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3DM

®

-GX5-15

User Manual

4.3

Sensor Reference Frames

4.3.1

Geodetic Frame

The World Geodetic System is the standard for cartography and navigation. The latest revision,

WGS84, is the reference coordinate system for GPS. It also calculates the magnitude of the local

gravity vector using the WGS84 reference formulas.

The WGS coordinates are latitude (φ), longitude (λ), and height (h) above the reference ellipsoid.

Latitude ranges from -90 degrees at the South Pole to 90 degrees at the North Pole. Longitude

ranges from -180 to 180 degrees, with 0 degrees being the prime meridian. The -180/180 degree

switchover occurs in the middle of the Pacific Ocean and includes a section of the International Date

Line. The model takes into account the oblateness of the Earth’s surface.

A point (P) on or above the Earth in the WGS84 coordinate system is notated as: latitude (φ),

longitude (λ), and height above the reference ellipsoid (h).

Figure 17 -

World Geodetic System (WGS84) Reference Ellipsoid

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Содержание 6254-4220

Страница 1: ...LORD USER MANUAL 3DM GX5 15 Vertical Reference Unit VRU ...

Страница 2: ... 2017 LORD Corporation 3DM 3DM DH 3DM DH3 3DM GX2 Ask Us How DEMOD DC DVRT EmbedSense FAS A G Link Little Sensors Big Ideas LORD Microstrain Live Connect LXRS MathEngine MicroStrain MXRS Node Commander SensorCloud SG Link Strain Wizard TC Link V Link Wireless Simplicity Hardwired Reliability and WSDA are trademarks of LORD Corporation Document 8500 0061 Revision C Subject to change without notice ...

Страница 3: ...Menu 13 3 4 Sensor Communication 13 3 5 Sensor Settings 15 3 5 1 Saving Configurations 16 3 6 Data Monitoring and Recording 17 3 7 View Recorded Data 18 4 Sensor Measurements 20 4 1 Direct Sensor Measurements IMU Outputs 21 4 2 Computed Outputs 24 4 3 Sensor Reference Frames 26 4 3 1 Geodetic Frame 26 4 3 2 North East Down NED Frame 27 4 3 3 Sensor Frame 28 5 Performance Optimization 29 5 1 Gyrosc...

Страница 4: ...4 5 9 Vibration Isolation 34 5 10 IMU Sensor Calibration 34 5 11 Temperature Compensation 34 5 12 Import and Export Settings 35 6 Sensor Installation 36 6 1 Sensor Mounting 36 7 OEM System Integration 37 7 1 Data Communications Protocol DCP 37 7 1 1 Packet Builder 38 7 1 2 Sensor Direct Mode 38 7 2 Sensor Wiring 40 7 3 Sampling on Start up 41 7 4 Connecting to a Datalogger 42 7 5 Using Wireless Ad...

Страница 5: ...s 48 9 2 Accessories 50 9 3 Sales Support 50 10 Specifications 51 11 Safety Information 53 11 1 Disposal and Recycling 53 12 Reference Diagrams 54 12 1 Sensor Dimensions and Origin 54 12 2 Power Supply Specifications 55 12 3 Communication and Power Cables 56 13 Reference Documents 58 14 Glossary 59 ...

Страница 6: ... bias tracking auto zero update options ZUPT and user adjustable sensor noise factors All sensors are fully temperature compensated and calibrated over the full operating temperature range The use of Micro Electro Mechanical System MEMS technology allows for small lightweight devices Sensors are integrated into customer systems using serial communication protocols such as RS422 RS232 and USB The L...

Страница 7: ...re compensated and are mathematically aligned to an orthogonal coordinate system The combination of sensors environmental compensation and dual on board processing with an Auto Adaptive Extended Kalman Filter EKF allows the 3DM GX5 15 to perform well in a wide variety of applications that require low noise drift gain and offset errors The 3DM GX5 15 communicates through a serial connection and is ...

Страница 8: ...cts and ordering information see Parts and Configurations on page 48 Item Description Model LORD Sensing Part Number Included with Sensor Purchase A 3DM GX5 15 InertialSensor VRU 8G 300 DPS 6254 4220 MIP Monitor Software Suite http www microstrain com software For additionaloptions available see Specifications on page 1 USB Connectivity Kit B USB Communication Cable 6212 3004 RS232 Connectivity Ki...

