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AHRS400 Series User’s Manual

Models…

AHRS400CA-
AHRS400CB-
AHRS400CC-

(DMU-HDX-AHRS)

Revision A, March 2002

Document 7430-0004-01

Crossbow Technology, Inc., 41 E. Daggett Dr., San Jose, CA 95134

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

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

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

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

Содержание AHRS Series

Страница 1: ...01 Crossbow Technology Inc 41 E Daggett Dr San Jose CA 95134 Tel 408 965 3300 Fax 408 324 4840 email info xbow com website www xbow com SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

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

Страница 3: ...e Mode 8 3 4 2 Scaled Sensor Mode 9 3 4 3 Angle Mode 10 3 5 Commands 11 3 5 1 Command List 11 3 6 Data Packet Format 14 3 7 Timing 16 3 8 Temperature Sensor 16 3 9 Analog Output 17 3 10 Magnetic Heading 18 4 AHRS Operating Tips 19 4 1 Mounting the AHRS 19 4 2 AHRS Start Up Procedure 20 5 Appendix A Mechanical Specifications 21 5 1 AHRS400CA Outline Drawing 21 5 2 AHRS400CB Outline Drawing 22 5 3 A...

Страница 4: ...pendix E Warranty and Support Information 28 9 1 Customer Service 28 9 2 Contact Directory 28 9 3 Return Procedure 28 9 3 1 Authorization 28 9 3 2 Identification and Protection 29 9 3 3 Sealing the Container 29 9 3 4 Marking 29 9 3 5 Return Shipping Address 29 9 4 Warranty 29 SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic...

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

Страница 6: ...Manual Page iv Doc 7430 0004 01 Rev A SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Страница 7: ... employ onboard digital processing to compensate for deterministic error sources within the unit and to compute attitude information The DMUs accomplish these tasks with an analog to digital converter and a high performance Digital Signal Processor The AHRS uses angular rate sensors and linear acceleration sensors that are micro machined devices The three angular rate sensors consist of vibrating ...

Страница 8: ...ort Only the transmit receive power and ground channels are used The analog outputs are not connected 1 DMU Calibration Sheet The Digital Calibration Sheets contains the custom offset and sensitivity information for your AHRS The calibration sheet is not needed for normal operation as the AHRS has an internal EEPROM to store its calibration data However this information is useful when developing y...

Страница 9: ... GyroView folder Double click on the setup file 3 Follow the setup wizard instructions You will install GyroView and a LabView 6 Runtime Engine You will need both these applications If you have any problems or questions you may contact Crossbow directly 2 2 Connections The DMU is shipped with a cable to connect the DMU to a PC communications port 1 Connect the 15 pin end of the digital signal cabl...

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

Страница 11: ...le With the thumb of your right hand pointing along the axis in a positive direction your fingers curl around in the positive rotation direction For example if the AHRS is sitting on a level surface and you rotate it clockwise on that surface this will be a positive rotation around the z axis The x and y axis rate sensors would measure zero angular rates and the z axis sensor would measure a posit...

Страница 12: ...age3 14 Yaw angle Z axis magnetometer scaled analog voltage3 15 NC factory use only Notes 1 The accelerometer analog voltage outputs are the raw sensor output These outputs are taken from the output of the accelerometers 2 The rate sensor analog voltage outputs are scaled to represent s These outputs are created by a D A converter 3 Actual output depends on DMU measurement mode These outputs are c...

Страница 13: ...MU the power supply wires are broken out of the cable at the DB 9 connector The red wire is connected to VCC the black wire is connected to the power supply ground DO NOT REVERSE THE POWER LEADS The analog outputs are unconnected in the cable Crossbow supplies The analog outputs are fully buffered and conditioned and can be connected directly into an A D The analog outputs require a data acquisiti...

Страница 14: ...titude and heading reference system You can also use the DMU as a nine axis sensor module The AHRS can be set to operate in one of three modes voltage mode scaled sensor mode or angle VG mode The measurement mode selects the information that is sent in the data packet over the RS 232 interface See the Data Packet Format section for the actual structure of the data packet in each mode 3 4 1 Voltage...

Страница 15: ...section for a complete description of the analog outputs To convert the acceleration data into G s use the following conversion accel data GR 1 5 215 where accel is the actual measured acceleration in G s data is the digital data sent by the DMU and GR is the G Range for your DMU The data is scaled so that 1 G 9 80 m s 2 The G range of your DMU is the range of accelerations your DMU will measure F...

Страница 16: ...nsor drift in the yaw angle This is the modern equivalent of an analog vertical gyro that used a plumb bob in a feedback loop to keep the gyro axis stabilized to vertical The DMU takes advantage of the rate gyros sensitivity to quick motions to maintain an accurate orientation when accelerations would otherwise throw off the accelerometers measurement of the DMU orientation relative to gravity the...

Страница 17: ...e X NOTE Certain combinations of characters not listed here can cause the unit to enter a factory diagnostic mode While this mode is designed to be very difficult to enter accidentally it is recommended that the following command set be adhered to for proper operation 3 5 1 Command List Command Reset Character s Sent R Response H Description Resets DMU to default state Command Voltage Mode Charact...

Страница 18: ...mand Continuous Mode Character s Sent C Response Data Packets Description Changes data output mode to Continuous Mode DMU will immediately start to output data packets in continuous mode Data rate will depend on the measurement type the DMU is implementing Raw Scaled or Angle Sending a G will return DMU to Polled Mode Command Request Data Character s Sent G Response Data Packet Description G reque...

Страница 19: ...mber in 4 bytes and a checksum byte The serial number bytes should be interpreted as a 32 bit unsigned integer For example the serial number 9911750 would be sent as the four bytes 00 97 3D C6 Command Request Auto Baud Rate Character s Sent b Response Description This starts the auto baud rate detection process This will allow you to change the DMU baud rate from its default This change will not a...

