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Related Manuals for Crossbow Technology AHRS400 Series
Summary of Contents for Crossbow Technology AHRS400 Series
- Page 1 AHRS400 Series User’s Manual Models… AHRS400CA- AHRS400CB- AHRS400CC- (DMU-HDX-AHRS) Revision A, March 2002 Document 7430-0004-01 Crossbow Technology, Inc., 41 E. 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 DMU 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
AHRS400 Series User’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 AHRS Series Motion and Attitude Sensing Units....1 Package Contents ................... 2 Quick Start ....................... 3 GyroView Software ................3 2.1.1 GyroView Computer Requirements........... 3 2.1.2... - Page 4 AHRS400 Series User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Analog Output Conversion..............24 Digital Output Conversion..............24 Appendix C. Hard and Soft Iron Calibration ........... 25 Description .................... 25 Command List..................26 Appendix D. AHRS Command Quick Reference........27 Appendix E. Warranty and Support Information ........28 Customer Service .................
- Page 5 AHRS400 Series User’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 AHRS400 Series User’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# 7430-0004-01 Rev. A...
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Page 7: Introduction
SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Introduction The AHRS Series Motion and Attitude Sensing Units This manual explains the use of the AHRS400 Series of products, nine-axis measurement system designed to measure stabilized pitch, roll and yaw angles in a dynamic environment. -
Page 8: Package Contents
AHRS400 Series User’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 AHRS should not be exposed to large magnetic fields. This could permanently magnetize internal components of the AHRS and degrade its magnetic heading accuracy. Package Contents In addition to your DMU sensor product you should have: •... -
Page 9: Quick Start
AHRS400 Series User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Quick Start GyroView Software Crossbow includes GyroView software to allow you to use the DMU right out of the box and the evaluation is straightforward. Install the GyroView software, connect the DMU to your serial port, apply power to your unit and start taking measurements. -
Page 10: Setup Gyroview
SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com M WARNING Do not reverse the power leads! Applying the wrong power to the AHRS can damage the unit; Crossbow Technology is not responsible for resulting damage to the unit. X NOTE The analog outputs from the AHRS are unconnected in this cable. -
Page 11: Ahrs Details
AHRS400 Series User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com AHRS Details AHRS Coordinate System The AHRS will have a label on one face illustrating the DMU coordinate system. With the connector facing you, and the mounting plate down, the axes are defined as: X-axis –... - Page 12 AHRS400 Series User’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 1. AHRS Connector Pin Out Signal RS-232 Transmit Data RS-232 Receive Data Positive Power Input (+Vcc) Ground X-axis accelerometer Analog voltage Y-axis accelerometer Analog voltage Z-axis accelerometer Analog voltage Roll rate analog voltage...
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Page 13: Interface
AHRS400 Series User’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 serial interface connection is standard RS-232. On a standard DB-25 COM port connector, make the connections per Table 2. Table 2. DB-25 COM Port Connections COM Port Connector DMU Connector... -
Page 14: Measurement Modes
Measurement Modes The AHRS400 Series is designed to operate as a complete attitude and heading reference system. You can also use the DMU as a nine-axis sensor module. The AHRS can be set to operate in one of three modes: voltage mode, scaled sensor mode, or angle (VG) mode. -
Page 15: Scaled Sensor Mode
AHRS400 Series User’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 DMU rate sensor, magnetometer, and angle analog outputs are not enabled in this mode. Only the linear accelerometer analog outputs on pins 5 - 7 are enabled because these signals are taken directly from the accelerometers. -
Page 16: Angle Mode
AHRS400 Series User’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 AHRS Kalman filter is not enabled in scaled sensor mode. Therefore, the rate sensor bias will change slightly due to large changes in temperature and time. If the unit is changed from angle to scaled mode, the last estimated rate sensor bias values are used upon entering scaled mode. -
Page 17: Commands
AHRS400 Series User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Commands The AHRS has a simple command structure. You send a command consisting of one byte to the DMU over the RS-232 interface and the DMU will execute the command. X NOTE The DMU commands are case sensitive! GyroView is a very good tool to use when debugging your own software. - Page 18 AHRS400 Series User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Description Changes measurement type to Scaled Mode. DMU outputs measurements in scaled engineering units. Command Angle Mode Character(s) Sent Response Description Changes measurement type to Angle (VG) Mode. DMU calculates stabilized pitch and roll. Also outputs sensor measurements in scaled engineering units.
