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AHRS Demo Program Manual

1. Notes 1 Filename consists of the AHRS serial number text _ MagField and 6 digits that indicates time when the file was saved 2 digits of hours 2 digits of minutes 2 digits of seconds The last symbols in filename corresponds to type of the performed calibration _2D corresponds to data of 2D calibration 3D for 3D calibration 2D 2T for 2D 2T calibration Example of files name 106A0016 MagField_ 140838 2D prm 106A0016 MagField_ 140838 2D amd 2 Default directory for saved files is data subdirectory placed in the directory where file AHRS Demo exe is located Step 11 If the calibration is unsuccessful then window Fig 10 12 appears with a caption Unsuccessful calibration Try again Unsuccessful calibration Try again Calibration error n a Used points 90 ok Fig 10 12 One reason of unsuccessful calibration may be small range of angles of the AHRS real rotation In this case a caption Calibration failure Rotation of the device is required appears see Fig 10 13 To avoid this please repeat calibration procedure with rotation of the AHRS as it is described in the beginning of this section Some more reasons of unsuccessful calibration are discussed in the section 10 2 3 Conditions of successful calibration of the AHRS Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertialla
2. mr Magnetic field calibrations Input data STD Hame 0 0000 Before calibration Calibration type 2D 2T 0 0000 Afer calibration Accumulation time sec 10 D Reference azimuth deg 0 00 a a v Calibration status SUCCESS IS_STARTED INIT_ALIGNMENT DATA_ACCUMULATING DATA_CALCULATING NEXT_REQUESTED STOP_REQUESTED ACCEPT_REQUESTED EXIT_REQUESTED RF_RELIABLE gg Module error nT Clear Next Stop WOM Accept Fig 10 5 Once the initial alignment is completed the AHRS starts accumulating data This is signified by the highlighted caption DATA ACCUMULATING and the progress bar of data accumulation in the status line see Fig 10 6 At this time rotation of the carrier object with the AHRS should be made If the 2D calibration is chosen then rotation of the object with the AHRS in the horizon plane should be performed see Fig 10 1 After time of the data accumulation expires then result window will appear see Fig 10 7 A Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 48 Inertial Labs mr Magnetic field calibrations Input data STD Hame 0 0000 Before calibration Calibration type 2D 2T 0 0000 Afer calibration Accumulation time sec 10 Reference azimuth deg Bias Calibration status SUCCESS IS_STARTED INIT_A
3. The last group of parameters Magnetomers field calibration is used for AHRS calibration on hard and soft iron of a carrier object See section 8 2 Calibration of the AHRS e Start with specifies with what set of calibration parameters the AHRS starts There are four sets Last AHRS Clb Factory Clb 2D 2T 3D 2D Clb Usually Start with parameter is set automatically after last calibration performed e Mag Disp threshold specifies calibration data that should be deleted from calibration procedure because of AHRS was not moved at this procedure Default value 1000 nT is set by developers and can be changed after agreement with them e Inclination threshold is valid for 2D and 2D 2T calibration types and determines acceptable pitch and roll deviation from their median in the calibration run AHRS data over this threshold are not used at calculation of calibration parameters Default value is 1 5 degrees This parameter can be changed after agreement with developer Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs sere cose mi e Success threshold is acceptable value of magnetic field calibration error to have successful result of the 3D calibration if its accuracy can not be estimated in degrees Default value is 2500 nT This parameter can be changed after agreement with deve
4. correct COM port number to which the AHRS is connected To start the calibration select Plugins menu and then Mag Field Calibration item see Fig 3 4 from the main menu Mag Field Calibration window will open see Fig 8 3 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 34 Inertial Labs sere cose mr Important note For correct calibration it is necessary to set right coordinates Latitude Longitude Altitude and Date in accordance with place where AHRS is calibrated Their values are set in the Device Options window see Fig 4 2 Magnetic field calibrations Input data Mean STD Hame 2 TT PY 0 0 0 0000 Before calibration Calibration type 20 27 00 0 0000 Afer calibration Accumulation time sec 10 Reference azimuth deg 0 00 5 Calibration status SUCCESS IS_STARTED INIT_ALIGNMENT DATA_ACCUMULATING DATA_CALCULATING NEXT_REQUESTED STOP_REQUESTED ACCEPT_REQUESTED EXIT REQUESTED RF_RELIABLE Start Stop WOM Accept Module error nT Fig 8 3 In the Calibration Type field choose from a list the type of the calibration 2D 2D 2T 3D or Zone 3D see section 10 2 for explanation of these types The Accumulation Time field in window Fig 8 3 sets the time which is necessary to perform cali
5. window Fig A 8 in the Hardware page In the opened Device Manager window Fig A 9 the additionally set COM port will be marked as USB serial port COMN Number N in the port name will be assigned by the computer Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 74 inertial Labs wapi Remote Advanced System Properties Automatic Updates Hardware System Restore General Computer Name Device Manager The Device Manager lists all the hardware devices installed on your computer Use the Device Manager to change the properties of any device Driver Signing lets you make sure that installed drivers are compatible with Windows Windows Update lets you set up how Windows connects to Windows Update for drivers Driver Signing Windows Update Hardware Profiles Hardware profiles provide a way for you to set up and store different hardware configurations Hardware Profiles OK Cancel Apply Fig A 8 Device Manager AHRS Demo Program Manual 10 x File Action View Help e megea A S o o o E W Computer Sa Disk drives i2 Display adapters D DYD CD ROM drives Floppy disk controllers oe a Floppy disk drives Shy Human Interface Devices 4 IDE ATA ATAPI controllers gt Keyboards Mi
6. 0 2 3 D O sy gt gt I a 8 5 C TO gt lalal 3 5 o ale k PH 23 22008 nan o o 5918 22899 nan 0 0 set hrs min sec Measured H Measured P 1 15 44 47 200 09 r 225 nan 0 15 21007 210 07 nan 15 45 29 220 0 220 1 220 08 nan 15 45 52 230 04 230 07 229 99 This file includes 13 columns 1 No number of snapshot 2 hrs min sec time when the snapshot was made 3 Measured H measured heading angle 4 Measured P measured pitch angle 5 6 nan Measured R measured roll angle Mag H value of the heading angle based on the AHRS magnetometers 7 Target H reference true heading 8 Target P reference true pitch 9 Mag Dec the magnetic declination 10 Mag_interf detected magnetic interference 1 yes 0 no 11 Vdd input voltage of the AHRS 12 USW L Unit Status Word low byte see Appendix C for details 13 USW H Unit Status Word high byte see Appendix C for details Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 63 Inertial Labs sere cose mi 11 Continuous self monitoring of the AHRS health The Inertial Labs AHRS with firmware versions since v 33 has continuous built in monitoring of the AHRS health In the main mod
7. AHRS can greatly depend on the quality of the COM to USB converter and on correct configuration of its driver AHRS manufacturer guarantees reliable operation of the AHRS if it is connected directly to the COM port In the Appendix A installation and configuration of drivers for one of the possible COM to USB converters is described Requirements to operators The AHRS Demo software uses a standard Windows operating system Therefore operators should know the basic principles of PC operation to use the Demo software and they should be able to use the Windows operating system Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs sere rose mr 2 Installation of drivers and configuration of PC parameters Installation of the Demo software The Inertial Labs AHRS Demo software doesnt require any installation Just copy the software folder AHRS Demo 150 to the working directory When you connect the AHRS to a standard computer COM port drivers are not needed If the AHRS is connected to a USB port with a COM to USB converter see Appendix A Installation of the COM to USB converter drivers and configuration of PC parameters for more details To know the numbers of the PC COM ports click Device Manager in the Hardware tab of the System Properties window Fig 2 1 In the opened D
8. As a result window shown in the Fig 5 6 will appear Inertial Labs AHRS Demo v 15 0 43 551 File Run Parameters Plugins Convert Options eX o B n 263 32263 40 0 42 0 42 0 2 0 73 0 1 0 013 19950 0 4 Orientation sensors outputs READINESS Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 25 Inertial Labs sere eos mr v AHRS heading deg AHRS pitch deg AHRS roll deg Mag Acc heading deg Accel pitch deg Accel roll deg Gyro X deg sec Gyro deg sec Gyro Z deg sec Accelerometer X g Accelerometer Y g Accelerometer Z g Magnetometer x nT Magnetometer Y nT Magnetometer 2 nT Magnetic module nT Temperature deg C Fig 5 6 You can select or deselect signals by clicking on their titles AHRS heading deg plots Heading angle calculated in the AHRS in degrees AHRS pitch deg plots Pitch angle calculated in the AHRS in degrees AHRS roll deg plots Roll angle calculated in the AHRS in degrees Mag Acc heading deg plots Heading angle calculated in the AHRS Demo Software based on the AHRS magnetometers and accelerometers data in degrees Accel pitch deg plots Pitch angle calculated in the AHRS Demo Software based on the AHRS accelerometers data in degrees Accel roll deg plots Roll angle calculated in th
9. There are such items in the File menu e Open e Save as e Exit 6 1 Open item To open saved bin files choose item Open Fig 3 2 or press F3 The standard window Windows Open will appear in which it is necessary to choose needed bin file saved previously when the AHRS was operating in its standard mode After selection of file data are read from it and new tab Data viewer shown in the Fig 6 1 will open It is possible to select the data you want to display by right click on the graphs area As a result window shown in the Fig 5 6 will appear where you can select or deselect showed data by clicking on their titles Inertial Labs AHRS Demo v 15 0 30 517 File Run Parameters Plugins Convert Options RK o AHRS visualization A Data viewer X Mean STD Name 125 4 2 9184 AHRS heading deg 125 2 3 0810 MadgAcc heading deg PA Y Fig 6 1 R Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 28 Inertial Labs sere cose mi Plotted graphs are scalable To zoom in please click and hold left button on mouse and drag mouse in down right direction To zoom out please click and hold left button on mouse and drag mouse in up left direction Click and hold right button on mouse to drag the plot Legend is located at the left upper corn
10. will choose the driver to install Choose this option to select the device driver from a list Windows does not guarantee that the driver you choose will be the best match for your hardware Fig A 3 Select the folder that contains drivers for your hardware My Documents E 4 My Computer S Local Disk C 2 DVD Drive D El Innalabs JAHRS E COM to USB Driver O Documentation ID Innalabs AHRS Demo Program E To view any subfolders click a plus sign above Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 72 InertialL3bs seme resem ma Hardware Update Wizard Please choose your search and installation options ha tae Sy Search for the best driver in these locations Use the check boxes below to limit or expand the default search which includes local paths and removable media The best driver found will be installed Search removable media floppy CD ROM IV Include this location in the search ESCO M to USB Driver C Dont search will choose the driver to install Choose this option to select the device driver from list Windows does not guarantee that the driver you choose will be the best match for your hardware lt Back Next gt Cancel Fig A 5 If the program finds the necessary files it wi
11. 8377 Website www inertiallabs com InertialL3bs come osama LIES SSS hee Options 0 Test options oF Report of experiment F8 Devices options C4 Full gt Ob data i Swaying compensation options VR sensor options Fig 3 5 Fig 3 6 Fig 3 7 Icons for the most often used commands are placed on toolbars Run AHRS visualization F4 Stop AHRS Parameters Save parameters Restore parameters Convert Report of experiment F8 Options Test options Device options Swaying compensation options Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs sere cose mi 4 Options Menu 4 1 Test options To set operation parameters of the AHRS COM port format of output data select Test options Fig 3 7 from the Options menu or click 0 button A Test Options dialog box Fig 4 1 will be opened Test options l x AHRS Output data format Serial port COM4 Y Full output data 7 Processing Allow data saving v Quaternion of orientation Enable debug log Allow auto start Orientation sensors outputs Record time 00 01 00 5 Number data for average 1 g Operating mode OptoAHRS Continuous On request Of Cancel gt NMEA ii Fig 4 1 You can
