Aceinna INS401 User Manual
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Aceinna INS401 User Manual

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INS401 USER MANUAL
Document Part Number: 7430-4006-02_B
ACEINNA, Inc.
email: info@aceinna.com, website: www.aceinna.com

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  • Page 1 INS401 USER MANUAL Document Part Number: 7430-4006-02_B ACEINNA, Inc. email: info@aceinna.com, website: www.aceinna.com...
  • Page 2 Export Administration Regulations, is expressly prohibited without the written consent of Aceinna and without obtaining appropriate, US export license(s) when required by US law. Diversion contrary to U.S. law is prohibited. ©2023 Aceinna, Inc. All rights reserved. Information in this document is subject to change without notice.
  • Page 3 Aceinna is a registered trademark of Aceinna Inc. Other product and trade names are trademarks or registered trademarks of their respective holders.

  • Page 4: Table Of Contents

    5 Diagnostic Capabilities ..........................13 6 Ethernet Port and Messages ........................14 6.1 Ethernet Data Frame Definition ......................14 6.2 Aceinna Binary Packet Format ......................14 6.3 Output Binary Packets ........................15 6.3.1 GNSS Solution Packet ........................ 15 6.3.2 INS navigation solution ......................16 6.3.3 Diagnostic Message ........................
  • Page 5 INS401 User’s Manual 6.5.2 Vehicle speed data ........................24 6.6 User Commands ..........................25 6.6.1 Table 19 Get the Product Information ..................25 6.6.2 Table 20 Get User Configuration....................26 6.6.3 Table 21 Set User Configuration ....................27 6.6.4 Table 22 Save User Configuration....................27 6.6.5 Table 23 User Configuration Parameters ..................
  • Page 6 INS401 User’s Manual About this Manual The following annotations have been used to provide additional information.  NOTE Note provides additional information about the topic.  EXAMPLE Examples are given throughout the manual to help the reader understand the terminology.

  • Page 7: Table Of Contents

    1 Introduction 1.1 INS401 Overview The Aceinna INS401 is an Inertial Navigation System (INS) with RTK-enabled GNSS positioning engine and triple-redundant IMU sensors. It is designed to work with odometer and RTK corrections for optimal performance. It is a lightweight and compact enclosure that consists of only two interfaces –...

  • Page 8: Ins401 Hardware

    The INS401 is powered directly from 12 V or 24 V battery systems (9 V ~ 32 V input range) and is designed and qualified to withstand the worst-case conditions in terms of overvoltage, reverse voltage and other fault conditions experienced in these vehicles.

  • Page 9: Mechanical Interface

    If building your own RF cable please use Fakra Part No. 734036262. 2.2.2 Main Connector and Pin Description The main connector carries all the other power and I/O signals to and from the INS401 module. This connector is also of automotive grade and is manufactured by JAE Electronics. The male end which is installed in the INS401 housing has part number MX23A18NF1;...
  • Page 10 INS401 User’s Manual Figure 3 Pin Diagram of the Male End Table 2 shows the functional description of the 18 pins in the main connector. Table 2. Pin Description of the Main Connector Pin Number Type Pin Name Pin Function...

  • Page 11: Ins401 Installation

    The “Set User Configuration” command (see Table 21) should be used to re-align the coordinate system so that X is facing forward, Y is right, and Z is down if the INS401 is mounted in a different orientation.

  • Page 12: Antenna Selection And Connection

    IMU to the GNSS antenna lever arm is [x, y, z] = [1.0, -1.0, -1.0] m. The “Set User Configuration” command in Table 21 should be used to configure the INS401 with the correct lever arm. Figure 5 INS401 IMU to GNSS Antenna Lever Arm Definition and Measurement Demonstration 3.2 Antenna Selection and Connection...

  • Page 13: Power Requirement

    Operation Voltage 3.3 Power Requirement Operating voltage: 12V DC Nominal (9V-32V DC is acceptable range) Current requirement: The INS401 consumes 4 W (typical value). It’s recommended to make sure the supply is capable of at least 600mA from 12V. Doc# 7430-4006-02...

