Crossbow Technology AHRS500CA Series User Manual Download Page 1

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AHRS500CA Series User’s Manual

Document 7430-0050-03
Revision A, January 2003

Crossbow Technology, Inc., 41 Daggett Drive, San Jose, CA 95134

Tel: 408-965-3300, Fax: 408-324-4840

email: [email protected], website: www.xbow.com

SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:[email protected]

SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:[email protected]

Summary of Contents for AHRS500CA Series

Page 1: ...Inc 41 Daggett Drive San Jose CA 95134 Tel 408 965 3300 Fax 408 324 4840 email info xbow com website www xbow com SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Page 2: ...ered trademarks and AHRS500CA is a trademark of Crossbow Technology Inc Other product and trade names are trademarks or registered trademarks of their respective holders SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Page 3: ...ut Ground 7 3 2 3 Case Ground 7 3 2 4 Serial Data Interface 7 3 2 5 BIT Status Output Pin 8 3 2 6 Magnetometer calibration Input Pin 8 3 2 7 No Connection 8 3 2 8 Quick Digital interface connection 8 3 3 Interface 9 3 4 Measurements 9 3 4 1 BIT Processing 10 3 5 Commands 11 3 5 1 Command List 12 3 6 Data Packet Format 14 3 7 Command Packet Format 15 3 8 Timing 16 3 9 Magnetic Heading 16 4 AHRS500C...

Page 4: ...g the Calibration 23 7 3 2 Switch to Mag Cal Mode 25 7 3 3 Collecting Calibration Data 25 7 3 4 Evaluating Calibration Data 27 7 3 5 Completing the Calibration 29 7 3 6 Testing the Calibration 30 8 Appendix E Warranty and Support Information 31 8 1 Customer Service 31 8 2 Contact Directory 31 8 3 Return Procedure 31 8 3 1 Authorization 31 8 3 2 Identification and Protection 32 8 3 3 Sealing the Co...

Page 5: ...is symbol defines items that have significant meaning to the user M WARNING The user should pay particular attention to this symbol It means there is a chance that physical harm could happen to either the person or the equipment The following paragraph heading formatting is used in this manual 1 Heading 1 1 1 Heading 2 1 1 1 Heading 3 Normal SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FA...

Page 6: ... Manual Page iv Doc 7430 0050 03 Rev A SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Page 7: ...s employ onboard digital processing to compensate for deterministic error sources within the unit and to compute attitude information The AHRS500CA units accomplish these tasks with an analog to digital converter and high performance Digital Signal Processors The AHRS500CA uses angular rate sensors and linear acceleration sensors that are micro machined devices The three angular rate sensors consi...

Page 8: ...mmediately view the outputs of the AHRS500CA on a PC running Microsoft Windows You can also download this software from Crossbow s web site at http www xbow com 1 Digital Signal Calibration Maintenance Cable This links the AHRS500CA directly to a serial port Only the transmit receive power and ground channels are used The magnetometer calibration switch will be visible on the connector 1 AHRS500CA...

Page 9: ...ow the setup wizard instructions You will install GyroView and a LabView Runtime Engine You will need both these applications If you have any problems or questions you may contact Crossbow directly 2 2 Connections The AHRS500CA is shipped with a calibration maintenance cable to connect the AHRS500CA to a PC communications port 1 Connect the 15 pin female end of the digital signal calibration maint...

Page 10: ...lay 4 You can log data to a file by entering a data file name You can select the rate at which data is saved to disk 5 If the status indicator says Connected you re ready to go If the status indicator doesn t say connected check the connections between the AHRS500CA and the computer check the power check the serial COM port assignment on your computer 2 4 Take Measurements Once you have configured...

Page 11: ...d with these same axes The rate sensors measure angular rotation rate around a given axis The rate measurements are labeled by the appropriate axis The direction of a positive rotation is defined by the right hand rule With the thumb of your right hand pointing along the axis in a positive direction your fingers curl around in the positive rotation direction For example if the AHRS500CA is sitting...

Page 12: ...nal system ground Should be connected to user s system ground to reduce RS232 and RS422 signal noise 10 Factory mode pin Factory reserved do not connect 11 Factory mode pin Factory reserved do not connect 12 Magnetometer calibration input hard and soft iron cal Active Short to power ground Inactive Open circuit Internally pulled to 3 3VDC through 10Kohm resistor 13 Hardware BIT Status Open collect...

Page 13: ...pply Current 1 Amp max 3 2 3 Case Ground The case is electrically connected to the I O connector shell The shell should be electrically connected to the user s cable shield The case is isolated from the Power Input Ground and should be bolted to a good conducting surface that is grounded 3 2 4 Serial Data Interface The serial interface is a factory configurable RS 422 or RS 232 also with factory c...

