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HG4930 Installation and Interface Manual
Rotation Correction
The IMU shall subtract the "rotation correction" from the inertial delta-velocity components of
message ID 0x02 to allow direct integration of the synchronously sampled body-axis delta-angle and
delta-velocity elements. The "rotation correction" consists of one half of the sampled delta-angle
vector cross the sampled delta-velocity vector.
ΔΘAsynchronous =ΔΘ SAMPLE
ΔVAsynchronous = ΔVSAMPLE - 0.5 * [ ΔΘSAMPLE X ΔVSAMPLE]
As a result of the subtraction, proper integration of local-vertical navigation components will
require update of the body-to-local-vertical attitude reference, transformation of the body-axis
delta-velocity components to the local-vertical frame followed by update of the local-vertical
attitude components.
Data Synchronization Signal
The Data Synchronization Signal shall be an active low pulse with the following characteristics:
•
Pulse start is within +/- 1 microsecond of the most recent data sample event in
the Control data frame.
•
Pulse width is 300 microseconds +/- 1 microsecond
The signal timing is shown in Figure 3 - Data Synchronization Signal Timing.
Figure 2. Data Synchronization Signal Timing
Time of
Validity
Processing
~1.75
± 0.015ms
1
0
|
aerospace.honeywell.com/HG4930
1666.67 us (One Data Frame)
Start
0x01 - 20 bytes - 200 us
0x02 - 44 bytes - 440 us
Transmit data
300us
Start of
Data Transmission
300us
End of Data
transmission
7
Transmit data
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