Page 1 1775 Inertial ® Measurement Unit (IMU) Technical Manual...
Page 2 The 1775 IMU is small, lightweight, low-power, and rugged, offering accurate performance in extreme environments. Its flexible digital data and power interface is designed for ease of integration in new applications and upgrades to existing systems.
Page 3: Table Of Contents
1775 IMU Technical Manual Table of Contents Table of Contents Product Specifications...............1 Storage and Handling ................5 Maintenance ..................5 Output Orientation ................6 Interface Connector ................8 Interface Cable ..................9 Data Communications Equipment .............9 Wiring the IMU .................10 Digital Data Output ................11 Data Output Signal Processing ............11 Message Structure ..............12...
Page 4 1775 IMU Technical Manual Table of Contents Troubleshooting ................23 Built-In Test (BIT)...............24 Technical Support................26 Appendix A: Declaration of Conformity ..........27 Appendix B: Warranty Information ...........29 Appendix C: Electrical Signaling ICD..........31...
Page 5: Product Specifications
1775 IMU Technical Manual Product Specifications Product Specifications Figure 1: 1775 IMU Specifications Attribute Value Performance: Gyros Input Rate ±490°/s max. Bias Instability, In-run 0.05°/hr, 1 typical (constant temp.) 0.1°/hr, 1 max. Bias Offset (room temp.) ±0.50°/hr max. Bias Temperature Sensitivity 0.7°/hr, 1typical...
Page 6 1775 IMU Technical Manual Product Specifications Attribute Value Performance: Accelerometers KVH Part No. KVH Part No. 01-0363-01 01-0363-25 Input Limit ±10 g max. ±25 g max. Velocity Random Walk (room ≤0.12 mg/√Hz ≤0.007 mg/√Hz temp.) ≤0.23 ft/sec/√h ≤0.023 ft/sec/√h Input Axis Misalignment ±1 mrad...
Page 7 5 W typical, 8 W max. Package Weight 1.5 lbs (0.7 kg) Dimensions Ø3.5" x 2.9" h (88.9 mm x 73.7 mm) IMPORTANT! The 1775 IMU is a precision instrument. Handle the unit with care and avoid exposing it to severe mechanical shock.
Page 8 1775 IMU Technical Manual Product Specifications General dimensions are provided below. NOTE: All dimensions are shown in inches [millimeters] format. Figure 2: General Dimensions Top View Center of 0.05 [1.2] Gravity 1.06 [26.9] 0.04 3.79 [96.4] Side View Center of 0.05 [1.2]...
Page 9: Storage And Handling
During unpacking and installation, proper ESD handling procedures should be enforced. Maintenance The 1775 IMU is supplied as a sealed unit; there are no field maintainable components. Opening the enclosure will void the warranty and may violate the contract under which the unit was...
Page 10: Output Orientation
1775 IMU Technical Manual Output Orientation Output Orientation The 1775 IMU senses acceleration and angular velocity on three physical axes, as shown in Figure 3 and Figure 4. You may configure a rotation matrix to set the output axes relative to the physical orientation of these measurement axes, allowing the IMU to measure motion in three arbitrarily orthogonal axes (see “Configuration...
Page 11 Figure 4 below shows the general physical location of the accelerometer axes and the location of the sensing point on each axis. Figure 5 describes the specific location of the accelerometer axes in Figure 4 for each 1775 IMU variant. Figure 4: Accelerometer Axes and Sensing Points Top View...
Page 12: Interface Connector
1775 IMU Technical Manual Interface Connector Interface Connector The 1775 IMU is equipped with a 15-pin (male) Micro-D interface connector of the following type: MIL-DTL-83513. Figure 6 shows the connector location. Figure 7 describes the function of each pin. For more information, refer to “Appendix C: Electrical Signaling ICD”...
Page 13: Interface Cable
When connected to the IMU, you can enter commands directly from the terminal or through a terminal emulation application. Use RS-422 differential signaling methods for all 1775 IMU digital control signals (KVH preferred). Alternatively, RS-422 single-ended signaling may be used if cabling susceptibility and other environmental interferences are proven acceptable.
Page 14: Wiring The Imu
1775 IMU Technical Manual Wiring the IMU Wiring the IMU Use Figure 8 as a guide to connect the IMU to your application. For more information, refer to “Appendix C: Electrical Signaling ICD” on page 31. Figure 8: Wiring Diagram RS422-TX (+) RS422-TX (–)
Page 15: Digital Data Output
1775 IMU Technical Manual Digital Data Output Digital Data Output The IMU provides a digital interface with the following characteristics: Figure 9: Interface Characteristics Parameter Value Type RS422 Baud Rate Selectable: 9600, 19200, 38400, 57600, 115200, 460800, 576000, 921600 (default), 4147200...
Page 16: Message Structure
1775 IMU Technical Manual Data Output Signal Processing Message Structure The IMU outputs data in three selectable formats (A, B, and C). Figure 10 and Figure 11 provide an example of message A (default) format and data. Refer to “Appendix C: Electrical Signaling ICD” on page 31 for more information.
Page 17 (BIT) may be initiated by entering the “?bit” or “?bit,2” command. (Extended BIT data is also output whenever the IMU is first powered on.) The extended BIT provides six bytes of diagnostic data. The 1775 IMU records and reports stored BIT history as an optional diagnostic aid. For more information, refer to “Appendix C: Electrical Signaling ICD”...
Page 18: Configuration Options
1775 IMU Technical Manual Data Output Signal Processing Configuration Options The 1775 IMU offers more user configurable parameters than the KVH 1725 or 1750 IMU. These parameters can optimize the 1775 IMU performance for specific application need (e.g., faster update rates for...
Page 19 1775 IMU Technical Manual Data Output Signal Processing Parameter Command Options Default Output Filter =FILTEN,<x> 0 (disabled) 1 (enabled) =FILTTYPE,A,<x> CHEBY CHEBY (accel) (Chebyshev) BUTTER =FILTTYPE,G,<x> (Butterworth) (gyro) (Uniform Averager) =FC20,A,<x> Custom CHEBY (accel) (accelerometer or =FC20,G,<x> gyro filter (gyro)
