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LORD MicroStain 3DM-GX5-45 Dcp Manual

Data communications protocol, gnss-aided inertial navigation system gnss/ins
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LORD DATA COMMUNICATIONS PROTOCOL MANUAL
3DM-GX5-45
GNSS-Aided Inertial Navigation System (GNSS/INS)

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Summary of Contents for LORD MicroStain 3DM-GX5-45

  • Page 1 LORD DATA COMMUNICATIONS PROTOCOL MANUAL 3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS)
  • Page 2 ® MicroStrain Sensing Systems 459 Hurricane Lane Suite 102 Williston, VT 05495 United States of America Phone: 802-862-6629 www.microstrain.com sensing_support@LORD.com sensing_sales@LORD.com Copyright © 2016 LORD Corporation ® ® ™ ® ® ® ™ ™ ™ , 3DM-DH , 3DM-DH3 , 3DM-GX1...

  • Page 3: Table Of Contents

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Table of Contents API Introduction Basic Programming 2.1 MIP Packet Overview 2.2 Command Overview 2.2.1 Example “Ping” Command Packet 2.2.2 Example “Ping” Reply Packet 2.3 Data Overview 2.3.1 Example Data Packet: 2.4 Example Setup Sequence 2.4.1 Continuous Data Example Command Sequence 2.4.1.1 - Step 1: Put the Device in Idle Mode 2.4.1.2 - Step 2: Configure the IMU Data-stream Format...
  • Page 4 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 2.5 Parsing Incoming Packets 2.6 Multiple Rate Data 2.7 Data Synchronicity 2.8 Communications Bandwidth Management 2.8.1 UART Bandwidth Calculation 2.8.2 USB vs. UART Command and Data Summary 3.1 Commands 3.1.1 Base Command Set (0x01) 3.1.2 3DM Command Set (0x0C) 3.1.3 Estimation Filter Command Set (0x0D) 3.1.4 System Command Set (0x7F)
  • Page 5 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.2 Poll GNSS Data (0x0C, 0x02) 4.2.3 Poll Estimation Filter Data (0x0C, 0x03) 4.2.4 Get IMU Data Base Rate (0x0C, 0x06) 4.2.5 Get GNSS Data Base Rate (0x0C, 0x07) 4.2.6 Get Estimation Filter Data Base Rate (0x0C, 0x0B) 4.2.7 IIMU Message Format (0x0C, 0x08) 4.2.8 GNSS Message Format (0x0C, 0x09) 4.2.9 Estimation Filter Message Format (0x0C, 0x0A)
  • Page 6 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.4 Vehicle Dynamics Mode (0x0D, 0x10) 4.3.5 Sensor to Vehicle Frame Transformation (0x0D, 0x11) 4.3.6 Sensor to Vehicle Frame Offset (0x0D, 0x12) 4.3.7 Antenna Offset (0x0D, 0x13) 4.3.8 Estimation Control Flags (0x0D, 0x14) 4.3.9 GNSS Source Control (0x0D, 0x15) 4.3.10 External GNSS Update (0x0D, 0x16) 4.3.11 Heading Update Control (0x0D, 0x18)
  • Page 7 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.34 Magnetometer Dip Angle Error Adaptive Measurement (0x0D, 0x46) 4.3.35 Magnetometer Capture Auto Calibration (0x0D, 0x27) 4.4 System Commands 4.4.1 Communication Mode (0x7F, 0x10) 4.5 Error Codes Data Reference 5.1 IMU Data 5.1.1 Scaled Accelerometer Vector (0x80, 0x04) 5.1.2 Scaled Gyro Vector (0x80, 0x05) 5.1.3 Scaled Magnetometer Vector (0x80, 0x06)
  • Page 8 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.2.10 Space Vehicle Information (0x81, 0x0C) 5.2.11 Hardware Status (0x81, 0x0D) 5.2.12 DGNSS Information (0x81, 0x0E) 5.2.13 DGNSS Channel Status (0x81, 0x0F) 5.3 Estimation Filter Data 5.3.1 Filter Status (0x82, 0x10) 5.3.2 GPS Timestamp (0x82, 0x11) 5.3.3 LLH Position (0x82, 0x01) 5.3.4 LLH Position Uncertainty (0x82, 0x08) 5.3.5 NED Velocity (0x82, 0x02)
  • Page 9 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.25 Gravity Vector (0x82, 0x13) 5.3.26 WGS84 Local Gravity Magnitude (0x82, 0x0F) 5.3.27 Heading Update Source State (0x82, 0x14) 5.3.28 Magnetic Model Solution (0x82, 0x15) 5.3.29 Mag Auto Hard Iron Offset (0x82, 0x25) 5.3.30 Mag Auto Hard Iron Offset Uncertainty (0x82, 0x28) 5.3.31 Mag Auto Soft Iron Matrix (0x82, 0x26) 5.3.32 Mag Auto Soft Iron Matrix Uncertainty (0x82, 0x29)

  • Page 10: Api Introduction

    “3DM” (3D Motion) commands that are specific to the LORD Sensing inertial product line, a set of “Estimation Filter” commands that are specific to LORD Sensing navigation and advanced AHRS devices, and a set of “System” commands that are specific to sensor systems comprised of more than one internal sensor block.

  • Page 11: Basic Programming

    3DM- GX5- 45 either through a COM utility or as a template for software development. 2.1 MIP Packet Overview This is an overview of the 3DM-GX5-45 packet structure. The packet structure used is the LORD “MIP” packet. A reference to the general packet structure is presented in the MIP Packet Reference section.
  • Page 12 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual The MIP packet “wrapper” consists of a four byte header and two byte checksum footer: The packet payload section contains one or more fields. Fields have a length byte, descriptor byte, and data.

  • Page 13: Command Overview

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Below is an example of a packet payload with two fields (gyro vector and mag vector). Note the payload length byte of 0x1C which is the sum of the two field length bytes 0x0E + 0x0E: Header...

  • Page 14: Example "Ping" Reply Packet

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 2.2.2 Example “Ping” Reply Packet The “Ping” command will generate a reply packet from the device. The reply packet will contain an ACK/NACK field. The ACK/NACK field contains an “echo” of the command byte plus an error code. An error code of 0 is an “ACK”...

  • Page 15: Data Overview

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 2.3 Data Overview Data packets are generated by the device. When the device is powered up, it may be configured to immediately stream data packets out to the host or it may be “idle” and waiting for a command to either start continuous data or to get data by “polling”...

  • Page 16: Example Setup Sequence

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual one will have the accelerometer vector but only every 20th packet will have the magnetometer vector. This helps reduce bandwidth and buffering requirements. An example of this is given in the IMU Message Format command.

  • Page 17: Step 2: Configure The Imu Data-Stream Format

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 2.4.1.2 - Step 2: Configure the IMU Data-stream Format Send a “Set IMU Message Format” command (reply is ACK/NACK). This example requests GPS correlation timestamp, scaled gyro, and scaled accelerometer information at50 Hz (500Hz base rate divided by a rate decimation of 10 on the3DM-GX5-45 = 50 Hz.) This will result in a single IMU data packet sent at 50Hz containing the IMU GPS correlation timestamp followed by the scaled gyro field and the scaled accelerometer field.

  • Page 18: Step 3: Configure The Estimation Filter Data-Stream Format

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 2.4.1.3 - Step 3: Configure the Estimation Filter Data-stream Format The following configuration command requests the GPS Timestamp followed by the Estimated LLH Position, Estimated NED Velocity, Estimated Orientation in Quaternion form, and Filter Status at 50 Hz (500 Hz base rate divided by a rate decimation of 10 = 50 Hz.) This will result in a single Estimation Filter packet sent at 50 Hz containing the requested fields in the requested order.

  • Page 19: Step 4: Save The Imu And Estimation Filter Mip Message Format

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 2.4.1.4 - Step 4: Save the IMU and Estimation Filter MIP Message Format To save the IMU and Estimation Filter MIP Message format, use the “Save” function selector (0x03) in the IMU and Estimation Filter Message Format commands. Below we’ve combined the two commands as two fields in the same packet.

  • Page 20: Step 5: Enable The Imu And Estimation Filter Data-Streams

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 2.4.1.5 - Step 5: Enable the IMU and Estimation Filter Data-streams Send an Enable/Disable Continuous Stream command to enable the IMU and Estimation Filter continuous streams (reply is ACK). These streams may have already been enabled by default; this step is to confirm they are enabled.

