IMU05/IMU05-S

1. Make sure that the IMU05 is connected to the VBOX 3i unit and that the VBOX 3i is powered on.
2. Connect the VBOX 3i unit to your PC with the RLCAB001 cable (RS232) or the RLCAB066-2 cable (USB).
3. Open VBOX Setup and connect to the VBOX 3i unit by selecting the relevant COM Port.
4. Open the Logging menu and make sure that the Log rate is set to 100 Hz.
5. Open the IMU menu and enable the IMU integration.

1. Configure the IMU based on where it is mounted:

• If you have mounted your IMU on the roof, you must enable the Roof mount option.

• If you have mounted your IMU in the vehicle, you must enter the distance measurements between the IMU and the primary antenna (A).

• Enter measurements for the output reference point relative to the front of the vehicle.

1. The IMU Attitude channels (Head_imu, Pitch_imu, Roll_imu, Pos.Qual., Lng_Jerk, Lat_Jerk and Head_imu2) will be set to log automatically.
2. The Serial IMU channels (x accel, y accel, z accel, temp, pitch rate, roll rate and yaw rate) will also be set to log automatically.

1. Click on the Write to unit button to upload the new configurations to the VBOX 3i unit.
2. Perform the Kalman Filter Calibration.
3. Perform the IMU Calibration process in the IMU menu in VBOX Setup.

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. You can find more information on this here.

To obtain the wheel speed information, the best method is to use the sensors that are already fitted to the vehicle by connecting to the vehicle’s CAN bus with an RLCAB069L, RLCAB015L or RLACS182L cable. Before you start testing, you must make sure that the VBOX 3i unit is correctly connected to either the speed sensors or to the vehicle CAN bus.

Next, you need to enable and configure the wheel speed input in the VBOX Setup software.

1. Make sure that the IMU05/IMU05-S unit is connected via RLCAB119, and that the VBOX 3i is powered on.
2. Connect your VBOX 3i to a computer, either via Bluetooth (an RLCAB001 cable to the SER input and the computer's serial port (you may need a USB-serial adapter), or via an RLCAB066-2 cable to one of the computer's USB ports.
3. Open VBOX Setup and connect to VBOX 3i by selecting the relevant COM Port.
4. Open the IMU menu and select the Wheel speed input tab.

1. Click the Add wheel speed input to start configuring the inputs.

1. Configure the inputs by selecting the applicable input for each wheel speed.
2. Click OK.
3. Select Write to unit to save the settings.

1. Make sure that the IMU05/IMU05-S is connected to the VBOX 3i unit and that the VBOX 3i unit is powered on.
2. Connect VBOX Manager to the VBOX 3i unit.
3. Enter the SETUP menu of VBOX Manager.
4. Select IMU-INS and the IMU Integration menu.

1. Scroll to Enable and select. Once the OK confirmation screen has cleared, Enabled will be displayed.

1. Scroll to the Roof Mount menu and enable it if relevant.

1. If you do not enable Roof Mount, navigate to the Ant to IMU Offset setting and enter the distances measured between the IMU and the primary antenna (A).

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.

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 to 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.

1. If you are conducting ADAS testing, you must make sure that 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.