LORD MicroStrain 3DM-GX5-15 User Manual
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LORD MicroStrain 3DM-GX5-15 User Manual

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LORD USER MANUAL
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3DM
-GX5-15
Vertical Reference Unit (VRU)

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Summary of Contents for LORD MicroStrain 3DM-GX5-15

  • Page 1 LORD USER MANUAL ® -GX5-15 Vertical Reference Unit (VRU)
  • 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 © 2017 LORD Corporation ® ® ® ® ™ ® ® ® ® ® , 3DM-DH , 3DM-DH3...

  • Page 3: Table Of Contents

    ® -GX5-15 User Manual Table of Contents System Family Overview Sensor Overview 2.1 Components 2.2 Interface and Indicators Basic Setup and Operations 3.1 Software Installation 3.2 System Connections 3.3 Software Interface 3.3.1 Interactive Help Menu 3.4 Sensor Communication 3.5 Sensor Settings 3.5.1 Saving Configurations 3.6 Data Monitoring and Recording 3.7 View Recorded Data...
  • Page 4 ® -GX5-15 User Manual 5.3.1 Bias Convergence 5.4 Adaptive Anomaly Rejection 5.4.1 Gravity Adaptive 5.5 Angular Rate and Acceleration Limits 5.6 Communications Bandwidth 5.7 Estimation Filter Operation 5.8 Estimation Filter Convergence 5.8.1 Initial Convergence 5.8.2 Output Uncertainty 5.9 Vibration Isolation 5.10 IMU Sensor Calibration 5.11 Temperature Compensation 5.12 Import and Export Settings...
  • Page 5 ® -GX5-15 User Manual 8.4 Maintenance Parts and Configurations 9.1 Standard Configurations 9.2 Accessories 9.3 Sales Support Specifications Safety Information 11.1 Disposal and Recycling Reference Diagrams 12.1 Sensor Dimensions and Origin 12.2 Power Supply Specifications 12.3 Communication and Power Cables Reference Documents Glossary...

  • Page 6: System Family Overview

    The LORD Sensing MIP Data Communications Protocol (DCP) that is used to communicate with LORD Sensing inertial sensors is also available for users who want to develop customized software solutions. Because of the unified set of commands across the sensor family, it is easy to migrate code from one inertial sensor to another.

  • Page 7: Sensor Overview

    Sensor measurements and computed outputs can be viewed and recorded with the LORD Sensing MIP Monitor software that is available as a free download from the LORD Sensing website. Alternatively, users can write custom software with the LORD Sensing open source data communication protocol. The data is time-aligned and available by either polling or continuous stream.

  • Page 8: Components

    For a complete list of available configurations, accessories, additional system products, and ordering information, see Parts and Configurations on page 48  . LORD Sensing Item Description Model Part Number...

  • Page 9: Interface And Indicators

    ® -GX5-15 User Manual 2.2 Interface and Indicators The 3DM-GX5-15 sensor interface includes a communications and power input connector. The sensor is installed using the mounting and alignment holes as needed ( see Sensor Mounting on page 1 The indicators on the 3DM-GX5-15 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

    Users may also utilize the LORD Sensing MIP Data Communications Protocol (DCP) to write custom software applications with expanded or specific feature sets needed for the application.

  • Page 11: Software Installation

    ® -GX5-15 User Manual 3.1 Software Installation NOTE The MIP Monitor Software Suite includes hardware drivers required for 3DM-GX5-15 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

    Once power is applied the sensor is on and active ( Specifications on page 1 To acquire sensor data the following components are needed: 3DM-GX5-15 sensor, communication cable, power cable (as applicable for RS232 communications) , and a host computer with LORD Sensing MIP Monitor installed. Figure 5 -System Connections 3.3 Software Interface...

  • Page 13: Interactive Help Menu

    ® -GX5-15 User Manual Figure 6 - Main Window Display 3.3.1 Interactive Help Menu MIP Monitor also includes a mouse-over feature that provides explanations of the information and settings. This feature is enabled by selecting the question mark icon or Help button in any window. Figure 7 - Context Sensitive Help Menu 3.4 Sensor Communication Once power has been applied to the sensor, it is functional.
  • Page 14 ® -GX5-15 User Manual Figure 8 -Sensor Communication NOTE If data is not actively being exchanged between the sensor and host computer, the status message may display Not Connected. This indicates the port status, not the sensor availability. When commands are sent to the sensor, the software will automatically connect to it before sending the message.

  • Page 15: Sensor Settings

    ® -GX5-15 User Manual 3.5 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

    ® -GX5-15 User Manual NOTE When selecting sensor and estimation outputs to be recorded, communications bandwidth considerations should be taken into account. Lower baud rates equate to lower communications bandwidth, which can be consumed quickly by selecting a large number of measurements at high sample rates.

