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WATSON INDUSTRIES AHRS-S305, Руководство пользователя

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WATSON INDUSTRIES AHRS-S305 Скачать руководство пользователя страница 22

Watson Industries, Inc 

 

AHRS-S305 Rev J  03/22/2018 

22 

Example 2: The Unit is seeing these conditions: 

 

 
 
 

Binary output Format: 

 

 
 

 

7

6

5

4

3

2

1

0

7

6

5

4

3

2

1

0

Data Word

MSB

LSB

 

 
 
 
Bit 7 of the MSB is set to 1. Bits 6 to 0 of the MSB are the upper 7 bits of the data. (sign plus 6 bits of data) 
Bit 7 of the LSB is set to 1. Bits 6 to 0 of the LSB are the lower 7 bits of the data. 
 
 As the data words are received, the LSB is shifted left to shift out the Bit 7 (always set to 1).  The MSB is then 
connected to the LSB as a 16-bit word.  This word is then shifted left to shift out the Bit 7 (always set to 1).  What 
remains is a signed fractional word with a resolution of 13 bits plus a sign bit. 
 
 
To convert binary data: 
 

 
 
 
 

 
Need split each word into two bytes: 
 

 
 
 
 

 
Remove the most significant bit from each byte: 
 

 
 
 
 

 
Shift lower byte left once (to remove 1 bit space between bytes): 
 

 
 
 
 

X Acceleration 

Y Acceleration 

Z Acceleration 

X angular rate 

Y angular rate 

Z angular rate 

0.00 g 

-0.28 g 

-0.96g 

10.0˚/sec 

-15.0˚/sec 

55.0˚/sec 

Word1 

Word2 

Word3 

Word4 

Word5 

Word6 

<CR> byte 

0x8080 

0xFE9A 

0xF9EE 

0x8399 

0xFB99 

0x91CC 

0x0D 

X Accel 

Y Accel 

Z Accel 

X Rate 

Y Rate 

Z Rate 

0x8080 

0xFE9A 

0xF9EE 

0x8399 

0xFB99 

0x91CC 

X Accel 

Y Accel 

Z Accel 

X Rate 

Y Rate 

Z Rate 

0x80 
0x80 

0xFE 
0x9A 

0xF9 
0xEE 

0x83 
0x99 

0xFB 
0x99 

0x91 
0xCC 

X Accel 

Y Accel 

Z Accel 

X Rate 

Y Rate 

Z Rate 

0x00 
0x00 

0x7E 
0x1A 

0x79 
0x6E 

0x03 
0x19 

0x7B 
0x19 

0x11 
0x4C 

X Accel 

Y Accel 

Z Accel 

X Rate 

Y Rate 

Z Rate 

0x00 
0x00 

0x7E 
0x34 

0x79 
0xDC 

0x03 
0x32 

0x7B 
0x32 

0x11 
0x98 

Содержание AHRS-S305

Страница 1: ...S305 Rev J 03 22 2018 1 ATTITUDE AND HEADING REFERENCE SYSTEM OWNER S MANUAL PART NUMBER AHRS S305 WATSON INDUSTRIES INC 3035 MELBY STREET EAU CLAIRE WI 54703 Phone 715 839 0628 Fax 715 839 8248 Emai...

Страница 2: ...ctivating Command Mode Double Spacebar Mode 18 Determining Output Channels 18 Setting Output Channels 18 Adjust Time Constants 19 Setting Baud Rate 19 Appendix C 20 Watson Industries prides itself on...

Страница 3: ...ordinate transformed and then integrated to produce attitude and heading outputs that reflect normal attitude coordinates These attitude and heading signals are compared against three accelerometers a...

Страница 4: ...use unfortunately also allow errors from the forces from vehicle maneuvers to enter the system To control these effects a balance of time constant and error limits are used Limiting Factor Causing Err...

Страница 5: ...3 22 2018 5 axis This is limited in unusual attitudes and the error correction system is locked out when the attitude and conditions are outside of a reasonable range This system also directly depends...

