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PNI Sensor 

 

DOC#1032877  

TRAX2 User Manual Aug 2021 

Page 3 

 

7.2.1

 

Endianness ................................................................................. 38

 

7.2.2

 

Floating Point ............................................................................. 38

 

7.2.3

 

Signed Integer ............................................................................ 39

 

7.2.4

 

Unsigned Integer ........................................................................ 40

 

7.2.5

 

Boolean ...................................................................................... 40

 

7.3

 

Commands Overview .......................................................................... 41

 

7.4

 

Set-Up Commands .............................................................................. 42

 

7.4.1

 

Module Information ................................................................... 42

 

7.4.2

 

Module Configuration ................................................................ 43

 

7.4.3

 

Saving Settings ........................................................................... 50

 

7.5

 

Measurement Commands .................................................................. 50

 

7.5.1

 

Setting the Reference Magnetic Field Criteria ........................... 50

 

7.5.2

 

Data Acquisition Parameters ..................................................... 51

 

7.5.3

 

Data Components ...................................................................... 52

 

7.5.4

 

Making a Measurement ............................................................. 54

 

7.5.5

 

Continuous Data Output After Power Cycle .............................. 55

 

7.6

 

Calibration Commands........................................................................ 56

 

7.6.1

 

User Calibration Commands ...................................................... 56

 

7.6.2

 

Performing a User calibration .................................................... 58

 

7.6.3

 

Calibration Score ........................................................................ 58

 

7.6.4

 

Factory Calibration ..................................................................... 59

 

7.7

 

Compass Mode Commands ................................................................ 60

 

7.7.1

 

Switching Functional Mode ....................................................... 60

 

7.7.2

 

FIR Filters .................................................................................... 61

 

7.7.3

 

Power Down/Up ........................................................................ 63

 

7.8

 

Using Multiple Coefficient Sets ........................................................... 64

 

7.9

 

Communication Protocol Example ..................................................... 67

 

APPENDIX 

–

 SAMPLE CODE ............................................................................ 68

 

 
 

 

Содержание TRAX2 AHRS

Страница 1: ...TRAX2 AHRS DIGITAL COMPASS USER MANUAL Release Date August 11 2021...

Страница 2: ...10 5 USER CALIBRATION 12 5 1 Magnetic Calibration 12 5 1 1 Full Range Calibration 15 5 1 2 Limited Tilt Calibration 17 5 1 3 Hard Iron Only Calibration 19 5 2 Accelerometer Calibration 19 6 OPERATION...

Страница 3: ...Reference Magnetic Field Criteria 50 7 5 2 Data Acquisition Parameters 51 7 5 3 Data Components 52 7 5 4 Making a Measurement 54 7 5 5 Continuous Data Output After Power Cycle 55 7 6 Calibration Comma...

Страница 4: ...3 3 Electrical Requirements 4 Table 3 4 I O Characteristics 5 Table 3 5 Environmental Requirements 5 Table 3 6 Mechanical Characteristics 6 Table 4 1 TRAX2 Pin Descriptions 8 Table 5 1 Magnetic Calibr...

Страница 5: ...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 credit OEM s account with an amount equal to the pric...

Страница 6: ...s ability to overcome errors normally caused by erratic motion and or changes in the local magnetic field The advanced features of the TRAX2 make it ideal for a variety of applications including Drone...

Страница 7: ...rms Resolution 0 01 Repeatability 0 05 rms AHRS Mode Heading Accuracy3 2 0 rms Resolution 0 1 Attitude Range Pitch 90 Roll 180 Accuracy 2 0 rms Resolution 0 01 Footnotes 1 Specifications are typical u...

Страница 8: ...ly Voltage 3 7 to 8 VDC RS 232 High Level Input 2 4 V Max 1 6V typical Low Level Input 0 6 V Min 1 2V typical Output Voltage Swing 5 2 V typ 5 0 V min Tx Output Resistance 300 Serial UART CMOS TTL 1 U...

Страница 9: ...ation Protocol PNI Binary Communication Rate1 2400 to 921 600 baud Maximum Data Output Rate 30 samples sec Footnote 1 The TRAX2 can operate up to 921 600 baud but native RS232 is limited to 115 200 ba...

Страница 10: ...Sensor DOC 1032877 TRAX2 User Manual Aug 2021 Page 6 Table 3 6 Mechanical Characteristics Parameter Value Dimensions l x w x h 3 5 x 4 3 x 0 84 cm Weight 7 gm Connector 6 pin Molex part number 51021 0...

Страница 11: ...User Manual Aug 2021 Page 7 3 2 Mechanical Drawings Figure 3 2 TRAX2 PCA Mechanical Drawing Figure 3 3 Molex to Pigtail Cable Drawing pn 14476 Figure 3 4 Molex to USB Cable Drawing pn 14467 CABLE USB...

