LORD 3DM-GX5-35 Inertial Sensor Manuals

LORD 3DM-GX5-35 Inertial Sensor Manuals

Manuals and User Guides for LORD 3DM-GX5-35 Inertial Sensor. We have 1 LORD 3DM-GX5-35 Inertial Sensor manual available for free PDF download: Manual

LORD 3DM-GX5-35 Manual

LORD 3DM-GX5-35 Manual (105 pages)

Data Communications Protocol, Attitude and Heading Reference Unit AHRS with GNSS

Brand: LORD | Category: Recording Equipment | Size: 2.97 MB

Table of Contents

Table of Contents
3
1 API Introduction

7
2 Basic Programming

8
- MIP Packet Overview
  8
- Command Overview
  10
- Example "Ping" Command Packet
  10
- Example "Ping" Reply Packet
  11
- Data Overview
  11
  - Example Data Packet
    12
- Example Setup Sequence
  12
  - Continuous Data Example Command Sequence
    13
  - Polling Data Example Sequence
    16
- Parsing Incoming Packets
  17
- Multiple Rate Data
  18
- Data Synchronicity
  19
- Communications Bandwidth Management
  19
  - UART Bandwidth Calculation
    20
  - USB Vs. UART
    21
3 Command and Data Summary

22
- Commands
  22
  - Base Command Set (0X01)
    22
  - 3DM Command Set (0X0C)
    22
  - System Command Set (0X7F)
    23
- Data
  23
  - IMU Data Set (0X80)
    23
  - GNSS Data Set (0X81)
    23
4 Command Reference

24
5 Data Reference

70
- IMU Data
  70
- GNSS Data
  80
  - LLH Position (0X81, 0X03)
    80
  - ECEF Position (0X81, 0X04)
    81
  - NED Velocity (0X81, 0X05)
    82
  - ECEF Velocity (0X81, 0X06)
    83
  - DOP Data (0X81, 0X07)
    84
  - UTC Time (0X81, 0X08)
    85
  - GPS Time (0X81, 0X09)
    86
  - Clock Information (0X81, 0X0A)
    86
  - GNSS Fix Information (0X81, 0X0B)
    87
  - Space Vehicle Information (0X81, 0X0C)
    88
  - Hardware Status (0X81, 0X0D)
    89
  - DGNSS Information (0X81, 0X0E)
    90
  - DGNSS Channel Status (0X81, 0X0F)
    91
6 MIP Packet Reference

92
- Structure
  92
- Payload Length Range
  92
- MIP Checksum Range
  92
- 16-Bit Fletcher Checksum Algorithm (C Language)
  92
7 Advanced Programming

93
- Multiple Commands in a Single Packet
  93
- Direct Modes
  94
- Internal Diagnostic Functions
  95
  - 3DM-GX5-35 Internal Diagnostic Commands
    95
- Handling High Rate Data
  95
  - Runaway Latency
    95
  - Dropped Packets
    95
- Creating Fixed Data Packet Format
  97
- Advanced Programming Models
  98
8 Glossary

99

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