Related Manuals for Crossbow Technology AHRS300 Series
Summary of Contents for Crossbow Technology AHRS300 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 AHRS300 Series User’s Manual AHRS300CA- (DMU-AHRS) Revision 1.5, October 2001 Document 6001-0003 SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com...
- Page 2 SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:0755-83376549 FAX:0755-83376182 E-MAIL:szss20@163.co ©2000 Crossbow Technology, Inc. All rights reserved. Information in this document is subject to change without notice. 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.
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Page 3: Table Of Contents
AHRS300Series 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 Install GyroView................ - Page 4 AHRS300 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. AHRS300CA Output Quick Reference......29 Analog Output Conversion..............29 Digital Output Conversion..............29 Appendix C. Hard and Soft Iron Calibration ........... 30 Description .................... 30 Command List..................31 Appendix D. AHRS300CA Command Quick Reference ...... 32 Appendix E.
- Page 5 AHRS300Series 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 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...
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Page 7: Introduction
The analog outputs are fully conditioned and may be connected directly to an analog data acquisition device. Crossbow Technology DMUs employ onboard digital processing to compensate for deterministic error sources within the unit and to compute attitude information. -
Page 8: Package Contents
AHRS300 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 Package Contents In addition to your DMU sensor product you should have: • 1 CD with GyroView Software GyroView will allow you to immediately view the outputs of the DMU on a PC running Microsoft® Windows95™ or WindowsNT™. -
Page 9: Quick Start
AHRS300 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 DMU can damage the unit; Crossbow Technology is not responsible for resulting damage to the unit. X NOTE The analog outputs from the DMU are unconnected in this cable. - Page 11 AHRS300 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 determines the number of samples for averaging. 1 unit equals 10 samples at the ADC sampling rate. For normal applications, your average time should be at least 20. The “zero” command is discussed mo re in “The ‘Zero’...
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Page 12: Ahrs300Ca Details
AHRS300 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 AHRS300CA Details AHRS300CA Coordinate System The AHRS300CA will have a sticker 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 13 AHRS300 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. AHRS300CA 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 14: Interface
AHRS300 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 15: Measurement Modes
AHRS300 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 web at http://www.xbow.com. The source code has a .vi file format and requires a National Instruments LabView 5.0 or newer license to use The DMU baud rate can be changed per the following procedure: Start with the DMU connected to the serial interface, with your software set to the default baud rate of 38400. -
Page 16: Scaled Sensor Mode
AHRS300 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 17: Angle Mode
AHRS300 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 3.4.3 Angle Mode In angle mode, the AHRS300CA acts as a complete attitude and heading reference system and outputs the stabilized pitch, roll, and yaw angles along with the angular rate, acceleration, and magnetic field information. The angular rate, acceleration, and magnetic field values are calculated as described in the scaled sensor mode. -
Page 18: Commands
AHRS300 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 AHRS300CA 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 19 AHRS300 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 20 AHRS300 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 Set Erection Rate Character(s) Sent T<x> Response None Description The T command sets the vertical gyro erection rate.
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Page 21: Data Packet Format
AHRS300 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 Serial Number Character(s) Sent Response Serial Number Packet Description This queries the DMU for its serial number. The DMU will respond with a serial number data packet that consists of a header byte (FF), the serial number in 4 bytes, and a checksum byte. - Page 22 AHRS300 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 In voltage mode, the data is sent as unsigned integers to represent the range 0 – 5 V. In scaled and angle mode, the data generally represents a quantity that can be positive or negative.
- Page 23 AHRS300 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. AHRS300CA 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 24: Timing
AHRS300 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 75 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 25: Analog Output
AHRS300 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 Calculate the temperature with the following calibration: T (°C) = 44.4 (°C/V) * (V (V) – 1.375 V) temp The DMU temperature sensor is internal to the DMU, and is not intended to measure the ambient temperature. -
Page 26: 3.10 Magnetic Heading
AHRS300 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 In scaled measurement mode, pins 12 – 14 represent the magnetic vector measured by the DMU. To convert the voltage to magnetic field in Gauss, use the following relation: mag = MR *1.5 * V (V) / 4.096 V... -
Page 27: Ahrs300Ca Operating Tips
AHRS300 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 AHRS300CA Operating Tips The “Zero” Command The “z<x>” command is used to zero the angular rate sensor biases. This command does not “zero” the angle output! This should be an essential part of your strategy in using the DMU effectively. -
Page 28: The Erection Rate
AHRS300 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 Erection Rate The erection rate parameter controls the weighting between the rate gyro sensors and the accelerometers. This is the rate at which the direction of vertical as measured by integrating the rate gyros is forced to agree with the direction of vertical as measured by the accelerometers. -
Page 29: Mounting The Ahrs300Ca
AHRS300 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 banked turn; and a high erection rate (100+) when the plane is flying straight and level. Unfortunately, there is no single ideal erection rate for all applications. We can suggest a starting point based on past experience with similar applications, but you should be prepared to experiment some in the beginning to find the best setup for your DMU in your application. -
Page 30: Ahrs300Ca Start Up Procedure
AHRS300 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 "Good" materials include brass, plastic, titanium, wood, and some stainless steels. Again, if in doubt, try to stick a magnet on the material. If the magnet doesn't stick, you are using a good material. - Page 31 AHRS300 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 vehicle was known exactly and if the gyros provided perfect readings then this integration process would suffice. However, the initial state is seldom known to great precision, especially a vehicle's attitude, and the gyros usually provide corrupted data.
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Page 32: Adapted Flight Profile T-Setting
AHRS300 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 þ EXAMPLE Adapted Flight Profile T-Setting Vehicle electric power is applied to the DMU while the vehicle is out of external disturbances (within the hanger for instance). Following a warm-up period, (10 minutes should suffice) a gyro- zeroing command is sent to the unit to average out the gyro biases. - Page 33 AHRS300 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 enough care is taken, active control of the erection rate will provide the best performance. SUNSTAR自动化 http://www.sensor-ic.com/ TEL: 0755-83376489 FAX:0755-83376182 E-MAIL:szss20@163.com Doc.6001-0003 Rev.1.5 Page 27...
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Page 34: Appendix A. Mechanical Specifications
AHRS300 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 3.00 in 7.62 cm roll AHRS Connector-side View 4.10 in pitch 10.41 cm 0.10 in 0.25 cm 3.75 in 9.53 cm 0.25 in 0.64 cm AHRS Top View 3.00 in... -
Page 35: Appendix B. Ahrs300Ca Output Quick Reference
AHRS300 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. AHRS300CA 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 36: Appendix C. Hard And Soft Iron Calibration
AHRS300 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 C. Hard and Soft Iron Calibration Description The AHRS300CA uses 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 37: Command List
AHRS300 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 38: Appendix D. Ahrs300Ca Command Quick Reference
AHRS300 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. AHRS300CA 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 39: Appendix E. Warranty And Support Information
AHRS300 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 40: Identification And Protection
AHRS300 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 41 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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