Considerations when mounting the RT split
When setting up the RT-Split there are couple of considerations that you should make sure to take:
- The wheel mounting solutions that OxTS have at the moment do not provide full isolation of the tyre from the body of the vehicle.
- The IMU should be mounted so that it is centred on the wheel
- The antenna should be mounted with a good metallic ground plane and open sky visibility.
- The antenna must be rigidly mounted to the IMU, so the lever arms cannot move independently
- When demonstrating the RT-Split is important to keep in mind that the data is there to prove the concept rather than actual data that the customer will see with a proper wheel mounting solution. For this reason, OxTS recommend demonstrating this off a non-steered wheel.
- Select the "high vibration" option if you suspect that RT will undergo heavy vibrations during the entire period.
If you mount RT-Split to the rear wheel and set up Advanced Slip, do you just only need to measure the length between IMU and the ground?
Setting up the RT-Split is exactly the same as setting up a standard RT when configuring the advanced slip section in NAVconfig. The two main measurements that need to be taken are:
- The distance between the measurement point of the RT-Split and the center of the non-steered axle. (Above/below and forward/behind)
- The distance between the measurement point of the RT-Split and the ground
Could you tell me what the difference is between using add slip points (i.e. the center of front wheel) and when you mount RT-Split to the center of front wheel?
Basically when you add a slip point, what the system is doing is it's displacing its output to the point that you're adding and it's calculating the slip angle at that point. This of course will introduce noise at that particular point, so if you're looking for the most accurate way to calculate slip angle at a particular point then that would be at the measurement point of the IMU.
Is the RT-Split is more accurate when measuring the Slip Angle?
We have some documentation on the RT-Split which will make it easier when you're talking to the customer about its advantages.
We have a short case study for comparison between the RT-Split and an optical sensor which can be found here
We also have a short note which outlines the advantages of the RT-Split. This can be found here