  • Page 14: Ins401 Operation

    4.2 System Operation and Data Logging On the testing computer, only the “AceNav” Command Line Interface (CLI) software is needed for the INS401 system to work and to log all the data output from the INS401 system. This CLI Doc# 7430-4006-02...
  • Page 15 3. Use an ethernet converter to connect with a testing PC via the RJ-45 jack 4. Power on the system 5. Go to the “AceNav” CLI folder, modify the “ins401.json” JSON file inside the “settings/INS401” subfolder, input the correct NTRIP account information as shown below: 6.
  • Page 16 INS401 User’s Manual ______________________________________________________________________________ 7. After running the data logging command below, the information about INS401, the PC connection, and the NTRIP connection status will be displayed on the console. The NTRIP status shows “ok” of both [connect] and [request], then the system has connected to a valid NTRIP server for the GNSS RTK operation 8.
  • Page 17 INS solution trajectory in kml format for Google Earth presentation user_<time_tag>_nmea.txt: GNSS solution in NMEA 0183 ASCII strings user_<time_tag>_odo.txt: vehicle odometer speed data received by INS401 Refer to AceNav CLI Software Usage for a detailed description and the usage of the “AceNav” CLI.

  • Page 18: Rtk Corrections

    The purpose of this is to enable configuration after installation by a single user command. This is useful in case the INS401 is used by multiple vehicles (enables procurement of a single part number, and final configuration in the vehicle manufacturing line).

  • Page 19: Diagnostic Capabilities

    INS401 User’s Manual ______________________________________________________________________________ 5 Diagnostic Capabilities Please refer to Table 6 for details on the diagnostic messages. Doc# 7430-4006-02 Page 13...

  • Page 20: Ethernet Port And Messages

    6.1 Ethernet Data Frame Definition The INS401 ethernet TX/RX data frame conforms to IEEE802.3, the format is shown below. The input/output binary packets and ASCII messages should be filled in the Ethernet data frame payload. Note it is also designed to contain two packets/messages in the same one data frame. If one packet/message is more than 1500 bytes, it is split into two continuous data frames.

  • Page 21: Output Binary Packets

    INS401 User’s Manual ______________________________________________________________________________  Length: the number of bytes in the payload, LSB-first  Payload: user data contents, LSB-first  Checksum: CRC16 check. Bytes from the beginning of the “Message ID” to the end of the “payload” are included in the checksum calculation, and a sample of the checksum algorithm C code is shown in Appendix A:16-bit CRC Implementation Sample Code.

  • Page 22: Ins Navigation Solution

    INS401 User’s Manual ______________________________________________________________________________ float Diffage Age of differential GNSS correction float north_vel North velocity float east_vel East velocity float up_vel Up velocity float north_vel_std North velocity accuracy float east_vel_std East velocity accuracy float up_vel_std Up velocity accuracy 6.3.2 INS navigation solution After following items are satisfied, then INS algorithm will be initialized: ...

  • Page 23: Diagnostic Message

    INS401 User’s Manual ______________________________________________________________________________ double height Height above ellipsoid float north_velocity North velocity in navigation ENU frame float east_velocity East velocity in navigation ENU frame float up_velocity Up velocity in navigation ENU frame float longitudinal_velocity Forward velocity in vehicle frame...
  • Page 24 INS401 User’s Manual ______________________________________________________________________________ Length Payload Description: Byte Offset Type Name Unit Description uint16 gps_week GPS time: GPS week and seconds in week uint32 gps_millisecs uint32 Device status bit field The Definition is listed in Table 6. Each status bit has two values:0 is valid and 1 is invalid.
  • Page 25 INS401 User’s Manual ______________________________________________________________________________ 1: Tx Overflow occurred 10 consecutive cycles GNSS PPS status 0: normal 1: 1PPS pulse exception GNSS data status 0: normal 1: GNSS-chipset has NO data output GNSS signal status 0: normal 1: GNSS-chipset has data output, but no valid...
  • Page 26 INS401 User’s Manual ______________________________________________________________________________ Byte Offset Type Name Unit Description uint8 gnss_err_out_pin 0: EOUT is normal; 1: EOUT error. uint8 gnss_rf_err_pin 0: RF_ERR is normal; 1: RF_ERR error. uint8 gnss_ant_err_pin 0: ANT_ERR is normal; 1: ANT_ERR error. uint8 gnss_handshake_flag 0: Handshake between MCU and GNSS-CHIP fail;...

