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4: Software Operation: Tools for Successful Tracking

47

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47

ANGLE ALIGN

ASCII HEX DECIMAL BINARY

Command Byte q 71 113 01110001

Command Data A, E, R

By default, the angle outputs from The Bird are measured in the coordinate frame defined by the
Scanner's X, Y and Z axes,

as shown in Figure 3.1

, and are measured with respect to rotations

about the physical X, Y and Z axes of the sensor. The ANGLE ALIGN1 command allows you to
mathematically change the sensor's X, Y and Z axes to an orientation which differs from that of the
actual sensor.

For example:

Suppose that during installation you find it necessary, due to physical requirements, to cock the
sensor, resulting in its angle outputs reading Azim = 5 deg, Elev = 10 and Roll = 15 when it is in its
normal "resting" position. To compensate, use the ANGLE ALIGN command, passing as
Command Data the angles of 5, 10 and 15 degrees. After this sequence is sent, the sensor outputs
will be zero, and orientations will be computed as if the sensor were not misaligned.

Note: the ANGLE ALIGN command only affects the computation of orientation - it has no effect on
position.

If you immediately follow the ANGLE ALIGN command with a POINT or STREAM mode data
request, you may not see the effect of the ALIGN command in the data returned. It may take one
measurement period (~4.2 milliseconds) before you see the effect of the command.

The host computer must send the

Command Data

immediately following the

Command Byte

.

Command data consists of the angles.

The Command Byte and Command Data must be transmitted to The Bird in the following seven-
byte format:

MSB LSB
7 6 5 4 3 2 1 0 BYTE #

0 1 1 1 0 0 1 0 #1 Command Byte
B7 B6 B5 B4 B3 B2 B1 B0 #2 LSbyte A
B15 B14 B13 B12 B11 B10 B9 B8 #3 MSbyte A
B7 B6 B5 B4 B3 B2 B1 B0 #4 LSbyte E
B15 B14 B13 B12 B11 B10 B9 B8 #5 MSbyte E
B7 B6 B5 B4 B3 B2 B1 B0 #6 LSbyte R
B15 B14 B13 B12 B11 B10 B9 B8 #7 MSbyte R

See the ANGLES command for the format and scaling of the angle values sent.

!

Tip:

For

assistance with the
'Angle Align'
settings, check out
the

Procedure'

in

Chapter 3.

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Содержание laserBIRD

Страница 1: ...uy your excess underutilized and idle equipment along with credit for buybacks and trade ins Custom engineering so your equipment works exactly as you specify Critical and expedited services Leasing R...

Страница 2: ..._______________________________________________________________________________________________________________ Motion Trackers for Computer Graphics Applications laserBIRD TM Installation and Operat...

Страница 3: ......

Страница 4: ...registered trademarks of Microsoft Corporation All other products mentioned in this manual are trademarks or registered trademarks of their respective companies laserBIRD is a trademark of Ascension T...

Страница 5: ......

Страница 6: ...zation 43 RS232 Command Reference 45 ANGLES 46 ANGLE ALIGN 47 BORESIGHT 48 BORESIGHT REMOVE 49 CHANGE VALUE 50 EXAMINE VALUE 50 BIRD STATUS 52 SOFTWARE REVISION NUMBER 52 BIRD COMPUTER CRYSTAL SPEED 5...

Страница 7: ......

Страница 8: ...assist you in configuring the system for optimal tracking Please take the time to read this manual carefully Properly setting up your system will maximize its performance for your application About Th...

Страница 9: ...Ascension Technology Corporation if you need assistance Lists replacement part numbers Chapter 6 Regulatory Information and Product Specifications Lists applicable standards specifications and certif...

Страница 10: ...in Chapter 5 of this manual It provides many common setup problems and their solutions If you continue to experience problems after following the recommended actions contact Ascension Technology Corp...

Страница 11: ......

Страница 12: ...reports data serially to a host computer via an RS232 cable An unused COM port is required per laserBIRD system Power The laserBIRD power supply will operate from 100 to 240V at frequencies of 50 60H...

Страница 13: ...checkout section NOTE If you have purchased a second system this will be packaged in a separate case Please be sure to read the section in Chapter 3 regarding Dual Scanner Operation laserBIRD Scanner...

Страница 14: ...d cables and connectors are sensitive electronic components To obtain consistent and reliable performance and maintain your warranty treat them carefully Never attempt to open the Scanner unit The Sca...

