Table Of Contents - Advanced Navigation Motus Reference Manual

Table of Contents

1 Revision History.......................................................................................................... 8
2 Firmware Changelog................................................................................................... 9
3 Hardware Changelog................................................................................................ 10
4 Introduction.............................................................................................................. 11
5 Foundation Knowledge............................................................................................. 12
5.1 GNSS................................................................................................................. 12
5.2 INS..................................................................................................................... 12
5.3 GNSS/INS........................................................................................................... 12
5.4 AHRS................................................................................................................. 12
5.5 The Sensor Co-ordinate Frame..........................................................................12
5.6 Roll, Pitch and Heading...................................................................................... 13
5.6.1 Second Right Hand Rule............................................................................. 13
5.6.2 Rotation Order............................................................................................ 14
5.7 Geodetic Co-ordinate System............................................................................14
5.8 NED Co-ordinate Frame..................................................................................... 16
5.9 ECEF Co-ordinate Frame.................................................................................... 17
6 Rugged Evaluation Kit.............................................................................................. 18
6.1 Kit Contents....................................................................................................... 18
6.2 Quick Start......................................................................................................... 18
7 OEM Evaluation Kit................................................................................................... 19
7.1 Kit Contents....................................................................................................... 19
7.2 Quick Start......................................................................................................... 19
8 Part Numbers and Ordering Options.........................................................................20
8.1 Evaluation Kit.................................................................................................... 20
8.2 Standalone Unit................................................................................................. 20
8.3 Software License Upgrades............................................................................... 20
8.4 Accessories........................................................................................................ 21
9 Specifications........................................................................................................... 22
9.1 Mechanical Drawings......................................................................................... 22
9.2 Navigation Specifications..................................................................................23
9.3 Sensor Specifications......................................................................................... 24
9.4 Rugged Communication Specifications..............................................................24
9.5 OEM Communication Specifications..................................................................25
9.6 Rugged Hardware Specifications.......................................................................25
9.7 OEM Hardware Specifications............................................................................26
9.8 Rugged Electrical Specifications........................................................................26
9.9 OEM Electrical Specifications............................................................................. 27
9.10 Power Consumption......................................................................................... 28
9.11 Rugged Connector Pin-out............................................................................... 28
9.12 Rugged Evaluation Kit USB Cable....................................................................29
9.13 Optional Rugged Breakout Cable.....................................................................30
9.14 Sensor Calibration........................................................................................... 31
9.15 Serial Number.................................................................................................. 31
10 Installation.............................................................................................................. 33
10.1 Installation Checklist....................................................................................... 33
10.2 Position and Alignment.................................................................................... 33
10.2.1 Alignment................................................................................................. 33
10.3 Mounting Plate................................................................................................. 33
Motus Reference Manual
Page 1 of 146
Version 1.1
29/11/2019