  • Page 27: Raw Imu Data

    INS401 User’s Manual ______________________________________________________________________________ 0: normal 1: ram error detected by MCU Bit0: SRAM0 Bit1: SRAM1 Bit2: SRAM2 Watch-dog 0: normal 1: watch-dog error detected 10:11 Flash 0: normal 1: flash error detected Bit0: cFlash, Bit1: wFlash clkCSV 0: normal...

  • Page 28: Output Ascii Messages

    Message ID 0x0a06 Length 1~1024bytes Payload INS401 output following RTCM information as rover 1. Ephemeris (standard RTCM): 1019(GPS), 1020(GLONASS), 1044(QZSS), 1045(Galileo F/NAV), 1046(Galileo I/NAV), 63/1042 (Beidou) 2. MSM (standard RTCM): 1077(GPS), 1087(GLONASS), 1097(GAL), 1117(QZSS), 1127(BDS) 3. receiver position (standard RTCM): 1005, 1006 4.

  • Page 29: Input Binary Packets

    (vehicle). And the user device must send the RTCM messages over ethernet to the ethernet port of the INS401. The input binary packets for this function are defined in Table 15, followed by a detailed example.

  • Page 30: Vehicle Speed Data

    6.5.2 Vehicle speed data In addition, another user input of the INS401 is defined as below, to enhance the dead reckoning (DR) performance of the IMU based INS solution. The accurate vehicle speed from the vehicle reference point provides accurate speed constraint to the along-track direction. This speed is...

  • Page 31: User Commands

    Several user commands are defined on the ethernet interface for the user system (e.g., a vehicle) to poll information from INS401 and to set user parameters in INS401. The user request commands and the INS401 response message are defined in pairs, where the request command is a two-byte hex value that is also the ID of the response message.
  • Page 32 *By response message, you will get destination address (DST_MAC) and product information. It means the connection between DST_MAC and source address (SRC_MAC) is built.  EXAMPLE Example in FW28.03.11: INS401 5020-4007-01 2109000083 Hardware v1.0 IMU_SN 2179100041 RTK_INS App v28.03.11 Bootloader v01.01 IMU330NL FW v27.01.01 GNSS- CHIP FW v5.8.12 UUID 12312421432 6.6.2 Table 20 Get User Configuration...
  • Page 33 INS401 User’s Manual ______________________________________________________________________________ each defined in Table 23 Parameter value 6.6.3 Table 21 Set User Configuration Description Set user configuration on the parameters (defined in Table 23) Request Command: Command 0xcc03 Length Payload offset variable name unit desc uint32...
  • Page 34 INS401 User’s Manual ______________________________________________________________________________ Message ID 0xcc04 Length Payload offset variable name unit desc int32 result 0: success -1: fail 6.6.5 Table 23 User Configuration Parameters Sequence Type Name Unit Description float gnssLeverArmBx float gnssLeverArmBy IMU to GNSS antenna phase center lever arm...
  • Page 35 INS401 User’s Manual ______________________________________________________________________________ 6.6.6 Table 24 User sends system reset command Table 24 Description User sends system reset command Request Command: Command 0xcc06 Length Payload Response Message: Message ID 0xcc06 Length Payload 6.6.7 Table 25 User gets ins save buffer of fixed position of ins power on...
  • Page 36 1-Prestored vehicle projects matrix data uint8_t vc_table_valid 0- ID14 vehicle code not set 1- ID14 vehicle code set uint16_t version Aceinna internal version, detailed data of prestored vehicle projects codes are different in different version char*4 vcode ASCII format of Vehicle codes float...
  • Page 37 INS401 User’s Manual ______________________________________________________________________________ 6.6.9 Table 27 Get Customer Part Number Table 27 Description Get the product device information, defined by customer Request Command: Command 0xdf01 Length Payload Response Message: Message ID 0xdf01 Length Payload ASCII message (separated by space), e.g.

