(window.webpackJsonp=window.webpackJsonp||[]).push([[108],{428:function(t,e,a){"use strict";a.r(e);var r=a(10),n=Object(r.a)({},(function(){var t=this,e=t._self._c;return e("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[e("h1",{attrs:{id:"常见问题解答"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#常见问题解答"}},[t._v("#")]),t._v(" 常见问题解答")]),t._v(" "),e("h3",{attrs:{id:"一般"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#一般"}},[t._v("#")]),t._v(" 一般：")]),t._v(" "),e("ul",[e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#Can3",target:"_blank",rel:"noopener noreferrer"}},[t._v("3DM-GQ7可以在全球范围内运营吗？"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#Should",target:"_blank",rel:"noopener noreferrer"}},[t._v("我应该使用串行还是USB？"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#Is",target:"_blank",rel:"noopener noreferrer"}},[t._v("3DM-GQ7 IP额定值吗？"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#Do3",target:"_blank",rel:"noopener noreferrer"}},[t._v("如果我拔下3DM-GQ7的插头，设置会被删除吗？"),e("OutboundLink")],1)])]),t._v(" "),e("h3",{attrs:{id:"全球导航卫星系统"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#全球导航卫星系统"}},[t._v("#")]),t._v(" 全球导航卫星系统：")]),t._v(" "),e("ul",[e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#Can",target:"_blank",rel:"noopener noreferrer"}},[t._v("我可以使用与默认U-Blox天线不同的GNSS天线吗？"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#Does",target:"_blank",rel:"noopener noreferrer"}},[t._v("3DM-GQ7有防欺骗或防干扰功能吗？"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#How3",target:"_blank",rel:"noopener noreferrer"}},[t._v("如何测量天线偏移量？"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#What",target:"_blank",rel:"noopener noreferrer"}},[t._v("使用双天线标的安装要求是什么？"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#How4",target:"_blank",rel:"noopener noreferrer"}},[t._v("如何提高双天线航向性能？"),e("OutboundLink")],1)])]),t._v(" "),e("h3",{attrs:{id:"rtk"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#rtk"}},[t._v("#")]),t._v(" RTK：")]),t._v(" "),e("ul",[e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#Is2",target:"_blank",rel:"noopener noreferrer"}},[t._v("3DM-GQ7的RTK解决方案有保证吗？"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#Is3",target:"_blank",rel:"noopener noreferrer"}},[t._v("SensorCloud RTK校正流是否得到保证？"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#Do2",target:"_blank",rel:"noopener noreferrer"}},[t._v("我需要使用3DM-RTK和SensorCloudRTK来接收RTK更正吗？"),e("OutboundLink")],1)])]),t._v(" "),e("h3",{attrs:{id:"导航过滤器"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#导航过滤器"}},[t._v("#")]),t._v(" 导航过滤器：")]),t._v(" "),e("ul",[e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#Why",target:"_blank",rel:"noopener noreferrer"}},[t._v("为什么过滤器卡在垂直陀螺仪模式下？"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#How",target:"_blank",rel:"noopener noreferrer"}},[t._v("如何提高导航过滤器的性能？"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#How2",target:"_blank",rel:"noopener noreferrer"}},[t._v("我怎么知道我什么时候可以信任导航过滤器解决方案？"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#Status4",target:"_blank",rel:"noopener noreferrer"}},[t._v("我如何解释过滤器状态（0x82,0x10）消息？"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#Can2",target:"_blank",rel:"noopener noreferrer"}},[t._v("3DM-GQ7可以在GPS中断期间导航吗？"),e("OutboundLink")],1)])]),t._v(" "),e("h3",{attrs:{id:"外部测量"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#外部测量"}},[t._v("#")]),t._v(" 外部测量：")]),t._v(" "),e("ul",[e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#odometry3",target:"_blank",rel:"noopener noreferrer"}},[t._v("向导航过滤器提供GPIO里程表输入需要哪种类型的里程表？"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#Navigati2",target:"_blank",rel:"noopener noreferrer"}},[t._v("我可以将激光雷达或雷达测量值输入导航过滤器吗？"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#I",target:"_blank",rel:"noopener noreferrer"}},[t._v("我没有轮式里程测量，但我有并且想为3DM-GQ7提供速度测量。这可能吗？"),e("OutboundLink")],1)])]),t._v(" "),e("h3",{attrs:{id:"数据"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#数据"}},[t._v("#")]),t._v(" 数据：")]),t._v(" "),e("ul",[e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#Compensa4",target:"_blank",rel:"noopener noreferrer"}},[t._v("补偿角速率（0x82,0x0E）和补偿加速（0x82,0x1C）数据通道中是否消除了偏差？"),e("OutboundLink")],1)])]),t._v(" "),e("h3",{attrs:{id:"软件"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#软件"}},[t._v("#")]),t._v(" 软件：")]),t._v(" "),e("ul",[e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#Do",target:"_blank",rel:"noopener noreferrer"}},[t._v("你有数据可视化工具吗？"),e("OutboundLink")],1)])]),t._v(" "),e("h3",{attrs:{id:"杂项"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#杂项"}},[t._v("#")]),t._v(" 杂项：")]),t._v(" "),e("ul",[e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#Does2",target:"_blank",rel:"noopener noreferrer"}},[t._v("3DM-GQ7是否发布GPGGA NMEA字符串？"),e("OutboundLink")],1)])]),t._v(" "),e("p"),t._v(" "),e("p"),t._v(" "),e("h2",{attrs:{id:"一般的"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#一般的"}},[t._v("#")]),t._v(" 一般的")]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"_3dm-gq7可以在全球范围内运行吗"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#_3dm-gq7可以在全球范围内运行吗"}},[t._v("#")]),t._v(" 3DM-GQ7可以在全球范围内运行吗？")]),t._v(" "),e("ul",[e("li",[t._v("是的，3DM-GQ7不受ITAR控制。")]),t._v(" "),e("li",[t._v("我们支持GPS/QZSS、GLONASS和Galileo。