Inertial Labs MRU-B User Manual
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Inertial Labs MRU-B User Manual

Motion reference unit “mru demo”
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MRU
Demo Program Manual
Motion Reference Unit
MRU-B, MRU-E
DEMO PROGRAM "MRU DEMO"
User's Manual
Revision 1.1
TM
Inertial Labs, Inc
Address:
39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:
www.inertiallabs.com

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  • Page 1 Demo Program Manual Motion Reference Unit MRU-B, MRU-E DEMO PROGRAM “MRU DEMO” User’s Manual Revision 1.1 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...
  • Page 2 7. Added ±450°/s gyro range for KG values and ±10g, ±15g accelerometer range for KA values (see notes to Tables C.3, C.4, C.5, in APPENDIX C). Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...

  • Page 3: Table Of Contents

    10.3. Calibration of the MRU-E ..................58 10.3.1. Description of the 2D, 3D and 2D-2T calibration procedures ......61 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 4 C.1. Structure of binary file ..................... 102 C.2. Text presentation of output data formats ..............109 APPENDIX D. The Unit Status Word definition ..............116 APPENDIX E. Variants of the Inertial Labs MRU mounting relative to object axes ..118 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.

  • Page 5: Introduction

    Fig.1.1. Inertial Labs Inertial Labs provides three types of MRU products: MRU-B (Basic) – includes gyros, accelerometers and pressure sensor; MRU-E (Enhanced) – includes gyros, accelerometers, magnetometers and pressure sensor; MRU-P (Professional) –...
  • Page 6 Position Because MRU-B has no magnetometers and does not measure heading, some sections of this manual are not related to MRU-B. The Table 1.2 specifies sections which are associated to different MRU devices. MRU Demo Program for MRU-P device is described in other document.

  • Page 7: The Most Important Notes

    Demo Program Manual The most important notes Subject Note Heading Heading angle calculation is provided in the Inertial Labs MRU-E only. angle calculation To view and MRU must be connected to computer and powered. edit MRU Serial port number to which MRU is connected and its baud parameters rate should be chosen in the “Test options”...

  • Page 8: General Information

    Calibration coefficients are set by the MRU developer, and should only be changed under the guidance of the MRU developer. When the “Inertial Labs MRU Demo” software is closed, it creates a file named default .prm file for its operation, which it uses to store the latest parameters of the microprocessor and shell.

  • Page 9: Installation Of Drivers And Configuration Of Pc Parameters

    Demo Program Manual 2. Installation of drivers and configuration of PC parameters The “Inertial Labs MRU Demo” software does not require any installation. Just copy the software folder to the working directory and launch the application. If you connect the MRU to a standard computer COM port, drivers are not needed.

  • Page 10: Main Menu Of The Program

    Demo Program Manual 3. Main menu of the program The main menu of the “Inertial Labs MRU Demo” software contains the following items (see Fig.3.1). Fig.3.1 File Menu contains standard Windows file management commands (Fig.3.2). Run Menu contains the MRU control commands (Fig.3.3).
  • Page 11 - Test options...; - Device options...; - Correction options…; - Swaying compensation options; - Magnetometers calibration options. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...

  • Page 12: Options Menu

    Fig.4.1 You can set the following parameters in the «Test Options» window: Serial port – is the COM port number to which MRU is connected. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 13 Output Data Format – sets format of the MRU output data. Select one of the formats: «MRU Full Output», «MRU Calibrated Data», «MRU Quaternion Data», «MRU Minimal Data», Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...

  • Page 14: Devices Options

    A «Devices Options» (Fig.4.2) dialog box will be opened. There are two tabs “IMU” and “Pressure sensor”. Fig.4.2 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...