12. Full Output Data format Nesessity of the Full gt Clb data converter appears when developer asks user to save the AHRS test data in the Full Output Data format for their analysis but user want too to look these data in convenient form Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 40 Inertial Labs sere cose mi 10 The AHRS operation 10 1 The main operation modes of the AHRS Step 1 Connect a power cable and data transfer cable to the AHRS Connect the other end of the data transfer cable to either COM port or USB port of the host computer If connection between the computer and the AHRS is done through a USB port a driver for a COM to USB converter needs to be installed See Appendix A Installation of the COM to USB converter drivers and configuration of PC parameters for details on the installation procedure If it is connected to a standard PC COM port then there are no needs to install any drivers Note that AHRS manufacturer guarantees reliable operation of the AHRS if it is connected directly to the COM port Step 2 Start AHRS Demo exe file to begin working with the Demo software The main menu will appear Fig 3 1 Step 3 Select Test options from the Options menu see Fig 3 7 or click button Test option window Fig 4 1 will open Step 4 Set the correct COM po
13. In On Request operating mode data are written in file sequentially with the each clicking Request 2 button Note To allow data sawing the appropriate checkbox should be set in the Test Options window see Fig 4 1 Step 12 To stop readout and data displaying click Stop button If the data were written in a file then the writing stops too Default directory for saved files is data subdirectory placed in the directory where file AHRS Demo exe is located Default name of file with saved data is generated automatically and consists of the AHRS serial number Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 42 Inertial Labs sere eos mr date and time digits separated by dash symbols where the first 4 digits are the year the next 2 digits are the month then 2 digits of day next digits are hours minutes and seconds of operation start At the saving data two files of the same name with bin and prm extensions are saved in the specified folder In bin files the measured data is saved and in prm files the AHRS microprocessor parameters at which this data was obtained are saved For example A1240013 2012 11 20 12 14 26 bin corresponds to data saved from the AHRS s n A1240013 on 2012 November 20 2012 at 12 14 26 Note You can preset name of file for data writing For this select ite
14. Roll in this position The check of roll angle accuracy is carried out by rotating the AHRS around the horizontally located longitudinal axis Y of the AHRS on angles specified in the column Angles see Fig 8 4 In the left part of check accuracy window there is a button Devices by clicking on which the window Devices Properties is opened see Fig 8 5 In this window the operator in line Number of Devices sets the necessary quantity of simultaneously tested AHRS units The minimal size of parameter 1 changes on 1 by means of arrows or by keyboard necessary value input The size by default is 1 Then in the column COM port the operator chooses in dropdown list COMN to which the AHRSs are connected and in a column Baud rate he chooses COM port speed which has the default size 115200 After that the operator clicks the button Scan The Demo software serially polls specified COM ports and in column Device Name names of found AHRS units are displayed and button OK becomes active By clicking the button OK see Fig 8 5 names found in window Devices Properties are transferred to the left of a check accuracy window Fig 8 4 instead of label NoName Clicking the button Cancel or button X closes the window Devices Properties Fig 8 5 In a check accuracy window there are control buttons The button Angles opens the window Angles Properties Fig 8
15. Step 12 Rotate AHRS in the next position and repeat Step 11 as many times as you need Azimuth value for each new position can be entered in the Heading field directly or as relative azimuth in the right field It is measured by means of object sight unit or separate device like theodolite Azimuth of these relative position can be set in degrees or in mils depending on chosen item in drop down list deg mils Relative azimuth in degrees is considered to be positive in case of clockwise rotation from reference to calibration point and negative in case of counter clockwise rotation Relative azimuth in mils is positive in case of counter clockwise rotation from reference to calibration point and negative in case of clockwise rotation according to sight unit scale You can verify all snapshots data by clicking on the arrow button still Lyell EIRAS After each snapshot calculation is performed and graph Heading Error is plotted Fig 10 17 Heading error deg graph shows difference between AHRS measurements and reference angles Plotted graph is scalable To zoom in please click and hold left button on mouse and drag mouse in down right direction To zoom out please click and hold left button on mouse and drag mouse in up left direction Click and hold right button on mouse to shift plot Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703
16. click Snapshot button Window shown in Fig 10 15 will appear Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 59 Inertial Labs sere rose mi Snapshot Target Heading h30 00 deg 0000 eg gt Pitch 000 deg X Cancel Fig 10 15 Depending on known target orientation its relative or absolute azimuth and pitch elevation select Heading or and Pitch checkboxes see Fig 10 15 Enter values according to true reference angles This angles can be set using arrows or by entering the necessary value from a keyboard If no checkboxes are checked then only current AHRS angles are saved Then press OK button New tab Snapshots like shown in Fig 10 16 will open Return to previous tab by clicking on its title AHRS visualization Inertial Labs AHRS Demo v 15 0 43 551 Oj x File Run Parameters Plugins Convert Options eX Pp STA AHRS visualization X Snapshots X Snapshot no 2 Heading Pitch Measured 130 19 0 40 Target 130 00 Roll 0 56 System headings AHRS Magnetic 130 19 119 75 Fig 10 16 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 60 Inertial Labs sere eos mi
17. for the parameter is 1 and changed with the arrows to 1 or by entering the required value from a keyboard The default value is 1 e Operating Mode defines AHRS s output method Continuous or stepped On Request The default value is Continuous e Output Data Format sets format of the AHRS output data Select one of the formats Full Output Data Quaternion of Orientation Orientation Sensor Outputs default value NMEA OptoAHRS For more information on the output data format see Appendix B 4 2 Device options To set and control of AHRS operation parameters select Device options from the Options menu Fig 3 7 or click button Fig 3 1 A Device Options Fig 4 2 dialog box will be opened You can check or set the following parameters in the Device Options window Fig 4 2 e Device type is AHRS This parameter can not be changed e Measurement rate Hz sets data measurement rate in Hertz Minimal value of the parameter is 1 maximal value is 100 it is changed with the arrows to 10 or by entering the required value from a keyboard Default value is set to 100 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs sere cose mi Devices options Location Device type AHRS 7 Magnetic declination deg 0 00 Measurement rate H
18. increased Zero value of the BIff disables smoothing of angles BIff 0 2 Hz may be recommended as start value for evaluations The filter smoothes angles noticeable though there are delays transient processes about 3 seconds At maximum BIff 2 55 Hz delays are small but smoothing effect is not visible e VR sensor mode if it is switched on then gyros freezing is active if the WOM detects its immobility then gyros are zeroed in the algorithm and orientation angles keep constant values e Gyro thresholds deg sec they set thresholds for detection of the WOM immobility First threshold is for low pass filter of gyros second threshold is for band pass filter Use just the second threshold for adjustment of the immobility level Fig 4 5 shows above parameters setting for usual AHRS operations Do not change them until you want use AHRS as VR AR sensor Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs sere eos mi 5 Run Menu Control of the AHRS is done by the commands in the Run menu Fig 3 3 This menu contains next items e AHRS visualization opens appropriate tab with different variants of visualization of the AHRS operation e Stop AHRS stops the AHRS e Get BIT opens tab with the AHRS Built in Test BIT status temperature and the USW see App
19. is created where numbers are year month day hours minutes of performed test there are averaged data for each AHRS run at accuracy test In the first column of this file there is AHRS s n second column is number of reference angle starting from zero 6 7 columns are averaged Heading Pitch and Roll measured by AHRS 10 3 2 On the fly accuracy test Step 1 Carefully set AHRS by two reference surfaces on platform of the test bench designed for accuracy check Step 2 Step 7 Perform Step 1 Step 6 from the item 10 1 Step 8 Select AHRS visualization in the Run menu Fig 3 3 and then click on the Snapshots preview shown in the Fig 5 2c Window shown in the Fig 5 4 will appear Step 9 Click Start button Initial alignment of the AHRS will start This is signified by the message Initial alignment Please wait Also a progress bar of initial alignment will appear in the status line of the main window During the initial alignment the AHRS has to be unmovable relative to the Earth After initial alignment completes see changes in numeric data of AHRS Step 10 Not obligatory To save AHRS data click Write button see a progress bar of data writing and timer will appear in the status line of the main window Note the accuracy test data are written to file csv independedly on saving the AHRS main data Step 11 When the AHRS is set in necessary position and is ready to save data
20. necessary that the calibrated sensors are not distorted by external influences It is particularly important to provide non distortion of the AHRS magnetic channel as due to the presence of the carrier s hard and soft iron in the vicinity to the AHRS its magnetometers will be outputting inaccurate data on the actual Earth magnetic intensity vector and accordingly inaccurate carrier s heading angle value The Inertial Labs AHRS software allows compensation of influence of the carrier object soft and hard iron on the heading angle determination accuracy For this purpose field calibration of the AHRS magnetometers is provided This calibration does not require any additional equipment but it requires turns of the carries object on which the AHRS is mounted The AHRS can be calibrated using 2D 3D 2D 2T or Zone 3D calibration procedure 2D calibration is designed for carrier objects that move with small pitch and roll angles not more than a few degrees The calibration procedure involves a few full 360 rotations in the horizon plane of the carrier object with the installed AHRS see Fig 10 1 During this calibration pitch and roll angles must be as close to zero as possible 3D calibration is designed for carrier objectss that can operate with large pitch and roll angles For this calibration the carrier object is rotated in the horizon plane the Z axis is up with periodical stops about each 90 degrees for tilting in pitch and roll
21. plot To zoom out please click and hold left button on mouse and drag mouse in up left direction Legend is located at the left upper corner of the tab This legend shows mean value STD and name of displayed signals 5 5 Other items of the Run menu Stop AHRS stops the AHRS In most cases it is used for correct termination of completed operations For this command the hot key F7 can be also pressed or button K can be clicked Get BIT opens tab with the AHRS Built in Test BIT status It shows temperature and the Unit Status Word USW of the AHRS The USW includes redundant information about the AHRS state The low byte bits 0 7 of USW indicates failure of the AHRS The high byte bits 8 15 contains a warning or is informative for the user For more information see Appendix C The Unit Status Word definition Low Power ON switches the AHRS to low power consumption mode When this mode is active a LED indicator on the AHRS case turns off or blinks in other AHRS modification Low Power OFF switches the AHRS to the standard power consumption mode When this mode is active a LED indicator on the AHRS case turns on Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 27 Inertial Labs sere eos mi 6 File Menu File menu enable to work with already saved tests results
