LORD MicroStain 3DM-GX5-45 Dcp Manual Download Page 4

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3DM-GX5-45

™

GNSS-Aided Inertial Navigation System

DCP Manual

2.5 Parsing Incoming Packets

2.6 Multiple Rate Data

2.7 Data Synchronicity

2.8 Communications Bandwidth Management

2.8.1 UART Bandwidth Calculation

2.8.2 USB vs. UART

Command and Data Summary

3.1 Commands

3.1.1 Base Command Set (0x01)

3.1.2 3DM Command Set (0x0C)

3.1.3 Estimation Filter Command Set (0x0D)

3.1.4 System Command Set (0x7F)

3.2 Data

3.2.1 IMU Data Set (0x08)

3.2.2 GNSS Data Set (0x81)

3.2.3 Estimation Filter Data Set (0x82)

Command Reference

4.1 Base Commands

4.1.1 Ping (0x01, 0x01)

4.1.2 Set To Idle (0x01, 0x02)

4.1.3 Get Device Information (0x01, 0x03)

4.1.4 Get Device Descriptor Sets (0x01, 0x04)

4.1.5 Device Built-In Test (0x01, 0x05)

4.1.6 Resume (0x01, 0x06)

4.1.7 Get Extended Device Descriptor Sets (0x01, 0x07)

4.1.8 GPS Time Update (0x01, 0x72)

4.1.9 Device Reset (0x01, 0x7E)

4.2 3DM Commands

4.2.1 Poll IMU Data (0x0C, 0x01)

Summary of Contents for MicroStain 3DM-GX5-45

Page 1: ...LORD DATA COMMUNICATIONS PROTOCOL MANUAL 3DM GX5 45 GNSS Aided Inertial Navigation System GNSS INS ...

Page 2: ...GX4 3DM GX5 3DM RQ1 3DM GQ4 AIFP Ask Us How Bolt Link DEMOD DC DVRT DVRT Link EH Link EmbedSense ENV Link FAS A G Link G Link2 HS Link IEPE Link Inertia Link Little Sensors Big Ideas Live Connect LXRS MathEngine MicroStrain MVEH MXRS Node Commander PVEH RHT Link RTD Link SensorCloud SG Link Shock Link Strain Wizard TC Link Torque Link V Link Watt Link Wireless Simplicity Hardwired Reliability and ...

Page 3: ...on Filter Data stream Format 18 2 4 1 4 Step 4 Save the IMU and Estimation Filter MIP Message Format 19 2 4 1 5 Step 5 Enable the IMU and Estimation Filter Data streams 20 2 4 1 6 Step 6 Optional Resume the Device 21 2 4 1 7 Step 7 Initialize the Filter 22 2 4 2 Polling Data Example Sequence 23 2 4 2 1 Step 1 Put the Device in Idle Mode Disabling the IMU and Estimation Filter data streams 23 2 4 2...

Page 4: ...d Set 0x0D 31 3 1 4 System Command Set 0x7F 31 3 2 Data 32 3 2 1 IMU Data Set 0x08 32 3 2 2 GNSS Data Set 0x81 32 3 2 3 Estimation Filter Data Set 0x82 32 4 Command Reference 34 4 1 Base Commands 34 4 1 1 Ping 0x01 0x01 34 4 1 2 Set To Idle 0x01 0x02 35 4 1 3 Get Device Information 0x01 0x03 36 4 1 4 Get Device Descriptor Sets 0x01 0x04 37 4 1 5 Device Built In Test 0x01 0x05 38 4 1 6 Resume 0x01 ...

Page 5: ...C 0x22 62 4 2 13 GNSS Assisted Fix Control 0x0C 0x23 64 4 2 14 GNSS Assist Time Update 0x0C 0x24 65 4 2 15 Device Startup Settings 0x0C 0x30 67 4 2 16 Accel Bias 0x0C 0x37 68 4 2 17 Gyro Bias 0x0C 0x38 69 4 2 18 Capture Gyro Bias 0x0C 0x39 70 4 2 19 Magnetometer Hard Iron Offset 0x0C 0x3A 71 4 2 20 Magnetometer Soft Iron Matrix 0x0C 0x3B 72 4 2 21 Coning and Sculling Enable 0x0C 0x3E 74 4 2 22 UAR...

Page 6: ...ion 0x0D 0x42 103 4 3 18 Gravity Noise Standard Deviation 0x0D 0x28 104 4 3 19 Pressure Altitude Noise Standard Deviation 0x0D 0x29 105 4 3 20 Accelerometer Noise Standard Deviation 0x0D 0x1A 105 4 3 21 Accelerometer Bias Model Parameters 0x0D 0x1C 107 4 3 22 Gyroscope Noise Standard Deviation 0x0D 0x1B 108 4 3 23 Gyroscope Bias Model Parameters 0x0D 0x1D 109 4 3 24 Hard Iron Offset Process Noise ...

Page 7: ... 0x80 0x17 131 5 1 5 Delta Theta Vector 0x80 0x07 131 5 1 6 Delta Velocity Vector 0x80 0x07 132 5 1 7 CF Orientation Matrix 0x80 0x09 132 5 1 8 CF Quaternion 0x80 0x0A 134 5 1 9 CF Euler Angles 0x80 0x0C 135 5 1 10 CF Stabilized Mag Vector North 0x80 0x10 136 5 1 11 CF Stabilized Accel Vector Up 0x80 0x11 137 5 1 12 GPS Correlation Timestamp 0x80 0x12 137 5 2 GNSS Data 139 5 2 1 LLH Position 0x81 ...

Page 8: ...e Uncertainty Quaternion Elements 0x82 0x12 158 5 3 9 Orientation Euler Angles 0x82 0x05 159 5 3 10 Attitude Uncertainty Euler Angles 0x82 0x0A 160 5 3 11 Orientation Matrix 0x82 0x04 161 5 3 12 Compensated Angular Rate 0x82 0x0E 162 5 3 13 Gyro Bias 0x82 0x06 163 5 3 14 Gyro Bias Uncertainty 0x82 0x0B 163 5 3 15 Gyro Scale Factor 0x82 0x16 164 5 3 16 Gyro Scale Factor Uncertainty 0x82 0x18 164 5 ...

Page 9: ...x82 0x29 178 5 3 33 GNSS Antenna Offset Correction 0x82 0x30 179 5 3 34 GNSS Antenna Offset Correction Uncertainty 0x82 0x31 180 6 MIP Packet Reference 181 6 1 Structure 181 6 2 Payload Length Range 181 6 3 MIP Checksum Range 182 6 4 16 bit Fletcher Checksum Algorithm C Language 182 7 Advanced Programming 183 7 1 Multiple Commands in a Single Packet 183 7 2 Direct Modes 184 7 3 Internal Diagnostic...

Page 10: ...al sensor block The three data sets represent the two types of data that the GX5 45 is capable of producing IMU Inertial Measurement Unit data and Estimation Filter Position Velocity and Attitude data The type of estimation filter used in the GX5 45 is an Extended Kalman Filter EKF Base commands Ping Idle Resume Get ID Strings etc 3DM commands Poll IMU Data Estimation Filter Data etc Estimation Fi...

Page 11: ...arts the incoming data packet stream In this section there is an overview of the packet an overview of command and reply packets an overview of how an incoming data packet is constructed and then an example setup command sequence that can be used directly with the 3DM GX5 45 either through a COM utility or as a template for software development 2 1 MIP Packet Overview This is an overview of the 3D...

Page 12: ...nual The MIP packet wrapper consists of a four byte header and two byte checksum footer The packet payload section contains one or more fields Fields have a length byte descriptor byte and data The diagram below shows a packet payload with a single field 12 ...

Page 13: ...Packet Below is an example of a Ping command packet from the Base command set A Ping command has no arguments Its function is to determine if a device is present and responsive Header Packet Payload Checksum SYNC1 u SYNC2 e Descriptor Set byte Payload Length byte Field Byte Length Field Descriptor Byte Field Data MSB LSB 0x75 0x65 0x01 0x02 0x02 0x01 N A 0xE0 0xC6 Copy Paste version of command 756...

Page 14: ... packet consists of one field The field starts with the length of the field which is followed by the descriptor byte 0xF1 of the field The field descriptor byte identifies the reply as the ACK NACK from the Base command descriptor set The field data consists of an echo of the original command 0x01 followed by the error code for the command 0x00 In this case the error is zero so the field represent...

Page 15: ...eld The field descriptor byte 0x04 identifies the field data as the scaled accelerometer vector from the IMU data descriptor set The field data itself is three single precision floating point values of 4 bytes each total of 12 bytes representing the X Y and Z axis values of the vector The checksum is a two byte Fletcher checksum see the MIP Packet Reference for instructions on how to compute a Fle...

Page 16: ...nt of streaming data if present during the configuration the device is placed into the idle state while performing the device initialization when configuration is complete the required data streams are enabled to bring the device out of idle mode Finally the configuration is saved so that it will be loaded on subsequent power ups eliminating the need to perform the configuration again 2 4 1 1 Step...

Page 17: ...ain the data quantities that fall in the same decimation frame see theMultiple Rate Data section If the stream was not disabled in the previous step the IMU data would begin stream immediately Please note this command will not append the requested descriptors to the current IMU data stream configuration it will overwrite it completely MIP Packet Header Command Reply Fields Checksum SYNC1 u SYNC2 e...

Page 18: ...ream was not disabled in the previous step the Estimation Filter data would begin stream immediately Please note this command will not append the requested descriptors to the current Estimation Filter data stream configuration it will overwrite it completely MIP Packet Header Command Reply Fields Checksum SYNC1 u SYNC2 e Descriptor Set byte Payload Length Field Length Cmd Desc Field Data MSB LSB C...

Page 19: ...ey could be sent as separate packets MIP Packet Header Command Reply Fields Checksum SYNC1 u SYNC2 e Descriptor Set byte Payload Length Field Length Cmd Desc Field Data MSB LSB Command Field 1 Save Current IMU Message Format 0x75 0x65 0x0C 0x08 0x04 0x08 Function 0x03 Desc count 0x00 Command Field 2 Save Current Estimation Filter Message Format 0x04 0x0A Function 0x03 Desc count 0x00 0x0E 0x31 Rep...

Page 20: ...cket Header Command Reply Fields Checksum SYNC1 u SYNC2 e Descriptor Set byte Payload Length Field Length Cmd Desc Field Data MSB LSB Command Field 1 Enable Continu ous IMU Mes sage 0x75 0x65 0x0C 0x0A 0x05 0x11 Function 0x01 IMU 0x01 ON 0x01 Command Field 2 Enable Continuous Estimation Filter Message 0x05 0x11 Function 0x01 Estimation Filter 0x03 ON 0x01 0x24 0xCC Reply Field 1 ACK NACK 0x75 0x65...