  • Page 15: Imu" Tab

    This parameter cannot be changed. MRU s/n – specifies the serial number of the MRU in use. This parameter cannot be changed. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 16 3. If the magnetic declination is set correctly then MRU outputs true heading, if magnetic declination is set to zero then MRU-E outputs magnetic heading. 4. Heading angle calculation is available only in the Inertial Labs MRU-E. Alignment angles (deg.) – angles between the MRU axes and the carrier object are set after MRU mounting, see “Appendix E.
  • Page 17 (see Fig.4.3). Click «OK», then close «Device Options» window and choose the correct COM port number (see section 4.1. Test options). Fig.4.3 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...

  • Page 18: Pressure Sensor" Tab

    See section 10.2. Features of Heave calculation in the MRU, for more detailed explanation of operations with the pressure sensor. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...

  • Page 19: Change Of The Com Port Baud Rate

    “Serial port baud rate XXXXXX was successfully determined” will appear (see Fig.4.5) and determined baud rate will appear in the «Test Options» window. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 20 Fig.4.7 and Fig.4.8 appear. Click «OK» button to close these windows. Note COM port baud rate in the «Test Options» will change to chosen value, too, to keep communication between the MRU Demo software and MRU unit. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
  • Page 21 Demo Program Manual Fig.4.6 Fig.4.7 Fig.4.8 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...

  • Page 22: Limitation Of The Mru Maximum Measurement Rate

    TSS1+HEHDT MRU Demo Program controls correctness of the measurement rate setting. If user sets measurement rate in the «Devices Options» (see Fig.4.2) Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 23 If user choose output data format in the «Test Options» window that does not match to set measurement rate then warning window Fig.4.10 appears. Fig.4.10 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...

  • Page 24: Correction Options

    See section “10.2.1. Adjustment of the algorithm of heave calculation”, for detailed explanation of parameters in the “Heave calculation” tab. Fig.4.11 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 25 Demo Program Manual Fig.4.12 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...

  • Page 26: Swaying Compensation

    The Inertial Labs MRU-E uses magnetometers for heading calculation. The Inertial Labs MRU software allows compensation of influence of the carrier object hard and soft iron on the heading angle calculation accuracy. For this purpose, calibration of the MRU-E magnetometers is provided. It is necessary to set group of parameters “Magnetometers field calibration”.
  • Page 27 3D calibration if its accuracy cannot be estimated in degrees. Default value is 2500 nT. This parameter can be changed after agreement with developer. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
  • Page 28 Default value is 20 degrees. See section 10.3. Calibration of the MRU for detailed description of Magnetometers calibration procedure. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...

  • Page 29: Run Menu

    There are four styles of visualization of the MRU outputs: MRU 3D Demo; Cockpit; Snapshots (for the on-the-fly accuracy test); Data graphs. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...

  • Page 30: Mru 3D Demo

    If the “On Request” option is chosen in the “Test Options” menu, then the “Request” button appears inactive. Two icons Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 31 “File” menu (see item 10.1.1. Data viewer); conversion to text file using “Report of experiment” from “Convert” menu item. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 32 MRU axes (X is lateral axis, Y is longitudinal axis, Z is vertical axis). Axes X, Y, Z are object axes if non-zero alignment angles are set for MRU mounting (see Appendix E. Variants of the Inertial Labs mounting relative to object axes).
  • Page 33 MRU operation by simple clicking on its preview. Fig.5.2 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...

  • Page 34: Cockpit Style Of Visualization

    “MRU visualization” tab (Fig.5.2). To stop data output from the MRU click the “Stop” button Fig.5.3 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...

  • Page 35: On-The-Fly Accuracy Style Of Visualization

    Fig.5.4 will appear. For more information about this type of visualization see section "10.4.2. On- the-fly accuracy test". Fig.5.4 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...

  • Page 36: Data Graphs Style Of Visualization

    The legend is located in the upper left corner of the tab. This legend shows mean value, STD and the names of displayed signals. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
  • Page 37 Linear motion altitude (m) – plots linear motion altitude in meters; Linear motion surge (m) – plots linear motion surge in meters; Linear motion sway (m) – plots linear motion sway in meters; Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.

