Memsic DMU380SA Series Manuel utilisateur

Roll, Pitch, Heading, Rate,

Acceleration, Mag and BIT

9-32VDC @ < 350mW

AHRS380SA

UAV Flight Control

Uncertified Avionics

Power Sensing Solutions for a Better Life

AHRS380SA

ATTITUDE HEADING REFERENCE SYSTEM

The MEMSIC AHRS380SA is a standalone fully-

integrated Attitude & Heading Reference System

offering a complete dynamic measurement solution

in a miniature environmentally protected package.

The AHRS380SA offers a highly-effective solution

for cost-sensitive demanding applications.

Features



Complete 9DOF Inertial System



Roll/Pitch/Heading Outputs



RS-232 or RS-422 Interface

Update Rate, 1Hz to 100Hz



Miniature Package, 41 x 48 x 22mm

Wide Input Voltage Range, 9-32VDC

Low Power Consumption < 350 mW

Wide Temp Range, -40C to +85C

High Reliability, MTBF > 50k hours

Environmentally Protected Enclosure

The MEMSIC AHRS380SA integrates highly-reliable

MEMS 6DOF inertial sensors and 3-axis magnetic sensors

with extended Kalman filtering in a miniature factory-

calibrated module to provide consistent performance

through the extreme operating environments in a wide

variety of dynamic control and navigation applications.

Applications



Unmanned Vehicle Control



Uncertified Avionics



Platform Stabilization

Robotics Control

Phone: 408.964.9700 Fax: 408.854.7702 E-mail: in[email protected]m www.memsic.com

Performance

AHRS380SA-200

Heading

Range (º)

± 180

Accuracy (º)

< 3.0 3, < 1.0 4

Resolution (º)

< 0.02

Attitude

Range: Roll, Pitch (º)

± 180, ± 90

Accuracy (º)

< 1.0 3, < 0.2 4

Resolution (º)

< 0.02

Angular Rate

Range: Roll, Pitch, Yaw (º/sec)

± 200 (± 400 High Range Model)

Bias Instability (º/hr) 1,2

< 10

Bias Stability Over Temp (º/sec)

< 0.1

Resolution (º/sec)

< 0.02

Scale Factor Accuracy (%)

< 0.1

Non-Linearity (%FS)

< 0.1

Angle Random Walk (º/√hr) 2

< 0.75

Bandwidth (Hz)

5-50 (user-configurable)

Acceleration

Range: X, Y Z (g)

± 4 (± 8 High Range Model)

Bias Instability (mg) 1,2

< 0.02

Bias Stability Over Temp (mg)

< 5

Resolution (mg)

< 0.5

Scale Factor Accuracy (%)

< 0.1

Non-Linearity (%FS)

< 0.1

Velocity Random Walk (m/s/√hr) 2

< 0.05

Bandwidth (Hz)

5-50 (user-configurable)

Magnetic Field

Range: X, Y Z (Gauss)

± 4

Resolution (mGauss)

< 5

Noise Density (mGauss /√Hz)

< 1

Bandwidth (Hz)

Specifications

Environment

Operating Temperature (ºC)

-40 to +85

Non-Operating Temperature (ºC)

-55 to +105

Enclosure

Aluminum (Gold Chem Film - ROHS)

Electrical

Input Voltage (VDC)

9 to 32

Power Consumption (mW)

< 350

Digital Interface

RS-232 or RS-422 (user-configurable)

Output Data Rate

2Hz to 100Hz (user-configurable)

Physical

Size (mm)

41 x 48 x 22

Weight (gm)

< 30

Interface Connector

9-Pin Micro-D

Ordering Information

Model

Description

AHRS380SA-200

Attitude and Heading Reference System (Standard Range)

AHRS380SA-400

Attitude and Heading Reference System (High Range)

AHRS380SA

ATTITUDE HEADING REFERENCE SYSTEM

NAV-VIEW

Configuration and Display Software

NAV-VIEW provides an easy to use

graphical interface to display, record,

playback, and analyze all of the

AHRS380SA Attitude & Heading

Reference System parameters.