BeiDou支持计划在未来发布。")]),t._v(" "),e("li",[t._v("如果使用RTK，"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/RTK/3DM%20RTK%20Integration.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("SensorCloudRTK"),e("OutboundLink")],1),t._v("覆盖全球许多地方。查看"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Commands/gnss_command/data/mip_gnss_rtk_dongle_configuration.htm/#https://rtk.sensorcloud.com/coverage/",target:"_blank",rel:"noopener noreferrer"}},[t._v("覆盖地图"),e("OutboundLink")],1),t._v("以获取更多信息。")])]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"我应该使用串行还是usb"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#我应该使用串行还是usb"}},[t._v("#")]),t._v(" 我应该使用串行还是USB？")]),t._v(" "),e("ul",[e("li",[e("p",[t._v("串行提供低、可预测的数据延迟，但在较低的包率（如115200）时带宽有限。")])]),t._v(" "),e("li",[e("p",[t._v("USB提供更好的带宽，但操作系统负责从设备中提取数据，这可能会导致数据包传输延迟。")]),t._v(" "),e("ul",[e("li",[t._v("通过使用硬件"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/additional_features/PPS.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("PPS"),e("OutboundLink")],1),t._v("信号进行时间同步多个设备和/或适用于所有设备数据流的GPS时间戳，用于时间同步，可以缓解这种延迟。")]),t._v(" "),e("li",[t._v("许多OEM客户选择使用USB + PPS以超过250Hz（高达1kHz）的速度从导航过滤器流式传输数据。")])])]),t._v(" "),e("li",[e("p",[t._v("有关更多信息，请参阅"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/dcp_content/introduction/Communications%20Bandwidth%20Management.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("通信带宽管理"),e("OutboundLink")],1),t._v("。")])])]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"_3dm-gq7-ip额定值吗"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#_3dm-gq7-ip额定值吗"}},[t._v("#")]),t._v(" 3DM-GQ7 IP额定值吗？")]),t._v(" "),e("ul",[e("li",[t._v("不，它有一个坚固、防尘的外壳。")]),t._v(" "),e("li",[t._v("未来正在考虑IP67或IP68版本。如果您需要这些选项之一，请联系销售人员。")])]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"如果我拔下3dm-gq7的插头-设置会被删除吗"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#如果我拔下3dm-gq7的插头-设置会被删除吗"}},[t._v("#")]),t._v(" 如果我拔下3DM-GQ7的插头，设置会被删除吗？")]),t._v(" "),e("ul",[e("li",[e("p",[t._v("这取决于。3DM-GQ7将使用存储在设备中的现有“启动设置”，除非在关机前保存设置。要保存设置，请执行以下操作之一：")]),t._v(" "),e("ul",[e("li",[t._v("在SensorConnect中，单击“保存/加载”图块中的“另存为启动设置”。")]),t._v(" "),e("li",[t._v("在SensorConnect中，单击“流媒体”图块中的“另存为启动设置”复选框。")]),t._v(" "),e("li",[t._v("在ROS中，将“save_settings”参数设置为true并成功启动节点")]),t._v(" "),e("li",[t._v("在MSCL中，使用node.saveSettingsAsStartup()函数。")]),t._v(" "),e("li",[t._v("将"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Commands/3dm_command/data/mip_cmd_3dm_device_settings.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("设备设置（0x0C，0x30）"),e("OutboundLink")],1),t._v("命令与保存功能选择器一起使用。")])])]),t._v(" "),e("li",[e("p",[t._v("在SensorConnect中，您还可以将.json设置文件导出到本地计算机，这将保存您的完整设备配置，将来可以再次加载。")])])]),t._v(" "),e("p"),t._v(" "),e("h2",{attrs:{id:"全球导航卫星系统-2"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#全球导航卫星系统-2"}},[t._v("#")]),t._v(" 全球导航卫星系统")]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"我可以使用与默认u-blox天线不同的gnss天线吗"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#我可以使用与默认u-blox天线不同的gnss天线吗"}},[t._v("#")]),t._v(" 我可以使用与默认U-Blox天线不同的GNSS天线吗？")]),t._v(" "),e("ul",[e("li",[e("p",[t._v("3DM-GQ7的性能仅由"),e("a",{attrs:{href:"https://www.microstrain.com/sites/default/files/ann-mb_datasheet_ubx-18049862.pdf",target:"_blank",rel:"noopener noreferrer"}},[t._v("U-Blox ANN-MB"),e("OutboundLink")],1),t._v("保证。")])]),t._v(" "),e("li",[e("p",[t._v("双天线和/或"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/RTK/RTK.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("RTK"),e("OutboundLink")],1),t._v("功能需要双频天线，如"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/installation/Antenna.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("天线"),e("OutboundLink")],1),t._v("页面上所述。3DM-GQ7需要L1和L2 GNSS频段才能使用这些功能中的任何一个。")]),t._v(" "),e("ul",[e("li",[t._v("3DM-GQ7支持的GNSS频段：L1C/A、L2C、L1OF、L2OF、E1B/C、E5b、B1I、B2I")])])]),t._v(" "),e("li",[e("p",[t._v("第三方天线必须供电，并需要3DM-GQ7的功率与"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/specifications/Electrical.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("电气"),e("OutboundLink")],1),t._v("规格页面的电气特性部分列出的相同或更少的功率，并在此处重复：")]),t._v(" "),e("ul",[e("li",[t._v("3V，100mA")])])]),t._v(" "),e("li",[e("p",[t._v("如果使用终止在SMA连接器中的天线，建议使用双屏蔽适配器电缆进行EMI缓解。我们的测试团队发现"),e("a",{attrs:{href:"https://www.pasternack.com/mmcx-plug-sma-female-rg188-ds-cable-assembly-pe3w00934-hs-50cm-p.aspx",target:"_blank",rel:"noopener noreferrer"}},[t._v("这些电缆"),e("OutboundLink")],1),t._v("令人满意。")])])]),t._v(" "),e("p",[t._v("**注意：**购买时确保连接器的性别兼容性。")]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"_3dm-gq7有防欺骗或防干扰功能吗"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#_3dm-gq7有防欺骗或防干扰功能吗"}},[t._v("#")]),t._v(" 3DM-GQ7有防欺骗或防干扰功能吗？")]),t._v(" "),e("ul",[e("li",[t._v("截至固件1.1.02版本，3DM-GQ7具有欺骗和干扰检测/监控，指示测量的射频干扰水平。如果3DM-GQ7具有早期版本的固件，则必须升级才能使用此功能。这可以通过"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/software/Upgrades.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("SensorConnect的"),e("OutboundLink")],1),t._v("Windows"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/software/Upgrades.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("固件升级"),e("OutboundLink")],1),t._v("图块或Linux的命令行固件升级工具（即将推出）来完成。")]),t._v(" "),e("li",[t._v("此功能不提供主动防欺骗或防干扰。