  • Page 38: Other Items Of The Run Menu

    GNSS receiver; GPS reference week number; pressure sensor presence (see Fig.5.7). Note the Inertial Labs MRU does not include GNSS receiver, so related fields in the Device Information tab on Fig.5.7 are empty, and GPS reference week number = 0.

  • Page 39: File Menu

    Fig.5.6 will appear where you can select or deselect showed data by clicking on their titles. Fig.6.1 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...

  • Page 40: Save As" Item

    6.2. “Save as” item You can preset the name of the file for data writing. For this select the “Save as” item (Fig.3.2) and enter a desirable file name. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.

  • Page 41: Parameters Menu

    Program shell. The same way is used to restore the factory settings of the MRU parameters. In this case you should select original file with .prm extension that comes on CD with Inertial Labs MRU. 7.3. Save parameters If you have changed some parameters of the MRU (in «Device options…»...

  • Page 42: Preset Parameters

    .prm extension. 7.4. Preset parameters In the Inertial Labs MRU Demo ver.14.7.9.14 it provides presets of the MRU parameters that adjust MRU algorithm for some specific conditions of operations to get better dynamic accuracy of the MRU. The latest MRU...
  • Page 43 Fig.7.1. In such case Inertial Labs can provide additional .prm file with specific set of the MRU parameters. Select the “Loaded from file” check box to load parameters of specific algorithm from .prm file without changing the...
  • Page 44 Note: It is possible to use “Load from file” item since MRU Demo Software ver.15.0.60 from 01/26/2016. Fig.7.3 Fig.7.4 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...

  • Page 45: Plugins Menu

    As a result of selection of this item the "Embedded Mag Field Calibration" window will appear (see Fig.8.1). Fig.8.1 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 46 Clears the response window – – Fig.6.2 Saves data from the response – – window to *.log file Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...

  • Page 47: Magnetometers Field Calibration (For Mru-E Only)

    Note: 1. Command code in this table is payload of the command with 9-bytes structure. 2. VG3D calibration is at the testing stage. Please contact Inertial Labs about the possibility of using the VG3D calibration. When the MRU-E answers on above commands then these answers appear in the Response window (see Fig.8.2).
  • Page 48 The default value is 60. In “Calibration status” window the captions are highlighted that show current states of MRU-E calibration and actions that can be performed. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.

  • Page 49: Angles Accuracy

    MRU with the set angles. Note: Heading accuracy check is available only in the Inertial Labs MRU-E only. To start the accuracy check select “Plugins” menu and then “Angles accuracy”...
  • Page 50 In a check accuracy window there are control buttons. The button “Angles” opens the window “Angles Properties” Fig.8.6, in which the operator sets the necessary time “Accumulation Time” of data acquisition while the Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
  • Page 51 “Tilter” fields are used in the right bottom window corner Fig.8.4. Here it is possible: - “(None)” is not to consider deviations of bases; Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 52 Demo Program Manual - “(Auto)” is to consider deviations for tilter used for Inertial Labs internal tests “Tilter ” and a corresponding cell (“Position”) in this tilter; - “(Manual)” is to consider manually bases deviation angles on corresponding angles “ ”, “ ”...

  • Page 53: Convert Menu

    *.bin file. The necessary data format is set by user in the «Test Options» window. A description of the text file is done in the “Appendix C.2. Text presentation of output data formats”. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.

  • Page 54: The Mru Operation

    Step 7. (Not obligatory) If you want to change some parameters of the operation select «Device options…» «Swaying compensation options…» from the «Options» menu – see Fig.3.7. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...
  • Page 55 MRU_Demo_*.exe is located. The default name of the file with saved data is generated automatically and consists of the MRU serial number, date and time digits separated by dash symbols where the Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
  • Page 56 Demo software will be unlocked. Also you can plot saved MRU binary data using “File” menu. See section 6.1 for more details. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...

