Manual

207
9.4 Reducing location update latency
Exact latency depends on many factors:
‒ IA or NIA
‒ From modem or from the beacon
‒ IMU sensor fusion or regular ultrasonic only
‒ Radio profile
‒ Realized update rate
‒ Any sort averaging or Real-time player enabled or not
The range is:
~ 12ms for data from a mobile beacon via USB with IMU fusion enabled and not
averaging at all
~ 150ms with 30m-submap and update rate in ultrasonic of 7Hz and not
averaging
~ 2 seconds with the same settings as in (b), but Real-Time Player with settings
16, i.e. it takes into account up to 16 previous readings before giving out the new
one
9.4.1. What affects delay:
9.4.1.1. Real Time Player in the Dashboard (For NIA)
9.4.1.2. Real Time Player in hedge (For IA)
9.4.1.3. Window of averaging and Distance filter settings in modem (For NIA)
9.4.1.4. Prefiltration coefficient and Ultrasonic filtering settings in hedge (For IA)
9.4.2. How to decrease latency:
9.4.2.1. Turn off the Real-Time Player (works for IA and NIA)
9.4.2.2. Change the Window of averaging and Distance filter settings value to 0
(For NIA):
‒ Choose Modem -> Window of averaging (in the right tab) -> Enter
0 value
‒ Choose Modem -> Distance filter (in the right tab) -> Enter 0
value