Страница 15: ...sor or cables in liquids Keep the Scanner sensor and cables away from sources of heat To minimize excessive wear to the Scanner s internal mechanical components and extend tracker life shut down the S...

Страница 16: ...demonstrates how to connect your components and install the demonstration utility so that you can quickly checkout your system and begin tracking Cable Connections The laserBIRD hardware can be setup...

Страница 17: ...will be heard from the Scanner This is the internal mirror shaft rotating at 3600RPM Installing the Utilities 1 Insert the laserBIRD CD into your PC s CD ROM drive 2 Click on the Install laserBIRD Uti...

Страница 18: ...heckout your system Dual Scanner Operation See the call out on the left You may choose to skip to Chapter 3 now and return after you ve configured your systems 1 Start the demo utility by selecting wi...

Страница 19: ...change to indicate Setup complete and several of the icons on the toolbar will be enabled 5 Select Take Data from the menu bar and choose the option you would like for displaying the data What you ll...

Страница 20: ...sensor s motion region and the tracker s capabilities If the utility does not run or the laserBIRD does not operate as described please consult the troubleshooting table in Chapter 5 of this manual fo...

Страница 21: ......

Страница 22: ...system 1 Review the list of configurable default settings 2 Determine which if any of the settings you would like to change NOTE When two laserBIRD systems are sharing the same operating region you m...

Страница 23: ...Prediction Interval All Disabled 0 ms Data Request Mode POINT Data Record Type POSITION ANGLE Report Rate maximum 240 Configurable Power up Settings The following may be re configured using the laser...

Страница 24: ...m 0 50 milliseconds This may be beneficial for applications attempting to minimize lag simulator image generation etc See the CHANGE EXAMINE PREDICTION command for details and suggestions Flip Sensor...

Страница 25: ...eliminate high frequency noise Always enable the AVG filter if you plan to use this Adaptive filter Generally this filter is always required in the system unless your application can work with noisy o...

Страница 26: ...Operation 19 19 19 19 Default Reference Frame Figure 3 1a Default Scanner Sensor Coordinate Frames Flip Sensor Axes setting enabled Figure 3 1b Alternate Scanner Sensor Coordinate Frames Flip Sensor...

Страница 27: ...rigin of the scanner s default Reference Frame is defined as the location inside the Scanner which is At the midpoint of a line which connects the centers of the two windows and Is one inch 1 from the...

Страница 28: ...modulation frequency must be changed for both units This reduces the likelihood of the Scanners interfering with one another NOTE Even with two modulation frequencies adjusted accordingly it is still...

Страница 29: ...efault Valid settings include laserBIRD ID Mod Frequency A 9 25 MHz Default Single configuration B 12 3 MHz Scanner 1 Dual Configuration C 6 2 MHz Scanner 2 Dual configuration If you plan to operate t...

Страница 30: ...utility establishes communication with the laserBIRD it will open the main screen 4 Use the pull down menus and check boxes to select your desired Baud Rate Scale laserBIRD ID Flip Sensor Axes Sleep...

Страница 31: ...laserBIRD Installation and Operation Guide 24 24 24 24 Mounting the Hardware Figure 3 2 Scanner Mounting Dimensions inches...

Страница 32: ...3 Configuration and Basic Operation 25 25 25 25 Figure 3 3 Sensor Mounting Dimensions inches...

Страница 33: ...ovides a simple way to determine the correct values for your installation without the use of additional equipment Begin this procedure with the Scanner mounted at your desired position and orientation...

Страница 34: ...ed cube representing your desired Reference Frame Figure 3 4 Setting the Reference Frame 5 Choose from the following diagrams the one that best represents the mounting of your Scanner relative to the...

Страница 35: ...laserBIRD Installation and Operation Guide 28 28 28 28 Back Angles 0 0 0 0 0 0 Left Angles 90 0 0 0 0 0 Front Angles 180 0 0 0 0 0...

Страница 36: ...3 Configuration and Basic Operation 29 29 29 29 Right Angles 90 0 0 0 0 0 Top Angles 0 0 90 0 0 0 Bottom Angles 0 0 90 0 0 0...

Страница 37: ...nd record the sensor orientation angles Azimuth AZ1 Elevation EL1 and Roll RL1 being returned from the laserBIRD These angles describe the orientation of the Scanner relative to your desired reference...

