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PNI Prime Pro Скачать руководство пользователя страница 7

PNI Sensor

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Prime Pro User Manual Preliminary September 2022

Page 3

3

Specifications

3.1

Characteristics & Requirements

Table 3-1: Performance Specifications

1,3

Parameter

Value

Compass Mode

Heading

Static Accuracy

2

1.0° rms

Resolution

0.01°

Repeatability

0.05° rms

Tilt

Range

Pitch

± 90°

Roll

± 180°

Static Accuracy

2

0.6° rms

Resolution

0.01°

Repeatability

0.05° rms

Magnetometer Range

± 150 µT

Accelerometer Range

± 1.0 g

Footnotes:

1. Specifications are typical unless otherwise noted, and subject to change.
2. Assumes that the Prime Pro is motionless; that the local magnetic field is clean

relative to user calibration; that the magnetic dip angle is <= 65° that the pitch
angle is ≤ 50°; and that a Full-Range calibration has been performed.

3. To meet performance specifications, the module must be operated over a

temperature range of

–10C to 50C. A magnetometer user calibration should

be performed if the temperature changes by more than +-10C.

Table 3-2: Absolute Maximum Ratings

Parameter

Minimum

Maximum

Units

Supply Voltage

-0.3

+6

VDC

Input Voltage (Rx)

-0.5

+7

VDC

Storage Temperature

-40

+85

°C

CAUTION:

Stresses beyond those listed above may cause permanent damage to the device.
These are stress ratings only. Operation of the device at these or other conditions
beyond those indicated in the operational sections of the specifications is not implied.

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Содержание Prime Pro

Страница 1: ...User Manual Prime Pro Digital Magnetic Compass...

Страница 2: ...l Mounting 10 4 3 1 Pitch and Roll Convention 10 4 3 2 Coordinate System 11 4 3 3 Mounting Orientation 11 5 USER CALIBRATION 12 5 1 Magnetic Calibration 12 5 1 1 Full Range Calibration 14 5 1 2 2D Cal...

Страница 3: ...rmation 40 7 4 2 Module Configuration 41 7 4 3 Saving Settings 45 7 5 Measurement Commands 45 7 5 1 Data Acquisition Parameters 45 7 5 2 Data Components 46 7 5 3 Making a Measurement 48 7 5 4 Continuo...

Страница 4: ...ectrical Requirements 4 Table 3 4 I O Characteristics 5 Table 3 5 Environmental Requirements 5 Table 3 6 Mechanical Characteristics 5 Table 3 7 ESD Ratings 6 Table 4 1 Prime Pro Pin Descriptions 8 Tab...

Страница 5: ...LITY If any Product furnished hereunder fails to conform to the above warranty OEM s sole and exclusive remedy and PNI s sole and exclusive liability will be at PNI s option to repair replace or credi...

Страница 6: ...delivers field accurate heading pitch and roll data even where GPS is compromised or unavailable with 1 of accuracy New Prime Pro is extremely robust uses exceptionally low power and is pinpoint accur...

Страница 7: ...field is clean relative to user calibration that the magnetic dip angle is 65 that the pitch angle is 50 and that a Full Range calibration has been performed 3 To meet performance specifications the...

Страница 8: ...vel input voltage Rx VIN 3 V to 3 6 V 0 65 V Max VIN 4 5 V to 5 5 V 0 8 V Max VOH High level output voltage Tx VIN 2 9 V to 5 5V IOH 20uA VIN 0 1V min VIN 3 V IOH 3mA IOH 5 5mA 2 7 V min 2 49 V min 2...

Страница 9: ...n Rate1 2400 to 921 600 baud Maximum Data Output Rate 50 samples sec Footnote 1 The Prime Pro can operate up to 921 600 baud but native TTL is limited to 115 200 baud Table 3 5 Environmental Requireme...

Страница 10: ...BM per ANSI ESDA JEDEC JS 001 1 2000 V Charged device model CDM per JEDEC specification JESD22 C101 2 1000 Machine Model A115 A 200 Footnote 1 JEDEC document JEP155 states that 500 V HBM allows safe m...

