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PNI TargetPoint3 User Manual

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TargetPoint3
Targeting Compass

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Summary of Contents for PNI TargetPoint3

  • Page 1 User Manual TargetPoint3 Targeting Compass...

  • Page 2: Table Of Contents

    Hard-Iron-Only Calibration ............19 Accelerometer Calibration ..............19 6 OPERATION WITH PNI STUDIO ..............22 Installation ..................22 PNI Studio Header and Connecting to PNI Studio ......22 PNI Studio Footer and Saving/Applying Settings ........ 24 Configuration Tab ................25 6.4.1 General Settings .................
  • Page 3 7 OPERATION WITH PNI BINARY PROTOCOL ..........35 Datagram Structure ................35 Parameter Formats ................36 7.2.1 Endianness ................. 36 7.2.2 Floating Point ................36 7.2.3 Signed Integer ................37 7.2.4 Unsigned Integer ................ 38 7.2.5 Boolean ..................38 Commands Overview ................39 Set-Up Commands ................
  • Page 4 Figure 3-4: Molex-to-USB Cable Drawing, pn 14480 ..........7 Figure 4-1: Positive & Negative Roll and Pitch Definition ........ 10 Figure 4-2: TargetPoint3 Enclosed Mounting Orientations ......... 11 Figure 5-1: 12 Point Full-Range Calibration (Realistic View)........ 16 Figure 5-2: Accelerometer Calibration Starting Positions ........20 Figure 7-1: Datagram Structure ................

  • Page 5: Copyright & Warranty Information

    Product is specified: (i) in PNI’s Price List in effect at time of order acceptance; or (ii) on PNI’s web site (www.pnicorp.com) at time of order acceptance, be free from defects in material and workmanship and will...

  • Page 6: Introduction

    Introduction Thank you for purchasing PNI’s TargetPoint3 digital compass. The TargetPoint3 intelligently fuses PNI's patented Reference Magnetic Sensors with a 3-axis accelerometer. The result is a new Low-SWaP-C targeting compass that consistently delivers accurate in-field heading, while minimizing the need for in-field calibration.

  • Page 7: Specifications

    Footnotes: 1. Specifications are typical unless otherwise noted, and subject to change. 2. Assumes that the TargetPoint3 is motionless; that the local magnetic field is clean relative to user calibration; that the magnetic dip angle is <= 65° that the pitch angle is ≤...

  • Page 8: Table 3-3: Electrical Requirements

    = 3.3V to 5.5V with loads ≤ 8mA. CMOS-compliance is guaranteed the entire V voltage range. (2) High load currents at low V voltages may prevent device from producing TTL-compliant voltages. PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 4...

  • Page 9: Figure 3-1: Typical Current Drawing During Application Of External Power

    Parameter Value Dimensions (l x w x h) 29.3 x 21.3 x 10.1 mm Weight 7.7 gm 4-pin Molex, part number 0533980410 Connector Mating Molex connector part number 051020400 PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 5...

  • Page 10: Table 3-7: Esd Ratings

    (1) JEDEC document JEP155 states that 500-V HBM allows safe manufacturing with a standard ESD control process. (2) JEDEC document JEP157 states that 250-V CDM allows safe manufacturing with a standard ESD control process. PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 6...

  • Page 11: Mechanical Drawings

    Note: Alternatively, an unjacketed cable is available from Molex Part Numbers 218112040X, where X = 0 thorugh 3 CABLE USB TO RS232 (FTDI TTL-232R-3V3-WE) Figure 3-4: Molex-to-USB Cable Drawing, pn 14480 PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 7...

  • Page 12: Set-Up And Evaluation

    After making the electrical connections, it is a good idea to perform some simple tests to ensure the TargetPoint3 is working as expected. See Section 6 for how to operate the TargetPoint3 with PNI Studio or Section 7 for how to operate the TargetPoint3 using PNI’s binary protocol. 4.2 Installation Location The TargetPoint3’s wide dynamic range and sophisticated algorithms allow it to operate in...