Page 20: Resetting Parameters To Factory Defaults
1775 IMU Technical Manual Data Output Signal Processing You can query the current value of any parameter by entering the corresponding “?” command. For example, to view the current data rate, you would enter the “?dr” command. To enter any configuration command, the IMU must first be set to Configuration mode.
Page 21: User Commands
1775 IMU Technical Manual User Commands User Commands In addition to the configuration commands described in “Configuration Options” on page 14, the following commands are also available to the user. For more information, refer to “Appendix C: Electrical Signaling ICD” on page 31.
Page 22: Time Of Validity (Tov) Output
Time of Validity (TOV) Output Time of Validity (TOV) Output The 1775 IMU provides an optional RS-422 differential output on the external connector (named TOV-OUT+/TOV-OUT-) to indicate the time at which the data being output on the serial port can be considered to be valid.
Page 23 1775 IMU Technical Manual Time of Validity (TOV) Output Figure 18: TOV Timing Parameters Parameter Description Value TOV high Depends on MSYNC configuration; MSYNC,IMU: high time is 10% of the TOV period; for example: at default rate of 1,000 Hz, the T1 high time will be 100 µs for internal clock mode...
Page 24: Master Sync (External Data Request)
7 (MSync (-)) and pin 11 (MSync (+)). The IMU’s output will be triggered on the rising edge of this master sync signal. The 1775 IMU master sync signal input supports both isosynchronous and non-isosynchronous signaling methods of transmission synchronization.
Page 25: Tov With Internal Msync Mode
1775 IMU Technical Manual Hardware Restart TOV with Internal MSYNC Mode When the IMU is providing its own data output requests based on its internal source’s preconfigured rate, the unit outputs the differential TOV signal with a 10% duty cycle at the same frequency as the data output.
Page 26: Mounting The Imu
Mounting the IMU Mounting the IMU The 1775 IMU is easily mounted to a structure using the four 0.173" (4.39 mm) mounting holes on the base of the enclosure (see Figure 21). An alignment hole 0.198" (5.03 mm) and an alignment slot 0.218"...
Page 27: Troubleshooting
This chapter explains how to diagnose basic problems. IMPORTANT! The 1775 IMU is supplied as a sealed unit. Breaking the QA seals voids the warranty and may violate the contract under which the unit was supplied. The warranty does not apply if the unit has been damaged by misuse or as the result of service or modification other than by KVH Industries.
Page 28: Built-In Test (Bit)
1775 IMU Technical Manual Troubleshooting Figure 23: Recommended Baud Rate/Data Rate Limits Baud Rate Maximum Data Rate (Hz) 9600 19200 38400 57600 115200 460800 576000 921600 1000 4147200 5000 Built-In Test (BIT) The IMU’s built-in test (BIT) monitors system performance and status to ensure it is operating within its specifications.
Page 29 1775 IMU Technical Manual Troubleshooting Continuous BIT Status Information As detailed in the message structure data table example on page 12, byte 24 (message format A) or 28 (message format B and C; refer to “Appendix C: Electrical Signaling ICD” on page 31 for more information) of the IMU’s output message (excluding the message...
Page 30: Technical Support
1775 IMU Technical Manual Technical Support Extended BIT, 2 Status Information Upon user request, the IMU outputs an extended BIT message consisting of eight bytes of expanded status information, including magnetometer readings, for diagnostics. Converted to hexadecimal, the following message indicates normal status: “FE 81 00 AA 7F 7F 7F 7F 7F 7F 7F 7F 23”.
Page 31 KVH Industries, Inc., 50 Enterprise Center, Middletown, RI 02842 USA declare under our sole responsibility, that the product: KVH Inertial Measurement Units with model numbers: 1775 IMU (01- 0363-01), 1750 IMU (01-0349-01, -02, -03, -21, -30), 1 7 2 5 I M U (01-0382-01) to which this...
Page 32: Appendix B: Warranty Information
1775 IMU LIMITED WARRANTY ON HARDWARE KVH Industries, Inc. warrants the Inertial Measurement Unit purchased against defects in materials and workmanship for a period of ONE (1) year from the date of original retail purchase by the original purchaser. If you discover a defect, KVH will, at its option, repair, replace or refund the purchase price of the product at no charge to you, provided you return it during the warranty period, transportation charges prepaid, to the factory direct.
Page 33: Appendix C: Electrical Signaling Icd
The Electrical Signaling Interface Control Document (ICD) describes in detail the serial communications, electrical, and physical interfaces between the 1775 IMU and outside systems. The ICD also provides a thorough overview of all commands, queries, and configuration options. Refer to the ICD for comprehensive details about the following: •...
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Page 38: Revision History
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Page 39: Scope
1775 Inertial Measurement Unit (IMU) and the outside world. The “1775 IMU,” also referred to as “the unit,” “the IMU,” or “the system,” is the product at large. Other related documents include the Technical Manual (KVH part no. 54-0938) and the Interface Control Drawing (KVH part no.
Page 40: System Overview
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Page 41: Electrical Interface Overview
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Page 43: Operating Modes
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Page 44: Data Communications And Unit Control
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Page 45: Character Data Format
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Page 46: Normal (Default) Mode Messages
