Crossbow Technology AHRS500GA Series, Operator'S Manual

Page 1: ...ogy Inc 41 Daggett Dr San Jose CA 95134 Tel 408 965 3300 Fax 408 324 4840 email info xbow com website www xbow com SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Page 2: ...ument is subject to change without notice Crossbow and SoftSensor are registered trademarks and AHRS500GA is a trademark of Crossbow Technology Inc Other product and trade names are trademarks or registered trademarks of their respective holders SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755...

Page 3: ... interface connection 6 3 3 Measurements 7 3 3 1 Attitude and Heading 7 3 3 2 Sensor Measurements 8 3 3 3 BIT Processing 8 3 4 Commands 10 3 5 Data Packet Format 10 3 6 Timing 11 3 7 Magnetic Heading 11 4 AHRS500GA Operation 12 4 1 Normal Operation 12 4 2 Calibration Operation 12 4 3 Viewing AHRS500GA Data with GyroView 12 4 3 1 GyroView Computer Requirements 12 4 3 2 Install GyroView 12 4 3 3 Con...

Page 4: ...ions 20 9 4 Calibration Process 21 9 4 1 Starting the Calibration 21 9 4 2 Switch to Mag Cal Mode 23 9 4 3 Collecting Calibration Data 23 9 4 4 Evaluating Calibration Data 25 9 4 5 Completing the Calibration 27 9 4 6 Testing the Calibration 27 10 Appendix D Warranty and Support Information 28 10 1 Customer Service 28 10 2 Contact Directory 28 10 3 Return Procedure 28 10 3 1 Authorization 28 10 3 2...

Page 5: ...This symbol defines items that have significant meaning to the user M WARNING The user should pay particular attention to this symbol It means there is a chance that physical harm could happen to either the person or the equipment The following paragraph heading formatting is used in this manual 1 Heading 1 1 1 Heading 2 1 1 1 Heading 3 Normal SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 ...

Page 6: ... s Manual Page iv Doc 7430 0060 02 Rev A SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Page 7: ... unit and to compute attitude information The AHRS500GA units accomplish these tasks with an analog to digital converter and high performance Digital Signal Processors The AHRS500GA uses angular rate sensors and linear acceleration sensors that are micro machined devices The three angular rate sensors consist of vibrating ceramic plates that utilize the Coriolis force to output angular rate indepe...

Page 8: ...w xbow com 1 Digital Signal Calibration Maintenance Cable This links the AHRS500GA directly to a serial port Only the transmit receive power and ground channels are used The magnetometer calibration switch will be visible on the connector 1 AHRS500GA Installation Manual This contains the installation and calibration information for the AHRS500GA model type ordered SUNSTAR传感与控制 http www sensor ic c...

Page 9: ...igned with these same axes The rate sensors measure angular rotation rate around a given axis The rate measurements are labeled by the appropriate axis The direction of a positive rotation is defined by the right hand rule With the thumb of your right hand pointing along the axis in a positive direction your fingers curl around in the positive rotation direction For example if the AHRS500GA is sit...

Page 10: ...rnal system ground Should be connected to user s system ground to reduce RS232 and RS422 signal noise 10 Factory mode pin Factory reserved do not connect 11 Factory mode pin Factory reserved do not connect 12 Magnetometer calibration input hard and soft iron cal Active Short to power ground Inactive Open circuit Internally pulled to 3 3VDC through 10Kohm resistor 13 Hardware BIT Status Open collec...

Page 11: ... 2 3 Case Ground The case is electrically connected to the I O connector shell The shell should be electrically connected to the user s cable shield The case is isolated from the Power Input Ground and should be bolted to a good conducting surface that is grounded 3 2 4 Serial Data Interface The interface specification is a factory configurable RS 422 or RS 232 also with factory configurable baud ...

Page 12: ...eration no connection should be made to this pin this pin shall be tied high internally with a pull up resistor This feature has been added as a means to performa Hardiron Softiron calibration without sending the calibration commands to the unit Please see Appendix C for a complete explanation of the Hardiron Softiron calibration process and how this pin can be used as a means of implementing the ...

Page 13: ... Kalman filter operates in angle mode to track the rate sensor bias and calculate the stabilized roll pitch and yaw angles The AHRS500GA uses the angular rate sensors to integrate over your rotational motion and find the actual pitch roll and yaw angles The AHRS500GA uses the accelerometers to correct for rate sensor drift in the vertical angles pitch and roll the AHRS500GA uses the magnetometers ...

