Table of Contents
Summary of Contents for Crossbow Technology AHRS500GA Series
- Page 1 SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com AHRS500GA Series Operator’s Manual Document 7430-0060-02 Revision A, December 2002 Crossbow Technology, Inc., 41 Daggett Dr., San Jose, CA 95134 Tel: 408-965-3300, Fax: 408-324-4840 email: info@xbow.com, website: www.xbow.com SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com...
- Page 2 Crossbow and SoftSensor are registered trademarks and AHRS500GA is a trademark of Crossbow Technology, Inc. Other product and trade names are trademarks or registered trademarks of their respective holders. SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com...
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Page 3: Table Of Contents
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Table of Contents Introduction...................... 1 The AHRS500GA Series Motion and Attitude Sensing Units..1 Package Contents .................... 2 AHRS500GA Description................3 AHRS500GA Coordinate System............3 Connections..................... 4 3.2.1 I/O Cable ..................5 3.2.2... - Page 4 AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Calibration..................... 15 Operation ....................15 Range Limitations................15 AHRS500GA Installation................16 Appendix A. Mechanical Specifications........... 17 Appendix B. AHRS500GA Output Quick Reference ......18 Appendix C. Hard and Soft Iron Calibration ........... 19 Hard/Soft Iron Calibration Requirements ........
- Page 5 AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com About this Manual The following annotations have been used to provide additional information. X NOTE Note provides additional information about the topic. þ EXAMPLE Examples are given throughout the manual to help the reader understand the terminology.
- Page 6 AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com Page iv Doc# 7430-0060-02 Rev. A...
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Page 7: Introduction
Introduction The AHRS500GA Series Motion and Attitude Sensing Units This manual explains the use of the AHRS500GA Series of products, nine- axis measurement system designed to measure stabilized pitch, roll and yaw angles in a dynamic environment. The AHRS500GA is a nine-axis measurement system that combines linear accelerometers, rotational rate sensors, and magnetometers. -
Page 8: Package Contents
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Package Contents In addition to your AHRS500GA sensor product you should have: • 1 CD with GyroView Software GyroView will allow you to immediately view the outputs of the AHRS500GA on a PC running Microsoft® Windows™. You can also download this software from Crossbow’s web site at... -
Page 9: Ahrs500Ga Description
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com AHRS500GA Description AHRS500GA Coordinate System The AHRS500GA will have a label on one face illustrating the AHRS500GA coordinate system. With the connector facing you, and the mounting plate down, the axes are defined as: X-axis –... -
Page 10: Connections
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Connections The AHRS500GA500 has a male DB-15 connector. The signals are as shown in Table 1. Table 1 Connector Pin Assignments Signal Electrical Specifications RS-232 Transmit +/- 4.5 VDC min wrt power ground. -
Page 11: I/O Cable
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com 3.2.1 I/O Cable The user must provide a shielded cable with the shield connected to the I/O connector shell in order to provide the required EMI protection. The cable sent with the unit is intended to provide the user with the ability to perform a magnetometer calibration, and provide routine magnetometer calibration maintenance of the system, and will not provide adequate shielding. -
Page 12: Bit Status Output Pin
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com a factory diagnostic port to monitor BIT data. The unit can be configured to allow either port to be the user data port, defaulting the other for BIT diagnostics. The port definition is specified by the model configuration chosen and will be detailed in the model configuration sheet shipped with the unit. -
Page 13: Measurements
National Instruments LabView 5.0 or newer license to use Measurements The AHRS500GA Series is designed to operate as a complete attitude and heading reference system. See the “Data Packet Format” section for the actual structure of the data packet. -
Page 14: Sensor Measurements
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com The AHRS500GA outputs the stabilized pitch, roll and yaw angles in the digital data packet in angle mode. To convert the digital data to angle, use the following relation: angle = data*(SCALE)/2 where angle is the actual angle in degrees (pitch, roll or yaw), data is the signed integer data output in the data packet, and SCALE is a constant. - Page 15 AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Table 5 Bit Message Definition BIT Data Description Location Hard Failure An unrecoverable failure has Bit 0 occurred Soft Failure A soft failure has been detected. A Bit 1 soft failure can be generated by any BIT condition designated “soft”.
