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Related Manuals for Lord MicroStrain 3DM-GX5 Series
Summary of Contents for Lord MicroStrain 3DM-GX5 Series
- Page 1 LORD User Manual ® -GX5-25 Attitude and Heading Reference System (AHRS)
- Page 2 , DVRT , EmbedSense , FAS-A , G-Link ® ® ™ ® ® ® ® Little Sensors, Big Ideas. , LORD Microstrain , Live Connect , LXRS , MathEngine , MicroStrain , MXRS , Node ® ™ ® ® ®...
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Page 3: Table Of Contents
® -GX5-25 User Manual Table of Contents System Family Overview Sensor Overview Components Interface and Indicators Basic Setup and Operations Software Installation System Connections Software Interface 3.3.1 Interactive Help Menu Sensor Communication Satellite Link Sensor Settings 3.6.1 Saving Configurations Data Monitoring and Recording View Recorded Data Sensor Measurements Direct Sensor Measurements (IMU Outputs) - Page 4 ® -GX5-25 User Manual Tare Mounting Pitch-Roll Magnetometer Auto Calibration 5.3.1 Enable 5.3.2 Capture Magnetometer Manual Calibration Estimation Filter Aiding Heading Aiding Settings 5.6.1 Bias Convergence Adaptive Anomaly Rejection 5.7.1 Gravity Adaptive 5.7.2 Mag Adaptive Communications Bandwidth Platform Frame Transformation 5.10 Estimation Filter Operation 5.11...
- Page 5 ® -GX5-25 User Manual Sensor Wiring Sampling on Start-up Connecting to a Datalogger Using Wireless Adapters Troubleshooting Troubleshooting Guide Repair and Calibration Maintenance Technical Support Parts and Configurations Standard Configurations Accessories Sales Support Specifications Reference Diagrams 11.1 Sensor Dimensions and Origin 11.2 Power Supply Specifications 11.3...
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Page 6: System Family Overview
® -GX5-25 User Manual System Family Overview The LORD Sensing 3DM-GX5 family of industrial-grade inertial sensors provides a wide range of triaxial inertial measurements and computed attitude and navigation solutions. In all models, the Inertial Measurement Unit (IMU) includes direct measurement of acceleration and angular rate, and some also offer atmospheric pressure readings. -
Page 7: Sensor Overview
® -GX5-25 User Manual Sensor Overview The 3DM - GX5 - 25 is a high- performance, industrial- grade Attitude and Heading Reference System (AHRS) that utilizes micro inertial sensors for use in a wide range of industrial-grade applications, such as unmanned vehicle navigation, platform stabilization, and vehicle health monitoring. -
Page 8: Components
® -GX5-25 User Manual Components The 3DM- GX5- 25 Inertial Sensor can be purchased by itself or as part of a Connectivity Kit . All software, drivers, and links to detailed documentation are included with the sensor purchase. For a complete list of available configurations, accessories, additional system products, and ordering see Parts and Configurations on page 59 information,... -
Page 9: Interface And Indicators
® -GX5-25 User Manual Interface and Indicators The 3DM-GX5-25 sensor interface includes a communications and power input connector. The sensor see Sensor Mounting on page 1 is installed using the mounting and alignment holes as needed ( The indicators on the 3DM-GX5-25 include a device status indicator and the device information label. The table below describes the basic status indicator behavior. -
Page 10: Basic Setup And Operations
® -GX5-25 User Manual Basic Setup and Operations Do not put the 3DM- GX5- 25 in contact with, or in close proximity to, magnets. Magnets may disrupt operation and cause magnetization of internal components, which can affect magnetometer performance. If magnetization is suspected, use a degaussing tool to demagnetize. To acquire sensor measurements and computed outputs, the 3DM- GX5- 25 uses a host computer,an RS232 or USB communications port, and applicable software. -
Page 11: Software Installation
® -GX5-25 User Manual Software Installation NOTE The MIP Monitor Software Suite includes hardware drivers required for 3DM-GX5-25 sensor operation. Sensors will not be recognized without these drivers installed. To Install the MIP Monitor software on the host computer, complete the following steps: 1. -
Page 12: System Connections