Страница 6: ...al Temperature Operating 40 C to 85 C Temperature Storage 55 C to 85 C Vibration Operating 2 5g rms 20 Hz to 2 KHz Vibration Survival 10g rms 20 Hz to 2 KHz Shock Survival 500g 10mS sine wave Electric...

Страница 7: ...character string representing the X axis accelerometer starting with a space then a or a followed by one digit a decimal point and two digits for up to 9 99 g 6 A six character string representing the...

Страница 8: ...ng computer For more information see the RS 232 Input Commands section Data transmission sent by the AHRS can also be suppressed or restored by a command from the interfacing computer For more informa...

Страница 9: ...and is the Invalid Velocity Command This mode is used to protect the system from accumulating errors when the velocity reference is not functioning Double spacebar at initialization is required for a...

Страница 10: ...utput from any given angle to North This can be used as a calibration means but is only recommended for small adjustments To use this command first send an R command on the keyboard to place the senso...

Страница 11: ...hicle information such as engine RPM engine temperature fuel remaining altitude depth or any other important data The four analog user inputs as have one megohm input impedance 16 bit A D conversion r...

Страница 12: ...utput 1 Bank 20 Analog Input User Channel 3 7 Analog Output 2 Elevation 21 Analog Input User Channel 4 8 Analog Output 3 Heading North 22 Analog Input Forward Velocity 10 VDC 9 Analog Output 4 Heading...

Страница 13: ...ge 2 Over voltage and or miswiring of this unit will cause damage 3 The non magnetic connectors supplied with the unit must be used to preserve heading accuracy The user must use non magnetic hardware...

Страница 14: ...ny warranty given by Watson Industries are products that have been subject to abuse misuse damage or accident that have been connected installed or adjusted contrary to the instructions furnished by s...

Страница 15: ...elby Street Eau Claire WI 54703 ATTN Service Department Telephone 715 839 0628 Fax 715 839 8248 email support watson gyro com Returning the Product Product shall be packaged making sure there is adequ...

Страница 16: ...inometer simulated YI 89 9 180 User Channel 1 U1 9 99 VDC 10 VDC User Channel 2 U2 9 99 VDC 10 VDC User Channel 3 U3 9 99 VDC 10 VDC User Channel 4 U4 9 99 VDC 10 VDC Forward Velocity VS 799 9 Km hr 8...

Страница 17: ...selected 6 Logic Input Switches disabled 7 Not Used always zero Example The flag channel output in ASCII Decimal is 102 Octal Digit 1 0 2 Binary Equivalent 0 1 0 0 0 0 1 0 Status Bit 7 6 5 4 3 2 1 0...

Страница 18: ...tion is finished At this point command mode will be activated and the unit will accept keyboard commands Note Most Watson sensors have initialization times that are shorter than 30 seconds Any extra k...

Страница 19: ...ime constants Setting Baud Rate 1 Activate Command Mode See above 2 Type this will bring up the main menu again 3 Typing in 4 will allow the user to change the baud rate 4 Change the baud rate to a ne...

Страница 20: ...is then connected to the LSB as a 16 bit word This word is then shifted left to shift out the Bit 7 always set to 1 What remains is a signed fractional word with a resolution of 13 bits plus a sign b...

Страница 21: ...the data Bank Elevation Heading X angular rate Y angular rate Z angular rate 2728 912 57344 1636 2460 9008 Convert to units counts x scale factor For bank elevation Scale factor is 180 32768 counts Fo...

Страница 22: ...olution of 13 bits plus a sign bit To convert binary data Need split each word into two bytes Remove the most significant bit from each byte Shift lower byte left once to remove 1 bit space between by...

Страница 23: ...X Accel Y Accel Z Accel X angular rate Y angular rate Z angular rate 0 920 3144 1636 2460 9008 Convert to units counts x scale factor For Bank Elevation Scale factor is 180 32768 counts For Heading Sc...

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