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PNI TCM2.5, Руководство пользователя

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PNI TCM2.5 Скачать руководство пользователя страница 16

 

Page 16 of 48 

User Calibration 

 

All compasses can perform well in a controlled environment, where the ambient magnetic field consists 

solely of the earth’s field. In most practical applications, however, an electronic compass module will be 

mounted in a host system such as a vehicle that can contain large sources of local magnetic fields: 

ferrous metal chassis, transformer cores, electrical currents, and permanent magnets in electric motors.  
 
By performing the user calibration procedure, you allow the TCM2.5/2.6 to identify the major sources of 

these local magnetic anomalies and subsequently cancel out their effects when measuring the earth’s 

magnetic field for computing compass headings. When you perform the user calibration procedure, the 

TCM2.5/2.6 takes a series of magnetic field measurements. It analyzes these total field measurements in 

order to identify the components that are created by the earth’s field, which is the desired signal, from 

those components that are generated by the local environment, which we wish to subtract out. 
  
The end goal of the procedure for the TCM2.5/2.6 is to have an accurate measurement of the static three-

dimensional magnetic field vector generated by its host system at its mounting location. This vector is 

subsequently subtracted out of run-time field measurement to yield the resultant earth’s field vector.  
 
One major benefit from the TCM2.5/2.6’s triaxial magnetometer/triaxial inclinometer system configuration 

is its ability to compensate for distortion effects in all orientations throughout its usable tilt range. As we 

have mentioned, a compass must measure the local field vector generated by the host system at its 

current position within the system

 

in order to accurately calibrate. Because the TCM2.5/2.6’s 

magnetometer is strapped-down, or fixed with respect to its host system, this local field vector does not 

change as the host system’s attitude changes, allowing the TCM2.5/2.6 to accurately compensate in all 

pitch and roll orientations. Gimbaled fluxgates, for instance, are unable to provide accurate calibration in 

non-level orientations because its magnetometers, being gimbaled, change position with respect to the 

host system as attitude changes. This presents a different local distortion field than that measured during 

calibration. 
 

 

 

Содержание TCM2.5

Страница 1: ...PNI Corporation TCM2 5 and TCM2 6 Tilt Compensated 3 axis Compass Module...

Страница 2: ...age to the Product as the result of improper usage neglect of care alteration accident or unauthorized repair THE ABOVE WARRANTY IS IN LIEU OF ANY OTHER WARRANTY WHETHER EXPRESS IMPLIED OR STATUTORY I...

Страница 3: ...CM2 5 2 6 combines PNI Corporation s patented Magneto Inductive MI sensors and measurement circuit technology with a MEMS accelerometer for unparalleled cost effectiveness and performance The MI senso...

Страница 4: ...one end of the cable is the connector needed to mate with the TCM2 5 2 6 The cable s wires are color coded as indicated below PNI also has a 6 foot cable with a DB9 connector attached Contact PNI Corp...

Страница 5: ...d codes manually you can use buttons check boxes and dialog boxes It reads the Binary responses of the TCM2 5 2 6 output strings and formats its sensor data into labeled and easy to read data fields T...

Страница 6: ...ction as long as the module baud rate is the same as the previous unit Configuration Tab North Reference Magnetic When the Magnetic radio button is selected heading will be relative to Magnetic North...

Страница 7: ...o determine the magnetic anomalies The more pitch and roll points you give it the better it is able to determine the vertical magnetic fields If possible apply as close to a 90 SLWFK DQG roll Doing so...

Страница 8: ...uickly 6 If the calibration is not sufficient then click on the Start button and begin the calibration again Clear This button will clear the user calibration in the unit Once selected the unit will r...

Страница 9: ...onment that when added to the earth s field may saturate the TCM2 5 2 6 s sensors For example large masses of ferrous metals such as transformers and vehicle chassis large electric currents permanent...

Страница 10: ...TCM2 5 2 6 board dimensions and the orientation of the reference frame The TCM2 5 2 6 is factory calibrated with respect to the mounting holes as shown below thus it must be aligned within the host s...

