User Manual
© 2017 Inertial Sense, LLC
2
11/30/2017
Contents
1
Overview ............................................................................................................................................................... 4
1.1
Description of differences between IMU, AHRS, INS ................................................................................... 4
2
Getting Started...................................................................................................................................................... 5
2.1
Unpacking Your Unit .................................................................................................................................... 5
2.2
Downloading the EvalTool and SDK ............................................................................................................. 5
2.3
EvalTool GUI ................................................................................................................................................. 5
2.4
Connecting To Your Unit .............................................................................................................................. 5
2.5
System LED and Solution Status ................................................................................................................... 6
2.6
Inertial Sense CLTool .................................................................................................................................... 6
2.6.1
Compiling in Linux/Mac ........................................................................................................................... 6
2.6.2
Compiling in Windows (MS Visual Studio) ............................................................................................... 7
2.6.3
Running CLTool ........................................................................................................................................ 7
2.7
Additional Development .............................................................................................................................. 8
3
Coordinate Frames ................................................................................................................................................ 9
3.1
Sensor Frame ............................................................................................................................................... 9
3.2
INS Output Frame......................................................................................................................................... 9
3.3
North-East-Down (NED) Frame .................................................................................................................... 9
3.4
Earth-Centered Earth-Fixed (ECEF) Frame ................................................................................................... 9
3.5
Translation Between Coordinate Frames ................................................................................................... 10
4
Hardware Integration ......................................................................................................................................... 11
4.1
Noise Coupling ........................................................................................................................................... 11
4.2
Vibration Isolation ...................................................................................................................................... 11
4.3
Sensitivity to Temperature Change ............................................................................................................ 11
5
SDK Library .......................................................................................................................................................... 12
5.1
Binary Protocol ........................................................................................................................................... 12
5.2
ASCII Protocol ............................................................................................................................................. 13
5.2.1
ASCII Messages ...................................................................................................................................... 14
5.3
C Binding .................................................................................................................................................... 17
5.3.1
Connecting to the Device ....................................................................................................................... 17
5.3.2
Communicating with the device ............................................................................................................ 18
5.3.3
Updating Firmware (Bootloader) ........................................................................................................... 18
5.4
C++ Binding ................................................................................................................................................ 19
6
Binary Protocol Data Sets ................................................................................................................................... 20
6.1
Configuration ............................................................................................................................................. 20
6.1.1
DID_FLASH_CONFIG ............................................................................................................................... 20
6.2
Using Com Manger to Write Data Set Parameter ...................................................................................... 20
7
System Health and Status Flags .......................................................................................................................... 21
7.1
Status Flags................................................................................................................................................. 21
