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WT901SDCL | manual v0707 | http://wiki.wit-motion.com/english

- 38 -

2.4.11

6-axis/ 9-axis Algorithm

6-axis algorithm: Z-axis angle is mainly calculated based on angular velocity
integral. There will be calculated error on Z-axis angle.

9-axis algorithm: Z-axis angle is mainly calculated and analyzed based on the
magnetic field. Z-axis angle will have few drift.

The default algorithm of WT901SDCL is 9-axis. If there is magnetic field
interference around installed environment, it is recommended to switch to
6-axis algorithm to detect the angle.

Method:

Step 1: Switch to the "6-axis" algorithm on “Config” menu

Step 2: Proceed the “Accelerometer calibration” and “Reset Z-axis angle”
calibration.

After the calibration is completed, it can be used normally.

Содержание WT901SDCL

Страница 1: ...WT901SDCL manual v0707 http wiki wit motion com english 1 USER MANUAL WT901SDCL Inclinometer Sensor Acceleration Data Logger ...

Страница 2: ...t you need in the provided documents please contact our support team Our engineering team is committed to providing the required support necessary to ensure that you are successful with the operation of our AHRS sensors Contact Technical Support Contact Info Application AGV Truck Platform Stability Auto Safety System 3D Virtual Reality Industrial Control Robot Car Navigation UAV Truck mounted Sate...

Страница 3: ... 2 1 2 Indicator Status 8 2 1 3 Software Preparation 9 2 2 Software Introduction 10 2 2 1 Main Menu 10 2 2 2 Menu of Configuration 11 2 3 Calibration 15 2 3 1 Accelerometer Calibration 15 2 3 2 Magnetic Field Calibration 17 2 3 3 Gyroscope Automatic Calibration 20 2 3 4 Reset Z axis Angle 20 2 4 Configuration 21 2 4 1 Return Content 21 2 4 2 Output Rate 22 2 4 3 Baud Rate 23 2 4 4 Calibrate Time 2...

Страница 4: ... wiki wit motion com english 4 2 4 7 File Conversion 31 2 4 8 Placement Direction 34 2 4 9 Bandwidth 35 2 4 10 Restore Factory Setting 37 2 4 11 6 axis 9 axis Algorithm 38 3 Offline Record 39 3 1 Guidelines 39 3 2 Instructions 40 ...

Страница 5: ...e accurately It is employed where the highest measurement accuracy is required WT901SDCL offers several advantages over competing sensor Heated for best data availability new WITMOTION patented zero bias automatic detection calibration algorithm outperforms traditional accelerometer sensor High precision Roll Pitch Yaw X Y Z axis Acceleration Angular Velocity Angle Magnetic Field output Low cost o...

Страница 6: ...than 5 Volt across the sensor wiring of the main power supply can lead to permanent damage to the sensor For proper instrument grounding use WITMOTION with its original factory made cable or accessories For secondary developing project or integration use WITMOTION with its compiled sample code ...

Страница 7: ...ord 2 1 Connection Method PC software is only compatible with Windows system Link to WT901SDCL s demo video 2 1 1 Connection to the Computer This product has an attached cable that connects the computer and the product Please use the cable that comes with the product Use the data cable to connect the product the SD card is plugged into the module before the module starts to work ...

Страница 8: ... is connected to the power supply At this time the power indicator red is always on indicating that the product is charging The red light will go out after charging is completed 2 After inserting the SD card for about 1 second the blue light flashes indicating that the SD card is recording data ...

Страница 9: ... the driver CH340 Link to CH340 driver Step 2 Plugin the converter to computer and confirm the com port in device manager Step 3 Open the software Minimu exe Data will appear after auto search finishes Notice If not successful please operate manually Choose the com port and baud rate 9600 data will be shown on the software ...

Страница 10: ... left side Record Record function 3D 3D DEMO Config Configuration setting Help Language English or Chinese Bluetooth Set Binding device or unbind Firmware update Option for firmware update About Minimu Info about Minimu exe Factory test For manufacturer internal test only Auto search Auto searching the sensor Port Com port selection Baud Baud rate selection Type Fixed setting as Normal for WT901SD...

Страница 11: ... com english 11 2 2 2 Menu of Configuration Menu of Configuration Button Function Read Config Reading the current configuration Lock Lock the sensor Unlock Unlock the sensor Calibrate Time Calibration time of chip Save Config Save configuration ...