Страница 20: ... voltage are sent as unsigned integers The order of data sent will depend on the selected operating mode of the AHRS Each data packet will begin with a header byte 255 and end with a checksum The checksum is calculated in the following manner 1 Sum all packet contents except header and checksum 2 Divide the sum by 256 3 The remainder should equal the checksum X NOTE The header byte FF will likely ...

Страница 21: ...2 Yaw Angular Rate LSB Z Axis Acceleration LSB Z Axis Accel Voltage LSB 13 X Axis Acceleration MSB X Axis Magnetic Field MSB X Axis Mag Voltage MSB 14 X Axis Acceleration LSB X Axis Magnetic Field LSB X Axis Mag Voltage LSB 15 Y Axis Acceleration MSB Y Axis Magnetic Field MSB Y Axis Mag Voltage MSB 16 Y Axis Acceleration LSB Y Axis Magnetic Field LSB Y Axis Mag Voltage LSB 17 Z Axis Acceleration M...

Страница 22: ...U continues to take data so that in practice roughly every third measurement will be available over the RS 232 interface A time tag is attached to each data packet The time tag is simply the value of a free running counter at the time the A D channels are sampled The clock counts down from 65535 to 0 and a single tick corresponds to 0 79 microseconds The timer rolls over approximately every 50 mil...

Страница 23: ...buffer They are raw in the sense that they do not represent a calculated or calibrated value You will need the zero bias point and scale factor given on the DMU calibration sheet to turn the analog voltage into an acceleration measurement To find the acceleration in G s use the following conversion accel G Vout V bias V sensitivity G V where accel is the actual acceleration measured Vout is the vo...

Страница 24: ...s are created by the D A The voltage output will be in the range 4 096 V The output is scaled so that full scale is 180 for both roll and yaw Pitch is scaled so that full scale is 90 To convert the voltage to an actual angle use the following conversion angle FA Vout V 4 096 V where angle is the actual pitch roll or yaw angle in degrees FA is the full scale angle and Vout is the analog voltage mea...

Страница 25: ...rom magnetic material as much as possible Magnetic material will distort the magnetic field near the AHRS which will greatly affect its accuracy as a heading sensor Because the DMU is using Earth s weak magnetic field to measure heading even small amounts of magnetic material near the sensor can have large effects on the heading measurement Bad materials include anything that will stick to a magne...

Страница 26: ...n airplane Assume AHRS is mounted on a small twin prop plane and will be used to record the plane s attitude during flight Flights will be 2 6 hours long The AHRS is mounted near the CG of the plane and is connected to a laptop serial port during flight 1 Turn on power to the DMU and let it warm up 5 10 minutes Power can be on to all electronics but the engines should be off 2 Start the engines 3 ...

Страница 27: ... 21 5 Appendix A Mechanical Specifications 5 1 AHRS400CA Outline Drawing SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Страница 28: ...Doc 7430 0004 01 Rev A 5 2 AHRS400CB Outline Drawing SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Страница 29: ... 0004 01 Rev A Page 23 5 3 AHRS400CC Outline Drawing SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Страница 30: ...e sensor Magnetometer Scaled Mode Mag Gauss Vout V 1 25 1 5 4 096 Roll Pitch Yaw Angle Mode Angle Vout V FA 4 096 Pin 12 X axis magnetometer Pin 12 Roll Angle FA 180 Pin 13 Y axis magnetometer Pin 13 Pitch Angle FA 90 Pin 14 Z axis magnetometer Pin 14 Yaw angle FA 180 6 2 Digital Output Conversion Data is sent as 16 bit signed integer for all but Temperature Temperature sensor data is sent as unsi...

Страница 31: ...S accounts for the extra magnetic field by making a series of measurements The AHRS uses these measurements to model the hard iron and soft iron environment in your system The correction algorithm is two dimensional You start the magnetic calibration by sending the s command The AHRS will use all subsequent measurements to model the magnetic environment You should make at least one complete turn w...

Страница 32: ... U Description This command ends the soft iron calibration process The AHRS will store the soft iron calibration constants in its EEPROM The calibration constants will be applied to all subsequent magnetic measurements Command Clear Hard Iron Calibration Character s Sent h Response H Description This command clears the hard iron calibration constants stored in the AHRS EEPROM The calibration const...

Страница 33: ...a packet of data from the DMU Data format depends on operating mode S ASCII String Query DMU serial number Returns serial number as 32 bit binary number v ASCII String Query DMU version ID string Returns ASCII string b Change baud rate Autobaud detection Send b DMU will respond B change baud rate send a DMU will send A when new baud rate is detected s S Start Soft iron calibration DMU should be ro...

Страница 34: ...s Phone 1 408 965 3300 7 AM to 7 PM PST Fax 1 408 324 4840 24 hours Email techsupport xbow com Non U S refer to website www xbow com 9 3 Return Procedure 9 3 1 Authorization Before returning any equipment please contact Crossbow to obtain a Returned Material Authorization numb er RMA Be ready to provide the following information when requesting a RMA Name Address Telephone Fax Email Equipment Mode...

Страница 35: ...with adequate padding and protection 9 3 3 Sealing the Container Seal the shipping container s with heavy tape or metal bands strong enough to handle the weight of the equipment and the container 9 3 4 Marking Please write the words FRAGILE DELICATE INSTRUMENT in several places on the outside of the shipping container s In all correspondence please refer to the equipment by the model number the se...

Страница 36: ...SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Страница 37: ...SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Страница 38: ...Phone 408 965 3300 Fax 408 324 4840 Email info xbow com Website www xbow com SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

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