Страница 12: ...es a 6 pin Molex connector part number 51021 0600 which mates with Molex part 51021 0600 or equivalent The pin out for both is given below in Table 4 1 Table 4 1 TRAX2 Pin Descriptions Pin 1 TRAX2 PCA...

Страница 13: ...gnets such as electric motors and so on 4 2 2 Locate away from changing magnetic fields While the TRAX2 can compensate for transient changes in the local magnetic field it is good design practice to k...

Страница 14: ...the TRAX2 a positive pitch is when the front edge of the board is rotated upward and a positive roll is when the right edge of the board is rotated downward The order of rotation is given as heading...

Страница 15: ...PNI Sensor DOC 1032877 TRAX2 User Manual Aug 2021 Page 11 Figure 4 2 TRAX2 Enclosed Mounting Orientations...

Страница 16: ...f calibration Full Range Calibration provides the highest heading accuracy but requires 30 of pitch 2D and Limited Tilt Calibration allow for good calibration when the range of allowable motion is lim...

Страница 17: ...temperature As a general rule the hard iron component will change 1 per 10 C temperature change Exactly how this affects heading depends on several factors most notably the hard iron component of the...

Страница 18: ...n both pitch and roll For TRAX2 roll is not required TRAX2 enhances calibration flexibility and improves heading accuracy The following subsections provide instructions for performing a magnetic calib...

Страница 19: ...or hard and soft iron effects in three dimensions and allows for the highest accuracy readings The recommended 12 point calibration pattern is a series of 2 circles of evenly spaced points as illustra...

Страница 20: ...owing order 1 7 2 8 3 9 4 10 5 11 6 12 Figure 5 1 12 Point Full Range Calibration Realistic View Notes The location of the device changing in realist view this is for illustration purpose If possible...

Страница 21: ...0 9 240 0 0 10 270 max negative 0 11 300 0 0 12 330 max positive 0 Footnote 1 For best results the pitch experienced during calibration should match that experienced in service For example if the TRAX...

Страница 22: ...0 12 315 5 0 Alternatively a similar and acceptable pattern would be to follow the recommended 12 point Full Range Calibration pattern but substituting the 30 of pitch with whatever pitch can be achie...

Страница 23: ...ject to 30 of pitch when in service then max negative should be 30 and max positive should be 30 5 2 Accelerometer Calibration The TRAX2 uses a MEMS accelerometer to measure attitude This data is outp...

Страница 24: ...PNI Sensor DOC 1032877 TRAX2 User Manual Aug 2021 Page 20 application note for instructions on how to calibrate in the field or return it to PNI for recalibration...

Страница 25: ...ard The program will be installed into the following directory unless you direct it otherwise Program Files PNI Sensor Corporation TRAX Studio A TRAX Studio shortcut icon will be placed on your comput...

Страница 26: ...Connect button When the connection is established the light to the left of Status will turn green Status will change to Connected the baud rate the Connect button will now say Disconnect the Power Dow...

Страница 27: ...s volatile memory back to regular type and the setting change will not be applied to the TRAX2 s memory Default Selecting the Default button will display the default settings which are stored in TRAX...

Страница 28: ...default is Magnetic Declination The declination represents the heading difference between magnetic north and true north and needs to be entered if True is selected as the North Reference Declination v...

Страница 29: ...rating in Polled Mode TRAX Studio simulates a host system and polls the TRAX2 for a single measurement but TRAX Studio makes this request at a fixed rate which is set by the Polling Delay In both case...

Страница 30: ...Accelerometer These are briefly discussed below and in more detail in Section 5 Full Range recommended calibration method when 45 of tilt is possible 2D recommended when the available tilt range is li...

Страница 31: ...of samples is 18 Mag Coefficient Set Accel Coefficient Set At any one time the TRAX2 will use one set of magnetic calibration coefficients and one set of accelerometer calibration coefficients The mag...

Страница 32: ...d in Section 5 To perform a calibration follow the following steps Click the Start button to begin the calibration process If Automatic Sampling is not checked the first sample will be taken automatic...

Страница 33: ...uality of a magnetic calibration Acceptable scores are 1 for Full Range Calibration and 2 for other methods Note that it is possible to obtain acceptable Distribution Error and Tilt Error scores and s...

Страница 34: ...meter drift If either of these Reset buttons are selected it is necessary to click Save or Apply to have the factory coefficients take effect 6 6 Test Tab The Test Tab is used to demonstrate and evalu...

Страница 35: ...the 3D Model window as shown below Clicking the Start button begins continuous updating of the orientation of the rendered model and of the heading pitch and roll output fields The Start button on th...