Page 14: ...gnetometer calibration data shall be used to compute the hard and soft iron compensation values During normal operation no connection should be made to this pin this pin shall be tied high internally with a pull up resistor This feature has been added as a means to perform a Hardiron Softiron calibration without sending the calibration commands to the unit Please see Appendix C for a complete expl...

Page 15: ...rotational motion and find the actual pitch roll and yaw angles The AHRS500CA uses the accelerometers to correct for rate sensor drift in the vertical angles pitch and roll the AHRS500CA uses the magnetometers to correct for rate sensor drift in the yaw angle This is the modern equivalent of an analog vertical gyro that used a plumb bob in a feedback loop to keep the gyro axis stabilized to vertic...

Page 16: ...IT Processing The BIT message in each packet provides comprehensive information into system health The following information is supplied in the BIT byte fields of the data packet The table contains the actual bit definition present in the two byte output BIT field in the angle mode data packet see section 3 6 below The description defines the bit s active 1 position Table 5 Bit Message Definition ...

Page 17: ...erformance The Hardiron Softiron calibration is unsatisfactory Bit 13 3 5 Commands The AHRS500CA has a simple command structure You send a command consisting of one byte to the AHRS500CA over the RS 232 interface and the AHRS500CA will execute the command X NOTE The AHRS500CA commands are case sensitive GyroView is a very good tool to use when debugging your own software GyroView formulates the pr...

Page 18: ...se A Description Changes measurement type to AHRS Mode AHRS500CA calculates stabilized pitch and roll and heading Also outputs sensor measurements in scaled engineering units Command Polled Mode Character s Sent P Response None Description Changes data output mode to Polled Mode AHRS500CA will output a single data packet when it receives a G command Command Continuous Mode Character s Sent C SUNST...

Page 19: ... The response is an ASCII string packet that describes the AHRS500CA firmware version preceded with a header byte hex FF and followed by a one byte checksum calculated in the manner described below section 3 7 Command Query Serial Number Character s Sent S Response Serial Number Packet Description This queries the AHRS500CA for its serial number The AHRS500CA will respond with a serial number data...

Page 20: ...SB first then LSB Each data packet will begin with a two byte header hex AA 55 and end with a two byte checksum The checksum is calculated in the following manner 1 Sum all packet contents except header and checksum 2 Divide the sum by hex FFFF 3 The remainder should equal the checksum The packet also contains the model type configuration number and the BIT word output Please refer to section 3 4 ...

Page 21: ...is Acceleration MSB 17 Y Axis Acceleration LSB 18 Z Axis Acceleration MSB 19 Z Axis Acceleration LSB 20 Model Number MSB 21 Model Number LSB 22 BIT MSB 23 BIT LSB 24 Checksum MSB 25 Checksum LSB 3 7 Command Packet Format Command response data packets will begin with a header byte hex FF and end with a checksum The checksum is calculated in the following manner 1 Sum all packet contents except head...

Page 22: ...r output After processing the data the AHRS500CA will make another measurement while presenting the current measurement for output Third the unit actually transfers the data out over the RS 232 port The internal loop rate is set at 1000 Hz so every 10th sample is available over the RS 232 interface for the default model configuration of the AHRS500CA 3 9 Magnetic Heading Magnetic north is the dire...

Page 23: ... the accelerometer output can saturate This can cause errors in the accelerometer output The AHRS500CA should be isolated from magnetic material as much as possible Magnetic material will distort the magnetic field near the AHRS500CA which will greatly affect its accuracy as a heading sensor Because the AHRS500CA is using Earth s weak magnetic field to measure heading even small amounts of magneti...

Page 24: ... used on an airplane Assume AHRS500CA is mounted on a small twin prop plane and will be used to record the plane s attitude during flight Flights will be 2 6 hours long The AHRS500CA is mounted near the CG of the plane and is connected to a laptop serial port during flight 1 Turn on power to the AHRS500CA and let it warm up 5 10 minutes Power can be on to all electronics but the engines should be ...

Page 25: ...e 19 5 Appendix A Mechanical Specifications 5 1 AHRS500CA Outline Drawing SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Page 26: ...e gyros Digital Output Conversion Data is sent as 16 bit signed integer for all but Temperature Temperature sensor data is sent as unsigned integer Acceleration Roll Pitch Yaw Angle Mode Accel G data 10 1 5 215 Angle data 180 215 Rate Magnetic Field Rate s data 800 1 5 215 Mag Gauss data 1 25 1 5 215 SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNS...