Страница 11: ...ecification which describes a standard RS232 bus format for exchange of a variety of navigation information GPS radar compass and so on In the NMEA output format only compass heading information is av...

Страница 12: ...the output word Example The TCM2 5 2 6 will return the following C328 3P28 4R 12 4X55 11Y12 33Z 18 43T22 3E001 checksum cr lf under the following conditions compass heading 328 3 true or magnetic depe...

Страница 13: ...rameter or sensor values parameter cr Action command command cr Detailed descriptions of all commands are in the Command List and a command summary is shown in Command List Quick Reference Data Transm...

Страница 14: ...rror Bit 1 Reserved for future use always 0 Bit 0 LSB Reserved for future use always 0 2 nd ASCII Character Bit 3 MSB Reserved for future use always 0 Bit 2 Command parameter invalid Bit 1 Reserved fo...

Страница 15: ...compass heading pitch and roll magnetic field strength and temperature Sampling in Standby Mode You can receive data from the TCM2 5 2 6 sensors from the h Halt Continuous Sampling Enter Standby mode...

Страница 16: ...nd goal of the procedure for the TCM2 5 2 6 is to have an accurate measurement of the static three dimensional magnetic field vector generated by its host system at its mounting location This vector i...

Страница 17: ...tch and roll to the unit The unit will have the appearance of a wobbling top as it is moved through the calibration routine Turn the TCM2 5 2 6 around at least twice changing the pitch and roll as muc...

Страница 18: ...an calibrate for hard iron effects or local fields that can be modeled as static fields such as those created by permanent magnets Hard iron distortions are significant in most systems There is anothe...

Страница 19: ...sure the orientation of the compass with respect to gravity Since the compass also measures the complete magnetic field the TCM2 5 2 6 can correct for the tilt of the compass to provide an accurate he...

Страница 20: ...improved sleep mode over TCM2 wake Wake Mode requires separate program and connection of RTS pin ax Warm Reboot User Configuration Parameter Commands b Set Baud Rate damping Enable Filter for damping...

Страница 21: ...l result in an error code since the command is obsolete and not being used Command Description Commands not used for the TCM2 5 2 6 autocal Autocalibration skip Skip measurements cclip Set Clip Value...

Страница 22: ...data has been selected for inclusion in the output word Syntax c cr Output when compass units are set to degrees Cnnn n Ennn checksum cr lf cr lf when compass units are set to mils Cnnn n Ennn cr lf c...

Страница 23: ...nometer data has been selected for inclusion in the output word Syntax i cr Output When the inclinometer units are set to degrees P nn nR nn n Ennn checksum cr lf cr lf When inclinometer units set to...

Страница 24: ...M8 00 cr lf An example of a poor score Related Commands mpcal Multipoint Calibration m Magnetometer Update Description Samples and returns the X Y and Z axes of magnetometer data When in Standby mode...

Страница 25: ...18 4T22 3 Ennn check sum cr lf cr lf Related Commands sdo Select RS232 Output Word Format ec Enable Compass Data for Output Word ep Enable Pitch Data for Output Word er Enable Roll Data for Output Wor...

Страница 26: ...ll calibration data Any further magnetometer or compass output is not corrected for any local fields This command is only valid during Standby Mode h Use this command before recalibrating the TCM2 5 2...

Страница 27: ...ory cr go Enter Continuous Sampling Mode Description Enters the Continuous Sampling Mode go The TCM2 5 2 6 immediately begins outputting sensors data at rate specified by the SP parameter default is 8...

Страница 28: ...n cr lf Related Commands go Enter Continuous Sampling Mode halt Enable Single Character Halt halt Enable Single Character Halt Description The halt command during go mode has optionally been made a si...

Страница 29: ...cr or h cr lf mpcal d cr Valid Values Input Description e e enable multipoint calibration d d disable multipoint calibration default setting Table 8 Valid mpcal Values Output HnVnMn nn cr lf The TCM2...

Страница 30: ...TCM2 5 Description Enters the wake mode of operation To wake the TCM2 5 a falling edge on the int2 interrupt 2 pin of the processor is required This is achieved by connecting pin 6 of the TCM2 5 conne...

