PNI TRAX2 AHRS, User Manual, Page: 2 / 84

PNI Sensor DOC#1032877
TRAX2 User Manual Aug 2021 Page 2
Table of Contents
1 COPYRIGHT & WARRANTY INFORMATION ................................................. 1
2 INTRODUCTION ......................................................................................... 2
3 SPECIFICATIONS ......................................................................................... 3
3.1 Characteristics & Requirements ........................................................... 3
3.2 Mechanical Drawings ............................................................................ 7
4 SET-UP ....................................................................................................... 8
4.1 Electrical Connections ........................................................................... 8
4.2 Installation Location .............................................................................. 9
4.2.1 Operate within the TRAX2’s dynamic range ................................ 9
4.2.2 Locate away from changing magnetic fields ............................... 9
4.2.3 Mount in a physically stable location .......................................... 9
4.3 Mechanical Mounting ........................................................................... 9
4.3.1 Pitch and Roll Convention .......................................................... 10
4.3.2 Coordinate System ..................................................................... 10
4.3.3 Mounting Orientation ................................................................ 10
5 USER CALIBRATION .................................................................................. 12
5.1 Magnetic Calibration ........................................................................... 12
5.1.1 Full-Range Calibration ................................................................ 15
5.1.2 Limited-Tilt Calibration .............................................................. 17
5.1.3 Hard-Iron-Only Calibration ........................................................ 19
5.2 Accelerometer Calibration .................................................................. 19
6 OPERATION WITH TRAX STUDIO .............................................................. 21
6.1 Installation .......................................................................................... 21
6.2 TRAX Studio Header and Connecting to TRAX Studio ........................ 21
6.3 TRAX Studio Footer and Saving/Applying Settings ............................. 22
6.4 Configuration Tab ............................................................................... 23
6.4.1 General Settings ......................................................................... 24
6.4.2 Acquisition Settings .................................................................... 25
6.5 Calibration and the Calibration Tab .................................................... 26
6.5.1 Calibration Settings .................................................................... 26
6.5.2 Performing a Calibration ............................................................ 28
6.5.3 Calibration Results ..................................................................... 29
6.6 Test Tab ............................................................................................... 30
6.7 Log Data Tab ....................................................................................... 34
6.8 Graph Tab ............................................................................................ 35
6.9 System Log Tab ................................................................................... 36
7 OPERATION WITH PNI BINARY PROTOCOL ............................................... 37
7.1 Datagram Structure ............................................................................ 37
7.2 Parameter Formats ............................................................................. 38