该设备报告每个射频频段的四种可能干扰和/或欺骗状态之一（未知、无、部分、显著）。")]),t._v(" "),e("li",[t._v("导航过滤器不会拒绝基于此信息的GNSS测量，但在使用之前会使用其他信号质量指标来筛选信号。")]),t._v(" "),e("li",[t._v("用户可以在每个接收器的射频错误检测字段消息中监控此信息的状态："),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/gnss_recv_1/data/mip_field_gnss_rf_error_detection.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("射频错误检测（0x91,0x14）"),e("OutboundLink")],1),t._v("和"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/gnss_recv_2/data/mip_field_gnss_rf_error_detection.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("射频错误检测（0x92,0x14"),e("OutboundLink")],1),t._v("）。")]),t._v(" "),e("li",[t._v("欺骗检测：3DM-GQ7将监控GNSS信号中指示外部操纵的可疑变化。只有使用未更改的GNSS锁初始化时，欺骗检测才会成功。如果GNSS信号被欺骗，射频错误检测字段将提供GNSS信号不再是真实的通知。所使用的算法依赖于来自多个全球导航卫星系统星座的信号的可用性。")]),t._v(" "),e("li",[t._v("干扰检测：可以用作连续波（窄带）或宽带干扰器/干扰的指示器。如果指示干扰，用户应以适合其应用程序的方式行事。注意：如果用户的系统产生足够的EMI来触发指示，则可能会报告干扰。在这种情况下，建议用户采取行动来减少此EMI。")])]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"如何测量天线偏移量"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#如何测量天线偏移量"}},[t._v("#")]),t._v(" 如何测量天线偏移量？")]),t._v(" "),e("ul",[e("li",[t._v("请查看"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/installation/Antenna.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("天线"),e("OutboundLink")],1),t._v("页面的"),e("strong",[t._v("如何测量天线偏移")]),t._v("部分。")])]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"使用双天线标的安装要求是什么"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#使用双天线标的安装要求是什么"}},[t._v("#")]),t._v(" 使用双天线标的安装要求是什么？")]),t._v(" "),e("ul",[e("li",[e("p",[t._v("查看"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/installation/Antenna.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("天线"),e("OutboundLink")],1),t._v("页面。")])]),t._v(" "),e("li",[e("p",[t._v("适当的天线安装和杠杆臂测量对于最大限度地提高航向性能至关重要。基线或天线之间的水平距离决定了解决方案的最大准确性。天线基线长度限制为：")]),t._v(" "),e("ul",[e("li",[t._v("最小：0.25米")]),t._v(" "),e("li",[t._v("最大：5.0米")]),t._v(" "),e("li",[t._v("典型的是1-2米")])])]),t._v(" "),e("li",[e("p",[t._v("如果使用双天线或RTK，每个天线杠杆臂偏移量应精确到5厘米以内。")])])]),t._v(" "),e("p"),t._v(" "),e("p",[t._v("图：天线基线与最大精度")]),t._v(" "),e("p",[e("img",{attrs:{src:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/Resources/Images/da-baseline-v-heading-accuracy_623x376.png",alt:""}})]),t._v(" "),e("p",[e("em",[t._v("在理想条件下，作为基线长度的函数，标题精度")])]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"如何提高双天线航向性能"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#如何提高双天线航向性能"}},[t._v("#")]),t._v(" 如何提高双天线航向性能？")]),t._v(" "),e("ul",[e("li",[e("p",[t._v("提高天线安装精度：")]),t._v(" "),e("ul",[e("li",[t._v("查看"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/installation/Antenna.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("天线"),e("OutboundLink")],1),t._v("页面"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/installation/Antenna.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("，"),e("OutboundLink")],1),t._v("了解最佳实践和有用的提示，并按照"),e("strong",[t._v("天线安装注意事项的")]),t._v("步骤1-3进行操作。")])])])]),t._v(" "),e("p",[t._v("**提示：**最简单的测试方法是将3DM-GQ7和GNSS天线共线安装在同一块材料上，例如：车顶、一块带地面的刚性木材、一块扁平的刚性金属。")]),t._v(" "),e("ul",[e("li",[t._v("增加天线基线（最多5米，典型为1-2米）")]),t._v(" "),e("li",[t._v("确保两个天线都能清楚地看到天空。")]),t._v(" "),e("li",[t._v("尽量减少多路径的任何来源，包括来自车辆本身的多路径。将天线安装在车辆上所有其他物体上方是尽量减少干扰的首选方法。")]),t._v(" "),e("li",[t._v("尽量减少天线及其布线的EMI曝光。")])]),t._v(" "),e("p"),t._v(" "),e("h2",{attrs:{id:"rtk-2"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#rtk-2"}},[t._v("#")]),t._v(" RTK")]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"_3dm-gq7的rtk解决方案有保证吗"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#_3dm-gq7的rtk解决方案有保证吗"}},[t._v("#")]),t._v(" 3DM-GQ7的RTK解决方案有保证吗？")]),t._v(" "),e("ul",[e("li",[t._v("对于有效的RTK修复，需要一致的RTCM校正流和清晰的天空视图。如果校正流中断或设备在具有挑战性的GNSS环境中移动，RTK修复程序可能会中断。")])]),t._v(" "),e("h3",{attrs:{id:"sensorcloud-rtk校正流是否得到保证"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#sensorcloud-rtk校正流是否得到保证"}},[t._v("#")]),t._v(" SensorCloud RTK校正流是否得到保证？")]),t._v(" "),e("ul",[e("li",[t._v("我们简化了网络和接口流程，为您提供一体化导航解决方案。该解决方案包括我们的3DM-GQ7、3DM-RTK和"),e("a",{attrs:{href:"https://rtk.sensorcloud.com/overview/",target:"_blank",rel:"noopener noreferrer"}},[t._v("SensorCloudRTK"),e("OutboundLink")],1),t._v("服务。我们与RTK和蜂窝网络提供商合作，提供SensorCloudRTK服务。由于我们不拥有这些提供商的网络，我们无法控制他们的运营行为。"),e("a",{attrs:{href:"https://rtk.sensorcloud.com/coverage/",target:"_blank",rel:"noopener noreferrer"}},[t._v("SensorCloudRTK覆盖地图"),e("OutboundLink")],1),t._v("提供了一个实时数据库，显示基站的ID、位置、运行状态和范围，如图所示：SensorCloudRTK示例基站信息")])]),t._v(" "),e("p",[t._v("图：SensorCloudRTK示例基站信息")]),t._v(" "),e("ul",[e("li",[e("img",{attrs:{src:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/Resources/Images/RTK-basestation-verify-online_238x235.png",alt:""}})])]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"我需要使用3dm-rtk和sensorcloudrtk来接收rtk更正吗"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#我需要使用3dm-rtk和sensorcloudrtk来接收rtk更正吗"}},[t._v("#")]),t._v(" 我需要使用3DM-RTK和SensorCloudRTK来接收RTK更正吗？")]),t._v(" "),e("ul",[e("li",[t._v("不，我们在“"),e("a",{attrs:{href:"https://www.microstrain.com/sites/default/files/4-ways-to-rtka.pdf",target:"_blank",rel:"noopener noreferrer"}},[t._v("4 Ways to RTK"),e("OutboundLink")],1),t._v("”应用程序注释中概述了3DM-GQ7接收RTK更正的几种方法。")]),t._v(" "),e("li",[t._v("我们最近还为我们的"),e("a",{attrs:{href:"https://github.com/LORD-MicroStrain/microstrain_inertial/tree/ros",target:"_blank",rel:"noopener noreferrer"}},[t._v("ROS1"),e("OutboundLink")],1),t._v("和"),e("a",{attrs:{href:"https://github.com/LORD-MicroStrain/microstrain_inertial/tree/ros2",target:"_blank",rel:"noopener noreferrer"}},[t._v("ROS2"),e("OutboundLink")],1),t._v("驱动程序添加了一个"),e("a",{attrs:{href:"https://github.com/LORD-MicroStrain/ntrip_client",target:"_blank",rel:"noopener noreferrer"}},[t._v("ROS NTRIP客户端"),e("OutboundLink")],1),t._v("节点。")])]),t._v(" "),e("p"),t._v(" "),e("h2",{attrs:{id:"导航过滤器-2"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#导航过滤器-2"}},[t._v("#")]),t._v(" 导航过滤器")]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"为什么过滤器卡在垂直陀螺仪模式下"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#为什么过滤器卡在垂直陀螺仪模式下"}},[t._v("#")]),t._v(" 为什么过滤器卡在垂直陀螺仪模式下？")]),t._v(" "),e("ul",[e("li",[t._v("过滤器可能卡在垂直陀螺模式下，因为它没有足够的初始条件。