  • Page 21: Step 6: (Optional): Resume The Device

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 2.4.1.6 - Step 6: (Optional): Resume the Device Sending the “Resume” command is another method of re-enabling transmission of enabled data streams (reply is ACK/NACK). MIP Packet Header Command/Reply Fields Checksum SYNC1 SYNC2 Descriptor Payload Field...

  • Page 22: Step 7: Initialize The Filter

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 2.4.1.7 - Step 7: Initialize the Filter At this point in the set-up, the 3DM-GX5- 45 is streaming data, but the Kalman Filter is not yet initialized. For a successful initialization to occur the GNSS must have a fix and the initial orientation must be known.

  • Page 23: Polling Data Example Sequence

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 2.4.2 Polling Data Example Sequence Polling for data is less efficient than processing a continuous data stream, but may be more appropriate for certain applications. The main difference from the continuous data example is the inclusion of the Poll data commands in the data loop: 2.4.2.1 - Step 1: Put the Device in Idle Mode (Disabling the IMU and Estimation Filter data-streams) Same as continuous streaming.
  • Page 24 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual MIP Packet Header Command/Reply Fields Checksum SYNC1 SYNC2 Desc. Payload Field Cmd. Field Data “u “e” Length Length Desc. Command: Option: 0x00 0x75 0x65 0x0C 0x04 0x04 0x01 0xEF 0xDA Poll IMU Data Desc Count: 0x00 Reply Field 1: Cmd echo: 0x01...

  • Page 25: Parsing Incoming Packets

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 2.5 Parsing Incoming Packets Setup is usually the easy part of programming the 3DM-GX5- 45. Once you start continuous data streaming, parsing and processing the incoming data packet stream will become the primary focus. The stream of data from the IMU and Kalman Filter (Estimation Filter) are usually the dominant source of data since they come in the fastest.

  • Page 26: Multiple Rate Data

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Once you have sorted the different packets and sent them to the proper packet handler, the packet handler may parse the packet payload fields and handle each of the fields as appropriate for the application.

  • Page 27: Data Synchronicity

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 2.7 Data Synchronicity Because the MIP packet allows multiple data fields to be in a single packet, it may be assumed that a single timestamp field in the packet applies to all the data in the packet. In other words, it may be assumed that all the data fields in the packet were sampled at the same time.

  • Page 28: Uart Bandwidth Calculation

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 2.8.1 UART Bandwidth Calculation Below is an equation for the maximum theoretical UART baud rate for a given message configuration. Although it is possible to calculate the approximate bandwidth required for a given setup, there is no guarantee that the system can support that setup due to internal processing delays.

  • Page 29: Usb Vs. Uart

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 2.8.2 USB vs. UART The 3DM-GX5- 45 has a dual communication interface: USB or UART. There is an important difference between USB and UART communication with regards to data bandwidth. The USB “virtual COM port”...

  • Page 30: Command And Data Summary

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Command and Data Summary Below is a summary of the commands and data available in the programming interface. Commands and data are denoted by two values. The first value denotes the “descriptor set” that the command or data belongs to (Base command, 3DM command, Estimation Filter Command, IMU data or Estimation Filter data) and the second value denotes the unique command or data “descriptor”...

  • Page 31: Estimation Filter Command Set (0X0D)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 3.1.3 Estimation Filter Command Set (0x0D) Reset Filter (0x0D, 0x01) Set Initial Attitude (0x0D, 0x02) Set Initial Heading (0x0D, 0x03) Vehicle Dynamics Mode (0x0D, 0x10) Sensor to Vehicle Frame Transformation (0x0D, 0x11) Sensor to Vehicle Frame Offset (0x0D, 0x12) Antenna Offset...

  • Page 32: Data

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 3.2 Data 3.2.1 IMU Data Set (0x08) Scaled Accelerometer Vector (0x80, 0x04) Scaled Gyro Vector (0x80, 0x05) Scaled Magnetometer Vector (0x80, 0x06) Scaled Ambient Pressure (0x80, 0x17) Delta Theta Vector (0x80, 0x07) Delta Velocity Vector (0x80, 0x08) CF Orientation Matrix...
  • Page 33 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Attitude Uncertainty, Euler Angles (0x82, 0x0A) Orientation, Matrix (0x82, 0x04) Compensated Angular Rate (0x82, 0x0E) Gyro Bias (0x82, 0x06) Gyro Bias Uncertainty (0x82, 0x0B) Gyro Scale Factor (0x82, 0x16) Gyro Scale Factor Uncertainty (0x82, 0x18) Compensated Linear Acceleration (0x82, 0x1C)

  • Page 34: Command Reference

    4.1 Base Commands The Base command set is common to many LORD Sensing devices. With the Base command set it is possible to identify many properties and do basic functions on a device even if you do not recognize its specialized functionality or data.

  • Page 35: Set To Idle (0X01, 0X02)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.1.2 Set To Idle (0x01, 0x02) Place device into idle mode Command has no parameters. Device responds with ACK if successfully placed in idle Description mode. This command will suspend streaming (if enabled) or wake the device from sleep (if sleeping) to allow it to respond to status and setup commands.

  • Page 36: Get Device Information (0X01, 0X03)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.1.3 Get Device Information (0x01, 0x03) Description Get the device ID strings and firmware version. Field Field Format Field Length Field Data Descriptor Command 0x02 0x03 Reply Field 1: U8 - echo the command byte 0x04 0xF1 ACK/ NACK...

  • Page 37: Get Device Descriptor Sets (0X01, 0X04)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.1.4 Get Device Descriptor Sets (0x01, 0x04) Get the set of descriptors that this device supports Description Reply has two fields: “ACK/NACK” and “Descriptors”. The “Descriptors” field is an array of 16 bit values. The MSB specifies the descriptor set and the LSB specifies the descriptor.

  • Page 38: Device Built-In Test (0X01, 0X05)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.1.5 Device Built-In Test (0x01, 0x05) Run the device Built-In Test (BIT). The Built-In Test command always returns a 32 bit value. A value of 0 means that all tests passed. A non-zero value indicates that not all tests passed.
  • Page 39 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Reply Field 1: Echo cmd: 0x05 0x75 0x65 0x01 0x0A 0x04 0xF1 Error code: 0x00 ACK/NACK Reply Field 2: BIT Error Flags: 0x06 0x83 0x68 0x7D 0x00000000 BIT Error Flags Copy-Paste version of the command: “7565 0102 0205 E4CA”...

  • Page 40: Resume (0X01, 0X06)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.1.6 Resume (0x01, 0x06) Place device back into the mode it was in before issuing the Set To Idle command. Description If the Set To Idle command was not issued, then the device is placed in default mod- e.Command has no parameters.

  • Page 41: Gps Time Update (0X01, 0X72)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Binary Description Data Type Offset Reply Field 2: 2 x <Number of Firmware version Array of 0x86 descriptors> + 2 Descriptors Model Name etc. MIP Packet Header Command/Reply Fields Checksum Example Desc. Payload Field Field...
  • Page 42 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual U8 - Function Selector Command 0x08 0x72 U8 - GPS Time Field Selector U32 - New Time Value Reply: U8 - echo the command descriptor 0x04 0xF1 ACK/NACK U8 - error code (0: ACK, non-zero: NACK) Reply Field 2 (function = 2, 0x06...

  • Page 43: Device Reset (0X01, 0X7E)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.1.9 Device Reset (0x01, 0x7E) Resets the device. Description Device responds with ACK if it recognizes the command and then immediately resets. Field Field Format Field Length Field Data Descriptor Command 0x02 0x7E Reply Field 1: U8 - Echo the command byte...

  • Page 44: 3Dm Commands

    DCP Manual 4.2 3DM Commands The 3DM command set is common to the LORD Sensing Inertial sensors that support the MIP packet protocol. Because of the unified set of commands, it is easy to migrate code from one inertial sensor to another.