  • Page 13: Operate Within The Targetpoint3'S Dynamic Range

    However, each axis of the TargetPoint3 has a calibrated dynamic range of ±150 µT. If the total field exceeds this value for any axis, the TargetPoint3 may not perform to specification. When mounting the TargetPoint3, consider the effect of any sources of magnetic fields in the host environment that, when added to Earth’s field, may...

  • Page 14: Mechanical Mounting

    These rotations are dependent on each other since the axes of rotation move with the plane. As shown in Figure 4-1, for the TargetPoint3 a positive pitch is when the front edge of the board is rotated upward, and a positive roll is when the right edge of the board is rotated downward.

  • Page 15: Coordinate System

    Mounting Orientation 4.3.3 The TargetPoint3 can be mounted in 16 different orientations, as shown in Figure 4-2. All reference points are based on the default orientation shown in Figure 4-1. The orientation should be programmed in the TargetPoint3 using the Configuration Tab in PNI Studio or using the kSetConfig command and the kMountingRef setting in the PNI Protocol, as described in Section 7.4.2.

  • Page 16: User Calibration

    User Calibration The magnetic sensor in the TargetPoint3 is calibrated at PNI’s factory in a magnetically controlled environment. However, sources of magnetic distortion positioned near the TargetPoint3 in the user’s system will distort Earth’s magnetic field and must be compensated for in the host system with a user calibration.
  • Page 17 Other Considerations TargetPoint3 can store up to 8 different sets of magnetic calibration coefficients, hence if the system magnetic signature will change in different known unique states, perform a user calibration in these unique states and save each of the calibration coefficients.

  • Page 18: Full-Range Calibration

    TargetPoint3 needs to be mounted within the host system and the entire host system needs to be moved as a single unit during a user calibration. The TargetPoint3 allows the user to perform a calibration only in a 2D plane or with limited tilt but provides the greatest accuracy if the user can rotate through 360°...

  • Page 19: Table 5-2: 12 Point Full-Range Calibration Pattern (Two Circles)

    ≤ -30° 240° ≥ +30° 300° ≤ -30° 300° Footnote: 1. Heading and Tilt listings are not absolute heading directions, but rather relative heading referenced to the first sample. PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 15...

  • Page 20: Calibration

    2D Calibration 5.1.2 A 2D Calibration is intended for applications with very low tilt operation, (<5°) and where calibrating the TargetPoint3 with greater tilt is not practical. PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022...

  • Page 21: Limited-Tilt Calibration

    It provides both hard-iron and soft-iron distortion correction. The recommended 12-point calibration pattern given below is a series of 3 circles of evenly spaced points, with as much tilt variation as expected during use. PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 17...

  • Page 22: Table 5-5: 12 Point Limited-Tilt Calibration Pattern

    > +5° 240° > +5° 300° > +5° Second Circle 0° < -5° 60° < -5° 120° < -5° 180° < -5° 240° < -5° 300° < -5° Footnote: PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 18...

  • Page 23: Hard-Iron-Only Calibration

    +30°. 5.2 Accelerometer Calibration The TargetPoint3 uses a MEMS accelerometer to measure attitude. This data is output as pitch and roll data. The accelerometer data is critical for establishing an accurate heading reading when the TargetPoint3 is tilted.

  • Page 24: Figure 5-2: Accelerometer Calibration Starting Positions

    Calibration can occur within the user’s system or with the module alone. It is not necessary to place the TargetPoint3 on a flat surface as shown, but it must be held very still during calibration, and holding it against a stable surface is a way to help ensure this.

  • Page 25: Table 5-8: Accelerometer Calibration Pattern

    10° to 20° 330° < -45° -10° to -20° Footnote: 1. Heading and Tilt listings are not absolute heading directions, but rather relative heading referenced to the first sample. PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 21...