Страница 36: ...e current consumption AHRS Mode Two types of behavior can be configured in AHRS mode Magnetic Distortion Rejection AHRS or Gyro Stabilized Compass The TRAX2 defaults to Gyro Stabilized Compass configu...

Страница 37: ...oved from the host system or if the user is confident the local magnetic field is free from distortion Reference Field Reset command should be sent If Gyro Stabilized Compass Configuration is enabled...

Страница 38: ...ften Compass Mode Compass Mode only uses the magnetic sensor and accelerometer readings to determine heading pitch and roll When used in static condition such as target acquisition or surveying Compas...

Страница 39: ...ort button to save the data to a file Click the Clear button to clear the data from the window Note that the Distortion log indicates if the magnetic field is 125 T for any of the magnetic sensors It...

Страница 40: ...red by the TRAX2 as well as corrected output after a user calibration has been performed The data can be saved to a txt log file by clicking Export To clear the data select Clear To clear both the dat...

Страница 41: ...nt16 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 starting from the...

Страница 42: ...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 PNI also rec...

Страница 43: ...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 based pa...

Страница 44: ...sb 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 0 msb 15...

Страница 45: ...eter accelerometer sensors 13 0x0D kGetFIRFilters Queries for the FIR filter settings for the magnetometer accelerometer sensors 14 0x0E kGetFIRFiltersResp Contains the FIR filter settings for the mag...

Страница 46: ...tMode Set Distortion Mode as On 1 or Off 0 default Off 108 0x6C kGetDistortMode Get Distortion Mode 109 0x6D kGetDistortModeResp Response to kGetDistortMode return 1 as On 0 Off 110 0x6E kSetResetRef...

Страница 47: ...rResp frame ID 53d 0X35 The response 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...

Страница 48: ...0 3 Y UP 0 4 STD 90 5 STD 180 6 STD 270 7 Z DOWN 0 8 X UP 90 9 X UP 180 10 X UP 270 11 Y UP 90 12 Y UP 180 13 Y UP 270 14 Z DOWN 90 15 Z DOWN 180 16 Z DOWN 270 1 kUserCalNumPoints 12 UInt32 4 18 12 k...

Страница 49: ...has been set if it will be used with TRAX2 Studio kMountingRef Config ID 10d This sets the reference orientation for the TRAX2 Please refer to Figure 4 2 for additional information kUserCalNumPoints...

Страница 50: ...during calibration FALSE disables simultaneous output kMagCoeffSet Config ID 18d This command provides the flexibility to store up to eight 8 sets of magnetometer calibration coefficients in the TRAX...

Страница 51: ...KSetResetRef and KSetMagTruthMethod commands Once the good heading reference is established TRAX2 will be able to reject magnetic transient distortion and maintain desired heading accuracy When distor...

Страница 52: ...ell enough to send the Reset Reference Command as needed kGetMagTruthMethod frame ID 120d 0X78 This frame queries the setting of the Mag Truth Method It has no payload kGetMagTruthMethodResp frame ID...

Страница 53: ...at Values Range Default kMergeRate 5 Float32 0 1 20 0 10 0 kMagRate 6 Float32 0 1 20 0 10 0 Rate parameters and settings for kSetMergeRate kMergeRate Rate ID 5d This sets the process merge rate to con...

Страница 54: ...ayload 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 Setting the Reference Magnetic Field Criteria Prior...

Страница 55: ...ast reading as the old heading data would be in the filter Once the taps are cleared it is necessary to fully repopulate the filter before data is output For example if 32 FIR taps is set 32 new sampl...

Страница 56: ...nd software revision see kGetModInfo The first byte of the payload indicates the number of data components followed by the data component IDs Note that the sequence of the data components defined by k...

Страница 57: ...3 means the uncertainty is 10 Quaternion Component ID 77d The quaternion values generated by the TRAX2 algorithm are output in one data package that contains the four quaternions The quaternions are...

Страница 58: ...ee kSetAcqParams then this frame initiates the outputting of data at a relatively fixed data rate where the data rate is established by the SampleDelay parameter The frame has no payload kStopContinuo...

Страница 59: ...Component ID kStartContinuousMode frame ID 21 d This frame initiates the outputting of data at the expected fixed data rate where the data rate is established by the SampleDelay parameter The frame h...

Страница 60: ...it will default to the previous calibration method The CalOption values are given below along with basic descriptions of the options Full Range Calibration Recommended calibration method when 45 of ti...

Страница 61: ...bration in the kGetDataResp frame the number of data components is set to be 3 and then followed by the data component ID value pairs The sequence of the component IDs are kHeading kPitch and kRoll kT...

Страница 62: ...etc Follow the appropriate calibration procedure as discussed in Section 5 If kUserCalAutoSampling was set to False then send a kTakeUserCalSample command when ready to take a calibration point If kU...