Страница 11: ...awings Figure 3 2 Prime Pro Mechanical Drawing Figure 3 3 Molex to Pigtail Cable Drawing pn 14479 Note Alternatively an unjacketed cable is available from Molex Part Numbers 218112040X where X 0 thoru...

Страница 12: ...021 0410 or equivalent The pin out for both is given below in Table 4 1 Table 4 1 Prime Pro Pin Descriptions Pin 1 Prime Pro 4 Pin Molex Connector USB Demo Cable Wire Color Pigtailed Cable 1 Ground Bl...

Страница 13: ...of local magnetic distortion that will knowingly change with time such as electrical equipment that will be turned on and off or ferrous bodies that will move 4 2 3 Mount in a physically stable locati...

Страница 14: ...e available The Euler angles are the common method used for aircraft orientation where the outputs are heading pitch and roll When using Euler angles in aviation roll is defined as the angle rotated a...

Страница 15: ...Prime Pro can be mounted in 16 different orientations as shown in Figure 4 2 All reference points are based on the default orientation shown in Figure 4 1 The orientation should be programmed in the P...

Страница 16: ...d for o Allows for 4 different methods of calibration Full Range Calibration provides the highest heading accuracy but requires 30 of pitch 2D and Limited Tilt Calibration allow for good calibration w...

Страница 17: ...mperature change Exactly how this affects heading depends on several factors most notably the hard iron component of the system and the inclination or dip angle Consider the example of a host system w...

Страница 18: ...erns described in the following sub sections provide a good distribution of sample points Table 5 1 Magnetic Calibration Mode Summary Calibration Mode Static Accuracy in Compass Mode Pitch Range durin...

Страница 19: ...ch2 Roll3 First Circle 1 0 30 Any 2 60 30 Any 3 120 30 Any 4 180 30 Any 5 240 30 Any 6 300 30 Any Second Circle 7 0 30 Any 8 60 30 Any 9 120 30 Any 10 180 30 Any 11 240 30 Any 12 300 30 Any Table 5 3...

Страница 20: ...e points is not required The 12 points can be sampled in any order Figure 5 1 12 Point Full Range Calibration Realistic View Notes The location of the device changing in realist view is for illustrati...

Страница 21: ...ading and Tilt listings are not absolute heading directions but rather relative heading referenced to the first sample 2 For best results the pitch experienced during calibration should match that of...

Страница 22: ...olute heading directions but rather relative heading referenced to the first sample Alternatively a similar and acceptable pattern would be to follow the recommended 12 point Full Range Calibration pa...

Страница 23: ...ing and Tilt listings are not absolute heading directions but rather relative heading referenced to the first sample 2 For best results the tilt experienced during calibration should match that experi...

Страница 24: ...tion can occur within the user s system or with the module alone It is not necessary to place the Prime Pro on a flat surface as shown but it must be held very still during calibration and holding it...

Страница 25: ...0 180 First Corner 7 0 5 10 to 20 8 90 5 10 to 20 9 180 5 10 to 20 Second Corner 10 270 5 10 to 20 11 30 45 10 to 20 12 120 45 10 to 20 Third Corner 13 210 45 10 to 20 14 300 45 10 to 20 15 60 45 10 t...

Страница 26: ...pni electron Setup 1 0 4 exe file onto your computer Double click on the icon and step through the Setup Wizard The program will be installed into the following directory unless you direct it otherwi...

Страница 27: ...nnect This will start up the PNI Studio program Be sure to open the pni serialport connection first before connecting pni studio Below is a picture of the PNI Studio header The header includes Module...

Страница 28: ...ab is selected Note that if a field is changed on any of the PNI Studio tabs then either Apply or Save must be selected for the change to take effect Save Clicking the Save button will save any change...

Страница 29: ...f the device 6 4 1 General Settings Baud Rate The baud rate can be altered by selecting the desired baud rate from the pull down menu clicking on Save and then powering the device off and back on The...