Страница 38: ...turn to the Settings tab and disable it before beginning this section of the procedure 10 Attach the sensor to the object that you would like to track Align that object s coordinate frame to your new...

Страница 39: ...nsor mounted on your object relative to your reference frame 13 To complete the configuration click on the Settings tab and enter as Angle Align settings the values you just recorded in Step12 Angle A...

Страница 40: ...ion A small DC motor spins the shaft at 3600 RPM 60Hz thus providing the required data for a 240Hz measurement rate Lasers The four beams generated by the Scanner electronics for tracking are produced...

Страница 41: ...ight between all detectors and the scanner and the detectors must not exceed an orientation range of 85 with respect to the Scanner Operating Region The effective operating region valid sensor trackin...

Страница 42: ...3 Configuration and Basic Operation 35 35 35 35 Figure 3 6 Horizontal Field of View...

Страница 43: ...laserBIRD Installation and Operation Guide 36 36 36 36 Figure 3 7 Vertical Field of View...

Страница 44: ...to a calibration procedure that optimizes performance over a given region This region is referred to as the Performance Motion Box Figure 3 7 Performance Motion Box Top view left and side view right...

Страница 45: ......

Страница 46: ...this interface is standardized across platforms and devices The following Ascension Technology products are supported by this driver Flock of Birds pcBIRD miniBIRD MotionStar MotionStar Wireless and l...

Страница 47: ...Holds The Bird in RESET when high Notes 1 These are the Electronic Industries Association EIA RS232 signals names The Bird is configured as Data Communication equipment DCE and therefore Transmit Dat...

Страница 48: ...RT in your computer s RS232 port automatically inserts into the serial data stream The RS232 command data format is as follows MS BIT LS BIT Stop 7 6 5 4 3 2 1 0 Start RS232 Data 1 BD7 BD6 BD5 BD4 BD3...

Страница 49: ...N QUATERNION Data record contains POSITION and QUATERNION QUATERNION Data record contains QUATERNIONs REFERENCE FRAME Defines new measurement reference frame REPORT RATE Number of data records second...

Страница 50: ...ll contain angles only POINT Bird outputs ANGLES data record STREAM ANGLE data records start streaming from Bird and will not stop until the mode is changed to POINT or the STREAM STOP command is issu...

Страница 51: ...eaming from The Bird without individual record requests In general the output data will appear as follows MS BIT LS BIT 7 6 5 4 3 2 1 0 WORD 1 B8 B7 B6 B5 B4 B3 B2 1 LSbyte 0 B15 B14 B13 B12 B11 B10 B...

Страница 52: ...0000 LS 00001000 MS 00001000 MS 01010001 LS 10100010 LS 00011001 MS 00011001 MS 01011001 LS 10110010 LS 00101010 MS 00101010 MS 3 Combines each MSByte LSByte pair 4 Shifts each word left one more into...

Страница 53: ...Xang Zang Azimuth takes on values between the binary equivalent of 180 degrees Yang Elevation takes on values between 90 degrees and Xang Roll takes on values between 180 degrees As Yang Elevation app...

Страница 54: ...ero and orientations will be computed as if the sensor were not misaligned Note the ANGLE ALIGN command only affects the computation of orientation it has no effect on position If you immediately foll...

Страница 55: ...utputs thereafter are with respect to this BORESIGHTed orientation This command is equivalent to taking the angle outputs from the Bird and using them in the ANGLE ALIGN commands but without the need...

Страница 56: ...rt to their values before you sent the BORESIGHT command That is if there were no ANGLE ALIGN values preset the sensor s orientation outputs will now be with respect to the sensor s physical orientati...

Страница 57: ...after The Bird receives the command and command data it will return the parameter value as a multi byte response VALID PARAMETERS Valid CHANGE VALUE and EXAMINE VALUE PARAMETERnumbers are listed in t...

Страница 58: ...esent N bytes of PARAMETERdata If the PARAMETERdata is a word then the Least Significant byte LSbyte is transmitted before the Most Significant byte MSbyte If the PARAMETERdata is numeric it must be i...

Страница 59: ...ION MATRIX outputs selected 0110 factory use only 0111 if QUATERNION outputs selected 1000 if POSITION QUATERNION outputs selected B0 0 if POINT mode selected 1 if STREAM mode selected Note in STREAM...

Страница 60: ...nificant byte set to zero and the least significant set to zero or one Note Changing the scale factor from the default 36 inches to 72 inches reduces by half the resolution of the output X Y Z coordin...

