Advanced Navigation Motus Manuals

Advanced Navigation Motus Manuals

Manuals and User Guides for Advanced Navigation Motus. We have 1 Advanced Navigation Motus manual available for free PDF download: Reference Manual

Advanced Navigation Motus Reference Manual

Advanced Navigation Motus Reference Manual (147 pages)

accelerometer

Brand: Advanced Navigation | Category: Controller | Size: 6 MB

Table of Contents

Table of Contents
2
Revision History
9
Firmware Changelog
10
Version
10
Hardware Changelog
11
Introduction
12
Foundation Knowledge
13
Gnss
13
Gnss/Ins
13
- Ahrs
  13
- The Sensor Co-Ordinate Frame
  14
Ins
13
Roll, Pitch and Heading
14
- Second Right Hand Rule
  14
- Rotation Order
  15
  - Geodetic Co-Ordinate System
    15
- NED Co-Ordinate Frame
  17
- ECEF Co-Ordinate Frame
  18
Quick Start
19
- OEM Evaluation Kit
  20
- Kit Contents
  20
- Quick Start
  20
- Part Numbers and Ordering Options
  22
- Evaluation Kit
  22
- Standalone Unit
  22
- Software License Upgrades
  22
- Accessories
  23
- Specifications
  24
- Mechanical Drawings
  24
- Navigation Specifications
  25
- Sensor Specifications
  26
- Rugged Communication Specifications
  27
- OEM Communication Specifications
  27
- Rugged Hardware Specifications
  27
- OEM Hardware Specifications
  28
- Rugged Electrical Specifications
  29
- OEM Electrical Specifications
  29
Rugged Evaluation Kit
19
- Kit Contents
  19
Power Consumption
30
- Rugged Connector Pin-Out
  30
- Rugged Evaluation Kit USB Cable
  31
  - Optional Rugged Breakout Cable
    32
  - Sensor Calibration
    33
  - Installation
    35
  - Installation Checklist
    35
- Position and Alignment
  35
- Alignment
  35
- Mounting Plate
  36
- Power Supply
  36
- Odometer
  37
- Factory VSS Signal
  37
  - OBDII Odometer Interface
    37
Aftermarket Wheel Speed Sensor
39
- Radar Speed Sensor
  39
- Magnetics
  40
- Vibration
  40
- INS and AHRS Operation
  41
  - Initialisation
    41
  - Orientation Initialisation
    41
- Navigation Initialisation
  41
- Heading Initialisation
  42
  - Time Initialisation
    42
  - Hot Start
    42
  - Time
    43
    
    Heading Source
    43
    
    Magnetic Heading
    43
  - Velocity Heading
    43
  - External Heading
    43
- Magnetics
  43
  - Magnetic Calibration
    44
  - Using the Motus Manager Software
    44
  - Using the Packet Protocol
    45
  - Magnetic Calibration
    45
  - Using the Motus Manager Software
    45
- Automatic Magnetic Calibration
  46
- Disabling Magnetometers
  46
- Data Anti Aliasing
  46
- Vehicle Profiles
  47
- Odometer Pulse Length
  47
Heave
48
- Environmental Exposure
  48
- Temperature
  48
- Water
  49
- Salt
  49
- Dirt and Dust
  49
  - PH Level
    49
  - Shocks
    49
  - Motus Manager
    50
  - Software Changelog
    51
- System Requirements
  51
- Installation
  51
- Troubleshooting
  51
- All Platforms
  51
- Windows
  51
  - Linux
    52
  - Main View
    54
- Serial Port
  54
- Attitude Indicator
  54
  - Status Indicator
    54
  - Motus Status Indicator
    55
  - Fix Indicator
    55
  - Satellites Table
    55
  - Map
    55
  - Map Controls
    55
  - Reset View
    55
  - Clear History
    55
  - Logging
    55
- View
  56
  - Device Information
    56
  - Status
    57
  - Satellites
    58
    
