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Table of Contents
Summary of Contents for Inertia ProMove-mini
- Page 1 ProMove-mini Wireless Inertial Sensing Platform User Manual v3.7.0...
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Page 2: Table Of Contents
3.6 On-board storage ....... . . 4 Inertia Studio 4.1 Main screen ........10 4.1.1... - Page 3 7.2 Bluetooth connection ....... 58 7.3 Slow signals in Inertia Studio ......58 7.3.1...
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Page 4: Introduction
The ProMove-mini features a complete set of 3-D digital sensors, offering 10 DOF sensor data: acceleration, turn rate (gyroscope), magnetic field intensity (compass), high-g acceleration and barometric pressure. -
Page 5: Safety Instructions
Öffnen Sie das Gerät nicht. Français Gamme de températures de fonctionnement: 0 - 35 °C Tension d’entrée maximale: 5V Éviter le contact avec l’eau. Seulement connecter à des ordinateurs / USB adaptateurs certifiés CE. Ne pas ouvrir l’appareil. inertia-technology.com Page 5 of 60... -
Page 6: Setup
This section describes the high-level system setup. 3.1 System description The default system consists of a number of ProMove-mini sensor nodes, the Basic Inertia Gate- way and Inertia Studio (PC Software) for monitoring and logging the inertial data. The standard setup is depicted in Figure 2. -
Page 7: Gateway Connections
Figure 3: The front and back of the Basic Inertia Gateway 3.3 Node LEDs and button Figure 4 shows a ProMove-mini node and the reference system axes (X, Y and Z) to which the on-board sensors are aligned. The LEDs and the multifunctional button are located next to the micro-USB connector. -
Page 8: Attachments
Velcro straps can be attached through the handles, as shown in Figure 5. 3.5 Recharging the batteries The internal battery of the ProMove-mini should be periodically recharged. This can be done by using a cable connecting the micro-USB connector of the node to a computer or a standard USB charger . -
Page 9: On-Board Storage
3.45 V) the node will turn itself off automatically. 3.6 On-board storage ProMove-mini nodes are equipped with 2 GB flash memory. Downloading the data from the flash memory is described in Section 4.4.2. The flash memory is used to store the following data: •... -
Page 10: Inertia Studio
This section describes Inertia Studio (v3.2.0) in more detail. Inertia Studio is available for Microsoft Windows 7 and later. An (Ubuntu) Linux version can be made available on request. -
Page 11: Toolbar And Menu
4.1.1 Toolbar and menu The toolbar is used to quickly access the most used functionality of Inertia Studio. This section describes the default buttons of the toolbar, from left to right (see Figure 7). Figure 7: Inertia Studio menu and toolbar •... - Page 12 —Full Screen (F11) shows Inertia Studio in full-screen mode. • Help —Check for Updates checks if a new version of Inertia Studio is available, or if new firmware for the connected nodes is available. —Firmware Update... opens the Firmware Update window (Section 4.12).
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Page 13: Plots
—About shows the current Inertia Studio version and build date. 4.1.2 Plots Inertia Studio can be configured to display a customizable number of plots that show in real- time the sensor data (e.g. accelerometer data), status data (e.g. battery voltage, lost samples) and processed data (e.g. -
Page 14: Information Area
(Section 4.1.1) and allow to zoom the X-axis in or out. The pan slider allows the move back in time and show older data. The max- inertia-technology.com Page 14 of 60... - Page 15 The RTC buttons can be used the set and get the time of the Real-Time Clock of a node. The RTC is also set automatically when a node is discovered by Inertia Studio. When setting the time, the current UTC time of the PC is send to the nodes.
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Page 16: Connecting To A Device
4.2 Connecting to a device In this section we describe how an Inertia device can be connected to the PC, using the follow- ing connections: • USB: Any Inertia device can be connected to the PC using USB. The micro-USB connector of the ProMove-mini and the mini-USB connector of the gateway can be used for direct connection to the PC using a USB cable. -
Page 17: Connecting To A Device Using The Menu
Figure 11. The window shows a list with Stored Configurations, i.e. all the connections to Inertia devices that were previously used and those that are currently available. The list in- cludes the devices connected through USB or Bluetooth. The port name (“com*“ on Windows and “/dev/*“... -
Page 18: Logging To File
4.3 Logging to file When connected to an Inertia device, the incoming data can be stored/recorded in a log file. The default file format is itlog (Inertia Log File). Incoming samples, node information and con- figurations, etc, are stored in the file. An itlog file can be exported to CSV or MAT format (see Section 4.6). - Page 19 The Stop button can be used to stop logging. During logging, the Pause and Resume buttons can be used to pause, respectively resume, logging to file. These buttons behave similarly to the buttons in the toolbar (i.e. Record / Stop and Pause / Resume), described in Section 4.1.1. inertia-technology.com Page 19 of 60...