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Page 16: Commands
The AHRS500GA does not have a command structure. Data Packet Format In general, the digital data representing each measurement is sent as a 16-bit number (two bytes). The data is sent MSB first then LSB. Table 6 AHRS500GA Series Data Packet Format Byte Data Header (0xAA) -
Page 17: Timing
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Each data packet will begin with a two -byte header (hex AA 55) and end with a two-byte checksum. The checksum is calculated in the following manner: Sum all packet contents except header and checksum. -
Page 18: Ahrs500Ga Operation
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com AHRS500GA Operation Normal Operation The AHRS500GA is configured to output data continuously when power is applied. The AHRS500GA does not recognize any input serial commands. Calibration Operation The AHRS500GA can be commanded to perform a hard/soft iron calibration for the magnetometers using the procedure in Appendix C. -
Page 19: Setup Gyroview
Do not reverse the power leads! Applying the wrong power to the AHRS500GA can damage the unit; although there is reverse power protection, Crossbow Technology is not responsible for resulting damage to the unit should the reverse voltage protection electronics fail. - Page 20 AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Let the AHRS500GA warm up for 90 seconds when first turned on. This allows the Kalman filter to estimate the rate sensor biases. Now you’re ready to use the AHRS500GA! SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com Page 14 Doc# 7430-0060-02 Rev.
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Page 21: Limitations
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Limitations Installation The AHRS500GA -202 must be mounted with the mounting plate facing down into the gravitational field for correct operation. The AHRS500GA -202 must be mounted in a location with limited magnetic material near the unit. -
Page 22: Ahrs500Ga Installation
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com AHRS500GA Installation Refer to the AHRS500GA Installation Manual (Doc# 7410-0001-01) for detailed mounting instructions for the AHRS500GA. SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com Page 16 Doc# 7430-0060-02 Rev. A... -
Page 23: Appendix A. Mechanical Specifications
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Appendix A. Mechanical Specifications The AHRS500GA Installation drawing, 7420-0001-01 should be used. SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com Doc# 7430-0060-02 Rev. A Page 17... -
Page 24: Appendix B. Ahrs500Ga Output Quick Reference
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Appendix B. AHRS500GA Output Quick Reference 10 is the G-range of the accelerometers. This is the default maximum range of the accelerometers. 800 is the rate range of the rate sensors. This is the default maximum range of the gyros. -
Page 25: Appendix C. Hard And Soft Iron Calibration
24 inch radius of the unit. Hard/Soft Iron Calibration Introduction The AHRS500GA series use magnetic sensors to compute heading. Ideally, the magnetic sensors would be measuring only earth's magnetic field to comp ute the heading angle. In the real world, however, residual magnetism in the AHRS500GA itself and in your system will add to the magnetic field measured by the AHRS500GA. -
Page 26: Equipment Needed
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com monitoring the BIT status using the Gyroview software. The calibration software will determine when an adequate set of calibration data has been acquired and notify the user through the BIT status. The entire procedure may take several rotations of the aircraft to collect sufficient data. -
Page 27: Calibration Process
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Connect the other 15 pin end of the calibration cable to the aircraft cable. Connect the 9-pin end of the cable to the serial port of your computer. The calibration switch on the cable should be set to OFF. - Page 28 AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com MAG CAL DATA STAT: DON’T CARE BIT 13: ON/OFF MAG CAL MODE: BIT 11: OFF SYSTEM STATUS: Initializing BIT 10: ON BIT 9: OFF After approximately 90 seconds, the AHRS500GA will complete the initialization mode and change to the ready mode.