  • Page 26: Operation With Pni Studio

    Now plug the TargetPoint3 into the USB or Serial port of your computer. Since the TargetPoint3 interface is TTL, in order to use the PNI Studio a USB to TTL cable as shown in Figure 3-4 is required to interface with the PNI Studio If you are using Windows 7 or later version the computer automatically searches for and installs the driver.
  • Page 27 Enter an ‘API Key’ in the designated box. If connecting locally this can be any number/letter combination. For a server hosted session or one connecting with a PNI engineer, use a designated API Key provided by PNI Sensor. Enter the same ‘API Key’ in the second “pni-studio” window and hit connect.

  • Page 28: Pni Studio Footer And Saving/Applying Settings

    The footer is the same regardless of which tab is selected. Note that if a field is changed on any of the PNI Studio tabs, then either <Apply> or <Save> must be selected for the change to take effect.

  • Page 29: Configuration Tab

    The default is “Standard”. Output Units The TargetPoint3 can output heading, pitch, and roll in either degrees or mils. The default is “Degrees”. (There are 6400 mils in a circle, such that 1 degree = 17.7778 mils and 1 mil = 0.05625 degree.)
  • Page 30 “True” is selected as the “North Reference”. Declination varies primarily with location, although it also gradually changes over time (years) for a given location. To find the declination for where the TargetPoint3 will be used, go to https://ngdc.noaa.gov/geomag/calculators/magcalc.shtml#declination.

  • Page 31: Acquisition Settings

    TargetPoint3 sending one set of data and the start of sending the next sample set. If the delay is set to 0, then TargetPoint3 will begin sending new data as soon as the previous data set has been sent. Note that the inverse of the Sample Delay is greater than the sample rate, since the Sample Delay does not include the actual measurement acquisition time.

  • Page 32: Calibration Settings

    Accelerometer – The user should select this when accelerometer calibration will be performed. Accelerometer calibration is recommended every 6 to 12 months to compensate for bias drift in the accelerometer. The TargetPoint3 can also be returned to PNI for accelerometer calibration.
  • Page 33 PNI Studio or using the PNI binary protocol, and up to 8 sets of magnetic calibration coefficients may be saved. The recommended calibration patterns described in the following sub-sections provide a good distribution of sample points. Table 5-1. The maximum number of samples is 32. The evaluation program PNI Studio limits number of sample points to 18.

  • Page 34: Performing A Calibration

    (as set on the Configuration tab) the calibration is complete. Regardless of whether “Automatic Sampling” is selected, two criteria must be met for a calibration sample to be taken. First, the TargetPoint3 must be held steady enough to meet PNI-defined stability criteria. Second, the TargetPoint3’s orientation must have changed enough to meet PNI-defined orientation change criteria.

  • Page 35: Test Tab

    Distribution Error and Tilt Error scores and still have a rather high Mag Cal value. The most likely reason for this is that the TargetPoint3 is close to a source of magnetic distortion that is not fixed with respect to the device.
  • Page 36 The button will briefly gray out while the data is being output to the screen, then return to reading <Start>. Show 3D Model Selecting the <Show> button launches the 3D Model window, as shown below. PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 32...

  • Page 37: Log Data Tab

    Configuration Tab. To change these, return to the Configuration Tab, make the change, then <Apply> or <Save> the change. Functional Mode The TargetPoint3 is designed to operate in Compass Mode. AHRS Mode is ignored. Log Data Tab PNI Studio can capture measurement data and then export it to a text file.

  • Page 38: Graph Tab

    The graph can be used to visually see hard and soft- iron effects within the environment measured by the TargetPoint3, as well as corrected output after a user calibration has been performed. All 3 axes of data can also be displayed in 3-D via the “Display”...

  • Page 39: Operation With Pni Binary Protocol

    Operation with PNI Binary Protocol The TargetPoint3 utilizes a binary communication protocol, where the communication parameters should be configured as follows: Table 7-1: Port Configuration Parameter Value Number of Data Bits Start Bits Stop Bits Parity none 7.1 Datagram Structure...

