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Calibrating the Compass

Compasses operate by measuring the earth’s magnetic field and locating magnetic
north. When mounted in real platforms or devices there are other local magnetic fields
or materials that disrupt or offset the earth’s magnetic field. Sources to be aware of are
ferrous metal, electric currents and permanent magnets in electric motors. There are
two sources of magnetic field distortion: “Soft-iron” and “Hard-iron”. “Soft-iron”
effects are caused by un-magnetized ferrous materials in the area of the compass.
“Hard-Iron” effects are caused by magnetized ferrous materials near the compass.
“Hard-Iron” can be cancelled out by going through the rotational calibration
(described bellow). “Soft-iron” effects should be addressed during the design in phase
and compasses should be located away from such items to minimize impact to the
sensor. OceanServer compasses with firmware version V1.4 and later include a soft
iron calibration option.

Magnetic Field Examples:

Undisturbed Magnetic

Field

Compass Placement

Non-Ferrous Bow
Least Magnetic
Field Disturbance
Best Place for
Compass

Placement

Ferrous Material in Tail
Plus an Electric Motor
Creating Magnetic
Field Disturbance
Not an Ideal Place for
Compass Placement

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Содержание OS5000-S

Страница 1: ...S M A N U A L 1 Digital Compass Users Guide OS5000 Series P N 90 05000 00 REVISION 3 0 2007 2008 OceanServer Technology Inc 151 Martine St Fall River MA 02723 USA www ocean server com Sales ocean serv...

Страница 2: ...rmats 10 Format Type 0x01 C format 11 Format Type 0x02 OHPR Sentence 12 Format Type 0x03 HCHDT Sentence 12 Format Type 0x04 comma delimited Sentence 12 Output Parameter Selection Table 12 Terminal Emu...

Страница 3: ...Tiny size 1 x1 x0 3 less than 2 grams weight Low Power Consumption 30ma 3 3V Hard and soft iron compensation routines Optional support for a high resolution Depth or Altitude sensor 24 bit AD Serial I...

Страница 4: ...fers TTL only support single connector on the topside of the module OS5000 US Signals USB or RS 232 3 Axis tilt compensated compass 1 x 1 Has both Serial USB direct interface and has connectors on bot...

Страница 5: ...or that supports IEEE floating point operations for accurate tilt compensation AD Conversion 24 bit Sigma Delta converters with differential inputs All Models are RoHS Compliant Additional Note The OS...

Страница 6: ...0 01 Hz to 40Hz sentence output rate Size 1 x 1 x 0 3 module Weight 2 grams Supply Voltage 3 3V 5VDC Will operate with up to 15VDC Power consumption 30 ma 3 3V S variant 35 ma 5V US variant in USB mo...

Страница 7: ...pins and tools to make custom cables Pin Color Signal Description 1 Green USB D 2 White USB D 3 Red 5V Regulated USB Power 4 Black Ground USB Power Pin Color Signal Description Additional OS5000 T TTL...

Страница 8: ...plugged in No jumper required Standard Cables 19 00061 24 24 OS5000 S Demo Kit Cable with Serial connection Pressure and 3 6V battery power connection picture below Demo cable provides 3 6V battery c...

Страница 9: ...th USB to 6 Pin connector Communicating with the compass RS 232 or USB The USB compass requires device drivers to present itself to the system as an asynch serial port i e COMn port on Windows There a...

Страница 10: ...be changed back to 9600 using the Esc B command Output Sentence Formats Figure Compass output for each of the four supported output formats The command esc lets you select the bit mask for the desire...

Страница 11: ...ss board crude measure taken from the core microprocessors internal sensor Used for relative measurements of environments not accurate We provide a single point calibration offset using the esc comman...

Страница 12: ...g be true the user must program the compass with the local declination value using the esc Qnnnn space where nnnn is the degress times 10 for local heading offset Example esc Q125 enter will offset th...

Страница 13: ...pitch active add the Bit Values up for the fields I e 1 2 4 7 now use the command esc X7 space to enable these three fields Remember the mask is decimal so just add the bit field values up from the ta...

Страница 14: ...ers examples 10000 1000 2345 If the value needs a floating point number such as heading we send it multiplied by 10 Example esc Q123 space is a value of 12 3 for heading The second type Type2 is comma...

Страница 15: ...number of samples to include in the average This combined with output rate will determine the period of the filter Example averaging 5 output rate 10 is half second period Esc V Displays the firmware...

Страница 16: ...e You must have deviation set to 0 before this operation esc Q0 enter The soft iron compensation method uses the deviation coefficient finding method described by Archibald Smith to the Royal Society...

Страница 17: ...er compasses The tilt angles are determined by measuring the earth s static gravitational vector Since dynamic and static acceleration are indistinguishable when used in aircrafts with high accelerati...

Страница 18: ...done XyxXyXyXYXyXyX XXYxYY xYxYxYxYxYxYxYxY xYxYxYxYxYxYxY xYxYxYxYxYxYxYx YYxYxYxYx YxYY YYYYYYYY YYXYXXYXYXX XXXXXXX XXXXXXXX XXXXXXXX X yyy yy yy y yyyy yy X XXX XXX X Y YYY YY YY xxx x Flash Write...

Страница 19: ...f the compass Hard Iron effects are caused by magnetized ferrous materials near the compass Hard Iron can be cancelled out by going through the rotational calibration described bellow Soft iron effect...

Страница 20: ...orm is level observe Pitch P0 x and Roll R0 x data and confirm they are less than 1 degree Next fully rotate the platform to make sure it will remain level during the calibration process The area shou...

Страница 21: ...plete rotation This step should take 20 plus seconds when you just get you have found the Z max and Z min values Terminate the sequence by hitting the SPACE bar Important Note The Z command should be...

Страница 22: ...ant to select option 2 and follow the screen prompts see example screen shot below Important setup steps prior to running soft iron calibration Before starting the calibration you need to have the sys...

Страница 23: ...ch estimation using Euler angles Introducing filtering will improve the accuracy if the platform acceleration is dynamic and can be filtered out Note The future OS5000 USG compass will introduce rate...

Страница 24: ...the modules 50 MIPS microprocessor It is affected slightly by the operating voltage of the module It may require a linear offset to make it align with ambient temperature Using the command esc ttt en...

Страница 25: ...tor length from near 1 to a lower or higher value Configuring the output sentence of the compass Not Required The esc X decimal enter command will let you set the bit mask of what values the compass o...

Страница 26: ...26 Main Screen Configuration Screen...

Страница 27: ...if your using the USB interconnect option on the OS5000 US compass Remember if you have an OS5000 US it supports either RS 232 serial or USB by selecting the correct cable There are two connectors on...

Страница 28: ...pass in the best location away from ferrous materials 2 Configure the compass firmware hit Esc key prior to any command key a Talk to the compass using a terminal program such as Tera term Settings 19...

Страница 29: ...n enter enter max pressure for sensor PSI esc P space set zero depth pressure output via 24 bit AD resolution in 0 01 feet Note Depth assumes fresh water no internal density correction If M0 enter is...

Страница 30: ...ical questions to support ocean server com Or call us at 508 678 0550 during normal business hours OceanServer Technology Inc 151 Martine St Fall River MA 02723 USA Copyright 2008 by OceanServer Techn...

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