22. see Fig 10 1 Fig 10 3 After full 360 rotation the object with the AHRS is turned over the Z axis is down and the procedure described above should be repeated During this calibration the range of pitch and roll angles changing must be as much as possible 2D 2T calibration is designed instead of 3D calibration for carrier object that operates with limited range of pitch and roll angles This calibration involves several two or more 2D calibration procedures but with different pitch angles During every 2D calibration run with set pitch angle tilt angles must be constant as possible In the calibration those AHRS readings are used only in which pitch and roll differ from their median not more than inclination threshold set in appropriate field Fig 4 3 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 44 InertialL3bs seme osm ma INNALABS POINTER Fig 10 1 Rotation of a carrier object with AHRS in horizontal plane y Led Fig 10 2 Rotation of a carrier with AHRS in roll Fig 10 3 Rotation of a carrier with AHRS in pitch Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 45 Inertial Labs sere cose mi Zone 3D calibration is designed for an object that operates i
23. set the following parameters in the lt Test Options gt window e Serial port number of the COM port to which AHRS is connected e Allow data saving checkbox allows to record the test data to file If it is unchecked then no file will be created and no message Data are writing in file will be displayed e Enable debug log allows to record the log file of test run In case of the AHRS Demo crash it can be used to debug errors Log file contains information about commands that were sent by the AHRS Demo and Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs sere cose mi appeared errors In case of errors this file should be sent to the Inertial Labs with brief description of user actions e Allow auto start checkbox allows operation with AHRS which was already started before run of the AHRS Demo software e Record time sets data recording time in hours minutes seconds format The parameter is active when data is being saved to file Values of hours minutes seconds can be changed with the arrows or by entering the required value from a keyboard e Number data for average the quantity of averaged data This can be used for smoothing of viewed data Note that averaging relates to the data output on the screen only and is not applied to the data written in a file The minimal value
24. 0 9 instead of predicted AHRS heading error if 3D calibration run did not include additional rotation of the AHRS in the horizon plane on about 360 degrees or more with pitch and roll near the level see above Note Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 50 Inertial Labs eieren mi Information x Information Excellent calibration Calibration error n a 2 Successful calibration Calibration error 1 0 Used points 93 Used points 94 gok Accept calibration run ev Fig 10 8 Fig 10 9 If the AHRS detected not successful initial alignment or other mistakes in AHRS operation then the error like Non zero USW was detected 0000000000000001 appears Fig 10 10 Meaning of other non zero bits of USW see in Appendix C The Unit Status Word definition In case of non zero USW the calibration run should be not accepted R Non zero USW was detected 0000000000000001 oK Fig 10 10 If calibration quality is acceptable caption ACCEPT REQUESTED is highlighted see Fig 10 11 If the AHRS detected not successful initial alignment or other mistakes in AHRS operation then repeat Step 8 For the next run of the 2D 2T calibration the object with AHRS should be turned to the next pitch angle Click Next button on window Fig 10 11 and repeat calibration proce
25. 00000000 0765 OEE GE 0 TLL L6 OE I 00000000 00000000 OLES OEE SE D ZL L L6 ODEL HM AASA PRA aunjesaduuap jo UIA Huipeay OFL 4Ad 09 0 108 806 DEI jua LUL ije JENIN DFB ZIOZ 8Q OOO aprili 6E 225 pNPbuot pO BE apNWe E9 OL 9P A4 uoneusep anaue ZH aje Juawaunseay LE ZO SLTLOZ LL 90 WINO ZLOLDE 296 P SLSAA UOISIGA Beauly EZ00FZLO Woda isa pN VAN D xipusddy ay Ul payloads SI AASN 241 JO Ng 4YIES JO SNJEIS SULUNJOI OM 45 34 Ul Pas Saj4g YBIY pue MOI UJIMA LUO BUIG Ul SI PONA SNES HUN AASN ULUN OI9 ainjejadwa ay ul pajsi SI JAJUIOA AU APISUI ainjeadwa abeyaae AY IA 3 hap Lu Lu Lu 6 6 Jasibap Jasibap Jasibap fap fap hap HMMSN PPA anpeiadwal ZAasey pasay 7 UDEN A UDEN XX UDEN 7904 ADI XI 7 BIEN A BIEN X BEY 104 Yad Bupe SUN BJEP pases SJON 00000000 00000000 6165 EZE 0 0 00660 0029 ogzi 000404 0066L0O0 00980000 ooreo 00500 ooon 850 ZEL FOLEL 00000000 00000000 6165 EZE 0 0 00660 006294 000626 gozoso 0000200 00 2000 00500 OEO 00020 880 EFL POLeL HT MSN PA aunjewadwia gaasay asi zZ Ubey A upei x upe 72007 AT KITT Zabi A Bey Key 1084 u4IId BupesH BELL 243 LED 194 GSO LEL buipeay US WUB JE jeru OfPOZLOZ 9eQ 000 9P00W Be 2 apnybuo7 PO BE 3pn0087 E9 OL 39P A uoneusap 318 ubepy ZH ajel Juawainseay IZSSPL ZLOZ LL 90 SMe ZLOLDE 296 P SLSAA UDISIGA Banii EZOOFZLO Woda isa EN S NAINO JOSUaS UONEJUALIQ inertialLabs Inertial Labs Inc Ad
26. 6 in which the operator sets the necessary time Accumulation Time of data acquisition while the measurement in each position of the AHRS checks accuracy angles Accuracy checking points and chooses the sensor with the help of which the temperature control Temperature Sensor will be carried out The minimal size of parameter Accumulation Time 1 changes on 1 with the Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 37 Inertial Labs sere cose mi help of arrows or by means of necessary value keyboard input The default value is 20 Device Properties Angles Properties Number of Devices I Accumulation Time 20 Device name Port Name BaudRate Accuracy checking points No Name com x f115200 l TH 30 00 60 00 90 00 120 00 150 00 180 00 210 00 240 00 2 70 00 300 00 330 00 sam Temperature Sensor C Gyox Accx fe MagX GyoY AccY C Mag GyoZ AccZ C MagZ OK Fig 8 5 Fig 8 6 At accuracy tests it is possible to take into account misalignment angles of the AHRS installation on a test bench platform on which AHRS is tested Such situation is possible if for AHRS installation on a test bench platform intermediate adaptations are used for example tilter If deviation angles of tilter adjusting bases for AHRS relatively to test bench platform are known they are necessar
27. 935 8377 Website www inertiallabs com 61 InertialL3bs seme osama Inertial Labs AHRS Demo v 15 0 43 551 E 0 x Fie Run Parameters Plugins Convert Options XK v B na 259 28287 65 0 22 0 18 0 89 0 94 0 2 0 016 20600 04 0 0 2 Orientation sensors outputs READINESS Fig 10 17 Step 13 To stop the accuracy test click Stop E button If the AHRS data were writing and time set in Record time in the Options Test option menu was reached then accuracy test will be stopped too Step 14 To close the On the fly accuracy tab simple go to the other visualization style or close AHRS visualization tab by clicking the X inthe title of current tab Accuracy test data are automatically saved to the csv file Its name consists of TestFullData word date and time digits separated by dash symbols where the first 4 digits are the year the next 2 digits are the month then 2 digits of day next digits are hours minutes and seconds of operation f e TestFullData 2013 03 05 15 44 47 csv This is common text file with comma separated values of test data for each Snapshot Example of the csv file is shown in the Table 10 1 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 62 Inertial Labs sere eos mr Table 10 1 Example of the csv file created at accuracy test a
28. AHRS mode See the Table below y High warning byte 12 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs sere eos mr The AHRS indicates its current mode of operation in the bits 7 and 15 as the next table Shows Indication of the AHRS current operational mode Bue Ba Amrsmoe Bit 7 Bit 15 nako mpge 0 0O Readiness 9 WAA a Awake Sleep this is in the last data block sent by the AHRS before it went to Sleep mode Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 86 Inertial Labs sere cose mi APPENDIX D Variants of the Inertial Labs AHRS mounting relative to object axes The Inertial Labs AHRS can be mounted on the object in any Known position up to upside down upright etc relative to the object axes Such mounting doesnt change right determination of the object orientation if angles of the AHRS mounting are correctly stored in the AHRS nonvolatile memory To set these angles select item Device option from the Options menu In opened window Fig 4 2 angles of the AHRS mounting are in the Alignment angles section The AHRS alignment angles are set in the next order like azimuth pitch and roll set
29. IG SULUN OI OM JSP 34 Ul Pays s3740 yy pue moj yaa woy EUIG Ul SI PIOAA SNEIS UN AASN uwnjo3 ainjejadwa AU ul pajsi SI J3JUIOA4 AU IPISUI aunjeyadwua abeyaae AY 30A 3 fap bap bap HT AASN PRA amnpiadwaj ZaasaH pasay EYT Yd BupeaH spun BJEP pases SJON 00000000 00000000 6169 o cE 0 0 90160 S0L00 cCLOOO LELFO Ze 0 FLL 6L LEL 00000000 00000000 6169 BE 0 1 0160 POLO O clOoOO OELFO ED FLL OG LEL HA MSN PPA anpiadwal gmasay Masay EM CH LH OF 94 Yd BupeaH 6FLL 4ld FYE DN H ESL LEL Ua WU e jeru OfPOZLOz 9eQ OOO apny GE 22 pnpbuo PO BE P000e7 Eg OL I8pyy uoneungep 318 ubepy ZH ajes Juawaunseapy BE rir ZLOZ LL SO 8WNSIEG ZLOLDE LGG PA SLSAA UolsuaA SEM EZOOPZLO Hodarpse ZN UONEJIUSI IO JO UOIUISJENN 9 xipuaddy ay ul payigads si AAS 34 JO 4q yaba JO SNEIG suwnjo3 DAM JSB 34 Ul Pays 53440 YBIY pue MO YIM LUO BUIG Ul SI PIOAA Snels UN AASN Ayequanbas papso9ag ae SJOSUSS J3JUI04 34 0 paddns abeyoa pazijigejs pue abeyoa Indu 18314104 34 ULUNJOJI PPA AU uy sJajawojaubew SJAJIUIDJA IJJE SOJ D au JO suosuas aunjevadwuay wow Ayequanbas papioaa ae 53P09 ogy ULUNJOI anyesadwaj ay Ul OGA 9P0250v aporady P09J0w apology aP09 IOW AP09 dy 3pos av aP09 IOW apo ov po DAT fap Bap Bap HTAMSN PPA aunyedaduia 7Zaasay asa zZ uey A ubey xubem 70 Aow aa CT OM AOD Kani 194 Ud BupesH SUN BJEP pases SJON 00000000 00000000 6165 EZS 0 0 508 ZE9E 69Z EZE
30. Inertial Labs vron Attitude and Heading Reference System AHRS DEMO PROGRAM AHRS DEMO User s Manual Revision 2 5 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs sere rose mi Revision history Revision Date Author Description Changed menu structure 1 2 18 May 12 PT Ol Minor changes in dialog windows Added NMEA Output data format For AHRS Demo Program ver 14 9 29 29 and higher Added section 8 Convert Menu Changed sections 6 2 Magnetometers field calibration and 9 2 Calibration of the AHRS because of new interface windows of calibration 13 30 Aug 12 ON 4 Deleted 2D 2D calibration procedure on hard and soft iron and its description 5 Added one more adjustment of COM to USB driver in Appendix A Installation of the COM to USB converter drivers and configuration of PC parameters 6 Added Appendix D Variants of the Inertial Labs AHRS mounting relative to the object axes Added section 4 4 Preset parameter variants 1 For AHRS Demo Software ver 15 0 and higher 2 Changed interface of AHRS Demo 3 Changed affixment of X Y Z axes of calibrated AHRS sensors output to the object axes for AHRS firmware since v 4 9 6 3 4 In section 5 Run menu styles of visualization are changed AHRS Data tex
31. L EE tt OSE FIL b 9E0 FKL TODEL 00000000 00000000 tzos 9 78 0 0 2018 SEE LZ9T SEZEL DE FS L t FEL ft 9f0 EFL ZOOEL HOT MSN PRA aunjewadua galasay pesay 7 Upei A upei x upe 79 CUA OY Kam 7049 Aoro OK ADO Yd Bupe Fa Yd 29E 0 194 LS66ZL fuipeaH yua WUBI jeru D razLOZ 98Q OOO apnyyy Be 2g apnybuo pOGE 3P0e7 90 Iapyy uoneupsap JIJ ubepy ZH aje JUSLISJNSEAJN BEBE FL ZLOZ LL 90 WINO ZLOLDE 296 SLSAA UOISIGA EMU EZ00FZLO Hoda isal ON ezed yndyno jing SJEUWJOI ep sjqeyieAe JO YJES ul EJEP panes y JO s jdwex ase mojag Hunnes y JO SUI pue 9Jep UOISIBA SIEMUUIL SHHW JU Se JXaU pue paljioeds SISMHV pe amp se eu JO Jogwnu jeues lt uodaj 1S9 1X9 OU eye y y e JO Buluuibag y ul py BIS 998 UONEUWHJOJUI JESS808U y UO Bulpuadap eJEP SYHV SACS PUL MBIA 0 SIBWIOJ BU JO BUD 350040 UPI JaSN SJEUIIOJ ejep JNdjno JO UOIEJUSSJJd X9 Z g Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 83 AHRS Demo Program Manual 9 xipueddy 84 Ul paylseds SI AASN 844 JO 40 yaba JO Snels SULUNJOI OMY JSE 34 Ul Pays S31 G YBiy pue MO UJIM LOY BUIG Ul SI PONA SNEIS WU AASN uwnjo3 ainjejadwa ay ul pajsi SI JAJUIOA AU apisul ainjeadwa I RJIAE AY JOA Qbap fap hap hap HM AASA PPA aIneaduap 1108 YI FupeaH sJUN BJEP pares SJON 00000000
