Hello. I have been using raw data taken from the Kraken (thanks to the HeIMDALL DAQ Firmware) to make angle estimations by my own. I noticed that SOMETIMES without changing the position of the transmitter or the Kraken, the phase difference between two receivers changes completely after the Kraken calibrates.
With the Kraken calibrating I mean the calibration that the Kraken performs at (random?) times, not the one that performs first when it is initializing.
For example, suppose the phase difference between two channels is, let’s say, 0.3 rad (over a long period of time: every second the difference is close to 0.3 rad). Then the Kraken performs a calibration, and just after that the phase difference may become, let’s say, -0.3 rad (over a long period of time). The change does not seem to be related to the periodicity of the phases. And obviously the angle estimation made with these two channels changes completely after this.
Does someone has any idea what could cause this problem? I repeat, it happens only sometimes after re-calibration.