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Motus Reference Manual

Page 121 of 146

Version 1.1

29/11/2019

fp32

Acceleration Z (m/s/s)

Table 66: Acceleration packet

16.9.19

Body Acceleration Packet

This packet does not include the acceleration due to gravity.

Body Acceleration Packet

Packet ID

Length

Field

Bytes

Offset

Data

Type

Size

Description

fp32

Body acceleration X (m/s/s)

fp32

Body acceleration Y (m/s/s)

fp32

Body acceleration Z (m/s/s)

fp32

G force (g)

Table 67: Body acceleration packet

16.9.20

Euler Orientation Packet

Packet ID

Length

Field

Bytes

Offset

Data

Type

Size

Description

fp32

Roll (rad)

fp32

Pitch (rad)

fp32

Heading (rad)

Table 68: Euler orientation packet

Summary of Contents for Motus

Page 1: ...Motus Reference Manual ...

Page 2: ...8 Part Numbers and Ordering Options 20 8 1 Evaluation Kit 20 8 2 Standalone Unit 20 8 3 Software License Upgrades 20 8 4 Accessories 21 9 Specifications 22 9 1 Mechanical Drawings 22 9 2 Navigation Specifications 23 9 3 Sensor Specifications 24 9 4 Rugged Communication Specifications 24 9 5 OEM Communication Specifications 25 9 6 Rugged Hardware Specifications 25 9 7 OEM Hardware Specifications 26...

Page 3: ...gnetic Calibration 41 11 5 1 1 Using the Motus Manager Software 41 11 5 1 2 Using the Packet Protocol 41 11 5 2 3D Magnetic Calibration 42 11 5 2 1 Using the Motus Manager Software 42 11 5 2 2 Using the Packet Protocol 42 11 5 3 Automatic Magnetic Calibration 42 11 5 4 Disabling Magnetometers 43 11 6 Data Anti Aliasing 43 11 7 Vehicle Profiles 43 11 8 Odometer Pulse Length 43 11 8 1 Odometer Autom...

Page 4: ... 9 Communications Statistics 60 12 7 10 Heave 60 12 8 Configuration 61 12 8 1 Configuration Export 61 12 8 2 Filter Options 62 12 8 3 Packet Rates 63 12 8 4 Alignment Configuration 64 12 8 4 1 Alignment Offset 64 12 8 4 2 GNSS Antenna Offset 64 12 8 4 3 Odometer Offset 65 12 8 4 4 External Data Offset 65 12 8 5 Baud Rates 65 12 8 6 GPIO Configuration 66 12 8 7 Odometer 66 12 8 8 Reset 67 12 8 9 Re...

Page 5: ... 15 4 1 1PPS Output 90 15 4 2 GNSS Fix Output 91 15 4 3 Odometer Input 91 15 4 4 Zero Velocity Input 91 15 4 5 Pitot Tube Input 91 15 4 6 NMEA Input 91 15 4 7 NMEA Output 92 15 4 8 Novatel GNSS Input 92 15 4 9 Topcon GNSS Input 93 15 4 10 ANPP Input 93 15 4 11 ANPP Output 93 15 4 12 Disable Magnetometers 93 15 4 13 Set Zero Orientation Alignment 93 15 4 14 System State Packet Trigger 93 15 4 15 Ra...

Page 6: ...t Acknowledgement 98 16 5 Packet Rates 99 16 6 Packet Timing 99 16 7 Packet Summary 99 16 8 System Packets 101 16 8 1 Acknowledge Packet 101 16 8 1 1 Acknowledge Result 102 16 8 2 Request Packet 102 16 8 3 Boot Mode Packet 103 16 8 3 1 Boot Mode Types 103 16 8 4 Device Information Packet 103 16 8 5 Restore Factory Settings Packet 104 16 8 6 Reset Packet 104 16 8 6 1 Verification Sequence Values 10...

Page 7: ...elocity Packet 119 16 9 26 External Position Packet 119 16 9 27 External Velocity Packet 120 16 9 28 External Body Velocity Packet 120 16 9 29 External Heading Packet 121 16 9 30 Running Time Packet 121 16 9 31 Local Magnetic Field Packet 121 16 9 32 Odometer State Packet 122 16 9 33 External Time Packet 122 16 9 34 External Depth Packet 122 16 9 35 Geoid Height Packet 123 16 9 36 External Pitot P...

Page 8: ...6 10 7 4 Auxiliary RS232 Receive Functions 135 16 10 8 Magnetic Calibration Values Packet 136 16 10 9 Magnetic Calibration Configuration Packet 136 16 10 9 1 Magnetic Calibration Actions 136 16 10 10 Magnetic Calibration Status Packet 137 16 10 10 1 Magnetic Calibration Status 137 16 10 11 Odometer Configuration Packet 138 16 10 12 Set Zero Orientation Alignment Packet 138 16 10 13 Reference Point...

Page 9: ...40 Modified quaternion element labels 16 9 8 and 16 9 21 Clarified geoid height packet description 16 9 35 Removed external pitot pressure packet 16 9 36 Updated external body velocity packet size and definition 16 9 28 Added wheel speed sensor specifications 15 4 28 Corrected Raw GNSS packet velocity units 16 9 10 Updated GPIO output configuration packet 16 10 14 Clarified negative acknowledgemen...

Page 10: ...nsation of sensors leads to overall performance improvement Improvements to heading integrity monitoring algorithm to better reject erroneous measurements 1 4 05 09 2019 Improvements to raw sensor calibration algorithm Better sensor performance through rapid temperature changes leads to performance improvement in cases of fast temperature ramps 1 3 31 05 2019 Improvements to integrity monitoring a...

Page 11: ... 4 16 07 2018 Internal manufacturing improvements No noticeable changes for customers 1 3 07 09 2017 Improvements to ADC synchronisation results in slightly improved performance under high dynamics 1 2 05 10 2016 Internal manufacturing improvements 1 0 14 09 2015 Initial release Table 3 Hardware changelog ...

Page 12: ... or INS functionality It is available in both OEM and enclosed rugged packages Motus can provide amazing results but it does need to be set up properly and operated with an awareness of its limitations Please read through this manual carefully to ensure success within your application The Motus Manager software is downloadable from the software tab of the Motus page on the Advanced Navigation webs...

Page 13: ...eak and struggle to penetrate through buildings and other objects obstructing view of the sky GNSS can also occasionally drop out due to disturbances in the upper atmosphere 5 2 INS INS stands for inertial navigation system An inertial navigation system can provide position and velocity similar to GNSS but with some big differences The principle of inertial navigation is the measurement of acceler...

Page 14: ...denotes the X axis your index denotes the Y axis and your middle denotes the Z axis 5 6 Roll Pitch and Heading Orientation can be described by the three angles roll pitch and heading these are known as the Euler angles The rotation axes of roll pitch and heading are shown visually in Illustration 1 The arrow indicates the positive rotation direction Roll is the angle around the X axis and is zero ...

Page 15: ...rimentally by rotating Motus with your hand whilst watching the orientation plot in real time on the computer 5 7 Geodetic Co ordinate System The geodetic co ordinate system is the most popular way of describing an absolute position on the Earth It is made up of the angles latitude and longitude combined with a height relative to the ellipsoid Latitude is the angle that specifies the north to sout...