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Page 20: Logging To Flash
The Start / Stop buttons can be used to send a command to the checked node(s) to start or stop logging to flash. The Stop Logging After option activates a timer for stopping the flash logging. Closing Inertia Studio while a timer is active does not determine a node to stop logging to flash. inertia-technology.com... -
Page 21: Downloading A Flash Log
The internal clock is automatically synchronized with the PC time when data from a node is received by Inertia Studio. A ProMove-mini sampling at 200 Hz with all sensors enabled uses about 20 MB of flash per hour. -
Page 22: Deleting Flash Logs
Logfiles window (Figure 14). This action removes all files from the internal flash memory. For- matting takes about 5 to 10 seconds. A message is shown when formatting is finished. Do not turn the nodes off during formatting! inertia-technology.com Page 22 of 60... -
Page 23: Filling In Lost Samples
Once the process is finished, and if Export was enabled when the logfile was created, the file is exported in the background. If the fill-loss process is canceled using the Cancel button, a pop-up asking to continue with export is shown. inertia-technology.com Page 23 of 60... -
Page 24: Manual
The items in the list can be copied or cleared using the Copy and Clear buttons. The Auto-scroll checkbox can be used to enable or disable automatic scrolling of the list to the latest message. inertia-technology.com Page 24 of 60... -
Page 25: Exporting A Logfile
4.6 Exporting a logfile Inertia Log Files of type itlog can be exported to different file types using the Export Logfiles window (see Figure 18), which can be accessed from the menu (File, Export). The following parameters can be modified: •... -
Page 26: Csv Settings
4.6.1 CSV Settings Inertia Log Files can be exported to a Comma Separated Values file (CSV). The CSV Settings can be modified in the CSV Settings window (see Figure 19), accessible via the menu (Configuration, File Types, CSV Settings...) or from the Export window. -
Page 27: Mat Settings
4.6.2 MAT Settings Inertia Log Files can be exported to a MatLab MAT file. The MAT Settings can be modified in the MAT Settings window (see Figure 20), accessible via the menu (Configuration, File Types, MAT Settings...) or from the Export window. -
Page 28: Replaying A Logfile
Pause button. The buttons in the toolbar can also be used to control the replay. Replays are added to the drop-down menu of the Connect button. Finished replays are removed from the drop-down menu when the Available... option is used. Figure 21: Replay Logfile inertia-technology.com Page 28 of 60... -
Page 29: Configuring The Sensors
4.8 Configuring the sensors The Sensor Settings window can be used to modify the configuration of Inertia nodes. This window is accessible via the toolbar and via the Configuration menu, item Sensor Settings..Once a device is connected, the configuration options of the detected Inertia nodes is shown in this window. -
Page 30: Global Settings
– Refresh This button can be used to request all the configurations from all nodes. The purpose is to make sure that configurations are successfully applied and cor- rectly retrieved by Inertia Studio. – Store This button stores the current configuration of the checked nodes in their flash memory, so the settings are retained when the nodes are turned off. - Page 31 • Sampling Mode: Inertia nodes can be configured to Synchronous or Stand-alone sampling. When sampling synchronously, the gateway dictates the time when the nodes take a sample. Nodes will not take samples until a gateway is detected. In stand-alone mode, each node decides on its own when to take a sample.