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Page 29: Switch To Mag Cal Mode
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com 9.4.2 Switch to Mag Cal Mode Start the magnetic calibration by moving the calibration switch on the calibration/maintenance cable to the ON position. The AHRS500GA will use all the subsequent measurements while the switch is in the ON position to model the magnetic environment. - Page 30 AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com MAG CAL DATA STAT: NOT ACCEPT BIT 13: ON MAG CAL MODE: BIT 11: ON TURN INDICATOR: TURNING BIT 11: ON SYSTEM STATUS: READY BIT 10: OFF BIT 9: OFF When the circle is completed, the following Gyro View BIT status should be displayed indicating the unit has made a full turn and is applying the estimated calibration.
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Page 31: Evaluating Calibration Data
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com 9.4.4 Evaluating Calibration Data At this point, you should also monitor the Mag Cal Data Status bit 13 of the BIT word. If the magnetometer compensation is adequate, the following BIT status... - Page 32 AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com MAG CAL DATA STAT: NOT ACCEPT BIT 13: ON MAG CAL MODE: CAL MODE BIT 11: ON SYSTEM STATUS: Initializing BIT 10: ON BIT 9: OFF The Mag Cal Data Status Bit ON indicates that the compensation is not yet optimized and more calibration data needs to be collected.
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Page 33: Completing The Calibration
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Repeat the “collecting calibration data” paragraph above, making another complete turn circle with the aircraft. Always turn the aircraft the same direction as the first turn. After the complete turn, the system will again reinitialize, and apply the latest estimates of the calibration parameters as described in the “Evaluating Calibration Data”... -
Page 34: Appendix D. Warranty And Support Information
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com 10 Appendix D. Warranty and Support Information 10.1 Customer Service As a Crossbow Technology customer you have access to product support services, which include: • Single -point return service • Web-based support service •... -
Page 35: Identification And Protection
AHRS500GA Series Operator’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com 10.3.2 Identification and Protection If the equipment is to be shipped to Crossbow for service or repair, please attach a tag TO THE EQUIPMENT, as well as the shipping container(s), identifying the owner. Also indicate the service or repair required, the... - Page 36 SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.co SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com...
- Page 37 SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.co SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com...
- Page 38 SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.co Crossbow Technology, Inc. 41 Daggett Drive San Jose, CA 95134 Phone: 408.965.3300 Fax: 408.324.4840 Email: info@xbow.com Website: www.xbow.com SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com...
- Page 39 SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com 商斯达实业集团是集研发、生产、工程、销售、代理经销 、技术咨询、信息服务等 SUNSTAR 为一体的高科技企业，是专业高科技电子产品生产厂家，是具有 10 多年历史的专业电子元器件 供应商，是中国最早和最大的仓储式连锁规模经营大型综合电子零部件代理分销商之一,是一家 专业代理和分銷世界各大品牌 IC 芯片和電子元器件的连锁经营綜合性国际公司， 专业经营进口、 国产名厂名牌电子元件，型号、种类齐全。在香港、北京、深圳、上海、西安、成都等全国主要 电子市场设有直属分公司和产品展示展销窗口门市部专卖店及代理分销商， 已在全国范围内建成 强大统一的供货和代理分销网络。 我们专业代理经销、开发生产电子元器件、集成电路、传感 器、 微波光电元器件、 工控机/DOC/DOM 电子盘、 专用电路、 单片机开发、 MCU/DSP/ARM/FPGA 软件硬件、二极管、三极管、模块等，是您可靠的一站式现货配套供应商、方案提供商、部件功 能模块开发配套商。 商斯达实业公司拥有庞大的资料库， 有数位毕业于著名高校——有中国电子 工业摇篮之称的西安电子科技大学 （西军电） 并长期从事国防尖端科技研究的高级工程师为您精 挑细选、量身订做各种高科技电子元器件，并解决各种技术问题。 更多产品请看本公司产品专用销售网站: 商斯达中国传感器科技信息网：http://www.sensor-ic.com/ 商斯达工控安防网：http://www.pc-ps.net/ 商斯达电子元器件网：http://www.sunstare.com/ 商斯达微波光电产品网:HTTP://www.rfoe.net/ 商斯达消费电子产品网://www.icasic.com/ 商斯达实业科技产品网://www.sunstars.cn/...
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