有关垂直陀螺仪模式的更多信息，请参阅"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20States.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("过滤状态"),e("OutboundLink")],1),t._v("。")]),t._v(" "),e("li",[t._v("在垂直陀螺仪模式下，导航过滤器仅报告有效的陀螺仪稳定间距、滚动和相对于初始方向的标题变化。要过渡到全导航模式，导航过滤器需要下表所示所有状态的初始条件。这些可以通过"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Commands/filter_command/data/mip_filter_initialization_configuration.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("初始化配置（0x0D，0x52）"),e("OutboundLink")],1),t._v("命令提供给导航过滤器。在理想条件下，从开机切换到全导航模式的时间通常不到1分钟。")])]),t._v(" "),e("table",[e("thead",[e("tr",[e("th",{staticStyle:{"text-align":"center"}},[t._v("过滤模式")]),t._v(" "),e("th",{staticStyle:{"text-align":"center"}},[t._v("过滤状态值")]),t._v(" "),e("th",{staticStyle:{"text-align":"center"}},[t._v("所需的初始条件")]),t._v(" "),e("th",{staticStyle:{"text-align":"center"}},[t._v("可用输出")])])]),t._v(" "),e("tbody",[e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("初始化")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("1")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("无")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("无")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("垂直陀螺仪")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("2")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("滚动，音高（来自IMU）")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("滚动，音高，相对标题")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("AHRS")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("3")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("绝对标题")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("滚动，音高，绝对标题")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("完整导航")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("绝对航向，初始位置，初始速度")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("滚动、间距、绝对航向、位置、速度")])])])]),t._v(" "),e("ul",[e("li",[t._v("确保3DM-GQ7配置正确-请参阅"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20Aiding%20Measurements.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("过滤器帮助测量"),e("OutboundLink")],1),t._v("和"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20Initialization.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("过滤器初始化"),e("OutboundLink")],1),t._v("。")]),t._v(" "),e("li",[t._v("如果3DM-GQ7在3分钟内没有收敛，请查看"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#How",target:"_blank",rel:"noopener noreferrer"}},[t._v("如何提高导航过滤器的性能？"),e("OutboundLink")],1),t._v("以及**"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#How2",target:"_blank",rel:"noopener noreferrer"}},[t._v("我如何知道何时可以信任导航过滤器解决方案？"),e("OutboundLink")],1),t._v("**")])]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"如何提高导航过滤器的性能"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#如何提高导航过滤器的性能"}},[t._v("#")]),t._v(" 如何提高导航过滤器的性能？")]),t._v(" "),e("p",[t._v("在理想条件下，过渡到全导航过滤器模式的时间不到1分钟。RTK整数修复收敛可能需要更多时间。以下提示通常解决收敛时间比预期更长的情况：")]),t._v(" "),e("ul",[e("li",[t._v("确保您的固件已更新到最新版本。")]),t._v(" "),e("li",[t._v("确保天线安装正确，其偏移量不会意外交换（一个常见问题）。请查看"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/installation/Antenna.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("天线"),e("OutboundLink")],1),t._v("页面"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/installation/Antenna.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("，"),e("OutboundLink")],1),t._v("了解GNSS天线安装的最佳实践和有用的提示。")]),t._v(" "),e("li",[t._v("确保启用适当的"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20Aiding%20Measurements.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("过滤器援助测量"),e("OutboundLink")],1),t._v("。")]),t._v(" "),e("li",[t._v("应用适当的"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20Kinematic%20Constraints.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("过滤器运动约束"),e("OutboundLink")],1),t._v("。")])]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"我怎么知道我什么时候可以信任导航过滤器解决方案"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#我怎么知道我什么时候可以信任导航过滤器解决方案"}},[t._v("#")]),t._v(" 我怎么知道我什么时候可以信任导航过滤器解决方案？")]),t._v(" "),e("p",[t._v("强烈建议阅读手册的"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Navigation%20Filter.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("导航过滤器"),e("OutboundLink")],1),t._v("部分。您需要将设备配置为流式传输包含应用程序所需状态信息的数据字段。收到状态字段后，您需要根据应用程序的要求设置数据阈值，例如：")]),t._v(" "),e("ul",[e("li",[e("p",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20Status.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("状态（0x82,0x10）"),e("OutboundLink")],1),t._v("消息为用户提供了两个重要信息：当前"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20States.