  • Page 38: Firmware Upgrade

    IMU_JI: Jump from Bootloader to IMU APP.  NOTE 1. INS401 only supports Ethernet port upgrade; 2. INS401 only supports the upgrade of APP, ST9100 and IMU, and does not support the online upgrade of Bootloader; 7.2 FW Upgrade with AceNav Refer to AceNav CLI Software Usage for AceNav operation to upgrade INS401 firmware.

  • Page 39: Structure Of Firmware Bin

    INS401 User’s Manual ______________________________________________________________________________ Figure 7 INS401 Upgrade Flowchart 7.3.1 Structure of Firmware Bin The FW bin file can consist of four parts: the RTK part, the INS part, the GNSS-chip part and the IMU part. The starting address of each part in the FW bin file is indicated by a start string as shown in table 17.

  • Page 40: Upgrade Rtk/Ins Parts

    INS401 User’s Manual ______________________________________________________________________________ 2. Get the length of RTK part (4 bytes following the start string, LSB): A0 A1 04 00 (303520 bytes) 3. Get the payload of RTK part: 303520 bytes after the above length bytes. We can prepare length and payload for all parts which need to be upgraded.
  • Page 41 INS401 User’s Manual ______________________________________________________________________________ Send: Header Msg_Type Length Start_Addr 4bytes Numbytes 4bytes Bytes Data 2bytes 0x5555 0xaa03 Numbytes + 8 Receive: Header Msg_Type Length CRC 2 bytes 0x5555 0xaa03 *Notes: After the first frame is written, one needs to wait for the MCU to erase the data in flash (both in RTK and INS parts), the waiting time depends on the firmware size.

  • Page 42: Upgrade Gnss-Chip Part

    INS401 User’s Manual ______________________________________________________________________________ 0x5555 0xaa02 Receive: Header Msg_Type Length Data 6bytes CRC 2 bytes 0x5555 0xaa02 0x43 0x30 0x53-succ 0x43 0x31 0x53-succ 0x46-Fail 0x46-Fail CRC values (calculate by Appendix A:) of RTK part payload and INS part payload (prepared in 7.3.1) are needed in ‘JA’...
  • Page 43 INS401 User’s Manual ______________________________________________________________________________ 7.3.3.3 Send 1st 5120 bytes The 5120 bytes (0-5119) at the beginning of the GNSS-chip part needs to be first transferred by 5 consecutive ‘WP’ command packets. Send: Header Msg_Type Length Data 1024bytes CRC 2bytes 0x5555...
  • Page 44 INS401 User’s Manual ______________________________________________________________________________ Step4: Send Entry message Header Msg_Type Length Entry 4bytes CRC 2bytes 0x5555 0xaa07 0x00, 0x00, 0x00, 0x00 Step5: Send Boot program The boot program needs to be divided into three parts, the range of each part is 0-5120/5120- 10240/10240-10912 bytes.
  • Page 45 INS401 User’s Manual ______________________________________________________________________________ After these two steps, one needs to wait for the device to initialize. The response ‘0xCC’ is received when device initialization is done. Receive: Header Msg_Type Length Response 1byte CRC 2bytes 0x5555 0xaa07 0xCC And then the data in flash will be erased, after erase done response ‘0xCC’ will be received.

  • Page 46: Upgrade Imu Part

    INS401 User’s Manual ______________________________________________________________________________ Timeout: 1.5s, Retry times: 3 Send: Header Msg_Type Length CRC 2bytes 0x5555 0xaa06 2 bytes Receive: Header Msg_Type Length CRC 2bytes 0x5555 0xaa06 2 bytes 7.3.4 Upgrade IMU Part 7.3.4.1 Enter Upgradation Mode of IMU Send ‘IMU_JI’ command to let IMU enter the bootloader mode.