Page 16: ...us Reference Manual Page 15 of 146 Version 1 1 29 11 2019 Illustration 5 shows latitude and longitude on a map of the world Illustration 4 Latitude and longitude represented visually to describe a position ...

Page 17: ...level For example in Australia the WGS84 height at sea level is 9 metres at some points 5 8 NED Co ordinate Frame The NED North East Down co ordinate frame is used to express velocities and relative positions The origin of the co ordinate frame can be considered the current position From that origin the north axis points true north and parallel to the line of longitude at that point The east axis ...

Page 18: ... positions on the Earth It s origin is at the centre of the Earth ECEF is an alternative to the geodetic co ordinate frame It is represented by the three axes X Y and Z which are presented graphically in Illustration 6 ECEF positions can be retrieved from Advanced Navigation products however the geodetic system is used as the default Illustration 6 Graphic showing geodetic NED and ECEF co ordinate...

Page 19: ...oad the Motus Manager software from the Motus page of the Advanced Navigation website Java is required to run the software Java is available from http www java com if not already installed 4 Click the connect button in Motus Manager 5 The various windows in Motus Manager can be used to view the real time data 6 To view the data logs click disconnect in Motus Manager In the Tools menu select Log Co...

Page 20: ... and the other end into your computer 3 Download the Motus Manager software from the Motus page of the Advanced Navigation website Java is required to run the software Java is available from http www java com if not already installed 4 Click the connect button in Motus Manager 5 The various windows in Motus Manager can be used to view the real time data 6 To view the data logs click disconnect in ...

Page 21: ...Motus Reference Manual Page 20 of 146 Version 1 1 29 11 2019 same folder as the Motus Manager software ...

Page 22: ...y AHRS and INS upgrade licenses can be purchased separately see section 8 3 Table 4 Evaluation kit part numbers 8 2 Standalone Unit Part Number Description Notes MOTUS RUG Motus Rugged Unit Motus rugged unit No cables included IMU functionality only AHRS and INS upgrade licenses can be purchased separately see section 8 3 MOTUS OEM Motus OEM Unit Motus OEM unit No cables included IMU functionality...

Page 23: ...ble 6 Software license upgrade part numbers 8 4 Accessories Part Number Description Notes A503 SDC20796 ODU plug to FTDI USB cable Motus rugged ODU plug with 2 metres of cable to FTDI USB plug see section 9 12 A503 SDC20740 2M ODU plug with 2m cable unterminated Motus rugged ODU plug with 2 metres of unterminated cable see section 9 11 A503 SDC20753 ODU to D9 connectors and DC socket Motus rugged ...

Page 24: ...Motus Reference Manual Page 23 of 146 Version 1 1 29 11 2019 9 Specifications 9 1 Mechanical Drawings Illustration 11 Motus rugged mechanical drawings ...

Page 25: ...o full AHRS or INS capability through a software license upgrade As an INS it can be interfaced to any of the leading brands of GNSS receivers to create an OEM GNSS INS solution When using a Trimble MBTwo receiver for example the following specifications are achievable Illustration 12 Motus OEM mechanical drawings ...

Page 26: ...y dual antenna GNSS 0 05 Orientation Range Unlimited Hot Start Time 2 s Internal Filter Rate 1000 Hz Output Data Rate Up to 1000 Hz Table 8 Navigation specifications 9 3 Sensor Specifications Parameter Accelerometers Gyroscopes Magnetometers Range 10 g 475 s 8 G Bias Instability 8 ug 0 4 hr Initial Bias 1 mg 10 hr Initial Scaling Error 0 03 0 02 0 07 Scale Factor Stability 0 04 0 03 0 09 Non linea...

Page 27: ...ications Parameter Value Interface 3 3V TTL serial port 5V tolerant input Speed 2400 to 10M baud Protocol AN Packet Protocol Peripheral Interface 2x GPIO and 1x Auxiliary serial port 3 3V TTL GPIO Level 3 3V TTL 5V tolerant input Table 11 OEM communication specifications 9 6 Rugged Hardware Specifications Parameter Value Operating Voltage 5 to 36 V Input Protection 60 V Power Consumption 0 95 W ty...

Page 28: ...rdware Specifications Parameter Value Operating Voltage 4 5 to 5 5 V Input Protection None Power Consumption 0 95 W typical Hot Start Battery Capacity 48 hrs Hot Start Battery Charge Time 30 mins Hot Start Battery Endurance 10 years Operating Temperature 40 C to 85 C Environmental Sealing None Shock Limit 2000 g Vibration Limit 8 g Dimensions 31 x 31 x 24 mm Weight 26 grams Table 13 OEM hardware s...

Page 29: ...ut Voltage Low 0 V 0 3 V Output Voltage High 4 8 V 5 V Output Current 5 mA Input Voltage 20 V 20 V Input Threshold Low 1 5 V Input Threshold High 3 5 V Table 14 Rugged electrical specifications 9 9 OEM Electrical Specifications Parameter Minimum Typical Maximum Power Supply Input Supply Voltage 4 5 V 5 5 V Input Protection Range None None Serial and GPIO Signal Levels Output Voltage Low 0 V 0 4 V ...

Page 30: ...der demanding conditions and is rated to IP68 in the mated condition Plugs are supplied with 2 metres of unterminated shielded cable with an outer protective jacket part number A503 SDC20740 2M Each individual wire is colour coded PFA coated 28AWG wire with an external shield and insulation Custom cable lengths can be ordered by request Illustration 13 Maximum and typical current consumption acros...

Page 31: ...aluation kit is supplied with a 2 metre cable with a Motus ODU plug on one end and an overmoulded RS232 to USB converter on the other end please see Illustration 15 The cable is the same 9 wire cable supplied with unterminated ODU cables and all 9 wires are connected on the ODU end If required it is possible to cut off the overmoulded RS232 converter to get access to all the individual wires The c...

Page 32: ... 17 Evaluation kit USB cable pin out 9 13 Optional Rugged Breakout Cable Advanced Navigation offers a pre terminated breakout cable for access to all of Motus s pins All external signal and power connections are provided with 2m of cable The interface cable is provided with industry standard 9 pin DSUB connectors for each of the two RS232 communication channels and GPIO pins The breakout cable is ...

Page 33: ...round Ring Table 18 Optional breakout cable connector pin out 9 14 Sensor Calibration Motus s sensors are calibrated for bias sensitivity misalignment cross axis sensitivity non linearity and gyroscope linear acceleration sensitivity across the full operating temperature range 9 15 Serial Number The serial number can be inspected by using the Device Information dialogue in the Motus Manager softwa...

Page 34: ...the outside rear of the enclosure with the serial number encoded in a 2D data matrix bar code to assist customers in tracking their units see Illustration 17 The external label also contains the hardware version and build date Applications are available for most smart phones that can scan the 2D data matrix bar code to display the serial number Illustration 17 Motus external serial number label ...

Page 35: ...ific to your application 2 Motus should be mounted away from vibration where possible 3 Motus should be mounted close to the centre of gravity of the vehicle where possible 4 If the magnetic sensors or magnetic heading are going to be used the Motus unit should be mounted away from sources of changing magnetic interference such as high current wiring motors moving steel masses and rotating or reci...