  • Page 57: Features Of Heave Calculation In The Mru

    IMU center, in directions of the object axes – on the right, forward and Parameters in the “FFT Settings” field adjust the adaptive algorithm of heave calculation. For that purpose set: Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.

  • Page 58: Heave Calculation For Chosen Point Of The Carrier Object

    Earth magnetic intensity vector, and, accordingly, inaccurate carrier’s heading angle value. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 59 Demo Program Manual The Inertial Labs MRU software allows compensation of influence of the carrier object soft and hard iron on the heading angle calculation accuracy. For this purpose, field calibration of the MRU-E magnetometers is provided. This calibration does not require any additional equipment, but it requires turns of the carries object on which the MRU-E is mounted.
  • Page 60 Fig.10.2. Rotation of a carrier with MRU-E in roll – Fig.10.3. Rotation of a carrier with MRU-E in pitch Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...

  • Page 61: Description Of The 2D, 3D And 2D-2T Calibration Procedures

    Note that rotation of the carrier object with the MRU-E both for all calibration procedures must include one or more full 360 turns in the horizon plane. Field calibration procedures are developed by Inertial Labs after type ® of the object, on which the Inertial Labs MRU-E will be installed, is agreed on with a customer.
  • Page 62 Step 8. Press “Next” button. Initial alignment of the MRU-E will start, signified by the highlighted caption INIT_ALIGMENT (see Fig.10.5). During the initial alignment, the MRU should be stationary relative to the Earth. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
  • Page 63 If the 2D calibration is chosen then rotation of the object with the MRU-E in the horizon plane should be performed (see Fig.10.1). After time of the data accumulation expires then result window will appear (see Fig.10.7) Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
  • Page 64 – calibration error is predicted maximum (3 sigma) heading error of the – MRU-E at accepting the calibration; Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 65 MRU-E heading error if 3D calibration run did not include additional rotation of the MRU-E in the horizon plane on about 360 degrees or more with pitch and roll near the level (see above Note). Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
  • Page 66 3D calibration must include one or more full 360 turns. Please, correct the time required for saving data in the «Accumulation time» window to attain necessary rotations. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
  • Page 67 «Acceptable calibration» caption is satisfactory too but we recommend to recalibrate the MRU-E. There are two highlighted captions: Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 68 Some more reasons of unsuccessful calibration are discussed in the section “10.3.3.Conditions of successful calibration of the MRU-E”. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...

  • Page 69: Clearing Of The Soft And Hard Iron Calibration Parameters

    Please remember that performed soft and hard iron calibration is valid until the MRU-E is mounted on the object with which the calibration was performed. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...

  • Page 70: Conditions Of Successful Calibration Of The Mru-E

    In this case only influence of the carrier object on the MRU-E magnetometers take place, and this influence can be compensated after calibration procedure. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 71 But residual influence of non-uniformity of environmental magnetic field may still decrease calibration accuracy. After a lot of experiments Inertial Labs engineers have determined acceptable limits of non-uniformity of environmental magnetic field at which the MRU-E heading accuracy after calibration is satisfactory.

  • Page 72: Accuracy Test Of The Mru

    Demo Program Manual 10.4. Accuracy test of the MRU To check MRU accuracy it is recommended to use “Inertial Labs MRU Demo” software, which allows to estimate accuracy of a MRU in given range of orientation angles. At the same time it is necessary to use special device allowing to set angular positions of the MRU strong with respect to tested angles.
  • Page 73 Step 16. To close the accuracy check window (Fig.8.4) click button « » in the right upper corner of the window. At this window is appeared with question about saving plot of error to .bmp file. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.