Page 21: ...enabled data streams reply is ACK NACK MIP Packet Header Command Reply Fields Checksum SYNC1 u SYNC2 e Descriptor Set byte Payload Length Field Length Cmd Desc Field Data MSB LSB Command Resume 0x75 0x65 0x01 0x02 0x02 0x06 N A 0xE5 0xCB Reply ACK NACK 0x75 0x65 0x01 0x04 0x04 0xF1 Cmd echo 0x06 Error code 0x00 0xDA 0x74 Copy Paste version of the command 7565 0102 0206 E5CB 21 ...

Page 22: ...te that this step is not necessary if you have the auto initialize option enabled Poll for current Complementary Filter Euler Angle output MIP Packet Header Command Reply Fields Checksum SYNC1 u SYNC2 e Desc Set Payload Length Field Length Cmd Desc Field Data MSB LSB Command Poll for CF Euler 0x75 0x65 0x0C 0x07 0x07 0x01 Function 0x00 Field Count 0x00 Euler Desc 0x06 Reserved 0x00 0x02 0xFC Reply...

Page 23: ... continuous streaming See Step 3 Configure the Estimation Filter Data stream Format on page 18 2 4 2 4 Step 4 Save the IMU and Estimation Filter MIP Message format Same as continuous streaming See Step 4 Save the IMU and Estimation Filter MIP Message Format on page 19 2 4 2 5 Step 5 Resume the Device Same as continuous streaming See Step 6 Optional Resume the Device on page 21 2 4 2 6 Step 6 Initi...

Page 24: ...or 0x75 0x65 0x80 0x1C 0x0E 0x04 0x3E 7A 63 A0 0xBB 8E 3B 29 0x7F E5 BF 7F 0x41 0xBB IMU Data Packet Field 2 Accel Vector 0x0E 0x03 0x3E 7A 63 A0 0xBB 8E 3B 29 0x7F E5 BF 7F 0xAD 0xDC Copy Paste version of the command 7565 0C04 0401 0000 EFDA You may specify the format of the data packet on a per polling command basis rather than using the pre set data format see the Poll IMU Data and Poll Estimat...

Page 25: ...he entire packet to come in based on the packet length byte which arrives after the ue and descriptor set byte Make sure you have a timeout on your wait loop in case your stream is out of sync and the starting ue sequence winds up being a ghost sequence If you timeout restart the parsing with the first character after the ghost ue Once the stream is in sync it is rare that you will hit a timeout u...

Page 26: ...ogram and decreases the bandwidth requirements of the communications channel Multiple rate data is scheduled on a common sampling rate clock This means that if there is more than one data rate scheduled the schedules coincide periodically For example if you request Accelerometer data at 100 Hz and Magnetometer data at 50 Hz the magnetometer schedule coincides with the Accelerometer schedule 50 of ...

Page 27: ...rated from the IMU time base and estimation filter data is always grouped with a timestamp from the Estimation Filter time base etc All data streams IMU and Estimation Filter on the 3DM GX5 45 output a GPS Time formatted timestamp This allows a precise common time base for all data Due to the differences in clocks on each device the period between two consecutive timestamp values may not be consta...

Page 28: ... of packets Where Sf size of data field in bytes fdr field of data rate in Hz fmr maximum date rate in Hz n size of UART word 10 bits k size of MIP wrapper 6 bytes which becomes Example For an IMU message format of Accelerometer Vector 14 byte data field Internal Timestamp six byte data field both at 100 Hz the theoretical minimum baud rate would be In practice if you set the baud rate to 115200 t...

Page 29: ...ost processor fails to poll the USB device in a timely manner With the UART the opposite is true The 3DM GX5 45 operates without UART handshaking which means it streams data out at a very consistent rate without stopping Since the host processor has no handshake method of pausing the stream it must instead make sure that it can process the incoming packet stream non stop without dropping packets I...

Page 30: ...0x01 0x04 Device Built In Test BIT 0x01 0x05 Resume 0x01 0x06 Get Extended Device Descriptor Sets 0x01 0x07 GPS Time Update 0x01 0x72 Device Reset 0x01 0x7E 3 1 2 3DM Command Set 0x0C Poll IMU Data 0x0C 0x01 Poll Estimation Filter Data 0x0C 0x03 Get IMU Data Rate Base 0x0C 0x06 Get Estimation Filter Data Rate Base 0x0C 0x0B IMU Message Format 0x0C 0x08 Estimation Filter Message Format 0x0C 0x0A En...

Page 31: ...ard Deviation 0x0D 0x29 Accelerometer Noise Standard Deviation 0x0D 0x1A Accelerometer Bias Model Parameters 0x0D 0x1C Gyroscope Noise Standard Deviation 0x0D 0x1B Gyroscope Bias Model Parameters 0x0D 0x1D Hard Iron Offset Process Noise 0x0D 0x2B Soft Iron Offset Process Noise 0x0D 0x2C Zero Velocity Update Control 0x0D 0x1E External Heading Update with Timestamp 0x0D 0x1F Zero Angular Rate Update...

Page 32: ...GNSS Data Set 0x81 LLH Position 0x81 0x03 ECEF Position 0x81 0x04 NED Velocity 0x81 0x05 ECEF Velocity 0x81 0x06 Dilution of Precision DOP Data 0x81 0x07 UTC Time 0x81 0x08 GPS Time 0x81 0x09 Clock Information 0x81 0x0A GNSS Fix Information 0x80 0x0B Space Vehicle Information SVI 0x81 0x0C Hardware Status 0x81 0x0D DGNSS Information 0x81 0x0E DGNSS Channel Status 0x81 0x0F 3 2 3 Estimation Filter ...

Page 33: ...1C Linear Acceleration 0x82 0x0D Accel Bias 0x82 0x07 Accel Bias Uncertainty 0x82 0x0C Accel Scale Factor 0x82 0x17 Accel Scale Factor Uncertainty 0x82 0x19 Pressure Altitude 0x82 0x21 Standard Atmosphere Model 0x82 0x20 Gravity Vector 0x82 0x13 WGS84 Local Gravity Magnitude 0x82 0x0F Heading Update Source State 0x82 0x14 Magnetic Model Solution 0x82 0x15 Mag Auto Hard Iron Offset 0x82 0x25 Mag Au...

Page 34: ... this set 4 1 1 Ping 0x01 0x01 Description Send Ping command Device responds with ACK if present Field Format Field Length Field Descriptor Field Data Command 0x02 0x01 N A Reply ACK NACK 0x04 0xF1 U8 echo the command byte U8 error code 0 ACK non zero NACK Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command ...

Page 35: ...u may restore the device mode by issuing the Resume command Field Format Field Length Field Descriptor Field Data Command 0x02 0x02 N A Reply ACK NACK 0x04 0xF1 U8 echo the command byte U8 error code 0 ACK non zero NACK Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command Set to Idle 0x75 0x65 0x01 0x02 0x02 ...

Page 36: ...x81 Binary Offset Description Data Type Units 0 Firmware version U16 N A 2 Model Name String 16 N A 18 Model Number String 16 N A 34 Serial Number String 16 N A Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command Get Device Info 0x75 0x65 0x01 0x02 0x02 0x03 0xE2 0xC8 Reply Field 1 ACK NACK 0x75 0x65 0x01 0x...

Page 37: ...echo the command byte U8 error code 0 ACK non zero NACK Reply Field 2 Array of Descriptors 2 x Number of descriptors 2 0x82 Binary Offset Description Data Type 0 Firmware version U16 1 ModelName U16 etc Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command Get Device Info 0x75 0x65 0x01 0x02 0x02 0x04 0xE3 0xC...

Page 38: ...Communication Fault Solution Fault Bit 2 Reserved Magnetometer Fault if applicable Reserved Bit 3 Reserved Pressure Sensor Fault if applicable Reserved Bit 4 Reserved Reserved Reserved Bit 5 Reserved Reserved Reserved Bit 6 Reserved Reserved Reserved Bit 7 Reserved Reserved Reserved Bit 8 MSB Reserved Reserved Reserved Field Format Field Length Field Descriptor Field Data Command 0x02 0x05 N A Rep...

Page 39: ...tion System DCP Manual Reply Field 1 ACK NACK 0x75 0x65 0x01 0x0A 0x04 0xF1 Echo cmd 0x05 Error code 0x00 Reply Field 2 BIT Error Flags 0x06 0x83 BIT Error Flags 0x00000000 0x68 0x7D Copy Paste version of the command 7565 0102 0205 E4CA 39 ...

Page 40: ...mmand echo 0x01 Error code 0x00 0xDA 0x74 Copy Paste version of the command 7565 0102 0206 E5CB 4 1 7 Get Extended Device Descriptor Sets 0x01 0x07 Description Get the extended set of descriptors that this device supports descriptors in addition to the set returned by the Get Device Descriptors command Reply has two fields ACK NACK and Descriptors The Descriptors field is an array of 16 bit values...

Page 41: ... of the command 7565 0102 0207 E6CC 4 1 8 GPS Time Update 0x01 0x72 Description This message updates the internal GPS Time as reported in the Filter Timestamp This command enables synchronization of IMU AHRS Timestamps with an external GPS receiver When combined with a PPS input applied to pin 7 of the I O connector the GPS Correlation Timestamp in the inertial data output is synchronized with the...

Page 42: ... GPS Week Value Reply Field 2 function 2 selector 2 0x06 0x85 U32 Current GPS Seconds Value Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command GPS Time Update 0x75 0x65 0x01 0x08 0x08 0x72 Fctn Apply 0x01 Field Week 0x00 Val 0x00000698 0xFD 0x32 Reply ACK NACK 0x75 0x65 0x01 0x04 0x04 0xF1 Cmd echo 0x72 Err...

Page 43: ... Command 0x02 0x7E N A Reply Field 1 ACK NACK 0x04 0xF1 U8 Echo the command byte U8 Error code 0 ACK non zero NACK Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command Ping 0x75 0x65 0x01 0x02 0x02 0x7E 0x5D 0x43 Reply Field 1 ACK NACK 0x75 0x65 0x01 0x04 0x04 0xF1 Command echo 0x7E Error code 0x00 0x52 0x64 ...

Page 44: ...and there is no stored format the device will respond with a NACK The reply packet contains an ACK NACK field The polled data packet is sent separately as an IMU Data packet Possible Option Selector Values 0x00 Normal ACK NACK Reply 0x01 Suppress the ACK NACK reply Field Format Field Length Field Descriptor Field Data Command 4 3 N 0x01 U8 Option Selector U8 Number of Descriptors N N U8 Descriptor...