Страница 31: ...r power cycling it will return to the last configuration set Note that any parameter that specifies a numeric value must be specified with the appropriate units of the current setting b Set Baud Rate...

Страница 32: ...mping d disable damping default setting Table 10 Valid damping values Example damping e cr enable damping cr lf Query Response damping damping Related Commands timeconst set time constant for digital...

Страница 33: ...y Response ec ec em Enable Magnetometer Data for Output Word Description Enables or disables magnetometer data for inclusion in the TCM2 5 2 6 Standard Output Word Syntax em n cr Output Ennn cr lf Val...

Страница 34: ...on e Pitch data enabled It will be included from the output word Default setting d Pitch data disabled It will be excluded in the output word Table 13 Valid ep Values Example ep e cr include pitch dat...

Страница 35: ...e er er et Enable Temperature Data for Output Word Description Enables or disables temperature data for inclusion in the TCM2 5 2 6 Standard Output Word Syntax et n cr Output Ennn cr lf Valid Values I...

Страница 36: ...ter readings Syntax ma n cr Output Ennn cr lf Valid Values Input Description c Choose corrected magnetometer readings u Choose non corrected magnetometer readings Default setting Table 16 Valid ma Val...

Страница 37: ...dec mag_dec sdo Set RS232 Output Word Format Description Sets the output word format to be used in response to the Single Update Output Word sdo command and in Continuous Output Mode go Syntax sdo n c...

Страница 38: ...alue is set to true then declination is applied to get the True North heading Syntax sn n cr Output Ennn cr lf Valid Values Input Description t True North m Magnetic North default setting Table 19 Val...

Страница 39: ...m the TCM2 in which the sp was the clock divisor to derive the output rate Syntax sp n cr Output Ennn cr 1f Valid Values Input Description 1 1 Hz output rate 2 2 Hz output rate 3 3 Hz output rate 4 4...

Страница 40: ...Input Description Integer value between 1 4 Set the measured time constant 4 Integer value between 5 8 Set the measured time constant 8 default setting Integer value between 9 16 Set the measured time...

Страница 41: ...full circle Table 22 Valid uc Values Example uc d cr set units to degrees cr lf Query Response uc uc ui Set Inclinometer Units Description Sets the units to be used for the input and output of the til...

Страница 42: ...units to be used for the input and output of the temperature data Syntax ut n cr Output Ennn cr lf Valid Values Input Description f Fahrenheit c Celsius Default setting Table 24 Valid ut Values Exampl...

Страница 43: ...rial port base addresses define PORT1 0x3F8 define PORT2 0x2F8 define PORT3 0x3E8 define PORT4 0x2E8 define MCR 4 Offset to the Modem control register define RTS 2 RTS is bit 2 of the MCR int main int...

Страница 44: ...ng Options Screw Mounts Standoffs horizontal Connector for RS 232 10 pin 9 pin I O Specifications Latency from Power On 210 mSec Latency from Sleep Mode 1 Maximum Sample Rate 8 samples sec RS 232 Comm...

Страница 45: ...oard and Cable The default orientation for the TCM2 5 2 6 is for the silk screened arrow to point in the forward direction That puts the edge opposite of the Molex connector as the front edge of the b...

Страница 46: ...ange Vsupply 5 V regulated 2 Red Vsupply 6 to 18 V unregulated 3 Black Power Ground 4 Blue RxD RS 232 5 to 5V 5 Yellow TxD RS 232 5 to 5V or 12 to 12V 6 White RTS Wake from Sleep 7 Green Data Ground 8...

Страница 47: ...and Cable The default orientation for the TCM2 6 is for the silk screened arrow to point in the forward direction That puts the edge opposite of the Molex connector as the front edge of the board Fig...

Страница 48: ...embly Figure 8 18 Cable Drawing PIN Wire Color Description 1 Black Power Ground 2 Gray NC 3 Green RS232 Ground 4 Orange NC 5 Violet NC 6 Brown NC 7 Yellow TxD 8 Blue RxD 9 Red 5 VDC Table 27 Molex Con...

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