Страница 9: ...15 include a device status indicator and the device information label The table below describes the basic status indicator behavior The device information label includes the sensor frame diagram axis orientation which will be critical during device installation see Sensor Frame on page 28 Indicator Behavior Device Status device status indicator OFF no power applied rapid flash streaming data slow ...

Страница 10: ...ata Communications Protocol DCP to write custom software applications with expanded or specific feature sets needed for the application MIP Monitor includes a message building tool that can be used to streamline this process For more information see OEM System Integration on page 37 In this section hardware and software setup is described including an overview of the MIP Monitor software menus req...

Страница 11: ...or software installation menu at https www microstrain com software 2 Download and open the MIP Monitor zip file 3 Run the setup exe file and follow the on screen prompts to completion 4 Download and open the Inertial Drivers zip folder to install the hardware drivers required for operating the sensor 5 Run the msi file and follow the on screen prompts to completion 6 Run the setup exe file and fo...

Страница 12: ...gure 5 System Connections 3 3 Software Interface The MIP Monitor software includes a main window with system information and menus a device settings window and several data monitoring windows The main window provides an overview of connected devices Devices are selected by clicking on them A device menu is available by right clicking on the device name and includes the most used items from the hea...

Страница 13: ... Sensor Communication Once power has been applied to the sensor it is functional If the hardware drivers have been installed communication can be established using the MIP Monitor software interface 1 Verify the sensor device status indicator is on 2 Open the MIP Monitor software 3 The sensor should appear in the device list automatically when the software is running The list includes the device i...

Страница 14: ...tively being exchanged between the sensor and host computer the status message may display Not Connected This indicates the port status not the sensor availability When commands are sent to the sensor the software will automatically connect to it before sending the message 14 ...

Страница 15: ...lude calculated measurements Estimation Fil ter and direct inertial sensor measurements IMU AHRS b Message Format first sub menu tab Under each main menu tab there are additional sub menu tabs including the Message Format tab which allows the user to select the meas urement type to be displayed and recorded b1 and the data rate in samples second b2 c Measurement parameters Available sub menu tabs ...

Страница 16: ...ecting the OK button in the Device Setup window after configuration but they are lost when the device is powered off To save current settings so they are automatically restored the next time the device is powered on select Settings Save Current Settings First adjust the sensor settings to the desired values Next select Settings Save Current Settings from the main window Figure 10 Save Sensor Setti...

Страница 17: ...ments and EF Monitoring for the Estimation Filter outputs During viewing and recording only the outputs that are selected in the Message Format tab of the Device Settings menu are displayed and recorded see Sensor Settings on page 15 Data streaming must be started in order for data to be recorded however it is not necessary to view it in a data monitoring window Data monitoring is used primarily t...

Страница 18: ...eparated Values csv format depending on what was selected at the initiation of data recording The files can be found in the directory specified at that time or in the default directory on the host computer desktop CSV files can be viewed with Microsoft Excel Quattro Pro Open Office or other CSV editors and spreadsheet programs Data recorded in Binary format requires a translation program utilizing...

Страница 19: ...This settings file is the same as selecting Export Settings from the Settings menu NOTE If the data is recorded in Binary format it will require a translation program that utilizes the LORD Sensing MIP Data Communications Protocol DCP to make it user readable Figure 13 Data Recording 4 To end recording press the Arm Recording button again and select OK in the confirmation prompt window 5 Select th...

Страница 20: ...n angular rate and Delta velocity change in velocity Temperature and pressure sensors provide environmental information for measurement compensation and altitude estimations information can be read directly but is not used internally for attitude or navigation estimations on the 3DM GX5 15 Computed estimations for attitude acceleration angular rate and heading are available outputs on the 3DM GX5 ...

Страница 21: ...hematically aligned to an orthogonal coordinate system The IMU sensors can be read directly to report stand alone inertial measurements or computed measurements Because the sensor system is digital the analog voltage readings from the sensors are converted into a digital equivalent value based on the volt to bit scale of the internal analog to digital voltage converter In the MIP Monitor software ...

Страница 22: ...3DM GX5 15 User Manual 22 ...

Страница 23: ...escription Acceleration gravitational force g three axis acceleration readings in engineering units Angular Rate radian second three axis rotational velocity reading from gyro scope in engineering units Delta Angle Theta radians time integral of angular rate with configurable time period Delta Velocity g seconds time integral of acceleration with configurable time period GPS Correlation Timestamp ...

