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Firepower INS100C-C0 INS Instructions Manual

Mems inertial navigation system v 1.0
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MEMS Inertial Navigation System V 1.0
INS100C-C0 INS
Product characteristics
0.05 ° roll & pitch attitude accuracy (GNSS valid)
0.1 ° azimuth accuracy (2m antenna baseline)
0.5 °/H gyroscope bias stability (10 s)
≤ 100 µg acceleration bias stability (10 s)
Field of application
UAVNavigation
Vehicle & Robot Navigation
AUV &ROV

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Summary of Contents for Firepower INS100C-C0 INS

  • Page 1 MEMS Inertial Navigation System V 1.0 INS100C-C0 INS Product characteristics 0.05 ° roll & pitch attitude accuracy (GNSS valid) 0.1 ° azimuth accuracy (2m antenna baseline) 0.5 °/H gyroscope bias stability (10 s) ≤ 100 µg acceleration bias stability (10 s)
  • Page 2 1-General INS100C-C0 integrated navigation system (hereinafter referred to as integrated navigation system) has built-in high-performance MEMS gyroscope and accelerometer, which can receive internal GNSS data, realize multi-sensor fusion and integrated navigation algorithm, and have short-term inertial navigation capability when GNSS is invalid. The product has high reliability and strong environmental adaptability.
  • Page 3 Project Metrics (RMS) Remark Heading accuracy Dual GNSS 0.1° 2m baseline Single GNSS 0.1° Need to maneuver Maintain accuracy ≤ 0.3° GNSS failure 0.5 H Attitude accuracy GNSS is valid 0.05° Single-point L1/L2, Maintain accuracy ≤ 0.3°/30min GNSS failure Horizontal positioning accuracy 1.2m Single-point L1/L2 GNSS is valid...
  • Page 4 Project Metrics (RMS) Remark Use environment Operating temperature -40℃~+60℃ Storage temperature -45℃~+65℃ Vibration 20~2000Hz，6.06g Impact 30g，11ms Degree of protection IP65 Reliability MTBF 30000h Life span > 15 years Continuous working time >24h 3. Working principle 3.1 Product composition The composition of the product is shown in Figure 1. Integrated Navigation Figure 1 System composition 3.2 Fundamentals...
  • Page 5 carrier and sending the information to the information processing circuit; and the information processing circuit performs navigation settlement by using the acceleration and the angular velocity measured by the inertial measurement unit and simultaneously receives satellite navigation information of a GNSS receiver as a reference to perform combined navigation, The navigation error of the inertial navigation is corrected, and the navigation information is output through the information interface circuit.
  • Page 6 Fig. 3 Outline structure of integrated navigation system 4.2 Electrical interface 4.2.1 product interface The system has 3 external connectors: A power supply and communication interface, whose contact sequence is defined as shown in Figure 4; Fig. 4 Power supply and communication interface point number of integrated navigation system (product socket and welding surface) Two RF line interfaces (SMA outer screw and inner hole), in which the mark P is...
  • Page 7 connected to the main antenna (rear antenna), and the mark S is connected to the slave antenna (front antenna). 4.2.2 communication cable One end of the communication cable is Ramo connector (FGG.0T.312.CLAC40), which is connected to the system, and the other end is divided into power line and communication line (line length is 1m): Power cable: connected to 9 ~ 36 V DC, with external cable, and connected to red and black clips.
  • Page 8 Connection point 1 Connection Point 2 Terminal number Lengt Plug wire Termin Plug wire Termin definition COM2_RS422R+ COM2_RS422R- DB9 female COM2_RS422T+ （COM2） COM2_RS422T- COM1_RS232T DB9 female COM1_RS232R (FGG.0T.312.C （COM1） meter LAC40) Odometer Throw Throw input Black alligator clip Red alligator 24V_I 24V_IN 24V_I...