Страница 30: ...me for the initial sample reading and if Flush Filters is selected the rate at which data is output The default setting is 32 The FIR filtering operates on a first in first out FIFO basis For example...

Страница 31: ...elay is set to 0 then Prime Pro will begin sending new data as soon as the previous data set has been sent Note that the inverse of the Sample Delay is greater than the sample rate since the Sample De...

Страница 32: ...commended calibration method when 5 of tilt calibration is available but tilt is restricted to 30 i e full range calibration is not possible Accelerometer The user should select this when acceleromete...

Страница 33: ...cal magnetic field properties The default is index number 0 and initially this is populated at PNI with factory generated coefficients for the device itself The other sets initially are unpopulated To...

Страница 34: ...figuration tab the calibration is complete Regardless of whether Automatic Sampling is selected two criteria must be met for a calibration sample to be taken First the Prime Pro must be held steady en...

Страница 35: ...the Prime Pro is pitched 25 to 15 the Tilt Range value would be 20 as derived from 25 15 2 For Full Range Calibration and Hard Iron Only Calibration this should be 30 For 2D Calibration this ideally w...

Страница 36: ...e is set to Continuous then the data will be continuously updated The button will change to read Stop such that clicking it again will stop the screen from updating If the Acquisition Mode is set to S...

Страница 37: ...Tab make the change then Apply or Save the change Functional Mode The Prime Pro is designed to operate in Compass Mode AHRS Mode is ignored 6 7 Log Data Tab PNI Studio can capture measurement data an...

Страница 38: ...the FIR filter taps are applied but prior to applying the user calibration coefficients The MX or My User data and w User Cal plot red provide data after applying the user calibration coefficients The...

Страница 39: ...8 CRC 16 UInt16 Payload 1 4091 UInt8 Frame ID UInt8 Figure 7 1 Datagram Structure The ByteCount is the total number of bytes in the packet including the CRC 16 checksum The CRC 16 is calculated starti...

Страница 40: ...nd at http babbage cs qc cuny edu IEEE 754 old 32bit html Note that for this converter little Endian values must be manually converted to big Endian Please refer to the Standard for more information P...

Страница 41: ...mpliment Bit 31 represents the sign of the value where 0 positive and 1 negative msb 31 24 23 16 15 8 lsb 7 0 Big Endian lsb 7 0 15 8 23 16 msb 31 24 Little Endian Signed 16 Bit Integer SInt16 SInt16...

Страница 42: ...16 15 8 lsb 7 0 Big Endian lsb 7 0 15 8 23 16 msb 31 24 Little Endian Unsigned 16 Bit Integer UInt16 UInt16 based parameters are unsigned 16 bit numbers Big Endian msb 15 8 lsb 7 0 Little Endian lsb 7...

Страница 43: ...r calibration coefficients to non volatile memory 10 0x0A kStartCal Commands the Prime Pro to start user calibration 11 0x0B kStopCal Commands the Prime Pro to stop user calibration 12 0x0C kSetFIRFil...

Страница 44: ...the Prime Pro to take a sample during user calibration 36 0x24 kFactoryIAccelCoeff Resets accelerometer calibration coefficients to original factory established values 37 0x25 kFactoryAccelCoeffDone R...

Страница 45: ...to kSerialNumber is given below The payload contains the device serial number For example the hex string 00 09 35 00 0F BE 43 0E CF can be decoded with payload 00 0F BE 43 to read 1031747 as the seri...

Страница 46: ...5 Z DOWN 180 16 Z DOWN 270 1 kUserCalNumPoints 12 UInt32 4 18 12 kUserCalAutoSampling 13 Boolean True or False True kBaudRate 14 UInt8 4 2400 5 3600 6 4800 7 7200 8 9600 9 14400 10 19200 11 28800 12 3...

Страница 47: ...ess than this may make it difficult to meet specification See Section 5 for additional information Table 7 4 Sample Points Calibration Mode Number of Samples Allowable Range Minimum Recommended Full R...

