Aceinna INS401 User Manual
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Aceinna INS401 User Manual

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RE
INS401 USER MANUAL
(Preliminary)
Document Part Number: 7430-4006-02
ACEINNA, Inc.
email: info@aceinna.com, website: www.aceinna.com

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Summary of Contents for Aceinna INS401

  • Page 1 INS401 USER MANUAL (Preliminary) Document Part Number: 7430-4006-02 ACEINNA, Inc. email: info@aceinna.com, website: www.aceinna.com...
  • Page 2 US law. Diversion contrary to U.S. law is prohibited. ©2020 Aceinna, Inc. All rights reserved. Information in this document is subject to change without notice. Aceinna is a registered trademark of Aceinna Inc. Other product and trade names are trademarks or registered trademarks of their respective holders.

  • Page 3: Table Of Contents

    Housing and Dimensions ........................ 5 Mechanical Interface ........................6 RF Connector .......................... 6 Main Connector and Pin Description ..................7 INS401 SW Architecture ........................8 INS401 Installation ..........................8 Mounting Instructions ........................8 Antenna Selection and Connection ....................9 Power Requirement ........................10 INS401 Operation ..........................
  • Page 4 FW Upgrade with AceNav ......................29 BootLoader Design ........................29 INS401 APP Upgrade ......................31 INS401 IMU FW Upgrade ....................34 INS401 STA9100 FW Upgrade .................... 36 Appendix A: 16-bit CRC Implementation Sample Code ................38 Appendix B: AceNav CLI Software Usage ....................38 System requirement ..........................
  • Page 5 INS401 User’s Manual _____________________________________________________________________________________ About this Manual The following annotations have been used to provide additional information.  NOTE Note provides additional information about the topic.  EXAMPLE Examples are given throughout the manual to help the reader understand the terminology.

  • Page 6: Introduction

    IMU sensors. It is powered by RTK330LA – an ASIL B certified product of Aceinna. It is designed to work with odometer and RTK corrections for optimal performance. It is a lightweight and compact enclosure that consists of only two interfaces –...

  • Page 7: Ins401 Hardware

    The INS401 is powered directly from 12 V or 24 V battery systems (9 V ~ 32 V input range) and is designed and qualified to withstand the worst-case conditions in terms of overvoltage, reverse voltage and other fault conditions experienced in these vehicles.

  • Page 8: Mechanical Interface

    An automotive grade FAKRA-J C type connector, manufactured by Molex, is used for the GNSS antenna connection. Its manufacturing part number is 734035112. The mating connector has part number 734036262. The center conductor carries the RF signal into the INS401 receiver and delivers 5 V DC from the INS401 to the external active antenna.

  • Page 9: Main Connector And Pin Description

    _____________________________________________________________________________________ Main Connector and Pin Description The main connector carries all the other power and I/O signals to and from the INS401 module. This connector is also of automotive grade and is manufactured by JAE Electronics. The male end which is installed in the INS401 housing has part number MX23A18NF1; the female end, which is attached to the external wiring harness, has part number MX23A18SF1.

  • Page 10: Ins401 Sw Architecture

    The “Set User Configuration” command (see Table 11) should be used to re-align the coordinate system so that X is facing forward, Y is right, and Z is down if the INS401 is mounted in a different orientation.

  • Page 11: Antenna Selection And Connection

    INS401 User’s Manual _____________________________________________________________________________________ After the INS401 is mounted to the vehicle, measure the IMU to the GNSS antenna lever arm (translational offset) from the IMU navigation center to the GNSS antenna phase center. The GNSS antenna is typically installed on top of the vehicle roof. For optimal performance, it is required to have the lever arm accuracy of less than 2 cm.

  • Page 12: Power Requirement

    Ensure antenna is mounted to a rigid surface to minimize any movement due to vehicle dynamics. Power Requirement Operating voltage: 12V DC Current requirement: The INS401 consumes 4 W (typical value). It’s recommended to make sure the supply is capable of at least 600mA from 12V. Doc# 7430-4006-02 Page 10...

  • Page 13: Ins401 Operation

    System Operation and Data Logging On the testing computer, only the “AceNav” Command Line Interface (CLI) software, is needed for the INS401 system to work and to log all the data output from the INS401 system. This CLI Doc# 7430-4006-02...
  • Page 14 3. Use an ethernet converter to connect with a testing PC via the RJ-45 jack 4. Power on the system 5. Go to the “AceNav” CLI folder, modify the “ins401.json” JSON file inside the “settings/INS401” subfolder, input the correct NTRIP account information as shown below: 6.
  • Page 15 INS401 User’s Manual _____________________________________________________________________________________ 7. After running the data logging command below, the information about INS401, the PC connection, and the NTRIP connection status will be displayed on the console. The NTRIP status shows “ok” of both [connect] and [request], then the system has connected to a valid NTRIP server for the GNSS RTK operation 8.