  • Page 9 alignment; when the satellite navigation information is effective, the system enters the integrated navigation state, otherwise, the system maintains the coarse alignment state; When the system is in the integrated navigation state, the integrated navigation system can move. The 4.3.1.2 system is reset During operation, input the "# reset"...
  • Page 10 String Enter the project Output items Default slogan update rate configuration. COM2 None Same as item 1-2 in COM 1 460800bps Output: INSpost After the system is powered on and the start prompt is displayed on the COM1 port, you can input the commands such as COM1 ~ COM2 serial port baud rate configuration, serial port protocol and update rate setting.
  • Page 11 Initial binding longitude and latitude; Initially binding the included angle between the double-antenna heading and the integrated navigation system heading; Initial binding antenna mast arm value; System number and date of manufacture; Software version number: including pre-processing software version number and navigation software version number;...
  • Page 12 Where, comX can be the configuration number of com 1 ~ com2; The updataTime represents the update time, which can be a period of 5 (0.2 Hz), 1 (1 Hz), 0.2 (5 Hz), 0.1 (10 Hz), 0.01 (100 Hz), etc., which can be divided by 200 Hz, and the unit is s. LOG indicates the protocol name, which can be inspvasa, bdfpd, gpfpd, etc.
  • Page 13 at the same time will increase the amount of data sent by the serial port. Before use, it is necessary to configure the appropriate baud rate, otherwise it may cause data loss. In general, the larger the amount of data, the higher the baud rate required. 4.3.2.4.2 protocol format The output protocols supported by the product are shown in the following table.
  • Page 14 Serial Name Meaning Data type Unit numb $GPFPD Format header — — GPSWeek Current Week Number Integer — Since 1980-1-6 (GMT) GPS cycles per GPS cycles per second Floating-poi second nt type Yaw Angle Yaw 0 ~ 360 degrees, Floating-poi Degree clockwise nt type...
  • Page 15 Serial Name Meaning Data type Unit numb North speed Combined output north Floating-poi speed nt type Sky speed Combined output speed Floating-poi nt type Baseline length Distance between centers Integer Meters of two satellite antenna NSV1 Number of satellites for Integer antenna 1 NSV2...
  • Page 16 Serial Name Meaning Data type Unit numb $BDFPD Format header — — GPSWeek Current Week Number Integer — Since 1980-1-6 (GMT) GPS cycles per GPS cycles per second Floating-po second int type Yaw Angle Yaw 0 ~ 360 degrees, Floating-po Degree clockwise int type...
  • Page 17 Serial Name Meaning Data type Unit numb North speed Combined output north Floating-po speed int type Sky speed Combined output speed Floating-po int type NSV1 Number of satellites for Integer antenna 1 NSV2 Number of satellites for Integer antenna 2 Positioning type Postype in bestpos, see Integer...
  • Page 18 Serial Name Meaning Data type Unit numbe $BDFPD Format header — — GPSWeek Current Week Number Integer — Since 1980-1-6 (GMT) GPS cycles per GPS cycles per second Floating-poi second nt type Yaw Angle Yaw 0 ~ 360 degrees, Floating-poi Degree clockwise nt type...
  • Page 19 Serial Name Meaning Data type Unit numbe North speed Combined output north Floating-poi speed nt type Sky speed Combined output speed Floating-poi nt type X-axis angular IMU is on the right Floating-poi °/s rate nt type Y-axis angular Before the IMU system Floating-poi °/s rate...
  • Page 20 Serial Name Meaning Data type Unit numbe antenna 2 Positioning type Postype in bestpos, see Integer — Table 12 Directional type Postype in heading, see Integer — Table 12 System status 0 x00: Standby word 0 x10: coarse alignment 0 x20: fine alignment 0x30: integrated navigation...
  • Page 21 Serial Name Meaning Data type Unit numbe %INSPVASA Format header — — GPSWeek Current Week Number Integer — Since 1980-1-6 (GMT) GPS cycles per GPS cycles per second Floating-poin second t type GPSWeek Current Week Number Integer — Since 1980-1-6 (GMT) GPS cycles per GPS cycles per second Floating...