Page 45: ...nd there is no stored format the device will respond with a NACK The reply packet contains an ACK NACK field The polled data packet is sent separately as a GNSS Data packet Possible Option Selector Values 0x00 Normal ACK NACK Reply 0x01 Suppress the ACK NACK reply Field Format Field Length Field Descriptor Field Data Command 4 3 N 0x02 U8 Option Selector U8 Number of Descriptors N N U8 Descriptor ...

Page 46: ...Reply ACK NACK Data packet is sent separately if ACK 0x75 0x65 0x0C 0x04 0x04 0xF1 Command echo 0x02 Error code 0x00 0xE1 0xAE Copy Paste versions of the commands Stored format 7565 0C04 0402 0000 F0DD Specified format 7565 0C0A 0A02 0002 0300 0005 0000 062A 46 ...

Page 47: ...0x00 Normal ACK NACK Reply 0x01 Suppress the ACK NACK reply Field Format Field Length Field Descriptor Field Data Command 4 3 N 0x03 U8 Option Selector U8 Number of Descriptors N N U8 Descriptor U16 Reserved Reply ACK NACK 0x04 0xF1 U8 echo the command byte U8 error code 0 ACK non zero NACK Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Fie...

Page 48: ... 0xF1 U8 echo the command byte U8 error code 0 ACK non zero NACK Reply Field 2 IMU Base Rate 0x04 0x83 U16 IMU data base rate Hz Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command Get IMU Base Rate 0x75 0x65 0x0C 0x02 0x02 0x06 0xF0 0xF7 Reply Field 1 ACK NACK 0x75 0x65 0x0C 0x08 0x04 0xF1 Command echo 0x06...

Page 49: ...4 0xF1 U8 Echo the command byte U8 Error code 0 ACK non zero NACK Reply Field 2 IMU Base Rate 0x04 0x84 U16 GNSS data base rate Hz Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command Get IMU Base Rate 0x75 0x65 0x0C 0x02 0x02 0x07 0xF1 0xF8 Reply Field 1 ACK NACK 0x75 0x65 0x0C 0x08 0x04 0xF1 Command echo 0x...

Page 50: ...CK 0x04 0xF1 U8 Echo the command byte U8 Error code 0 ACK non zero NACK Reply Field 2 IMU Base Rate 0x04 0x8A U16 Estimation Filter data base rate Hz Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command Get IMU Base Rate 0x75 0x65 0x0C 0x02 0x02 0x0B 0xF5 0xFC Reply Field 1 ACK NACK 0x75 0x65 0x0C 0x08 0x04 0...

Page 51: ...ates vary from device to device The IMU base rate for the 3DM GX5 is 500 The device checks that all descriptors are valid prior to executing this command If any of the descriptors are invalid for the IMU descriptor set a NACK will be returned and the message format will be unchanged The descriptor array only needs to be provided if the function selector is 1 Use new settings For all other function...

Page 52: ...ent settings 0x75 0x65 0x0C 0x04 0x04 0x08 Function 0x02 Desc count 0x00 0xF8 0xF3 Reply Field 1 ACK NACK 0x75 0x65 0x0C 0x0D 0x04 0xF1 Echo cmd 0x08 Error code 0x00 Reply Field 2 Current IMU Message Format 0x09 0x80 Desc count 0x02 1st Descriptor 0x03 Rate Dec 0x000A 2nd Descriptor 0x04 Rate Dec 0x000A 0x98 0x0F Copy Paste version of the commands Use New Settings 7565 0C0A 0A08 0102 0400 0A05 000...

Page 53: ...m device to device The GNSS base rate for the 3DM GX5 is 4 The device checks that all descriptors are valid prior to executing this command If any of the descriptors are invalid for the GNSS data descriptor set a NACK will be returned and the message format will be unchanged The descriptor array only needs to be provided if the function selector is 1 Use new settings For all other functions it may...

Page 54: ...ngs 0x75 0x65 0x0C 0x04 0x04 0x09 Function 0x02 Desc count 0x00 0xF9 0xF3 Reply Field 1 ACK NACK 0x75 0x65 0x0C 0x0D 0x04 0xF1 Echo cmd 0x09 Error code 0x00 Reply Field 2 Current GNSS Message Format 0x09 0x81 Desc count 0x02 1st Descriptor 0x03 Data Rate 0x0004 2nd Descriptor 0x05 Data Rate 0x0004 0x8D 0xFE Copy Paste version of the commands Use New Settings 7565 0C0A 0A09 0102 0300 0405 0004 1685...

Page 55: ...n Base rates vary from device to device The EF base rate for the 3DM GX5 is 500 The device checks that all descriptors are valid prior to executing this command If any of the descriptors are invalid for the Estimation Filter data descriptor set a NACK will be returned and the message format will be unchanged The descriptor array only needs to be provided if the function selector is 1 Use new setti...

Page 56: ...current settings 0x75 0x65 0x0C 0x04 0x04 0x0A Function 0x02 Desc count 0x00 0xFA 0xF9 Reply Field 1 ACK NACK 0x75 0x65 0x0C 0x0D 0x04 0xF1 Echo cmd 0x0A Error code 0x00 Reply Field 2 Current Message Format 0x09 0x82 Desc count 0x02 1st Descriptor 0x01 Data Rate 0x0001 2nd Descriptor 0x02 Data Rate 0x0001 0x84 0xED Copy Paste version of the commands Use New Settings 7565 0C0A 0A09 0102 0300 0405 0...

Page 57: ...actory default settings The device selector can be 0x01 IMU 0x03 Estimation Filter The enable flag can be either 0x00 Disable the selected stream 0x01 Enable the selected stream default Field Format Field Length Field Descriptor Field Data Command 0x05 0x11 U8 Function Selector U8 Device Selector U8 New Enable Flag Reply Field 1 ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error code 0 ACK...

Page 58: ...5 45 GNSS Aided Inertial Navigation System DCP Manual Reply ACK NACK 0x75 0x65 0x0C 0x04 0x04 0xF1 Echo cmd 0x11 Error code 0x00 0xF0 0xCC Copy Paste version of the 1st command 7565 0C05 0511 0101 0104 1A 58 ...

Page 59: ...ng channels to use total for all constellations 0 Number of available channels from reply message For each constellation you wish to configure include the following sub fields Constellation ID 0 GPS G1 G32 1 SBAS S120 S158 2 Galileo E1 E36 3 BeiDou B1 B37 5 QZSS Q1 Q5 6 GLONASS R1 R32 Constellation Enable 0x00 Disable 0x01 Enable Number of tracking channels number of reserved channels for all cons...

Page 60: ... the En Route Case Do not use this equipment under any circumstances for safety of life applications Field Format Field Length Field Descriptor Field Data Command 6 6 N 0x21 U8 Function selector U16 Maximum channels to use U8 Count of constellations to configure N N U8 Constellation ID U8 Enable Disable U8 Reserved channel count U8 Maximum channels U16 Constellation Option Flags Reply Field 1 ACK ...

Page 61: ... new settings 0x75 0x65 0x0C 0x12 0x12 0x21 Function 0x01 Max Ch 0x0020 GNSS Count 0x02 1st GNSS ID GPS 0x00 Enable 0x01 Resrvd Ch 0x08 Max Ch 0x10 Options 0x0000 2nd GNSS ID GLNS 0x06 Enable 0x01 Resrvd Ch 0x08 Max Ch 0x0E Options 0x0000 0x84 0x5A Reply Field ACK NACK 0x75 0x65 0x0C 0x04 0x04 0xF1 Echo cmd 0x21 Error code 0x00 0x00 0xEC Copy Paste version of the command 7565 0C12 1221 0100 2002 0...

Page 62: ...ection data default 0x0004 Apply integrity information For each satellite you wish to INCLUDE from SBAS corrections Satellite PRN to include Field Format Field Length Field Descriptor Field Data Command 7 2 N 0x21 U8 Function selector U8 SBAS Enable Disable U16 SBAS Option Flags U8 Count of Satellite PRN to include N N U16 Satellite PRN Reply Field 1 ACK NACK 0x04 0xF1 U8 echo the command descript...

Page 63: ...d Length Field Desc Field Data MSB LSB Command 0x75 0x65 0x0C 0x0B 0x0B 0x22 Function 0x01 SBAS En 0x01 Options 0x0003 PRN Cnt 0x02 1st PRN Exc PRN 0x0078 2nd PRN Exc Prn 0x0079 0x16 0x5C Reply Field ACK NACK 0x75 0x65 0x0C 0x04 0x04 0xF1 Echo cmd 0x22 Error code 0x00 0x01 0xEE Copy Paste version of the command 7565 0C0B 0B22 0101 0003 0200 7800 7916 5C 63 ...

Page 64: ...t power up This allows the device to determine if the last GNSS information saved is still fresh enough to improve the TTFF Possible function selector values 0x01 Use new settings 0x02 Read back current settings 0x03 Save current settings as startup settings 0x04 Load saved startup settings 0x05 Reset to factory default settings Possible assisted fix options 0x00 No assisted fix default 0x01 Enabl...

Page 65: ...ower up if GNSS Assist was enabled when the device was powered off Sending this message will reset the clock to the current time so that the GNSS receiver can get a lock on satellites based on the information it had when it was powered off This will help reduce the time to first fix TTFF Possible function selector values 0x01 Use new values 0x02 Read back current values GNSS Assist Time Update Dat...

Page 66: ...ommand Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command 0x75 0x65 0x0C 0x11 0x11 0x24 Function 0x01 TOW 47382 21 Week 1921 Accuracy 5 0 Reply Field ACK NACK 0x75 0x65 0x0C 0x04 0x04 0xF1 Echo cmd 0x24 Error code 0x00 0x03 0xF2 66 ...

Page 67: ...ding an idle base command is recommended prior to issuing this command When a save current settings command is issued a brief data disturbance may occur as all settings are written to non volatile memory Field Format Field Length Field Descriptor Field Data Command 0x02 0x30 U8 Function selector Reply ACK NACK 0x04 0xF1 U8 echo the command byte U8 error code 0 ACK non zero NACK Examples MIP Packet...

Page 68: ...mat Field Length Field Descriptor Field Data Command 0x0F 0x37 U8 Function selector float X Accel Bias Value float Y Accel Bias Value float Z Accel Bias Value Reply Field 1 ACK NACK 0x04 0xF1 U8 echo the command byte U8 error code 0 ACK non zero NACK Reply Field 2 Function 2 0x0E 0x9A float Current X Accel Bias Value float Current Y Accel Bias Value float Current Z Accel Bias Value Examples MIP Pa...

