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Geometrics MagArrow User Manual

Uas deployable magnetometer
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User Guide
For
MagArrow
UAS Deployable Magnetometer
P/N 770-00110-01
Volume 1 - Rev. F
March 2023
COPYRIGHT © 2023

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Summary of Contents for Geometrics MagArrow

  • Page 1 User Guide MagArrow UAS Deployable Magnetometer P/N 770-00110-01 Volume 1 - Rev. F March 2023 COPYRIGHT © 2023...

  • Page 2: Table Of Contents

    USB Flash Drive ......................... 12 Wi-Fi .............................. 12 10.0 GPS ............................... 13 11.0 Controlling the MagArrow via Wi-Fi ..................13 12.0 12.1 Home Page ..........................14 12.2 Status Page ..........................16 12.3 Data Page ..........................20 12.4 Admin Page ..........................23 12.5 Help Page ..........................
  • Page 3 16.3 GPS ............................32 16.4 LEDs ............................33 16.5 System Boot Internal Light Indicators ..................34 APPENDIX A: MagArrow Specifications ...................35 APPENDIX B: Embedded Software Updates ................... 37 APPENDIX C: Terminology Used with MFAM Based Magnetometers ........38 APPENDIX D: NTRIP Base Station Correction for RTK Surveys ..........41...

  • Page 4: The Magarrow

    The MagArrow is a laser-pumped, cesium vapor (Cs133 non-radioactive) total field scalar magnetometer. The MagArrow’s light weight of 1 kg makes it ideal for use with unmanned aerial systems (UAS) that can support 2kg+ payloads. Within its aerodynamic carbon fiber housing, the MagArrow contains: •...

  • Page 5: Table Of Contents

    Anything less won’t reveal more information and anything more will likely lead to loss of some small features. An external power switch is also added to the MagArrow II. As a result, the MagArrow II is about 300g heavier (total weight ~1.15kg without the battery) than the...

  • Page 6: Unpacking The Magarrow

    To close the latches, simply push down on them. To repack for transit, place the MagArrow upside down so it sits securely in the foam. Close all latches.

  • Page 7: Recommended Non-Magnetic Lithium Polymer Batteries

    2200mah 3S 45~90C Lipo Pack) A single 1800 mAh battery will run the MagArrow for about 2 hours; the 2200 mAh, about 2.5 hours. It is recommended to have at least two spare batteries so that one may be charging while the other is in use.

  • Page 8: Batteries

    30% before shipment. Batteries 5.1 Installing the Battery On the bottom of the MagArrow, there is a door to the battery compartment where the batteries will be stored. Remove the battery compartment cover with the provided JIS#1 screwdriver. It is very important to only use the provided JIS#1 screwdriver or drill bit to tighten or loosen the battery door screws (see red circles below).
  • Page 9 Proper Placement of Battery Pack There are two yellow battery connectors and one white cell voltage monitoring connector within the battery compartment. Locate one of the yellow battery connectors and the white cell voltage monitoring connector. Plug the lithium battery connector (yellow) into the yellow connector. Note: The second yellow connector is used when hot swapping batteries.

  • Page 10: Hot Swapping The Battery

    Slide the battery into the compartment and carefully tuck the wires alongside the battery. 5.2 Hot Swapping the Battery For quick battery changes, the new battery pack can be plugged into the second (unused) yellow battery connector before disconnecting the depleted battery. This method of swapping batteries does not require shutting the system down, which will save time.

  • Page 11: Powering On/Off

    Put battery and connectors into the space provided. Replace battery cover. *Note: The MagArrow is equipped with internal electronics so that the unit automatically draws power from whichever battery is more fully charged. The MagArrow will automatically shut down when the battery voltage gets too low for proper operation, about ~9.7 volts.

  • Page 12: Restarting The System

    Admin page. 6.1 Restarting the System It may be necessary, on occasion, to restart the MagArrow. For example, the system may require restart in the event of a glitch with the Web Browser Interface. There are two options when this happens: •...

  • Page 13: Led-Status

    Try using the restart function first, and if that does not fix the error, then cycle the power. LED-Status When the system is powered on, the two bright LEDs on the underside of the MagArrow will flash. The pattern of flashing will depend on the system status.

  • Page 14: Sd Memory Card

    Note: The bottom of the MagArrow is dark and shaded, which allows the operator to see the LEDs from a considerable distance. At extreme distances, binoculars may help the observer. There are two lights inside the battery compartment that can also be used for troubleshooting.

  • Page 15: Usb Flash Drive

    This USB Flash Drive has been verified to be non-magnetic. It is highly recommended that you do NOT install any other USB Drive into the MagArrow because many USB flash drives are magnetic. A flash drive that is magnetic would bring unwanted noise into the magnetic field measurements.