  • Page 74: On-The-Fly Accuracy Test

    Step 11. When the MRU is set in necessary position and is ready to save data, click the “Snapshot” button. Window shown in Fig.10.15 will appear. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 75 If no checkboxes are checked then only current MRU angles are saved. Then press “OK” button. New tab “Snapshots” like shown in Fig.10.16 will open. Return to previous tab by clicking on its title “MRU visualization” Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
  • Page 76 . After each snapshot calculation is performed and graph Heading Error is plotted (Fig.10.17). “Heading error (deg)” graph shows difference between MRU measurements and reference angles. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 77 “TestFullData” word, date and time digits separated by dash symbols where the first 4 digits are the year, the next 2 digits are the month, Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
  • Page 78 “USW (L) “– Unit Status Word (low byte), see Appendix C for details. 12. “USW (H) “– Unit Status Word (high byte), see Appendix C for details. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.

  • Page 79: Mru Automatic Start

    Demo Program Manual 10.5. MRU automatic start The Inertial Labs MRU has ability to start operation automatically after power on, with continuous output data in desirable output data format. The auto start option can be enabled or disabled in the drop-down list “Auto start”...
  • Page 80 Step 4. To stop the MRU click «Stop» button. If the data were being written in a file then the writing is stopped too. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...

  • Page 81: Continuous Self-Monitoring Of The Mru Health

    Demo Program Manual 11. Continuous self-monitoring of the MRU health The Inertial Labs MRU has continuous built-in monitoring of the MRU health. In the main mode the MRU sends out Unit Status Word (USW) in each data block (see also Appendix B).

  • Page 82: Choice Of 3D Model For Visualization Of The Mru Orientation

    Some examples of 3D models for the MRU visualization are shown on Fig.13.1. Helicopter Ferrari_F40 Submarine Boeing_747 Fig.13.1 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...

  • Page 83: Troubleshooting

    MRU memory. You can use original file with .prm extension that comes on CD with the Inertial Labs MRU, or use own files created by «Save parameters» command (if these files contain valid data of course).
  • Page 84 See section “10.3.2. Clearing of the soft and hard iron calibration parameters” for details. If you mount the MRU in another place in carrier object, or move it to Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.

  • Page 85: What Do You Have To Do If Messages "Cannot Read Parameters!", "Cannot Load Parameters!", Or "Cannot Start Mru" Appear

    “Cannot load parameters!”, or “Cannot start MRU” appear When you use Inertial Labs MRU Demo Software, the most of operations are started with reading data from the MRU nonvolatile memory to control correct MRU status. For this purpose the MRU should be powered and connected to COM-port or USB-port using COM-to-USB adapter.

  • Page 86: Appendix A. Installation Of The Com-To-Usb Converter Drivers And Configuration Of Pc Parameters

    Installation of the COM-to-USB converter drivers and configuration of PC parameters Inertial Labs MRU developer highly recommends connection of the MRU with RS-232 interface to a computer through a standard COM-port for guaranteed reliable operation of the MRU. If connection of the MRU to a...
  • Page 87 Fig.A.5, a path will be defined. Using this path the installation program will search for the necessary converter driver. Press «Next» to continue installation. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 88 Demo Program Manual Fig.A.3 Fig.A.4 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...
  • Page 89 Fig.A.6 will appear on the screen. Press «Finish» to complete installation procedure for the COM-to-USB converter driver. Fig.A.6 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 90 In the opened «Device Manager» window (Fig.A.8) the additionally set -port will be marked as «USB serial port (COMN)». Number N in the port name will be assigned by the computer. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
  • Page 91 Minimum Read Timeout (msec) to 100; Minimum Write Timeout (msec) to 100; as it is shown in Fig.A.10, and click « ». Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 92 Demo Program Manual Fig.A.9 Fig.A.10 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...
  • Page 93 The window «USB Serial Controller Properties» will be opened where go to «Advanced» tab and check «Load VCP» box (see Fig.A.12). Fig.A.11 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 94 Demo Program Manual Fig.A.12 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...