  • Page 45: Poll Gnss Data (0X0C, 0X02)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Reply: Command echo: 0x01 0x75 0x65 0x0C 0x04 0x04 0xF1 0xE0 0xAC Error code: 0x00 ACK/NACK Copy-Paste versions of the commands: Stored format: “7565 0C04 0401 0000 EFDA” Specified format: “7565 0C0A 0A01 0002 0400 0005 0000 0627” 4.2.2 Poll GNSS Data (0x0C, 0x02) Poll the device for a GNSS message with the specified format This function polls for a GNSS message using the provided format.
  • Page 46 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Reply: ACK/NACK Command echo: 0x02 (Data packet is 0x75 0x65 0x0C 0x04 0x04 0xF1 0xE1 0xAE Error code: 0x00 sent separately if ACK) Copy-Paste versions of the commands: Stored format: “7565 0C04 0402 0000 F0DD” Specified format: “7565 0C0A 0A02 0002 0300 0005 0000 062A”...

  • Page 47: Poll Estimation Filter Data (0X0C, 0X03)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.3 Poll Estimation Filter Data (0x0C, 0x03) Poll the device for an Estimation Filter message with the specified format This function polls for an Estimation Filter message using the provided format. The resulting message will maintain the order of descriptors sent in the command and any unrecognized descriptors are ignored.

  • Page 48: Get Imu Data Base Rate (0X0C, 0X06)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.4 Get IMU Data Base Rate (0x0C, 0x06) Get the base rate for the IMU data in Hz. Description Returns the value used for data rate calculations. See the IMU Message Format com- mand.

  • Page 49: Get Gnss Data Base Rate (0X0C, 0X07)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.5 Get GNSS Data Base Rate (0x0C, 0x07) Get the base rate for the GNSS data in Hz. Description Returns the value used for data rate calculations. See the GNSS Message Format com- mand.

  • Page 50: Get Estimation Filter Data Base Rate (0X0C, 0X0B)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.6 Get Estimation Filter Data Base Rate (0x0C, 0x0B) Get the base rate for the Estimation Filter data in Hz. Description Returns the value used for data rate calculations. See the Estimation Filter Message Format command.

  • Page 51: Iimu Message Format (0X0C, 0X08)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.7 IIMU Message Format (0x0C, 0x08) Set, read, or save the format of the IMU message packet. This command sets the format for the IMU data packet when in standard mode. The resulting data messages will main- tain the order of descriptors sent in the command.
  • Page 52 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Rate Dec: 0x000A settings) 2nd Descriptor: 0x05 Rate Dec: 0x000A Reply Field : Echo cmd: 0x01 0x75 0x65 0x0C 0x04 0x04 0xF1 0xE7 0xBA ACK/NACK Error code: 0x00 Command: IMU Message Format Function: 0x02 0x75 0x65...

  • Page 53: Gnss Message Format (0X0C, 0X09)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.8 GNSS Message Format (0x0C, 0x09) Set, read, or save the format of the GNSS message packet. This function sets the format for the GNSS MIP data packet when in standard mode. The resulting message will main- tain the order of descriptors sent in the command.
  • Page 54 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 2nd Descriptor: 0x05 settings) Data Rate: 0x0004 Reply Field : Echo cmd: 0x09 0x75 0x65 0x0C 0x04 0x04 0xF1 0xE8 0xBC ACK/NACK Error code: 0x00 Command: GNSS Message Function: 0x02 Format (read 0x75 0x65 0x0C...

  • Page 55: Estimation Filter Message Format (0X0C, 0X0A)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.9 Estimation Filter Message Format (0x0C, 0x0A) Set, read, or save the format of the Estimation Filter message packet. This function sets the format for the Estimation Filter data packet when in standard mode. The resulting mes- sage will maintain the order of descriptors sent in the command.
  • Page 56 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual (use new 2nd Descriptor: 0x02 Data Rate: 0x0001 settings) Reply Field : Echo cmd: 0x0A 0x75 0x65 0x0C 0x04 0x04 0xF1 0xE9 0xBE ACK/NACK Error code: 0x00 Command: Estimation Filter Function: 0x02 Message Format 0x75 0x65...

  • Page 57: Enable/Disable Continuous Data Stream (0X0C, 0X11)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.10 Enable/Disable Continuous Data Stream (0x0C, 0x11) Control the streaming of IMU and Estimation Filter data. If disabled, the data from the selected device is not continuously transmitted. Upon enabling, the most current data will be transmitted (i.e.
  • Page 58 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Reply: Echo cmd: 0x11 0x75 0x65 0x0C 0x04 0x04 0xF1 0xF0 0xCC Error code: 0x00 ACK/NACK Copy-Paste version of the 1st command: ”7565 0C05 0511 0101 0104 1A”...

  • Page 59: Gnss Constellation Settings (0X0C, 0X21)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.11 GNSS Constellation Settings (0x0C, 0x21) This configures which satellite constellations and how many satellites in each constellation the receiver should track. Function selector values: 0x01 – Use new settings 0x02 – Read back current settings. 0x03 –...
  • Page 60 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.11 GNSS Constellation Settings (0x0C, 0x21) Any setting that causes the total reserved channels to exceed 32 will result in a NACK. You cannot enable GLONASS and BeiDou at the same time. Enabling SBAS and QZSS only augments GPS accuracy.
  • Page 61 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual MIP Packet Header Command/Reply Fields Checksum Examples Desc. Payload Field Field Sync1 Sync2 Field Data Length Length Desc. Function: 0x01 Max # Ch: 0x0020 GNSS Count: 0x02 1st GNSS: ID (GPS): 0x00 Command: Enable: 0x01 GNSS...

  • Page 62: Gnss Sbas Settings (0X0C, 0X22)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.12 GNSS SBAS Settings (0x0C, 0x22) This configures how SBAS satellites should be used for GNSS augmentation. Function selector values: 0x01 – Use new settings 0x02 – Read back current settings. 0x03 – Save current settings as startup settings 0x04 –...
  • Page 63 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual MIP Packet Header Command/Reply Fields Checksum Examples Desc. Payload Field Field Sync1 Sync2 Field Data Length Length Desc. Function: 0x01 SBAS En: 0x01 Options: 0x0003 PRN Cnt: 0x02 Command 0x75 0x65 0x0C 0x0B 0x0B 0x22...

  • Page 64: Gnss Assisted Fix Control (0X0C, 0X23)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.13 GNSS Assisted Fix Control (0x0C, 0x23) Description Set the options for assisted GNSS fix. This device has a dedicated GNSS flash memory and a non-volatile FRAM. These are used to retain information about the last good GNSS fix. This greatly reduces the TTFF (Time To First Fix) depending on how old the information from the last fix is.

  • Page 65: Gnss Assist Time Update (0X0C, 0X24)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual U8 – Current assisted fix options Reply: DATA 0x04 0xA2 U8 - Current assisted fix flags MIP Packet Header Command/Reply Fields Checksum Examples Desc. Payload Field Field Sync1 Sync2 Field Data Length Length Desc.
  • Page 66 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual MIP Packet Header Command/Reply Fields Checksum Examples Desc. Payload Field Field Sync1 Sync2 Field Data Length Length Desc. Function: 0x01 TOW: 47382.21 Command 0x75 0x65 0x0C 0x11 0x11 0x24 Week: 1921 Accuracy: 5.0 Reply Field : Echo cmd: 0x24 0x75...

  • Page 67: Device Startup Settings (0X0C, 0X30)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.15 Device Startup Settings (0x0C, 0x30) Read, Save, Load, or Reset to Default the values for all device settings. Possible function selector values: 0x02 – Read back current settings* Description 0x03 – Save current settings as startup settings** 0x04 –...

  • Page 68: Accel Bias (0X0C, 0X37)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.16 Accel Bias (0x0C, 0x37) Advanced Set the value, or read the current value of the IMU7 Accelerometer Bias Vector. For all functions except 0x01 and 0x06 (apply new settings), the new vector value is ignored. The bias value is subtracted from the scaled accelerometer value prior to output.

  • Page 69: Gyro Bias (0X0C, 0X38)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.17 Gyro Bias (0x0C, 0x38) Advanced Set the value, or read the current value of the IMU7 Gyro Bias Vector. For all functions except 0x01 and 0x06 (apply new settings), the new vector value is ignored. The bias value is subtracted from the scaled Gyro value prior to output.

  • Page 70: Capture Gyro Bias (0X0C, 0X39)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.18 Capture Gyro Bias (0x0C, 0x39) This command will cause the 3DM-GX5 to sample its sensors for the specified number of milliseconds. The resulting data will be used to initialize its orientation, and to estimate its gyro bias error.

