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RACELOGIC Support Centre

12-1 - VB3i IMU Integration - In-Vehicle Mounted

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Required equipment

IMU04

  • VB3i (IMU04 ready)
  • IMU04
  • RLCAB119 – VBOX - IMU connecting cable
  • RLCAB001 / RLCAB066-2 - VB3i PC connection cable
  • VBOX Setup
  • VBOX Manager (optional)
  • RLCAB069L / RLCAB015L / RLACS182L - vehicle CAN bus cable (optional for wheel speeds)

IMU03

  • VB3i (works with all VB3i units)
  • IMU03
  • RLCAB005-CS – VBOX - IMU connecting cable
  • RLCAB001 / RLCAB066-2 – VB3i PC connection cable
  • VBOX Setup
  • VBOX Manager (optional)
  • RLCAB069L / RLCAB015L / RLACS182L - vehicle CAN bus cable (optional for wheel speeds)

Setup

Hardware

Important note: IMU04 must be connected to VB3i before power is applied to ensure data is correctly synchronised.

  1. Fit the VBOX 3i into the test vehicle, and mount the IMU as described here. 
  2. Fit VBOX 3i GPS, GPS/GLONASS antenna to centre of vehicles roof. Connect antenna to VBOX 3i.
  3. Measure the relative position from the top centre of the GPS antenna* to the top centre of the IMU (see mounting section for more detail) and enter these distances in the highlighted box below. Measurements need to be made in all 3-axis, X, Y and Z.
    *When using a twin antenna system, these measurements must be taken from the main antenna (A). 
  4. IMU04 – Connect CAN/KF port to VBOX 3i V3-V5  25W D analogue input port using RLCAB119 cable.
    IMU03 – Connect either port on IMU to VBOX RL CAN port using RLCAB005-CS cable.​
  5. After IMU is connected, apply power to VB3i.
  6. Enable IMU integration using either VBOX Manager or VBOX Setup.
     

IMU03.png

VBOX 3i and IMU03

IMU04.png

VBOX 3i V3-V5 and IMU04

Configuration

VBOX Setup Software
  1. Ensure IMU04 is connected via RLCAB119, and the VBOX 3i is powered on.
  2. Connect VBOX 3i to PC using RLCAB001 or RLCAB066-2 cable (RS232 or USB).
  3. Open VBOX Setup and connect to VBOX 3i by selecting COM Port.
  4. Select the 'GPS' menu and the 'Settings' tab, ensure that 'GPS Optimisation' is set to 'High dynamics'.
  5. Select the 'Logging' menu and ensure that 'Log rate' is set to '100 Hz'.
  6. Select the 'IMU' menu and tick 'Enable IMU integration'.
     

VB3i VBOX Setup IMU Enable.png
 

  1. Enter the distances measured between the IMU and antenna A, more information on this can be found here.
     

VB3i VBOX Setup IMU Offset.png
 

  1. If you would like to translate the data from the IMU location to another point on the vehicle where all measurements will be made, enter the x,y,z offset values from the required translation point to the IMU, more information on this can be found here.
     

VB3i VBOX Setup IMU Offset2.png
​​​​​​

  1. If using IMU04, Internal IMU Attitude channels (Head_imu, Pitch_imu, Roll_imu, Pos.Qual., Lng_Jerk, Lat_Jerk and Head_imu2) will automatically be set to log. If IMU Attitude data is required to be displayed as a Live Serial data display then the user must tick the channels for 'Send over serial'.
     

VB3i VBOX Setup Channels Internal IMU.png
 

  1. If using IMU04, Serial IMU channels (x accel, y accel, z accel, temp, pitch rate, roll rate and yaw rate) will also automatically be set to log. If Serial IMU data is required to be displayed as a Live Serial data display then the user must tick the channels for 'Send over serial'.
  2. Select 'Write to unit' to upload settings to VB3i.
  3. Perform initialisation and full calibration procedure before commencing testing.
VBOX Manager
  1. Ensure IMU04/03 is connected, and the VBOX 3i is powered on.
  2. Connect VBOX Manager to the VBOX.
  3. Enter the 'SETUP' menu of VBOX Manager.
  4. Select 'IMU-INS' and then click on the 'IMU Integration' menu.
 VBMAN ADAS Subject Contact Points.png  VBMAN ADAS Subject Contact Points.png
  1. Scroll to 'Enable' and select. Once the 'OK' confirmation screen has cleared, 'Enabled' will be displayed.
  VBMAN ADAS Subject Contact Points.png   VBMAN ADAS Subject Contact Points.png
  1. Scroll to the 'Roof Mount' menu and ensure it is 'Disabled'.

    VBMAN ADAS Subject Contact Points.png
     
  2. Select 'Ant to IMU Offset' and enter the distances measured between the IMU and antenna A, more information on this can be found here.
 VBMAN ADAS Subject Contact Points.png  VBMAN ADAS Subject Contact Points.png
  1. If you would like to translate the data from the IMU location to another point on the vehicle where all measurements will be made, Select 'IMU to Ref. Offset' and enter the distances measured between the required translation point and the IMU, more information on this can be found here.
 VBMAN ADAS Subject Contact Points.png  VBMAN ADAS Subject Contact Points.png
  1. Internal IMU Attitude channels (Head_imu, Pitch_imu, Roll_imu, Pos.Qual., Lng_Jerk, Lat_Jerk and Head_imu2) will automatically be set to log. If IMU Attitude data is required to be displayed as a Live Serial data display (with VBOX Test Suite), then the user must enter VBOX Setup Software and tick the channels for 'Send over serial'.
  2. Perform initialisation and full calibration procedure before commencing testing.
  3. If the IMU is not mounted on a flat surface, perform 'Pitch/Roll Offset' calibration.