® -GX5-25 User Manual System Connections Power is applied to the sensor through a host computer USB port or an external power supply, such as the one provided in the RS232 connectivitykit. Use only power supplies within the operating range of the sensor, or damage or injury could result. -
Page 13: Software Interface
® -GX5-25 User Manual Software Interface The MIP Monitor software includes a main window with system information and menus, a device settings window, and several data monitoring windows. The main window provides an overview of connected devices. Devices are selected by clicking on them. -
Page 14: Sensor Communication
® -GX5-25 User Manual Sensor Communication Once power has been applied to the sensor, it is functional. The sensor selects the appropriate serial communication (USB or RS232) on power-up based on which cable is connected. If the hardware drivers have been installed, communication can be established using the MIP Monitor software interface. -
Page 15: Satellite Link
® -GX5-25 User Manual Satellite Link Sensor Settings Device settings are stored in the sensor memory. Only the configuration options available for the sensor being used are displayed in the menus. To enter the settings menu, either right-click on the sensor name highlighted in the main window, and then select Device Settings, or select Settings >... -
Page 16: Saving Configurations
® -GX5-25 User Manual 3.6.1 Saving Configurations Sensor settings are saved temporarily by selecting the OK button in the Device Setup window after configuration, but they are lost when the device is powered off. To save current settings, so they are automatically restored the next time the device is powered on, select Settings >... -
Page 17: Data Monitoring And Recording
® -GX5-25 User Manual Data Monitoring and Recording Throughout the MIP Monitor views the same icons are used to control data streaming (sampling) and recording. These icons can be found in the MIP Monitor main window icon toolbar and in each data monitoring window. -
Page 18: View Recorded Data
® -GX5-25 User Manual Figure 12 - Data Streaming is an example of Sensor Data Monitoring, which displays the selected IMU/AHRS measurements. In data monitoring windows, no data will be displayed until data streaming is started, and no data will be recorded (even if it is being viewed) until data recording is initiated (armed). - Page 19 ® -GX5-25 User Manual directory specified at that time or in the default directory on the host computer desktop. CSV files can be viewed with Microsoft Excel, Quattro Pro, Open Office, or other CSV editors and spreadsheet programs. Data recorded in Binary format requires a translation program utilizing the LORD Sensing MIP Data Communications Protocol (DCP) to make it user-readable.
- Page 20 ® -GX5-25 User Manual 4. To end recording press the Arm Recording button again, and select OK in the confirmation prompt window. 5. Select the Stop Streaming icon to end sampling. 6. Use the red "X" in the upper right of the sensor monitoring window to exit monitoring mode.
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Page 21: Sensor Measurements
® -GX5-25 User Manual Sensor Measurements Figure 14 - 3DM- GX5- 25 Block Diagram The 3DM - GX5 - 25 block diagram ( ) describes its primary hardware components and internal configuration. Integrated Micro-Electro-Mechanical System (MEMS) sensors within the 3DM- GX5 - 25 are collectively known as the Inertial Measurement Unit (IMU) and include tri- axial gyroscopes (gyros), tri- axial accelerometers, tri- axial magnetometers, and a pressure altimeter . -
Page 22: Direct Sensor Measurements (Imu Outputs)
® -GX5-25 User Manual Direct Sensor Measurements (IMU Outputs) The sensors in an Inertial Navigation System (INS), from which measurements for navigation and orientation are obtained, are collectively known as the Inertial Measurement Unit (IMU). These sensors are arranged on the three primary axes (x, y, and z) to sense angular rate, acceleration, and the local magnetic field. - Page 23 ® -GX5-25 User Manual Table 2 - IMU Measurements lists the IMU measurements available for the 3DM-GX5-25. Additional measurement units may be available in MIP Monitor for some outputs, however they are converted values and do not represent the actual sensor outputs. Only actual output units are listed. The Complementary Filter (CF) attitude, and up and north vector outputs are computed estimations ®...