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Page 32: Accelerometer Settings
±2, 4, 8 and 16 g. A lower range has a higher sensitivity. • Calibration: Advanced option that adjusts the scaling and offset of each axis (see Section 4.9 for details about the calibration method). Figure 24: Accelerometer Settings inertia-technology.com Page 32 of 60... -
Page 33: Compass Settings
• Range (gauss): Shows the maximum magnetic induction that the compass can measure, which is ±49 gauss. • Calibration: Advanced option that adjusts the scaling and offset of each axis (see Section 4.9 for details about the calibration method). Figure 25: Compass Settings inertia-technology.com Page 33 of 60... -
Page 34: Gyroscope Settings
• Range (°/s): Sets the maximum rotational velocity the gyroscope can measure. Supported options are: ±250, 500, 1000 and 2000 °/s. A lower range has a higher sensitivity. • Calibration: Advanced option that adjusts the scaling and offset of each axis. Figure 26: Gyroscope Settings inertia-technology.com Page 34 of 60... -
Page 35: Barometer Settings
• Sampling Rate (Hz): The sampling rate of the barometer (maximum 25 Hz). • Range (hPa): Sets the pressure range the barometer can measure, which is 260-1260 hPa. • Calibration: Advanced option that adjusts the scaling and offset. Figure 27: Barometer Settings inertia-technology.com Page 35 of 60... -
Page 36: High-G Accelerometer Settings
• Range (g): Sets the maximum acceleration the high-g accelerometer can measure. Sup- ported options are: ±100, 200 and 400 g. A lower range has a higher sensitivity. • Calibration: Advanced option that adjusts the scaling and offset of each axis. Figure 28: High-G Accelerometer Settings inertia-technology.com Page 36 of 60... -
Page 37: Temperature Settings
• Sampling Rate (Hz): The sampling rate of the temperature sensor (maximum 1000 Hz). • Range (°C): Sets the temperature range the temperature sensor can measure, which is -40- 85 °C. • Calibration: Advanced option that adjusts the scaling and offset. Figure 29: Temperature Settings inertia-technology.com Page 37 of 60... -
Page 38: Ima Settings
4.8.8 IMA settings ProMove-mini is able to calculate IMA (Integral of the Modulus of the Accelerometer) mea- surements. Figure 30 shows the IMA Settings, with the following parameters: • Enabled: Enables calculating IMA measurements (note that the Accelerometer should also be enabled). -
Page 39: Rtc Settings
4.8.9 RTC settings ProMove-mini is able to sample the Real Time Clock (RTC). The RTC is sampled as epoch time- stamp (number of seconds since 01-01-1970). Note that the RTC is not synchronized between nodes. The RTC of a node is synchronized to the PC time (±1s) when a node is detected by Inertia Studio. -
Page 40: Status Settings
(e.g. whether USB is plugged in). Figure 32 shows the Status Settings, with the following parameters: • Enabled: Enables the status samples. • Interval (s): The interval in seconds at which status samples are transmitted (between 10s and 60s). Figure 32: Status Settings inertia-technology.com Page 40 of 60... -
Page 41: Sampling Channels
4.8.11 Sampling channels ProMove-mini uses sampling channels for each enabled sensor. Figure 33 shows a summary of the used sampling channels. For each active sampling channel, it shows: • Channel: The channel number assigned to the sensor. • Sensor: The name of the sensor that uses the channel. -
Page 42: Calibrating The Sensors
4.9 Calibrating the Sensors This section describes how to calibrate the accelerometer and compass of the ProMove-mini. First create a logfile as described in Section 4.3. While logging, rotate the node(s) a few times very slowly around all three axes, at distance from any metal object. For the accelerometer, make sure that all three axes reach -9.8 to 9.8 m/s... -
Page 43: The Tracker
• Normal: The nodes are shown as coloured boxes. • Model: The nodes are shown as 3D models of the ProMove-mini. The colour of the model matches to colour of the node in the legend. A custom model can also be used, see Section 4.11.6 for more information. -
Page 44: Appearance And Preferences
The layout wizard makes it easy to quickly switch between layouts, or to make a custom screen layout. Simply select one of the predefined layouts from the list and press the Finish button. The relevant layouts for ProMove-mini are: • 9D: Plots of the accelerometer, compass and gyroscope sensors for all three axes. - Page 45 The Y-axis label of each plot can be modified, with the constraint that it must be unique. By pressing the yellow arrow, the label resets to its default value. Figure 36: Layout Wizard with custom layout and Plot Selection window inertia-technology.com Page 45 of 60...