Page 14: ...l data 10 1 5 215 where accel is the actual measured acceleration in G s data is the digital data sent by the AHRS500GA and 10 is the G Range for your AHRS500GA The data is scaled so that 1 G 9 80 m s 2 This maximum G range is a default value To convert the angular rate data into degrees per second use the following conversion rate data 800 1 5 215 where rate is the actual measured angular rate in...

Page 15: ...r reset was detected possibly due to a watchdog timeout or low power setting Bit 5 Calibration Table A bad calibration table in flash memory has been detected Bit 6 Turn Indicator A turn has been detected Bit 8 Not ready waiting for power up or post sensor saturation Bits 10 9 11 Valid data but in initialization mode Bits 10 9 10 Valid data but using only gyro integration to provide attitude outpu...

Page 16: ...lar Rate MSB 9 Roll Angular Rate LSB 10 Pitch Angular Rate MSB 11 Pitch Angular Rate LSB 12 Yaw Angular Rate MSB 13 Yaw Angular Rate LSB 14 X Axis Acceleration MSB 15 X Axis Acceleration LSB 16 Y Axis Acceleration MSB 17 Y Axis Acceleration LSB 18 Z Axis Acceleration MSB 19 Z Axis Acceleration LSB 20 Model Number MSB 21 Model Number LSB 22 BIT MSB 23 BIT LSB 24 Checksum MSB These numbers are sent ...

Page 17: ...data and then collecting more data The data is reported to the user through a parallel process The unit goes through three processes in one data cycle First the sensors are sampled Second the unit processes the data for output After processing the data the AHRS500GA will make another measurement while presenting the current measurement for output Third the unit actually transfers the data out over...

Page 18: ...surements 4 3 1 GyroView Computer Requirements The following are minimum capabilities that your computer should have to run GyroView successfully CPU Pentium class RAM Memory 32MB minimum 64MB recommended Hard Drive Free Memory 15MB Operating System Windows 95 98 NT4 2000 4 3 2 Install GyroView To install GyroView in your computer 1 Insert the CD Support Tools in the CD ROM drive 2 Find the GyroVi...

Page 19: ...connect check that you have the correct COM port selected You find this under the DMU menu 3 Select the type of display you want under the menu item Windows Graph displays a real time graph of all the AHRS500GA data FFT displays a Fast Fourier transform of the data Navigation shows an artificial horizon display 4 You can log data to a file by entering a data file name You can select the rate at wh...

Page 20: ...when first turned on This allows the Kalman filter to estimate the rate sensor biases Now you re ready to use the AHRS500GA SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Page 21: ...ches of distance between moving ferrous metal or magnetic material and the AHRS500GA 202 5 4 Range Limitations The internal sensors in the AHRS500GA 202 are limited to maneuvers of less than 200 degs dec and less than 10 Gs acceleration in bank pitch and heading Over range of a sensor is indicated in the data packet message to the display system Over range will start a new initialization cycle of ...

Page 22: ...er to the AHRS500GA Installation Manual Doc 7410 0001 01 for detailed mounting instructions for the AHRS500GA SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Page 23: ... A Mechanical Specifications The AHRS500GA Installation drawing 7420 0001 01 should be used SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Page 24: ...sensors This is the default maximum range of the gyros Digital Output Conversion Data is sent as 16 bit signed integer Acceleration Conversion Accel G data 10 1 5 215 Angle data 180 215 Rate Magnetic Field Rate s data 800 1 5 215 Mag Gauss data 1 25 1 5 215 SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376...

Page 25: ...on effect The AHRS500GA measures any extra constant magnetic field that is associated with the AHRS500GA or your aircraft and corrects for it during the calibration procedure The AHRS500GA can also make a correction for some soft iron effects The process of measuring these non ideal effects and correcting for them is called hard iron and soft iron calibration Calibration will help correct for magn...

Page 26: ...iew the outputs of the AHRS500GA on a PC running Microsoft Windows You can also download this software from Crossbow s web site at http www xbow com 1 Calibration Maintenance Cable This links the AHRS500GA directly to a serial port on a PC running Microsoft Windows for installation and maintenance functions independent of the aircraft wiring harness 1 Portable computer The computer should be a por...