  • Page 22 Serial Name Meaning Data type Unit numbe speed t type Sky speed Combined output speed Floating-poin t type Roll Angle Roll angle -180 ° ~ 180 ° Floating-poin Degree t type Pitch Angle Pitch angle -90 ° ~ 90 ° Floating-poin Degree t type...
  • Page 23 Seri Numbe Definition Meaning Data type Remark bytes 0xaa — Frame 0x44 — header 0x10 — Header Message 0x3c — length Current Week Week unsigned Number Since — GNSS 1980-1-6 (GMT) Week cycles 9-12 float — second second 13-16 Yaw Angle float —...
  • Page 24 Seri Numbe Definition Meaning Data type Remark bytes Combined output 33-40 Longitude longitude -180 ° ~ double — 180 ° Height 41-44 Height float — combined output Combined output 45-48 East speed float — east speed North Combined output 49-52 float —...
  • Page 25 Seri Numbe Definition Meaning Data type Remark bytes type see Table 12 short 5-64 bytes 4-byte 65-68 Checksum accumulate — — check Table 10 Description of raw imusb protocol Seria Numb Definition Meaning Data type Remark bytes 0xaa — Frame header 0x44 —...
  • Page 26 Seria Numb Definition Meaning Data type Remark bytes unsigned 9-12 Week second — unsigned 13-16 Week of GNSS — 17-24 Week second double status unsigned 25-28 See Table 13 word Z-direction 200*200*2-3 29-32 accelerometer m/s2 output (upper) 200*200*2-3 33-36 accelerometer m/s2 output (rear) X-direction...
  • Page 27 Seria Numb Definition Meaning Data type Remark bytes output (upper) -Y-gyro output 200*720*2-3 45-48 °/s (rear) X-direction 200*720*2-3 49-52 gyroscope °/s output (right) 1-52 byte 32-bit unsigned 53-56 Checksum — CRC check Table 11 INS Status Description INS status word Status word description INS_INACTIVE IMU logs are present, but the alignment routine...
  • Page 28 Type Type definition Type description numeric value NONE No solution FIXEDPOS Position has been fixed by the FIX POSITION command FIXEDHEIGHT Position has been fixed by the FIX HEIGHT/AUTO command DOPPLER_VEL Velocity computed using instantaneous Doppler OCITY SINGLE Single point position PSRDIFF Pseudorange differential solution WAAS...
  • Page 29 Type Type definition Type description numeric value NARROW_INT Integer narrow-lane ambiguity solution OMNISTAR_HP OmniSTAR HP position OMNISTAR_XP OmniSTAR XP or G2 position PPP_CONVERG Converging PPP solution Converged PPP solution OPERATIONAL Solution accuracy is within UAL operational limit WARNING Solution accuracy is outside UAL operational limit but within warning limit OUT_OF_BOUN Solution accuracy is outside UAL limits...
  • Page 30 Type description sequen numbe Y Gyro status Z gyro status Spare X Accelerometer Status Y Accelerometer Status 1: normal, 0: fault Z Accelerometer Status 7-31 Spare — 4.3.2.4.332 bit CRC check calculation method The 32-bit CRC check calculation method can be obtained by using the following C language function.
  • Page 31 4.3.2.5 initial value configuration Initial longitude and latitude configuration, configuration instructions are: initialpos LONGITUDE LATILUDE Where LONGITUDE and LATITUDE are configured local longitude and latitude values in degrees. 4.3.2.6 function module configuration Functional modules with open configuration mainly include zero velocity correction and output position smoothing.
  • Page 32 system detects the sensitive information, and if the integrated navigation system is judged to be zero-velocity, the corresponding correction is carried out. In the integrated navigation process of this product, the "zero velocity correction" is enabled by default. If the satellite information is invalid for a long time in the integrated navigation state, and the user wants to get the pure inertial navigation information, it is recommended to close the zero velocity correction mode.