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("过滤器状态"),e("OutboundLink")],1),t._v("（AKA模式）和"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20Status%20Flags.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("状态标志"),e("OutboundLink")],1),t._v("，提供有关过滤器状况及其估计值的实时警告。")]),t._v(" "),e("ul",[e("li",[t._v("当导航过滤器正常运行时，"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20Status.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("状态（0x82,0x10）"),e("OutboundLink")],1),t._v("消息将报告"),e("strong",[t._v("4")]),t._v("、1、1、1的值。这些数字对应于全导航过滤器状态、默认动态模式和融合过滤器状态标志。")]),t._v(" "),e("li",[t._v("有关更多信息，请参阅下面的**“解释状态数据通道”。**")])])]),t._v(" "),e("li",[e("p",[t._v("过滤位置不确定性消息")]),t._v(" "),e("ul",[e("li",[e("p",[t._v("用户必须决定其应用程序需要哪些位置不确定性值。典型的1σ值是：")]),t._v(" "),e("ul",[e("li",[t._v("单点：1.25-2.5米")]),t._v(" "),e("li",[t._v("RTK-Float：0.1-0.8米")]),t._v(" "),e("li",[t._v("RTK-Fixed：0.01 - 0.06m（错误模型假设最大基站基线为50公里）")])])]),t._v(" "),e("li",[e("p",[t._v("在以下消息中，位置不确定性在不同帧中可用：")]),t._v(" "),e("ul",[e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/filter_data/data/mip_field_filter_llh_pos_uncertainty.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("LLH位置不确定性（0x82,0x08）"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("strong",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/filter_data/data/mip_field_filter_ecef_pos_uncertainty.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("ECEF位置不确定性（0x82,0x36）"),e("OutboundLink")],1)])])])])])]),t._v(" "),e("li",[e("p",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/filter_data/data/mip_field_filter_gnss_pos_aid_status.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("GNSS位置援助状态（0x82,0x43）"),e("OutboundLink")],1)]),t._v(" "),e("ul",[e("li",[e("p",[t._v("检查所需的GNSS位置协助测量：")]),t._v(" "),e("ul",[e("li",[t._v("如果需要RTK Float，请检查差分校正（设置了位1）")]),t._v(" "),e("li",[t._v("如果需要RTK整数修复，请检查整数修复（设置了位2）")]),t._v(" "),e("li",[t._v("如果需要特定的星座和频率，例如伽利略E1，请检查相应的位，ex GAL_E1（位已设置）")])])])])]),t._v(" "),e("li",[e("p",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/filter_data/data/mip_field_filter_euler_angles_uncertainty.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("欧拉角度不确定性（0x82,0x0A）"),e("OutboundLink")],1)]),t._v(" "),e("ul",[e("li",[t._v("设置特定应用程序的Yaw（标题不确定性阈值）")]),t._v(" "),e("li",[t._v("验证不确定性是否低于阈值")])])]),t._v(" "),e("li",[e("p",[e("strong",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/filter_data/data/mip_field_filter_gnss_dual_antenna_status.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("双天线状态（0x82,0x49）"),e("OutboundLink")],1)])]),t._v(" "),e("ul",[e("li",[t._v("验证修复类型为FIX_DA_FIXED = 2")]),t._v(" "),e("li",[t._v("验证标题不确定性是否低于要求的阈值")]),t._v(" "),e("li",[t._v("在信任标题估计之前，请验证所有所需的状态标志是否有效。")])])])]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"我如何解释状态-0x82-0x10-消息"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#我如何解释状态-0x82-0x10-消息"}},[t._v("#")]),t._v(" 我如何解释状态（0x82,0x10）消息？")]),t._v(" "),e("p",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/filter_data/data/mip_field_filter_status.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("状态（0x82,0x10）"),e("OutboundLink")],1),t._v("消息报告的数据字段是"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20States.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("过滤器状态"),e("OutboundLink")],1),t._v("、动态模式和**"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20Status%20Flags.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("状态标志"),e("OutboundLink")],1),t._v("**。状态标志是一个必须正确解释的位字段：")]),t._v(" "),e("ul",[e("li",[e("a",{attrs:{href:"https://www.microstrain.com/software/sensorconnect",target:"_blank",rel:"noopener noreferrer"}},[t._v("SensorConnect"),e("OutboundLink")],1),t._v("的状态QuickView为用户执行转换为易于理解的文本。")]),t._v(" "),e("li",[e("a",{attrs:{href:"https://github.com/LORD-MicroStrain/microstrain_inertial/tree/ros2",target:"_blank",rel:"noopener noreferrer"}},[t._v("ROS驱动程序"),e("OutboundLink")],1),e("a",{attrs:{href:"https://github.com/LORD-MicroStrain/microstrain_inertial/tree/ros2/microstrain_inertial_rqt",target:"_blank",rel:"noopener noreferrer"}},[t._v("RQT Status QuickView GUI"),e("OutboundLink")],1),t._v("为用户转换为易于理解的文本。")]),t._v(" "),e("li",[t._v("如果手动转换，一个简单的在线"),e("a",{attrs:{href:"https://www.rapidtables.com/convert/number/decimal-to-binary.html",target:"_blank",rel:"noopener noreferrer"}},[t._v("十进制到二进制转换器"),e("OutboundLink")],1),t._v("或“程序员模式”的计算器应用程序将起作用。")]),t._v(" "),e("li",[t._v("对于嵌入式应用程序，需要简单的位移计算。")]),t._v(" "),e("li",[t._v("我们建议用户至少检查过滤器状态= 0x04和状态标志= 0x01或0x02（即没有发出警告，过滤器条件稳定或收敛），以验证令人满意的过滤器性能。")])]),t._v(" "),e("p",[t._v("例如："),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20Status.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("状态（0x82,0x10）"),e("OutboundLink")],1),t._v("是什么意思"),e("strong",[t._v("4，0，1024")]),t._v("？")]),t._v(" "),e("ul",[e("li",[t._v("可以使用任何"),e("a",{attrs:{href:"https://www.rapidtables.com/convert/number/decimal-to-binary.html?x=1024",target:"_blank",rel:"noopener noreferrer"}},[t._v("十进制到二进制转换器"),e("OutboundLink")],1),t._v("，我们看到第10位的值为1。")]),t._v(" "),e("li",[t._v("第10个状态标志位对应于下表所示的时间同步警告，第10位的行以黄色突出显示。