Page 27: ...n the AHRS500GA and the computer check the power check the serial COM port assignment on your computer 9 Let the AHRS500GA warm up for 60 seconds when first turned on This allows the Kalman filter to estimate the rate sensor biases Now you re ready to calibrate the AHRS500GA 9 4 Calibration Process The BIT status display in GyroView will be used to indicate the progress of the magnetometer compens...

Page 28: ... displayed SYSTEM STATUS Ready BIT 10 OFF BIT 9 OFF MAG CAL DATA STAT DON T CARE BIT 13 ON OFF MAG CAL MODE OFF BIT 11 OFF SYSTEM STATUS Initializing BIT 10 ON BIT 9 OFF MAG CAL DATA STAT DON T CARE BIT 13 ON OFF MAG CAL MODE OFF BIT 11 OFF SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 8337...

Page 29: ...or any angle offsets but running the test with the aircraft as close to level as possible will ease the process The AHRS500GA monitors the data and calculates when a full turn is completed At the completion of the full circle the AHRS500GA will reset itself into initialization mode and apply the estimated magnetometer calibration parameters The turn indicator bit will come on while the AHRS500GA i...

Page 30: ...atus bits show the unit has reinitialized SYSTEM STATUS INITIALIZING BIT 10 ON BIT 9 OFF MAG CAL DATA STAT Don t care BIT 13 ON OFF MAG CAL MODE Cal Mode BIT 11 ON SYSTEM STATUS READY BIT 10 OFF BIT 9 OFF MAG CAL DATA STAT NOT ACCEPT BIT 13 ON MAG CAL MODE ON BIT 11 ON TURN INDICATOR TURNING BIT 11 ON SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUN...

Page 31: ...er calibration No further aircraft motion is required Proceed to the paragraph titled Completing the Calibration If the magnetometer compensation data collection is not adequate the mag cal data status bit 13 will still be ON and the following BIT status will be displayed SYSTEM STATUS Initializing BIT 10 ON BIT 9 OFF MAG CAL DATA STAT ACCEPT DATA BIT 13 OFF MAG CAL MODE CAL MODE BIT 11 ON SUNSTAR...

Page 32: ... complete its initialization At the end of the initialization approximately 90 seconds the following BIT status should be displayed SYSTEM STATUS READY BIT 10 ON BIT 9 OFF MAG CAL DATA STAT NOT ACCEPT BIT 13 ON MAG CAL MODE CAL MODE BIT 11 ON SYSTEM STATUS Initializing BIT 10 ON BIT 9 OFF MAG CAL DATA STAT NOT ACCEPT BIT 13 ON MAG CAL MODE CAL MODE BIT 11 ON SUNSTAR传感与控制 http www sensor ic com TEL...

Page 33: ...ne itself until it achieves a successful calibration 9 4 5 Completing the Calibration At this point the AHRS500GA has collected enough data for a good magnetometer compensation calibration Move the calibration switch on the maintenance calibration cable to the OFF position The AHRS500GA will now store these as calibration constants in the EEPROM for use upon subsequent power cycles The Gyro View B...

Page 34: ...tates Phone 1 408 965 3300 7 AM to 7 PM PST Fax 1 408 324 4840 24 hours Email techsupport xbow com Non U S refer to website www xbow com 10 3 Return Procedure 10 3 1 Authorization Before returning any equipment please contact Crossbow to obtain a Returned Material Authorization number RMA Be ready to provide the following information when requesting a RMA Name Address Telephone Fax Email Equipment...

Page 35: ...es with adequate padding and protection 10 3 3 Sealing the Container Seal the shipping container s with heavy tape or metal bands strong enough to handle the weight of the equipment and the container 10 3 4 Marking Please write the words FRAGILE DELICATE INSTRUMENT in several places on the outside of the shipping container s In all correspondence please refer to the equipment by the model number t...

Page 36: ...SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Page 37: ...SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

Page 38: ...hone 408 965 3300 Fax 408 324 4840 Email info xbow com Website www xbow com SUNSTAR传感与控制 http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MAIL szss20 163 com SUNSTAR自动化 http www sensor ic com TEL 0755 83376489 FAX 0755 83376182 E MAIL szss20 163 com ...

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