  • Page 16: Rtk Corrections

    As stated in the overview, for optimal performance, it is necessary to provide the odometer input to the INS401. Refer to chapter 7 Ethernet Port and Messages section 7.5 Input Binary Packets for more information about the vehicle reference point and Table 8 for vehicle speed data packet.
  • Page 17 INS401 User’s Manual _____________________________________________________________________________________ Error standard deviation smaller than 0.1 m/s Normalized error autocorrelation at 0.1 s below 0.75 (mean removed before autocorrelation) Normalized error autocorrelation at 1 s below 0.70 (mean removed before autocorrelation) Error probability density function must be symmetrical (small deviations accepted) Maximum delay of 0.1 s...

  • Page 18: Diagnostic Capabilities

    INS401 User’s Manual _____________________________________________________________________________________ Diagnostic Capabilities Future section. Please refer to Table 5 for details on the diagnostic messages. Doc# 7430-4006-02 Page 16...

  • Page 19: Ethernet Port And Messages

    Ethernet Data Frame Definition The INS401 ethernet TX/RX data frame conforms to IEEE802.3, the format is shown below. The input/output binary packets and ASCII messages should be filled in the Ethernet data frame payload. Note it is also designed to contain two packets/messages in the same one data frame. If one packet/message is more than 1500 bytes, it is split into two continuous data frames.

  • Page 20: Output Binary Packets

    INS401 User’s Manual _____________________________________________________________________________________ algorithm C code is shown in Appendix A: 16-bit CRC Implementation Sample Code. Binary data of CRC is in Little Endian format Output Binary Packets Three types of output data binary packets are defined – GNSS solution, INS solution and diagnostic message.
  • Page 21 INS401 User’s Manual _____________________________________________________________________________________ Payload Description： Byte Type Name Unit Description Offset uint16 gps_week GPS time: GPS week and seconds in week uint32 gps_millisecs uint8 ins_status 0: INVALID 1: INS_ALIGNING 2: INS_HIGH_VARIANCE 3: INS_SOLUTION_GOOD 4: INS_SOLUTION_FREE 5: INS_ALIGNMENT_COMPLETE 0: INVALID...

  • Page 22: Diagnostic Message

    INS401 User’s Manual _____________________________________________________________________________________ ID_OCEANIA = 3, ID_AFRICA = 4, ID_NORTHAMERICA = 5, ID_SOUTHAMERICA = 6, ID_ANTARCTICA = 7 Diagnostic Message Table 5 Diagnostic Message Message Device diagnostic message, periodic output at 1 Hz Message ID 0x0a05 Length Payload Description:...
  • Page 23 INS401 User’s Manual _____________________________________________________________________________________ 1: accel data degradation due to sensor exception Gyro degradation 0: normal 1: gyro data degradation due to sensor exception Forced restart 0: normal 1: forced restart CRC error 0: normal 1: CRC error detected Tx overflow error...

  • Page 24: Raw Imu Data

    INS401 User’s Manual _____________________________________________________________________________________ Raw IMU Data Table 6 Raw IMU Data Message Raw IMU data, periodic output at 100 Hz Message ID 0x0a01 Length Payload Description： Byte Offset Type Name Unit Description uint16 gps_week GPS week uint32 gps_millisecs GPS time of week...

  • Page 25: Input Binary Packets

    (vehicle). And the user device must send the RTCM messages over ethernet to the ethernet port of the INS401. The input binary packets for this function are defined in Table 7, followed by a detailed example.
  • Page 26 Data frame checksum bytes In addition, another user input of the INS401 is defined as below, to enhance the dead reckoning (DR) performance of the IMU based INS solution. The accurate vehicle speed from the vehicle reference point provides accurate speed constraint to the along-track direction. This speed is decoded from CAN odometer messages, and usually is the average of the two rear wheels odometer speed.

  • Page 27: User Commands

    Several user commands are defined on the ethernet interface for the user system (e.g. a vehicle) to poll information from INS401 and to set user parameters in INS401. The user request commands and the INS401 response message are defined in pairs, where the request command is a two-byte hex value that is also the ID of the response message.
  • Page 28 INS401 User’s Manual _____________________________________________________________________________________ each defined in Table 13 Parameter value Table 11 Set User Configuration Description Set user configuration on the parameters (defined in Table 13) Request Command: Command 0xcc03 Length Payload offset variable name unit desc uint32 Sequence ID...
  • Page 29 INS401 User’s Manual _____________________________________________________________________________________ Table 13 User Configuration Parameters Sequence Type Name Unit Description float gnssLeverArmBx IMU to GNSS antenna phase center lever float gnssLeverArmBy float gnssLeverArmBz float vrpLeverArmBx float vrpLeverArmBy IMU to vehicle reference point lever arm float vrpLeverArmBz...
  • Page 30 INS401 User’s Manual _____________________________________________________________________________________ offset variable name unit desc uint8_t Ins save buffer [156] Ins save buffer Doc# 7430-4006-02 Page 28...