- Page 19 AHRS400 Series User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com DMU a "G" while it is in Continuous Mode will place the DMU in Polled Mode. Command Query DMU Version Character(s) Sent Response ASCII string Description This queries the DMU firmware and will tell you the DMU type and firmware version.
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Page 20: Data Packet Format
AHRS400 Series User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com respond with "A" at the new baud rate when a successful detection of the new baud rate is completed. Data Packet Format In general, the digital data representing each measurement is sent as a 16-bit number (two bytes). - Page 21 AHRS400 Series User’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 4. AHRS400 Series Data Packet Format Byte VG Mode Scaled Sensor Mode Voltage Mode Header (255) Header (255) Header (255) Roll Angle (MSB) Roll Angular Rate (MSB) Roll Gyro Voltage (MSB)
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Page 22: Timing
AHRS400 Series User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com Timing The maximum AHRS data update rate is 70 samples per second. In some applications, using the DMU’s digital output requires a precise understanding of the internal timing of the device. The processor internal to the DMU runs in a loop - collecting data from the sensors, processing the data, and then collecting more data. -
Page 23: Analog Output
15°C higher than the ambient temperature. Analog Output The AHRS400 Series of products provide nine fully conditioned analog outputs; of these, six are output voltages created by a DAC in the DMU. The analog signals can be connected directly to an ADC or other data acquisition device without further buffering. -
Page 24: 3.10 Magnetic Heading
AHRS400 Series User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com voltage at the sensor output. To convert the analog output to a sensor value use the following relation: rate = AR *1.5 * V (V) / 4.096 V where rate is the actual measured rate in units °/s, AR is the angular rate range of the sensor and V is the measured voltage at the analog output. -
Page 25: Ahrs Operating Tips
This can cause errors in the accelerometer output. The AHRS400 Series should be isolated from magnetic material as much as possible. Magnetic material will distort the magnetic field near the AHRS, which will greatly affect its accuracy as a heading sensor. -
Page 26: Ahrs Start Up Procedure
AHRS400 Series User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com completely non-magnetic. You can permanently magnetize ("perm up") components in the AHRS if you expose the unit to a large magnetic field. You can use a demagnetizer (tape eraser) to demagnetize the DMU if it gets “permed.”... -
Page 27: Appendix A. Mechanical Specifications
AHRS400 Series User’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 AHRS400CA Outline Drawing SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com Doc# 7430-0004-01 Rev. A Page 21... -
Page 28: Ahrs400Cb Outline Drawing
AHRS400 Series User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com AHRS400CB Outline Drawing SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com Page 22 Doc# 7430-0004-01 Rev. A... -
Page 29: Ahrs400Cc Outline Drawing
AHRS400 Series User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com AHRS400CC Outline Drawing SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com Doc# 7430-0004-01 Rev. A Page 23... -
Page 30: Appendix B. Ahrs Output Quick Reference
AHRS400 Series User’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. AHRS Output Quick Reference GR is the G-range of the accelerometers. For example, if your DMU has ± 2 G accelerometers, GR = 2. RR is the rate range of the rate sensors. For example, if your DMU has ±... -
Page 31: Appendix C. Hard And Soft Iron Calibration
Appendix C. Hard and Soft Iron Calibration Description The AHRS400 Series of products use magnetic sensors to compute heading. Ideally, the magnetic sensors would be measuring only earth's magnetic field to compute the heading angle. In the real world, however, residual magnetism in the AHRS itself and in your system will add to the magnetic field measured by the AHRS. -
Page 32: Command List
AHRS400 Series User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com then install the AHRS in a vehicle (for instance), and the vehicle is magnetic, you will still see errors arising from the magnetism of the vehicle. Command List Command Start Soft Iron Calibration... -
Page 33: Appendix D. Ahrs Command Quick Reference
AHRS400 Series User’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 D. AHRS Command Quick Reference Command Response Description (ASCII) Reset: Resets the DMU firmware to default operating mode of Voltage Mode and Polled operation. Change to Voltage Mode. Change to Scaled Sensor Mode. -
Page 34: Appendix E. Warranty And Support Information
AHRS400 Series User’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 E. Warranty and Support Information 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
AHRS400 Series User’s Manual SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.com 9.3.2 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 E. 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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