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Australia | 3 axis of rotational (gyro) measurements
3 axis of acceleration
2 axis of compass (magnetometer)
1 axis of debiasing measurements with two GPS antennas (this is used for on-the-fly temperature/age compensation)
We use these measurements to determine the real time dynamic movement of the machine in 3D space. This enables terrain compensation for tilt, roll and yaw to be used when steering the machine. In short GPS is not enough to precisely position and steer the machine so there has to be more information to smooth things out and keep the machine precisely on the line.
We added extra measurements to double check, health check and calibrate (debias) the core gyro and accelerometer sensors in real time. Because of this the mojoRTK sensors never have to be factory calibrated for temperature and aging biases which affect other manufacturers sensors. Some sensors have to be sent back and recalibrated every few years at significant cost. The classic symptom of age bias in these sensors is the operator having to do a field sensor calibration more regularly than he did when he bought the system. I have seen some older systems need field calibration every time they use the system. This gets very annoying.
Some benefits for high-quality terrain compensation are:
1) More precise line holding particularly for contours
2) Better line acquisition at the start of the field
3) Can smooth over GPS dropouts
4) Better line performance on rolling and steep ground
5) No factory calibration costs when the system gets older
6) Better high-speed operation
Different systems have different number of measurements ranging from 1 axis to 9. RTK systems typically have 6. mojoRTK sensors are located all within the console unit.
To correct a terminology mistake in my post, all the measurements are not 'inertial'. They measure various forces and in the case of GPS debiasing, measures distance.
Hope this helps.
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