Page 36: ...otus contains a fully isolated power supply and has separate grounds for power and signal to ensure that power supply noise does not corrupt communications or cause ground loops with other equipment When wiring the system the signal ground should be routed with the primary RS232 auxiliary RS232 GNSS RS232 and GPIO pins The power ground should be routed with the power supply to the power source A p...

Page 37: ...nsor signal that can be wired directly into one of Motus s GPIO pins The vehicle should be taken to an automotive electrician to perform the work To setup the odometer the appropriate GPIO pin should be set to odometer input using Motus Manager see section 12 8 6 The odometer pulse length must then be set either manually or automatically please see section 11 8 for more information For more inform...

Page 38: ...Motus Reference Manual Page 37 of 146 Version 1 1 29 11 2019 ...

Page 39: ...igation recommends aftermarket wheel speed sensors from Pegasem or GMH Engineering 10 5 4 Radar Speed Sensor For applications requiring high performance in harsh conditions where aftermarket wheel speed sensors are not feasible a radar speed sensor is recommended Advanced Navigation recommends radar speed sensors from Stalker or GMH Engineering Illustration 20 Aftermarket wheel speed sensor Illust...

Page 40: ...ic magnetic interference is to use the raw sensors view in Motus Manager and watch the magnetometer outputs whilst the vehicle is operating but stationary see section 12 7 4 The values should be constant if the values are fluctuating there is dynamic magnetic interference present If dynamic magnetic interference is causing performance problems and there is no way to mount Motus away from the inter...

Page 41: ...ct the gravity vector Whilst this is occurring if there are random accelerations present these can cause an incorrect orientation to be detected To prevent this Motus monitors the accelerometers and gyroscopes and restarts the orientation detection if there are sudden movements It is however still possible under some circumstances for it to miss minor movements and start with a small orientation e...

Page 42: ...ill not be able to reach full accuracy 11 1 4 Time Initialisation Time initialisation completes once the system has determined time accurately For this to occur the system must receive rough time as well as a 1PPS signal on one of the GPIO pins The rough time is typically received from a GNSS receiver when it achieves a fix It is also possible to provide an external source of time see section 15 2...

Page 43: ...ction of velocity and acceleration Velocity heading works well with cars boats fixed wing aircraft and other vehicles that don t move sideways Velocity heading does not work with helicopters and other 3D vehicles The downside of velocity heading is that heading can not be measured until the vehicle moves at a horizontal speed of over 1 15 metres second with a GNSS fix The benefits of velocity head...

Page 44: ...d where possible Automatic magnetic calibration continuously and automatically calibrates for static magnetic interference while the unit is in operation It is not as accurate as the 2D or 3D calibration however it is very convenient for applications where Motus needs to just work without user intervention Please note that if Motus is going to be used in a vehicle the calibration should be perform...

Page 45: ...on Status Packet to ensure that the calibration completed successfully If not successful send the Magnetic Calibration Configuration Packet with the action Cancel wait 2 minutes and repeat from step 4 11 5 2 3D Magnetic Calibration The following procedure should be used to perform a 3D magnetic calibration 11 5 2 1 Using the Motus Manager Software 1 The unit should be powered on and the vehicle ke...

Page 46: ...libration is enabled by default and it is recommended to keep it enabled for all vehicle types When used on top of a 2D or 3D calibration it can give the best results from magnetic heading Every time Motus is powered on in a cold start 48 hours without power the automatic calibration is reset The automatic magnetic calibration starts operating when Motus is travelling at a speed over 5 m s with a ...

Page 47: ...librated by Motus To enter the pulse length manually please use the Odometer configuration dialogue in Motus Manager see section 12 8 7 To automatically calibrate the odometer pulse length please use the procedure listed below in section 11 8 1 By default the odometer will automatically calibrate itself 11 8 1 Odometer Automatic Pulse Length Calibration Procedure 1 Ensure that the signal is connec...

Page 48: ...inutes for it s heave filter to converge upon an accurate solution Heave works without a GNSS fix however best heave performance is achieved when Motus has a GNSS fix By default Motus provides heave from the point at which the Motus unit is mounted however it can provide heave at four different offset points on the ship To set the heave offsets use the Reference Position Offsets dialogue in Motus ...

Page 49: ... the connectors if the Motus Rugged unit is dirty or dusty the dirt should be rinsed off with fresh water first and then dried off This is to prevent dirt or dust entering the connectors which can cause them to fail 11 12 5 PH Level Environments with a high or low PH level can cause the Motus Rugged enclosure to corrode If Motus Rugged comes into contact with these environments it should be rinsed...

Page 50: ...ion 1 1 29 11 2019 12 Motus Manager Motus Manager is a software tool provided by Advanced Navigation for logging testing display and configuration of Motus It is designed to be simple and easy to use Illustration 23 Screenshot of Motus Manager ...

Page 51: ...ivers VCP htm 12 4 Troubleshooting Please contact support advancednavigation com if you are having issues 12 4 1 All Platforms If the globe does not appear in the 3D map area this indicates that either your graphics card is not powerful enough or your graphics card driver is out of date 12 4 2 Windows There is a well known problem with USB serial devices under Windows known as crazy mouse The prob...

Page 52: ...es window click the port settings tab and then the advanced button You then need to change the latency timer setting to 1ms Please see the screenshot in Illustration 24 12 4 3 Linux If serial ports do not show up the typical cause is permissions The user should add themselves to the dialout group with the command sudo adduser username dialout Compiz causes issues with the 3D mapping If you are exp...

Page 53: ...also sometimes cause problems on Linux installations If you are not using a modem it is recommended to remove modemmanager with the command sudo apt get remove modemmanager Motus Manager is able to run on the OpenJDK JRE but it uses significantly more system resources than when it is running on the Oracle JRE ...

Page 54: ...00 The Connection Indicator displays whether there is communication with a Motus unit 12 5 2 Attitude Indicator The aircraft style Attitude Indicator shows roll and pitch through a virtual horizon Around the sides heading speed and height are shown All units are SI metric and degrees 12 5 3 Status Indicator The Status indicator section contains a Motus status indicator a fix indicator and a Illust...

Page 55: ... on the map To zoom in and out use the scroll wheel To change the camera view right click and drag or shift click and drag 12 5 5 3D Map Controls 12 5 5 1 Reset View This resets the map view to Motus s current position 12 5 5 2 Clear History This clears the current position history this is the red trail shown on the map 12 6 Logging Motus Manager features a fully automatic logging system Every tim...

Page 56: ...29 11 2019 12 7 View The View menu contains a number of different options for viewing data from Motus 12 7 1 Device Information Illustration 26 Screenshot showing log file and log conversion folder Illustration 27 Screenshot of Motus Manager View menu ...

Page 57: ... 2019 12 7 2 Status Status shows Motus s complete status as contained in the system state packet detailed in section 16 9 1 1 Illustration 28 Screenshot of Motus Manager Device Information dialogue Illustration 29 Screenshot of Motus Manager Status dialogue ...

Page 58: ...sion 1 1 29 11 2019 12 7 3 Satellites Satellites shows detailed information on the satellites that Motus s GNSS receiver is tracking Elevation and azimuth are in units of degrees Illustration 30 Screenshot of Motus Manager Satellites dialogue ...