  • Page 33 carrier type configuration is required, and different algorithm processing is carried out in the integrated navigation system according to different carrier types. The configuration instructions are as follows: carrier vehicle/ship/air They are vehicle-mounted, ship-mounted and airborne in turn. After the configuration is completed, you need to enter the save command "saveconfig", and then hard start or enter the "# reset"...
  • Page 34 the alignment of the integrated navigation system on the stationary base and before the alignment of the integrated navigation system on the moving base. Once the configuration is complete, it needs to be saved via "saveconfig". The configurations include a master antenna rod arm configuration and a slave antenna rod arm configuration.
  • Page 35 4.3.2.9 Output Lever Arm Settings The default value for the product output lever arm configuration is [0,0,0] (upper right front), which outputs the position and speed values at the integrated navigation system. If the position and speed of the user's test point need to be output, the output lever arm should be set according to the relative installation relationship between the test point and the integrated navigation system.
  • Page 36 Fig. 7 Schematic diagram of output lever arm Setting of mounting angle of 4.3.2.10 The attitude and heading information output by the product are Euler angles of the product coordinate system relative to the geographic coordinate system. The angle installation relationship between the product and the carrier coordinate system is the installation angle, and the default configuration value is [0,0,0] (pitch, heading, roll), that is, the product coordinate system and the installation carrier coordinate system coincide.
  • Page 37 4.3.2.11 forced rotation inertial navigation When the integrated navigation system is in the integrated navigation state, the integrated navigation system can receive the forced rotation inertial navigation instruction and switch to the inertial navigation state. In this state, the integrated navigation system still receives the satellite navigation information for protocol transmission, but does not use the satellite navigation information to participate in the integrated navigation calculation.
  • Page 38 the option of sending a new line) to the serial port, and the interface displays the updata flash information; Select the firmware (generally *.bin2 file) to be upgraded through the serial port tool and send it; After the sending is completed, the program automatically reloads and starts, enters the start prompt information, and starts normally;...
  • Page 39 A) The power-on and power-off time interval of the integrated navigation system shall not be less than 30 s, otherwise it is easy to cause damage to the inertial devices; B) shall be handled with care during handling, installation and use to avoid collision, falling and impact;...
  • Page 40 Figure 8 Data Link Diagram Setting of 6.1.1 reference station The differential reference station is the satellite receiver with the antenna of the satellite receiver installed in a fixed position. During the use of the satellite receiver, it is necessary to ensure that the antenna is fixed. In the working process of the differential reference station, the precise coordinates of the fixed position and the received satellite information are sent to the mobile station (the point to be positioned) through the communication link, which is used for the mobile station...
  • Page 41 Table 14 Reference Station Configuration Instructions Seria Instruction Explain Set the known precise coordinates fix position39.8122 116.1515 (latitude 39.8122, 经度 116.1515, altitude 60.5 60.5) as the reference station coordinate values Autonomous positioning of the receiver 0.01 when horizontal positioning standard deviation is less than or equal to 1.5 m and the height posaveon 0.01 1.5 2.5 positioning standard deviation is less...
  • Page 42 Seria Instruction Explain enable command feedback log com1rtcm1075ontime 1 GPS differential message log com1rtcm1125ontime 1 BDS differential message log com1rtcm1085ontime 1 GLO differential message log com1rtcm1033ontime 10 Description of receiver and antenna Antenna reference point coordinates of log com1rtcm1005ontime 10 RTK reference station saveconfig Save the configuration...
  • Page 43 realize the differential high-precision positioning. The integrated navigation system supports RTCM and RTCMV3 standard data protocols. COM2 of the integrated navigation system can be configured as the receiving interface of differential correction information, and the specific configuration instructions are as follows. Table 15 Mobile station configuration command Serial Instruction...