  • Page 16: Gps

    To connect, go to the settings of your Android* phone, tablet, or PC, turn on Wi-Fi, and connect to the MagArrow’s wireless access point. It may take about 15 seconds for the device to find the access point. Enter the password. Only one device can be connected to the MagArrow’s wireless access point at a time.

  • Page 17: Home Page

    In order, you will find Home, Status, Data, Admin, and Help. Please note that when the MagArrow is not within Wi-Fi range of the phone, tablet, or PC, the functions described below will not be available. Please wait until the MagArrow is back at the landing site, and within range to refresh the web browser pages.
  • Page 18 Magnetometer Mode: Running/Starting - This displays the current mode of the magnetometer. Starting - The magnetometer sensors are warming up. It is very likely that you will not see ‘Starting’ since it only takes one to two minutes for the sensors to warm up. Running - The sensors are currently running and operating normally.

  • Page 19: Status Page

    Low - The reported state when the battery has less than 30% charge remaining. Download Only - The battery charge is too low to run the sensors, but still has enough charge to download data files. The Wi-Fi will continue to function for a limited time in this condition. It is highly recommended to change the battery when the percentage drops to 30%.
  • Page 20 Maximum Storage Write Time: 26 mS - This shows the maximum time it takes to write information to storage, in milliseconds. This will have no practical use during survey operations and should only be used for troubleshooting or receiving support from Geometrics.
  • Page 21 Readings Stored Since Boot: 0 - This shows how many records have been stored since system boot. Magnetometer Instrument Mode: Running/Starting - This indicates that the magnetometer is currently running and operating normally. Starting - As it only takes one to two minutes for the sensors to warm up, it is unlikely that you will see this mode.
  • Page 22 GPS Synch to Magnetometer: Locked/Not Locked/Not Found - This indicates that the PPS pulse is fixed and synchronizing the timing of the measurement. This ensures that exactly 1000 readings are recorded per second. Locked - The measurement timing is phase locked to the PPS. Not Locked - The GPS data is coming in, but the measurement is not phase locked to the PPS.

  • Page 23: Data Page

    12.3 Data Page Clicking Data on the top menu bar will bring you to the Data page. This is the most interactive page, where you will create new surveys, control when data begins and stops recording, download data, and delete data. To create a new survey, or Acquisition, click the CREATE NEW button.
  • Page 24 Recording - Initially, this will say ‘No’, which means data is not being saved to storage. To begin recording and saving data for the active Acquisition, click START COLLECTING DATA. The ID of the Active Acquisition should appear next to Recording, as in the screenshot below. You can set a mark in the dataset by selecting ADD MARK.
  • Page 25 To download the data from an Acquisition, click DOWNLOAD. A small rectangular window will pop up at the bottom of the page that will show that the file has been downloaded. To delete an acquisition, click the DELETE button next to the acquisition you would like to delete.

  • Page 26: Admin Page

    To change the active acquisition, select ACTIVATE next to the acquisition you would like to be active. Make sure to STOP COLLECTING DATA for the currently Active Acquisition before activating another survey. 12.4 Admin Page Clicking Admin will open the Admin page, where Shutting Down and Restarting the system can be done quickly and easily.

  • Page 27: Help Page

    12.5 Help Page Clicking Help on the top menu bar will open a new tab in the web-browser. This tab contains quickly accessible online help instructions that are a condensed version of this User Manual for use in the field. PRESS BACK BUTTON on phone, tablet, or PC to return to previous page. rev.

  • Page 28: Survey Manager - Decimating & Converting Data Files

    13.0 Survey Manager – Decimating & Converting Data Files The MagArrow’s data output is a binary file in the form of *.magdata. This type of file is not readable by a text editor. To convert the binary file to a text file (*.csv), and to decimate the data to a smaller sampling rate, use Survey Manager and perform a Quick Conversion.

  • Page 29: Data Format

    This operaiton should be done as many times as necessary to convert all of the data files. The MagArrow data may now be viewed in a text editor program, or MagPick, Surfer, Geosoft, etc. Data Format 14.0 Survey Manager outputs a file in ASCII format with comma separated values (*.csv). The file will contain header information for each of the individual columns.
  • Page 30 Compass X: This is the strength of the magnetic field component at right angles to the MagArrow's body in nT. A positive value means that the earth’s North Pole is to the right of the MagArrow in its normal flight orientation.
  • Page 31 LocationSource: A single letter to indicate the source of the location information. I = Internally interpolated G = GPS value HDOP: The Horizontal Dilution of Precession as reported by the GPS module. FixQuality: The satellite fix quality as reported by the GPS module. SatellitesUsed: The number of satellites used, as reported by the GPS module.
  • Page 32 $GNRMC,231703.000,A,3724.014941,N,12153.347770,W,0.26,112.72,211218,,,D*66 EventCode: When included, the EventCode covers any information that doesn't fit in the previously described columns. This column contains a code indicating the nature of the event reported. EventInfo: When included, this is an additional 32-bit data field that further describes the event. EventDataLength: When included, t his is the length in bytes of the following Event Data field for ease of data processing.