Страница 61: ...IN to provide more filtering less noise more lag ALPHA_MIN must always be less than ALPHA_MAX DISABLE ENABLE DATA READY OUTPUT Enabling the DATA READY character provides a method for notifying you as...

Страница 62: ...er away from the Scanner the amount of noise measured by the sensor appears to increase because the measured signal level is decreasing and the sensor amplifier gain is increasing In order to decide i...

Страница 63: ...ex 17 to 22 0 9 22 to 27 0 9 27 to 34 0 9 34 to 42 0 9 42 to 54 0 9 54 0 9 To CHANGE ALPHA_MAX send The Bird seven words of PARAMETERdata corresponding to ALPHA_MAX During CHANGE you may want to decre...

Страница 64: ...words 6 bytes of data corresponding to the Azimuth Elevation and Roll angles used in the REFERENCE FRAME command See REFERENCE FRAME2 command for an explanation To CHANGE the angles send 6 bytes of P...

Страница 65: ...RD can predict positional and angular motion from 0 to 50 mSec into the future Kalman Filtering and linear extrapolation are combined in a technique that forecasts the selected coordinates and angles...

Страница 66: ...TION is OFF 1 if the prediction for ELEVATION is ON B0 0 if the prediction for ROLL is OFF 1 if the prediction for ROLL is ON BYTE 1 Prediction Interval in milliseconds i e 19 Hex Prediction interval...

Страница 67: ...hree dimensional image to follow the rotation of the sensor you must multiply your image coordinates by this output matrix The nine elements of the output matrix are defined generically by M 1 1 M 1 2...

Страница 68: ...11 M10 M9 4 MSbyte M 2 1 0 M8 M7 M6 M5 M4 M3 M2 5 LSbyte M 3 1 0 M15 M14 M13 M12 M11 M10 M9 6 MSbyte M 3 1 0 M8 M7 M6 M5 M4 M3 M2 7 LSbyte M 1 2 0 M15 M14 M13 M12 M11 M10 M9 8 MSbyte M 1 2 0 M8 M7 M6...

Страница 69: ...y z offset distances you supply with this command are measured in the reference frame attached to the sensor and are measured from the sensor centroid to the desired position After the command is exe...

Страница 70: ...4 Software Operation Tools for Successful Tracking 63 63 63 63 Figure 4 1 Using the OFFSET command...

Страница 71: ...erBIRD Installation and Operation Guide 64 64 64 64 POINT ASCII HEX DECIMAL BINARY Command Byte B 42 66 01000010 In the POINT mode The Bird sends one data record each time it receives the B Command By...

Страница 72: ...nary equivalent of MAX inches Where MAX 36 or 72 The default positive X Y and Z directions are shown in Figure 3 1 Scaling of each position coordinate is full scale MAX inches That is MAX 7FFF Hex 0 0...

Страница 73: ...4 X3 X2 1 LSbyte X 0 X15 X14 X13 X12 X11 X10 X9 2 MSbyte X 0 Y8 Y7 Y6 Y5 Y4 Y3 Y2 3 LSbyte Y 0 Y15 Y14 Y13 Y12 Y11 Y10 Y9 4 MSbyte Y 0 Z8 Z7 Z6 Z5 Z4 Z3 Z2 5 LSbyte Z 0 Z15 Z14 Z13 Z12 Z11 Z10 Z9 6 MS...

Страница 74: ...5 M14 M13 M12 M11 M10 M9 8 MSbyte M 1 1 0 M8 M7 M6 M5 M4 M3 M2 9 LSbyte M 2 1 0 M15 M14 M13 M12 M11 M10 M9 10 MSbyte M 2 1 0 M8 M7 M6 M5 M4 M3 M2 11 LSbyte M 3 1 0 M15 M14 M13 M12 M11 M10 M9 12 MSbyte...

Страница 75: ...5 4 3 2 1 0 BYTE 1 X8 X7 X6 X5 X4 X3 X2 1 LSbyte X 0 X15 X14 X13 X12 X11 X10 X9 2 MSbyte X 0 Y8 Y7 Y6 Y5 Y4 Y3 Y2 3 LSbyte Y 0 Y15 Y14 Y13 Y12 Y11 Y10 Y9 4 MSbyte Y 0 Z8 Z7 Z6 Z5 Z4 Z3 Z2 5 LSbyte Z 0...