Page 69: ...eld Length Field Descriptor Field Data Command 0x0F 0x38 U8 Function selector float X Gyro Bias Value float Y Gyro Bias Value float Z Gyro Bias Value Reply Field 1 ACK NACK 0x04 0xF1 U8 echo the command byte U8 error code 0 ACK non zero NACK Reply Field 2 Function 2 0x0E 0x9B float Current X Gyro Bias Value float Current Y Gyro Bias Value float Current Z Gyro Bias Value Examples MIP Packet Header ...

Page 70: ...y during the execution of the Capture Gyro Bias Operation Field Format Field Length Field Descriptor Field Data Command 0x04 0x39 U16 Sampling Time milliseconds Reply Field 1 ACK NACK 0x04 0xF1 U8 echo the command byte U8 error code 0 ACK non zero NACK Reply Field 2 Function 2 0x0E 0x9B float Current X Gyro Bias Value float Current Y Gyro Bias Value float Current Z Gyro Bias Value Examples MIP Pac...

Page 71: ... prior to output Possible function selector values 0x01 Apply new settings 0x02 Read back current settings 0x03 Save current settings as startup settings 0x04 Load saved startup settings 0x05 Load factory default settings 0x06 Apply new settings with no ACK NACK reply Default values Hard Iron Offset 0 0 0 Field Format Field Length Field Descriptor Field Data Command 0x0F 0x3A U8 Function selector ...

Page 72: ... to the scaled magnetometer vector prior to output Possible function selector values 0x01 Apply new settings 0x02 Read back current settings 0x03 Save current settings as startup settings 0x04 Load saved startup settings 0x05 Load factory default settings 0x06 Apply new settings with no ACK NACK reply Default values Soft Iron Compensation Matrix identity matrix row order 1 0 0 0 1 0 0 0 1 Field Fo...

Page 73: ...3F800000 0x00000000 0x00000000 0x00000000 0x3F800000 0x00000000 0x00000000 0x00000000 0x3F800000 0xAD 0x59 Reply Field ACK NACK 0x75 0x65 0x0C 0x12 0x04 0xF1 Echo cmd 0x3B Error code 0x00 0x1A 0x20 Copy Paste version of the command 7565 0C27 273B 013F 8000 0000 0000 0000 0000 0000 0000 003F 8000 0000 0000 0000 0000 0000 0000 003F 8000 00AD 59 73 ...

Page 74: ...ng and Sculling compensation 0x01 Enable the Coning and Sculling compensation default Field Format Field Length Field Descriptor Field Data Command 0x10 0x3E U8 Function selector U8 New Coning and Sculling enable setting Reply Field 1 ACK NACK 0x04 0xF1 U8 echo the command descriptor U8 error code 0 ACK non zero NACK Reply Field 2 Function 2 0x03 0x9E U8 Current Coning and Sculling enable setting ...

Page 75: ...e current baud rate and then there is a 0 25 second delay before the device will respond to commands at the new BAUD rate Field Format Field Length Field Descriptor Field Data Command 0x07 0x40 U8 Function selector U8 New baud rate Reply Field 1 ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error code 0 ACK non zero NACK Reply Field 2 Function 2 0x06 0x87 U8 Current baud rate Examples MIP P...

Page 76: ...nction selector values 0x01 Apply new settings 0x02 Read back current settings 0x03 Save current settings as startup settings 0x04 Load saved startup settings 0x05 Reset to factory default settings Possible data descriptors 0x04 Scaled accel data 0x05 Scaled gyro data 0x06 Scaled mag data 0x17 Scaled pressure data Possible filter enable values 0x01 Apply low pass filter 0x00 Do not apply low pass ...

Page 77: ... 0x00 Disabled U8 Cutoff Frequency 0x00 Auto 0x01 Manual U16 3 dB Cutoff Frequency Hz U8 Reserved Examples MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command 0x75 0x65 0x0C 0x09 0x09 0x50 Fctn Apply 0x01 Scaled Accel 0x04 Enable Filter 0x01 Automatic Cutoff Configuration 0x00 3dB Cutoff Frequency ignored for automa...

Page 78: ...Filter provides attitude outputs Matrix Euler Quaternion Up and North that are independent of the Estimation Filter outputs The CF outputs are calculated using the same algorithm as the 3DM GX5 series of Inertial Devices This provides drop in compatibility that duplicates the performance of the 3DM GX5 It is highly recommended that you transition to the EF outputs as they will provide better perfo...

Page 79: ...vice Status Field The device status field may be one of two selectable formats basic and diagnostic The reply data for this command is device specific The reply is specified by two parameters in the command The first parameter is the model number which for the 3DM GX5 45 is always 6236 0x185C That is followed by a status selector byte which determines the type of data structure returned In the cas...

Page 80: ...f the selector byte U8 N A 3 Status Flags Reserved U32 N A 9 System Timer since start up U32 millisecond 11 Number of 1PPS Pulses U32 Count 15 Last 1PPS System Timer U32 milliseconds 19 IMU Stream Enabled U8 1 on 0 off 20 Estimation Filter Stream Enabled U8 1 on 0 off 21 Outgoing IMU Stream Dropped Packet Count U32 count 25 Outgoing Estimation Filter Stream Dropped Packet Count U32 count 29 Number...

Page 81: ...0x75 0x65 0x0C 0x05 0x05 0x64 Model 6253 0x186D Staus selector basic status 0x01 0x 0x Reply Field 1 ACK NACK 0x75 0x65 0x0C 0x15 0x04 0xF1 Echo cmd 0x64 Error code 0x00 Reply Field 2 Device Status Basic Status structure 0x0D 0x90 Echo Model 0x186D Echo selector 0x01 Additonaldata 0x 0x Copy Paste version of the command 7565 0C05 0564 186D 01DA 83 4 2 26 Raw RTCM 2 3 Message 0x0C 0x20 Description ...

Page 82: ...or U8 error code 0 ACK non zero NACK Examples MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command 0x75 0x65 0x0C 2 Num 2 Num 0x20 Num_Bytes of raw RTCM2 3 data 0xXX 0xXX Reply Field ACK NACK 0x75 0x65 0x0C 0x04 0x04 0xF1 Echo cmd 0x20 Error code 0x00 0xFF 0xEA Copy Paste version of the command N A 82 ...

Page 83: ...n feature is disabled the initial attitude or heading must be set in order to enter the run state after a reset Field Format Field Length Field Descriptor Field Data Command 0x02 0x01 N A Reply Field ACK NACK 0x04 0xF1 U8 Echo the command byte U8 Error code 0 ACK non zero NACK Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field ...

Page 84: ...escriptor Field Data Command 0x0E 0x02 Float Roll radians Float Pitch radians Float Heading radians Reply Field ACK NACK 0x04 0xF1 U8 echo the command byte U8 error code 0 ACK non zero NACK Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command 0x75 0x65 0x0D 0x0E 0x0E 0x02 Roll 0x00000000 0 0f Pitch 0x00000000...

Page 85: ...pect to the local NED frame The valid input range for heading is π π Field Format Field Length Field Descriptor Field Data Command 0x06 0x03 Float Heading radians Reply Field ACK NACK 0x04 0xF1 U8 Echo the command byte U8 Error code 0 ACK non zero NACK Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command 0x75...

Page 86: ...cal acceleration wheeled vehicle dynamics 6 000 m Horizontal 84 m s Vertical 15 m s 0x03 Airborne Airborne application up to 2 Gs 50 000 m Horizontal 250 m s Vertical 100 m s 0x04 Airborne High G Airborne application up to 4 Gs 50 000 m Horizontal 250 m s Vertical 100 m s Field Format Field Length Field Descriptor Field Data Command 0x04 0x10 U8 Function Selector U8 New Dynamics Mode Reply Field 1...

Page 87: ...3DM GX5 45 GNSS Aided Inertial Navigation System DCP Manual ACK NACK Error code 0x00 Copy Paste version of the command 7565 0C04 0410 01010110 87 ...

Page 88: ...ad saved startup settings 0x05 Reset to factory default settings This transformation affects the following output quantities IMU Scaled Acceleration Scaled Gyro Scaled Magnetometer Delta Theta Delta Velocity Estimation Filter Estimated Orientation Quaternion Estimated Orientation Matrix Estimated Orientation Euler Angles Estimated Linear Acceleration Estimated Angular Rate Estimated Gravity Vector...

Page 89: ...Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command 0x75 0x65 0x0D 0x0F 0x0F 0x11 Fctn Apply 0x01 Roll 0x00000000 0 0f Pitch 0x00000000 0 0f Yaw 0x00000000 0x0f 0x17 0x72 Reply Field ACK NACK 0x75 0x65 0x0D 0x04 0x04 0xF1 Command echo 0x11 Error code 0x00 0xF1 0xD2 Copy Paste version of the command 7565 0D0F 0F11 0100 0000 0000 0000 0000 0000 0017 72 89 ...

Page 90: ...ettings 0x04 Load saved startup settings 0x05 Reset to factory default settings This transformation affects the following output quantities Estimated LLH Position The offset vector magnitude is limited to 10 meters Field Format Field Length Field Descriptor Field Data Command 0x0F 0x12 U8 Function Selector Float X meters sensor body frame Float Y meters sensor body frame Float Z meters sensor body...

Page 91: ...ertial Navigation System DCP Manual 0x0f Reply Field ACK NACK 0x75 0x65 0x0D 0x04 0x04 0xF1 Command echo 0x12 Error code 0x00 0xF2 0xD4 Copy Paste version of the command 7565 0D0F 0F12 0100 0000 0000 0000 0000 0000 0018 80 91 ...

Page 92: ...d Data Command 0x0F 0x13 U8 Function Selector Float X meters sensor body frame Float Y meters sensor body frame Float Z meters sensor body frame Reply Field 1 ACK NACK 0x04 0xF1 U8 echo the command descriptor U8 error code 0 ACK non zero NACK Reply Field 2 Function 2 0x0E 0x83 Float X meters sensor body frame Float Y meters sensor body frame Float Z meters sensor body frame Example MIP Packet Head...

Page 93: ...ation Optional 0x0020 Enable Hard Iron Auto Calibration Optional 0x0040 Enable Soft Iron Auto Calibration Optional Examples 0x0003 Enable Gyro and Accel Bias Estimation 0x0063 Enable Gyro and Accel Bias Estimation and Mag Auto Cal Field Format Field Length Field Descriptor Field Data Command 0x05 0x14 U8 Function Selector U16 Estimation Control Flags Reply Field 1 ACK NACK 0x04 0xF1 U8 Echo the co...

Page 94: ...ternal GNSS Update command Notes Changing the GNSS source while the sensor is in the running state will temporarily place it back in the init state until the new source of GNSS data is received Field Format Field Length Field Descriptor Field Data Command 0x04 0x15 U8 Function Selector U8 GNSS Source Reply Field 1 ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error code 0 ACK non zero NACK ...

