Then turn your engine off before checking the status! You should see a message indicating that the ZED-F9P is calibrated. Perform those fancy maneuvers (while obeying the traffic laws) before parking your car in a safe location.
#ZED HEADER SERIAL#
Upload the code to the board and and set the serial monitor to 115200 baud. If you have not already, select your Board (in this case the SparkFun ESP32 Thing Plus), and associated COM port. Lastly, the car must reach a speed over 30 km/h.įor the first example (located in File Examples > SparkFun u-blox GNSS Arduino Library > Dead Reckoning > Example1_calibrateSensor), the calibration status will be printed to the Arduino's serial monitor to indicate when calibration is ongoing and when it has completed.Secondly, the car must do left and right hand turns.First, the car needs to be stopped with the engine turned on.To do this, a few movements with the vehicle must be done all while maintaining good GNSS reception. Now that the GPS-RTK SparkFun Dead Reckoning is mounted and oriented correctly with regards to the vehicle, it's time to calibrate the sensor. After you attempt these movements, park your car in a safe location and turn your engine off before checking the status or monitoring the readings!
If you need, grab a friend and adult as you ride in the passenger seat. For each example, make sure to plan your route accordingly to achieve the maneuvers. Ensure that you are not distracted while operating a vehicle and are aware of your surroundings. Heads up! Make sure stay focused when driving and obey all traffic laws when driving. Below are the listed capabilities of the GPS unit. The ZED-F9K is able to connect to up to four different GNSS constellations simultaneously with the 3D gyro and 3D accelerometer making it very accurate for its size. Make sure to orient and mount the board correctly so that the ZED-F9K can accurately calculate navigation information. Below is an image that illustrates how all of these elements fit together.įor easy reference, we've documented the IMU's vectors with 3D Cartesian coordinate axes on the top and bottom side of the board. In the datasheet these three angles are called the vehicle's attitude. The transformation of the vehicle within these two frames are given as heading, pitch, and roll. You can reference the Body-Frame axes directly on the SparkFun Dead Reckoning ZED-F9K breakout board by looking for the silkscreen with the xyz axis.īottom View with the the Axis for Reference Y-axis points to the right of the vehicle.X-axis points to the front of the vehicle.The second frame of references is the Body-Frame reference and uses the following as its' axes. This frame will be referred to by its acronym NED (North-East-Down) in the image below. Z-axis uses the right hand system by pointing down.The latter, known as the local level frame uses the following as its' axes: The SparkFun Dead Reckoning adheres to two particular frames of reference: one frame of reference for the car and the second a geodetic frame of reference anchoring it to the globe.
#ZED HEADER MANUAL#
ZED-F9K Integration Manual (PDF) Orientation for the SparkFun Dead Reckoning
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