  • Page 71: Magnetometer Hard Iron Offset (0X0C, 0X3A)

    The values for this offset are determined empirically by external software algorithms based on calibration data taken after the device is installed in its application. These values can be obtained and set by using the LORD “MIP Iron Calibration” application. Alternatively, the auto-mag calibration feature may be used to capture these values in-run.

  • Page 72: Magnetometer Soft Iron Matrix (0X0C, 0X3B)

    The values for this matrix are determined empirically by external software algorithms based on calibration data taken after the device is installed in its application. These values can be obtained and set by using the LORD “MIP Iron Calibration” application. Alternatively, the auto-mag calibration feature may be used to capture these values in-run.
  • Page 73 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Fctn (Apply): 0x01 Comp Matrix: 0x3F800000 0x00000000 0x00000000 Command: 0x00000000 0x75 0x65 0x0C 0x27 0x27 0x3B 0xAD 0x59 Soft Iron Matrix 0x3F800000 0x00000000 0x00000000 0x00000000 0x3F800000 Reply Field : Echo cmd: 0x3B 0x75 0x65 0x0C...

  • Page 74: Coning And Sculling Enable (0X0C, 0X3E)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.21 Coning and Sculling Enable (0x0C, 0x3E) Set, read, or save the Coning and Sculling Compensation Enable. This function sets the Coning and Sculling Compensation Enable. For all functions except 0x01 (use new setting), the new parameter values are ignored.

  • Page 75: Uart Baud Rate (0X0C, 0X40)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.22 UART Baud Rate (0x0C, 0x40) Change, read, or save the baud rate of the main communication channel (UART1). For all functions except 0x01 (use new settings), the new baud rate value is ignored. Possible function selector values: 0x01 - Apply new settings 0x02 –...

  • Page 76: Advanced Low-Pass Filter Settings (0X0C, 0X50)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.23 Advanced Low-Pass Filter Settings (0x0C, 0x50) Advanced configuration for low-pass filter settings. The scaled data quantities are by default filtered through a single-pole IIR low-pass filter which is configured with a -3dB cutoff frequency of half the reporting frequency (set by decimation factor in the IMU Message Format command) to prevent aliasing on a per data...
  • Page 77 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual U8 – Function selector U8 – Data Descriptor U8 – Low-Pass Filter Enable/Disable Command 0x09 0x50 U8 – Manual/Auto -3 dB Cutoff Frequency Configuration U16 – -3 dB Cutoff Frequency U8 – Reserved Byte Reply Field 1: U8 - echo the command descriptor 0x04...

  • Page 78: Complementary Filter Settings (0X0C, 0X51)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.2.24 Complementary Filter Settings (0x0C, 0x51) Configuration for the AHRS complementary filter. The Complementary Filter data outputs are supported in the IMU/AHRS Data set (0x80) to provide compatibility with the 3DM- GX3. Possible function selector values: 0x01 - Use new settings 0x02 –...

  • Page 79: Device Status (0X0C, 0X64)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual float – Up compensation time constant (sec) float – North compensation time constant (sec) MIP Packet Header Command/Reply Fields Checksum Examples Desc. Payload Field Field Sync1 Sync2 Field Data Length Length Desc. Fctn Selector 0x01 (Write):...
  • Page 80 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Data Binary Description Units Offset Type Echo of the Device Model Num- Reply Field 2: Basic Device 0x0F 0x90 Status Field Echo of the selector byte Status Flags (Reserved) System Timer (since start-up) millisecond Data Binary...

  • Page 81: Raw Rtcm 2.3 Message (0X0C, 0X20)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Number of bytes read from count USB port Number of overruns when writ- count ing to USB port Number of overruns when read- count ing from USB port Number of IMU message pars- count ing errors Total IMU messages read...
  • Page 82 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Command 0x2 + Num_bytes 0x20 Num_bytes of the raw RTCM2.3 stream Reply Field: U8 - echo the command descriptor 0x04 0xF1 ACK/ NACK U8 - error code (0: ACK, non-zero: NACK) MIP Packet Header Command/Reply Fields Checksum Examples...

  • Page 83: Estimation Filter Commands

    4.3 Estimation Filter Commands The 3DM command set is common to the LORD Sensing Inertial sensors that support the MIP packet protocol. Because of the unified set of commands, it is easy to migrate code from one inertial sensor to another.

  • Page 84: Set Initial Attitude (0X0D, 0X02)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.2 Set Initial Attitude (0x0D, 0x02) Set the initial attitude. This command can only be issued in the “INIT” state and should be used with a good estimate of the vehicle attitude. The Euler Angles are the sensor body frame with respect to the local NED frame.

  • Page 85: Set Initial Heading (0X0D, 0X03)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.3 Set Initial Heading (0x0D, 0x03) Set the initial heading angle. This command can only be issued in the “INIT” state and should be used with a good estimation of Heading. The device will use this value in conjunction with the output of the Description accelerometers to determine the initial attitude estimate.

  • Page 86: Vehicle Dynamics Mode (0X0D, 0X10)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.4 Vehicle Dynamics Mode (0x0D, 0x10) Set, read, or save the vehicle dynamics mode. For all functions except 0x01 (use new set- tings), the new dynamics mode value is ignored. Possible function selector values: 0x01 –...
  • Page 87 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual ACK/NACK Error code: 0x00 Copy-Paste version of the command: "7565 0C04 0410 01010110”...

  • Page 88: Sensor To Vehicle Frame Transformation (0X0D, 0X11)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.5 Sensor to Vehicle Frame Transformation (0x0D, 0x11) Set the sensor to vehicle frame transformation matrix using Roll, Pitch, and Yaw Euler angles. These angles define the rotation from the sensor body frame to the fixed vehicle frame. Please reference the device Theory of Operation for more information.
  • Page 89 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Float – Pitch Angle (radians) Function = 2 Float – Yaw Angle (radians) MIP Packet Header Command/Reply Fields Checksum Example Desc. Payload Field Field Sync1 Sync2 Field Data Length Length Desc. Fctn 0x01 (Apply): 0x00000000...

  • Page 90: Sensor To Vehicle Frame Offset (0X0D, 0X12)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.6 Sensor to Vehicle Frame Offset (0x0D, 0x12) Set the sensor to vehicle frame offset, expressed in the sensor frame. This is a simple vehicle offset and not a lever arm offset.This offset does not compensate for inertial effects of being offset from the center of rotation/gravity of the vehicle.
  • Page 91 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual (0x0f) Reply Field: Command echo: 0x12 0x75 0x65 0x0D 0x04 0x04 0xF1 0xF2 0xD4 Error code: 0x00 ACK/NACK Copy-Paste version of the command: "7565 0D0F 0F12 0100 0000 0000 0000 0000 0000 0018 80"...

  • Page 92: Antenna Offset (0X0D, 0X13)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.7 Antenna Offset (0x0D, 0x13) Set the sensor to antenna offset, expressed in the sensor frame from the sensor inertial ori- gin to the GNSS antenna RF center. Always enter measurements relative to the sensor frame, not the vehicle frame. Possible function selector values: 0x01 –...

  • Page 93: Estimation Control Flags (0X0D, 0X14)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.8 Estimation Control Flags (0x0D, 0x14) Controls which parameters are estimated by the Kalman Filter. Possible function selector values: 0x01 – Use new settings 0x02 – Read back current settings. 0x03 – Save current settings as startup settings 0x04 –...

  • Page 94: Gnss Source Control (0X0D, 0X15)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Copy-Paste version of the command: "7565 0D05 0514 01FF FF04 27" 4.3.9 GNSS Source Control (0x0D, 0x15) Control the source of GNSS information used to update the Kalman Filter. Possible function selector values: 0x01 –...

  • Page 95: External Gnss Update (0X0D, 0X16)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Copy-Paste version of the command: "7565 0D04 0415 0102 0720" 4.3.10 External GNSS Update (0x0D, 0x16) Trigger a filter update step using external GNSS information. Description GNSS source control must be set to external for this command to update the filter; it will be ignored/NACK’d otherwise.

  • Page 96: Heading Update Control (0X0D, 0X18)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Vel Sigma (E): 0.1f Vel Sigma (D): 0.1f Reply Field: Echo cmd: 0x16 0x75 0x65 0x0D 0x04 0x04 0xF1 0xF6 0xDC ACK/NACK Error code: 0x00 Copy-Paste version of the command: N/A 4.3.11 Heading Update Control (0x0D, 0x18) Select the source for aiding heading updates to the Kalman Filter.