Page 95: ...llipsoid m Float North Velocity m s Float East Velocity m s Float Down Velocity m s Float North Position Uncertainty m 1 sigma Float East Position Uncertainty m 1 sigma Float Down Position Uncertainty m 1 sigma Float North Velocity Uncertainty m s 1 sigma Float East Velocity Uncertainty m s 1 sigma Float Down Velocity Uncertainty m s 1 sigma Reply Field ACK NACK 0x04 0xF1 U8 echo the command descr...

Page 96: ...for heading updates 0x04 Use the internal GNSS velocity vector AND magnetometer for heading updates 0x05 Use the internal GNSS velocity vector AND external heading messages for heading updates 0x06 Use the internal magnetometer AND external heading messages for heading updates 0x07 Use the internal GNSS velocity vector AND magnetometer AND external heading messages for heading updates Notes 1 To u...

Page 97: ...e MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command 0x75 0x65 0x0D 0x04 0x04 0x18 Apply 0x01 Enable 0x01 0x09 0x28 Reply Field 1 ACK NACK 0x75 0x65 0x0D 0x04 0x04 0xF1 Echo cmd 0x18 Error code 0x00 0xF8 0xE0 Copy Paste version of the command 7565 0D04 0418 0101 0928 4 3 12 External Heading Update 0x0D 0x17 Descrip...

Page 98: ...h PI Float Heading Angle Uncertainty radians 1 sigma U8 Heading type 1 true 2 magnetic Reply Field ACK NACK 0x04 0xF1 U8 Echo the command byte U8 Error code 0 ACK non zero NACK Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command 0x75 0x65 0x0D 0x0B 0x0B 0x17 Angle 0 1f Angle Sigma 0 1f Heading Type 0x01 True...

Page 99: ... the sensor frame with respect to the NED frame Notes l On the 25 model if the declination source 0x0D 0x43 is not valid true heading updates will be NACK d l On the 45 model if the declination source is invalid magnetic heading updates will be NACK d Field Format Field Length Field Descriptor Field Data Command 0x15 0x1F Double GNSS TOW time of week seconds U16 GNSS week number Float Heading Angl...

Page 100: ...ttings Possible altitude aiding selector values 0x00 No pitch roll aiding disable 0x01 Enable gravity vector aiding1 Field Format Field Length Field Descriptor Field Data Command 0x05 0x4B U8 Function Selector U8 Aiding 0 Disable 1 Enable Reply Field ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error code 0 ACK non zero NACK Reply Field Function 2 0x03 0xBB U8 Aiding Selector Value Example...

Page 101: ...1 Enable pressure sensor aiding1 Notes 1 Pressure altitude is based on instant sea level pressure which is dependent on loc ation and weather conditions and can vary by more than 40 meters Field Format Field Length Field Descriptor Field Data Command 0x05 0x47 U8 Function Selector U8 Aiding 0 Disable 1 Enable Reply Field ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error code 0 ACK non zer...

Page 102: ...ing source If there is no heading source you can initialize the filter using the Set Initial Heading command or Set Initial Attitude command Field Format Field Length Field Descriptor Field Data Command 0x04 0x19 U8 Function Selector U8 Enable Value Reply Field 1 ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error code 0 ACK non zero NACK Reply Field 2 Function 2 0x03 0x88 U8 Enable Value E...

Page 103: ...d to tune the performance of the filter Default values provide good performance for most laboratory conditions Field Format Field Length Field Descriptor Field Data Command 0x0F 0x42 U8 Function Selector Float X Mag Noise 1 sigma gauss Float Y Mag Noise 1 sigma gauss Float Z Mag Noise 1 sigma gauss Reply Field 1 ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error code 0 ACK non zero NACK Re...

Page 104: ...3 Save current settings as startup settings 0x04 Load saved startup settings 0x05 Reset to factory default settings Field Format Field Length Field Descriptor Field Data Command 0x05 0x28 U8 Function Selector Float X Gravity Noise 1 sigma g Float Y Gravity Noise 1 sigma g Float Z Gravity Noise 1 sigma g Reply Field 1 ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error code 0 ACK non zero NA...

Page 105: ...settings as startup settings 0x04 Load saved startup settings 0x05 Reset to factory default settings Field Format Field Length Field Descriptor Field Data Command 0x05 0x29 U8 Function Selector Float Pressure Altitude Noise 1 sigma m Reply Field 1 ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error code 0 ACK non zero NACK Reply Field 2 Function 2 0x04 0x94 Float Pressure Altitude Noise 1 s...

Page 106: ...1A U8 Function Selector Float X Accel Noise 1 sigma meters second 2 Float Y Accel Noise 1 sigma meters second 2 Float Z Accel Noise 1 sigma meters second 2 U8 echo the command descriptor U8 error code 0 ACK not 0 NACK Reply Field 1 ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error code 0 ACK non zero NACK Reply Field 2 Function 2 0x0E 0x89 Float X Accel Noise 1 sigma meters second 2 Float...

Page 107: ...m s 2 Float Y Accel Bias Noise 1 sigma m s 2 Float Z Accel Bias Noise 1 sigma m s 2 Reply Field 1 ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error code 0 ACK non zero NACK Reply Field 2 Function 2 0x1A 0x8B Float X Accel Bias Beta 1 second Float Y Accel Bias Beta 1 second Float Z Accel Bias Beta 1 second Float X Accel Bias Noise 1 sigma m s 2 Float Y Accel Bias Noise 1 sigma m s 2 Float ...

Page 108: ...provide good performance for most laboratory conditions Field Format Field Length Field Descriptor Field Data Command 0x0F 0x1B U8 Function Selector Float X Gyro Noise 1 sigma rad second Float Y Gyro Noise 1 sigma rad second Float Z Gyro Noise 1 sigma rad second Reply Field 1 ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error code 0 ACK non zero NACK Reply Field 2 Function 2 0x0E 0x8A Floa...

Page 109: ...Gyro Bias Noise 1 sigma rad second Float Z Gyro Bias Noise 1 sigma rad second Reply Field 1 ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error code 0 ACK non zero NACK Reply Field 2 Function 2 0x1A 0x8C Float X Gyro Bias Beta 1 second Float Y Gyro Bias Beta 1 second Float Z Gyro Bias Beta 1 second Float X Gyro Bias Noise 1 sigma rad second Float Y Gyro Bias Noise 1 sigma rad second Float Z...

Page 110: ...t values provide good performance for most laboratory conditions Field Format Field Length Field Descriptor Field Data Command 0x0F 0x2B U8 Function Selector Float X HI Offset Noise 1 sigma gauss Float Y HI Offset Noise 1 sigma gauss Float Z HI Offset Noise 1 sigma gauss Reply Field 1 ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error code 0 ACK non zero NACK Reply Field 2 Function 2 0x0E ...

Page 111: ...fies how the filter responds to dynamic input and can be used to tune the performance of the filter Default values provide good performance for most laboratory conditions Field Format Field Length Field Descriptor Field Data Command 0x0F 0x2C U8 Function Selector Float m1 1 Float m1 2 Float m1 3 Float m2 1 Float m2 2 Float m2 3 Float m3 1 Float m3 2 Float m3 3 Reply Field 1 ACK NACK 0x04 0xF1 U8 E...

Page 112: ...P Manual Reply Field 1 ACK NACK 0x75 0x65 0x0D 0x04 0x04 0xF1 Echo cmd 0x2C Error code 0x00 0x9A 0xB2 Copy Paste version of the command 7565 0D27 272C 0138 D1B7 1738 D1B7 1738 D1B7 1738 D1B7 1738 D1B7 1738 D1B7 1738 D1B7 1738 D1B7 1738 D1B7 17F1 8C 112 ...

Page 113: ... are less than zero i e negative Field Format Field Length Field Descriptor Field Data Command 0x08 0x1E U8 Function Selector U8 Enable Value Float ZUPT threshold m s Reply Field 1 ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error code 0 ACK non zero NACK Reply Field 2 Function 2 0x07 0x8D U8 Enable Value Float ZUPT threshold m s Example MIP Packet Header Command Reply Fields Checksum Syn...

Page 114: ...less than zero i e negative Field Format Field Length Field Descriptor Field Data Command 0x08 0x20 U8 Function Selector U8 Enable Value 0 disable 1 enable Float Threshold rad s Reply Field 1 ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error code 0 ACK non zero NACK Reply Field 2 Function 2 0x07 0x8E U8 Enable Value Float ZUPT threshold rad s Example MIP Packet Header Command Reply Fields...

Page 115: ...he pitch axis 0x04 Tare the yaw axis Example Combinations 0x03 Tare the roll and pitch axis 0x07 Tare all 3 axis Note The filter must be initialized and have a valid attitude output If the attitude is not valid an error will be returned Notes The filter must be initialized and have a valid attitude output If the attitude is not valid an error will be returned Field Format Field Length Field Descri...

Page 116: ...r this message is 20 Hz Field Format Field Length Field Descriptor Field Data Command 0x02 0x22 N A Reply Field ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error code 0 ACK non zero NACK Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command 0x75 0x65 0x0D 0x02 0x02 0x22 0x0D 0x17 Reply Field ACK NACK ...

Page 117: ...tor Field Data Command 0x02 0x23 N A Reply Field ACK NACK 0x04 0xF1 U8 Echo the command byte U8 Error code 0 ACK non zero NACK Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command 0x75 0x65 0x0D 0x02 0x02 0x23 0x0E 0x18 Reply Field ACK NACK 0x75 0x65 0x0D 0x04 0x04 0xF1 Echo cmd 0x23 Error code 0x00 0x03 0xF6...

Page 118: ...s Possible declination sources 0x01 None 0x02 World Magnetic Model Default 0x03 Manual Option description None orientation information will be reported with respect to magnetic north World Magnetic Model The declination will be sourced from the device s internal world magnetic model Manual The user provides the declination angle The device does not validate this angle and it is therefore up to the...

Page 119: ...Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command 0x75 0x65 0x0D 0x08 0x08 0x43 Fctn Apply 0x01 Source Manual 0x03 Angle 0x00000000 0 0f 0x0D 0x17 Reply Field 1 ACK NACK 0x75 0x65 0x0D 0x04 0x04 0xF1 Echo cmd 0x43 Error code 0x00 0x23 0x36 Copy Paste version of the command N A 119 ...

Page 120: ...higher vibration conditions lower values for lower vibration Too low a value will result in excessive heading errors Higher values increase pitch and roll errors when undergoing linear accelerations Adaptive measurements can be enabled disabled without the need for providing the additional parameters In this case only the function selector and enable value are required all other parameters will re...

