Rion HCM370B, Техническое руководство

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HCM370B&375B-MP
HIGH ACCURACY 3D DIGITAL COMPASS
○Inclinometer ○3D compass ○Digital inclinometer ○Accelerometer ○Gyro ○North finder ○INS&IMU
SINCE2008 · Inertial Attitude Measurement Manufacturer
sensor response
00 start succeeded
FF start failed
Note: compass will return data every point is take until calibration stop, format as below:
0X88 Compass reply calibration take
point number
Eg.:
68 05 00 88 07 94
Data field
（
1byte
）
The number in the data field that represents the
calibration point picked up by the sensor (hexadecimal)
0X09 Stop calibration command
68 04 00 09 0D
data field
（
0byte
）
no data command
0X89 sensor repsond
Eg.:
68 10 00 89 00 00 78 00
01 13 00 00 40 00 64 74 5B
Data field （ 12byte ）
SA AA BB SC CD DD SE EF FF SG GG HH
SA AA BB : 3 characters represent the calibration residual
coefficient of the sampling point. < 1 is normal. The
smaller the value is, the more reliable the calibration is.
SC CD DD : The three characters represent the uniformity
of the distribution of sampling points in all directions of
the 3D calibration. The score should be less than 6%.
The smaller the value, the more uniform the distribution
of sampling points is.
SE EF FF : 3 characters represent the distribution range
of the tilt Angle of the 3D calibration sampling point, and
the score should be between 0 and 1. The smaller this
value is, the more extensive the spatial coverage of the
sampling point is.
SG GG HH : 3 characters represent the amplitude of the
single side of the maximum Angle of pitch Angle and roll
Angle of the compass calibration sampling point, and the
score should be > 45°. The larger this value is, the more
sufficient the spatial distribution of the calibration
sampling point will be.
Note: the above score values are for reference only. If the
above score requirements are met, it means that the
sampling conditions of this calibration are excellent and
the accurate azimuth accuracy is not necessarily
obtained.
The first byte high 4 bits is sign bit, 1 negative, 0 positive
；
The first byte low 4 bits is hundreds.
The second byte high 4 bites are tens.
The second byte low 4 bites are ones.
The third byte high 4 bits are tenths.
The third byte low 4 bits are percentile.
In the left example, the Angle is
SA AA BB ： 0.78
SC CD DD
：
1.31%
SE EF FF
：
0.4
SG GG HH ： 64.74°
0X44 Auto calibration mode
command
68 04 00 44 48 Data field （ 0byte ）
no data command
0XC4 sensor repsond Data field （ 1byte ）