racelogic-support-centre

Quick Kalman Filter Initialisation

Updated on Mar 4, 2026

Although we recommend that you perform the full Kalman Filter calibration, we also understand that this is not possible in every scenario due to available space or a lack of GPS signal. In these scenarios, you can perform a quick initialisation instead.

With RTK corrections enabled: 

  1. Make sure that IMU Kalman Filter is enabled.
  2. Make sure there are no IMU translations set.
  3. Start driving before 30 seconds have passed.
  4. When you have been driving at a speed of more than 5 m/s, and the RTK has been fixed (ie. solution type 4), for 1 second, the Kalman Filter should initialise and you should be able to see the populated IMU channels. 

With RTK corrections disabled:

  1. Make sure that IMU Kalman Filter is enabled.
  2. Make sure there are no IMU translations set.
  3. Start driving before 30 seconds have passed.
  4. When you have been driving at a speed of more than 5 m/s for 1 second, the Kalman Filter should initialise and you should be able to see the populated IMU channels.