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Page 46: Global Preferences
In the Global tab, the following preferences can be edited: • Small Icons in Legend: Shows small or large icons in the legend. • Automatically Check for Updates: Checks every week if a new version of Inertia Studio is available. -
Page 47: Plot Preferences
• Update Speed: Modifies the speed at which the plots are updated. Setting the slider closer to Slow increases the performance on a slow or overloaded PC (e.g. when showing many plots or many nodes). Figure 38: Plot Preferences inertia-technology.com Page 47 of 60... -
Page 48: Node Preferences
• Line colour: Selects the colour to use in the plots for the selected node. The yellow arrow will reset the colour to the nodes default colour. • Reset for All Nodes: Resets the colour and description of all nodes to their default values. Figure 39: Node Preferences inertia-technology.com Page 48 of 60... -
Page 49: Orientation Preferences
• Reset Orientation in Rest: Resets the orientation when the node stops rotating. • Initial Yaw Angle (°): Sets the initial yaw angle (irrelevant when compass is enabled). • Algorithm: Select the algorithm to use to calculate the orientation quaternions. Figure 40: Orientation Preferences inertia-technology.com Page 49 of 60... -
Page 50: Tracker Preferences
• Show Wireframe: Shows the 3D model as a wireframe. • Show Axes: Shows the axes of the ground plane. • Use Custom Model: Chooses a custom 3D model to show instead of the ProMove-mini model. The model should be in Wavefront .obj format . -
Page 51: Fft Preferences
• FFT Points (2ˆ): The number of samples used as input for a FFT calculation (2 • FFT Interval: The number of samples between subsequent FFT calculations. • Remove DC: Reduce the 0-component by removing the mean DC signal. Figure 42: FFT Preferences inertia-technology.com Page 51 of 60... -
Page 52: Updating The Firmware
If no firmware is selected, the device can be reset to its factory defaults by checking Reset to Factory Defaults, and pressing Reset. After resetting, the device has to be manually restarted. inertia-technology.com Page 52 of 60... - Page 53 After a successful update, if the gateway and the sensor node are on different wireless channels, the sensor node becomes unreachable. For changing the wireless channel of an Inertia device, See Section 4.8.1. Firmware update does not work if the device does not have internal flash memory, if the in- ternal flash memory is full or when the maximum number of files is reached (510).
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Page 54: The Orientation Algorithm
At the beginning of an experiment, it is recommended to reset the initial orientation of the algorithm by using the Reset button in the Tracker window (Section 4.10). In this way, all nodes will start with the correct initial yaw angle. inertia-technology.com Page 54 of 60... -
Page 55: Performing An Experiment
• If enabled, confirm and wait for lost samples to be filled in (Section 4.5). In case of missing data (red sections appear in the progress bar), expand the manual settings and press Start to restart the process (Section 4.5.2). • If enabled, wait for file to be exported (Section 4.6). inertia-technology.com Page 55 of 60... -
Page 56: Reading And Aligning Csv Log Files
This is not important, as long as the sensor data is aligned based on the timestamps. Aligned acceleration data from multiple nodes Node 1 Node 2 Node 3 −10 −20 268.5 269.5 270.5 271.5 272.5 273.5 Timestamp [s] Figure 45: Example of aligned data from multiple nodes based on timestamps inertia-technology.com Page 56 of 60... -
Page 57: Troubleshooting
7.1 Finding the serial port The serial port used by an Inertia node has to be specified in Inertia Studio, as described in Section 4.2. In this section, we give an example of how to find the active serial port in Windows 7, 8 and 8.1. -
Page 58: Bluetooth Connection
If a secure connection is established, a serial port will be assigned to the Bluetooth device. The device will appear in Inertia Studio, as described in Section 4.2. The serial port number can be obtained as described in Section 7.1. -
Page 59: Retrieving An Unreachable Promove-Mini Node
7.5 Manually installing the Inertia Driver If you are unable to install the Inertia Driver via the provided installer, the driver can be installed manually. The following steps describe this procedure for Windows 7, 8 and 8.1. -
Page 60: Inertia-Technology.com
0.01 hPa RMS High-g accelerometer Range Selectable: ±100, ±200, ±400 g Resolution 49 mg @ ±100 g range Sampling rate 1000 Hz Inertia Wireless Network Protocol Frequency band 2.4 GHz Data rate 4 Mbps TX power 10 dBm Range 20 m line-of-sight...