table of Contents

1 General Description ············································································································· 1 2 FURUNO DR GNSS Receiver ································································································ 1 3 System Configuration ·········································································································· 2

3.1 Available Signal Combination and Supported Sensor ······················································· 2

3.2 Sensor Interface Configuration ······················································································· 3

4 Reference 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

4.7 XV-8100CB and AIS328DQ ···························································································· 10

5 IMU 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

6 Calibration ······················································································································· 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 7 Operating of DR Backup ···································································································· 22 8 Recommended NMEA Output Sentence at Customer Evaluation Stage ··································· 22 9 Important 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

eRideOPUS 6/ eRideOPUS 7 GV-86/ GV-87

Dead Reckoning User’s Guide

SE16-900-002-00

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)

eRideOPUS 6/ eRideOPUS 7 GV-86/ GV-87

Dead Reckoning User’s Guide

SE16-900-002-00

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

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

MPU-6500

InvenSense

Gyro sensor

XV-4001BC

Seiko Epson

ITG-3500

InvenSense

3 A3G4250D

STMicroelectronics

3 XV-8000CB

(*3)

Seiko Epson

XV-8100CB

(*4)

Seiko Epson

Accelerometer

AIS328DQ

STMicroelectronics

3 LIS331DLH

STMicroelectronics

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)

eRideOPUS 6/ eRideOPUS 7 GV-86/ GV-87

Dead Reckoning User’s Guide

SE16-900-002-00

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

#19

Accelerometer,

Gyro/Accelerometer combo sensor

I2C serial data (SDA)

RXD2_SDA

#18

Vehicle speed pulse

ECNT

Reverse signal

GPIO

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

eRideOPUS 6/ eRideOPUS 7 GV-86/ GV-87

Dead Reckoning User’s Guide

SE16-900-002-00

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 10kΩ resistors (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

SDA

I2C address/data bus

RXD2_SDA

Figure 4.1 Reference Circuit of SMI130

SCL

SDA

R2 10k

0.1uF

R1 10k

0.1uF

SMI130

INT2

VDD

GND

CSB2

GNDIO

SCK

SDI

SDO2

VDDIO

INT3

INT4

CSB1

SDO1

INT1

VCC

(*1)

(*2)

(*3)

eRideOPUS 6/ eRideOPUS 7 GV-86/ GV-87

Dead Reckoning User’s Guide

SE16-900-002-00

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

SDA

I2C address/data bus

RXD2_SDA

Figure 4.2 Reference Circuit of MPU-6500

XC8101AA01-GR-G

VOUT

VSS

VIN

R2 10k

VCC

R1 10k

VCC

SDA

SCL

RESET

MPU-6500

AUX_CL7VDDIO8SDO/AD09REGOUT10FSYNC11INT

VDD

GND

RESV

AUX_DA

nCS

CSL/SCLK

SDA/SDI

0.1uF

0.01uF

VCC

(*4)

(*3)

(*1)

(*2)

+ 21 hidden pages

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