NAV-VIEW can also be used to set a

wide range of user-configurable fields

in the AHRS380SA to optimize the

system performance for highly

dynamic applications.

NAV-VIEW software is available for

download from MEMSIC’s website at:

www.memsic.com/support

This product has been developed exclusively for commercial applications. It has not been tested

for, and makes no representation or warranty as to conformance with, any military specifications

or its suitability for any military application or end-use. Additionally, any use of this product for

nuclear, chemical or biological weapons, or weapons research, or for any use in missiles,

rockets, and/or UAV’s of 300km or greater range, or any other activity prohibited by the Export

Administration Regulations, is expressly prohibited without the written consent and without

obtaining appropriate US export license(s) when required by US law. Diversion contrary to U.S.

law is prohibited. Specifications are subject to change without notice.

1Allan Variance Curve, constant temperature. 21-sigma error. 3 RMS error under all dynamics.

4 RMS error under static conditions over full temperature range.

Other Components

The AHRS380SA evaluation kit

includes an AHRS380SA,

interface cable and USB cable,

allowing direct connection to a

PC for use with NAV-VIEW

display and configuration

software.

Support

For more detailed information

please refer to the DMU380SA-

Series User’s Manual available

online at:

www.memsic.com/support

Phone: 408.964.9700 Fax: 408.854.7702 E-mail: in[email protected] www.memsic.com

Document P/N: 6020-3824-01

DMU380SA Series

USER MANUAL

Document Part Number: 7430-0026-01

MEMSIC, Inc., 1759 McCarthy Blvd, Milpitas, CA 95035

Tel: 408-964-9700, Fax: 408-854-7702

email: [email protected], website: www.memsic.com

WARNING

This product has been developed by MEMSIC exclusively for commercial applications. It

has not been tested for, and MEMSIC makes no representation or warranty as to

conformance with, any military specifications or that the product is appropriate for any

military application or end-use. Additionally, any use of this product for nuclear,

chemical, biological weapons, or weapons research, or for any use in missiles, rockets,

and/or UAV's of 300km or greater range, or any other activity prohibited by the Export

Administration Regulations, is expressly prohibited without the written consent of

MEMSIC and without obtaining appropriate US export license(s) when required by US

law. Diversion contrary to U.S. law is prohibited.

change without notice.

MEMSIC, SoftSensor, INS380SA, AHRS380SA, VG380SA, and IMU380SA are

registered trademarks of MEMSIC, Inc. Other product and trade names are trademarks or

registered trademarks of their respective holders.

DMU380SA Series User’s Manual

Doc# 7430-0026 Rev. 01

Page i

Table of Contents

1Introduction..................................................................................................................1

Manual Overview .................................................................................................11.1

Overview of the DMU380SA Series Inertial Systems..........................................21.2

Summary of Major Changes from the 440 Series and the 350 Series ..................31.3

1.3.1 Mechanical Size and Footprint......................................................................3

1.3.2 Connector Pin Out & Operating Voltage, Current ........................................3

1.3.3 Software Compatibility..................................................................................3

1.3.4 Operating Performance and Accuracy...........................................................3

2Connections..................................................................................................................4

Connections ..........................................................................................................42.1

I/O Cable...............................................................................................................42.2

Power Input and Power Input Ground ..................................................................42.3

Serial Data Interface .............................................................................................52.4

Serial GPS Interface (INS380SA) ........................................................................52.5

External GPS Aiding (VG380SA and AHRS380SA)...........................................52.6

1 PPS Output Interface (INS380SA) ....................................................................62.7

Sync Pulse Input Interface (IMU, VG, and AHRS380SA)...................................62.8

GPS Antenna Connection (INS380SA)................................................................72.9

No Connection ..................................................................................................72.10

Quick Digital interface connection ...................................................................72.11