Page 121: ...d2 Float High Limit meters second2 Float Low Limit Uncertainty 1 Sigma meters second2 Float High Limit Uncertainty 1 Sigma meters second2 Float Minimum Uncertainty 1 Sigma meters second2 Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command 0x75 0x65 0x0D 0x1C 0x1C 0x44 Fctn Apply 0x01 Enable 0x01 Freq Hz 1 0f...

Page 122: ...standard low dynamics applications Increase values for higher dynamic conditions lower values for lower dynamic Too low a value will result in excessive heading errors Higher values increase heading errors when undergoing magnetic field anomalies caused by DC currents magnets steel structures etc Auto adaptive measurements can be enabled without the need for providing the additional parameters In ...

Page 123: ...t Low Limit Gauss Float High Limit Gauss Float Low Limit Uncertainty 1 Sigma Gauss Float High Limit Uncertainty 1 Sigma Gauss Float Minimum Uncertainty 1 Sigma Gauss Example MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command 0x75 0x65 0x0D 0x1C 0x1C 0x45 Fctn Apply 0x01 Enable 0x01 Freq Hz 1 0f Low Limit 0 2f High ...

Page 124: ...s Increase values for higher dynamic conditions lower values for lower dynamic Too low a value will result in excessive heading errors Higher values increase heading errors when undergoing magnetic field anomalies caused by DC currents magnets steel structures etc Notes 1 The magnetometer dip angle adaptive measurement is ignored if the auto adaptive magnetometer magnitude or auto adaptive accel m...

Page 125: ...Sync1 Sync2 Desc Set Payload Length Field Length Field Desc Field Data MSB LSB Command 0x75 0x65 0x0D 0x14 0x14 0x46 Fctn Apply 0x01 Enable 0x01 Freq Hz 10 0f High Limit rad 0 3f High Limit 1 sigma 0 2f Min 1 sigma 0 01f Reply Field 1 ACK NACK 0x75 0x65 0x0D 0x04 0x04 0xF1 Echo cmd 0x46 Error code 0x00 0xB4 0xE6 125 ...

Page 126: ...ues 0x01 Capture and use new settings 0x03 Save current settings as startup settings1 Notes 1 This is the same as issuing the 0x0C 0x3A and 0x0C 0x3B commands with the 0x03 Save current settings as startup settings function selector Field Format Field Length Field Descriptor Field Data Command 0x27 0x27 U8 Function Selector Reply Field ACK NACK 0x04 0xF1 U8 Echo the command descriptor U8 Error cod...

Page 127: ...n switched to the direct modes This command responds with an ACK NACK just prior to switching to the new protocol For all functions except 0x01 use new settings the new communications mode value is ignored Possible function selector values 0x01 Apply new settings 0x02 Read back current settings 0x03 Save current settings as startup settings 0x04 Load saved startup settings 0x05 Reset to factory de...

Page 128: ...5 0x7F 0x04 0x04 0xF1 Echo cmd 0x10 Error code 0x00 0x62 0x7C Copy Paste version of the command 7565 7F04 0410 0102 74BD 4 5 Error Codes Error Name Error Value Description MIP Unknown Command 0x01 The command descriptor is not supported by this device MIP Invalid Checksum 0x02 An otherwise complete packet has a bad checksum MIP Invalid Parameter 0x03 One or more parameters in the packet are invali...

Page 129: ...rection and magnitude of the acceleration that the 3DM GX5 45 is exposed to This quantity is fully temperature compensated and scaled into physical units of g 1 g 9 80665 m sec 2 It is expressed in terms of the 3DM GX5 45 s local coordinate system Field Format Field Length Data Descriptor Message Data 14 0x0E 0x04 Binary Off set Description Data Type Units 0 X Accel float g 4 Y Accel float g 8 Z A...

Page 130: ...E 0x05 Binary Offset Description Data Type Units 0 X Gyro float Radians second 4 Y Gyro float Radians second 8 Z Gyro float Radians second 5 1 3 Scaled Magnetometer Vector 0x80 0x06 Description Scaled Magnetometer Vector Notes This is a vector which gives the instantaneous magnetometer direction and magnitude This quantity is fully temperature compensated and scaled into units of Gauss It is expre...

Page 131: ...ry Offset Description Data Type Units 0 Ambient Pressure float milliBar 5 1 5 Delta Theta Vector 0x80 0x07 Description Time integral of angular rate Notes This is a vector which gives the time integral of angular rate over the interval set by the IMU message format command It is expressed in terms of the 3DM GX5 45 s local coordinate system in units of radians Field Format Field Length Data Descri...

Page 132: ...665 m sec2 Field Format Field Length Data Descriptor Message Data 14 0x0E 0x08 Binary Offset Description Data Type Units 0 X Delta Velocity float g seconds 4 Y Delta Velocity float g seconds 8 Z Delta Velocity float g seconds 5 1 7 CF Orientation Matrix 0x80 0x09 Description 3 x 3 Orientation Matrix M This value is produced by the Complementary Filter fusion algorithm Notes This is a nine componen...

Page 133: ...ix 0x80 0x09 Field Format Field Length Data Descriptor Message Data 38 0x26 0x09 Binary Off set Description Data Type Units 0 M1 1 Float N A 4 M1 2 Float N A 8 M1 3 Float N A 12 M2 1 Float N A 16 M2 2 Float N A 20 M2 3 Float N A 24 M3 1 Float N A 28 M3 2 Float N A 32 M3 3 Float N A 133 ...

Page 134: ...entation of the 3DM GX5 with respect to the fixed earth coordinate system Q satisfies the following equation V_ILi Q 1 V_E Q Where V_IL is a vector expressed in the 3DM GX5 s local coordinate system V_E is the same vector expressed in the stationary earth fixed coordinate system Field Format Field Length Data Descriptor Message Data 18 0x12 0x0A Binary Off set Description Data Type Units 0 q0 Floa...

Page 135: ...e Complementary Filter fusion algorithm Notes This is a three component vector containing the Roll Pitch and Yaw angles in radians It is computed by the IMU AHRS from the orientation matrix M Field Format Field Length Data Descriptor Message Data 14 0x0E 0x0C Binary Offset Description Data Type Units 0 Roll Float Radians 4 Pitch Float Radians 8 Yaw Float Radians 135 ...

Page 136: ... be equal to Magnetometer When transient magnetic interference is present Magnetometer will be subject to transient possibly large errors The IMU AHRS complementary filter computes Stabilized North which is its estimate of the geomagnetic field vector only even thought the system may be exposed to transient magnetic interference Note that sustained magnetic interference cannot be adequately compen...

Page 137: ...oat G 8 Z Stab Accel Float G 5 1 12 GPS Correlation Timestamp 0x80 0x12 Description GPS correlation timestamp Notes This timestamp has three fields Double GPS TOW U16 GPS Week number U16 Timestamp flags Timestamp Status Flags Bit0 PPS Beacon Good If set GNSS PPS signal is present Bit1 GPS Time Refresh toggles with each refresh Bit2 GPS Time Initialized set with the first GPS Time Refresh This time...

Page 138: ... jump in the timestamp when the PPS Beacon Good reasserts reflecting the amount of drift of the clocks See the Data Synchronicity section of this manual for more information on timestamps It is important to understand that new GNSS constellations such as GLONASS and BeiDou do not use the GPS Time base the time base of the U S GPS constellation However their time bases get converted to the GPS Time...

Page 139: ...0004 MSL Height Valid 0x0008 Horizontal Accuracy Valid 0x0010 Vertical Accuracy Valid Field Format Field Length Data Descriptor Message Data 44 0x2C 0x03 Binary Offset Description Data Type Units 0 Latitude Double Decimal Degrees 8 Longitude Double Decimal Degrees 16 Height above Ellipsoid Double Meters 24 Height above MSL Double Meters 32 Horizontal Accuracy Float Meters 36 Vertical Accuracy Floa...

Page 140: ...d Frame Notes Valid Flag Mapping 0x0001 ECEF Position Valid 0x0002 Position Accuracy Valid Field Format Field Length Data Descriptor Message Data 32 0x20 0x04 Binary Offset Description Data Type Units 0 X Position Double Meters 8 Y Position Double Meters 16 Z Position Double Meters 24 Position Accuracy Float Meters 28 Valid Flags U16 See Notes 140 ...

Page 141: ...ing Valid 0x0010 Speed Accuracy Valid 0x0020 Heading Accuracy Valid Field Format Field Length Data Descriptor Message Data 36 0x24 0x05 Binary Offset Description Data Type Units 0 North Float Meters Sec 4 East Float Meters Sec 8 Down Float Meters Sec 12 Speed Float Meters Sec 16 Ground Speed Float Meters Sec 20 Heading Float Decimal Degrees 24 Speed Accuracy Float Meters Sec 28 Heading Accuracy Fl...

Page 142: ...e Notes Valid Flag Mapping 0x0001 ECEF Velocity Valid 0x0002 Velocity Accuracy Valid Field Format Field Length Data Descriptor Message Data 20 0x14 0x06 Binary Offset Description Data Type Units 0 X Velocity Float Meters Sec 4 Y Velocity Float Meters Sec 8 Z Velocity Float Meters Sec 12 Velocity Accuracy Float Meters Sec 16 Valid Flags U16 See Notes 142 ...

Page 143: ... Valid 0x0008 VDOP Valid 0x0010 TDOP Valid 0x0020 NDOP Valid 0x0040 EDOP Valid Field Format Field Length Data Descriptor Message Data 32 0x20 0x07 Binary Offset Description Data Type Units 0 Geometric DOP Float N A 4 Position DOP Float N A 8 Horizontal DOP Float N A 12 Vertical DOP Float N A 16 Time DOP Float N A 20 Northing DOP Float N A 24 Easting DOP Float N A 28 Valid Flags U16 See Notes 143 ...

Page 144: ...ng 0x0001 Date Valid 0x0002 Time Valid Field Format Field Length Data Descriptor Message Data 15 0x0F 0x08 Binary Offset Description Data Type Units 0 Year U16 Years 1999 2099 2 Month U8 Months 1 12 3 Day U8 Days 1 31 4 Hour U8 Hours 0 23 5 Minute U8 Minutes 0 59 6 Second U8 Seconds 0 59 7 Millisecond U32 Milliseconds 11 Valid Flags U16 See Notes 144 ...

Page 145: ...its 0 Time of Week Double Seconds 8 Week Number U16 N A 10 Valid Flags U16 See Notes 5 2 8 Clock Information 0x81 0x0A Description Detailed information about the GNSS Clock Notes Valid Flag Mapping 0x0001 Bias Valid 0x0002 Drift Valid 0x0004 Accuracy Estimate Valid Field Format Field Length Data Descriptor Message Data 28 0x1C 0x0A Binary Offset Description Data Type Units 0 Clock Bias Double Seco...