    Raw Sensors
    59
    
    Orientation
    60
    
    Position
    61
    
    Velocity and Acceleration
    62
    
    Model
    63
    
    Communications Statistics
    64
  - Heave
    64
  - Configuration
    65
  - Configuration Export
    65
  - Filter Options
    66
- Packet Rates
  67
  - Alignment Configuration
    68
  - Alignment Offset
    68
  - GNSS Antenna Offset
    69
  - Odometer Offset
    69
  - External Data Offset
    69
  - Baud Rates
    69
  - GPIO Configuration
    70
  - Odometer
    70
Reset
71
- Reference Position Offsets
  71
- GPIO Output
  72
- Manual Initialisation
  73
  - Tools
    73
  - Magnetic Calibration
    74
  - Firmware Update
    75
  - Log Converter
    75
  - Network Connect
    76
  - OEM Integration
    77
  - OEM PCB Mechanical Mounting
    77
  - OEM Electrical Connector
    78
  - Interoperability with Different Voltage Systems
    80
  - Reset Line
    80
Basic Connection
81
- Recommended Footprint
  81
- OEM Power Supply
  83
- OEM Pin Protection
  83
- OEM Development Board
  84
- Serial UART to USB Converter
  85
- Dual RS232 Transceiver
  85
  - GPIO Header and Status Leds
    85
Configuration Switches
86
- Primary Serial Port to USB
  87
- Primary Serial Port and GPIO 3 & 4 to GPIO Header at TTL Levels
  88
  - Power Source
    89
  - Schematics
    89
  - Interfacing
    92
  - Communication
    92
  - Baud Rate
    92
  - External Data
    92
- GPIO Pins and Auxiliary RS232
  93
  - Dynamic Pin Functions
    93
  - 1PPS Output
    95
  - GNSS Fix Output
    95
  - Odometer Input
    95
  - Zero Velocity Input
    95
  - Pitot Tube Input
    95
  - NMEA Input
    96
  - NMEA Output
    96
- Novatel GNSS Input
  97
  - Topcon GNSS Input
    97
  - ANPP Input
    97
  - ANPP Output
    97
  - Disable Magnetometers
    97
  - Set Zero Orientation Alignment
    97
  - System State Packet Trigger
    97
  - Raw Sensors Packet Trigger
    97
  - Pressure Depth Transducer
    98
  - Trimble GNSS Input
    98
  - U-Blox GNSS Input
    98
  - Hemisphere GNSS Input
    98
  - Teledyne DVL Input
    98
  - Tritech USBL Input
    98
  - Linkquest DVL Input
    98
  - Linkquest USBL Input
    98
  - Nortek DVL Input
    98
  - Left Wheel Speed Sensor
    99
  - Right Wheel Speed Sensor
    99
  - 1PPS Input
    99
  - Wheel Speed Sensor
    99
  - Wheel Encoder Phase a
    99
  - Wheel Encoder Phase B
    99
  - Event 1 Input
    99
  - Event 2 Input
    99
  - TSS1 Output
    100
  - Simrad 1000 Output
    100
  - Simrad 3000 Output
    100
Serial Port Passthrough
100
- Gimbal Encoder Phase a
  100
- Gimbal Encoder Phase B
  100
  - Odometer Direction, Forward Low
    100
  - Odometer Direction, Forward High
    100
- Reverse Alignment, Forward Low
  100
  - Reverse Alignment, Forward High
    101
  - Zero Angular Velocity Input
    101
  - Advanced Navigation Packet Protocol
    102
  - Data Types
    102
- Packet Structure
  102
  - Header LRC
    103
- Packet ID
  103
- Packet Length
  103
- Crc
  103
  - Packet Requests
    103
- Packet Acknowledgement
  103
  - Packet Rates
    104
    
    Packet Timing
    104
  - Packet Summary
    104
    
    System Packets
    106
- Acknowledge Packet
  106
  - Acknowledge Result
    107
  - Request Packet
    107
  - Boot Mode Packet
    107
  - Boot Mode Types
    108
- Device Information Packet
  108
  - Restore Factory Settings Packet
    108
  - Reset Packet
    109
    
    Verification Sequence Values
    109
  - Serial Port Pass-Through Packet
    109
    
    Pass-Through Routes
    109
  - State Packets
    110
  - System State Packet
    110
    
    System Status
    111
  - Filter Status
    112
    
    GNSS Fix Status
    112
    
    Unix Time Seconds
    113
  - Microseconds
    113
  - Unix Time Packet
    113
  - Formatted Time Packet
    113
  - Status Packet
    113
    
    Position Standard Deviation Packet
    114
  - Velocity Standard Deviation Packet
    114
  - Euler Orientation Standard Deviation Packet
    114
  - Quaternion Orientation Standard Deviation Packet
    115
  - Raw Sensors Packet
    116
  - Raw GNSS Packet
    116
    
    Raw GNSS Status
    118
  - Satellites Packet
    118
  - Detailed Satellites Packet
    119
  - Satellite Systems
    119
  - Satellite Frequencies
    119
  - Geodetic Position Packet
    120
  - ECEF Position Packet
    120
  - UTM Position Packet
    120
  - NED Velocity Packet
    121
  - Body Velocity Packet
    121
  - Acceleration Packet
    121
  - Body Acceleration Packet
    122
  - Euler Orientation Packet
    122
  - Quaternion Orientation Packet
    123
  - DCM Orientation Packet
    123
  - Angular Velocity Packet
    123
  - Angular Acceleration Packet
    124
  - External Position & Velocity Packet
    124
  - External Position Packet
    125
  - External Velocity Packet
    125
  - External Body Velocity Packet
    125
  - External Heading Packet
    126
  - Running Time Packet
    126
  - Local Magnetic Field Packet
    126
    
    Odometer State Packet
    127
  - External Time Packet
    127
    
    External Depth Packet
    128
    
    Geoid Height Packet
    128
  - External Pitot Pressure Packet
    128
  - Wind Packet
    128
  - Heave Packet
    129
    
    Post Processing Packet
    129
  - External Odometer Packet
    129
- Odometer Flags
  130
  - External Air Data Packet
    130
    
    External Air Data Flags
    130
    
    Notes
    130
  - Gimbal State Packet
    130
    
    Automotive Packet
    131
    
    Zero Angular Velocity Packet
    131
    
    Duration
    131
    
    Configuration Packets
    132
    
    Packet Timer Period Packet
    132
    
    UTC Synchronisation
    132
    
    Packet Timer Period
    132
    
    Packets Period Packet
    132
Baud Rates Packet
133
- Installation Alignment Packet
  134
- Alignment DCM
  134
Packet Period
133
Filter Options Packet
135
Vehicle Types
135
Advanced Filter Parameters Packet
136
- GPIO Configuration Packet
  136
- GPIO1 Functions
  136
GPIO2 Functions
137
Magnetic Calibration Actions
141
Magnetic Calibration Configuration Packet
141
Magnetic Calibration Status
141
- Odometer Configuration Packet
  142
- Set Zero Orientation Alignment Packet
  142
Magnetic Calibration Status Packet
141
Reference Point Offsets Packet
142
- GPIO Output Configuration Packet
  144
NMEA Fix Behaviour
144
GPIO Output Rates
145
GPIO Output Rates Index
145
User Data Packet
145
GPIO Input Configuration Packet
146

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