3Installation and Operation of NAV-VIEW ..................................................................9

NAV-VIEW Computer Requirements..................................................................93.1

3.1.1 Install NAV-VIEW........................................................................................9

Connections ..........................................................................................................93.2

Setting up NAV-VIEW.......................................................................................103.3

Data Recording...................................................................................................103.4

Data Playback.....................................................................................................113.5

Raw Data Console ..............................................................................................113.6

Horizon and Compass View...............................................................................123.7

Packet Statistics View.........................................................................................123.8

Unit Configuration..............................................................................................133.9

Advanced Configuration.................................................................................143.10

Bit Configuration ............................................................................................153.11

Mag Alignment Procedure..............................................................................163.12

3.12.1 Hard Iron/Soft Iron Overview .....................................................................16

DMU380SA Series User’s Manual

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Doc# 7430-0026 Rev. 01

3.12.2 Mag Alignment Procedure Using NAV-VIEW...........................................17

Read Unit Configuration.................................................................................193.13

4Theory of Operation...................................................................................................21

DMU380SA Series Default Coordinate System.................................................244.1

4.1.1 Advanced Settings.......................................................................................25

IMU380SA Theory of Operation........................................................................254.2

4.2.1 IMU380SA Advanced Settings ...................................................................26

4.2.2 IMU380SA Built-In Test.............................................................................27

VG380SA Theory of Operation..........................................................................274.3

4.3.1 VG380SA Advanced Settings .....................................................................29

4.3.2 VG380SA Built-In Test..............................................................................30

AHRS380SA Theory of Operation.....................................................................31

4.4

4.4.1 AHRS380SA Magnetometer Calibration and Alignment ...........................32

4.4.2 AHRS380SA Advanced Settings ................................................................33

4.4.3 AHRS380SA Built-In Test..........................................................................36

INS380SA Theory of Operation.........................................................................374.5

4.5.1 INS380SA Magnetometer Calibration and Alignment................................39

4.5.2 INS380SA Advanced Settings.....................................................................39

4.5.3 INS380SA Built-In Test..............................................................................40

5Application Guide......................................................................................................42

Introduction.........................................................................................................425.1

Fixed Wing Aircraft............................................................................................425.2

Rotorcraft............................................................................................................435.3

Land Vehicle.......................................................................................................435.4

Water Vehicle.....................................................................................................445.5

6Programming Guide...................................................................................................46

General Settings..................................................................................................466.1

Number Formats.................................................................................................466.2

Packet Format.....................................................................................................476.3

6.3.1 Packet Header..............................................................................................47

6.3.2 Packet Type .................................................................................................47

6.3.3 Payload Length............................................................................................48

6.3.4 Payload........................................................................................................48

6.3.5 16-bit CRC-CCITT......................................................................................48

6.3.6 Messaging Overview...................................................................................48

7Communicating with the DMU380SA Series............................................................51

Link Test.............................................................................................................517.1

DMU380SA Series User’s Manual

Doc# 7430-0026 Rev. 01

Page iii

7.1.1 Ping Command............................................................................................51

7.1.2 Ping Response..............................................................................................51

7.1.3 Echo Command ...........................................................................................51

7.1.4 Echo Response.............................................................................................51

Interactive Commands........................................................................................517.2

7.2.1 Get Packet Request......................................................................................51

7.2.2 Algorithm Reset Command.........................................................................52

7.2.3 Algorithm Reset Response ..........................................................................52

7.2.4 Calibrate Command.....................................................................................52

7.2.5 Calibrate Acknowledgement Response.......................................................53

7.2.6 Calibration Completed Parameters Response..............................................53

7.2.9 Error Response ............................................................................................54

Output Packets (Polled) ......................................................................................547.3

7.3.1 Identification Data Packet ...........................................................................54

7.3.2 Version Data Packet ....................................................................................54

7.3.3 Test 0 (Detailed BIT and Status) Packet......................................................55

Output Packets (Polled or Continuous)...............................................................557.4