  • Page 47: Statistics Of Upgrade Steps

    INS401 User’s Manual ______________________________________________________________________________ The starting address of the first frame of data writing is 0, and 192 bytes are written. Then the starting address of the second frame of data should be 192. When receiving the first frame of the write command, IMU will erase the flash first. Please wait until the erase is complete.

  • Page 48: Steps Of Imu Upgradation

    INS401 User’s Manual ______________________________________________________________________________ GNSS-Chip Error 8 45-50 WS (0xaa07) *1 Synchronization Send 1st 5120 bytes 50-55 WP (0xaa08) *5 Confirm GNSS-chip is Error 9 55-60 WS (0xaa07) *1 ready Send boot program Error 10 60-65 WS (0xaa07) *N Write flash command...

  • Page 49: Appendix A: 16-Bit Crc Implementation Sample Code

    INS401 User’s Manual ______________________________________________________________________________ Appendix A: 16-bit CRC Implementation Sample Code The following is the 16-bit CRC sample code used in most of the code development. uint16_t CalculateCRC (uint8_t *buf, uint16_t length) uint16_t crc = 0x1D0F; for (int i=0; i < length; i++) { crc ^= buf[i] <<...

  • Page 50: Appendix B: Acenav Cli Software Usage

    Lib: npcap, https://scapy.readthedocs.io/en/latest/installation.html#windows B.2 GNSS/INS operation user settings Run the CLI software and connect with the INS401 system for the first time, there is a “setting” folder generated with subfolders named by Aceinna GNSS/INS navigation devices. Each type of device has a JSON format of configuration file, all the user settings including GNSS RTK correction NTRIP account information, IMU to GNSS antenna lever arm and so on.
  • Page 51 INS401 User’s Manual ______________________________________________________________________________ ./acenav -i 100base-t1 --cli >>upgrade <INS401 FW file path> After successful FW upgrade, the INS401 system will restart and log data automatically. Doc# 7430-4006-02 Page 45...

  • Page 52: Appendix C: Firmware 28.01 And Earlier Imu Axis Definition

    INS401 User’s Manual ______________________________________________________________________________ Appendix C: Firmware 28.01 and Earlier IMU Axis Definition Figure 8 IMU Axis Definition and Navigation Center Location Doc# 7430-4006-02 Page 46...

  • Page 53: Appendix D: Detailed Revision History

    Add the conditions required for the INS initialization  Add limitation for timeout and retry times  Add chapter 7.4 to show percentiles of each step  Update Figure 7 INS401 Upgrade Flowchart and downgrade 7.3.4 to 7.3.3.3(update table of contents) Jun 05 2024 28.05/28.06 JT/CEK ...

  • Page 54: Appendix E: Functions Implementation In Gnss-Chip Upgradation

    INS401 User’s Manual ______________________________________________________________________________ Appendix E: Functions Implementation in GNSS-chip upgradation The following is the CRC sample code used in GNSS-chip upgradation. static tUInt crc32_tab[] = 0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, 0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07,...
  • Page 55 INS401 User’s Manual ______________________________________________________________________________ 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, 0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, 0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, 0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, 0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d tUInt crc32_eval(tUInt crc32val, const tVoid *void_ptr, const tSize len) tUInt i,j;...
  • Page 56 INS401 User’s Manual ______________________________________________________________________________ tU8 res1; tU8 res2; tU8 res3; tU8 debug; tInt nvmOffset; tInt nvmEraseSize; tU32 debug; tInt nvmOffset; tInt nvmEraseSize; tU32 debugAction; tU32 debugAddress; tInt debugSize; tU32 debugData; }send_bin_info_demo_t; int binInfoVal_set(binData, binDataLen) tUInt crc32val; tInt fileSize; send_bin_info_demo_t info;...

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