Page 59: ...us Reference Manual Page 58 of 146 Version 1 1 29 11 2019 12 7 4 Raw Sensors Raw sensors shows the temperature calibrated raw sensor values Illustration 31 Screenshot of Motus Manager Raw Sensors dialogue ...

Page 60: ...rence Manual Page 59 of 146 Version 1 1 29 11 2019 12 7 5 Orientation Orientation shows Motus s orientation angular velocity and orientation error Illustration 32 Screenshot of Motus Manager Orientation dialogue ...

Page 61: ... 1 1 29 11 2019 12 7 6 Position Position shows Motus s position and position error Latitude and longitude are converted to North and East metres from a reference point that can be reset Illustration 33 Screenshot of Motus Manager Position dialogue ...

Page 62: ... Page 61 of 146 Version 1 1 29 11 2019 12 7 7 Velocity and Acceleration Velocity and Acceleration shows Motus s velocity acceleration and g force Illustration 34 Screenshot of Motus Manager Velocity and Acceleration dialogue ...

Page 63: ...Motus Reference Manual Page 62 of 146 Version 1 1 29 11 2019 12 7 8 3D Model This dialogue shows a real time 3D model of Motus s orientation Illustration 35 Screenshot of Motus Manager 3D Model dialogue ...

Page 64: ...ived from Motus and can be useful in diagnosing signal integrity problems 12 7 10 Heave For the Heave dialogue to function the heave packet ID 58 must be set to output periodically using the Packet Rates dialogue Illustration 36 Screenshot of Motus Manager Communications Statistics dialogue Illustration 37 Screenshot of Motus Manager Heave dialogue ...

Page 65: ...e Configuration Export dialogue can be used to export all Motus settings to a file This file can be imported at a later date or on other units This is useful to restore a unit to preset configuration at a later date or for batch configuration of multiple units Illustration 38 Screenshot of Motus Manager Configuration menu Illustration 39 Screenshot of Motus Manager Configuration Export dialogue ...

Page 66: ... 11 2019 12 8 2 Filter Options For most applications the default filter options should be used and only the vehicle profile set If in doubt please contact support advancednavigation com Illustration 40 Screenshot of Motus Manager Filter Options dialogue ...

Page 67: ...ed are the System State Packet ID 20 and the Raw Sensors Packet ID 28 at 20Hz and these typically provide all the data that a user will require These two packets need to be enabled for the data graphs to update in Motus Manager Other state packets can be enabled as required Please see the Packet Summary table in section 16 7 for a list of all packets Illustration 41 Screenshot of Motus Manager Pac...

Page 68: ...d in a different orientation then the roll pitch and heading offset must be entered For example if the unit is installed on its side with the X axis pointing up and the Z axis pointing forwards and no change to the Y axis then this would result in a pitch offset of 90 degrees with roll and heading remaining zero If there is a small misalignment due to mechanical mounting error this can be compensa...

Page 69: ...me X positive forward Z positive down 12 8 4 4 External Data Offset These values are only required for speciality applications operating with external sources of data Please contact support advancednavigation com for assistance with these values 12 8 5 Baud Rates When changing baud rates some Microsoft Windows machines are unable to function at the higher baud rates It is recommended to test the b...

Page 70: ... pins function at RS232 levels for data functions and 0 to 5 volt levels for all other functions The internal hardware automatically reconfigures based upon the selected function 12 8 7 Odometer The Odometer dialogue allows the user to configure the odometer pulse length and view the real time odometer data to verify correct operation Illustration 44 Screenshot of Motus Manager GPIO configuration ...

Page 71: ...e measurement points to different positions on the vessel When the values are zero the measurement point is the centre of the Motus unit This can be offset to a different position on the ship by entering the offset value from the centre of the Motus unit to the desired position in the body co ordinate frame X positive forwards Z positive down Please note that these values only apply to the Heave P...

Page 72: ... 2019 12 8 10 GPIO Output The GPIO Output configuration dialogue allows the user to configure the output rates for the GPIO and Auxiliary RS232 data functions NMEA TSS and PASHR Illustration 48 Screenshot of Motus Manager GPIO Output configuration dialogue ...

Page 73: ...when a GNSS fix is not available Setting the position will initialise the navigation filter Setting the heading will initialise the heading 12 9 Tools The Tools menu contains tools for performing procedures with Motus Illustration 49 Screenshot of Motus Manager Manual Initialisation dialogue Illustration 50 Screenshot of Motus Manager Tools menu ...

Page 74: ...lows the user to perform magnetic calibration as well as view and modify the magnetic calibration values The actual magnetic calibration is performed inside the Motus unit This dialogue does not have any smarts it is just a control and display interface Illustration 51 Screenshot of Motus Manager Magnetic Calibration dialogue ...

Page 75: ... and time it was generated by engineering 12 9 3 Log Converter This tool allows the user to convert Motus log files into various standard formats that are readable by many programs The position offset values can used to project the exported position to a point other than the centre of the Motus unit For most users these values should be left at zero Illustration 52 Screenshot of Motus Manager Firm...

Page 76: ...ws Motus Manager to make a connection to Motus over a TCP IP network rather than the default serial port connection This allows Motus to be used with ethernet to serial converters Advanced Navigation recommends Lantronix ethernet to serial converters Illustration 54 Screenshot of Motus Manager Network Connect dialogue ...

Page 77: ...e mating height for the board to board connector without any additional components Once the Motus OEM is connected to target PCB four M1 6 screws and washers and nuts on the back side of the target PCB are used to hold the Motus OEM in place please see Illustration 55 The length of the M1 6 screws will be depended on the thickness of the target PCB M1 6x8mm screws are recommended for 1 6mm thickne...

Page 78: ... should be noted that this connector is not designed for the Motus OEM to be plugged in whilst power is applied to the user s PCB and connector mating cycles should not exceed 50 cycles to ensure connector reliability The manufacturers part number for the required PCB connector is Hirose Part DF40C 2 0 20DS 0 4V 51 The connector can be ordered from the following distributors using the following nu...

Page 79: ...Motus Reference Manual Page 78 of 146 Version 1 1 29 11 2019 Illustration 58 Motus OEM connector pin numbering ...

Page 80: ...m the target interface If you require a different voltage level to be compatible with your target system it is recommended that you install a voltage level translator between the signals of each device To power the translator 3 3V is provided on pin 7 of the Motus OEM connector This supply is only capable of driving up to 25mA and should be appropriately decoupled when powering a circuit 13 2 2 Re...

Page 81: ...Motus OEM 13 3 Recommended Footprint The footprint for Motus OEM incorporates four through hole for M1 6 screws to pass through and 20 SMD pads for the board to board connector The board to board connector should be the only component within the keep out area as shown in Illustration 60 and Illustration 61 Illustration 59 Motus OEM basic electrical connections ...

Page 82: ...ction of the website Please contact Advanced Navigation support if you have any issues or to verify your footprint is correct Illustration 60 Photo of Motus OEM mounting PCB footprint Illustration 61 Recommended footprint for Motus OEM 35 27 4 x 1 70 8 89 6 10 A Keep Out Area 0 70 0 20 0 40 3 78 DETAIL A SCALE 2 1 1 2 ...