Page 146: ...ags Valid Possible Fix Types values are 0x00 3D Fix 0x01 2D Fix 0x02 Time Only 0x03 None 0x04 Invalid Possible Fix Flags are 0x0001 SBAS Corrections Used 0x0002 Differential DGNSS Corrections Used Field Format Field Length Data Descriptor Message Data 8 0x08 0x0B Binary Offset Description Data Type Units 0 Fix Type U8 See Notes 1 Number of SVs used for solution U8 Count 2 Fix Flags Reserved U16 N ...

Page 147: ...arrier to Noise Ratio Valid 0x0010 Azimuth Valid 0x0020 Elevation Valid 0x0040 SV Flags Valid SV Flag Mapping 0x0001 SV Used for Navigation 0x0002 SV Healthy Field Format Field Length Data Descriptor Message Data 14 0x0E 0x0C Binary Offset Description Data Type Units 0 Channel U8 Channel Number 1 Space Vehicle ID U8 SV ID Number 2 Carrier to Noise Ratio U16 dBHz 4 Azimuth S16 Integer Degrees 6 Ele...

Page 148: ... Possible Sensor State values 0x00 Sensor Off 0x01 Sensor On 0x02 Sensor State Unknown Possible Antenna State values 0x01 Antenna Init 0x02 Antenna Short 0x03 Antenna Open 0x04 Antenna Good 0x05 Antenna State Unknown Possible Antenna Power values 0x00 Antenna Off 0x01 Antenna On 0x02 Antenna Power Unknown Field Format Field Length Data Descriptor Message Data 7 0x07 0x0D Binary Offset Description ...

Page 149: ...els Valid Possible Base Station Status Values 0 UDRE Scale Factor 1 0 1 UDRE Scale Factor 0 75 2 UDRE Scale Factor 0 5 3 UDRE Scale Factor 0 3 4 UDRE Scale Factor 0 2 5 UDRE Scale Factor 0 1 6 Reference Station Transmission Not Monitored 7 Reference Station Not Working Note UDRE User Differential Range Error Field Format Field Length Data Descriptor Message Data 14 0x0E 0x0E Binary Offset Descript...

Page 150: ...in the packet Valid Flag Mapping 0x0001 SV ID Valid 0x0002 Age Valid 0x0004 Pseudorange Correction Valid 0x0008 Pseudorange Rate Correction Valid Field Format Field Length Data Descriptor Message Data 17 0x11 0x0F Binary Offset Description Data Type Units 0 Space Vehicle ID U8 SV ID Number 1 Age Float Seconds 5 Pseudorange Correction Float Meters 9 Pseudorange Rate Correction Float Meters Sec 13 V...

Page 151: ...ix singularity in calculation 0x0010 Position covariance high warning 0x0020 Velocity covariance high warning 0x0040 Attitude covariance high warning 0x0080 NAN in solution 0x0100 Gyro bias estimate high warning 0x0200 Accel bias estimate high warning 0x0400 Gyro scale factor estimate high warning 0x0800 Accel scale factor estimate high warning 0x1000 Mag bias estimate high warning 0x2000 GNSS ant...

Page 152: ...tem DCP Manual 5 3 1 Filter Status 0x82 0x10 Field Format Field Length Data Descriptor Message Data 08 0x08 0x10 Binary Offset Description Data Type Units 0 Filter State U16 See Notes 2 Dynamics Mode U16 See Notes 4 Status Flags U16 See Notes 152 ...

Page 153: ...timation Filter Calculated Value Timestamp Data Notes Valid Flag Mapping 0x0000 Time Invalid 0x0001 Time Valid Field Format Field Length Data Descriptor Message Data 14 0x0E 0x11 Binary Offset Description Data Type Units 0 Time of Week Double Seconds 8 Week Number U16 N A 10 Valid Flags U16 See Notes 153 ...

Page 154: ...otes Valid Flag Mapping 0x0000 Latitude Longitude Height are Invalid 0x0001 Latitude Longitude Height Valid Field Format Field Length Data Descriptor Message Data 28 0x1C 0x01 Binary Offset Description Data Type Units 0 Latitude Double Decimal Degrees 8 Longitude Double Decimal Degrees 16 Height above Ellipsoid Double Meters 24 Valid Flags U16 See Notes 154 ...

Page 155: ...l Level 1 Sigma Position Uncertainty North Float Meters 4 Local Level 1 Sigma Position Uncertainty East Float Meters 8 Local Level 1 Sigma Position Uncertainty Down Float Meters 12 Valid Flags U16 See Notes 5 3 5 NED Velocity 0x82 0x02 Description Estimated Velocity Data expressed in the Local Level Frame Notes Valid Flag Mapping 0x0000 NED Velocity is Invalid 0x0001 NED Velocity Valid Field Forma...

Page 156: ...0000 NED Velocity Uncertainties are Invalid 0x0001 NED Velocity Uncertainties Valid Field Format Field Length Data Descriptor Message Data 16 0x10 0x09 Binary Offset Description Data Type Units 0 Local Level 1 Sigma Velocity Uncertainty North Float Meters Sec 4 Local Level 1 Sigma Velocity Uncertainty East Float Meters Sec 8 Local Level 1 Sigma Velocity Uncertainty Down Float Meters Sec 12 Valid F...

Page 157: ...em Q satisfies the following equation V_ILi Q V_E Q 1 Where V_IL is a vector expressed in the 3DM GX5 s local coordinate system V_E is the same vector expressed in the stationary earth fixed coordinate system Valid Flag Mapping 0x0000 Quaternion is Invalid 0x0001 Quaternion Valid Field Format Field Length Data Descriptor Message Data 20 0x14 0x03 Binary Offset Description Data Type Units 0 q0 Floa...

Page 158: ...attitude uncertainty expressed in quaternion elements Valid Flag Mapping 0x0000 Attitude uncertainties are Invalid 0x0001 Attitude uncertainties are Valid Field Format Field Length Data Descriptor Message Data 20 0x14 0x12 Binary Offset Description Data Type Units 0 1 Sigma Attitude Uncertainty q0 Float 4 1 Sigma Attitude Uncertainty q1 Float 8 1 Sigma Attitude Uncertainty q2 Float 12 1 Sigma Atti...

Page 159: ...r containing the Roll Pitch and Yaw angles in radians It is computed by the INS from the orientation quaternion Q Valid Flag Mapping 0x0000 Euler Angles are Invalid 0x0001 Euler Angles Valid Field Format Field Length Data Descriptor Message Data 16 0x10 0x05 Binary Offset Description Data Type Units 0 Roll Float Radians 4 Pitch Float Radians 8 Yaw Float Radians 12 Valid Flags U16 See Notes 159 ...

Page 160: ...s and become increasingly inaccurate as the pitch angle approaches 90 degrees To compensate for this limitation these values will be marked as invalid when the pitch angle exceeds 70 degrees Valid Flag Mapping 0x0000 Attitude Uncertainties are Invalid 0x0001 Attitude Uncertainties Valid Field Format Field Length Data Descriptor Message Data 16 0x10 0x0A Binary Offset Description Data Type Units 0 ...

Page 161: ...ation V_ILi Mij V_Ej Where V_IL is a vector expressed in the 3DM GX5 s local coordinate system V_E is the same vector expressed in the stationary earth fixed coordinate system Valid Flag Mapping 0x0000 Orientation Matrix is Invalid 0x0001 Orientation Matrix Valid Field Format Field Length Data Descriptor Message Data 40 0x28 0x04 Binary Offset Description Data Type Units 0 M1 1 Float N A 4 M1 2 Fl...

Page 162: ...ody rotation has been defined 2 The Vehicle Frame if a sensor to body rotation has been defined Notes The estimated gyro bias has been removed from these angular rate values Valid Flag Mapping 0x0000 Angular Rates are not Valid 0x0001 Angular Rates are Valid Field Format Field Length Data Descriptor Message Data 16 0x10 0x0E Binary Offset Description Data Type Units 0 X Float Radians Sec 4 Y Float...

Page 163: ...ians Sec 8 Z Gyro Bias Float Radians Sec 12 Valid Flags U16 See Notes 5 3 14 Gyro Bias Uncertainty 0x82 0x0B Description Estimated Gyro Bias 1 sigma Uncertainty expressed in the Sensor Body Frame Notes Valid Flag Mapping 0x0000 Gyro Bias Uncertainties are Invalid 0x0001 Gyro Bias Uncertainties Valid Field Format Field Length Data Descriptor Message Data 16 0x10 0x0B Binary Offset Description Data ...

Page 164: ...Float 100 8 Z Scale Factor Float 100 12 Valid Flags U16 See Notes 5 3 16 Gyro Scale Factor Uncertainty 0x82 0x18 Description Estimated Gyro Scale Factor 1 Sigma Uncertainty expressed in the Sensor Body Frame Notes Valid Flag Mapping 0x0000 Gyro Scale Factor Uncertainties are Invalid 0x0001 Gyro Scale Factor Uncertainties Valid Field Format Field Length Data Descriptor Message Data 16 0x10 0x18 Bin...

Page 165: ...tion has been defined 2 The Vehicle Frame if a sensor to body rotation has been defined Notes Valid Flag Mapping 0x0000 Compensated Accelerations are Invalid 0x0001 Compensated Accelerations are Valid Field Format Field Length Data Descriptor Message Data 16 0x10 0x1C Binary Offset Description Data Type Units 0 X Float Meters Sec2 4 Y Float Meters Sec2 8 Z Float Meters Sec2 12 Valid Flags U16 See ...

Page 166: ...ensor to body rotation has been defined 2 The Vehicle Frame if a sensor to body rotation has been defined Notes Valid Flag Mapping 0x0000 Linear Accelerations are Invalid 0x0001 Linear Accelerations are Valid Field Format Field Length Data Descriptor Message Data 16 0x10 0x0D Binary Offset Description Data Type Units 0 X Float Meters Sec2 4 Y Float Meters Sec2 8 Z Float Meters Sec2 12 Valid Flags ...

Page 167: ...rs Sec2 8 Z Accel Bias Float Meters Sec2 12 Valid Flags U16 See Notes 5 3 20 Accel Bias Uncertainty 0x82 0x0C Description Estimated Accel Bias 1 sigma Uncertainty expressed in the Sensor Body Frame Notes Valid Flag Mapping 0x0000 Accel Bias Uncertainties are Invalid 0x0001 Accel Bias Uncertainties Valid Field Format Field Length Data Descriptor Message Data 16 0x10 0x0C Binary Offset Description D...

Page 168: ...in the Sensor Body Frame Notes Valid Flag Mapping 0x0000 Scale Factor values are Invalid 0x0001 Scale Factor values are Valid Field Format Field Length Data Descriptor Message Data 16 0x10 0x17 Binary Offset Description Data Type Units 0 X Scale Factor Float 100 4 Y Scale Factor Float 100 8 Z Scale Factor Float 100 12 Valid Flags U16 See Notes 168 ...