  • Page 33: Tips On Running A Magarrow Survey

    Test out various suspension systems with the UAS. An ideal suspension system is one that reduces the swinging motion of the MagArrow. It is also important to suspend the MagArrow far enough beneath the UAS such that the electromagnetic field from the vehicle motors is not measured by the magnetometer.
  • Page 34 A. Connect to MagArrow.net and check that the GPS is on, and that GPS data is available. Only one device can be connected to the MagArrow’s Wi-Fi at one time. B. Carry out the mission. Due to limitations with the UAS flight times, there may be several survey segments, which should not affect survey quality.

  • Page 35: Troubleshooting

    If MagArrow is near a magnetic object, move it away from the object. J. Turn the MagArrow so that it points North. K. If the MagArrow is near a large electric motor or other sources of large AC magnetic fields, move it away.

  • Page 36: Leds

    *The GPS satellite constellation comprises satellites in low earth orbit that provide the ranging signals and navigation data messages to the GPS receiver in the MagArrow. Users with a clear view of the sky will have a minimum of four GPS satellites in view. The satellites broadcast ranging signals and navigation data allowing the GPS receiver to measure their pseudoranges in order to estimate the MagArrow's position, in a passive, listen-only mode.

  • Page 37: System Boot Internal Light Indicators

    B. Disable that device’s Wi-Fi, either in the device’s settings menu or by setting the device to "airplane mode". C. Briefly press the power button on the MagArrow to restart the data logging and Wi-Fi processor. D. Try to connect.

  • Page 38: Appendix A: Magarrow Specifications

    APPENDIX A: MagArrow Specifications Operating Principle: Laser pumped cesium vapor (Cs133 non-radioactive) total field scalar magnetometer. Operating Range: 20,000 to 100,000 nT. Gradient Tolerance: 10,000nT/m. Operating Zones: Configurable for operation anywhere in the world without dead zones. Dead Zone: None.
  • Page 39 Battery Recommendations: Non-magnetic 1800 mAh or 2200 mAh lithium polymer, 3cell 11.1v.. Battery Connection: 2x XT60 connectors for 206 type batteries. Power Consumption: Approximately 6 watts. With 12-volt power the current draw is about 420 milliamps (0.42 amps). On power up the inrush current is limited to 2 amps. Operating Temperature: -10°C to +40°C (+14°F to +104°F).

  • Page 40: Appendix B: Embedded Software Updates

    Technical Details section. To perform the update, do the following: Take the USB drive out of the MagArrow and plug in into a windows machine. Run the MagArrowSetup installer. Follow the instructions to set up wifi password (must be 8 characters).

  • Page 41: Appendix C: Terminology Used With Mfam Based Magnetometers

    APPENDIX C: Terminology Used with MFAM Based Magnetometers Absolute: An absolute magnetometer is one where the measured value is equal to the strength of the magnetic field and does not depend on other things such as time and temperature and orientation.
  • Page 42 Table 2 – GPS Confidence Levels Rating Description Value <1 Ideal This is the highest possible confidence level. Excellent At this confidence level, the position measurements are accurate enough to meet all but the most demanding applications. This represents a level that marks the minimum appropriate for Good making accurate surveys.
  • Page 43 Commonly referred to as the "electronics," the sensor driver is the circuitry needed to convert the signal from the optical package to produce the output of digital field readings. Warm Up Time: After powering on, the time it takes for the sensor to reach optimal temperature, which allows the MFAM sensor to produce good quality field readings.

  • Page 44: Appendix D: Ntrip Base Station Correction For Rtk Surveys

    Using an Android Cell Phone as a NTRIP Client: To get NTRIP correction data to the MagArrow/MagEx magnetometer we will use an NTRIP client app running on an android cell phone. One very good (and free) app is called “NTRIP Client” by Lefebure Design which can be found...
  • Page 45 MagArrow/MagEx Bluetooth name which will be the last 8 digits of the Device MagArrow/MagEx serial number. Select it and allow it to pair up. The opening screen of the app is shown on the right. 3. NTRIP Client Settings: Launch the NTRIP Client app. In the upper right corner tap the gear (settings) icon to go into the setup menu.
  • Page 46 Displaying RTK Status: 1. The MagArrow/MagEx will output RMC and GGA NMEA string backs to the NTRIP Client app via the same Bluetooth link. The app will parse these strings to determine RTK Status and display it on the app screen.
  • Page 47 Standard GPS: The reported location is based on time-of-flight measurements from different satellites broadcasting a pseudocode at a 1MHz repetition rate (a wavelength of ~300 meters). Using time and phase information from the pseudocode the GPS uses triangulation to get your position. Error in location is caused by how closely the time and phase information from the pseudocodes can be resolved, and from uncertainties in time caused by atmospheric delays.

This manual is also suitable for:

Magarrow iMagarrow ii

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