Page 83: ... to avoid unsuccessful power up It is recommended that a supply is selected that can provide a maximum current of 0 5A Switch mode supplies are suitable as Motus OEM has on board filters to remove any supply noise and ripple 13 5 OEM Pin Protection Users should ensure that any signals that are connected externally from the PCB including GPIO and UART pins are adequately protected The use of a 5V z...

Page 84: ...ard The OEM development board is a configurable PCB that provides developers with easy access to all of the features of the Motus OEM unit through a number of different interfaces Illustration 63 shows an image of the OEM development board Illustration 63 Motus OEM development board ...

Page 85: ...32 transceiver is included on the development board to allow developers to communicate with the Motus OEM unit via RS232 The SP3222EU allows baud rates of up to 1000000 baud Channel 1 of the SP3222EU is for use with the primary serial port on the Motus OEM unit and Channel 2 of the SP3222EU is for use with GPIO 3 RS232 TX 2 and GPIO 4 RS232 RX 2 Connection to the RS232 level signals is through a 3...

Page 86: ...signals may result in damage to Motus OEM Other pins on the GPIO header include a regulated 3 3V supply from Motus that can supply up to 50mA Motus reset line and the external voltage input VEXT 14 4 Configuration Switches The OEM development board contains a DIP switch array that allows the user to route signals between the USB to serial converter RS232 converter and GPIO header The configuration...

Page 87: ...port RX to RS232 transceiver RS232 RX 1 Please note that only one of the switches 2 3 or 4 should be turned on at once to prevent short circuit 3 Off Connect primary serial port RX to USB serial converter Please note that only one of the switches 2 3 or 4 should be turned on at once to prevent short circuit 4 Off Connect primary serial port RX to GPIO header UART RX Please note that only one of th...

Page 88: ... RS232 1 and GPIO 3 4 to RS232 2 14 4 3 Primary Serial Port and GPIO 3 4 to GPIO Header at TTL levels Illustration 69 Switch positions for primary serial port and GPIO 3 4 to GPIO header at TTL levels Illustration 68 Switch positions for primary serial port to RS232 1 and GPIO 3 4 to RS232 2 ...

Page 89: ...to the board through VEXT on either the GPIO header of RS232 header and can be any voltage between 4V and 36V Please refer to the Motus OEM Reference Manual for full power supply requirements The power source is selected by a three way switch please see Illustration 70 and Illustration 71 14 6 Schematics See the following pages for the development board schematics Illustration 70 Power switch posi...

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Page 92: ...using the Motus Manager software see section 12 8 5 or the Baud Rates packet see section 16 10 3 It is important to select a baud rate that is capable of carrying the amount of data that Motus is configured to output See Packet Rates in section 16 5 for more details on the data output calculation The data rate in bytes per second can be calculated by dividing the baud rate by 10 For example if the...

Page 93: ...dialog box in Motus Manager see section 12 8 5 or the Baud Rates Packet see section 16 10 3 The available GPIO pin functions and auxiliary RS232 functions are listed below in section 15 4 The function of a GPIO pin or the auxiliary RS232 can be changed at any time using the GPIO configuration dialog box in Motus Manager see section 12 8 6 or the GPIO Configuration Packet see section 16 10 7 GPIO 1...

Page 94: ... Left Wheel Speed Sensor Frequency Input All Receive Right Wheel Speed Sensor Frequency Input All Receive 1PPS Input Digital Input All Receive Wheel Speed Sensor Frequency Input All Receive Wheel Encoder Phase A Frequency Input All Wheel Encoder Phase B Frequency Input All Event 1 Input Digital Input All Receive Event 2 Input Digital Input All Receive TSS1 Output Serial Transmit 1 Transmit Simrad ...

Page 95: ...n is designed for low resolution vehicle speed sensors and odometers It expects a normally low input with a high state for the trigger If the pulse length is more than 0 1 metres this odometer input function should be used if it is less than 0 1 metres the wheel speed sensor function should be used Please contact Advanced Navigation support for help integrating with your speed sensor Parameter Val...

Page 96: ...g GPGSV GNGSV Satellites GPGSA GNGSA Dilution of Position GPZDA GNZDA Time Table 26 Supported NMEA messages 15 4 7 NMEA Output This function outputs a configurable combination of NMEA messages at up to 50 Hz The messages output and the output rate can be configured using the GPIO Output configuration dialogue in Motus Manager A complete list of available messages can be found in section 16 10 14 A...

Page 97: ...5 4 12 Disable Magnetometers This function accepts a digital input with a low state enabling the magnetometers and a high state disabling the magnetometers 15 4 13 Set Zero Orientation Alignment This function accepts a digital input The input is normally low and a transition from low to high causes Motus to set it s alignment so that the current orientation is zero Due to the risk of exhausting th...

Page 98: ...the Hemisphere binary format and expects message Bin1 at rates higher than 1Hz For Hemisphere receivers that provide heading using two antennas NMEA should be used instead as the binary format does not allow for transmission of heading information 15 4 20 Teledyne DVL Input This function accepts DVL data from a Teledyne DVL For assistance with configuration please contact support advancednavigatio...

Page 99: ...rt for help integrating with your speed sensor Parameter Value Trigger Low High Maximum Frequency 40 MHz Maximum Pulse Rate 4 294 967 295 pulses metre Table 27 Wheel Speed Sensor Specifications 15 4 29 Wheel Encoder Phase A This function is designed for rotary incremental quadrature encoders It should be used in combination with Wheel Encoder Phase B 15 4 30 Wheel Encoder Phase B This function is ...

Page 100: ...d it will be sent back using the same Serial Port Pass through Packet 15 4 37 Gimbal Encoder Phase A This function is designed for interfacing with a rotary incremental quadrature encoder to measure the azimuth angle of a gimbal that Motus is installed in It should be used in combination with Gimbal Encoder Phase B 15 4 38 Gimbal Encoder Phase B This function is designed for interfacing with a rot...

Page 101: ...directions such as locomotives 15 4 43 Zero Angular Velocity Input In this function a high state indicates to Motus that the vehicle is not rotating The low state indicates that the vehicle could be rotating Use of this function can significantly improve heading drift performance as well as improve bias estimates when a GNSS signal is not available It should be asserted whenever the vehicle has be...

Page 102: ...signed char unsigned byte uint8_t s8 1 char byte int8_t u16 2 unsigned short uint16_t s16 2 short int16_t u32 4 unsigned int unsigned long uint32_t s32 4 int long int32_t u64 8 unsigned long long uint64_t s64 8 long long int64_t fp32 4 float fp64 8 double Table 28 Data type abbreviations used in the ANPP 16 2 Packet Structure The ANPP packet structure is shown in Table 29 and the header format is ...

Page 103: ...me i e temperature State packets can be set to output at a certain rate State packets are packet IDs in the range 20 to 179 Configuration packets are used for reading and writing device configuration Configuration packets are packet IDs in the range 180 to 255 16 2 3 Packet Length The packet length denotes the length of the packet data i e from byte index 5 onwards inclusive Packet length has a ra...