  • Page 95: Appendix B. Installation Of The Moxa Serial-To-Usb Converter Drivers (For Mru With Rs-422 Interface)

    MRU with RS-422 interface can be connected to PC USB port using Serial-to-USB MOXA 1130 converter, which is supplied with the MRU unit by the Inertial Labs. In this case it is necessary to install appropriate driver which can be downloaded from the official MOXA site.
  • Page 96 «Back» button to rewiew and change any settings. If installation completed successfully window shown on the Fig.B.5 will appear. Click «Finish» button to close installation window. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 97 Demo Program Manual Fig.B.3 Fig.B.4 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...
  • Page 98 Fig.B.7 shows. If other interface is set then click on the «Port Setting» button, and in opened window Fig.B.8 select just RS-422 interface. Click «OK» button to accept configuration. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
  • Page 99 Demo Program Manual Fig.B.6 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...
  • Page 100 Demo Program Manual Fig.B.7 Fig.B.8 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...
  • Page 101 (COMN)» (see Fig.B.9). Number N in the port name is the necessary port number assigned by the computer. Fig.B.9 Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...

  • Page 102: Appendix C. Description Of Data Files

    APPENDIX C. Description of data files The Inertial Labs MRU Demo software creates data files if “Write” button is pressed after MRU start. These are two binary files with the same name and extensions .prm and .bin, where .prm file contains the MRU parameters, and .bin file contains the MRU outputs.
  • Page 103 4. UP and UT are raw data from the pressure sensor – pressure and temperature. 5. The low byte is transmitted by first. Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
  • Page 104 (X is lateral axis, Y is longitudinal axis, Z is vertical axis). The MRU orientation relative to the carrier object axes is set by alignment angles (see Appendix E. Variants of the Inertial Labs MRU mounting relative to the object axes).
  • Page 105 Notes 1. See detailed description for correct relationship between orientation angles and quaternion in the MRU ICD, “APPENDIX D. Forms of the Inertial Labs orientation presentation”. 2. Values of KG, KA are scale factors depending on gyro and accelerometer range:...
  • Page 106 (X is lateral axis, Y is longitudinal axis, Z is vertical axis). The MRU orientation relative to the carrier object axes is set by alignment angles (see Appendix E. Variants of the Inertial Labs MRU mounting relative to the object axes).
  • Page 107 MRU Ready Mode with valid GPS input MRU Ready Mode without GPS input Space if positive; minus if negative Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 108 T indicates true heading; *CC is check sum that consists of a "*" and two hex digits representing XOR of all characters between, but not including "$" and "*". Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.

  • Page 109: Text Presentation Of Output Data Formats

    Demo Program Manual Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...
  • Page 110 Demo Program Manual Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...
  • Page 111 Demo Program Manual Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...
  • Page 112 Demo Program Manual Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...
  • Page 113 Demo Program Manual Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...
  • Page 114 Demo Program Manual Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...
  • Page 115 Demo Program Manual Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...

  • Page 116: Appendix D. The Unit Status Word Definition

    Angular Rate 0 – X-angular rate is within the range Exceeding Detect 1 – X-angular rate is outrange Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website:...
  • Page 117 0 – Temperature is within the operating range Temperature 1 – Temperature is out of the operating range Reserved – Inertial Labs, Inc Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com...

  • Page 118: Appendix E. Variants Of The Inertial Labs

    (Longitudinal) Fig.E.1. Coordinate system of the Inertial Labs But the Inertial Labs MRU can be mounted on the object in any known position (up to upside-down, upright etc.) relative to the object axes. Such mounting doesn’t change right calculation of the object orientation if angles of the MRU mounting are correctly stored in the MRU nonvolatile memory.
  • Page 119 X measured around MRU’s longitudinal axis. Positive rotation is X axis moving down. All angles are set in degrees. Some examples of the Inertial Labs MRU mounting relative the object are shown on Fig.E.2. To check correctness of the alignment angles please run the MRU using the Inertial Labs MRU Demo program.
  • Page 120 Demo Program Manual Longitudinal axis of the object Fig.E.2. Examples of the Inertial Labs MRU mounting on the carrier object a – alignment angles are 0, 0, 0 (degrees); b – alignment angles are 0, 0, 180 (degrees); c – alignment angles are 90, 0, 0 (degrees);...

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