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Page 24: Computed Outputs
® -GX5-25 User Manual Computed Outputs (Estimation Filter) The computed outputs are measurements from the 3DM - GX5 - 25 IMU sensors that are blended through an Auto- Adaptive Extended Kalman Filter (EKF) algorithm. The Kalman Filter produces a better estimation of attitude and heading (AHRS) outputs than can be achieved by the inertial sensors Table 3 - Estimation Filter Outputs individually. - Page 25 ® -GX5-25 User Manual see Basic Setup and Operations on page 10 To view and record Estimation outputs, Measurement Units Description indicates the current state of the EF, such Filter Status as running or initializing GPS time corresponding to the calculated fil- GPS Time weeks &...
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Page 26: Sensor Reference Frames
® -GX5-25 User Manual Sensor Reference Frames 4.3.1 Geodetic Frame The World Geodetic System is the standard for cartography and navigation. The latest revision, WGS84, is the reference coordinate system for GPS. It also calculates the magnitude of the local gravity vector using the WGS84 reference formulas. -
Page 27: North East Down (Ned) Frame
® -GX5-25 User Manual 4.3.2 North East Down (NED) Frame The North-East-Down (NED) frame is a local coordinate frame, which is formed by a tangent plane located at a particular point (current coordinates) on the WGS84 reference ellipse. The NED frame is constructed with the (true) North vector along the line of longitude, the East vector along the line Figure 18 - North East of latitude, and the Down vector normal to and towards the tangent plane (... -
Page 28: Sensor Frame
® -GX5-25 User Manual 4.3.3 Sensor Frame The sensor frame is indicated on the top of the device and is oriented such that the x-axis vector is parallel with the long side of the sensor and points toward the sensor connector, the y-axis is 90° to the right of the x-axis, and the z-axis goes through the bottom of the sensor (outward). -
Page 29: Platform Frame
® -GX5-25 User Manual 4.3.4 Platform Frame The 3DM-GX5-25 includes the option to define an orientation transformationand offset distance from the sensor frame to a user-definable platform frame. This is useful when the sensor cannot be mounted in the same location or orientation as the desired reference point on the platform frame. The transformation from sensor to platform frame is defined with Euler angles and is expressed as a rotation from the sensor frame to the platform frame. - Page 30 ® -GX5-25 User Manual In the MIP Monitor software the transformation setting s are entered at: Settings > Device > Figure 21 - Platform Frame Settings Estimation Filter > Mounting in the field ( ). To tare pitch-roll, Tare Mounting Pitch-Roll on page 32 Figure 21 -Platform Frame Settings The orientation transformation affects the following EF outputs: attitude, position, linear and compensated acceleration, compensated angular rate, and gravity vector.
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Page 31: Performance Optimization
® -GX5-25 User Manual Performance Optimization Gyroscope Bias Gyroscope biases (offsets) can be zeroed out to set a baseline value for the static home position and conditions in the application. This should be done after sensor installation. To set the gyroscope baseline, place the sensor or sensor platform in the desired home position. Allow 2-3 minutes for the sensor to warm up and for the temperature to stabilize for the best bias capture. -
Page 32: Tare Mounting Pitch-Roll
® -GX5-25 User Manual Tare Mounting Pitch-Roll This function captures the current pitch-roll orientation of the device and sets it as the level reference, providing a convenient way to set the sensor to vehicle frame transformation. For more information on the corresponding LORD Sensing MIP Data Communications Protocol (DCP) command, see the DCP Manual . -
Page 33: Magnetometer Auto Calibration
® -GX5-25 User Manual Magnetometer Auto Calibration 5.3.1 Enable Enabling the EF Mag Hard Iron Auto Calibration allows estimation of the magnetometer bias (bias tracking) for purposes of auto- calibration. Enabling the EF Mag Soft Auto Calibration allows estimation of the magnetometer scale factor (scale factor tracking) for purposes of auto-calibration. To enable, select the sensor name in the MIP Monitor software main window, then select Settings >... -
Page 34: Capture
® -GX5-25 User Manual 5.3.2 Capture 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. This may be used in place of (or in addition to) a manual hard and see Magnetometer Manual Calibration on page 35 soft iron calibration ( ) utility such as the LORD... -
Page 35: Magnetometer Manual Calibration
® -GX5-25 User Manual Magnetometer Manual Calibration Although the 3DM - GX5 - 25 magnetometers are calibrated at the factory to remove any internal magnetic influences in the device, measurements are still subject to influence from external magnetic anomalies when the sensor is installed. These anomalies are divided into two classes: hard iron offsets and soft iron distortions. - Page 36 ® -GX5-25 User Manual 3. The sensor should automatically appear in the sensor list. If not, use the Refresh button Figure 26 - Sensor Menu to query it and then select the sensor ( 4. Select the Arm Recording button next to Collect Data. The software will begin taking readings, as indicated by the points counter in the graphing window.