  • Page 17: Data Monitoring And Recording

    ® -GX5-15 User Manual 3.6 Data Monitoring and Recording NOTE During viewing and recording, only the outputs that are selected in the Message Format tabs in the Device Setup menu are displayed and recorded ( see Sensor Settings on page 15 Throughout the MIP Monitor views the same icons are used to control data streaming (sampling) and recording.

  • Page 18: View Recorded Data

    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 19 Export Settings from the Settings menu. NOTE If the data is recorded in Binary format it will require a translation program that utilizes the LORD Sensing MIP Data Communications Protocol (DCP) to make it user- readable. Figure 13 -Data Recording 4.

  • Page 20: Sensor Measurements

    ® -GX5-15 User Manual Sensor Measurements The 3DM- GX5 - 15 block diagram ( Figure 14 - 3DM- GX5- 15 Block Diagram ) describes its primary hardware components and internal configuration. Integrated Micro-Electro-Mechanical System (MEMS) sensors within the 3DM- GX5- 15 are collectively known as the Inertial Measurement Unit (IMU) and include tri-axial gyroscopes (gyros), tri-axial accelerometersand a pressure altimeter.

  • Page 21: Direct Sensor Measurements (Imu Outputs)

    ® -GX5-15 User Manual 4.1 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. The gyroscopes are used to adjust the current attitude estimate when an angular rate is sensed.
  • Page 22 ® -GX5-15 User Manual...
  • Page 23 ® -GX5-15 User Manual Table 2 - IMU Measurements lists the IMU measurements available for the 3DM-GX5-15. 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. see Basic Setup and Operations on page 10 To view and record IMU outputs, Measurement...

  • Page 24: Computed Outputs

    ® -GX5-15 User Manual 4.2 Computed Outputs (Estimation Filter) The computed outputs are measurements from the 3DM- GX5- 15 IMU sensors that are blended through an Auto-Adaptive Extended Kalman Filter (EKF) algorithm. The Kalman Filter produces a Table 3 - better estimation of attitude than can be achieved by the inertial sensors individually.
  • Page 25 ® -GX5-15 User Manual To view and record Estimation outputs, see Basic Setup and Operations on page 10 Measurement Units Description indicates the current state of the EF, such Filter Status as running or initializing time corresponding to the calculated filter GPS Time weeks &...

  • Page 26: Sensor Reference Frames

    ® -GX5-15 User Manual 4.3 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

    ® -GX5-15 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 of latitude, and the Down vector normal to and towards the tangent plane ( Figure 18 - North East...

  • Page 28: Sensor Frame

    ® -GX5-15 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: Performance Optimization

    ® -GX5-15 User Manual Performance Optimization 5.1 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 30: Estimation Filter Aiding

    ® -GX5-15 User Manual 5.2 Estimation Filter Aiding There are two categories to customize heading 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 31: Heading Aiding Settings

    (e.g. when stationary or traveling in the same direction at a constant velocity). The external heading message setting means the heading is derived from one of two possible external messages provided by the user: 1. (0x0D, 0x17) or 2. (0x0D, 0x1F) in the LORD Sensing MIP Data Communications Protocol (DCP) DCP Manual.

  • Page 32: Bias Convergence

    ® -GX5-15 User Manual 5.3.1 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 33: Angular Rate And Acceleration Limits

    ® -GX5-15 User Manual 5.5 Angular Rate and Acceleration Limits The 3DM-GX5-15 angular rate and acceleration ranges depend on the sensors installed in the device. Exceeding the specified range for either sensor will result in estimated state errors and elevated uncertainties until the over-range event is corrected and the filter can resolve the errors.

  • Page 34: Estimation Filter Convergence

    ® -GX5-15 User Manual 5.8 Estimation Filter Convergence 5.8.1 Initial Convergence After a successful initialization, a period of convergence for the Kalman filter states occurs. Roll and pitch angles typically converge very quickly. Accelerometer bias and gyro bias take more time to converge.

  • Page 35: Import And Export Settings

    The import and export settings features provide a consolidated file of the user settings, enabling Device Settings information to be saved and shared. For example, exporting settings to the LORD technical support team helps facilitate fast and accurate resolution of technical issues.

  • Page 36: Sensor Installation

    ® -GX5-15 User Manual Sensor Installation 6.1 Sensor Mounting The 3DM - GX5 - 15 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 37: Oem System Integration

    Select 3DM- GX5- 15 from the "Select a Product to View Documentation" drop- down menu. The manual will appear in a list under "General Documentation."  The MIP software developers kit (SDK) includes sample code and can be found on the LORD Sensing see Technical Support on page 47 website Support page or by contacting Technical Support ( The LORD Sensing MIP Data Communications Protocol (DCP) describes each command description,...