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Page 47: Table 5-1: Normal Operating Mode Message Format A
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Page 48: Table 5-3: Normal Operating Mode Message Format B
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Page 49: Table 5-5: Normal Operating Mode Message Format C
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Page 50: Table 5-8: Status Byte Format
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Page 51: Table 5-10: Breakdown Of Sample Output
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Page 52: Built-In Test And Extended Built-In Test
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Page 53: Table 5-14: Test Results Byte 2
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Page 54: Table 5-18: Test Results Byte 6 - ?Bit,2 Command Only
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Page 55: Table 5-21: Breakdown Of Sample Bit Output - ?Bit
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Page 56: User Configuration Mode
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Page 57: Commands And Queries
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Page 58: Command Definition Conventions
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Page 59: Command List
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Page 61: Command Descriptions
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Page 63: Axes
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Page 64: Bit
Most users will not need to handle this as a special case, as the typical user requests data far faster than the 1/2 Hz limit. The 1775 IMU has a 90 µs hold off time from reception of one MSYNC to the next and this must also be taken into account.
Page 65: Config
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Page 67: Echo
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Page 68: Fc20
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Page 69: Table 8-1: 1775 Imu Internal Sensor Sample Rates
NOTE: Depending on software revision, there may be a limit to the number of command line characters allowed. Older software versions (1775 IMU ICB SDSP Rev. B or earlier) may limit the command line to 256 characters including the <CR> and <LF>. Due to the length of filter coefficients, the input may need to be trimmed to fit the input limit.
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Page 71: Filten
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Page 72: Filttype
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Page 74: Table 8-2: Gstop Gains
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Page 75: Table 8-4: 1775 Imu Command Behavior
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Page 77: Filttype
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Page 78: Linfmt
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Page 79: Logs
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Page 80: Msync
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Page 81: Restart
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Page 82: Rotfmt
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Page 83: Rstcfg
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Page 84: Tempunits
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Page 87: Volt
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Page 88: Configuration Options
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Page 90: Figure 9-1: Axis Definitions Relative To The Unit
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Page 91: Configuration Limits
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Page 92: Control Signal Inputs
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Page 93: Msync (Master Synchronization) Input
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Page 96: Time Of Validity Output (Tov)
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Page 97: Tov With Internal Msync Mode
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Page 98: Data Output Signal-Processing
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Page 99: Figure 12-1: Icb Signal-Processing Diagram
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Page 100: Description Of Processing Diagram
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Page 101: Table 12-2: Filtering And Downsampling
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Page 103 12.2.6 Additional Information: Output Rate Resampling In the 1775 IMU family, the rate of the output of data to the user is configurable in a number of ways. It is, however, asynchronous to the internal sampling rate of both the gyro and the accelerometer sub-systems and it occurs at a lower data rate.
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Page 108: Default Final Output Filter Responses
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Page 109: Figure 12-3: Butterworth Responses
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Page 110: Figure 12-4: Uniform Averager Responses
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Page 111 KVH Industries, Inc. 50 Enterprise Center • Middletown, RI 02842 • U.S.A. Phone: +1 401 847-3327 • Fax: +1 401 849-0045 • Email: info@kvh.com • Internet: www.kvh.com KVH is a registered trademark of KVH Industries, Inc.

KVH Industries 1775 IMU Technical Manual

Table of Contents

Appendix A: Declaration of Conformity

Appendix B: Warranty Information

Appendix C: Electrical Signaling ICD

Table of Contents

Revision History

1 Scope

2 Abbreviations, Acronyms and Definitions

3 System Overview

4 Data Communications and Unit Control

5 Normal (Default) Mode Messages

6 User Configuration Mode

7 Commands and Queries

8 Command Descriptions

9 Configuration Options

10 Control Signal Inputs

11 Time of Validity Output (TOV)

12 Data Output Signal-Processing

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Summary of Contents for KVH Industries 1775 IMU

Table of Contents