这意味着没有检测到PPS源，建议的操作是检查PPS源是否设置正确，即确保为所选的PPS源连接天线。")])]),t._v(" "),e("p"),t._v(" "),e("table",[e("thead",[e("tr",[e("th",{staticStyle:{"text-align":"center"}},[t._v("位#")]),t._v(" "),e("th",{staticStyle:{"text-align":"center"}},[t._v("位值")]),t._v(" "),e("th",{staticStyle:{"text-align":"center"}},[t._v("描述")]),t._v(" "),e("th",{staticStyle:{"text-align":"center"}},[t._v("潜在原因")]),t._v(" "),e("th",{staticStyle:{"text-align":"center"}},[t._v("推荐行动")])])]),t._v(" "),e("tbody",[e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("0-1")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("0")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("过滤器条件（稳定/收敛/不稳定）")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("提供的初始条件不足。")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("验证所需条件是否正确启用。查看**"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20States.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("过滤状态"),e("OutboundLink")],1),t._v("**。")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("2")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("0")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("滚动/间距警告")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("传感器与车辆框架不一致。")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("查看"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/coordinate_frames/Vehicle%20Frame.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("车辆框架"),e("OutboundLink")],1),t._v("页面。")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("3")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("0")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("标题警告")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("标题来源无效。对于双天线：多路径、EMI、不正确的天线偏移。对于磁力计：时间变化的磁干扰。")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("对于双天线：评论："),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/installation/Antenna.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("天线"),e("OutboundLink")],1),t._v("偏移，"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#",target:"_blank",rel:"noopener noreferrer"}},[t._v("常见问题："),e("OutboundLink")],1),e("strong",[t._v("如何提高滤波器性能")]),t._v("，"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#",target:"_blank",rel:"noopener noreferrer"}},[t._v("常见问题："),e("OutboundLink")],1),t._v("**高双天线不确定性 **对于磁强计：进行"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/installation/Magnetometer%20Calibration.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("磁强计校准，"),e("OutboundLink")],1),t._v("通过"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/sensor_data/data/mip_field_sensor_raw_mag.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("缩放Mag（0x80,0x06）"),e("OutboundLink")],1),t._v("检查时间变化的磁干扰，如果存在，请使用双天线。")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("0")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("位置警告")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("多路径，EMI，天线偏移不正确，天线阻塞，天线电缆短路。回顾上述"),e("strong",[t._v("如何提高过滤器性能")]),t._v("。")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("评论："),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/installation/Antenna.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("天线"),e("OutboundLink")],1),t._v("偏移，常见问题：天线部分，"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/FAQ/FAQ.htm#",target:"_blank",rel:"noopener noreferrer"}},[t._v("常见问题："),e("OutboundLink")],1),e("strong",[t._v("如何提高过滤器性能。")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("5")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("0")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("速度警告")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}}),t._v(" "),e("td",{staticStyle:{"text-align":"center"}})]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("6")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("0")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("IMU偏见警告")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("陀螺仪偏差很高。")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("执行"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Commands/3dm_command/data/mip_cmd_3dm_capture_gyro_bias.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("捕获陀螺偏见（0x0C，0x39）"),e("OutboundLink")],1)])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("7")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("0")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("GNSS时钟警告")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("多路径，过度振动。")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("不是关键问题-继续导航。")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("8")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("0")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("天线杠杆臂警告")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("天线杠杆臂偏移可能不正确。")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("如果**"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/filter_data/data/mip_field_filter_gnss_dual_antenna_status.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("GNSS双天线状态（0x82,0x49）"),e("OutboundLink")],1),t._v("**具有低标题不确定性，是固定和有效的，则不是关键问题。为了提高性能，请查看"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/installation/Antenna.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("天线"),e("OutboundLink")],1),t._v("页面。")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("9")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("0")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("安装转换警告")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("变换可能不正确。")