Страница 24: ...s for how the estimations are made These settings are available at Settings Device EF With the Help window open accessed with the Help button mousing over context sensitive settings provides a detailed explanation of the setting Figure 16 Estimation Filter Settings Figure 16 Estimation Filter Settings All of the estimation filter outputs are available to record and most but not all are available t...

Страница 25: ...depend ing on settings with bias and scale read ings and one sigma uncertainty estimations also available Compensated Angular Rate radians second measured angular rate corrected using the estimated gyroscope scale factor and bias with reference to either the sensor or vehicle frame Gravity Vector meter second2 estimated WGS84 gravity vector with reference to either the sensor or vehicle frame depe...

Страница 26: ... reference ellipsoid Latitude ranges from 90 degrees at the South Pole to 90 degrees at the North Pole Longitude ranges from 180 to 180 degrees with 0 degrees being the prime meridian The 180 180 degree switchover occurs in the middle of the Pacific Ocean and includes a section of the International Date Line The model takes into account the oblateness of the Earth s surface A point P on or above t...

Страница 27: ...he East vector along the line of latitude and the Down vector normal to and towards the tangent plane Figure 18 North East Down Frame The assumption when using the NED frame is that the local surface can be reasonably approximated by a flat plane For most applications this assumption is valid and provides a more intuitive reference frame for expressing attitude information than a global frame The ...

Страница 28: ...DM GX5 15 reports acceleration angular rate delta theta delta velocity inertial sensor biases and corrections in this frame When no sensor to platform frame transformation has been provided see Platform Frame on page 1 The orientation of the sensor frame with respect to the local NED frame can be viewed in the MIP Monitor software at View 3D Attitude menu This window displays the orientation of th...

Страница 29: ...et the gyroscope baseline place the sensor or sensor platform in the desired home position Allow 2 3 minutes for the sensor to warm up and for the temperature to stabilize for the best bias capture Select Settings Capture Gyro Bias Figure 20 Gyro Bias Capture The sensor must remain stationary for about twenty seconds while the outputs are being measured A status message will appear when the captur...

Страница 30: ...mation Filter Aiding menu select the sensor name in the MIP Monitor software main window then select Settings Device Estimation Filter EF Aiding 1 Heading Aiding has two options including None and External Heading Message 2 Pitch Roll Aiding has two options including None and Gravity Vector Figure 21 EF Aiding Options Menu 30 ...

Страница 31: ...ng options If the setting is none the estimated heading will drift when little or no changes in velocity are sensed e g when stationary or traveling in the same direction at a constant velocity The external heading message setting means the heading is derived from one of two possible external messages provided by the user 1 0x0D 0x17 or 2 0x0D 0x1F in the LORD Sensing MIP Data Communications Proto...

Страница 32: ...n run 5 4 Adaptive Anomaly Rejection 5 4 1 Gravity Adaptive Enabling this feature allows the filter to stabilize attitude readings when undergoing linear accelerations The bandwidth setting determines the cutoff frequency of the filter applied to linear acceleration changes see Communications Bandwidth on page 33 The high and low limits determine the trigger points at which the stabilization is ap...

Страница 33: ...nsors to calculate an orientation solution that incorporates the strengths of the individual while minimizing their weaknesses The 3DM GX5 15 runs an Auto Adaptive Extended Kalman Filter as a full state dynamics model The state propagation utilizes Newton s and Euler s equations of motion with the acceleration and angular rate treated as control inputs The Kalman filter estimates the full state of...

Страница 34: ... is likely that some of these values will be beyond limits and the flags may be asserted This fact should be taken into account when developing automated monitoring systems 5 9 Vibration Isolation The 3DM GX5 15 should be isolated from strong vibrations a much as possible Strong continuous vibrations appear as unaccounted noise to the estimation filter degrading its performance When vibration cann...

Страница 35: ...o import the sensor settings select the sensor name in the MIP Monitor software main window then select Settings Import Settings then follow the prompt to choose where the file will be saved and name the file To export the sensor settings select the sensor name in the MIP Monitor software main window then select Settings Export Settings then follow the prompt to choose where the file will be saved...

