Related Manuals for Crossbow Technology AHRS500CA Series
Summary of Contents for Crossbow Technology AHRS500CA Series
- Page 1 SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.co AHRS500CA Series User’s Manual Document 7430-0050-03 Revision A, January 2003 Crossbow Technology, Inc., 41 Daggett Drive, 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 AHRS500CA 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
AHRS500CA 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 AHRS500CA 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 AHRS500CA 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........... 19 AHRS500CA Outline Drawing ............19 Appendix B. AHRS500CA Output Quick Reference......20 Appendix C. Hard and Soft Iron Calibration ........... 21 Hard/Soft Iron Calibration Introduction........... 21 AHRS500CA Hard and Soft Iron Calibration Procedure .....
- Page 5 AHRS500CA 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 AHRS500CA 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# 7430-0050-03 Rev. A...
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Page 7: Introduction
Introduction The AHRS500CA Series Motion and Attitude Sensing Units This manual explains the use of the AHRS500CA Series of products, nine- axis measurement system designed to measure stabilized pitch, roll and yaw angles in a dynamic environment. The AHRS500CA is a nine-axis measurement system that combines linear accelerometers, rotational rate sensors, and magnetometers. -
Page 8: Package Contents
AHRS500CA 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 dynamic conditions without any external user input. No user intervention or configuration is required at power-up. The AHRS500CA should not be exposed to large magnetic fields. This could permanently magnetize internal components of the AHRS500CA and degrade its magnetic heading accuracy. -
Page 9: Quick Start
AHRS500CA 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 AHRS500CA right out of the box and the evaluation is straightforward. Install the GyroView software, connect the AHRS500CA to your serial port, apply power to your unit and start taking measurements. -
Page 10: Setup Gyroview
Do not reverse the power leads! Applying the wrong power to the AHRS500CA 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 11: Ahrs500Ca Details
AHRS500CA 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 AHRS500CA Details AHRS500CA Coordinate System The AHRS500CA will have a label on one face illustrating the AHRS500CA coordinate system. With the connector facing you, and the mounting plate down, the axes are defined as: X-axis –... -
Page 12: Connections
AHRS500CA 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 Connections The AHRS500CA500 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 w.r.t. power ground. -
Page 13: I/O Cable
AHRS500CA 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 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 14: Bit Status Output Pin
AHRS500CA 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 unit has both an RS-232 and RS422 serial interface. During factory configuration, one port is configured as the user data port while the other is 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. -
Page 15: Interface
Measurements The AHRS500CA Series is designed to operate as a complete attitude and heading reference system. The default system operation is “angle” mode with the packet and output data as described below. The AHRS500CA operates in two other measurement modes that are for factory use only and are not supported for general use. -
Page 16: Bit Processing
AHRS500CA 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 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 17: Commands
AHRS500CA 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 Comm A serial port (user) communications Bit 4 error (ex over-run, parity) has been detected. Reboot Detect A processor reset was detected Bit 5 possibly due to a watchdog timeout or low-power setting. -
Page 18: Command List
AHRS500CA 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 3.5.1 Command List Command Ping Character(s) Sent Response Description Pings AHRS500CA to verify communications Command Voltage Mode Character(s) Sent Response Description Factory use only Command Scaled Mode Character(s) Sent Response Description... - Page 19 AHRS500CA 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 Response Data Packets Description Changes data output mode to Continuous Mode. AHRS500CA will immediately start to output data packets in continuous mode. Command Request Data Character(s) Sent Response Data Packet Description "G"...
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Page 20: Data Packet Format
AHRS500CA 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 Command Query Model Character(s) Sent Response Model Configuration Packet Description This queries the AHRS500CA model type and will tell you the AHRS500CA model configuration. The response is an ASCII string packet that describes the model type... -
Page 21: Command Packet Format
AHRS500CA 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 6 AHRS500CA Series Data Packet Format Byte AHRS Mode Header (0xAA) Header (0x55) Roll Angle (MSB) Roll Angle (LSB) Pitch Angle (MSB) Pitch Angle (LSB) Heading Angle (MSB) Heading Angle (LSB) -
Page 22: Timing
AHRS500CA 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 default AHRS500CA data output rate is 100 samples per second. Depending on the model configuration chosen, the system output sample rate can be set to a different constant value. -
Page 23: Ahrs500Ca Operating Tips
AHRS500CA 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 AHRS500CA Operating Tips Mounting the AHRS500CA The AHRS500CA should be mounted as close to the center of gravity (CG) of your system as possible. This will minimize any “lever effect.” If it is... -
Page 24: Ahrs500Ca Start Up Procedure
AHRS500CA 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 DO NOT try to stick a magnet to the AHRS500CA. We have removed as much magnetic material as possible from the unit, but we could not make the unit completely non-magnetic. You can permanently magnetize ("perm up") components in the AHRS500CA if you expose the unit to a large... -
Page 25: Appendix A. Mechanical Specifications
AHRS500CA 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 AHRS500CA Outline Drawing SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com Doc# 7430-0050-03 Rev. A Page 19... -
Page 26: Appendix B. Ahrs500Ca Output Quick Reference
AHRS500CA 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. AHRS500CA 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 27: Appendix C. Hard And Soft Iron Calibration
Hard/Soft Iron Calibration Introduction The AHRS500CA will need to be calibrated for hard and soft iron compensation before use with the aircraft. The AHRS500CA series use magnetic sensors to compute heading. Ideally, the magnetic sensors would be measuring only earth's magnetic field to compute the heading angle. In... -
Page 28: Equipment Needed
AHRS500CA 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 internal to the AHRS500CA. If you then install the AHRS500CA in a aircraft and the magnetic environment is different, you will still see errors arising from the magnetism of the aircraft environment. -
Page 29: Calibration Process
AHRS500CA 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 M WARNING Do not reverse the power leads With the AHRS500CA connected to your PC serial port and powered, open the GyroView software. GyroView should automatically detect the AHRS500CA and display the serial number and firmware version if it is connected. - Page 30 AHRS500CA 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 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 AHRS500CA will complete the initialization mode and change to the ready mode.
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Page 31: Switch To Mag Cal Mode
AHRS500CA 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 7.3.2 Switch to Mag Cal Mode Start the magnetic calibration by moving the calibration switch on the calibration/maintenance cable to the ON position. The AHRS500CA will use all the subsequent measurements while the switch is in the ON position to model the magnetic environment. - Page 32 AHRS500CA 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 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 33: Evaluating Calibration Data
AHRS500CA 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 7.3.4 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 34 AHRS500CA 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 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 35: Completing The Calibration
AHRS500CA 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 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 36: Testing The Calibration
AHRS500CA 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 7.3.6 Testing the Calibration The heading calibration can be tested by comparing the heading output of the AHRS500CA against a known reference (compass or compass markers). SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com Page 30 Doc# 7430-0050-03 Rev. -
Page 37: Appendix E. Warranty And Support Information
AHRS500CA 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 38: Identification And Protection
AHRS500CA 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 8.3.2 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 39 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 40 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...
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