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Related Manuals for BW SENSING GI320
Summary of Contents for BW SENSING GI320
- Page 1 Cost-effective combination navigation GI320 Technical manual V4.1...
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Page 2: Technical Parameter
Cost-effective Integrated Navigation System GI320 Introduction GI320 adopts loose coupling integrated navigation technology, which deeply integrates IMU with RTK solution and observation preprocessing, and can provide real-time and high-precision navigation parameters such as position, speed and attitude. The integrated navigation algorithm uses the GPS data as initial data for operation. If GPS data is lost, the system will run the strapdown inertial navigation calculation alone, and the calculated data will be sent to the Kalman filter for processing. - Page 3 Cost-effective Integrated Navigation System GI320 0.4m DGPS Plane Elevation 0.8m 0.8cm+1ppm Plane Elevation 1.5cm+1ppm <30s Time to first position Cold start Warm start <15s 20HZ Maximum data rate GNSS raw observation volume GNSS RTK positioning 20HZ INS Integrated Navigation Positioning...
- Page 4 B1I/B1C/L1 C/A/E1/G1 Carrier phase B2I/G2/L2P(Y)/L2C/E5b 10cm 10cm 10cm 10cm Pseudo-distance B2I/B2a/B2b/L5/E5a/E5b Carrier phase B3I/L5/E5a/B2a 10cm 10cm 10cm 10cm Pseudo-distance B3I/L5/E5a/B2a Carrier phase Bewis Sensing Technology LLC www.bwsensing.com.cn TEL:0510-85737158...
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Page 5: Communication Interface
Cost-effective Integrated Navigation System GI320 Internal IMU parameters 6 ° /h （ 10s smooth ） Gyro range ±400°/s Gyro Bias Stability 0.5°/h（allan variance） Accelerometer Bias 50ug（10s smooth） Accelerometer range ±3.6g (default ± 1.2g) Stability Output frequency 500Hz Communication Interface Interface Type ·... -
Page 6: Serial Port Settings
Cost-effective Integrated Navigation System GI320 Serial port settings · Baud rate 8000000/ 460800 / 230400 / 115200 / 19200 / 9600 / 2400 Data bits Default configuration 115200 8 1 No checksum 422(485) / 232 Serial port optional Product List... - Page 7 Cost-effective Integrated Navigation System GI320 Installation and Requirements...
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Page 8: Pin Definitions
Basic Hardware Connection Diagram 4G base Locating the station main antenna differential positioning Recording of raw data Four-wheel wheel speed, gearing and other information Positioning from antenna Pin Definitions Power supply positive Clock POWER_IN PPS_3.3V (9-36) V Synchronization Pulse (3.3V) Power supply negative Digital Ground Connect to power... -
Page 9: Gnss Antenna Specifications
GNSS Antenna Specifications The GNSS antenna used by the GI320S needs to be an active antenna.The GI320 provides a 5VDC antenna feed and supports a maximum of 200mA current. The recommended or required parameters are listed below: 1. Frequency points to be supported:... -
Page 10: Power Supply Specifications
50Ω, and the recommended line attenuation is less than 10dB. RF coaxial cable connector is adapted to the GNSS antenna at one end, and FAKRA-C is adapted to the master antenna interface of GI320 at the other end. - Page 11 In order to improve the accuracy, the IMU should be installed as close as possible to the main GNSS antenna in the horizontal direction, and it must be ensured that the GI320 is rigidly connected to the carrier, so as to ensure that the relative positions of the GI320 and the antenna on the carrier are fixed.
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Page 12: Equipment Use
Check GI320 status After installing GI320, turn on the power, send the command UNLOG, it should be noted that the use of the serial port assistant to send commands need to be checked to send a new line to confirm the normal operation of GI320, such as yes, the GI320 will respond to the following content: $Command response: OK. - Page 13 Only COM1 supports port configuration using the command CONFIG. An example of modifying the COM1 serial port configuration is shown below: directives descriptive config com1 Set com1 baud rate to 115200. 115200 You can set the baud rate of com1,com2,com3 to any one of 2400,9600,19200,115200, 230400,460800,8000000 respectively.
- Page 14 GNGGA Data Structure Data Description field notation typical example Log header $GNGGA $GNGGA The UTC time to which the hhmmss.ss 173568.00 location corresponds. hh/mm/ss.ss IIII.II 3251.2654 Latitude (DDmm.mm) Lat dir Latitude direction (N = North, S yyyyy.yy 12033.3592 = South) Longitude (DDDmm.mm) lon dir Longitude direction (E = East,...
- Page 15 IMU Raw Data Information This statement contains an indication of the IMU status and the measured values of the accelerometers and gyroscopes relative to the IMU housing coordinate system. Command Format. RAWIMUA COM1 1 RAWIMU Data Format Data Description field Log Header $RAWIMUA GNSS Week...
- Page 16 Latitude (WGS84) [degrees] Latitude Longitude(WGS84) [degrees] Longitude Ellipsoid height (WGS84) [m] Height Eastward velocity (negative for southward) [m/s] East Velocity Northward velocity (negative for westward direction) [m/s] North Velocity Velocity in the sky direction [m/s] Up Velocity Cross-roll angle (right-handed spiral along Y-axis) [degrees] Roll Pitch angle (right hand spiral along X-axis) [degrees] Pitch...
- Page 17 GNSS Week data Week Ulong Seconds per week segme Seconds Double Latitude (WGS84) [degrees] Latitude Double Longitude (WGS84) Longitude Double [degrees]. Ellipsoid Height (WGS84) Height Double Eastward velocity (negative East Velocity Double for southward) [m/s] Northward velocity (negative North Velocity Double for westward direction) [m/s] Velocity in the sky direction...
- Page 18 X, Y and Z represent the vector from the IMU to the center of phase of the main antenna. To improve accuracy, the IMU should be mounted horizontally as close as possible to the main GNSS antenna, with the IMU positioned in the upper left corner of the GI320. IMU Offset to Antenna Phase Center...
- Page 19 Command Format. CONFIG LEVER ARM x y z Simplified ASCII syntax: CONFIG LEVER ARM 0.05 -1.05 0.03 CONFIG LEVER ARM 0.05 -1.05 0.03 IMU to main antenna arm parameter configuration command parameters Parameter Description header X-direction offset, unit: meter, range -100~100, retain two decimal places CONFIG Y direction offset, unit: meter, range -100~100, retain two decimal...
- Page 20 Cost-effective Integrated Navigation System GI320 Data frame description Name Length Description Synchronised 1 Byte Fixed to 0x57 for data frame synchronisation segments Frame 1 Byte Indicates the information of the data frame information Bit 7 Frame information check, 0 when the number of 1's in Bit...
- Page 21 Cost-effective Integrated Navigation System GI320 Data information corresponding to the command segment, Data Byte typically sensor readings or configuration parameters segment Checksum information for the data frame, from the frame Ending 4 Byte paragraph information (included) to the CRC checksum value of the data segment (included), with the high byte first The CRC information is as follows：...
- Page 22 Combined navigation Wuxi Bewis Sensing Technology LLC Add： Building 30, NO. 58, Xiuxi Road, Binhu District, Wuxi City, Jiangsu Province, China Tel：+86 18921292620 Mail：sales@bwsensing.com Web：www.bwsensing.com...
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