32. LIGNMENT DATA_ACCUMULATING DATA_CALCULATING NEXT_REQUESTED STOP_REQUESTED ACCEPT_REQUESTED EXIT REQUESTED RFRELIABLE og Module error nT Clear Next Stop WOM Accept Fig 10 6 For 3D calibration the carrier object is rotated in the horizon plane the Z axis is up with periodical stops about each 90 degrees for tilting in pitch and roll see Fig 10 1 Fig 10 3 and then the carrier with the AHRS is turned over the Z axis is down and the procedure described above should be repeated Tilt angles range depends on the carrier object but to obtain the better result increase the angles range as much as possible Note since AHRS Demo Software ver 15 0 28 it provides estimation of 3D calibration quality in terms of possible AHRS heading accuracy To allow this possibility it is necessary to include additional rotation of the AHRS with the carrier object in the horizon plane on about 360 degrees or more with pitch and roll near the level Acceptable pitch and roll change are set by the Pitch Roll threshold parameter in the Device Options window Fig 4 2 After time of the data accumulation expires then result window will appear see Fig 10 7 Result window Fig 10 7 includes the next information success of the calibration calibration error is predicted maximum 3 sigma heading error of the AHRS at accepting the calibration Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonia
33. Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 30 Inertial Labs sere cose mi Note you are able to apply Preset parameter variants only if AHRS is powered and connected to computer and COM port number is chosen properly Preset parameters Variants Ordinary device parameters Marine device parameters Operation at vibrations Kaen Fig 7 1 Ordinary device parameters correspond to those loaded in the AHRS by manufacturer and provides correct AHRS operation in the most of applications Original file with prm extension that comes on CD with the Inertial Labs AHRS also contains parameters of the AHRS algorithm for ordinary AHRS operation Marine device parameters provides accurate initial alignment of the AHRS at slow swaying vehicle Note that ordinary algorithm parameters require AHRS unmoving at procedure of the initial alignment see section 10 1 The main operation modes of the AHRS The initial alignment procedure of the AHRS with marine parameters takes 90 seconds During this period don t accelerate the AHRS only slow swaying Is admissible Parameters for the AHRS operation at vibrations allows to get better dynamic accuracy of the AHRS at intensive vibrations than ordinary parameters of the AHRS algorithm Possible shortcoming of the vibration parameters is decreasing of t
34. Quaternion of Gelade Temper dea 100 orientation 9 10000 Notes 1 USW is unit status word see section 5 5 for details 2 Vdd is input voltage of the AHRS 3 Utermo is averaged temperature in 3 accelerometers 4 The low byte is transmitted by first Table B 4 Structure of one data block at Orientation Sensor Outputs format Byte 12 18 24 28 32 gt GyroX AccX MagX Reser usw arameter Heading Pitch GyroY AccY MagY wae Vdd Utermo GyroZ AccZ MagZ 3x 3x 3x 2 byte 2 byte 2 byte 2 byte 2 byte 2 byte enn word sword sword ed der E et word word sword sword sword sword Orientation angles deg 100 Notes 1 KG 100 KA 10000 for AHRS1 1 AHRS1 2 manufactured since 2012 KG 50 KA 10000 for AHRS1 1 AHRS1 2 manufactured in 2011 KG 100 KA 5000 for AHRS1 3 2 Originally angular rates linear accelerations and magnetic fields are in the AHRS axes X is lateral axis Y is longitudinal axis Z is vertical axis Starting from AHRS firmware v 4 9 6 3 axes X Y Z are changed to the carrier object axes if non zero alignment angles are set for AHRS mounting see Appendix D Variants of the Inertial Labs AHRS mounting relative to the object axes Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 81 Inertial Labs sere eos mi 3 USW is unit status word see se
35. RS after any possible failure in work In that case for loading the previous measured data the button Load Data is used Notes 1 The filename Accuracy txt consists of the word Accuracy_ and 8 12 numbers of year month date hour and minutes when the work was carrying out 2 The button Load Data opens the standard window Windows Open in which it is necessary to choose and download a file Accuracy txt with the last measured data In pages Heading deg Pitch deg Roll deg Temperature codes the current same AHRS parameters are displayed in the form of graphs After the end of the accuracy test cycle the page Angle Error deg is opened automatically where Angle is Heading Pitch or Roll depending on the angle where the test was carried out In the page window the graph of given angle determination error is displayed and the minimal and maximal error values during the test its root mean square value RMS are indicated Also standard deviation STD of measurement noise at last position of the AHRS is displayed Note Page Current Heading deg changes its name on Current Pitch deg or Current Roll deg and the page Heading Error deg changes its name on Pitch Error deg Roll Error deg depending on the chosen controlled parameter in left top corner of the window Accuracy see Fig 8 4 Inertial Labs Inc Address 39959 Catoctin Ridg
36. S Fig 5 1 Some additional 3D models may be used for visualization of the AHRS orientation see below Section 11 Choice of 3D model for visualization of the AHRS orientation In opened AHRS visualization tab four control buttons active Start 2 and inactive yet Stop Write and Snapshot appear in the left vertical toolbar If in the menu Test Options the data output method On Request is chosen then inactive button Request p appears Three ua icons appear in the status bar Optic data only for using with OptoAHRS Warnings lt gt and Failures Warning and failure messages are generated by AHRS in its Unit Status Word see Appendix C and appear near lt gt and icons You can close these messages by clicking on them Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs sere cose mi AHRS visualization tab consists from two vertical parts Visualization panel of the AHRS outputs is situated on the left part of the tab The right part displays text data from AHRS and additional information it is the same for all visualization styles Start button starts the AHRS with parameters saved in the AHRS s microprocessor Next initial alignment of the AHRS is performed with displayed message Initial alignment Ple
37. al Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 54 Inertial Labs sere cose mr Magnetic field calibrations Input data Mean STD Hame HL 0 0 0 0000 Before calibration Calibration type 2D 2T 00 0 0000 Afer calibration Accumulation time sec 10 Reference azimuth deg 0 00 5 Be hi Calibration status Information Magnetic field calibration parameters were cleared successfully Pok NEXT_REQUESTED STOP_REQUESTED ACCEPT_REQUESTED EXIT_REQUESTED RF_RELIABLE Stop WOM Accept Fig 10 14 When calibration was accepted then during operation with AHRS in the AHRS visualization window see Fig 7 1 a capture Soft hard iron corrected appears In the lower right part of this window If calibration parameters are cleared in the AHRS then capture Soft hard iron corrected disappears 10 2 3 Conditions of successful calibration of the AHRS Success of the AHRS calibration on soft and hard iron of the carrier object essentially depends on magnetic environment at the place where this calibration is performed The best results will be got if calibration is performed in homogeneous magnetic environment where the magnetic force lines are parallel to each other In this case only influence of the carrier object on the AHRS magnetometers take place and this inf
38. are came with an installation CD WE or floppy disk insert it now What do you want the wizard to do C Install the software a R Anmane ET Click Next to continue lt Back Cancel Fig A 2 Window Fig A 3 will appear on the display Check Include this location in the search and click on Browse Show the path to the converter drivers folder in the window Fig A 4 which appears on the top of the previous one folder name may differ from the name in Fig A 4 and click OK if a folder containing no driver files is selected OK button will remain inactive Next in the window Fig A 3 which will be looking like the window in Fig A 5 a path will be defined Using this path the installation program will search for the necessary converter driver Press Next to continue installation SSS ee Rs EE Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 71 nertialLabs a Found New Hardware Wizard Please choose your search and installation options ra I Search for the best driver in these locations Use the check boxes below to limit or expand the default search which includes local paths and removable media The best driver found will be installed IV Include this location in the search Feo Browse Don t search
39. ase wait Also a progress bar of initial alignment will appear in the status line of the main window During the initial alignment the AHRS has to be unmovable relative to the Earth Once the initial alignment time is over observe changes in numeric data and graphical evolutions of a object Note For visual convenience of the AHRS position perception displayed on the monitor and the AHRS real position it is recommended to place the AHRS in parallel with the monitor before the beginning of work as follows direct lateral axis X to the monitor and direct longitudinal axis Y in parallel with the monitor on the left Once the Start button is pressed buttons Stop Write and Snapshot become active If in the menu Test Options the data output method On Request is chosen then button Request becomes active too Upon clicking the Write button the measured data are saved which is signified by the message Data are writing in file in the text part of the window Note that the data are saved in binary file and can be used in two ways e visualization through opening the file in File menu see item 10 1 1 Data viewer e convertation to text file using Report of experiment from Convert menu item Stop button m stops data output to the screen and data saving procedure with no data losses Button Snapshot 2 is used for fixing the current values of measure
40. bration procedure including at least one full 360 turn rotation in horizon plane at least 2 full turns are recommended This time can be set using arrows or by entering the necessary value from a keyboard The default value is 60 In Calibration status window the captions are highlighted that show current states of AHRS calibration and actions that can be performed See section 10 2 for detailed description of the AHRS calibration procedure If place of the AHRS mounting on the carrier object is changed or if the carrier is changed then calibration matrices for magnetometer biases and Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 35 Inertial Labs sere eos mi scale factors in AHRS memory should be cleared by clicking on the Clear button see Fig 10 3 8 3 Angles accuracy To check accuracy of the AHRS set precisely its attitude in orientation angles with the help of special equipment and compare orientation angles produced by AHRS with the set angles To start the accuracy check select Plugins menu and then Angles accuracy item Fig 3 4 from the main menu After that the next window will appear see Fig 8 4 Angles Accuracy Heading 7 Heading error deg Pitch deg Roll deg Current Heading deg Temperature code n 27 30 M 50 amp 27 Devices N
41. bs AHRS Demo software allows two variants of AHRS accuracy test e Angles accuracy at which the AHRS restarts each time after it set on new reference angle e On the fly accuracy when AHRS operates continuously at setting and changing of reference angles See section 5 3 On the fly accuracy style of visualization Angles accuracy is more convenient for further analysis In this case separate data file is created for each tested AHRS position On the fly accuracy is designed for continuous AHRS operation at it setting to different reference angles This have sense at magnetic interference tests for example 10 3 1 Separate accuracy test for each reference angle Step 1 Carefully set AHRS by two reference surfaces on platform of the test bench designed for accuracy check Step 2 Step 5 Perform Step 1 Step 4 from the item 10 1 Step 6 Select Angles Accuracy from the Plugins menu Fig 3 4 Accuracy check window will appear Fig 8 4 In the left upper corner of the dropdown window choose orientation angle Heading Pitch or Roll for the AHRS testing Step 7 Click Devices button Devices Properties window Fig 8 5 will appear Step 8 Select required amount of the tested AHRS units in Number of Devices field Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertia
42. bs com 53 Inertial Labs sere cose mi Calibration failure Rotation of the device is required ok Fig 10 13 Step 12 If you want to finish the calibration without accepting of calibration result click Exit button on the calibration window Calculated calibration parameters are not saved to the AHRS nonvolatile memory and no files are created with calibration results Step 13 Click EJ button to close the calibration window 10 2 2 Clearing of the soft and hard iron calibration parameters To remove results of magnetometers field calibration from the AHRS memory follow Step 1 Step 2 from the item 10 1 Then select Mag Field Calibration item from the Plugins menu and click the Clear button in opened window see Fig 8 3 Soft and hard iron calibration parameters will be removed from AHRS memory The window with message Magnetic field calibration parameters were cleared successfully appears over above window see Fig 10 14 Click OK and close calibration window After parameters removing the file prm will be created with name CLEAR prm for example 106A0016 MagField 115942 CLEAR prm You must clear parameters of the soft and hard iron calibration if you uninstall the AHRS from carrier object to avoid incorrect heading determination Please remember that performed soft and hard iron calibration is valid until the AHRS is mounted on the object with which the calibration was performed Inerti
43. ce and other pointing devices Monitors B Network adapters oF rF Ports COM amp LPT 1 ae AL Communications Port COM2 m on ECP Printer Port LPT1 Fn nn USB Serial Port COM3 El lt Processors i Sound video and game controllers H System devices oe Universal Serial Bus controllers Fig A 9 Next open the Properties window of this port USB serial port COMN Properties Fig A 10 and press the Advanced button In the opened Advanced Settings for COMN window set the parameters Latency Timer msec to 16 Minimum Read Timeout msec to 0 Minimum Write Timeout msec to 0 as it is shown in Fig A 11 and click OK SSS__S_SSSSSSSSg5SSSSae ii iii ee ii ii EE Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 15 InertialL3bs seme osama USB Serial Port COM3 Properties xi General Port Settings Driver Details Bits per second Data bits je 3 Parity None 3 Stop bits 1 3 Flow control None 3 Advanced Restore Defaults Fig A 10 Advanced Settings for COM3 COM Port Number BAYA an USB Transfer Sizes Cancel Select lower settings to correct performance problems at low baud rates Select higher settings for faster performance Receive Bytes 4096 Y Transmit B
44. ction 5 5 for details 4 Vdd is input voltage of the AHRS 5 Utermo is averaged temperature in 3 accelerometers 6 The low byte is transmitted by first At the NMEA the AHRS output data are transmitted in the form of sentences with printable ASCII characters like the NMEA 0183 format Each sentence starts with a sign and ends with lt CR gt lt LF gt carriage return OxD and line feed OxA symbols All data fields are separated by commas The general form of the NMEA Output sentence is the next PAHR RRRR rr PPP pp HHH hh TTT t V vv SSSS CC lt CR gt lt LF gt where PAHR is identifier and other fields are listed in the Table B 5 Table B 5 The AHRS message in NMEA format Parameter Roll Pitch Pitch Heading Temperature hex written Note with ASCII Notes 1 2 3 4 USW is unit status word see section 5 5 for details Temperature is averaged value for 3 accelerometers Vdd is input voltage of the AHRS Check sum consists of a and two hex digits representing XOR of all characters between but not including and Important note The AHRS maximum data rate is limited to 50 Hz in the NMEA output format Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 82 AHRS Demo Program Manual inertial Labs 9 xipuaddy ay ul payloads si AAS 34 JO 4q yaba JO SNE
45. d data during continuous run see item 8 3 2 On the fly accuracy test Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 20 Inertial Labs sere eos mi If in the menu Options the data output method On Request is chosen then getting data from the AHRS is performed by clicking the button In case of data saving if the button Write is pressed the measured data are written in one file sequentially Current orientation angles are displayed in the right part of the tab Fig 5 1 Additional displayed data depend on selected output data format see Appendix B for details If Orientation Sensors Outputs format is chosen then next data are displayed in the right part of the tab Fig 5 1 a Orientation angles Heading Pitch and Roll In the AHRS column angles calculated in the AHRS s microprocessor using the embedded main algorithm are output The Magn Acc column shows orientation angles calculated in the AHRS Demo Software using simplified algorithms based on magnetometers and accelerometers data Angles in the Magn Acc column are auxiliary they are used by developers only to control operation of the main algorithm Note f the magnetic declination is set correctly in the Device Options see Fig 4 2 then AHRS outputs true heading if magnetic declinati
46. dress 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 84 Inertial Labs sere cose mi APPENDIX C The Unit Status Word definition Bit Parameter Performance 0 Successful initial alignment 1 Unsuccessful initial alignment due to Initial Alignment AHRS moving or large changing of outer magnetic field 1 AHRS Parameters 0 Parameters are correct 1 Parameters are incorrect 0 No failure Low Gyroscope Unit 1 Failure is detected failure Accelerometer Unit I ne aur byte 1 Failure is detected 0 No failure 1 Failure is detected 1 Failure is detected AHRS mode See the Table below 0 Supply voltage is not less than minimum level Incorrect Power 1 Low supply voltage is detected Supply 0 Supply voltage is not higher than maximum level 1 High supply voltage is detected 0 X angular rate is within the range 1 X angular rate is outrange Angular Rate 0 Y angular rate is within the range Exceeding Detect 1 Y angular rate is outrange 0 Z angular rate is within the range 1 Z angular rate is outrange 0 Total magnetic field within the normal Large Magnetic Field Detect ee 1 Total magnetic field limit is exceeded 14 Environmental 0 Temperature is within the operating range Temperature 1 Temperature is out of the operating range 5
47. dure as in the second stage 2D 2T calibration allows making as many stages with different pitch angles as needed Note Rotation of the object with the AHRS in the horizon plane both for 2D 2D 2T and 3D calibration must include one or more full 360 turns Please correct the time required for saving data in the Accumulation time window to attain necessary rotations Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 51 Inertial Labs sere cose mr Magnetic field calibrations SUCCESS IS STARTED INIT ALIGNMENT DATA ACCUMULATING DATA CALCULATING NEXT REQUESTED STOP REQUESTED ACCEPT REQUESTED Input data 7 Mean STD Name wy Calibration type 2D 2T er ao bre calenton Accumulation time sec 10 Reference azimuth deg 0 00 i Calibration status EXIT REQUESTED RF RELIABLE StopWOM Accept Exit Module error nT Fig 10 11 Step 9 Once the data accumulation time is over at 2D 3D calibration or 2D 2T calibration is stopped after any stage then window Fig 10 11 appears where graphs of errors before and after calibration are shown Plotted graphs are scalable To zoom in please click and hold left button on mouse and drag mouse in down right direction Click and hold right button on mouse to shift plot To zoom out please click and hold left button on mo
48. e AHRS Demo Software based on the AHRS accelerometers data in degrees Gyro X deg sec plots output signal of the gyro X in deg sec Gyro Y deg sec plots output signal of the gyro Y in deg sec Gyro Z deg sec plots output signal of the gyro Z in deg sec Accelerometer X g plots output data of the accelerometer X in g Accelerometer Y g plots output data of the accelerometer Y in g Accelerometer Z 9 plots output data of the accelerometer Z in g Magnetometer X nT plots output data of the magnetometer X in nT Magnetometer Y nT plots output data of the magnetometer Y in nT Magnetometer Z nT plots output data of the magnetometer Z in nT Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 26 Inertial Labs sere eos mi Magnetic module nT plots full module of the measured magnetic field vector in nT Temperature deg C plots current temperature inside the AHRS in Celsius degrees If other then Orientation Sensors Outputs data format is chosen then only proper data will be displayed in the window Fig 5 6 But in any case orientation angles are always displayed Plotted graphs are scalable To zoom in please click and hold left button on mouse and drag mouse in down right direction Click and hold right button on mouse to shift
49. e AHRS to a computer is done through a USB port it is necessary to install a COM to USB converter driver The converter driver is in the folder COM to USB Driver placed on the CD provided with the AHRS Sequence of the converter driver installation is as follows Connect the converter to a computer The computer automatically starts a search and installation program for the necessary drivers of the connected device A window Fig A 1 opens Select No not this time from the menu and click on the Next button Found New Hardware Wizard Welcome to the Found New Hardware Wizard Windows will search for current and updated software by looking on your computer on the hardware installation CD or on the Windows Update Web site with pour permission Read our privacy policy Can Windows connect to Windows Update to search for software Yes this time only C Yes now and every time connect device ene Click Next to continue Cancel Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 70 InertialL3bs seme osama Window Fig A 2 will appear on the display Select Install from a list or specific location Advanced from the menu and click on the Next button Found New Hardware Wizard This wizard helps you install software for US232B fe If your hardw
50. e Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 39 Inertial Labs sere cose mi 9 Convert Menu There are two items Report of experiment and Full gt Clb data items which are used to convert saved binary data to text file When Report of experiment item is selected or button Bi is clicked or F8 button is pressed see Fig 3 6 a standard Windows Open window is opened In this window operator selects one of the bin files saved previously when the AHRS was operating in its standard mode Consequently a report file with same name but with txt extension is created Note that file with an extension prm and the same name as bin should be present as well The Report of experiment creates text file according to the output data format of data in the binary bin file Necessary data format is set by user in the Test Options window Description of the text file is done in the Appendix B 2 Text presentation of output data formats The special Full gt Clb data item is intended for convertion of bin files with Full Output Data format to text file txt corresponding to the Orientation Sensor Outputs data format The Full Output Data contains more information for developer but sensors data are there in raw ADC code The Orientation Sensor Outputs data contain all calibrated sensors data though not so full data as
51. e the AHRS sends out Unit Status Word USW in each data block see also Appendix B The low byte bits 0 7 of USW indicates failure of the AHRS If this byte is 0 then the AHRS operates correctly if it is not 0 see Appendix C The Unit Status Word definition for type of failure or contact the developers directly The high byte bits 8 15 contains a warning or is informative for the user Status of each bit of the USW warning byte is specified in the Appendix C The Unit Status Word definition 12 Control of compatibility between the AHRS firmware and AHRS Demo versions Firmware of the Inertial Labs AHRS is developing continuously The AHRS hardware also can be changed Sometimes the AHRS features are So new that are not supported by old versions of the AHRS Demo software On the other hand some functions of the old AHRS Demo software were deleted from the new software versions We recommend strongly to use version of the AHRS Demo software that comes on CD with the AHRS until the AHRS firmware is updated If the AHRS has too old firmware version then before execution of any command sent from the Demo Software to the AHRS the warning window appears see Fig 12 1 that informs about incompatible version of the AHRS firmware Click OK and continue work Warning Incopatible device firmware version This program supports only v 4 1 x Fig 12 1 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeon
52. ed in the Windows mouse and keyboard are needed to use it Directory structure necessary for data storage is created by user All necessary configurations and calibration coefficients are stored in the AHRS nonvolatile memory and they are automatically loaded into the AHRS microprocessor Calibration coefficients are set by AHRS developers and they can be changed but only under guidance of the AHRS developer Upon termination the Inertial Labs AHRS Demo software creates a AHRS Demo ini file for its operation in which the latest used parameters of the microprocessor and shell are stored During work with the AHRS the files with extensions txt rtf orm dat and bin can be created Files with extensions txt and rtf can be created by operator and files with extensions prm dat and bin are created automatically by the software when it is saving text or graphical data Requirements to the system resources The software requires 6 Mbytes of RAM for proper operation Hard disk capacity required for proper operation is determined by the size of the Demo software files approximately 12 MBytes and by the files saved during operation no more than 100 Mbytes Recommended screen resolution is 1280x1024 pixels The AHRS is connected to a computer through a standard COM port The AHRS can also be connected to a PC through a USB port with a COM to USB converter In this case reliability of signal reception transmission between a PC and the
