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 GNSS signal. In these scenarios, you can perform a quick initialisation instead.
If receiving RTK corrections:
- Make sure there are no IMU translations set.
- Start driving before 30 seconds have passed.
- 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.
If not receiving RTK corrections:
- Make sure there are no IMU translations set.
- Start driving before 30 seconds have passed.
- 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.