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Gladiator SX Series Technical User Manual

Gps-aided inertial navigation system (ins/gps)
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SX Series
GPS-Aided Inertial Navigation System
(INS/GPS)
Technical User Guide
Technical Support
Gladiator Technologies
Attn: Technical Support
8020 Bracken Place SE
Snoqualmie, WA 98065 USA
Tel: 425-396-0829 x241
Fax: 425-396-1129
Email:
support@gladiatortechnologies.com
Web:
www.gladiatortechnologies.com

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Summary of Contents for Gladiator SX Series

  • Page 1 SX Series GPS-Aided Inertial Navigation System (INS/GPS) Technical User Guide Technical Support Gladiator Technologies Attn: Technical Support 8020 Bracken Place SE Snoqualmie, WA 98065 USA Tel: 425-396-0829 x241 Fax: 425-396-1129 Email: support@gladiatortechnologies.com Web: www.gladiatortechnologies.com...

  • Page 2: Table Of Contents

    ..................... 34 UTLINE AND OLID ODELS 11.2 ........................34 ENTER OF RAVITY 11.3 ........................35 ENSOR ANDWIDTH 11.4 INS/GPS B ......................36 LOCK IAGRAM INS/GPS MESSAGE PROTOCOL ....................37 SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...
  • Page 3 Interfacing without Glamr ....................39 Mounting..........................40 Operation and Troubleshooting ....................41 14.1 ........................41 ECHNICAL SSISTANCE 14.2 ........... 41 UTHORIZED ISTRIBUTORS AND ECHNICAL ALES EPRESENTATIVES 14.3 ......................41 ECHNICAL UPPORT EBSITE SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 4: Table Of Figures

    Figure 27 Typical accelerometer bandwidth (1100 Hz) LMRK005 INS/GPS ..........35 Figure 28 INS/GPS block diagram ....................... 36 Figure 29 Serial communication settings values ..................37 Figure 30 Sample INS/GPS data ........................38 SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 5: Safety And Handling Information

    3 SAFETY AND HANDLING INFORMATION • Always use caution when using the Gladiator ISN/GPS! • Please refer to your specific product datasheet to determine which appropriate input voltage to use. • INS/GPS devices/units are sensitive scientific instruments containing shock and vibration sensitive sensors.

  • Page 6: Getting Started

    Sales Team will assist you. The INS/GPS Software Development Kit (SDK) is an optional product to assist first time users of a Gladiator INS/GPS. This kit provides the user everything they need to facilitate a rapid setup and test of the unit.

  • Page 7: Rs-422/485 To Usb Power Supply And Converter Cable

    Connect the RS485 (9 or 15-pin) cable to the unit and the USB cable to the PC. The user should not turn on the power switch until all the software is installed. Figure 2 Typical INS/GPS connectors include: 9-pin (L) or 15-pin (R) Glenair connector SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 8: Glamr Installation

    Windows are the direct drivers, which offer program functions that allow a custom application to directly control the module through the USB port. Figure 3 SDK Installation CD-ROM SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...
  • Page 9 To install the Glamr SDK application, run the Glamr setup executable found on the CD-ROM sent with your INS/GPS (Figure 4). SIMPLE Figure 4 Glamr setup location on SDK CD-ROM Figure 5 Glamr prerequisite installations SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...
  • Page 10 In addition to these shortcuts, the installation will also place a Glamr.ini file into: C:\Users\”username”\AppData\Roaming\Gladiator Technologies\ NOTE: Plug the connector cable into the USB port before you turn the device power on to avoid Windows loading as a mouse driver. SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...
  • Page 11 Figure 7 Glamr screen before selecting correct COM port settings. The bottom of the Gladiator INS/GPS Display may read “IMU serial port (LINX SDM-USB, 115200, 8E1) ERROR opening.” The installer defaults the baud rate to 921600 Mbps, so check the Baud Rate menu to ensure this is the case.
  • Page 12 “IMU serial port (LINX SDM-USB, 115200, 8E1) success.” If Glamr is open and no unit is detected, Glamr will attempt to find it by cycling through different baud rates. Figure 8 Confirmed correct LINX port with message "success." SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...
  • Page 13 Next, open the Windows Device Manager and expand the Ports (COM & LPT) section. Right-click on the device labeled “LINX SDM-USB-QS-S” and select “Properties.” Open the “Port Settings” tab and then click the “Advanced” button. Figure 9 Device Manager LINX-SDM-USB-QS-S port Properties SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...
  • Page 14 Euler angles for each axis located on-screen. To see rapid change, the record function will capture real time data without the filter effect of the Glamr display. SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 15: Select Applicable Baud Rate

    ↓ 39600 118800 Note that 600 Hz Data Mode requires 921600 baud. After power cycling the INS/GPS, the unit will resume normal functionality. Figure 11 Baud Rate menu SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...
  • Page 16 The message “Msg out-of-sequence: exp XX, act YY” indicates that the program saw a skip in the message count, where XX and YY can be any integer value. This case can happen at start-up and can be ignored. SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 17: Self-Test In Glamr

    Refer to the INS/GPS datasheet to see typical activated sensor values. Figure 13 Self-Test, Power, and Run/Program Figure 14 Self-Test display when activated SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 18: Setting The Data Rate

    Lower rates will benefit from additional sample averaging. Figure 15 Mode selection/data rate in “PROGRAM” mode SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 19: Select Applicable Stop Bits

    This can be chosen in the Stop Bits drop-down menu and selecting either 1 or 2 per Figure 16. The SX series default is a single Stop Bit.