Page 27: ...rrect for magnetic fields that are fixed with respect to the AHRS500CA It cannot compensate for time vary ing fields or fields created by parts that move with respect to the AHRS500CA The AHRS500CA accounts for the extra magnetic field by making a series of measurements The AHRS500CA uses these measurements to model the hard iron and soft iron environment in your aircraft 7 2 AHRS500CA Hard and So...

Page 28: ...top style if possible with a serial port and Windows 95 98 2000 XP type operating system The following are minimum capabilities that your computer should have to run GyroView successfully CPU Pentium class RAM Memory 32MB minimum 64MB recommended Hard Drive Free Memory 15MB Operating System Windows 95 98 NT4 2000 7 2 2 Installation and Calibration Cable Connections The AHRS500CA is shipped with an...

Page 29: ...90 seconds when first turned on This allows the Kalman filter to estimate the rate sensor biases Now you re ready to calibrate the AHRS500CA 7 3 Calibration Process The BIT status display in GyroView will be used to indicate the progress of the magnetometer compensation calibration Four bits of the BIT status display are used for evaluating the hard iron calibration Bits 9 and 10 comprise a two bi...

Page 30: ...isplayed SYSTEM STATUS Ready BIT 10 OFF BIT 9 OFF MAG CAL DATA STAT DON T CARE BIT 13 ON OFF MAG CAL MODE OFF BIT 11 OFF SYSTEM STATUS Initializing BIT 10 ON BIT 9 OFF MAG CAL DATA STAT DON T CARE BIT 13 ON OFF MAG CAL MODE OFF BIT 11 OFF SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 833761...

Page 31: ... any angle offsets but running the test with the aircraft as close to level as possible will ease the process The AHRS500CA monitors the data and calculates when a full turn is completed At the completion of the full circle the AHRS500CA will reset itself into initialization mode and apply the estimated magnetometer calibration parameters The turn indicator bit will come on while the AHRS500CA is ...

Page 32: ...us bits show the unit has reinitialized SYSTEM STATUS INITIALIZING BIT 10 ON BIT 9 OFF MAG CAL DATA STAT Don t care BIT 13 ON OFF MAG CAL MODE Cal Mode BIT 11 ON SYSTEM STATUS READY BIT 10 OFF BIT 9 OFF MAG CAL DATA STAT NOT ACCEPT BIT 13 ON MAG CAL MODE ON BIT 11 ON TURN INDICATOR TURNING BIT 11 ON SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNST...

Page 33: ... calibration No further aircraft motion is required Proceed to the paragraph titled Completing the Calibration If the magnetometer compensation data collection is not adequate the mag cal data status bit 13 will still be ON and the following BIT status will be displayed SYSTEM STATUS Initializing BIT 10 ON BIT 9 OFF MAG CAL DATA STAT ACCEPT DATA BIT 13 OFF MAG CAL MODE CAL MODE BIT 11 ON SUNSTAR传感...

Page 34: ...omplete its initialization At the end of the initialization approximately 90 seconds the following BIT status should be displayed SYSTEM STATUS READY BIT 10 ON BIT 9 OFF MAG CAL DATA STAT NOT ACCEPT BIT 13 ON MAG CAL MODE CAL MODE BIT 11 ON SYSTEM STATUS Initializing BIT 10 ON BIT 9 OFF MAG CAL DATA STAT NOT ACCEPT BIT 13 ON MAG CAL MODE CAL MODE BIT 11 ON SUNSTAR传感与控制 http www sensor ic com TEL 0...

Page 35: ... turning the aircraft again In this way the calibration algorithm continues to refine itself until it achieves a successful calibration 7 3 5 Completing the Calibration At this point the AHRS500CA has collected enough data for a good magnetometer compensation calibration Move the calibration switch on the maintenance calibration cable to the OFF position The AHRS500CA will now store these as calib...

Page 36: ...bration can be tested by comparing the heading output of the AHRS500CA against a known reference compass or compass markers SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Page 37: ...tes Phone 1 408 965 3300 7 AM to 7 PM PST Fax 1 408 324 4840 24 hours Email techsupport xbow com Non U S refer to website www xbow com 8 3 Return Procedure 8 3 1 Authorization Before returning any equipment please contact Crossbow to obtain a Returned Material Authorization number RMA Be ready to provide the following information when requesting a RMA Name Address Telephone Fax Email Equipment Mod...

Page 38: ...s with adequate padding and protection 8 3 3 Sealing the Container Seal the shipping container s with heavy tape or metal bands strong enough to handle the weight of the equipment and the container 8 3 4 Marking Please write the words FRAGILE DELICATE INSTRUMENT in several places on the outside of the shipping container s In all correspondence please refer to the equipment by the model number the ...

Page 39: ...SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Page 40: ...hone 408 965 3300 Fax 408 324 4840 Email info xbow com Website www xbow com SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

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