Page 104: ...he packets output is from lowest ID to highest ID 16 6 Packet Timing Packets are output in order of packet ID from lowest ID to highest ID and all packets that are output in one sequence have their data matched to the same time of validity The time of validity can be found in either the System State Packet the Unix Time Packet or the Formatted Time Packet For example if the Unix Time Packet Status...

Page 105: ...cket 35 12 R NED Velocity Packet 36 12 R Body Velocity Packet 37 12 R Acceleration Packet 38 16 R Body Acceleration Packet 39 12 R Euler Orientation Packet 40 16 R Quaternion Orientation Packet 41 36 R DCM Orientation Packet 42 12 R Angular Velocity Packet 43 12 R Angular Acceleration Packet 44 60 R W External Position Velocity Packet 45 36 R W External Position Packet 46 24 R W External Velocity ...

Page 106: ...ion Alignment Packet 186 17 R W Filter Options Packet 187 Advanced Filter Parameters Packet 188 13 R W GPIO Configuration Packet 189 49 R W Magnetic Calibration Values Packet 190 1 W Magnetic Calibration Configuration Packet 191 3 R Magnetic Calibration Status Packet 192 8 R W Odometer Configuration Packet 193 5 W Set Zero Orientation Alignment Packet 194 49 R W Reference Point Offsets Packet 195 ...

Page 107: ...ure values outside of valid ranges 4 Acknowledge failure system flash memory failure 5 Acknowledge failure system not ready 6 Acknowledge failure unknown packet Table 33 Acknowledge result 16 8 2 Request Packet Request Packet Packet ID 1 Length 1 x number of packets requested Field Bytes Offset Data Type Size Description 1 0 u8 1 Packet ID requested Field 1 repeats for additional packet requests T...

Page 108: ...ata Type Size Description 1 0 u32 4 Software version 2 4 u32 4 Device ID 3 8 u32 4 Hardware revision 4 12 u32 4 Serial number part 1 5 16 u32 4 Serial number part 2 6 20 u32 4 Serial number part 3 Table 37 Device information packet 16 8 5 Restore Factory Settings Packet Restore Factory Settings Packet Packet ID 4 Length 4 Field Bytes Offset Data Type Size Description 1 0 u32 4 Verification Sequenc...

Page 109: ...tion 0x21057A7E Standard hot start reset 0x9A5D38B7 Cold start reset Table 40 Verification sequence values 16 8 7 Serial Port Pass through Packet Serial Port Pass through Packet Packet ID 10 Length Variable up to 255 bytes Field Bytes Offset Data Type Size Description 1 0 u8 1 Pass through route see section 16 8 7 1 2 1 Pass through data Table 41 Serial port pass through packet 16 8 7 1 Pass throu...

Page 110: ...n 16 9 1 1 2 2 u16 2 Filter status see section 16 9 1 2 3 4 u32 4 Unix time seconds see section 16 9 1 4 4 8 u32 4 Microseconds see section 16 9 1 5 5 12 fp64 8 Latitude rad 6 20 fp64 8 Longitude rad 7 28 fp64 8 Height m 8 36 fp32 4 Velocity north m s 9 40 fp32 4 Velocity east m s 10 44 fp32 4 Velocity down m s 11 48 fp32 4 Body acceleration X m s s 12 52 fp32 4 Body acceleration Y m s s 13 56 fp3...

Page 111: ...ing true Bit Description 0 System Failure 1 Accelerometer Sensor Failure 2 Gyroscope Sensor Failure 3 Magnetometer Sensor Failure 4 Reserved set to zero 5 Reserved set to zero 6 Accelerometer Over Range 7 Gyroscope Over Range 8 Magnetometer Over Range 9 Reserved set to zero 10 Minimum Temperature Alarm 11 Maximum Temperature Alarm 12 Low Voltage Alarm 13 High Voltage Alarm 14 Reserved set to zero ...

Page 112: ...ix Status see section 16 9 1 3 5 6 7 Event 1 Occurred 8 Event 2 Occurred 9 Reserved set to zero 10 Magnetic Heading Active 11 Velocity Heading Enabled 12 Reserved set to zero 13 External Position Active 14 External Velocity Active 15 External Heading Active Table 45 Filter status 16 9 1 3 GNSS Fix Status Value Bit 6 Bit 5 Bit 4 Description 0 0 0 0 No GNSS fix 1 0 0 1 2D GNSS fix 2 0 1 0 3D GNSS fi...

Page 113: ...x Time Packet Packet ID 21 Length 8 Field Bytes Offset Data Type Size Description 1 0 u32 4 Unix time seconds see section 16 9 1 4 2 4 u32 4 Microseconds see section 16 9 1 5 Table 47 Unix time packet 16 9 3 Formatted Time Packet Formatted Time Packet Packet ID 22 Length 14 Field Bytes Offset Data Type Size Description 1 0 u32 4 Microseconds 2 4 u16 2 Year 3 6 u16 2 Year day 0 365 4 8 u8 1 Month 0...

Page 114: ...n m 2 4 fp32 4 Longitude standard deviation m 3 8 fp32 4 Height standard deviation m Table 50 Position standard deviation packet 16 9 6 Velocity Standard Deviation Packet Velocity Standard Deviation Packet Packet ID 25 Length 12 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Velocity north standard deviation m s 2 4 fp32 4 Velocity east standard deviation m s 3 8 fp32 4 Velocity down sta...

Page 115: ...rientation standard deviation packet 16 9 8 Quaternion Orientation Standard Deviation Packet Quaternion Orientation Standard Deviation Packet Packet ID 27 Length 16 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Qs standard deviation 2 4 fp32 4 Qx standard deviation 3 8 fp32 4 Qy standard deviation 4 12 fp32 4 Qz standard deviation Table 53 Quaternion orientation standard deviation packe...

Page 116: ...ero 12 44 fp32 4 Reserved set to zero Table 54 Raw sensors packet 16 9 10 Raw GNSS Packet This packet represents the raw data as it is received from the GNSS receiver The position is not corrected for antenna position offset and the velocity is not compensated for the antenna lever arm offset The INS position and velocity that are in the other packets are corrected for antenna position offset and ...

Page 117: ... fp32 4 Velocity down m s 9 44 fp32 4 Latitude standard deviation m 10 48 fp32 4 Longitude standard deviation m 11 52 fp32 4 Height standard deviation m 12 56 fp32 4 Tilt rad 13 60 fp32 4 Heading rad 14 64 fp32 4 Tilt standard deviation rad 15 68 fp32 4 Heading standard deviation rad 16 72 u16 2 Status see section 16 9 10 1 Table 55 Raw GNSS packet ...

Page 118: ...ormation for a specific field is not received from the external GNSS receiver the field will be output as zero Satellites Packet Packet ID 30 Length 13 Field Bytes Offset Data Type Size Description 1 0 fp32 4 HDOP 2 4 fp32 4 VDOP 3 8 u8 1 GPS satellites 4 9 u8 1 GLONASS satellites 5 10 u8 1 BeiDou satellites 6 11 u8 1 GALILEO satellites 7 12 u8 1 SBAS satellites Table 57 Satellites packet 16 9 12 ...