  • Page 31: Firmware Upgrade

    JG: Application software returns to GNSS mode from SDK burning mode.  NOTE 1) INS401 only supports Ethernet port upgrade; 2) INS401 only supports the upgrade of APP, ST9100 and IMU, and does not support the online upgrade of BootLoader; FW Upgrade with AceNav Refer to Appendix B: AceNav CLI Software Usage for AceNav operation to upgrade INS401 firmware.
  • Page 32 INS401 User’s Manual _____________________________________________________________________________________ Boot flag false St9100 st9100 Boot flag true Boot Jump to Sdk St9100 update data Start Boot Flag False Jump to GNSS IMU Boot Cmd Boot Flag True IMU Write app IMU Boot flag True IMU Boot Flag False...

  • Page 33: Ins401 App Upgrade

    INS401 User’s Manual _____________________________________________________________________________________ INS401 APP Upgrade State diagram flow chart Start JI form PC (Jump 2 IAP) Start Boot Flag False Is in IAP? Boot Flag True Jump 2 IAP Boot flag True Check Write Core CS from PC...
  • Page 34 INS401 User’s Manual _____________________________________________________________________________________ Send: Header Msg_Type Length Data 0x5555 0xcc0b 2 bytes Receive: Header Msg_Type Length Data 0x5555 0xcc0b PRODUCT_NAME_STRING, 2 bytes unit_version, PART_NUMBER_STRING, serialNum Table 15 Jump to IAP (JI) Send: Header Msg_Type Length Data 0x5555 0xaa01 2 bytes Receive: This command is used to jump to BootLoader.
  • Page 35 INS401 User’s Manual _____________________________________________________________________________________ ‘C’ ‘0’ ‘S’-succ ‘C’ ‘1’ ‘S’-succ 0x5555 0xaa02 2 bytes ‘F’-Fail ‘F’-Fail The sent JA command needs to include the CRC values of rtk.bin and ins.bin. After receiving the JA command, the MCU will calculate the CRC of the written rtk.bin and ins.bin. Only when the calculated CRC values are correct, it will jump to the APP, otherwise it will stay under BootLoader.

  • Page 36: Ins401 Imu Fw Upgrade

    When writing is successful, Length = 0 will show in the message returned by BootLoader. INS401 IMU FW Upgrade When upgrading the IMU, make sure that INS401 is in APP mode, otherwise the upgrade will not be possible. The IMU FW upgrade process is shown in Figure 8.
  • Page 37 INS401 User’s Manual _____________________________________________________________________________________ Send: Header Msg_Type Length Data 0x5555 0x4a49 2 bytes Receive: Header Msg_Type Length Data 0x5555 0x4a49 2 bytes This command is used to let IMU jump to IMU BootLoader. Table 21 Write IMU APP (IMU WA)

  • Page 38: Ins401 Sta9100 Fw Upgrade

    INS401 User’s Manual _____________________________________________________________________________________ INS401 STA9100 FW Upgrade When upgrading the STA9100, make sure that INS401 is in APP mode, otherwise the upgrade will not be possible. The STA9100 upgrade process is shown in Figure 9. Begin Notice: Success return 0xcc...
  • Page 39 INS401 User’s Manual _____________________________________________________________________________________ Table 18 Set STA9100 to GNSS(JG) Send: Header Msg_Type Length Data 0x5555 0xaa06 2 bytes Receive: Header Msg_Type Length Data 0x5555 0xaa06 2 bytes Table 19 Send STA9100 Bin First 5K Send: Header Msg_Type Length Data...

  • Page 40: Appendix A: 16-Bit Crc Implementation Sample Code

    Lib: npcap, https://scapy.readthedocs.io/en/latest/installation.html#windows GNSS/INS operation user settings Run the CLI software and connect with the INS401 system for the first time, there is a “setting” folder generated with subfolders named by Aceinna GNSS/INS navigation devices. Each type of device has a JSON format of configuration file, all the user settings including GNSS RTK correction NTRIP account information, IMU to GNSS antenna lever arm and so on.

  • Page 41: Commands

    ./acenav parse -t ins401 -p <path to data folder/session data subfolder> If the user changes the GNSS/INS user settings in the “ins401.json” file, to make it effective, run the data logging command with “-s” option as below, and the changed user settings will be saved to flash.

  • Page 42: Appendix C: Firmware 28.01 And Earlier Imu Axis Definition

    INS401 User’s Manual _____________________________________________________________________________________ Appendix C: Firmware 28.01 and Earlier IMU Axis Definition Figure 10 IMU Axis Definition and Navigation Center Location Appendix D: Detailed Revision History Date Document Firmware Applicability Author Revision Aug 19, 2021 28.00.01 JN/DW/BL/CL Details •...
  • Page 43 INS401 User’s Manual _____________________________________________________________________________________ Doc# 7430-4006-02 Page 41...

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