Channel Name Definitions - Dual Antenna
| Channel Name | Description | Unit |
|---|---|---|
| DualStatus | An indication of whether the Dual antenna has a valid signal lock or not. This will be represented by a "1" when valid and "0" when not valid. | |
| True_Head |
This is the heading from the primary antenna to the secondary antenna with respect to north. When mounted on a vehicle it becomes the measurement of heading that the vehicle is facing. This channel includes any offset applied after performing a "True Heading Alignment". |
° |
| Lat._Vel. |
This is the speed of the vehicle with respect to the lateral direction of the vehicle body (90° to the direction of travel), derived from Speed and Slip Angle.
|
kmh |
| Lng._Vel. |
The speed of the vehicle with respect to the longitudinal direction of the vehicle body, derived from Speed and Slip Angle.
|
kmh |
| RobotHead |
This is the vehicle's body heading, used for Robot Control and all ADAS calculations. When IMU integration is enabled, this channel will be populated by an aligned "Head_IMU" channel, otherwise, it will use a yaw assisted "True_Head" signal to provide a low-noise body heading signal. |
° |
| Pitch_Ang |
Pitch Angle is the angle between the two GNSS antennas when configured in “Pitch mode”. This channel gives an accurate measurement of absolute vehicle pitch relative to a zero line. As it is a direct angular measurement, it does not suffer drift over time. |
° |
| Roll_Angle |
Roll Angle is the angle between the two GNSS antennas when configured in 'Roll mode'. This channel gives an accurate measurement of absolute vehicle roll relative to a zero line. As it is a direct angular measurement it does not suffer drift over time. |
° |
| Yaw_Rate | The Yaw Rate measurement derived from the rate of change of "True_Head". | °/s |
| Slip_FL |
The Slip Angle at the nominated "Slip_FL" location. These channels will be zero whenever "SlipIMU" or "SlipDant" is not valid, for example, when the dual antenna lock is lost and IMU integration is disabled. This channel will use SlipIMU whenever the IMU is enabled, otherwise, it will use SlipDANT as the source for the Slip Angle. |
° |
| Slip_FR |
The Slip Angle at the nominated "Slip_FR" location. This channel will be zero whenever "SlipIMU" or "SlipDant" is not valid, for example, when the dual antenna lock is lost and IMU integration is disabled. This channel will use SlipIMU whenever the IMU is enabled, otherwise it will use SlipDANT as the source for the Slip Angle. |
° |
| Slip_RL |
The slip angle at the nominated "Slip_RL" location. This channel will be zero whenever "SlipIMU" or "SlipDant" is invalid, for example, when The dual antenna lock is lost and IMU integration is not enabled. This channel will use SlipIMU whenever the IMU is enabled, otherwise, it will use SlipDANT as the source for the slip angle. |
° |
| Slip_RR |
The slip angle at the nominated "Slip_RR" location. This channel will be zero whenever "SlipIMU" or "SlipDant" is invalid, for example, when the dual antenna lock is lost and IMU integration is disabled. This channel will use SlipIMU whenever the IMU is enabled, otherwise, it will use SlipDANT as the source for the slip angle. |
° |
| Slip_COG |
The slip angle at the nominated "Slip_COG" location. These channels will be zero whenever "SlipIMU" or "SlipDant" is not valid, for example, when the dual antenna lock is lost and IMU integration is disabled. This channel will use SlipIMU whenever the IMU is enabled, otherwise, it will use SlipDANT as the source for the slip angle. |
° |
| TrueHeadFil | A filtered true heading signal that uses the yaw rate from an IMU to reduce the noise in the True_Head signal. | |
| SlipIMU |
The slip angle defined by the difference between "Heading" and "Head_IMU" channels. This channel will show a zero value whenever the IMU is disabled. |
|
| SlipDANT |
The slip angle defined by the difference between "Heading" and "TrueHeadFil" channels. This channel will show a zero value whenever the dual antenna is disabled or the VBOX does not have a valid dual antenna lock. |