Страница 76: ...in Quaternion from Rotation Matrix by Stanley W Shepperd Journal of Guidance and Control Vol 1 May June 1978 pp 223 4 The output record is in the following format for the eight transmitted bytes MSB L...

Страница 77: ...axes of the Scanner These angles are called the Azimuth Elevation and Roll angles The command sequence consists of a Command Byte and 6 Command Data bytes The Command Data consists of the alignment an...

Страница 78: ...53 83 01010011 32 T 54 84 01010100 If you do not want a Bird data record output to your host computer every Bird measurement cycle when in STREAM mode then use the REPORT RATE command to change the ou...

Страница 79: ...Byte b 62 98 01100010 The RESET command is issued to the standalone Bird to restart the entire system RESET does reinitialize the system from the flash memory so any configuration or alignment data e...

Страница 80: ...F 46 70 01000110 The RUN command is issued to the standalone Bird to restart normal system operation after The Bird has been put to sleep with the SLEEP command RUN does not reinitialize the system RA...

Страница 81: ...nner shaft stops rotating While asleep The Bird will respond to data requests and mode changes but the data output will not change To resume normal system operation issue the RUN command Tip To help m...

Страница 82: ...ers and or high level software languages may not be able to keep up with the constant STREAM of data in this mode Bytes received by your RS232 port may overrun one another or your input buffer may ove...

Страница 83: ...as STREAMing from the Bird This is an alternative to stopping the stream using a POINT command NOTE The record in progress when the laserBIRD receives the command will still be output in its entirety...

Страница 84: ...s been generated through any of the following methods Error Flag Monitor the ERROR bit B13 in the two byte BIRD STATUS register 1 Send EXAMINE VALUE command with PARAMETERnumber 0 When an error is det...

Страница 85: ...not defined or if the data for a command does not make sense i e change value commands with an unknown parameter number Action Only send valid RS232 commands to The Bird 11 RS232 Receive Overrun or F...

Страница 86: ...ted Action Reload the Flash using the utility but not more than 5000 times Sample Program An example of the basic structure that applications should follow to communicate with the laserBIRD can be fou...

Страница 87: ...ully wipe off dirt or contaminants with a clean non abrasive cloth 3 Inspect both the Sensor connector and receptacle on the Scanner for bent or damaged pins 4 Inspect power supply and serial port con...

Страница 88: ...tility doesn t run No serial communication Software Installation unsuccessful Check the suggestions outlined in Not able to communicate below Re initialize the HOST PC and run the installation again P...

Страница 89: ...Data is too noisy Filters OFF DC Filter not optimized Reflective surfaces in the operating region Interference from another laserBIRD Check FILTER STATUS for present state of filter configuration Ena...

Страница 90: ...u were experiencing interruptions static or noisy data during your tracking application you could run the utility and determine which of the detectors were returning invalid data Invalid data is most...

Страница 91: ...s option either repair the defective product and restore it to normal operation without charge for parts and labor or provide a replacement in exchange for the defective product Repair work shall be w...

Страница 92: ...Repair 85 85 85 85 Replacement Parts Part Number Description 600333 Assembly laserBIRD Scanner 600326 Assembly laserBIRD Sensor 106045 Power Supply laserBIRD 940019 laserBIRD CD ROM 940020 laserBIRD...

Страница 93: ...te radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential ar...

Страница 94: ...e with EN60825 1 Safety of Laser Products this equipment is classified as follows CLASS 1 LASER PRODUCT A CLASS 1 laser product is defined as any laser product which does not permit human access to la...

Страница 95: ...produces an angular coverage or field of view of 60 deg vertical and 50 horizontal Fans are at 15 degrees from the axis of shaft rotation The shaft rotates at 60Hz Instantaneous laser energy failing...

Страница 96: ...S N 78 NA276 Applicable directive 73 23 EEC Low Voltage Directive 89 336 EEC EMC Directive Applicable standards EN 61010 1 1995 Safety Requirements for Electrical Equipment for Measurement Control and...

Страница 97: ...ntal 60 vertical to 30 75m 54 vertical to 47 1 2m Measurement Rate 240Hz Lag Tracking response 5 17ms All filters off Step response 9 34 ms RS 232 Reporting Time 1 1ms 115 2 kBaud Position and Euler A...

Страница 98: ...uipment Have surplus equipment taking up shelf space We ll give it a new home Learn more Visit us at artisantg com for more info on price quotes drivers technical specifications manuals and documentat...

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