  • Page 97: External Heading Update (0X0D, 0X17)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.11 Heading Update Control (0x0D, 0x18) age acceleration rate. The heading estimate may drift when the unit is stationary or maintains both constant speed and course over ground. You should use this option when the use of the magnetometer or external heading input are not possible and the device will undergo slip (for example, fixed wing aircraft traveling in crosswinds).
  • Page 98 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.12 External Heading Update (0x0D, 0x17) true heading updates will be NACK’d. On the -45 model, if the declination source is invalid, magnetic heading updates will be NACK’d. Field Field Length Field Data Field Format Descriptor Float –...

  • Page 99: External Heading Update With Timestamp (0X0D, 0X1F)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.13 External Heading Update with Timestamp (0x0D, 0x1F) Trigger a filter update step using external heading information that is time-tagged with a specific GPS Time. This is more accurate than the External Heading Update (0x0D, 0x17) and should be used in applications where the vehicle heading experiences high angular rate, which may cause significant error in the applied measurement due to the sampling, transmission, and processing time required for the command.

  • Page 100: Pitch/Roll Aiding Control (0X0D, 0X4B)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Copy-Paste version of the command: N/A 4.3.14 Pitch/Roll Aiding Control (0x0D, 0x4B) Select pitch/roll aiding input. Pitch/roll reading is always derived from GNSS corrected inertial solution. Aiding inputs are used to improve that solution during periods of low dynamics and GNSS outages.

  • Page 101: Altitude Aiding Control (0X0D, 0X47)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.15 Altitude Aiding Control (0x0D, 0x47) Select altitude input for absolute altitude and/or vertical velocity. The primary altitude reading is always GNSS. Aiding inputs are used to improve GNSS altitude readings when GNSS is available and to backup GNSS during GNSS outages.

  • Page 102: Auto-Initialization Control (0X0D, 0X19)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.16 Auto-Initialization Control (0x0D, 0x19) Enable/Disable automatic initialization upon device startup. Possible function selector values: 0x01 – Use new settings 0x02 – Read back current settings 0x03 – Save current settings as startup settings Description 0x04 –...

  • Page 103: Magnetometer Noise Standard Deviation (0X0D, 0X42)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.17 Magnetometer Noise Standard Deviation (0x0D, 0x42) Set the expected magnetometer noise 1-sigma values. This function can be used to tune the filter performance in the target application. Possible function selector values: 0x01 –...

  • Page 104: Gravity Noise Standard Deviation (0X0D, 0X28)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.18 Gravity Noise Standard Deviation (0x0D, 0x28) Set the expected gravity noise 1-sigma values. This function can be used to tune the filter performance in the target application. Each of the noise values must be greater than 0.0 The noise value represents process noise in the EKF.

  • Page 105: Pressure Altitude Noise Standard Deviation (0X0D, 0X29)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.19 Pressure Altitude Noise Standard Deviation (0x0D, 0x29) Set the expected pressure altitude noise 1-sigma values. This function can be used to tune the filter performance in the target application. Each of the noise values must be greater than 0.0 The noise value represents pressure altitude model noise in the EKF.
  • Page 106 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.20 Accelerometer Noise Standard Deviation (0x0D, 0x1A) 0x01 – Use new settings 0x02 – Read back current settings 0x03 – Save current settings as startup settings 0x04 – Load saved startup settings 0x05 –...

  • Page 107: Accelerometer Bias Model Parameters (0X0D, 0X1C)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.21 Accelerometer Bias Model Parameters (0x0D, 0x1C) Set the accelerometer bias model parameters. Possible function selector values: 0x01 – Use new settings 0x02 – Read back current settings Description 0x03 – Save current settings as startup settings 0x04 –...

  • Page 108: Gyroscope Noise Standard Deviation (0X0D, 0X1B)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.22 Gyroscope Noise Standard Deviation (0x0D, 0x1B) Set the expected gyroscope noise 1-sigma values. This function can be used to tune the filter performance in the target application. Possible function selector values: 0x01 –...

  • Page 109: Gyroscope Bias Model Parameters (0X0D, 0X1D)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.23 Gyroscope Bias Model Parameters (0x0D, 0x1D) Set the gyroscope bias model parameters. Possible function selector values: 0x01 – Use new settings 0x02 – Read back current settings Description 0x03 – Save current settings as startup settings 0x04 –...

  • Page 110: Hard Iron Offset Process Noise (0X0D, 0X2B)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.24 Hard Iron Offset Process Noise (0x0D, 0x2B) Set the expected hard iron offset noise 1-sigma values. This function can be used to tune the filter performance in the target application. Possible function selector values: 0x01 –...

  • Page 111: Soft Iron Matrix Process Noise (0X0D, 0X2C)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.25 Soft Iron Matrix Process Noise (0x0D, 0x2C) Set the expected hard iron offset noise 1-sigma values. This function can be used to tune the filter performance in the target application. Possible function selector values: 0x01 –...
  • Page 112 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Reply Field 1: Echo cmd: 0x2C 0x75 0x65 0x0D 0x04 0x04 0xF1 0x9A 0xB2 ACK/NACK Error code: 0x00 Copy-Paste version of the command:“”7565 0D27 272C 0138 D1B7 1738 D1B7 1738 D1B7 1738 D1B7 1738 D1B7 1738 D1B7 1738 D1B7 1738 D1B7 1738 D1B7 17F1 8C...

  • Page 113: Zero Velocity Update (Zupt) Control (0X0D, 0X1E)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.26 Zero Velocity Update (ZUPT) Control (0x0D, 0x1E) Control the use of zero velocity updates. Possible function selector values: 0x01 – Use new settings 0x02 – Read back current settings 0x03 – Save current settings as startup settings Description 0x04 –...

  • Page 114: Zero Angular Rate Update Control (0X0D, 0X20)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.27 Zero Angular Rate Update Control (0x0D, 0x20) Control the use of zero angular rate updates. Possible function selector values: 0x01 – Use new settings 0x02 – Read back current settings 0x03 – Save current settings as startup settings Description 0x04 –...

  • Page 115: Tare Orientation (0X0D, 0X21)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.28 Tare Orientation (0x0D, 0x21) This function uses the current device orientation relative to the NED frame as the current sensor to vehicle transformation. This command is provided as a convenient way to set the sensor to vehicle frame trans- formation.

  • Page 116: Commanded Zero-Velocity Update (0X0D, 0X22)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual (All axis) Reply Field: Echo cmd: 0x21 0x75 0x65 0x0D 0x04 0x04 0xF1 ACK/NACK Error code: 0x00 Copy-Paste version of the command: "7565 0D04 0421 0107 1849" 4.3.29 Commanded Zero-Velocity Update (0x0D, 0x22) Description Perform a commanded ZUPT.

  • Page 117: Commanded Zero-Angular Rate Update (0X0D, 0X23)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.30 Commanded Zero-Angular Rate Update (0x0D, 0x23) Description Perform a commanded zero-angular rate update. Notes The maximum rate for this message is 10 Hz. Field Field Format Field Length Field Data Descriptor Command 0x02 0x23...

  • Page 118: Declination Source (0X0D, 0X43)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.31 Declination Source (0x0D, 0x43) Set/Get the local declination angle source. This can be used to correct for the difference in magnetic and true north. Normally, the device reports heading with-respect-to magnetic north, but when an accurate declin- ation angle is provided, the device will report heading with respect to true north.
  • Page 119 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual MIP Packet Header Command/Reply Fields Checksum Example Desc. Payload Field Field Sync1 Sync2 Field Data Length Length Desc. Fctn 0x01 (Apply): Source 0x03 Command 0x75 0x65 0x0D 0x08 0x08 0x43 0x0D 0x17 (Manual): 0x00000000 Angle:...

  • Page 120: Gravity Magnitude Error Adaptive Measurement (0X0D, 0X44)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.32 Gravity Magnitude Error Adaptive Measurement (0x0D, 0x44) Enable or disable the gravity magnitude error adaptive measurement feature. This function can be used to tune the filter performance in the target application. Possible function selector values: 0x01 –...
  • Page 121 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Float – High Limit Uncertainty, 1-Sigma (meters/second Float – Minimum Uncertainty, 1-Sigma (meters/second Reply Field 1: U8 - Echo the command descriptor 0x04 0xF1 ACK/ NACK U8 - Error code (0: ACK, non-zero: NACK) U8 –...