  • Page 38: Packet Builder

    When in Sensor Direct mode the device normal functionality is not available. The protocol commands used to interface with the IMU are a subset of the standard LORD Sensing MIP Data Communications Protocol (DCP) and are further described in the LORD Sensing MIP Data Communications Protocol (DCP) manual.
  • Page 39 ® -GX5-15 User Manual To enter this mode select Advanced > Communications> Sensor Direct from the MIP Monitor main Figure 27 - window. Once in this mode the device status message will indicate Sensor Direct Mode ( Sensor Direct Mode To exit Sensor Direct Mode select the Refresh button in the MIP Monitor at any time, or use Advanced >...

  • Page 40: Sensor Wiring

    Connect only one at a time. Observe connection polarity. Sensor power and serial communications cables are available from LORD Sensing and come with the sensor connectivity kits. These cables will have the micro-DB9 connector on one end (to connect to the sensor) and either a standard DB9 on the other end (for RS232 communication) or a USB connector (for USB communications).

  • Page 41: Sampling On Start-Up

    MIP Monitor for data logging is not required. This functionality can also be embedded in user- designed applications by using the corresponding LORD Sensing MIP Data Communications Protocol (DCP) command. To view or download the DCP Manual, go to: http://www.microstrain.com/support/documentation, from the drop-down menu select 3DM-GX5-...

  • Page 42: 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 47 7.5 Using Wireless Adapters...

  • Page 43: Troubleshooting

    ® -GX5-15 User Manual Troubleshooting 8.1 Troubleshooting Guide...
  • Page 44 NOTE: if the baud rate is set higher than the computer serial port is capable of reading, communication will be permanently lost with the device. To recover, it will need to be connected to a higher speed port, connected via USB cable, or sent to LORD...
  • Page 45 If no conclusion can be determined, or to send a device in for repair, contact LORD Sensing Technical Support ( See Technical Support on page 3.1 sampling settings are incorrect...

  • Page 46: Repair And Calibration

    LORD Sensing model number and serial number, as well as your name, organization, shipping address, telephone number, and email.  Normal turn- around for RMA items is seven days from receipt of item by LORD Sensing . Warranty Repairs LORD Sensing warrants its products to be free from defective material and workmanship for a period of one (1) year from the original date of purchase.

  • Page 47: Technical Support

    -GX5-15 User Manual 8.3 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 48: Parts And Configurations

    User Manual Parts and Configurations 9.1 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 49 ® -GX5-15 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 30 -Standard Part Numbers...

  • Page 50: Accessories

    Table 6 - Sensor Mating Connector 9.3 Sales Support Products can be ordered directly from the LORD Sensing website by navigating to the product page and using the Buy feature.  http://www.microstrain.com/inertial For further assistance, our sales team is available to help with product selection, ordering options, and questions.

  • Page 51: Specifications

    ® -GX5-15 User Manual Specifications General Triaxial accelerometer, triaxial gyroscope, Integrated sensors temperature sensors, and pressure altimeter Inertial Measurement Unit (IMU) outputs: acceleration, angular rate, ambient pressure, delta theta, delta velocity Computed outputs: Extended Kalman Filter (EKF):filter status, attitude Data outputs estimates (Euler angles, quaternion, orientation matrix), bias compensated angular rate, pressure altitude, gravity-free linear acceleration, attitude...
  • Page 52 ® -GX5-15 User Manual Computed Outputs EKF outputs: ±0.25° RMS roll and pitch (typ) Attitude accuracy CF outputs: ±0.5° roll and pitch (static, typ) and ±2.0° roll and pitch (dynamic, typ) Attitude heading range 360° about all axes Attitude resolution <...

  • Page 53: Safety Information

    This section provides a summary of general safety precautions that must be understood and applied during operation and maintenance of components in the LORD Sensing Inertial Sensor Products.  Throughout the manual, ANSI Z535 standard safety symbols are used to indicate a process or component that requires cautionary measures.

  • Page 54: Reference Diagrams

    The diagrams in this section are to intended to aid in product installation and troubleshooting. For more see Technical Support on page 47 information contact LORD Sensing Technical Support ( 12.1 Sensor Dimensions and Origin This diagram describes the sensor physical specification including the measurement point of origin.

  • Page 55: Power Supply Specifications

    ® -GX5-15 User Manual 12.2 Power Supply Specifications These specifications describe the power supply included in the 3DM-GX5-15 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 56: Communication And Power Cables

    ® -GX5-15 User Manual 12.3 Communication and Power Cables included in the 3DM-GX5-15 connectivity kits. Figure 32 -RS232 Communications and power cable Figure 33 -USB Communications cable...
  • Page 57 ® -GX5-15 User Manual Figure 34 -Connecter interface cable (sold separately, PN: 6224-0100)

  • Page 58: Reference Documents

    -GX5-15 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. ...

  • Page 59: Glossary

    ® -GX5-15 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 60 ® -GX5-15 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 61 ® -GX5-15 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 62 ® -GX5-15 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 63 ® -GX5-15 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 64 ® -GX5-15 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 65 ® -GX5-15 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.

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