Страница 48: ...in the defined set number This feature is useful if the compass will be placed in multiple locations that have different local magnetic field properties kAccelCoeffSet Config ID 19d This command prov...

Страница 49: ...kSave frame The payload contains a UInt16 error code 0 indicates no error 1 indicates an error when attempting to save data to memory 7 5 Measurement Commands 7 5 1 Data Acquisition Parameters kSetAc...

Страница 50: ...ontinuous Acquisition Mode is selected It is the time delay in seconds between completion of Prime Pro sending one set of data and the start of sending the next data set The default is 0 seconds which...

Страница 51: ...tus 9 0x09 Boolean True or False Default kAccelX 21 0x15 Float32 G kAccelY 22 0x16 Float32 G kAccelZ 23 0x17 Float32 G kMagX 27 0x1B Float32 T kMagY 28 0x1C Float32 T kMagZ 29 0x1D Float32 T kMagAccur...

Страница 52: ...alibration cal score change in the magnetic field since the last user cal and any observed short term transients observed in the background This measurement is more accurate if the system is held some...

Страница 53: ...he payload would look like 7 5 4 Continuous Data Output After Power Cycle Prime Pro is configurable to continuously send out data at next power on The following procedure shows the steps on how to ena...

Страница 54: ...he power off To Disable the Continuous Data Output Send the following two commands Prime Pro will stop outputting data after next power cycle kStopContinuousMode frame ID 22 d This frame commands the...

Страница 55: ...on Recommended calibration method when 5 of tilt calibration is available but tilt is restricted to 30 i e full range calibration is not possible Accel Only Calibration Select this when an acceleromet...

Страница 56: ...provide an example of the steps to perform a user calibration Using the kSetFIRFilters command set the number of tap filters to 0 Using the kSetConfig command set kUserCalAutoSampling False is general...

Страница 57: ...thods Note that it is possible to get acceptable scores for DistributionError and TiltError and still have a rather high MagCalScore value The most likely reason for this is the Prime Pro is close to...

Страница 58: ...This frame is the response to kFactoryMagCoeff frame The frame has no payload kFactoryAccelCoeff frame ID 36 d This frame clears the accelerometer calibration coefficients and loads the original facto...

Страница 59: ...rs The Prime Pro incorporates a finite impulse response FIR filter to provide a more stable heading reading The number of taps or samples represents the amount of filtering to be performed The number...

Страница 60: ...971390034516e 2 03 2757326624196e 3 4 04 6708657655334e 2 02 4925036373620e 1 04 6451949792704e 2 05 3097803863757e 3 5 02 4925036373620e 1 07 1024151197772e 2 08 3414139286254e 3 6 01 6637325898141e...

Страница 61: ...ld be set to 1 kGetFIRFiltersResp frame ID 14d This is the response to kGetFIRFilters and it has the same payload definition as kSetFIRFilters 7 7 2 Power Down Up Prime Pro may be powered down to save...

Страница 62: ...p The Prime Pro will power up when it receives any signal on the native UART Rx line The frame has no payload 7 8 Using Multiple Coefficient Sets The ability to store and access multiple calibration c...

Страница 63: ...x12 get kMagCoeffSet value which is currently used in Prime Pro 0x00 0x06 0x07 0x12 0x19 0x44 0x00 0x0A 0x08 0x12 0x00 0x00 0x00 0x CRC1 CRC2 Accelerometer Calibration kSetConfig frame ID kAccelCoeffC...

Страница 64: ...The kSave command is as following 0x00 0x05 0x09 0x6E 0xDC Start a user calibration when completes save calibration coeffs to TCM The coeffs have been saved into coeff set copy 4 Example 2 Use Magneti...

Страница 65: ...p frame ID 0x2 In ASCII it will contain TRAXP733 version number 00 0d 02 54 52 41 58 50 37 33 33 5b 76 3 Write kSetDataComponents frame ID 0x03 There are 3 components kHeading kPitch kRoll component I...

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