  • Page 40: Parameter Formats

    Endianness 7.2.1 TargetPoint3 can treat 32-bit and 16-bit parameters as having big- or little-Endian formatting. For 32-bit parameters, the big-Endian byte order is ABCD EFGH, while the little-Endian byte order is DCBA HGFE. For 16-bit parameters the big-Endian byte order is ABCD, while the little-Endian byte order is DCBA.

  • Page 41: Signed Integer

    0=positive and 1=negative. Signed 8-Bit Integer (SInt8) UInt8-based parameters are unsigned 8-bit numbers. Bit 7 represents the sign of the value, where 0=positive and 1=negative. PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 37...

  • Page 42: Unsigned Integer

    UInt16-based parameters are unsigned 16-bit numbers. Unsigned 8-Bit Integer (UInt8) UInt8-based parameters are unsigned 8-bit numbers. Boolean 7.2.5 Boolean is a 1-byte parameter that MUST have the value 0=FALSE or 1=TRUE. PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 38...

  • Page 43: Commands Overview

    7.3 Commands Overview Table 7-2 provides a summary of the basic commands available with the TargetPoint3. Table 7-2: TargetPoint3 Command Set Frame ID Command Description Queries the device’s type and 0x01 kGetModInfo firmware revision. 0x02 kGetModInfoResp Response to kGetModInfo Sets the data components to be...

  • Page 44: Set-Up Commands

    This frame queries the device's type and firmware revision number. The frame has no payload. kGetModInfoResp (frame ID 2 , 0X02) The response to kGetModInfo is given below. The payload contains the device type identifier followed by the firmware revision number. PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 40...

  • Page 45: Module Configuration

    7.4.2 kSetConfig (frame ID 6 , 0X06) This frame sets internal configurations in the TargetPoint3. The first byte of the payload is the configuration ID followed by a format-specific value. These configurations can only be set one at time. To save these in non-volatile memory, the kSave command must be issued.

  • Page 46: Table 7-3: Configuration Identifiers

    12 – 38400 13 – 57600 14 - 115200 kMilOut Boolean True or False False kHPRDuringCal Boolean True or False True kMagCoeffSet UInt32 0 - 7 kAccelCoeffSet UInt32 0 - 7 PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 42...

  • Page 47: Table 7-4: Sample Points

    (Config. ID 6 Sets the Endianness of packets. TRUE is Big-Endian. FALSE is Little-Endian. kMountingRef (Config. ID 10 This sets the reference orientation for the TargetPoint3. Please refer to Figure 4-2 for additional information. kUserCalNumPoints (Config. ID 12 The user must select the number of points to take during a calibration. Table 7-4 provides the “Minimum Recommended”...
  • Page 48 (Config. ID 16 This flag sets whether or not heading, pitch, and roll data are output simultaneously while the TargetPoint3 is being calibrated. The default is TRUE, such that heading, pitch, and roll are output during calibration. FALSE disables simultaneous output.

  • Page 49: Saving Settings

    (frame ID 9 , 0X09) This frame commands the TargetPoint3 to save internal configurations and user calibration to non-volatile memory. Internal configurations and user calibration are restored on power up. The frame has no payload. This is the ONLY command that causes the device to save information to non-volatile memory.

  • Page 50: Measurement Commands

    Mode. Poll Mode is TRUE and should be selected when the host system will poll the TargetPoint3 for each data set. Continuous Mode is FALSE and should be selected if the user will have the TargetPoint3 output data to the host system at a relatively fixed rate. Poll Mode is the default.

  • Page 51: Data Components

    Float32 degrees kPitch 0x18 Float32 degrees kRoll 0x19 Float32 degrees ˚ Celsius kTemperature 0x07 Float32 kDistortion 0x08 Boolean True or False (Default) kCalStatus 0x09 Boolean True or False (Default) PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 47...
  • Page 52 Allowing the unit to see different orientations and pitch/rolls in an area will give a better background measurement of relative accuracy. Values are in degrees of heading. Because this measurement is based on PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 48...