53. el R 82801FB FBM USB Universal Host Controller 2656 2659 2654 2656 Intel R 82801FB FBM USB2 Enhanced Host Controller 265C USB Mass Storage Device USB Root Hub USB Root Hub USB Root Hub USB Root Hub USB Root Hub USB Serial Converter Fig A 12 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com IT InertialL3bs seme osama USB Serial Converter Properties General Advanced Driver r USB Serial Converter Configuration Use these settings to override normal device behaviour Fig A 13 Fres ekte kreerte geek seere pettersen ee Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 78 Inertial Labs sere cose mi APPENDIX B Description of data files The Inertial Labs AHRS Demo software creates data files if Write button is pressed after AHRS start These are two binary files with the same name and extensions prm and bin where prm file contains the AHRS parameters and bin file contains the AHRS outputs Select Report of experiment from the Convert menu of the AHRS Demo or press F8 or click button to convert these binary data to text file see section 7 for more details Structure of binary and text files is described below Note that tex
54. endix C The Unit Status Word definition e Low Power ON switches the AHRS to low power consumption mode In this mode the AHRS doesn t calculate orientation and doesn t output any data e Low Power OFF switches the AHRS to the standard power consumption mode There are four styles of visualization of the AHRS outputs e AHRS 3D Demo e Cockpit e Snapshots for the on the fly accuracy test e Data graphs 5 1 AHRS 3D Demo AHRS 3D Demo is default variant of the AHRS visualization in which current orientation angles of the AHRS are shown as spatial orientation of an airplane see Fig 5 1 To go to this visualization stile select AHRS visualization from the Run menu Fig 3 3 select 2E on the toolbar or press F4 button Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com inertial Inertial Labs AHRS Demo v 15 0 43 551 E 0 x Fie Run Parameters Plugins Convert Options CN a T a gt tt dr ya A Bu O D Bi AHRS visualization A Pers angles deg Ma icy Heading 263 02 263 Pitch 0 32 0 36 Roll 0 71 0 69 Sensors outputs Rate deg sec Accel go Magn nT X 0 0 0 012 19460 Y 0 4 Z Total magnetic field 41396 Additional Temperature deg C 29 1 Mdec deg 00 Vinp V 5 961 Output data format Mode Orientation sensors outputs READINES
55. er of the tab This legend shows mean value STD standard deviation and name of displayed data To close graphs please click the x icon in the title of current tab 6 2 Save as item You can preset name of file for data writing For this select Save as item Fig 3 2 and enter desirable file name 7 Parameters menu Parameters menu enable to work with AHRS parameters There are such items in the Parameters menu e Load block parameters e Read block parameters e Restore parameters e Save parameters e Preset parameters 7 1 Load block parameters and Read block parameters items These items are used to check operation of appropriate commands of the AHRS AHRS Demo software allows more convenient means to load the AHRS parameters to the AHRS nonvolatile memory see section 7 2 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 29 Inertial Labs sere eos mi 7 2 Restore parameters Restore parameters command see Fig 3 4 is used to quickly load the AHRS parameters to the AHRS nonvolatile memory When Restore parameters command is selected or button is clicked a standard Windows Open window opens in this window operator selects one of the previously saved files with prm extension Consequently the parameters are automatically saved to the AHRS
56. evice Manager window Fig 2 2 you will see the COM ports which will be marked as Communications Port COMN or USB Serial Port COMN Number N in the port name is assigned by OS System Properties Device Manager System Restore Automatic Updates Remote Hle j Action view Help General Computer Name Hardware Advanced R Computer sa Disk drives i The Device Manager lists all the hardware devices installed 2 Display adapters gt on your computer Use the Device Manager to change the DYD CD ROM drives properties of any device 4 Floppy disk controllers Device Manager J Floppy disk drives dg Human Interface Devices H IDE ATA ATAPI controllers M Jungo gt Keyboards Device Manager Drivers Driver Signing lets you make sure that installed drivers are compatible with Windows Windows Update lets you set up 5 Mice and other pointing devices how Windows connects to Windows Update for drivers sd P 9 id Monitors Driver Signing Windows Update i Network adapters P Ports COM amp LPT 2 Communications Port COM2 oY ECP Printer Port LPT1 al Hardware profiles provide a way for you to set up and store F USB Serial Port COM21 different hardware configurations sf Processors amp SCSI and RAID controllers Hardware Profiles 9 Sound video and game controllers System devices Universal Serial Bus controllers V50 devices Hardware Profiles Fi
57. f accuracy of hard soft iron calibration see section 8 2 Calibration of the AHRS 3 Changed Device Options window to include new 25 04 Sep 13 ON Ede for hard soft OR calibration 4 Rolling compensation menu item is changed to Swaying compensation 6 User is asked to accept or decline results of each calibration run in 2D 2T calibration see section 8 2 Calibration of the AHRS 1 Added 6 File Menu and 7 Parameters Menu sections 2 3 15 Oct 13 AK 2 Changed subfolder name for 3D models in section 13 Choice of 3D model for visualization of the AHRS orientation 10 Oct 13 Marketing changes 1 Updated 4 1 Test options section 2 Added notes about measurement of true or magnetic heading on set value of magnetic declination in sections 4 2 Device options 5 1 AHRS 3D Demo 3 For AHRS Demo Software ver 15 0 44 and higher the a Ve EN Full gt Clb data converter is added to Convert menu item for converting of bin files with Full Output Data format to text file corresponding to the Orientation Sensor Outputs data format 4 Added section 4 4 VR sensor options Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs sere cose mi Table of contents MOU CION EE EE NE AA AAA A 6 1 SPENN 7 2 In
58. g 2 1 Fig 2 2 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com InertialL3bs seme osm mar 3 Main menu of the program The main menu of the Inertial Labs AHRS Demo software contains the following items see Fig 3 1 Inertial Labs AHRS Demo v 15 0 14 428 File Run Parameters Plugins Convert Options eX v hB ODA Fig 3 1 File Menu contains standard Windows file management commands Fig 3 2 Run Menu contains the AHRS control commands Fig 3 3 Parameters Menu contains operations with AHRS parameters Fig 3 4 Plugins Menu contains the AHRS Demo plugins Fig 3 5 Convert Menu contains conversion of binary data to the text format Fig 3 6 Options Menu contains the AHRS configuration commands Fig 3 7 rtial Labs AHRS Demo v 15 0 abs AHRS Demo v 15 0 14 4 lneesial liateckl eme Parameters Plugins Cor HEIRGE Plugins Convert BY Load block parameters Run Parameters Plu WE AHRS visualization F4 F P bo Open F 2 Read block parameters J Stop AHRS F7 Save as CtrlH5 Get BIT JI Restore parameters qe Exit Alt Low power on pi save parameters B Low power off 0 Preset parameters Fig 3 2 Fig 3 3 Fig 3 4 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935
59. havior of AHRS angle After time of run complete the window is opened with averaged errors of the AHRS Step 14 Repeat Step 13 for each reference angle indicated in the Angles column Step 15 After the end of the accuracy test cycle in all positions given in the column Angles on the page Angle Error deg the plot of given angle determination error is displayed and the minimal and maximal error values during the test its root mean square value RMS are indicated Also standard deviation STD of measurement noise at last position of the AHRS is displayed Step 16 To close the accuracy check window Fig 8 4 click button x in the right upper corner of the window At this window is appeared with question about saving plot of error to omp file Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 58 Inertial Labs sere cose mi For each run the txt file is created with saved AHRS data in the data subdirectory File name consists of s n of AHRS indication what AHRS angle was tested H heading P pitch R roll reference angle reference temperature time of run For example file 106A0016 H 38 22 T 27 1831 txt corresponds to data saved from the AHRS s n 106A0016 at Heading accuracy test for target angle 38 22 at 18 31 Also the file of the report like Accuracy 2010991830 txt
60. havior of the AHRS first check whose parameters are loaded in the connected AHRS This may occur for example if you have restored parameters that corresponds to another AHRS with not proper serial number Please use Restore parameters Command accurately to avoid wrong parameters loading into the AHRS s memory To check whose parameters are loaded in the connected AHRS please select Device options from the Options menu or click button see Fig 3 7 Device options window Fig 4 2 will open KS x AHRS Location Device type AHRS 7 Magnetic declination deg 0 00 B Measurement rate Hz 100 5 Latitude deg 39 040 Initial alignment time sec 30 p Longitude deg 77 3900 i Altitude m 0 00 Device name C1340071 Date 18 02 2013 Device firmware version VvSTS v4 99 4 24 12 13 Auto a Alignment angles deg Heading 000 Pitch 000 Roll 000 Magnetometers calibration on hard amp soft iron H filter time constant sec 0 6 Pitch Roll threshold deg 20 4 gt Start with Factory Clb Mag Disp threshold nT 2 1000 Inclination threshold deg 15 Success threshold nT 2500 Zone centre threshold deg 5 Zone azimuth min deg 15 KIDA Zone pitch min deg 20 ap Ep Ep al Er X canca In the field Device name you will see serial
61. he AHRS dynamic accuracy at long duration accelerations of the vehicle Please pay attention to possibility of increasing the AHRS accuracy at object swaying via compensation of linear acceleration at place of the AHRS mounting see section 4 3 Swaying compensation Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 31 Inertial Labs sere eos mi 8 Plugins Menu Plugins menu enable to run additional parts of the Demo software There are Such items in the Plugins menu e Embedded e Mag field calibration e Angles accuracy 8 1 Embedded The AHRS Demo software allows taking into account influence of the soft and hard iron of the carrier object on the heading determination accuracy For this purpose field calibration of the AHRS magnetometers is provided There are two ways to calibrate the AHRS to use AHRS embedded procedures or procedures provided by AHRS Demo software The last way is more convenient see section 6 2 Magnetometers field calibration For AHRS embedded calibration procedure the Embedded menu item is used As a result of selection of this item the Embedded Mag Field Calibration window will appear see Fig 8 1 ta Embedded Mag field calibration Get Fi Clear Read p Start 4 Clear response Save respons Preferences Response COM Port COM3 M Calibratio
62. ian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 64 Inertial Labs sere cose mi 13 Choice of 3D model for visualization of the AHRS orientation The AHRS Demo software allows to use different 3D models for visualization of the AHRS orientation angles when AHRS visualization item from the Run menu Is used for work with the AHRS The default 3D model is an aircraft as Fig 5 1 shows Other models are on CD in the subfolder 3D Models of folder with the AHRS Demo software There are files model mgl which contain these models and appropriate screenshot files To set desirable 3D model for the AHRS visualization just copy the file model mgl from appropriate folder of 3D models to the configs subfolder in folder with the AHRS Demo software At this you should replace existing file Some examples of 3D models for the AHRS visualization are shown on Fig 13 1 Submarine Clipper Fig 13 1 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 65 Inertial Labs vrenn 14 Troubleshooting 14 1 How to repair the AHRS parameters Need to repair of the AHRS parameters appears in some cases for example at incorrect loading of parameters into the AHRS memory You can use original file with prm extension that comes on CD with the Inertia
