Hi. I connected IM19 imu module with Unicore UM980 and ESP32 for GNSS RTK surveying.
I measured imu to ant and pole height and insert measures to im19 module, I got a fix, calibrate imu, and start recording points, but when I rotate a pole, point jump all around for few cm (10-12cm) and when make a full circle it returns to the begining. What may be a problem?
It might help to draw or video a demo of what’s going on…but I think you’re saying if you ‘spin’ the device in-place (like twisting a vertical cylinder) the measurement jumps around but corrects itself once you’ve made a full rotation?
If that is the case I’d guess the IMU offset is incorrect somehow
Hi @bare ,
It does sound like you have not configured LEVER_ARM and/or INSTALL_ANGLE correctly. Please double check your settings. Please also be aware that LEVER_ARM and LEVER_ARM2 use different coordinate systems. Again please check your settings.
If you need more detailed help, we will need a 3D drawing showing the position and orientation of the IM19 compared to the antenna.
There is a long discussion about the IM19 coordinate system here.
I hope this helps,
Paul
Also, for the UM980, you need to set GNSS_CARD=UNICORE (not GNSS_CARD=OEM) and enable BESTPOSB, PSRVELB and GPGGA on the COM port connected to the IM19, at 5Hz, at 115200 baud. Please check.
Best,
Paul