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Related Manuals for Polhemus MINUTEMAN
Summary of Contents for Polhemus MINUTEMAN
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Page 1: User Manual
MINUTEMAN™ MINUTEMAN 3D TRACKER USER MANUAL URM06PH191 REV. A – FEBRUARY 2008... - Page 2 MINUTEMAN MANUAL {This page intentionally left blank.}...
- Page 3 Polhemus. No patent liability is assumed with respect to the use of the information contained herein. While every precaution has been taken in the preparation of this manual, Polhemus assumes no responsibility for errors or omissions.
- Page 4 MINUTEMAN MANUAL {This page intentionally left blank.} REV. A FEBRUARY 2008...
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Page 5: Table Of Contents
Install the MINUTEMAN Host Software................2 Connect sensors to the MINUTEMAN E-Pod..............2 Connect MINUTEMAN E-Pod to Host USB..............3 Verify MINUTEMAN Hardware..................5 Verify MINUTEMAN Function and Host Software............5 Operational Installation........................7 Location and Mounting....................... 7 Coordinate Reference ......................... 9 Multiple MINUTEMAN Systems Installation................ -
Page 6: Table Of Figures
MINUTEMAN MANUAL TABLE OF FIGURES Figure 1 MINUTEMAN Components .................... 1 Figure 2 MINUTEMAN E-Pod ...................... 3 Figure 3 “Found New Hardware” Screen ..................4 Figure 4 USB Serial Port “Found New Hardware” Screen ............4 Figure 5 PI Tracker Config Screen ....................5 Figure 6 Sensor Orientation Data Collection Screen.............. -
Page 7: Welcome
Components The following components (see Figure 1) make up a MINUTEMAN system. MINUTEMAN E-Pod Sensor with two nylon mounting screws 6 foot (2 meter) sensor cable with 6 pin modular connectors 17 foot (5 meter) USB cable... -
Page 8: Initial Minuteman Setup And System Test
MINUTEMAN MANUAL Initial MINUTEMAN Setup and System Test Follow these set-up and connection steps to demonstrate basic operation of your MINUTEMAN system. Caution: Do not connect the USB cable until instructed. 1. Install the MINUTEMAN Host Software. i. Insert the MINUTEMAN Host Software CD into your computer’s CD-ROM drive. -
Page 9: Connect Minuteman E-Pod To Host Usb
3. Connect MINUTEMAN E-Pod to Host USB. NOTE : MINUTEMAN gets its operating power through the USB connection. If you are using a USB hub that does not provide the full USB power allotment, the E-Pod will not operate! When the USB cable is connected to the host PC for the first time, Windows will detect the new hardware and launch the device driver installation wizard. -
Page 10: Figure 3 "Found New Hardware" Screen
Figure 3), which will walk you through the driver installation procedure. If your MINUTEMAN Host Software CD is not in the CD-ROM drive, insert it now. Select “Install the software automatically” and click “Next”: Figure 3 “Found New Hardware” Screen Click on the “Finish”... -
Page 11: Verify Minuteman Hardware
To verify this, disconnect and then reconnect the USB connector now. 5. Verify MINUTEMAN Function and Host Software. i. With the MINUTEMAN still connected via USB, launch the PiMgr tracker management application from the Windows desktop shortcut ii. With the MINUTEMAN already attached via USB, PiMgr will automatically... -
Page 12: Figure 6 Sensor Orientation Data Collection Screen
MINUTEMAN MANUAL iii. Collect MINUTEMAN sensor orientation data (see Figure 6) by clicking on the single frame toolbar button . Note the orientation of the sensor displayed by PiMgr: Figure 6 Sensor Orientation Data Collection Screen iv. Initiate continuous data collection by clicking on the continuous mode toolbar button . -
Page 13: Operational Installation
Operational Installation Location and Mounting Set up MINUTEMAN close to your host computer and away from large metal objects like file cabinets, metal desks, etc., and away from the floor and walls. Also, it is important to position the system so that the working area for your application is centered in the 36 inch/90 cm radial range of the MINUTEMAN. -
Page 14: Figure 9 Sensor Mounting Flanges
MINUTEMAN MANUAL MINUTEMAN sensors can be screwed down with the provided nylon screws through slots in the sensor mounting flanges (see Figure 9). The slotted flanges allow sensors to be installed into pre- existing fixtures. If a smaller footprint is needed, the mounting flanges can be clipped off and the sensor can be mounted with adhesive. -
Page 15: Coordinate Reference
NOTE: Euler angles Azimuth, Elevation, and Roll (AER), are also known as “Yaw,” “Pitch” and “Roll.” This is the default form in which MINUTEMAN reports sensor orientation. See the section entitled “Output Orientation Format” for more information. REV. A... -
Page 16: Figure 13 Coordinate Reference System
Should you wish to start your application at a (0,0,0) AER orientation, the sensor should be brought in line with the E-Pod X-axis indicated (see Figure 14) and then rotated to achieve approximately that orientation. MINUTEMAN components should be mounted to fix this mechanical alignment. Figure 14 Sensor Aligned with E-Pod Refer to... -