63. ion from the Run menu Fig 3 3 or click button on the toolbar or press F4 The window shown in Fig 5 1 will appear You can switch to other visualization style by clicking on its preview on the tab Depending on the selected style windows shown in Fig 5 3 Fig 5 5 will appear Step 9 Click Start button Initial alignment of the AHRS will start This is signified by the message Initial alignment Please wait Also a progress bar of initial alignment will appear in the status line of the main window During the initial alignment the AHRS has to be unmovable relative to the Earth Once the initial alignment time is over observe changes in numeric data and graphical evolutions of the object Note For visual convenience of AHRS position perception displayed on the monitor and the AHRS real position it is recommended to place the AHRS in parallel with the monitor before the beginning of work as follows direct lateral axis X to the monitor and direct longitudinal axis Y in parallel with the monitor on the left Step 10 If you have selected On Request operating mode click Request 2 button to get data from the AHRS each time if you want Observe changes in numeric data and graphical evolutions of the object Step 11 To save data click Write button Caption Data are writing in file will appear Also a progress bar of data writing and timer will appear in the status line of the main window
64. is version issue separated by blanks This parameter can not be changed e Magnetic declination deg magnetic declination at the place where the AHRS operates The parameter value is changed by entering the Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs sere eos mi required value from a keyboard or by automatic calculation by click on Auto button using Latitude Longitude Altitude and Date values Default value of the magnetic declination is set to 0 Note If the magnetic declination is set correctly then AHRS outputs true heading if magnetic declination is set to zero then AHRS outputs magnetic heading e Latitude deg latitude of the AHRS operating location e Longitude deg longitude of the AHRS operational location e Altitude meters altitude above sea level of the AHRS operational location e Date day month and year when the AHRS is used Note You need to set current latitude longitude altitude year month day only if you want to calculate magnetic declination for current place or to calibrate the AHRS e Alignment angles deg angles between the AHRS axes and the carrier object are set after AHRS mounting see Appendix D Variants of the Inertial Labs AHRS mounting relative to object axes Default values are set to 0 degrees
65. k the X in the title of current tab For other styles of visualization of the AHRS outputs there are clickable previews in the upper part of the AHRS visualization tab Fig 5 2 It is possible to switch between visualization styles at any time of the AHRS operation by simple clicking on its preview am Fig 5 2 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 22 t lt nd y Demo Program Manual 5 2 Cockpit style of visualization Ine Cockpit window allows to show current attitude of the AHRS in Cockpit display style see Fig 5 3 To switch visualization to this mode click on preview shown in the Fig 5 2b and window shown in the Fig 5 3 will appear There is heading indicator in the upper left corner of the tab In the center part of the tab an attitude indicator artificial horizon is shown Its vertical scale corresponds to pitch limb corresponds to roll To switch to other than Cockpit style click on appropriate preview in the upper part of the AHRS visualization tab Fig 5 2 To stop data output from the AHRS click the Stop button Inertial Labs AHRS Demo v 15 0 43 551 Oj x File Run Parameters Plugins Convert Options X B R 24 66 230 07 P 24 78 36 17010 26170 28310 42139 Orientation se
66. l Labs AHRS or use own files created by Save parameters command if these files contain valid data of course Follow next steps to restore AHRS parameters 1 Connect the AHRS to PC and power it 2 Start the AHRS Demo software The main menu will appear see Fig 3 1 3 Select Test options from the Options menu or click Lo button see Fig 3 7 Test options window Fig 4 1 will open 4 Select the correct COM port number and its rate Baud rate 115200 Click OK Note For the number of the COM port to which the AHRS is connected see items 2 Installation of drivers and configuration of the PC parameters and Appendix A Installation of the COM to USB converter drivers and configuration of the PC parameters 5 Select Restore parameters in the Parameters menu see Fig 3 4 or click button A standard Windows Open window will open 6 Select file with extension prm containing the factory settings of the AHRS parameters or own file created by Save parameters command if this file contains valid data of course Click OK These parameters will be loaded into AHRS memory automatically Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 66 Inertial Labs sere cose mi 14 2 What do you have to do at strange behavior of the AHRS If you see strange be
67. libration For example usually bad places for the calibration are office room laboratory with large quantity of computers and other electronics equipment road with underground communications or pipelines place near electric mains etc But even in bad magnetic environment the calibration can be successful if the AHRS rotates around its magnetometers around the point about 15 mm away from the AHRS forward end In this case influence of non uniformity of environmental magnetic field is minimal Finally please remember that if the carrier object is changed or if place of the AHRS mounting on the carrier object is changed the new calibration should be performed If the AHRS will be used alone without mounting on any object then calibration results should be cleared by clicking on the Clear button see Fig 8 3 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 56 Inertial Labs sere cose mr 10 3 Accuracy test of the AHRS To check AHRS accuracy it is recommended to use Inertial Labs AHRS Demo software which allows to estimate accuracy of a AHRS in given range of orientation angles At the same time it is necessary to use special device allowing to set angular positions of the AHRS strong with respect to tested angles The AHRS should be rotated just in plane of one of its base surfaces The Inertial La
68. ll automatically start the driver installation If installation is completed successfully the window in Fig A 6 will appear on the screen Press Finish to complete installation procedure for the COM to USB converter driver Found New Hardware Wizard Completing the Found New Hardware Wizard The wizard has finished installing the software for USB Serial Converter Click Finish to close the wizard Cancel Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 73 InertialL3bs seme resem ma If the necessary drivers are not installed an error message Fig A 7 will appear In this case click Back and set the correct path to the driver files in the window in Fig A 3 Found New Hardware Wizard Cannot Install this Hardware The hardware was not installed because the wizard cannot find the necessary software Click Back if you have installation media such as a CD ROM or if you know the location of the software I Don t prompt me again to install this software lt Back Cancel Fig A 7 Once the converter driver is installed you will need to know the number of the additional COM port set by the system and configure parameters of this port for correct operation of the AHRS To do this press the Device Manager button in the System Properties
69. llabs com 57 Inertial Labs sere cose mi Step 9 In the column COM port in dropdown windows COMN choose COM ports to which the AHRS units are connected Click Scan button In the column Device Name AHRS units are determined in accordance with chosen COM ports Button OK becomes active Step 10 If all AHRS units under test successfully determined click button OK Window Devices Properties will close and found connected AHRSs will appear in the accuracy check window instead of label NoName Step 11 If orientation angles of the AHRS indicated in the column Angles correspond to angles with which testing will be carried out then this step can be omitted Otherwise click the button Angles and window Accuracy Properties will appear see Fig 8 6 in which the operator sets check accuracy angles Accuracy checking points the necessary time Accumulation Time of data collecting while the measurement in each position of the AHRS and chooses if necessary Temperature Sensor for the temperature control Step 12 If angles of obliquity of the AHRS set on the test bench platform are known input their values in fields of the Tilter window Step 13 With the help of special setup device set sequentially angular positions of the AHRS in accordance with the values indicated in Angles column Then click on Accumulate Data button to start AHRS See in the window the be
70. loper The next thresholds in the right part of the Magnetometers calibration on hard amp soft iron section are used to estimate the calibration quality in terms of possible AHRS heading accuracy e H filter time constant is parameter for filtration of measured horizontal component of the Earth magnetic field Default value is 0 6 seconds e Pitch Roll threshold is used for detection of control circuit in the 3D calibration procedure Default value is 20 degrees e Zone azimuth min Zone pitch min Zone centre threshold are parameters for zone based 3D calibration Before working with the Options menu it is desirable to select Stop AHRS in the Run menu or press F7 key Fig 3 3 Note you can select Device option item only if AHRS is powered and connected to computer and COM port number is chosen properly In the other case the error window with message Cannot read parameters appears over above window see Fig 4 3 Click OK then close Device Options window and choose the correct COM port number see section 4 1 Test options R Cannot read parameters ok Fig 4 3 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs vrnn 4 3 Swaying compensation It is possible to increase the AHRS accuracy at object Swaying if to compensate linear acceleratio
71. luence can be compensated after calibration procedure Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 55 Inertial Labs sere cose m However magnetic environment often is not homogeneous at place where calibration of the AHRS is performed This may lead to degradation of the calibration results since AHRS magnetometers are disturbed both by iron of the carrier object and by curved outward magnetic field In this case it may be very difficult to separate influence of these 2 disturbance sources on the AHRS Inertial Labs engineers have develop special calibration procedure for separation of these sources of magnetic disturbance to take into account and compensate just influence of the magnetic field of the carrier object But residual influence of non uniformity of environmental magnetic field may still decrease calibration accuracy After a lot of experiments Inertial Labs engineers have determined acceptable limits of non uniformity of environmental magnetic field at which the AHRS heading accuracy after calibration is satisfactory If the AHRS calibration procedure was performed in the strict accordance with procedure described in section 10 2 but calibration is unsuccessful then place of the calibration has large distortion of the Earth uniform magnetic field To repair this problem please change place of the ca
72. m Save as in the File menu and enter desirable file name Step 13 Repeat Step 9 Step 12 as many times as you need Step 14 To close standard operation mode window Fig 5 1 Fig 5 5 click the X icon in the title of current tab Step 15 Select Stop AHRS Fig 3 3 from the Run menu or click button To get the saved data as text file do the following Step 16 Select Report of experiment from the Convert menu Fig 3 6 or press F8 in the main menu or click Bi button Fig 3 1 A standard Windows Open window will open Step 17 Select the necessary file with extension bin Click OK A txt file will be created with the same name and in the same folder as the selected bin file with format set in Step 6 Note When large file data is processed then some time is necessary for text file saving If you will start new operations with Demo software before end of text file saving then Demo software will appear as not responding or locked Just wait some time for saving end after that Demo software will be unlocked Also you can plot saved AHRS binary data using File menu See section 6 1 for more details Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 43 Inertial Labs sere cose mi 10 2 Calibration of the AHRS For correct operation of the AHRS it is
