IM19 WORK_MODE Descriptions

GPS/GNSS
1

I see in the Integration Guide that the IM19 has a number of available WORK_MODE options:

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I’ve been unable to find any additional information about these modes or what configurations they require.

My setup includes the following:

  • Raspberry Pi 4 Model B (2GB)
  • SparkFun GNSS Flex pHAT - LG290P & IM19 IMU
  • GNSS All-Band High Precision Antenna - 5m (SMA) (ANN-MB2-00)

My intended application is to mount the device to a person’s head while they are inside a vehicle in motion with the GNSS antenna mounted on the vehicle. It appears at least some of these modes expect the antenna is mounted in a fixed orientation compared to the IM19, but I’m hoping not all do.

I would like to see the direction the person is facing as well as the location and velocity of the vehicle. I hoped to use the device with GNSS signal without RTK, as my application does not require exact positioning.

Could anyone point me in the direction of some explanation of these modes or recommend a configuration?

2

That’s part of the AT command set for the device…AT commands are an index of variables/functions that you can use/modify to interface with the different configs. Access the UART via the guide instructions and you should be able to change 'em freely :slight_smile:

3

Hi Greg (@gharms ),

The IM19 Integration Guide is the best information we have regarding the WORK_MODE.

As far as I’m aware, all the modes require the IM19 and antenna to be physically coupled, with a known defined fixed orientation between the two.

It sounds like the IM19 is not the right part for your application. The IM19 in Vehicle Mode will give you orientation information for the vehicle. I suspect you’ll need a separate sensor to track the person’s head within the vehicle.

I hope this helps,
Paul

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4

Also, I believe an RTK Fix is mandatory - for all modes. I believe the IM19 needs the accuracy of GNSS RTK Fix in order to calibrate the IMU and calculate the Euler angles.

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5

Thank you, @PaulZC.

That’s helpful info, even though it’s not what I was hoping for. I’m sure someone more familiar with the domain would have understood from the listing that they were meant to be fixed to the same rigid frame, but as a novice, I missed that.

I’ll add another device for head tracking, as you suggest. I appreciate your help and quick response!

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