    This will zero the Pitch_imu and Roll_imu channels. Angle offsets calibration must be performed after the IMU kalman filter calibration has been completed, and the vehicle is static on a level surface.
 VBMAN ADAS Subject Contact Points.png  VBMAN ADAS Subject Contact Points.png
  1. If ADAS testing is being conducted, ensure the 'ADAS Mode' menu shows 'Enabled'.

    This setting changes the rate at which the kalman filter takes a GPS positional sample to improve the positional performance of the filter. Whilst this is beneficial to ADAS testing, it slightly decreases the accuracy of the filtered speed and therefore shouldn't be selected when undertaking speed based testing such as brake stops.

    Note: Option not available with IMU03.

    VBMAN ADAS Subject Contact Points.png

Important notes

  1. To use IMU04 integration, a VB3i-V3, V4 or V5 must be used. This is an IMU04 enabled VBOX 3i unit.
  2. IMU04 cannot be used with IMU integration if it is connected to a VBOX via CAN (RLCAB120 / RLCAB005-CS). This method of connection will only allow standard IMU channels to be logged. See using IMU as CAN module section for details.
  3. The IMU04 standard channels can also be logged when the IMU04 is connected via KF port with cable RLCAB119, without enabling IMU integration.
  4. The IMU04 must be in a Racelogic CAN mode to be used for IMU Kalman Filter.
  5. NB ADAS - If using IMU Integration with an ADAS mode, the GPS antenna and IMU should be co-located (roof mount) or positioned so there is no relative X or Y offset between them. If there is a difference, manual contact points should reference the IMU location, rather than the GPS antenna.
  6. NB ADAS - When using IMU Integration, the user cannot use Set Points functionality to define contact points in single or multi target ADAS modes.

Wheel Speed Inputs 

Vehicle speed data can be combined with inertial IMU data to provide increased data accuracy in environments that have poor satellite reception, such as areas with trees, buildings, bridges or tunnels. More information on this can be found here.

In order to obtain the wheel speed information, the best solution is to use the sensors already fitted to the vehicle by connecting to the vehicle’s CAN bus by using an  RLCAB069L, RLCAB015L or RLACS182L cable. Before testing commences, ensure that the VB3i unit is correctly connected to either the speed sensors or to the vehicle CAN bus.
 

Wheel speed input needs to be 'Enabled' and configured, this can be done via the VBOX Manager. However, wheel speed CAN inputs can only be configured using VBOX Setup Software.

VBOX Manager 

  1. Ensure IMU04 is connected via RLCAB119, and the VBOX 3i is powered on.
  2. Connect VBOX Manager to the VBOX.
  3. Enter the 'SETUP' menu of VBOX Manager.
  4. Select 'IMU-INS' and then click on the 'IMU Integration' menu.
 VBMAN ADAS Subject Contact Points.png  VBMAN ADAS Subject Contact Points.png
  1. Scroll to the 'Wheel Speed' menu and select.

    VBMAN ADAS Subject Contact Points.png
     
  2. Choose 'Enable' and select. Once the 'OK' confirmation screen has cleared, 'Enabled' will be displayed.
VBMAN ADAS Subject Contact Points.png VBMAN ADAS Subject Contact Points.png
  1. Scroll to the 'Ant to Wheel' menu and enter the distances measured between the wheel speed reference point and the antenna. The reference point is the centre point between the rear wheels, as shown in the image above.
 VBMAN ADAS Subject Contact Points.png  VBMAN ADAS Subject Contact Points.png
  1. Before testing commences, ensure that the wheel speed CAN inputs have been configured through VBOX Setup Software.

Initialisation

When using IMU integration, an initialisation phase is required when the IMU is first connected to the VBOX after being set up. This will be run through automatically after the VBOX has successfully gained satellite lock. When the IMU LED on VB3i front panel has turned a flashing green, the initialisation is complete. Note, if you are using a VB3i-V1, which has no IMU LED, read the LED indicators section below for LED behaviour.

LED Indicators VBOX 3i (V2) and IMU04 

VBOX 3i LED Colour Description
Solid Orange IMU enabled, no IMU connected.
Flashing Orange SAT lock OK. 30 second stationary initialisation in progress. If vehicle moves, LED will continue to flash until 30 seconds stationary completed.
Flashing Green Initialisation complete – movement not yet detected.
Solid Green Movement detected – IMU integration working OK.

 

IMU04 LED Colour Power Coms
Red Initial boot up phase. No coms.
Orange Temperature checks. If temperature outside optimum operation range, LED will remain orange. Using IMU integration, inertial data being sent to host VBOX via RS232.
Green Fully operational. Inertial data being sent to host system via CAN.

LED Indicators VBOX 3i (V1)

When the filter is enabled and the IMU is connected, the satellite LED will remain off to act as an indicator for the IMU integration status. Only when the filter is initialised and movement is detected will the SAT LED return to its normal operation.

The user will need to leave 1 minute after powering the VBOX on with the IMU connected before starting to move. This occurs on every power up of the VBOX unit.

LED Indicators IMU03

IMU03 LED Colour Description
Power Red IMU03 / YAW 03 is connected to a live power source.
Coms Blue Serial or CAN data communications are active.
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