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("查看"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/coordinate_frames/Vehicle%20Frame.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("车辆框架"),e("OutboundLink")],1),t._v("页面。")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("10")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("1")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("时间同步警告")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("未检测到PPS源。")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("检查"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/additional_features/PPS.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("PPS"),e("OutboundLink")],1),t._v("源是否设置正确，即GNSS接收器1 = PPS 1")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("12-15")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("0")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("解决方案错误")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("过滤计算警告标志。如果设置了任何位12-15，所有过滤器输出都将无效。")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Commands/filter_command/data/mip_filter_reset_filter.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("重置导航过滤器（0x0D，0x01）"),e("OutboundLink")],1)])])])]),t._v(" "),e("p"),t._v(" "),e("ul",[e("li",[t._v("注意：过滤器条件占用2位（位0和1），可以解释如下（更多信息请参阅"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20Status%20Flags.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("过滤器状态标志"),e("OutboundLink")],1),t._v("页面）。")])]),t._v(" "),e("table",[e("thead",[e("tr",[e("th",{staticStyle:{"text-align":"center"}},[t._v("过滤条件值")]),t._v(" "),e("th",{staticStyle:{"text-align":"center"}},[t._v("描述")])])]),t._v(" "),e("tbody",[e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("1")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("稳定")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("2")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("融合")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"center"}},[t._v("3")]),t._v(" "),e("td",{staticStyle:{"text-align":"center"}},[t._v("不稳定/恢复")])])])]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"_3dm-gq7可以在gps中断期间导航吗"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#_3dm-gq7可以在gps中断期间导航吗"}},[t._v("#")]),t._v(" 3DM-GQ7可以在GPS中断期间导航吗？")]),t._v(" "),e("ul",[e("li",[e("p",[t._v("是的，尽管3DM-GQ7必须在停机前进入全导航模式（"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20States.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("过滤模式4"),e("OutboundLink")],1),t._v("）。如果3DM-GQ7最初有一个GNSS锁并经历停电，它将在整个停电过程中继续提供PVA（位置、速度、姿态）解决方案。")])]),t._v(" "),e("li",[e("p",[t._v("除非启用额外的"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20Aiding%20Measurements.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("过滤器协助测量"),e("OutboundLink")],1),t._v("或"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20Kinematic%20Constraints.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("过滤器运动学约束"),e("OutboundLink")],1),t._v("，否则我们通常不建议在预计停电时间超过60秒的情况下使用3DM-GQ7。3DM-GQ7可以继续导航，但其位置误差将呈指数级增长。")])]),t._v(" "),e("li",[e("p",[t._v("我们有多个测试报告，显示3DM-GQ7在GNSS中断期间的性能和恢复：")]),t._v(" "),e("ul",[e("li",[e("p",[e("a",{attrs:{href:"https://www.microstrain.com/sites/default/files/gq7_gnss_outage_test_report_0.pdf",target:"_blank",rel:"noopener noreferrer"}},[t._v("GNSS停电测试报告"),e("OutboundLink")],1),t._v("：")]),t._v(" "),e("ul",[e("li",[t._v("具有以下配置的轮式车辆的60年代全球导航卫星系统中断：无约束；带"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/ekf/Filter%20Kinematic%20Constraints.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("轮式车辆约束"),e("OutboundLink")],1),t._v("（WVC）；带WVC和"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/additional_features/Odometer.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("轮式测量"),e("OutboundLink")],1)])])]),t._v(" "),e("li",[e("p",[e("a",{attrs:{href:"https://www.microstrain.com/sites/default/files/gq7_vs_gx5_test_report_1.pdf",target:"_blank",rel:"noopener noreferrer"}},[t._v("GQ7与GX5产品比较测试报告"),e("OutboundLink")],1),t._v("：")]),t._v(" "),e("ul",[e("li",[t._v("使用RTK + Wheel Odometry的轮式车辆的60年代GNSS中断")])])]),t._v(" "),e("li",[e("p",[e("strong",[e("a",{attrs:{href:"https://www.roboticstomorrow.com/article/2021/07/benefits-of-a-tactical-grade-imu-in-low-cost-gnssins-systems/17121",target:"_blank",rel:"noopener noreferrer"}},[t._v("GNSS/INS中战术IMU的好处："),e("OutboundLink")],1)])]),t._v(" "),e("ul",[e("li",[t._v("驾驶轮式车辆时30年代全球导航卫星系统停电，特别比较IMU质量对解决方案的影响")])])])])])]),t._v(" "),e("p"),t._v(" "),e("h2",{attrs:{id:"外部测量-2"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#外部测量-2"}},[t._v("#")]),t._v(" 外部测量")]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"我可以使用哪种类型的硬件里程表进行里程测量输入"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#我可以使用哪种类型的硬件里程表进行里程测量输入"}},[t._v("#")]),t._v(" 我可以使用哪种类型的硬件里程表进行里程测量输入？")]),t._v(" "),e("ul",[e("li",[t._v("3DM-GQ7目前支持正交（双通道）编码器。可以根据需求添加单端编码器支持。")]),t._v(" "),e("li",[t._v("3DM-GQ7已使用以下里程表进行了测试："),e("a",{attrs:{href:"https://www.michsci.com/products/instrumentation-assemblies/wheel-pulse-transducer/",target:"_blank",rel:"noopener noreferrer"}},[t._v("密歇根州科学高分辨率车轮脉冲传感器E512"),e("OutboundLink")],1)])]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"我可以将激光雷达或雷达测量值输入导航过滤器吗"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#我可以将激光雷达或雷达测量值输入导航过滤器吗"}},[t._v("#")]),t._v(" 我可以将激光雷达或雷达测量值输入导航过滤器吗？")]),t._v(" "),e("p",[t._v("3DM-GQ7不接受这些测量作为一般输入。