  • Page 20: Sensor Display Options

    Figures 17-18. Note: This is only a cosmetic feature. The dimensional units from the device cannot change. 4.7.1 Gyroscope Unit Selection Figure 17 Gyroscope units of measure selection options SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 21: Accelerometer Unit Selection

    4.7.2 Accelerometer Unit Selection Figure 18 Accelerometer units of measure selection options SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 22: Programming Coefficients

    Please refer to the Software Reference Manual for more detail about the individual parameters. Figure 19 Accessing the coefficient dialog in “PROGRAM” mode SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 23: Ahrs Parameters

    4.8.1 AHRS Parameters Figure 20 AHRS coefficient parameters SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 24: Gps Parameters

    4.8.2 GPS Parameters Figure 21 GPS coefficient parameters SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 25: Ins Parameters

    4.8.3 INS Parameters Figure 22 INS coefficient parameters SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 26: Data Record Feature

    At this prompt, click Open as shown in Figure 24. After the filename and location are selected, click the desired length of time to record then click OK. SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...
  • Page 27 If a recording time was specified by the user, the time remaining will appear below the Start Record button. To stop recording, simply click the “Stop Recording” button. SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 28: Troubleshooting With Messages

    This is done via the View menu per Fig. Figure 25 Message options for troubleshooting (View menu) SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 29: Alignment Initialization Of The Ins/Gps

    After approximately two-minutes (user-configurable) Glamr will indicate that alignment has completed. In addition, the attitude indicator should be flat and indicate no roll or pitch error if on a flat stable surface. SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 30: Trouble-Shooting Common Setup Errors

    INS synchronized to GPS receiver signal INS reports alignment error if subjected to motion or noise INS Alignment period begins Indicates INS alignment finished SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 31: Patent And Trademark Information

    Gladiator Technologies grants purchasers and/or consignees of Gladiator INS/GPS a no-cost, royalty-free license for use of the following software code for use with Gladiator INS/GPS. Companies or persons not meeting the criteria as a purchaser or consignee are strictly prohibited from use of this code. Users in this category wanting to use the code may contact the factory for other user licensing options.

  • Page 32: Theory Of Operation

    2X when set at 100 Hz and then averaged to improve the noise of the MEMS sensors. The nominal output rate in the INS/GPS is 100 Hz ±5%. An RS-422/485 to USB converter is available in Gladiator's INS/GPS Software Development Kit (SDK) to enable a quick INS/GPS to PC integration.
  • Page 33 Copies of the User’s Guides are available upon request at support@gladiatortechnologies.com. The LandMark INS/GPS SDK software design enables updates to the INS/GPS interface. As these software enhancements and upgrades become available, Gladiator will make these available to our INS/GPS customers.

  • Page 34: Landmark Ins/Gps Product Description

    11.2 Center of Gravity Some applications need to know the center of gravity (CG) of the package. Please refer to the mechanical drawing for details. SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 35: Sensor Bandwidth

    11.3 Sensor Bandwidth The bandwidth of a typical Gladiator sensor can be seen in Figures 30-31. The maximum bandwidth of our gyroscopes is 250 Hz (Fig. 30) and the maximum bandwidth of our accelerometers is 1100 Hz (product dependent). The filter bandwidth of the accelerometers is programmable via integer values between 1 and 8 (this can be set via the Show AHRS Coefs option under the Load menu in Glamr).

  • Page 36: Ins/Gps Block Diagram

    11.4 INS/GPS Block Diagram Gladiator INS/GPS units have internal functionality which can be represented with a block diagram. Figure 32 is a high-level representation of the INS/GPS. Figure 28 INS/GPS block diagram SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 37: Ins/Gps Message Protocol

    Figure 29 Serial communication settings values 12.2 INS/GPS Message Packet Format At power-up, the INS/GPS enters operational mode using the last commanded mode setting. Please refer to the Gladiator Technologies Software Reference for additional information. SX-Series INS/GPS User’s Guide Page Rev.
  • Page 38 Figure 30 Sample INS/GPS data Please note that when a customer uses the Glamr interface the program automatically rescales the INS/GPS outputs. This is displayed in Figure 34. SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 39: Interfacing Without Glamr

    For temperature, 0.01 degrees should be used. Note that in the exponent, one bit is subtracted from the total bit resolution to account for both positive and negative values (effectively dividing it by two). SX-Series INS/GPS User’s Guide Page Rev. 11/28/2018 Copyright © 2018 Gladiator Technologies...

  • Page 40: Mounting

    Failing to mount the unit in this fashion can result in unaccounted stress in the sensors and therefore may affect data output. Gladiator Technologies strongly encourages the user to mount the unit correctly in the described manner to ensure proper functioning.

  • Page 41: Operation And Troubleshooting

    14 Operation and Troubleshooting 14.1 Technical Assistance Please contact the factory or your local Gladiator Technologies sales representative's office for technical assistance. Technical Support - USA Gladiator Technologies Attn: Technical Support 8020 Bracken Place SE Snoqualmie, WA 98065 USA Tel: 425-396-0829 x241...

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