  • Page 53: Making A Measurement

    Making a Measurement 7.5.3 kGetData (frame ID 4 If the TargetPoint3 is configured to operate in Polled Acquisition Mode (see kSetAcqParams), then this frame requests a single measurement data set. The frame has no payload. kStartContinuousMode (frame ID 21...

  • Page 54: Continuous Data Output After Power Cycle

    Power Cycle TargetPoint3 Power off and then power on, TargetPoint3 will start to output the same data as the set of data before the power off. To Disable the Continuous Data Output Send the following two commands, TargetPoint3 will stop outputting data after next power cycle.

  • Page 55: Calibration Commands

    7.6.1 First, note that in order to perform a user calibration, it is necessary to place the TargetPoint3 in Compass Mode, as discussed in Section 7.7. Note that TargetPoint3 allows for a maximum of 18 calibration points. kStartCal (frame ID 10 This frame commands the TargetPoint3 to start user calibration with the current sensor acquisition parameters, internal configurations, and FIR filter settings.

  • Page 56: Performing A User Calibration

    0 to 32. Payload 0 is sent from TargetPoint3 after kStartCal is received by TargetPoint3, it indicates user calibration start, and TargetPoint3 is ready to take samples. Payload 1 to 32 indicates each point sampled successfully.

  • Page 57: Calibration Score

    DistributionError and TiltError and still have a rather high MagCalScore value. The most likely reason for this is the TargetPoint3 is close to a source of local magnetic distortion that is not fixed with respect to the device.

  • Page 58: Factory Calibration

    This frame is the response to kFactoryAccelCoeff frame. The frame has no payload. kCopyCoeffSet (frame ID 43 This frame copies one set of calibration coefficients to another. TargetPoint3 supports 8 sets of magnetic calibration coefficients, and 8 sets of accel calibration coefficients.

  • Page 59: Performance Commands

    This frame is the response to kCopyCoeffSet frame. The frame has no payload. 7.7 Performance Commands The TargetPoint3 normally operates as a Compass, wherein it uses the inputs from the accelerometer and magnetometer to establish heading, pitch, and roll to provide higher heading accuracy of 0.25º...

  • Page 60: Table 7-6: Recommended Fir Filter Tap Values

    The TargetPoint3 can be configured to clear, or flush, the filters after each measurement, as discussed in Section 7.5.1. Flushing the filter clears all tap values, thus purging old data.
  • Page 61 Byte 2 should be set to 1. Payload Byte 1 Byte 2 UInt8 UInt8 kGetFIRFiltersResp (frame ID 14 This is the response to kGetFIRFilters and it has the same payload definition as kSetFIRFilters. PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 57...

  • Page 62: Power Down/Up

    RS-232 driver. However, the driver chip has a feature to keep the Rx line enabled. The TargetPoint3 will power up when it receives any signal on the native UART Rx line. kPowerDownDone (frame ID 28 This frame confirms the TargetPoint3 received a command to power down.

  • Page 63: Table 7-7: Multiple Coefficient Command List

    (config ID) (UInt32) 0x07 0x13 0x00 0x06 0x07 0x00 0x0A 0x08 0x13 kAccelCoeffCopySet 0x13 0x09 0x65 0x00 0x00 0x00 0x?? value which is CRC1 CRC2 currently used in TargetPoint3 PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 59...
  • Page 64 • Send kSave command to save the kMagCoeffSet to flash so that it will be still available after power cycle. The kSave command is as following. 0x00 0x05 0x09 0x6E 0xDC PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 60...

  • Page 65: Communication Protocol Example

    00 15 05 03 05 43 b3 df 5e 18 be 88 ed bd 19 3d b5 15 53 f2 14 6. Repeat steps 4 and 5 whenever data is desired. PNI Sensor DOC#TBD TargetPoint3 User Manual Preliminary September 2022 Page 61...

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