LC29D

11 Dead-Reckoning Calibration

1) Fix the module on the vehicle frame. Any displacement, turn or tilt of the device, although

small, will cause performance issues and/or void the calibration process making it fail.

2) The calibration process should be performed on good GNSS signal conditions and clear sky view.

3) Power up the module then start the vehicle on in a plain surface and keep it still for at least 30

seconds.

4) Start driving the vehicle in good GNSS signal conditions. The module will start the self

calibration process which would be completed in a few minutes.

5) The calibration process ends when the <SolType> of $PQTMINS message indicates combined

solution (GNSS + DR).

12 Enable Dead-Reckoning and 6-axis Sensor

You can enable or disable the GNSS and the raw data from the internal 6-axis sensor and for dead-

reckoning. Use the following command to enable or disable GNSS and/or sensor.

$PQTMCFGEINSMSG,<RW>,<INS>,<IMU>,<GPS>,<Rate>*<Checksum><CR><LF>

If it succeeds, it will output:

$PQTMCFGEINSMSGOK*16

After issuing the above command, it has to be saved using the following command

$PQTMSAVEPAR*5A

Table 1: Config GNSS and sensor parameters.

Field

Unit

Meaning

<RW>

0 = Read current configuration.

1 = Config.

<INS>

Enable/disable PQTMINS message.

0 = Disable.

1 = Enable.

<IMU>

Enable/disable PQTMIMU message.

0 = Disable.

1 = Enable.

<GPS>

Enable/disable PQTMGPS message.

0 = Disable.

1 = Enable.

<Rate>

set the output rate of PQTMINS and PQTMIMU

messages. It can be 10, 20, 50, 100.

When set to 100, the maximum output rate is

dependent on baud rate.