  • Page 122: Magnetometer Magnitude Error Adaptive Measurement (0X0D, 0X45)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.33 Magnetometer Magnitude Error Adaptive Measurement (0x0D, 0x45) Enable or disable the magnetometer magnitude error adaptive measurement. This feature will reject magnetometer readings that are out of range of the thresholds specified (fixed adaptive) or calculated internally (auto-adaptive).
  • Page 123 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Float – High Limit Uncertainty, 1-Sigma (meters/second Float – Minimum Uncertainty, 1-Sigma (meters/second Reply Field 1: U8 - Echo the command descriptor 0x04 0xF1 ACK/ NACK U8 - Error code (0: ACK, non-zero: NACK) U8 –...

  • Page 124: Magnetometer Dip Angle Error Adaptive Measurement (0X0D, 0X46)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.34 Magnetometer Dip Angle Error Adaptive Measurement (0x0D, 0x46) Enable or disable the magnetometer magnitude error adaptive measurement. This feature will reject magnetometer readings that are out of range of the thresholds specified Possible function selector values: 0x01 –...
  • Page 125 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual MIP Packet Header Command/Reply Fields Checksum Example Desc. Payload Field Field Sync1 Sync2 Field Data Length Length Desc. Fctn (Apply): 0x01 Enable: 0x01 Freq (Hz) (10.0f) Command 0x75 0x65 0x0D 0x14 0x14 0x46 High Limit (rad): (0.3f) High Limit...

  • Page 126: Magnetometer Capture Auto Calibration (0X0D, 0X27)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 4.3.35 Magnetometer Capture Auto Calibration (0x0D, 0x27) This command captures the current value of the auto-calibration, applies it to the current fixed hard and soft iron calibration coefficients, and replaces the current fixed hard and soft iron calibration coefficients with the new values.

  • Page 127: System Commands

    3DM-GX5-45 that have multiple intelligent internal sensor blocks. These commands allow special mode such as talking directly to the native protocols of the embedded sensor blocks. For example, with the 3DM-GX5-45, you may switch into a mode that talks directly to another LORD Sensing Inertial Sensor with an internal IMU.

  • Page 128: Error Codes

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Reply Field 1: U8 - Echo the command descriptor 0x04 0xF1 ACK/ NACK U8 - Error code (0: ACK, non-zero: NACK) Reply Field 2: 0x03 0x90 U8 – Current Communications Mode Function = 2 MIP Packet Header Command/Reply Fields Checksum...

  • Page 129: Data Reference

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Data Reference 5.1 IMU Data 5.1.1 Scaled Accelerometer Vector (0x80, 0x04) Description Scaled Accelerometer Vector This is a vector quantifying the direction and magnitude of the acceleration that the 3DM-GX5-45 is exposed to. This quantity is fully temperature compensated and Notes scaled into physical units of g (1 g = 9.80665 m/sec^2).

  • Page 130: Scaled Gyro Vector (0X80, 0X05)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.1.2 Scaled Gyro Vector (0x80, 0x05) Description Scaled Gyro Vector This is a vector quantifying the rate of rotation (angular rate) of the 3DM-GX5-45. This quantity is fully temperature compensated and scaled into units of Notes radians/second.

  • Page 131: Scaled Ambient Pressure (0X80, 0X17)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.1.4 Scaled Ambient Pressure (0x80, 0x17) Description Scaled Ambient Vector This is a scalar which gives the instantaneous ambient pressure reading. This Notes quantity is fully temperature compensated and scaled into units of milliBar. Data Field Length Message Data...

  • Page 132: Delta Velocity Vector (0X80, 0X07)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.1.6 Delta Velocity Vector (0x80, 0x07) Description Time integral of acceleration. This is a vector which gives the time integral of specific acceleration over the interval set by the IMU message format command. It is expressed in terms of the 3DM- Notes GX5-45’s local coordinate system in units of g*second where g is the standard gravitational constant.
  • Page 133 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.1.7 CF Orientation Matrix (0x80, 0x09) Field Data Descriptor Message Data Length Binary Off- Description Data Type Units Float Float Float Field Format Float 38 (0x26) 0x09 Float Float Float Float Float...

  • Page 134: Cf Quaternion (0X80, 0X0A)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.1.8 CF Quaternion (0x80, 0x0A) 4 x 1 quaternion Q. Description This value is produced by the Complementary Filter fusion algorithm. This is a four component quaternion which describes the orientation of the 3DM- GX5 with respect to the fixed earth coordinate system.

  • Page 135: Cf Euler Angles (0X80, 0X0C)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.1.9 CF Euler Angles (0x80, 0x0C) Pitch, Roll, and Yaw (aircraft) values. Description This value is produced by the Complementary Filter fusion algorithm. This is a three component vector containing the Roll, Pitch and Yaw angles in radians.

  • Page 136: Cf Stabilized Mag Vector (North) (0X80, 0X10)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.1.10 CF Stabilized Mag Vector (North) (0x80, 0x10) Gyro stabilized estimated vector for geomagnetic vector. Description This value is produced by the Complementary Filter fusion algorithm. This is a vector which represents the complementary filter’s best estimate of the geomagnetic field direction (magnetic north).

  • Page 137: Cf Stabilized Accel Vector (Up) (0X80, 0X11)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.1.11 CF Stabilized Accel Vector (Up) (0x80, 0x11) Gyro stabilized estimated vector for the gravity vector. Description This value is produced by the Complementary Filter fusion algorithm. This is a vector which represents the IMU/AHRS complementary filter’s best estimate of the vertical direction.
  • Page 138 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.1.12 GPS Correlation Timestamp (0x80, 0x12) IMU internal clock is being used for the PPS. The fractional portion of the GPS TOW represents the amount of time that has elapsed from the last PPS. If the GPS loses signal, the GPS and IMU timestamps become free running and will slowly drift away from each other.

  • Page 139: Gnss Data

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.2 GNSS Data 5.2.1 LLH Position (0x81, 0x03) Description Position Data in the Geodetic Frame. Valid Flag Mapping: 0x0001 – Latitude & Longitude Valid 0x0002 – Ellipsoid Height Valid Notes 0x0004 – MSL Height Valid 0x0008 –...

  • Page 140: Ecef Position (0X81, 0X04)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.2.2 ECEF Position (0x81, 0x04) Description Position Data in the Earth-Centered, Earth-Fixed Frame. Valid Flag Mapping: 0x0001 – ECEF Position Valid Notes 0x0002 – Position Accuracy Valid Data Field Length Message Data Descriptor Binary Description...

  • Page 141: Ned Velocity (0X81, 0X05)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.2.3 NED Velocity (0x81, 0x05) Description Velocity Data in the North-East-Down Frame. Valid Flag Mapping: 0x0001 – NED Velocity Valid 0x0002 – Speed Valid Notes 0x0004 – Ground Speed Valid 0x0008 – Heading Valid 0x0010 –...

  • Page 142: Ecef Velocity (0X81, 0X06)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.2.4 ECEF Velocity (0x81, 0x06) Description Velocity Data in the Earth-Centered, Earth-Fixed Frame. Valid Flag Mapping: Notes 0x0001 – ECEF Velocity Valid 0x0002 – Velocity Accuracy Valid Data Field Length Message Data Descriptor Binary Description...

  • Page 143: Dop Data (0X81, 0X07)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.2.5 DOP Data (0x81, 0x07) Description Dilution of Precision Data. Valid Flag Mapping: 0x0001 – GDOP Valid 0x0002 – PDOP Valid 0x0004 – HDOP Valid Notes 0x0008 – VDOP Valid 0x0010 – TDOP Valid 0x0020 –...

  • Page 144: Utc Time (0X81, 0X08)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.2.6 UTC Time (0x81, 0x08) Description Coordinated Universal Time Data Valid Flag Mapping: Notes 0x0001 – Date Valid 0x0002 – Time Valid Data Field Length Message Data Descriptor Binary Description Data Type Units Offset Year Years (1999-2099)

  • Page 145: Gps Time (0X81, 0X09)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.2.7 GPS Time (0x81, 0x09) Description Global Positioning System Time Data Valid Flag Mapping: Notes 0x0001 – TOW Valid 0x0002 – Week Number Valid Field Data Descriptor Message Data Length Binary Off- Description Data Type Units...