Page 17: Multiple Minuteman Systems Installation
MINUTEMAN E-Pods, each operates at a different frequency. 2. USB Power Use the native USB port or a powered hub to operate the MINUTEMAN E-Pod. A USB expansion hub typically does not provide such power. 3. Coordinate System In most multi-E-Pod environments, all E-Pods will be aligned to the same coordinate system. -
Page 18: Minuteman Configuration
MINUTEMAN MANUAL MINUTEMAN Configuration MINUTEMAN has a simplified command structure with a small set of commands to control and to configure the E-Pod. Commands include output orientation data format, filtering, boresight, and soft reset. MINUTEMAN can be managed entirely through the PiMgr tracker management application that is included on the MINUTEMAN Host Software CD. -
Page 19: Figure 15 Configure Output Orientation Format
MINUTEMAN MANUAL Euler angles are the most straightforward method of expressing orientation. However, at high elevation, calculated Euler angles are subject to “gimbal lock.” That is, as elevation approaches +90º or -90º, the axes about which azimuth and roll are computed become a single axis and the third angle of rotation describing the orientation is lost. -
Page 20: Boresight
MINUTEMAN MANUAL Boresight MINUTEMAN can be instructed to enable or disable boresight rotation of individual sensors at any time. When instructed to enable boresight, the orientation of the sensor is rotated so as to align the sensor with the E-Pod reference frame of AER (0,0,0). The orientation received from the affected sensor will be effectively reset to AER (0,0,0), regardless of its actual physical orientation. -
Page 21: Host Prediction
MINUTEMAN MANUAL Host Prediction Prediction up to 50 ms can be enabled for each MINUTEMAN sensor. The prediction operation is performed on the host, not the MINUTEMAN device. This operation requires that the configured Output Orientation Format (see page 12) be either... -
Page 22: Filtering
Four filter settings are available to the user: None, Light, Medium and Heavy. NOTE: Filtering does not change the update rate of the MINUTEMAN. Medium to heavy filtering may produce perceivable lag in the tracking outputs. The filter is configured in the “Tracker Configuration” dialog (see... -
Page 23: Electronic Stabilization Process (Esp)
“windows” to smooth the orientation output prior to reporting to the host. This is done dynamically inside the MINUTEMAN processor code while the DSP is analyzing the data variability. ESP provides stabilization over the range of tracker application that outperforms typical adaptive filtering and has the effect of increasing tracker range over larger sensor/E-Pod separation distances. -
Page 24: Soft Reset
MINUTEMAN MANUAL Soft Reset MINUTEMAN can be reset without disconnecting the power/USB connection via the PiMgr “Initialize Device” selection in the Tools Menu (see Figure 19). Note that any soft or hard reset to MINUTEMAN will reset all configuration settings to factory default values. -
Page 25: Minuteman Host Software
MINUTEMAN MANUAL MINUTEMAN Host Software The MINUTEMAN Host Software set is found on the MINUTEMAN Host Software CD. See Initial MINUTEMAN Setup and System Test on page for instructions on installing this software. PiMgr Tracker Management Application The PiMgr application is capable of managing every aspect of MINUTEMAN configuration and control. - Page 26 MINUTEMAN MANUAL APPENDIX A. Limited Warranty and Limitation of Liability Manufacturer warrants that the Product shall be free from defects in material and workmanship for a period of two years from the date of Manufacturer’s delivery to the Buyer, or two years and 30 days from the date ownership of Product passed to the Buyer, whichever occurs first, with the exception of FastSCAN, which has a warranty period of only one year.
- Page 27 MINUTEMAN MANUAL MANUFACTURER DOES NOT WARRANT AND SPECIFICALLY DISCLAIMS THE WARRANTY OF MERCHANTABILITY OF THE PRODUCTS OR THE WARRANTY OF FITNESS OF THE PRODUCTS FOR ANY PARTICULAR PURPOSE. MANUFACTURER MAKES NO WARRANTIES, EXPRESS OR IMPLIED, EXCEPT OF TITLE AND AGAINST PATENT INFRINGEMENT, OTHER THAN THOSE SPECIFICALLY SET FORTH HEREIN.
- Page 28 MINUTEMAN MANUAL APPENDIX B. Specifications 75 Hz per sensor (fixed), simultaneous samples Update Rate 2 ms (OS and Host Software dependent) Latency 1 or 2 Number of Sensors USB 1.1 or 2.0, WinXP/2K driver provided 17-ft. cable supplied < 2° RMS orientation accuracy at 24 inches Static Accuracy 0.01°...
- Page 29 Call Polhemus at the numbers listed below and select “2” for Customer Service and then “1” for Technical Support. Polhemus is open Monday through Friday, 8:00 AM to 5:00 PM, Eastern Standard Time.
- Page 30 (ESP)......17 output format ............12 E-Pod ..............B-1 output orientation format .........12 connecting sensors ..........2 PDI (Polhemus Developer Interface).......19 connecting to host USB ........3 physical characteristics ..........B-1 ESP (electronic stabilization process)......17 PiMgr tracker management application....19 Euler angles (default)..........12 Polhemus developer interface SDK......19...
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