- Page 37 ® -GX5-25 User Manual not likely not be rotated on all three axis. Ellipsoid Fit is generally a better correction when soft iron effects are present but only if enough data points can be collected in all quadrants. If the range of motion is restricted in one dimension, the Spherical Fit may be the best choice.
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Page 38: Estimation Filter Aiding
® -GX5-25 User Manual Estimation Filter Aiding There are two categories to customize heading and pitch-roll. To enter the Estimation Filter Aiding menu, select the sensor name in the MIP Monitor software main window, then select Settings > Device > Estimation Filter > EF Aiding. 1. -
Page 39: Heading Aiding Settings
® -GX5-25 User Manual Heading Aiding Settings Device settings are stored in the sensor memory. Only the configuration options that are available for the type of sensor being used are displayed in the configurations menus. The 3DM-GX5-25 has two heading options. If the setting is none, the estimated heading will drift when little-or-no changes in velocity are sensed (e.g. -
Page 40: Bias Convergence
® -GX5-25 User Manual 5.6.1 Bias Convergence Accurate estimation of the biases can take several minutes to converge, therefore after the filter is initialized, the free-inertial performance will continue to improve until the bias estimations settles. The MEMS sensor manufacturers quote bias drift stability numbers which correspond to the expected drift in bias while the sensor is operating. -
Page 41: Mag Adaptive
® -GX5-25 User Manual 5.7.2 Mag Adaptive Enabling this feature will allow the filter to reject magnetometer readings when the magnitude error exceeds the high limit (in m/s ^ 2). The bandwidth (in Hz) sets the cutoff frequency of the low pass see Communications Bandwidth on page 42 filter applied to the magnetometer error ( ). -
Page 42: Communications Bandwidth
® -GX5-25 User Manual Communications Bandwidth When selecting sensor and estimation outputs to be recorded, communication bandwidth considerations should be taken into account, especially when using RS232 serial communications. Lower baud rates equate to lower communication bandwidth, which can be consumed quickly by selecting a large number of measurements at high sample rates. -
Page 43: Estimation Filter Convergence
® -GX5-25 User Manual The 3DM-GX5-25 runs an Auto-Adaptive Extended Kalman Filter as a full-state dynamics model. The state propagation utilizes Newton’s and Euler’s equations of motion with the acceleration and angular rate treated as control inputs. The Kalman filter estimates the full state of attitude for a total of 16 states: 4 attitude (quaternion), 3 gyro bias, 3 magnetometer bias, and 6 magnetometer scale-factor states. -
Page 44: Vibration Isolation
® -GX5-25 User Manual 5.12 Vibration Isolation The 3DM-GX5-25 should be isolated from strong vibrations a much as possible. Strong, continuous vibrations appear as unaccounted noise to the estimation filter, degrading its performance. When vibration cannot be isolated, making adjustments to the Accelerometer Noise and Gyro Noise parameters to account for the additional noise will improve the accuracy of the estimation filter outputs. - Page 45 ® -GX5-25 User Manual Figure 33 -Import/Export Settings Menu...