  • Page 146: Gnss Fix Information (0X81, 0X0B)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.2.9 GNSS Fix Information (0x81, 0x0B) Description Current GNSS Fix Status Information Valid Flag Mapping: 0x0001 – Fix Type Valid 0x0002 – Number of SVs Valid 0x0004 – Fix Flags Valid Possible Fix Types values are: 0x00 –...

  • Page 147: Space Vehicle Information (0X81, 0X0C)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.2.10 Space Vehicle Information (0x81, 0x0C) Description Individual Space Vehicle Information Entry When enabled, these fields will arrive in a separate MIP packet. Valid Flag Mapping: 0x0001 – Channel Valid 0x0002 – SV ID Valid 0x0008 –...

  • Page 148: Hardware Status (0X81, 0X0D)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.2.11 Hardware Status (0x81, 0x0D) Description GNSS Hardware Status Information Hardware status is only available at 1 Hz. Setting the rate higher than 1 Hz has no effect. Valid Flag Mapping: 0x0001 – Sensor State Valid 0x0002 –...

  • Page 149: Dgnss Information (0X81, 0X0E)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.2.12 DGNSS Information (0x81, 0x0E) Description Individual DGNSS Channel Status Entry When enabled, a separate field for each active space vehicle will be sent in the packet. Valid Flag Mapping: 0x0001 – Latest Age Valid 0x0002 –...

  • Page 150: Dgnss Channel Status (0X81, 0X0F)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.2.13 DGNSS Channel Status (0x81, 0x0F) Description Individual DGNSS Channel Status Entry When enabled, a separate field for each active space vehicle will be sent in the packet. Valid Flag Mapping: Notes 0x0001 –...

  • Page 151: Estimation Filter Data

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3 Estimation Filter Data 5.3.1 Filter Status (0x82, 0x10) Description Estimation Filter Status Possible Filter States: 0x00 – Startup 0x01 – Initialization (see status flags) 0x02 – Running, Solution Valid 0x03 – Running, Solution Error (see status flags) Possible Dynamics Modes: 0x01 –...
  • Page 152 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.1 Filter Status (0x82, 0x10) Field Length Data Descriptor Message Data Binary Description Data Type Units Offset Field Format Filter State See Notes 08 (0x08) 0x10 Dynamics Mode See Notes Status Flags See Notes...

  • Page 153: Gps Timestamp (0X82, 0X11)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.2 GPS Timestamp (0x82, 0x11) Description Estimation Filter Calculated Value Timestamp Data Valid Flag Mapping: Notes 0x0000 – Time Invalid 0x0001 – Time Valid Field Data Descriptor Message Data Length Binary Description Data Type Units Offset...

  • Page 154: Llh Position (0X82, 0X01)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.3 LLH Position (0x82, 0x01) Description Estimated Position Data expressed in the Geodetic Frame Valid Flag Mapping: Notes 0x0000 – Latitude, Longitude, & Height are Invalid 0x0001 – Latitude, Longitude, & Height Valid Data Field Length Message Data...

  • Page 155: Llh Position Uncertainty (0X82, 0X08)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.4 LLH Position Uncertainty (0x82, 0x08) Description Estimated Position 1-sigma Uncertainty expressed in the Geodetic Frame Valid Flag Mapping: Notes 0x0000 – Position Uncertainties are Invalid 0x0001 – Position Uncertainties Valid Field Data Message Data Length...

  • Page 156: Ned Velocity Uncertainty (0X82, 0X09)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.6 NED Velocity Uncertainty (0x82, 0x09) Description Estimated Velocity 1-sigma Uncertainty expressed in the Local-Level Frame Valid Flag Mapping: Notes 0x0000 – NED Velocity Uncertainties are Invalid 0x0001 – NED Velocity Uncertainties Valid Field Data Message Data...

  • Page 157: Orientation, Quaternion (0X82, 0X03)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.7 Orientation, Quaternion (0x82, 0x03) Description Estimated Orientation in quaternion form. This is a four component quaternion which describes the orientation of the 3DM- GX5 with respect to the fixed earth coordinate system. Q satisfies the following equation: Notes V_IL...

  • Page 158: Attitude Uncertainty, Quaternion Elements (0X82, 0X12)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.8 Attitude Uncertainty, Quaternion Elements (0x82, 0x12) Description Estimated attitude 1-sigma uncertainty expressed in quaternion components. This is a three component vector containing the attitude uncertainty expressed in quaternion elements. Valid Flag Mapping: Notes 0x0000 –...

  • Page 159: Orientation, Euler Angles (0X82, 0X05)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.9 Orientation, Euler Angles (0x82, 0x05) Description Estimated Pitch, Roll, and Yaw (aircraft) values. This is a three component vector containing the Roll, Pitch and Yaw angles in radians. It is computed by the INS from the orientation quaternion Q . Notes Valid Flag Mapping: 0x0000 –...

  • Page 160: Attitude Uncertainty, Euler Angles (0X82, 0X0A)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.10 Attitude Uncertainty, Euler Angles (0x82, 0x0A) Estimated attitude 1-sigma uncertainty expressed in Pitch, Roll, and Yaw (aircraft) Description elements. This is a three component vector containing the Roll, Pitch and Yaw angle uncertainties in radians.

  • Page 161: Orientation, Matrix (0X82, 0X04)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.11 Orientation, Matrix (0x82, 0x04) Description Estimated orientation in matrix form. This is a nine component coordinate transformation matrix which describes the orientation of the 3DM-GX5 with respect to the fixed earth coordinate system. M satisfies the following equation: V_IL ·...

  • Page 162: Compensated Angular Rate (0X82, 0X0E)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.11 Orientation, Matrix (0x82, 0x04) Valid Flags See Notes 5.3.12 Compensated Angular Rate (0x82, 0x0E) Filter-Compensated Angular Rate Data expressed in: Description 1. The Sensor Frame, if no sensor to body rotation has been defined. 2.

  • Page 163: Gyro Bias (0X82, 0X06)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.13 Gyro Bias (0x82, 0x06) Description Estimated Gyro Biases expressed in the Sensor Body Frame. Valid Flag Mapping: Notes 0x0000 – Gyro Bias are Invalid 0x0001 – Gyro Bias Valid Field Data Descriptor Message Data Length Binary...

  • Page 164: Gyro Scale Factor (0X82, 0X16)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.15 Gyro Scale Factor (0x82, 0x16) Description Estimated Gyro Scale Factor expressed in the Sensor Body Frame. Valid Flag Mapping: Notes 0x0000 – Scale Factor values are Invalid 0x0001 – Scale Factor values are Valid Data Field Length Message Data...

  • Page 165: Compensated Acceleration (0X82, 0X1C)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.17 Compensated Acceleration (0x82, 0x1C) Filter-Compensated Acceleration Data expressed in: Description 1. The Sensor Frame, if no sensor to body rotation has been defined. 2. The Vehicle Frame, if a sensor to body rotation has been defined. Valid Flag Mapping: Notes 0x0000 –...

  • Page 166: Linear Acceleration (0X82, 0X0D)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.18 Linear Acceleration (0x82, 0x0D) Filter-Compensated Linear Acceleration Data (gravity vector removed) expressed Description 1. The Sensor Frame, if no sensor to body rotation has been defined. 2. The Vehicle Frame, if a sensor to body rotation has been defined. Valid Flag Mapping: Notes 0x0000 –...

  • Page 167: Accel Bias (0X82, 0X07)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.19 Accel Bias (0x82, 0x07) Description Estimated Accel Biases expressed in the Sensor Body Frame. Valid Flag Mapping: Notes 0x0000 – Accel Bias are Invalid 0x0001 – Accel Bias Valid Field Length Data Descriptor Message Data Binary...

  • Page 168: Accel Scale Factor (0X82, 0X17)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.21 Accel Scale Factor (0x82, 0x17) Description Estimated Accel Scale Factor expressed in the Sensor Body Frame. Valid Flag Mapping: Notes 0x0000 – Scale Factor values are Invalid 0x0001 – Scale Factor values are Valid Data Field Length Message Data...