Страница 36: ...read lock are recommended There are two additional holes used for precise alignment with 2mm dowel pins One of the holes is slotted to allow for relaxed pin positioning accuracy The sensor can be mounted in any orientation as required for the application see Sensor Reference Frames on page 26 The axes are labeled on the face of the sensor for reference and the sensor measurement origin is shown in...

Страница 37: ...t format The commands and data are divided into four command sets and three data sets corresponding to the internal architecture of the device The protocol is packet based All commands replies and data are sent and received as fields in a message packet The packets have a descriptor type field based on their contents so it is easy to identify if a packet contains commands replies or data To view o...

Страница 38: ...the Standard communications mode to use this feature Figure 26 Packet Builder 7 1 2 Sensor Direct Mode The MIP Monitor software can be used to put the sensor in a mode that allows direct programmatic access to the internal Inertial Measurement Unit IMU The IMU has its own processor and protocol commands and native data outputs from the individual IMU sensors that may not be available in MIP Monito...

Страница 39: ...r main window Once in this mode the device status message will indicate Sensor Direct Mode Figure 27 Sensor Direct Mode To exit Sensor Direct Mode select the Refresh button in the MIP Monitor at any time or use Advanced Communication menu to select the Standard operating mode Figure 27 Sensor Direct Mode 39 ...

Страница 40: ...2 communication or a USB connector for USB communications Alternately the micro DB9 can be purchased from LORD Sensing with flying leads or the connector by itself can be purchased from the manufacturer Ulti Mate Connector Inc See Parts and Configurations on page 48 for a list of available options For the cable diagram see Sensor Dimensions and Origin on page 54 The connector interface includes co...

Страница 41: ...ect 3DM GX5 15 and then select document from the list NOTE When setting the sensor to begin sampling on start up verify that the sensor is sampling by reading the status indicator on the device see Interface and Indicators on page 9 or by viewing the serial data stream from the host computer If communication with MIP Monitor is established the sampling will stop to facilitate device configuration ...

Страница 42: ...t on page 47 7 5 Using Wireless Adapters In some applications it can be very useful to set up wireless communications between the sensor to the host computer One way this can be accomplished is by connecting the serial output of the sensor to a serial to wireless converter and then connecting the wireless receiver to the host computer For more information and an example refer to the Using RS232 Bl...

Страница 43: ...3DM GX5 15 User Manual 8 Troubleshooting 8 1 Troubleshooting Guide 43 ...

Страница 44: ...hnical Support on page 47 2 COMMUNICATION no communication to sensor 2 1 sensor not found in MIP Monitor In MIP Monitor use the Refresh button to look for the sensor again If the sensor is still not found try cycling power to the sensor and refreshing 2 2 communication cable not connected or miswired Check remove and reconnect communications and power cables as applicable Replace or rewire as need...

Страница 45: ...ming If the sensor is not streaming data activate it in the software 3 3 sensor data not recorded Verify data recording has been activated In MIP Monitor the device status information field will indicate Recording Data If the sensor isn t recording activate in the software Verify specific measurements have been enabled for sampling and recording NOTE Data is recorded in time sequence If measuremen...

Страница 46: ...ORD Sensing Warranty Repairs LORD Sensing warrants its products to be free from defective material and workmanship for a period of one 1 year from the original date of purchase LORD Sensing will repair or replace at its discretion a defective product if returned to LORD Sensing within the warranty period This warranty does not extend to any LORD Sensing products that have been subject to misuse al...

Страница 47: ... technical support engineers are available to help with technical and applications questions Technical Support sensing_support LORD com Phone 802 862 6629 SKYPE microstrain orientation support Live Chat is available from the website during business hours 9 00 AM to 5 00 PM Eastern Time US Canada 8 4 Maintenance There are no user serviceable parts on the 3DM GX5 15 Removing the device cover or disa...

Страница 48: ...RD Sensing Sales Department Table 4 Model Numbers describes the standard models available at the time this manual was published Once a model is selected the part number is further defined by desired configuration and interface options The model determines the first four digits of the product part number the options are indicated in the last four digits Figure 30 Standard Part Numbers Table 4 Model...

Страница 49: ...anual The same options are available in each model and are indicated in the last four digits of the product part number For a list of the starter kit contents see Components on page 1 Figure 30 Standard Part Numbers 49 ...