Страница 12: ...mputer to conflict with the mouse causing the mouse to jump After checking this function the function will take effect the next time the module is used or it can take effect when the module is powered on again Menu of Calibrate Button Function Acceleration Accelerometer calibration Magnetic Field Magnetometer calibration Reset Height Reset height data to 0 only for sensor built in barometer includ...

Страница 13: ...on Device Address Interface for R D Menu of Content Button Function Time Time data output Acceleration Acceleration data output Velocity Angular velocity data output Angle Angle data output Magnetism Magnetic field data output Port Port data output Pressure Pressure output only available with the sensor built in barometer like HWT901B WTGAHRS2 WT901B etc Location Latitude Longitude data output onl...

Страница 14: ...ut including Satellite quantity PDOP HDOP VDOP data only for GPS IMU series such as WTGAHRS1 WTGAHRS2 GPS Original Only output GPS raw data only for GPS IMU series such as WTGAHRS1 WTGAHRS2 Menu of Port D0 Model Extended port D0 D1 Model Extended port D1 D2 Model Extended port D2 D3 Model Extended port D3 Pulse width Pulse width of PWM Cycle Cycle of PWM ...

Страница 15: ...meter Calibration Purpose The accelerometer calibration is used to remove the zero bias of the accelerometer Before calibration there will be different degrees of bias error After calibration the measurement will be accurate Methods Step 1 Keep the module horizontally stationary Step 2 Click the accelerometer calibration Step 3 Click the Start calibration and wait for 3 seconds Step 4 Click Comple...

Страница 16: ...here is 1g on Z axis acceleration 1 After1 2 seconds the three axial acceleration value of the module is about 0 0 1 the X and Y axis Angle is around 0 After calibration the x y axis Angle is accurate Note When putting the module horizontal there is 1g of gravitational acceleration on the Z axis ...

Страница 17: ...ensor will have a large zero error when it is manufactured If it is not calibrated it will bring a large measurement error which will affect the accuracy of the measurement of the z axis Angle of the heading Angle Preparation Sensors should be 20CM away from magnetic and iron and other materials Methods Step 1 Open the Config menu Step 2 Click the magnetic field calibration button click the Start ...

Страница 18: ...WT901SDCL manual v0707 http wiki wit motion com english 18 Step 3 Slowly rotate the module 360 around X Y Z 3 axis accordingly ...

Страница 19: ...i wit motion com english 19 Step 4 After rotation click End calibration Successful result Most of data dots will be within the ellipse If not successful please stay away from the objective that can create magnetic field interference ...

Страница 20: ...then you can use reset function of Reset Z axis angle The z axis angle is an absolute angle and it takes the northeast sky as the coordinate system can not be relative to 0 degree Z axis to 0 is to make the initial angle of the z axis angle is relative 0 degree When the module is used before and z axis drift is large the z axis can be calibrated When the module is powered on the Z axis will automa...

Страница 21: ...nt of the data return can be set according to user needs click the configuration option bar and check the data content to be output Taking WT901SDCL as an example the default output of the module is acceleration angular velocity angle and magnetic field Notice If choosing the GPS Original there will be no other data output ...

Страница 22: ...Hz 10Hz refers to 10 packets returned every second There contain 33bytes in a data packet in default Reminder If there being many types of return data and low baud rate of communication the module will automatically reduce the frequency and output at a maximum allowable output rate If the return rate is high the baud rate should be set higher generally 115200 ...

Страница 23: ...module you need to select the baud rate to be changed in the communication rate drop down box in the configuration bar based on the correct connection between the software and the module Note After the change the module will no longer output data at the original baud rate The data will be output only when the baud rate that has been changed is selected on the PC software again ...

Страница 24: ...l v0707 http wiki wit motion com english 24 2 4 4 Calibrate Time Method Step 1 Click Calibrate Time in the Config Step 2 Click Time Step 3 Notification will be shown if successfully calibrated Step 4 Click Save Config ...

Страница 25: ...901SDCL manual v0707 http wiki wit motion com english 25 Function By calibrating the time the host computer time is the same as the current time When recording data you can know when the data was recorded ...