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Page 46: Sensor Installation
® -GX5-25 User Manual Sensor Installation Sensor Mounting The 3DM - GX5 - 25 sensor housing is rated for indoor use only, unless used inside a protective enclosure. The sensor has two mounting tabs with holes for fastening. Mounting screws should be brass or 300 Series stainless steel. -
Page 47: Oem System Integration
® -GX5-25 User Manual OEM System Integration The 3DM - GX5 - 25 connectivity kit comes with everything that is needed for sensor configuration, operation, and data collection. However, many applications will require custom solutions because of physical or environmental constraints, required sensor output processing, or for integration into control systems that react to the sensor outputs. -
Page 48: Packet Builder
® -GX5-25 User Manual 7.1.1 Packet Builder To expedite program development, a packet builder tool is included in the MIP Monitor software. The packet builder allows users to send multiple packets to the 3DM-GX5-25 and view the resulting reply data. Applicable protocol structure and design is described in the 3DM-GX5-25 LORD Sensing MIP Data Communications Protocol (DCP) Manual DCP Manual . - Page 49 ® -GX5-25 User Manual Communications Protocol (DCP) manual. For additional information contact LORD Sensing see Technical Support on page 58 Technical Support ( To enter this mode select Advanced > Communications> Sensor Direct from the MIP Monitor main Figure 36 - window.
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Page 50: 7.2 Sensor Wiring
® -GX5-25 User Manual 7.2 Sensor Wiring Only use power supplies within the operating range of the sensor, or permanent sensor damage or personal injury could result. There are two input power pins available, each with different voltage ranges. Connect only one at a time. Observe connection polarity. -
Page 51: 7.3 Sampling On Start-Up
® -GX5-25 User Manual 7.3 Sampling on Start-up The Save Current Settings command can be used to instruct the sensor to start streaming data as soon as it powered on. This can be useful in sensor integration applications in which immediate data acquisition is desired, and connection to MIP Monitor for data logging is not required. -
Page 52: 7.4 Connecting To A Datalogger
® -GX5-25 User Manual 7.4 Connecting to a Datalogger Many inertial applications incorporate dataloggers of all different types to collect and distribute sensor outputs. For more information and examples refer to the "Using Dataloggers with Inertial Sensors" Technical Note on the LORD Sensing website, or contact LORD Sensing Technical Support ( Technical Support on page 58 7.5 Using Wireless Adapters In some applications it can be very useful to set up wireless communications between the sensor to the... -
Page 53: Troubleshooting
® -GX5-25 User Manual Troubleshooting Troubleshooting Guide... - Page 54 ® -GX5-25 User Manual Problem Possible cause and recommended solution 1.1 no power is applied The status indicator on the device will be off. Make sure the 1. POWER sensor is connected to a power source and the status indicator illuminates.
- Page 55 ® -GX5-25 User Manual Problem Possible cause and recommended solution Sensing for reconfiguration. 2.5 sensor or cables are damaged Verify all connections, power, and settings. If available, try installing an alternate cable or sensor one at a time to see if the faulty device can be identified.
- Page 56 ® -GX5-25 User Manual Problem Possible cause and recommended solution conditions outside of its operating specifications.
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Page 57: Repair And Calibration
® -GX5-25 User Manual Repair and Calibration General Instructions In order to return any LORD Sensing product, you must contact LORD Sensing Sales or Technical Support to obtain a Return Merchandise Authorization (RMA) number. All returned merchandise must be in the original packaging, including manuals, accessories, cables, etc. -
Page 58: Technical Support
® -GX5-25 User Manual Technical Support There are many resources for product support found on the LORD Sensing website including technical notes, FAQs, and product manuals. http://www.microstrain.com/support_overview.aspx For further assistance our technical support engineers are available to help with technical and applications questions. -
Page 59: Parts And Configurations
® -GX5-25 User Manual Parts and Configurations Standard Configurations For the most current product information, custom, and OEM options not listed below, refer to the LORD Sensing website or contact the LORD Sensing Sales Department. Table 4 - Model Numbers describes the standard models available at the time this manual was published. - Page 60 ® -GX5-25 User Manual The same options are available in each model, and are indicated in the last four digits of the product part number. For a list of the starter kit contents,( see Components on page 1 Figure 39 -Standard Part Numbers...