Страница 50: ...5 Sensor Accessories Description Manufacturer part number A Series or P Series 9 pin male Micro D connector Ulti Mate PR09N05 Table 6 Sensor Mating Connector 9 3 Sales Support Products can be ordered directly from the LORD Sensing website by navigating to the product page and using the Buy feature http www microstrain com inertial For further assistance our sales team is available to help with pro...

Страница 51: ... 4 g 20 g 40 g optional 300 sec standard 75 150 900 sec optional Non linearity 0 02 fs 0 02 fs Bias instability 0 04 mg 8 hr Initial bias error 0 002 g 0 04 sec Scale factor stability 0 03 0 05 Noise density 25 µg Hz 2 g 0 005 sec Hz 0 005 sec Hz 300 sec Alignment error 0 05 0 05 Adjustable bandwidth 225 Hz max 250 Hz max Offset error over temperature 0 06 typ 0 04 typ Gain error over temperature ...

Страница 52: ...fault 115 200 Power source 4 to 36 V dc V dc Power consumption 500 mW typ Operating temperature 40 C to 85 C Mechanical shock limit 500 g calibration unaffected 1000 g bias may change 5000 g survivability MTBF TBD Physical Specifications Dimensions 36 0 mm x 36 6 mm x 11 1 mm Weight 16 5 grams Enclosure material Aluminum Regulatory compliance ROHS CE Integration Connectors Data power output micro ...

Страница 53: ...hazard presents a lesser threat of injury that could result in minor or moderate injury to workers and or the general public Situations where a non immediate or potential hazard presents a risk to damage of property and equipment May be used to indicate important operational conditions 11 1 Disposal and Recycling The 3DM GX5 15 contains internal printed circuit boards and electronic components The...

Страница 54: ...roduct installation and troubleshooting For more information contact LORD Sensing Technical Support see Technical Support on page 47 12 1 Sensor Dimensions and Origin This diagram describes the sensor physical specification including the measurement point of origin Figure 31 3DM GX5 15 Sensor Origin 54 ...

Страница 55: ...aximum load V ac maximum load Input power saving at no load 0 3 W maximum DC voltage rating DC load capacity maximum Ripple peak to peak maximum Regulation 5 line and load Efficiency average Circuit protection auto restart Safety approvals cUL UL SAA CE C Tick Environmental Parameters Operating temperature 0 C to 40 C Storage temperature 25 C to Humidity to 90 Emissions FCC Class B EN55022 Class B...

Страница 56: ...3DM GX5 15 User Manual 12 3 Communication and Power Cables included in the 3DM GX5 15 connectivity kits Figure 32 RS232 Communications and power cable Figure 33 USB Communications cable 56 ...

Страница 57: ...3DM GX5 15 User Manual Figure 34 Connecter interface cable sold separately PN 6224 0100 57 ...

Страница 58: ... documents are continuously updated and may provide more accurate information than printed or file copies Document Where to find it 3DM GX5 15 support documentation http www microstrain com documents inertial NIST Calibration Procedures http www nist gov calibrations ASTM Testing Procedures http www astm org Standard standards and publications html Table 7 Document Resources 58 ...

Страница 59: ...ve technology refers to the ability of a filter to 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 o...

Страница 60: ... Complementary Filter CF A term commonly used for an algorithm that combines the readings from multiple sensors to 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 suc...

Страница 61: ... describe the orientation of an object in space such as the x y and z or pitch roll and yaw Euler angles can also represent 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 fundame...

Страница 62: ...the current mean and covariance to produces an estimate of a system s current state that is statistically more 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...

Страница 63: ... up or down with respect to the sensor or platform frame origin Position The spatial location of an object PVA acronym for Position Velocity Attitude Q Quaternion Mathematical notation for representing orientation 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...

Страница 64: ...rocess of taking measurements from a sensor or device Sampling rate rate at which the sensors are sampled Sampling Rate the frequency of sampling Sensor a device that physically or chemically reacts to environmental forces and conditions and produces a pre dictable electrical signal as a result Sigma In statistics sigma is the standard deviation from the mean of a data set Space Vehicle Informatio...

Страница 65: ...ct to time Also called speed W WAAS Wide Area Augmentation System An air navigation aid developed to allow aircraft to rely on GPS for all phases of flight including pre cision approaches to any airport WGS World Geodetic 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 gravi...

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