Страница 26: ... motion com english 26 2 4 5 Data Recording There is a 16G SD memory card inside the sensor but the real time data can still be recorded and saved by the PC software Instructions as follows Step 1 Click Record and Begin Step 2 Click Stop ...

Страница 27: ...he changes in other data is correct The saved file is in the directory of the software Data tsv The file begins with a value indicating the data Time stands for time ax ay az respectively represents the acceleration of X Y Z axis wx wy wz respectively represents the angular velocity of X Y Z axis AngleX AngleY AngleZ respectively represents the angle of the X Y Z axis T represents the temperature ...

Страница 28: ...lish 28 Data can be imported into the Excel or analysis in Matlab In the Matlab environment running xxx m document and it can plot of the data It is highly recommended that data can be pasted to an Excel file In this way all data will be shown in order ...

Страница 29: ... recorded file each time there will a BIN file created in the folder of record file in path of installed software meanwhile Recorded data playback method Step 1 Disconnect the sensor Step 2 Click File Button and then click Load Step 3 Choose the original path of software installation and load the Bin file ...

Страница 30: ...WT901SDCL manual v0707 http wiki wit motion com english 30 Step 4 Click Run and the Binary file will be playback When playback the rate can be editable ...

Страница 31: ...901SDCL manual v0707 http wiki wit motion com english 31 2 4 7 File Conversion Tutorial to convert SD card TSV file format data to a TXT one Step 1 After the data can be played back click File Conversion ...

Страница 32: ...100 it will pop up whether to open the converted document and the path of the converted document Step 3 Click Yes to open the document as shown in the figure below 1 represents the time to convert the document 2 represents the time to convert the data and 3 represents the time to record the data ...

Страница 33: ...WT901SDCL manual v0707 http wiki wit motion com english 33 ...

Страница 34: ...t installation direction of the module is horizontal When the module needs to be installed vertically the vertical installation can be set Step 1 Rotate the module 90 degrees around the X axis Step 2 Place the sensor 90 degrees vertically Step 3 Click Vertical as install directions on Config menu ...

Страница 35: ...h Default bandwidth is 20Hz Function 1 The higher rate of bandwidth setting will lead to the higher fluctuation in data waveform Conversely the lower rate of bandwidth data will become more fluent For example Bandwidth as 20Hz Output rate as 10Hz The waveform is very steady ...

Страница 36: ... waveform will show more fluctuation 2 The higher rate of bandwidth will solve the data repeating problem For example if the bandwidth setting is 20Hz retrieval rate as 100Hz there will be 5 repeating data If you prefer there is no repeating data it is required to increase the bandwidth more than 100Hz ...

Страница 37: ...01SDCL module and the computer through the cable that comes with Step 2 Click the Settings tab and click to Reset Step 3 After restoring the factory settings you need to power on the module again This method needs to know the baud rate of the module in advance if the baud rate does not match the instruction will not take effect ...

Страница 38: ...calculated and analyzed based on the magnetic field Z axis angle will have few drift The default algorithm of WT901SDCL is 9 axis If there is magnetic field interference around installed environment it is recommended to switch to 6 axis algorithm to detect the angle Method Step 1 Switch to the 6 axis algorithm on Config menu Step 2 Proceed the Accelerometer calibration and Reset Z axis angle calib...

Страница 39: ... will be a 16G SD card and a SD card reader came with the sensor as accessory Please refer to Chapter 2 4 4 2 In this product the SD card is mainly used to record data Only when the SD card is inserted will the product start to work and the data will be transferred 3 Each time an SD card is inserted the data will be getting recorded The data will be stored in the SD card as a text The LOG with the...

Страница 40: ... 2 Instructions Link to WT901SDCL s demo video Step 1 Disconnect with the computer Unplug the cable Step 2 Measure the data install the sensor as you prefer Step 3 Remove the SD card and insert it into the card reader Step 4 Plugin the reader and Open Minimu exe ...

Страница 41: ...WT901SDCL manual v0707 http wiki wit motion com english 41 Step 5 Select the recorded file from the USB Drive path and load the recorded file click the Run and data will be playback ...

Страница 42: ...WT901SDCL manual v0707 http wiki wit motion com english 42 Step 6 Convert the recorded file to txt format It would be better to review Please refer to Chapter 2 4 7 ...

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