如果您能够从他们的测量中计算出全局帧位置、速度或标题，这些命令可用于向过滤器提供外部数据：")]),t._v(" "),e("ul",[e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Commands/filter_command/data/mip_filter_external_gnss_update.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("外部GNSS更新"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Commands/filter_command/data/mip_filter_external_heading_update.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("外部标题更新"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Commands/filter_command/data/mip_filter_external_heading_update_with_time.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("外部标题随时间更新"),e("OutboundLink")],1)]),t._v(" "),e("li",[e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Commands/filter_command/data/mip_filter_speed_measurement.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("输入速度测量"),e("OutboundLink")],1)])]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"我没有轮式里程测量-但我有并且想为3dm-gq7提供速度测量。这可能吗"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#我没有轮式里程测量-但我有并且想为3dm-gq7提供速度测量。这可能吗"}},[t._v("#")]),t._v(" 我没有轮式里程测量，但我有并且想为3DM-GQ7提供速度测量。这可能吗？")]),t._v(" "),e("ul",[e("li",[e("p",[t._v("**"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Commands/filter_command/data/mip_filter_speed_measurement.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("输入速度测量0x0D，0x60"),e("OutboundLink")],1),t._v("**是非轮式车辆客户实现轮式里程输入类似目标的最佳选择。")])]),t._v(" "),e("li",[e("p",[e("strong",[t._v("CAVEAT")]),t._v("：此命令假设“速度"),e("strong",[t._v("仅")]),t._v("定义为沿车辆x轴的运动速率。”")])]),t._v(" "),e("li",[e("p",[t._v("必须提供不确定性，并且可以通过以下方法之一确定：")]),t._v(" "),e("ol",[e("li",[e("p",[t._v("数据表值：")]),t._v(" "),e("ol",[e("li",[t._v("从速度传感器数据表中读取不确定性规范。")])])]),t._v(" "),e("li",[e("p",[t._v("系统识别：")]),t._v(" "),e("ol",[e("li",[t._v("如果没有提供不确定性，则以恒定速度驾驶车辆并记录数据。")]),t._v(" "),e("li",[t._v("接下来，计算方差并使用1σ方差作为不确定性。目的是描述速度测量的噪声。")]),t._v(" "),e("li",[t._v("所选速度应是车辆应用中最常见的速度。")]),t._v(" "),e("li",[t._v("如果应用程序的速度不同，那么应该以最常见的速度重复这个过程。")])])]),t._v(" "),e("li",[e("p",[t._v("经验滤波器调谐：")]),t._v(" "),e("ol",[e("li",[e("p",[t._v("如果方法1和2不可行，那么用户必须进行有根据的猜测，并调整多次运行的速度不确定性，以观察过滤器的性能。")])]),t._v(" "),e("li",[e("p",[t._v("欢迎您联系microstrainsupport@hbkworld.com寻求此调整方面的帮助。")])])])])]),t._v(" "),e("ul",[e("li")])])]),t._v(" "),e("p"),t._v(" "),e("h2",{attrs:{id:"数据-2"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#数据-2"}},[t._v("#")]),t._v(" 数据")]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"补偿角速率-0x82-0x0e-和补偿加速-0x82-0x1c-数据通道中是否消除了偏差"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#补偿角速率-0x82-0x0e-和补偿加速-0x82-0x1c-数据通道中是否消除了偏差"}},[t._v("#")]),t._v(" 补偿角速率（0x82,0x0E）和"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Data/filter_data/data/mip_field_filter_comp_accel.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("补偿加速（0x82,0x1C）"),e("OutboundLink")],1),t._v("数据通道中是否消除了偏差？")]),t._v(" "),e("p",[t._v("是的，但补偿角率或补偿加速消息目前不是反锯齿。这意味着，如果您选择低于500Hz的采样率，可能会发生混叠，这看起来像噪音，但实际上是由于下采样。这个缺点将在下一个固件版本中得到解决。")]),t._v(" "),e("p"),t._v(" "),e("h2",{attrs:{id:"软件-2"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#软件-2"}},[t._v("#")]),t._v(" 软件")]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"你有数据可视化工具吗"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#你有数据可视化工具吗"}},[t._v("#")]),t._v(" 你有数据可视化工具吗？")]),t._v(" "),e("ul",[e("li",[t._v("是的。您可以在"),e("a",{attrs:{href:"https://www.microstrain.com/software/sensorconnect",target:"_blank",rel:"noopener noreferrer"}},[t._v("SensorConnect"),e("OutboundLink")],1),t._v("中设置实时数据可视化仪表板，如下所示。您还可以将此数据导出为CSV文件，以便于数据处理，或导出为二进制文件。")])]),t._v(" "),e("p",[e("img",{attrs:{src:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/Resources/Images/Data-tab-example_803x433.png",alt:""}})]),t._v(" "),e("p"),t._v(" "),e("h2",{attrs:{id:"杂项-2"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#杂项-2"}},[t._v("#")]),t._v(" 杂项")]),t._v(" "),e("p"),t._v(" "),e("h3",{attrs:{id:"_3dm-gq7是否发布gpgga-nmea字符串"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#_3dm-gq7是否发布gpgga-nmea字符串"}},[t._v("#")]),t._v(" 3DM-GQ7是否发布GPGGA NMEA字符串？")]),t._v(" "),e("ul",[e("li",[e("p",[t._v("固件版本等于或大于1.1.02的3DM-GQ7s在"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/specifications/Main_Aux.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("主端口"),e("OutboundLink")],1),t._v("上支持选定的NMEA-0183句子。详情请参阅"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/additional_features/NMEA.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("NMEA输出"),e("OutboundLink")],1),t._v("。")])]),t._v(" "),e("li",[e("p",[t._v("对于小于1.1.02的固件版本，3DM-GQ7确实在以下条件下从"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/user_manual_content/RTK/Auxiliary%20Port.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("AUX端口"),e("OutboundLink")],1),t._v("发布GPGGA NMEA字符串：")]),t._v(" "),e("ul",[e("li",[e("p",[t._v("GNSS RTK加密狗配置通过"),e("a",{attrs:{href:"https://s3.amazonaws.com/files.microstrain.com/GQ7+User+Manual/external_content/dcp/Commands/gnss_command/data/mip_gnss_rtk_dongle_configuration.htm",target:"_blank",rel:"noopener noreferrer"}},[t._v("MIP GNSS RTK加密狗配置（0x0E，0x10）"),e("OutboundLink")],1),t._v("命令启用。")])]),t._v(" "),e("li",[e("p",[t._v("该设备至少有一个与修复装置连接的GNSS天线。")]),t._v(" "),e("p",[t._v("**注意：**通过启用上述加密狗，GQ7在1 Hz下生成额外的MIP消息，该消息与GPGGA NMEA字符串一起发送。假设接收设备/服务能够忽略此二进制数据。")])])])])]),t._v(" "),e("p"),t._v(" "),e("p")])}),[],!1,null,null,null);e.default=n.exports}}]);