Страница 63: ...particular section can result in a poor score TiltError Indicates if the TRAX2 experienced sufficient tilt during the calibration taking into account the calibration method The score should be 0 Tilt...

Страница 64: ...re are a couple of reasons it may be desirable to place the TRAX2 in Compass Mode As previously mentioned it is necessary to place the TRAX2 in Compass Mode to perform a calibration Additionally if a...

Страница 65: ...l tap values thus purging old data This can be useful if a significant change in heading has occurred since the last reading as the old heading data would be in the filter Once the taps are cleared it...

Страница 66: ...64832660e 2 01 1484431942626e 1 01 7646051430536e 2 8 01 9875512449729e 2 01 2567124916369e 1 02 3794805168613e 2 9 01 2567124916369e 1 03 0686505921968e 2 10 01 1484431942626e 1 03 8014333463472e 2 1...

Страница 67: ...e in Compass Mode wherein readings may be taken only when heading information is desired Consequently when in Compass Mode the TRAX2 may be powered down when heading data is not required kPowerDown fr...

Страница 68: ...64 7 8 Using Multiple Coefficient Sets The ability to store and access multiple calibration coefficients sets the TRAX2 apart from our Prime or legacy TCM This section will detail the command list and...

Страница 69: ...2 get kCoeffCopySet value which is currently used in TRAX2 0x00 0x06 0x07 0x12 0x19 0x44 0x00 0x0A 0x08 0x12 0x00 0x00 0x00 0x CRC1 CRC2 Accelerometer Calibration kSetConfig frame ID AccelCoeffCopySet...

Страница 70: ...ommand 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 Magnetic Coeff Cop...

Страница 71: ...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 4 components kHeading kPitch kRoll kHeadingStatus component IDs 0x5 0x18 0x19...

Страница 72: ...er File CRC 16 Function type declarations typedef struct UInt8 AcquisitionMode FlushFilter Float32 AcquireDelay SampleDelay __attribute__ packed AcqParams typedef struct Float32 MagCalScore Float32 re...

Страница 73: ...ch 24 type Float32 kRoll 25 type Float32 kMagX 27 27 type Float32 kMagY 28 type Float32 kMagZ 29 type Float32 Configuration Parameter IDs kDeclination 1 1 type Float32 kTrueNorth 2 type boolean kMount...

Страница 74: ...void data UInt32 len UInt8 dataPtr UInt8 data UInt32 index 0 Update the CRC for transmitted and received data using the CCITT 16bit algorithm X 16 X 12 X 5 1 UInt16 crc 0 while len crc unsigned char c...

Страница 75: ...a process manager on a continuous basis class CommProtocol public Process public enum Frame IDs Commands kGetModInfo 1 kGetModInfoResp 2 kSetDataComponents 3 kGetData 4 kGetDataResp 5 Data Component I...

Страница 76: ...Sensor DOC 1032877 TRAX2 User Manual Aug 2021 Page 72 UInt8 mOutData kBufferSize mInData kBufferSize UInt16 mExpectedLen UInt32 mOutLen mOldInLen mTime mStep UInt16 CRC void data UInt32 len void Cont...

Страница 77: ...baud SetBaud baud mOldInLen 0 no data previously received mStep 1 goto the first step of our process Put together the frame to send to the module void CommProtocol SendData UInt8 frameType void dataPt...

Страница 78: ...8 crc 8 crc dataPtr index crc unsigned char crc 0xff 4 crc crc 8 4 crc crc 0xff 4 1 return crc This is called each time this process gets a turn to execute void CommProtocol Control InLen returns the...

Страница 79: ...ian crcReceived mInData mExpectedLen 2 8 mInData mExpectedLen 1 if crc crcReceived the crc is correct so pass the frame up for processing if mHandler mHandler HandleComm mInData 2 mInData 3 mExpectedL...

Страница 80: ...ived Process is a base class that provides TRAX with cooperative parallel processing The Control method will be called by a process manager on a continuous basis class TRAX public Process public CommH...

Страница 81: ...ype void dataPtr UInt16 dataLen UInt8 data UInt8 dataPtr switch frameType case CommProtocol kGetDataResp Parse the data response UInt8 count data 0 The number of data elements returned UInt32 pntr 1 U...

Страница 82: ...ore the roll Move data pntr roll sizeof roll increase the pointer to point to the next data element type pntr sizeof roll break case CommProtocol kTemperature Move source destination size bytes Move c...

Страница 83: ...the compents we are requesting preceded by the number of components being requested pkt 0 kDataCount pkt 1 CommProtocol kHeading pkt 2 CommProtocol kPitch pkt 3 CommProtocol kRoll pkt 4 CommProtocol...

Страница 84: ...PNI Sensor DOC 1032877 TRAX2 User Manual Aug 2021 Page 80 break...

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