Page 119: ...te number PRN 3 2 s8 1 Satellite frequencies see section 16 9 12 2 4 3 u8 1 Elevation deg 5 4 u16 2 Azimuth deg 6 6 u8 1 SNR Fields 1 6 repeat for additional satellites Table 58 Detailed satellites packet 16 9 12 1 Satellite Systems Value System 0 Unknown 1 GPS 2 GLONASS 3 BeiDou 4 GALILEO 5 SBAS 6 QZSS 7 Starfire 8 Omnistar Table 59 Satellite systems 16 9 12 2 Satellite Frequencies Bit Descriptio...

Page 120: ...ude rad 3 16 fp64 8 Height m Table 61 Geodetic position packet 16 9 14 ECEF Position Packet ECEF Position Packet Packet ID 33 Length 24 Field Bytes Offset Data Type Size Description 1 0 fp64 8 ECEF X m 2 8 fp64 8 ECEF Y m 3 16 fp64 8 ECEF Z m Table 62 ECEF position packet 16 9 15 UTM Position Packet UTM Position Packet Packet ID 34 Length 26 Field Bytes Offset Data Type Size Description 1 0 fp64 8...

Page 121: ...elocity down m s Table 64 NED velocity packet 16 9 17 Body Velocity Packet Body Velocity Packet Packet ID 36 Length 12 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Velocity X m s 2 4 fp32 4 Velocity Y m s 3 8 fp32 4 Velocity Z m s Table 65 Body velocity packet 16 9 18 Acceleration Packet This packet includes the acceleration due to gravity Acceleration Packet Packet ID 37 Length 12 Fie...

Page 122: ...D 38 Length 16 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Body acceleration X m s s 2 4 fp32 4 Body acceleration Y m s s 3 8 fp32 4 Body acceleration Z m s s 4 12 fp32 4 G force g Table 67 Body acceleration packet 16 9 20 Euler Orientation Packet Euler Orientation Packet Packet ID 39 Length 12 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Roll rad 2 4 fp32 4 Pitch rad 3 8 ...

Page 123: ...t 16 9 22 DCM Orientation Packet DCM Orientation Packet Packet ID 41 Length 36 Field Bytes Offset Data Type Size Description 1 0 fp32 4 DCM 0 0 2 4 fp32 4 DCM 0 1 3 8 fp32 4 DCM 0 2 4 12 fp32 4 DCM 1 0 5 16 fp32 4 DCM 1 1 6 20 fp32 4 DCM 1 2 7 24 fp32 4 DCM 2 0 8 28 fp32 4 DCM 2 1 9 32 fp32 4 DCM 2 2 Table 70 DCM orientation packet 16 9 23 Angular Velocity Packet Angular Velocity Packet Packet ID ...

Page 124: ...acceleration packet 16 9 25 External Position Velocity Packet External Position Velocity Packet Packet ID 44 Length 60 Field Bytes Offset Data Type Size Description 1 0 fp64 8 Latitude rad 2 8 fp64 8 Longitude rad 3 16 fp64 8 Height m 4 24 fp32 4 Velocity north m s 5 28 fp32 4 Velocity east m s 6 32 fp32 4 Velocity down m s 7 36 fp32 4 Latitude standard deviation m 8 40 fp32 4 Longitude standard d...

Page 125: ...4 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Velocity north m s 2 4 fp32 4 Velocity east m s 3 8 fp32 4 Velocity down m s 4 12 fp32 4 Velocity north standard deviation m s 5 16 fp32 4 Velocity east standard deviation m s 6 20 fp32 4 Velocity down standard deviation m s Table 75 External velocity packet 16 9 28 External Body Velocity Packet This packet has been defined to support a si...

Page 126: ...rnal Heading Packet External Heading Packet Packet ID 48 Length 8 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Heading rad 2 4 fp32 4 Heading standard deviation rad Table 77 External heading packet 16 9 30 Running Time Packet Running Time Packet Packet ID 49 Length 8 Field Bytes Offset Data Type Size Description 1 0 u32 4 Running time seconds 2 4 u32 4 Microseconds Table 78 Running tim...

Page 127: ...set Data Type Size Description 1 0 s32 4 Odometer pulse count 2 4 fp32 4 Odometer distance m 3 8 fp32 4 Odometer speed m s 4 12 fp32 4 Odometer slip m 5 16 u8 1 Odometer active 6 17 3 Reserved Table 80 Odometer state packet 16 9 33 External Time Packet External Time Packet Packet ID 52 Length 8 Field Bytes Offset Data Type Size Description 1 0 u32 4 Unix time seconds see section 16 9 1 4 2 4 u32 4...

Page 128: ...ight WGS84 Height is the height at the current location in the System State packet Geoid Height Packet Packet ID 54 Length 4 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Geoid Height m Table 83 Geoid height packet 16 9 36 External Pitot Pressure Packet This packet is no longer supported The External Air Data packet 68 should be used 16 9 37 Wind Packet This packet provides Motus s curr...

Page 129: ...eave point 1 m 2 4 fp32 4 Heave point 2 m 3 8 fp32 4 Heave point 3 m 4 12 fp32 4 Heave point 4 m Table 85 Heave packet 16 9 39 Post Processing Packet This packet is no longer supported If you need an IMR file please contact Advanced Navigation support for required settings 16 9 40 External Odometer Packet External Odometer Packet Packet ID 67 Length 13 Field Bytes Offset Data Type Size Description...

Page 130: ...2 4 Barometric altitude standard deviation m 5 20 fp32 4 Airspeed standard deviation m s 6 24 u8 1 Flags see section 16 9 41 1 Table 88 External air data packet 16 9 41 1 External Air Data Flags Bit Description 0 Barometric altitude set and valid 1 Airspeed set and valid 2 Barometric altitude reference reset Table 89 External air data flags 16 9 41 2 Notes Barometric altitude does not need to be r...

Page 131: ...ngle rad 3 8 fp32 4 Velocity X m s 4 12 fp32 4 Velocity Y m s 5 16 fp32 4 Distance standard deviation m 6 20 4 Reserved set to zero Table 91 Automotive packet 16 9 44 Zero Angular Velocity Packet Zero Angular Velocity Packet Packet ID 83 Length 8 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Duration see section 16 9 44 1 2 4 4 Reserved set to zero Table 92 Zero angular velocity packet ...

Page 132: ...lue that determines whether or not the packet timer is synchronised with UTC time with zero for disabled and one for enabled For UTC Synchronisation to be enabled the packet timer period must multiply into 1000000 evenly For example if the packet timer period is 10000 10 ms 1000000 10000 100 which is valid for UTC synchronisation If the packet timer period is 15000 15 ms 1000000 15000 66 6666 whic...

Page 133: ... same packet ID 16 10 2 2 Packet Period This indicates the period in units of the packet timer period The packet rate can be calculated as follows Packet Rate 1000000 Packet Period x Packet Timer Period Hz For example if the packet timer period is set to 1000 1 ms Setting packet ID 20 with a packet period of 50 will give the following Packet 20 Rate 1000000 50 x 1000 Packet 20 Rate 20 Hz 16 10 3 B...