7.4.1 Scaled Sensor Data Packet 0 .......................................................................55

7.4.2 Scaled Sensor Data Packet 1 (Default IMU Data).......................................56

7.4.3 Angle Data Packet 1 (Default AHRS Data) ................................................57

7.4.4 Angle Data Packet 2 (Default VG Data) .....................................................58

7.4.5 Nav Data Packet 0 .......................................................................................59

7.4.6 Nav Data Packet 1 (Default INS Data)........................................................60

8Advanced Commands ................................................................................................62

Configuration Fields...........................................................................................628.1

Continuous Packet Type Field............................................................................628.2

Digital Filter Settings..........................................................................................638.3

Orientation Field.................................................................................................638.4

User Behavior Switches......................................................................................648.5

Hard and Soft Iron Values..................................................................................658.6

Heading Track Offset..........................................................................................658.7

Commands to Program Configuration................................................................668.8

8.8.1 Write Fields Command................................................................................66

8.8.2 Set Fields Command....................................................................................67

Read Fields Command........................................................................................688.9

Read Fields Response .....................................................................................688.10

DMU380SA Series User’s Manual

Page iv

Doc# 7430-0026 Rev. 01

Get Fields Command.......................................................................................688.11

Get Fields Response........................................................................................698.12

9Advanced BIT............................................................................................................70

Built In Test (BIT) and Status Fields..................................................................709.1

Master BIT and Status (BITstatus) Field............................................................729.2

hardwareBIT Field..............................................................................................739.3

hardwarePowerBIT Field....................................................................................739.4

hardwareEnvironmentalBIT Field ......................................................................739.5

comBIT Field......................................................................................................739.6

comSerialABIT Field..........................................................................................749.7

comSerialBBIT Field..........................................................................................749.8

softwareBIT Field...............................................................................................74

9.9

softwareAlgorithmBIT Field...........................................................................759.10

softwareDataBIT Field....................................................................................759.11

hardwareStatus Field.......................................................................................759.12

comStatus Field...............................................................................................759.13

softwareStatus Field........................................................................................769.14

sensorStatus Field............................................................................................769.15

Configuring the Master Status.........................................................................769.16

9.16.1 hardwareStatusEnable Field ........................................................................76

9.16.2 comStatusEnable Field................................................................................77

9.16.3 softwareStatusEnable Field .........................................................................77

9.16.4 sensorStatusEnable Field.............................................................................77

10 Appendix A. Mechanical Specifications................................................................78

11 Appendix B. NMEA Message Format ...................................................................80

GGA - GPS fix data ........................................................................................8011.1

12 Appendix C. Sample Packet-Parser Code ..............................................................82

Overview.........................................................................................................8212.1

Code listing .....................................................................................................8312.2

13 Appendix D. Sample Packet Decoding ..................................................................89

14 Warranty and Support Information ........................................................................92

Customer Service............................................................................................9214.1

Contact Directory............................................................................................9214.2

Return Procedure.............................................................................................9214.3

14.3.1 Authorization...............................................................................................92

14.3.2 Identification and Protection .......................................................................92

14.3.3 Sealing the Container...................................................................................93

DMU380SA Series User’s Manual

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Page v

14.3.4 Marking .......................................................................................................93

14.3.5 Return Shipping Address.............................................................................94

Warranty..........................................................................................................9414.4

DMU380SA Series User’s Manual

Page vi

Doc# 7430-0026 Rev. 01

About this Manual

The following annotations have been used to provide additional information.

NOTE

Note provides additional information about the topic.

EXAMPLE

Examples are given throughout the manual to help the reader understand the terminology.

IMPORTANT

This symbol defines items that have significant meaning to the user

WARNING

The user should pay particular attention to this symbol. It means there is a chance that

physical harm could happen to either the person or the equipment.

The following paragraph heading formatting is used in this manual:

1 Heading 1

1.1 Heading 2

1.1.1 Heading 3

Normal

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