  • Page 169: Accel Scale Factor Uncertainty (0X82, 0X19)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.22 Accel Scale Factor Uncertainty (0x82, 0x19) Estimated Accel Scale Factor 1-Sigma Uncertainty expressed in the Sensor Body Description Frame. Valid Flag Mapping: Notes 0x0000 – Accel Scale Factor Uncertainties are Invalid 0x0001 –...

  • Page 170: Pressure Altitude (0X82, 0X21)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.23 Pressure Altitude (0x82, 0x21) Description Estimated Pressure Altitude. The US 1976 Standard Atmosphere Model is used to calculate the pressure altitude in meters. A valid pressure sensor reading is required for the pressure altitude to be valid.

  • Page 171: Standard Atmosphere Model (0X82, 0X20)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.24 Standard Atmosphere Model (0x82, 0x20) Description Standard Atmosphere Model Solution. The US 1976 Standard Atmosphere Model is used. A valid GNSS location is required for the model to be valid. Valid Flag Mapping: Notes 0x0000 –...

  • Page 172: Gravity Vector (0X82, 0X13)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.25 Gravity Vector (0x82, 0x13) Estimated Gravity Vector expressed in: Description 1. The Sensor Frame, if no sensor to body rotation has been defined. 2. The Vehicle Frame, if a sensor to body rotation has been defined. Valid Flag Mapping: Notes 0x0000 –...

  • Page 173: Wgs84 Local Gravity Magnitude (0X82, 0X0F)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.26 WGS84 Local Gravity Magnitude (0x82, 0x0F) Description Local Magnitude of Earth’s gravity using the WGS84 gravity model. The GX5-45 implements the WGS84 gravity model, valid for altitudes of 20 km or less.

  • Page 174: Heading Update Source State (0X82, 0X14)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.27 Heading Update Source State (0x82, 0x14) Description Heading Update Source information expressed in the sensor frame. Heading updates can be applied from a number of sources (listed below. Also see Heading Update Control.) The heading value is always relative to true north.

  • Page 175: Magnetic Model Solution (0X82, 0X15)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.28 Magnetic Model Solution (0x82, 0x15) Description Magnetic model solution expressed in the NED frame. The World Magnetic Model 2010 is used. A valid GNSS location is required for the model to be valid. Valid Flag Mapping: Notes 0x0000 –...

  • Page 176: Mag Auto Hard Iron Offset (0X82, 0X25)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.29 Mag Auto Hard Iron Offset (0x82, 0x25) This is an offset vector applied to the hard iron offset vector to compensate for Description magnetometer in-run bias errors. Valid Flag Mapping: Notes 0x0000 –...

  • Page 177: Mag Auto Soft Iron Matrix (0X82, 0X26)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.31 Mag Auto Soft Iron Matrix (0x82, 0x26) Description Magnetometer Soft Iron compensation matrix. This is a 9 component matrix which is applied to the magnetometer soft iron calibration matrix to compensate for magnetometer in-run errors. Notes Valid Flag Mapping: 0x0000 –...

  • Page 178: Mag Auto Soft Iron Matrix Uncertainty (0X82, 0X29)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.32 Mag Auto Soft Iron Matrix Uncertainty (0x82, 0x29) Description Magnetometer Soft Iron compensation matrix. This is the uncertainty of the Magnetometer Compensation matrix. Valid Flag Mapping: Notes 0x0000 – Orientation Matrix is Invalid 0x0001 –...

  • Page 179: Gnss Antenna Offset Correction (0X82, 0X30)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.33 GNSS Antenna Offset Correction (0x82, 0x30) Estimated GNSS Antenna Offset Correction expressed in the Sensor Body Frame Description as the vector from the IMU to the GNSS Antenna. Valid Flag Mapping: Notes 0x0000 –...

  • Page 180: Gnss Antenna Offset Correction Uncertainty (0X82, 0X31)

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 5.3.34 GNSS Antenna Offset Correction Uncertainty (0x82, 0x31) Estimated GNSS Antenna Offset Correction Uncertainty expressed in the Sensor Description Body Frame. Valid Flag Mapping: Notes 0x0000 – GNSS Antenna Offset Correction Uncertainties are Invalid 0x0001 –...

  • Page 181: Mip Packet Reference

    MIP Packet Reference 6.1 Structure Commands and Data are sent and received as fields in the LORD “MIP” packet format. Below is the general definition of the structure: The packet always begins with the start-of-packet sequence “ue” (0x75, 0x65). The “Descriptor Set”...

  • Page 182: Mip Checksum Range

    “.h” file that corresponds to the descriptor set that the descriptor belongs LORD Sensing provides a “Packet Builder” functionality in the “MIP Monitor” software utility to simplify the construction of a MIP packet. Most commands will have a single field in the packet, but multiple field packets are possible.

  • Page 183: Advanced Programming

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Advanced Programming 7.1 Multiple Commands in a Single Packet MIP packets may contain one or more individual commands. In the case that multiple commands are transmitted in a single MIP packet, the 3DM-GX5-45 will respond with a single packet containing multiple replies.

  • Page 184: Direct Modes

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Note that the only difference in the packet headers of the single command packets compared to the multiple command packets is the payload length. Parsing multiple fields in a single packet involves subtracting the field length of the next field from the payload length until the payload length is less than or equal to zero.

  • Page 185: Internal Diagnostic Functions

    Device Status. These commands are defined generically but the implementation is very specific to the hardware implemented on this device. Other LORD Sensing devices will have their own implementations of these functions depending on the internal hardware of the devices.
  • Page 186 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual ready and as long as the interrupts are preemptive, the processor will fetch every byte received. Using the interrupt routine to fill a ring buffer makes the most efficient use of an MCU and makes it easier to write your application main line code.

  • Page 187: Creating Fixed Data Packet Format

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 7.5 Creating Fixed Data Packet Format The MIP packet structure and protocol provides a great deal of flexibility to the user for creating a custom data stream. It does this by allowing selectable data fields and individual data rates for each field.

  • Page 188: Advanced Programming Models

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual 7.6 Advanced Programming Models Many applications will only require a single threaded programming model which is simple to implement using a single program loop that services incoming packets. In other applications, advanced techniques such as multithreading or event based processes are required.

  • Page 189: Glossary

    ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Glossary A/D Value The digital representation of analog voltages in an analog-to-digital (A/D) conversion. The accuracy of the conversion is dependent on the resolution of the system electronics. Higher resolution produces a more accurate conversion.
  • Page 190 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Attitude the orientaion of an object in space with reference to a defined frame, such as the North-East-Down (NED) frame Azimuth A horizontal arc measured between a fixed point (such as true north) and the vertical circle passing through the center of an object Bias A non-zero output signal of a sensor when no load is applied to it, typically due to sensor imperfections.
  • Page 191 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Delta-velocity the time integral of velocity expressed with refernce to the device local coordinate system, in units of g*second where g is the standard gravitational constant ECEF (Earth Centered Earth Fixed) a reference frame that is fixed to the earth at the center of the earth and turning about earth's axis in the same way as the earth Estimation Filter A mathematical algorithm that produces a statistically optimum solution using measurements and ref-...
  • Page 192 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Inclinometer device used to measure tilt, or tilt and roll Inertial pertaining to systems that have inertia or are used to measure changes in inertia as in angular or linear accelerations INS (Inertial Navigation System) systems that use inertial measurements exclusively to determine position, velocity, and attitude, given an initial reference Kalman Filter...
  • Page 193 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual Offset A non-zero output signal of a sensor when no load is applied to it, typically due to sensor imperfections. Also called bias. Orientation The orientaion of an object in space with reference to a defined frame. Also called attitude. Pitch In navigation pitch is what occurs when vertical force is applied at a distance forward or aft from the cen- ter of gravity of the platform, causing it to move up or down with respect to the sensor or platform frame...
  • Page 194 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual RS422 a serial data communications protocol Sampling the process of taking measurements from a sensor or device Sampling rate rate at which the sensors are sampled Sampling Rate the frequency of sampling Sensor a device that physically or chemically reacts to environmental forces and conditions and produces a pre- dictable electrical signal as a result...
  • Page 195 ™ 3DM-GX5-45 GNSS-Aided Inertial Navigation System DCP Manual WGS (World Geodetic System) a protocol for geo-referencing such as WGS-84 In navigation yaw is what occurs when rotational force is applied at a distance forward or aft from the center of gravity of the platform, causing it to move around the center axis of a sensor or platform frame origin.

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