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ComNav Vector G2 Manual

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ComNav Vector G2/G2B Installation & Operation Operation
Document PN 29010078 V2.0 - 44 -
DRAFT #3 – 29 May 2009
Gyro-aided RTK
The Vector G2’s internal gyro offers several benefits. It will shorten reacquisition times
when the G2’s heading computation is stopped due to momentary obstruction of GPS
satellite signals, by reducing the search volume required for solution of the RTK, after
obstruction of the signals ends.
The gyro measures the relative angular change in the heading since the last valid RTK
heading was computed; in conjunction with the tilt sensor, it reduces the search volume
to a wedge-shaped location within the “tilt sensor ring” on the surface of the search
sphere.
Figure 18 – Tilt & Gyro-aided Search
An additional feature of the gyro is that it can provide an accurate substitute heading for a
short period (depending on the Roll and Pitch motions of the vessel), during instances of
momentary obstruction of GPS satellite signals at either antenna; this may occur, for
example, when passing close to high vertical walls, or underneath bridges.
When such obstructions occur, the gyro is automatically used to provide an alternate
source of heading, accurate to within 1°, for up to 3 minutes
10
. Ideally, the gyro-based
heading will see the system through to reacquisition.
If the outage lasts longer than 3 minutes, the gyro is deemed to have drifted too far and
the G2 will begin outputting NULL fields in the heading output sentences, which in turn
will typically cause a “lost heading” alarm on navigation devices.
Normal heading output will return automatically once satellite signals are re-acquired.
As well, the gyro helps improve and smooth (filter) the heading and rate of turn data
output by the G2; it is used to update the HTAU-smoothed (see page 59) heading output
from the RTK
computatio
n. This means that if the value of HTAU is increased while the
gyro is enabled, there will be little to no lag in heading output due to vessel manoeuvres.
The gyro will initialize itself at power-up and during initialization, or can be calibrated by
the user, as outlined the GPS Technical Reference manual.
L Caution! While the gyro is initializing, it is important that the
dynamics that the gyro experiences during its warm-up period are
similar to the vessel’s regular operating dynamics.
For example, if you will be using the G2 on a high speed,
manoeuvrable vessel, it is essential that the vessel is operating in
an environment of high dynamic movement – high speed, fast
turns, sudden jolts (e.g., over waves), vibration, etc. – for the first
5 to 10 minutes after the G2 is turned on, instead of sitting
stationary.
10
There is no user control over the gyro time-out period.
www.busse-yachtshop.de | info@busse-yachtshop.de
… 46 …


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