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Summary of Contents for SBG Systems IG-500E
- Page 1 IG-500E IG Device Integration Manual IG-500E Remote IG-Device Integration Manual Document : IG500EIIDG.3 Revision : 3 - May 7, 2012 SBG Systems Email : support@sbg-systems.com 3bis, chemin de la Jonchère Phone : +33 1 80 88 45 00 92500 Rueil Malmaison...
- Page 2 25. Nov. 2010 Alexis GUINAMARD First version of this document © 2007 – 2012, SBG Systems SAS. All rights reserved. Information in this document is subject to change without notice. Copy or redistribution of this document is forbidden without express authorization of SBG Systems.
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Page 3: Table Of Contents
3.1. General configuration......................5 3.2. Triggered outputs ......................... 6 3.3. Sync Out pin configuration....................6 4. Aiding Sensors flow chart......................7 5. IG-500E specific settings and behaviors with IG-Devices............8 5.1. Magnetometers management....................8 5.2. GPS altitude reference......................8 5.3. IG-Device orientation offset....................8 6. -
Page 4: Introduction
With the IG-Devices protocol, you can also connect virtually any material to the IG-500E. For example, you can connect a DVL, an USBL and a depth sensor to the IG-500E and fuse data between these three sensors and the IG-500E. -
Page 5: Protocol Requirements
By default, you can find it in the following directory: C:\Program Files\SBG-Systems\IG-500 SDK\Software Development\Examples You will find below the configuration needed by the IG-Device to work correctly with the IG-500E. 3.1. General configuration For best results, please make sure that the IG-Device is configured as describe below. All other settings should be reset to factory default settings. -
Page 6: Triggered Outputs
3.3. Sync Out pin configuration If the remote IG-Device supports synchronization output signal, then a synchronization pulse should be sent at the output divider frequency. This will allow the IG-500E to synchronize incoming data with its internal clock. The falling edge pulse mode is preferable as it generates the smallest delay. -
Page 7: Aiding Sensors Flow Chart
Note 2: For best results, please make sure that the IG-Device magnetometers soft iron matrix is set to identity and that the hard iron offset is set to (0,0,0). Note 3: GPS and barometer give direct data to the IG-500E, so no calibration parameter is stored in one or another device. -
Page 8: Ig-500E Specific Settings And Behaviors With Ig-Devices
Mag Calib. Data. : These data are used for magnetometers calibration. • Therefore, when you run a hard and soft iron calibration, the result stored in the IG-500E corresponds to the remote magnetometer calibration. Note: When the magnetic source is changed, the magnetic calibration present in IG-500E memory becomes inconsistent with the actual magnetometer used and must be performed again for proper operation. -
Page 9: Warranty And Support
Our goal is to provide the best experience to our customers. If you have any question, comment or problem with the use of your IG-500E, we would be glad to help you, so please feel free to contact us. Please do not forget to mention your IG-500E Device ID (written on your IG-500E’s label). -
Page 10: Appendix: Low Level Commands Definitions
IG-500E IG Device Integration Manual 7. Appendix: Low level commands definitions 7.1. Introduction The remote IG-Device module accepts the following specific commands. These commands are encapsulated into the generic external module configuration frames. See the IG-Devices Serial Protocol Specifications or the IG-Devices CAN Protocol Specifications for more information about this generic configuration frame. -
Page 11: Commands
Size (bytes) An acknowledge is returned after the transaction. SBG_EXT_CMD_IG_GET_ MATRIX_OFFSET (0x03) This command is used to retrieve the orientation offset between the IG-500E and the remote IG-Device. It has no parameter and its answer should be SBG_ EXT_CMD_IG_RET_ MATRIX_OFFSET (0x04):...
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