Page 169: ...id Flag Mapping 0x0000 Accel Scale Factor Uncertainties are Invalid 0x0001 Accel Scale Factor Uncertainties Valid Field Format Field Length Data Descriptor Message Data 16 0x10 0x19 Binary Offset Description Data Type Units 0 1 Sigma Accel Scale Factor Uncertainty X Float 100 4 1 Sigma Accel Scale Factor Uncertainty Y Float 100 8 1 Sigma Accel Scale Factor Uncertainty Z Float 100 12 Valid Flags U1...

Page 170: ...sure sensor reading is required for the pressure altitude to be valid The minimum pressure reading supported by the model is 0 0037 mBar corresponding to an altitude of 84 852 meters Valid Flag Mapping 0x0000 Pressure Altitude is Invalid 0x0001 Pressure Altitude is Valid Field Format Field Length Data Descriptor Message Data 8 0x08 0x21 Binary Offset Description Data Type Units 0 Pressure Altitude...

Page 171: ...o be valid Valid Flag Mapping 0x0000 Atmosphere model solution is invalid note this will be the state when GNSS is unavailable 0x0001 Atmosphere model solution is valid Field Format Field Length Data Descriptor Message Data 24 0x18 0x20 Binary Offset Description Data Type Units 0 Geometric Altitude Float meters 4 Geopotential Altitude Float meters 8 Temperature Float degC 12 Pressure Float mBar 16...

Page 172: ...ation has been defined 2 The Vehicle Frame if a sensor to body rotation has been defined Notes Valid Flag Mapping 0x0000 Gravity vector is Invalid 0x0001 Gravity vector is Valid Field Format Field Length Data Descriptor Message Data 16 0x10 0x13 Binary Offset Description Data Type Units 0 X Float Meters Sec2 4 Y Float Meters Sec2 8 Z Float Meters Sec2 12 Valid Flags U16 See Notes 172 ...

Page 173: ...S84 gravity model Notes The GX5 45 implements the WGS84 gravity model valid for altitudes of 20 km or less Valid Flag Mapping 0x0000 Gravity value is Invalid 0x0001 Gravity value is Valid Field Format Field Length Data Descriptor Message Data 08 0x08 0x0F Binary Offset Description Data Type Units 0 Gravity Mag nitude Float Meters Sec2 4 Valid Flags U16 See Notes 173 ...

Page 174: ...s may be combined 0x0000 No source heading updates disabled 0x0001 Magnetometer 0x0002 GNSS Velocity Vector 0x0004 External Heading Update or External Heading Update with Timestamp Message Valid Flag Mapping 0x0000 No heading update received in 2 seconds 0x0001 The heading update source has provided data within 2 seconds Field Format Field Length Data Descriptor Message Data 14 0x0E 0x14 Binary Of...

Page 175: ...netic model solution is invalid note this will be the state when the magnetic model is recalculating for the current time and location as well as when GNSS is unavailable 0x0001 Magnetic model solution is valid Field Format Field Length Data Descriptor Message Data 24 0x18 0x15 Binary Offset Description Data Type Units 0 Intensity North Float Gauss 4 Intensity East Float Gauss 8 Intensity Down Flo...

Page 176: ...or Message Data 16 0x10 0x25 Binary Offset Description Data Type Units 0 X Float Gauss 4 Y Float Gauss 8 Z Float Gauss 12 Valid Flags U16 See Notes 5 3 30 Mag Auto Hard Iron Offset Uncertainty 0x82 0x28 Description This is the uncertainty of the Magnetometer Compensation Offset Notes Valid Flag Mapping 0x0000 Vector is Invalid 0x0001 Vector is Valid Field Format Field Length Data Descriptor Messag...

Page 177: ...ibration matrix to compensate for magnetometer in run errors Valid Flag Mapping 0x0000 Orientation Matrix is Invalid 0x0001 Orientation Matrix is Valid Field Format Field Length Data Descriptor Message Data 40 0x28 0x26 Binary Offset Description Data Type Units 0 M11 Float n a 4 M12 Float n a 8 M13 Float n a 12 M21 Float n a 16 M22 Float n a 20 M23 Float n a 24 M31 Float n a 28 M32 Float n a 32 M3...

Page 178: ...etometer Compensation matrix Valid Flag Mapping 0x0000 Orientation Matrix is Invalid 0x0001 Orientation Matrix is Valid Field Format Field Length Data Descriptor Message Data 40 0x28 0x29 Binary Offset Description Data Type Units 0 M11 Float n a 4 M12 Float n a 8 M13 Float n a 12 M21 Float n a 16 M22 Float n a 20 M23 Float n a 24 M31 Float n a 28 M32 Float n a 32 M33 Float n a 36 Valid Flags U16 S...

Page 179: ...m the IMU to the GNSS Antenna Notes Valid Flag Mapping 0x0000 GNSS Antenna Offset Correction values are Invalid 0x0001 GNSS Antenna Offset Correction values are Valid Field Format Field Length Data Descriptor Message Data 16 0x10 0x30 Binary Offset Description Data Type Units 0 X Offset Correction Float Meters 4 Y Offset Correction Float Meters 8 Z Offset Correction Float Meters 12 Valid Flags U16...

Page 180: ... Mapping 0x0000 GNSS Antenna Offset Correction Uncertainties are Invalid 0x0001 GNSS Antenna Offset Correction Uncertainties Valid Field Format Field Length Data Descriptor Message Data 16 0x10 0x31 Binary Offset Description Data Type Units 0 1 Sigma Offset Correction Uncertainty X Float Meters 4 1 Sigma Offset Correction Uncertainty Y Float Meters 8 1 Sigma Offset Correction Uncertainty Z Float M...

Page 181: ...byte specifies the sum of all the field length bytes in the payload section 6 2 Payload Length Range The payload section can be empty or can contain one or more fields Each field has a length byte and a descriptor byte The field length byte specifies the length of the entire field including the field length byte and field descriptor byte The descriptor byte specifies the command or data that is co...

Page 182: ...a MIP packet Most commands will have a single field in the packet but multiple field packets are possible Extensive examples complete with checksums are given in the command reference section 6 3 MIP Checksum Range The checksum is a 2 byte Fletcher checksum and encompasses all the bytes in the packet 6 4 16 bit Fletcher Checksum Algorithm C Language for i 0 i checksum_range i checksum_byte1 mip_pa...

Page 183: ...e rows for clarity Examples MIP Packet Header Command Reply Fields Checksum Sync1 Sync2 Desc Set Payload Length Field Length Cmd Desc Field Data MSB LSB Command Field 1 Set IMU Message Format 0x75 0x65 0x0C 0x20 0x0D 0x08 Function 0x01 Desc count 0x03 GPS TS Descriptor 0x12 Rate Dec 0x000A Accel Descriptor 0x04 Rate Dec 0x000A Ang Rate Descriptor 0x05 Rate Dec 0x000A Command Field 2 Set EF Mes sag...

Page 184: ... in these modes These modes can be used to access advanced native data of the individual sensors data that isn t represented in the 3DM command sets of the 3DM GX5 45 These modes are primarily advanced modes for programmers to allow the 3DM GX5 45 to be used in unusual situations where the normal functions of the 3DM GX5 45 are bypassed IMPORTANT When you switch modes you are switching to a new de...

Page 185: ... is not usually an issue on these systems What can be an issue is latency that is when the buffer is not emptied by the application in a timely manner In the worst case the buffer is being filled faster than it is emptied and the application operates with increasingly old data which causes runaway latency It is important to monitor the incoming data buffer to make sure you do not reach this condit...

Page 186: ...he interrupts are preemptive the processor will fetch every byte received Using the interrupt routine to fill a ring buffer makes the most efficient use of an MCU and makes it easier to write your application main line code This is essentially what drivers in operating systems do 186 ...

Page 187: ...hat each data packet is exactly the same A fixed packet structure allows you to find data fields by fixed offsets rather than parsing the packet for each field A fixed packet structure is easily achieved with MIP packet protocol by simply making sure the data rate for each data quantity is the same The order of the data fields in the packet reflect the order of the fields in the Message Format com...

Page 188: ...The descriptor set byte aids in sorting an incoming packet stream into one or more command reply packet queues and or data packet queues A typical multithreaded environment will have a command control thread and one or more data processing threads Each of these threads can be fed with individual incoming packet queues each containing packets that only pertain to that thread sorted by descriptor se...

Page 189: ...o selectively trust a given measurement more or less based on a trust threshold when com pared to another measurement that is used as a reference Sensors that have estimation filters that rely on adaptive control elements to improve their estimations are refered to as an AKF AHRS Attitude and Heading Reference System A navigation device consisting of sensors on the three primary axes used to measu...

Page 190: ...o produce a solution These filters typically contain simple filtering elements to smooth out the effects of sensor over ranging or anomalies in the magnetic field Configuration A general term applied to the sensor indicating how it is set up for data acquisition It includes settings such as sampling rate active measurements measurement settings offsets biases and calibration values Convergance whe...

Page 191: ...t a sequence of three elemental rotations around the axes of a coordinate system Extended Kalman Filter EKF Used generically to describe any estimation filter based on the Kalman Filter model that can handle non linear elements Almost all inertial estimation filters are fundamentally EKFs G GNSS Global Navigation Statellite System a global network of space based statellites GPS GLONASS BeiDou Gali...

Page 192: ...e precise than what a single measurement could pro duce L LOS Line of Sight Describes the ideal condition between transmitting and receiving devices in a wireless network As stated it means they are in view of each other with no obstructions M Magnetometer A type of sensor that measures the strength and direction of the local magnetic field with refernce to the sensor frame The magnetic field meas...

Page 193: ...rientation and rotation of objects in three dimensions with respect to the fixed earth coordinate quaternion Quaternions convert the axis angle representation of the object into four numbers and to apply the corresponding rotation to a position vector representing a point relative to the origin R Resolution In digital systems the resolution is the number of bits or values available to represent an...

Page 194: ...Information refers to GPS satellites Streaming typically when a device is sending data at a specified data rate continuously without requiring a prompt from the host U USB Universal Serial Bus A serial data communications protocol UTC Coordinated Universal Time The primary time standard for world clocks and time It is similar to Greenwich Mean Time GMT V Vector a measurement with direction and mag...

Page 195: ... System a protocol for geo referencing such as WGS 84 Y Yaw In navigation yaw is what occurs when rotational force is applied at a distance forward or aft from the center of gravity of the platform causing it to move around the center axis of a sensor or platform frame origin 195 ...

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