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Page 61: Accessories
® -GX5-25 User Manual Accessories The following parts are available for use with the 3DM - GX5 - 25. For the most current product see Sales Support information refer to the LORD Sensing website or contact the Sales Department. ( on page 61 Description LORD Sensing Part Number... -
Page 62: Specifications
® -GX5-25 User Manual Specifications General Triaxial accelerometer, triaxial gyroscope, triaxial Integrated magnetometer, pressure altimeter, and temperature sensors sensors, Inertial Measurement Unit (IMU) outputs: acceleration, angular rate, magnetic field , ambient pressure, Delta-theta, Delta-velocity Computed outputs: Extended Kalman Filter (EKF): filter status, timestamp, attitude estimates (in Euler angles, quaternion, orientation Data outputs matrix), linear and compensated acceleration, bias... - Page 63 ® -GX5-25 User Manual Computed Outputs EKF outputs: ±0.25° RMS roll and pitch, ±0.8° RMS heading (typ) Attitude accuracy CF outputs: ±0.5° RMS roll and pitch, ±1.5° RMS heading (typ) Attitude heading range 360° about all axes Attitude resolution < 0.01° Attitude repeatability 0.2°...
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Page 64: Reference Diagrams
® -GX5-25 User Manual Reference Diagrams The diagrams in this section are to intended to aid in product installation and troubleshooting. For more information contact LORD Sensing Technical Support ( see Technical Support on page 58 11.1 Sensor Dimensions and Origin This diagram describes the sensor physical specification including the measurement point of origin. -
Page 65: Power Supply Specifications
® -GX5-25 User Manual 11.2 Power Supply Specifications These specifications describe the power supply included in the 3DM-GX5-25 connectivity kit. Operating Parameters AC input voltage rating 100 to 240 V ac AC input voltage range 90 to 264 V ac AC input frequency range 47 to 63 Hz (RMS) maximum @ 120 V ac... -
Page 66: Communication And Power Cables
® -GX5-25 User Manual 11.3 Communication and Power Cables These diagrams describe the cables included in the 3DM- GX5- 25 connectivity kits. Only one is included in each kit, depending on the type of kit ordered. Figure 41 -RS232 Communications and power cable Figure 42 -USB Communications cable... - Page 67 ® -GX5-25 User Manual Figure 43 -Connecter interface cable (sold separately, PN: 6224-0100)
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Page 68: Reference Documents
® -GX5-25 User Manual Reference Documents Many references are available on the LORD Sensing website including product user manuals, technical notes, and quick start guides. These documents are continuously updated and may provide more accurate information than printed or file copies. Document Where to find it 3DM-GX5-25... -
Page 69: Glossary
® -GX5-25 User 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. Acceleration In physics,acceleration is the change in the rate of speed (velocity) of an object over time. - Page 70 ® -GX5-25 User Manual ASTM (Association of Standards and Testing) a nationally accepted organization for the testing and calibration of technological devices 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...
- Page 71 ® -GX5-25 User Manual Delta-Theta the time integral of angular rate expressed with refernce to the device local coordinate system, in units of radians 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...
- Page 72 ® -GX5-25 User Manual Host (computer) The host computer is the computer that orchestrates command and control of attached devices or net- works. Inertial Measurement System 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...
- Page 73 ® -GX5-25 User Manual NED (North-East-Down) A geographic reference system acronym for Original Equipment Manufacturer 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 74 ® -GX5-25 User Manual acronym for Root Mean Squared Roll In navigation roll is what occurs when a horizontal force is applied at a distance right or left from the cen- ter of gravity of the platform, causing it to move side to side with respect to the sensor or platform frame origin.
- Page 75 ® -GX5-25 User Manual UTC (Coordinated Universal Time) The primary time standard for world clocks and time. It is similar to Greenwich Mean Time (GMT). Vector a measurement with direction and magnitude with refernce from one point in space to another Velocity The rate of change of position with respect to time.