Page 134: ...GNSS antenna offset Y m 13 45 fp32 4 GNSS antenna offset Z m 14 49 fp32 4 Odometer offset X m 15 53 fp32 4 Odometer offset Y m 16 57 fp32 4 Odometer offset Z m 17 61 fp32 4 External data offset X m 18 65 fp32 4 External data offset Y m 19 69 fp32 4 External data offset Z m Table 96 Installation alignment packet 16 10 4 1 Alignment DCM The alignment DCM direction cosine matrix is used to represent ...

Page 135: ...e Size Description 1 0 u8 1 Permanent 2 1 u8 1 Vehicle type see section 16 10 5 1 3 2 u8 1 Reserved set to zero 4 3 u8 1 Magnetometers enabled boolean 5 4 u8 1 Reserved set to zero 6 5 u8 1 Velocity heading enabled boolean 7 6 u8 1 Reversing detection enabled boolean 8 7 u8 1 Motion analysis enabled boolean 9 8 u8 1 Automatic magnetic calibration enabled boolean 10 9 8 Reserved set to zero Table 9...

Page 136: ...et Data Type Size Description 1 0 u8 1 Permanent 2 1 u8 1 GPIO1 function see section 16 10 7 1 3 2 u8 1 GPIO2 function see section 16 10 7 2 4 3 u8 1 Auxiliary RS232 transmit function section 16 10 7 3 5 4 u8 1 Auxiliary RS232 receive function section 16 10 7 4 8 5 u8 8 Reserved set to zero Table 99 GPIO configuration packet 16 10 7 1 GPIO1 Functions Value Description 0 Inactive 1 1PPS Output 2 GN...

Page 137: ...t 1 Input 34 Event 2 Input 39 TSS1 Output 40 Simrad 1000 Output 41 Simrad 3000 Output 42 Serial Port Passthrough 43 Gimbal Encoder Phase A 44 Gimbal Encoder Phase B 45 Odometer Direction Forward Low 46 Odometer Direction Forward High 53 Reverse Alignment Forward Low 54 Reverse Alignment Forward High 55 Zero Angular Velocity Input Table 100 GPIO1 functions 16 10 7 2 GPIO2 Functions Value Descriptio...

Page 138: ...th Transducer 27 Left Wheel Speed Sensor 28 Right Wheel Speed Sensor 29 1PPS Input 30 Wheel Speed Sensor 31 Wheel Encoder Phase A 32 Wheel Encoder Phase B 33 Event 1 Input 34 Event 2 Input 35 Linkquest USBL Input 42 Serial Port Passthrough 43 Gimbal Encoder Phase A 44 Gimbal Encoder Phase B 45 Odometer Direction Forward Low 46 Odometer Direction Forward High 51 Nortek DVL Input 53 Reverse Alignmen...

Page 139: ...s Value Description 0 Inactive 3 Odometer Input 4 Zero Velocity Input 5 Pitot Tube Input 6 NMEA Input 8 Novatel GNSS Input 9 Topcon GNSS Input 11 ANPP Input 13 Disable Magnetometers 16 Set Zero Orientation Alignment 17 System State Packet Trigger 18 Raw Sensors Packet Trigger 20 Trimble GNSS Input 21 u blox GNSS Input 22 Hemisphere GNSS Input 23 Teledyne DVL Input 24 Tritech USBL Input 25 Linkques...

Page 140: ...Values Packet Magnetic Calibration Values Packet Packet ID 189 Length 49 Field Bytes Offset Data Type Size Description 1 0 u8 1 Permanent 2 1 fp32 4 Hard iron bias X 3 5 fp32 4 Hard iron bias Y 4 9 fp32 4 Hard iron bias Z 5 13 fp32 4 Soft iron transformation XX 6 17 fp32 4 Soft iron transformation XY 7 21 fp32 4 Soft iron transformation XZ 8 25 fp32 4 Soft iron transformation YX 9 29 fp32 4 Soft i...

Page 141: ...t 3D magnetic calibration 4 Reset calibration to defaults Table 106 Magnetic calibration actions 16 10 10 Magnetic Calibration Status Packet Magnetic Calibration Status Packet Packet ID 191 Length 3 Field Bytes Offset Data Type Size Description 1 0 u8 1 Magnetic calibration status see section 16 10 10 1 2 1 u8 1 Magnetic calibration progress 3 2 u8 1 Local magnetic error Table 107 Magnetic calibra...

Page 142: ... measurement active 3 2 u8 2 Reserved set to zero 4 4 fp32 4 Pulse length m Table 109 Odometer configuration packet 16 10 12 Set Zero Orientation Alignment Packet This packet was modified as of firmware version 1 0 for code safety certification Previously it was 1 byte long with no verification sequence Set Zero Orientation Alignment Packet Packet ID 193 Length 5 Field Bytes Offset Data Type Size ...

Page 143: ...Packet Reference Points Offset Packet Packet ID 194 Length 49 Field Bytes Offset Data Type Size Description 1 0 u8 1 Permanent 2 1 fp32 4 Primary reference point offset X m 3 5 fp32 4 Primary reference point offset Y m 4 9 fp32 4 Primary reference point offset Z m 5 13 fp32 4 Heave point 2 offset X m 6 17 fp32 4 Heave point 2 offset Y m 7 21 fp32 4 Heave point 2 offset Z m 8 25 fp32 4 Heave point ...

Page 144: ...ates see section 16 10 14 2 8 12 u16 2 GPGLL Rates see section 16 10 14 2 9 14 u16 2 PASHR Rates see section 16 10 14 2 10 16 u16 2 TSS1 Rates see section 16 10 14 2 11 18 u16 2 Simrad Rates see section 16 10 14 2 12 20 u16 2 GPROT Rates see section 16 10 14 2 13 22 u16 2 GPHEV Rates see section 16 10 14 2 14 24 u16 2 GPGSV Rates see section 16 10 14 2 15 26 u16 2 PFECAtt Rates see section 16 10 1...

Page 145: ...alue Bit 3 Bit 2 Bit 1 Bit 0 Description 0 0 0 0 0 Disabled 1 0 0 0 1 0 1 Hz 2 0 0 1 0 0 2 Hz 3 0 0 1 1 0 5 Hz 4 0 1 0 0 1 Hz 5 0 1 0 1 2 Hz 6 0 1 1 0 5 Hz 7 0 1 1 1 10 Hz 8 1 0 0 0 25 Hz 9 1 0 0 1 50 Hz Table 115 GPIO output rates index 16 10 15 User Data Packet This packet is for storage of users data The data itself is not used by Motus User Data Packet Packet ID 198 Length 64 Field Bytes Offse...

Page 146: ... 16 GPIO Input Configuration Packet GPIO Input Configuration Packet Packet ID 199 Length 65 Field Bytes Offset Data Type Size Description 1 0 u8 1 Permanent 2 1 fp32 4 Gimbal radians per encoder tick 3 2 60 Reserved set to zero Table 117 GPIO input configuration packet ...

Page 147: ...rein UNLESS OTHERWISE SET FORTH IN ADVANCED NAVIGATION S TERMS AND CONDITIONS OF SALE ADVANCED NAVIGATION DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY WITH RESPECT TO THE USE AND OR SALE OF ADVANCED NAVIGATION PRODUCTS INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE AND THEIR EQUIVALENTS UNDER THE LAWS OF ANY JURISDICTION OR INFRINGEMENT OF ANY PATE...

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