73. n Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 49 Inertial Labs sere eos mi used points is percent of accumulated data used at calculations Click OK to close information message Magnetic field calibrations x Input data Mean 0 0 00 STD Name 71 6048 Before calibration 46 3188 After calibration 266 87 Calibration type 2D gt Accumulation time sec 1 Reference azimuth deg 0 00 Bias 0 000 Calibration status Successful calibration Calibration error 0 2 INIT Used points 89 DATA ACC DATA CA NEXT REQU STOP REQUESTED ACCEPT_REQUESTED EXIT REQUESTED p RF_RELIABLE 0 0 8920 Clear Start Next Stop Accept Exit i Fig 10 7 The 2D 2T calibration consists of several runs Set the object with the AHRS to specific pitch angle for example to the minimum pitch angle Rotate object in azimuth with approximately constant pitch and roll After time of the first run of the AHRS rotation will be reached result window will appear see Fig 10 8 Based on the calibration accuracy it is necessary to accept or decline this run Then it is necessary to set the AHRS to the next pitch angle and repeat calibration procedure as the next run Quality of the 3D calibration will be estimated in terms Excellent calibration Good calibration or Acceptable calibration see Fig 1
74. n Type 3D M 2D Input data 3D Accumulation Time 0 00 10 3 Magnetic declination deg 0 00 Auto Latitude deg 29 04 Longitude deg 77 29 Altitude meters 120 00 Date 30 05 2013 Fig 8 1 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs sere cose mr Buttons on the toolbar are used to send commands for the AHRS calibration that are described in the AHRS ICD Below is list of these buttons and corresponding commands code i Views the last calibration results ket stored in the AHRS memory Clear ClearClb Clears calibration parameters Read Reads out the AHRS flash memory Start2DClb 0x21 Starts the 2D 2D 2T or 3D p Start Start2D2TClb 0x22 calibration Start3DCIb 0x23 Early stops data accumulation in E StopRun StopClbRun 0x20 the calibration run before set accumulation time is reached bid StartClbRun ox2B Starts new run of the 2D 2T calibration z n Finishes the calibration procedure ae Kunis with multiple runs like 2D 2T To accept the calibration W Accept AcceptClb Ox2E parameters and to save them to the AHRS nonvolatile memory To exit from the calibration sp Exit ExitCIb OxFE without calculations and saving calibration parameters Clears the response window Fig 6 2 Clear response
75. n at place of the AHRS mounting For this purpose select Swaying compensation options from the Options menu Fig 3 7 or click BD button Fig 3 1 A Swaying compensation options dialog box Fig 4 4 will be opened that allow you to set the lever of the AHRS mounting relative to the centre of the object Swaying usually this is object centre of gravity Swaying compensation options Device mounting lever m Right Forward 000 l Up o0 EA Fig 4 4 4 4 VR sensor options There is special mode of AHRS operation in the Virtual Augmented Reality VR AR systems This mode provides more stable orientation angles for VR AR system but accuracy of orientation can degrade To switch on off VR mode select VR sensor options from the Options menu Fig 3 7 A VR sensor options dialog box Fig 4 5 will be opened that allow you to set the following parameters Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs sere eos mi VR sensor options Orientation data filter passband Biff Hz VR sensor mode On Off Gyro thresholds deg sec 1 00 0 20 5 ECA Fig 4 5 Biff Hz bandwidth of the smoothing filter for orientation angles The range is from 0 01 Hz to 2 55 Hz If value is lower then angles are more smoothed but delay in angles is
76. n limited azimuth range This special calibration is not described in this document Note that rotation of the carrier object with the AHRS both for all calibration procedures must include one or more full 360 turns in the horizon plane Field calibration procedures are developed by Inertial Labs after type of the object on which the Inertial Labs AHRS will be installed is agreed on with a customer 10 2 1 Description of the 2D 3D and 2D 2T calibration procedures Step 1 Step 2 Perform Step 1 Step 2 from the item 10 1 Step 3 Set correct coordinates Latitude Longitude Altitude and Date n accordance with place where AHRS is calibrated Their values are set in the Device Options window see Fig 4 2 Step 4 Select Mag Field Calibration item from the Plugins menu Fig 3 4 Mag Field Calibration window Fig 10 2 will open Step 5 Select 2D 2D 2T or 3D calibration from drop down list in the Calibration Type field Step 6 Using arrows or entering the necessary value from a keyboard set the time required for accumulating data which would be sufficient to accomplish the calibration procedure in the Accumulation time window Please set time which is enough for 1 3 full 360 turns of the carrier object in horizon plane Usually 60 seconds for 2D calibration and 120 sec for 3D calibration are enough Step 7 Click Start button In Calibration status
77. nonvolatile memory and to the Demo Program shell The same way is used to restore the factory settings of the AHRS parameters In this case you should select original file with prm extension that comes on CD with Inertial Labs AHRS 7 3 Save parameters If you have changed some parameters of the AHRS in Device options window from the Options menu or other menus and you want to save these parameters as variant for future work you can save the AHRS current parameters in binary file with prm extension For this use Save parameters command see Fig 3 4 or click pi button After that a standard Windows Save as window is opened in this window operator is suggested to save current parameters of the AHRS to a File of parameters with prm extension 7 4 Preset parameters Since the Inertial Labs AHRS Demo ver 14 7 9 14 it provides preset of the AHRS parameters that adjust AHRS algorithm for some specific conditions of operations to get better dynamic accuracy of the AHRS The latest AHRS Demo version contains preset parameters for the next conditions of the AHRS operations e ordinary AHRS operation e marine application e vibrations To modify AHRS parameters select Preset parametes item from the Parameters menu Fig 3 4 The window Fig 7 1 will be opened Select on of variants of the AHRS operations and click OK to update the AHRS parameters according to selected variant Inertial
78. nsors outputs READINESS Fig 5 3 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website 23 InertialL3bs seme osama 5 3 On the fly accuracy style of visualization On the fly accuracy feature is designed for checking the AHRS accuracy at its ordinary operation when the AHRS can be directed to points with Known orientation To switch visualization to this mode click on preview shown in the Fig 5 2c and window shown in the Fig 5 4 will appear For more information about this type of visualization see section 8 3 2 On the fly accuracy test Inertial Labs AHRS Demo v 15 0 43 551 File Run Parameters Plugins Convert Options X v B 263 23263 10 il hauia all 0 37 0 41 0 74 0 57 0 1 0 010 19540 0 2 0 007 0 4 Orientation sensors outputs READINESS Fig 5 4 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 24 InertialL3bs come osm i 5 4 Data graphs style of visualization Data graphs window allows to show graphs of current AHRS outputs see Fig 5 5 To switch visualization to this mode click on preview shown in the Fig 5 2d and window shown in the Fig 5 5 will appear It is possible to select the signals you want to display by right click on the graphs area
79. number of the AHRS It must correspond to serial number that is placed on label on AHRS s nose Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 67 Inertial Labs sere cose mi If Device name doesn t correspond to serial number of the connected AHRS then you must restore original parameters as that described in above section If Device name corresponds to the AHRS serial number but you continue see strange behavior of the AHRS in heading then this may be due to improper hard soft iron calibration parameters are loaded into AHRS s memory If you have removed AHRS from carrier object then you must clear parameters of soft hard iron calibration To do this follow Step 1 Step 6 in section 8 2 1 Calibration in full azimuth range Next click the Clear button see Fig 10 15 Soft and hard iron calibration parameters will be removed from AHRS memory and window Fig 10 15 will be closed automatically If you mount the AHRS in another place in carrier object or move it to another carrier object then you must repeat soft hard iron calibration procedure as it described in section 10 2 Calibration of the AHRS 14 3 What do you have to do if messages Cannot read parameters Cannot load parameters or Cannot start AHRS appear When you use Inertial Labs AHRS Demo Softwa
80. o Name 0 00 30 00 60 00 90 00 120 00 150 00 180 00 210 00 240 00 270 00 300 00 Headin Termo accuracy Accuracy 330 00 Min Max 0 000 0 000 0 000 RMS 0 00 360 00 Noise STD deg 0 00 None Tilter Auto Tilter Nol Position C Manual deg 0000 g 0000 yono Angles lt 30 00 60 00 9000 120 00 150 00 180 00 210 00 240 00 270 00 300 00 330 00 360 00 Fig 8 4 In a pulldown list in the left top corner there is an capability to choose an orientation angle Heading Pitch or Roll on which the AHRS will be tested Depending on the chosen parameter the accuracy check window name which is shown in the Fig 6 4 will change Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 36 Inertial Labs sere eos mr The check of the AHRS heading azimuth angle accuracy is carried out by rotating the AHRS around the vertical on angles specified in the column Angles Fig 8 4 The check of AHRS pitch angle accuracy is carried out by rotating the AHRS around the horizontally located lateral axis X of the AHRS on angles specified in the column Angles see Fig 8 4 It is necessary to note that the accuracy control in angles 90 270 and close to them is not carried out because of uncertainty of two other orientation angles Heading and
81. on is set to zero then AHRS outputs magnetic heading bk b Calibrated output signals of the AHRS sensors Rate deg sec angular rate values in deg sec measured by angular rate sensors Accel 9 linear acceleration values in g measured by accelerometers Magn nT magnetic field intensity values measured by magnetometers in nT Originally all sensors data are in AHRS axes X is lateral axis Y Is longitudinal axis Z is vertical axis Starting from AHRS firmware v 4 9 6 3 axes X Y Z are changed to the object axes if non zero alignment angles are set for AHRS mounting see Appendix D Variants of the Inertial Labs AHRS mounting relative to object axes c Total measured magnetic field value in nT Total magnetic field d Current temperature Temperature degC inside the AHRS e The set value of the magnetic declination Mdec deg f Input supply voltage of the AHRS in VDC Vinp VY g Format of output data Output Data Format This format is set by operator in the Test Option window Fig 4 1 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 21 InertialL3bs seme resem ma h Current mode of the AHRS operation Readiness Awake or Sleep To stop data output from the AHRS click the Stop button To leave the AHRS visualization mode clic
82. re the most of operations are started with reading data from the AHRS nonvolatile memory to control correct AHRS status For this purpose the AHRS should be powered and connected to COM port or USB port using COM to USB adapter When you see one of messages that Fig 14 1 shows then you should check the next items e The AHRS is powered and LED indicator on the AHRS case lights red e The AHRS is connected to COM port or USB port using COM to USB adapter e The number of COM port is set correctly in the Serial port field in Test options window from the Options menu as Fig 4 1 shows Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 68 InertialL3bs vorenn Then simply click OK button and repeat your operation R Cannot read parameters R Cannot load parameters ok Pok R Cannot start AHRS Pok Fig 14 1 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 69 InertialL3bs seme resem ma APPENDIX A Installation of the COM to USB converter drivers and configuration of PC parameters Inertial Labs AHRS developer highly recommends connection of the AHRS to a computer through a standard COM port for guaranteed reliable operation of the AHRS If connection of th
83. rmats rrrarerarrrnrrnrenarenernnnrnanennnnnernanenannnnenneennn 83 APPENDIX C The Unit Status Word definition rrrnrrnrrrarenarenrrnnnrnannnernnnrvanennnnnnennennnenene 85 APPENDIX D Variants of the Inertial Labs AHRS mounting relative to object axes 87 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com InertialL3bs seme osama Introduction This manual is designed to study and use software for all modifications of Inertial Labs AHRS for its designed purposes Persons who have studied structure of the device its users manual and safety measures specified in the user s manual and having experience in using IBM compatible PCs and electrical appliances are permitted to use the AHRS Fig 1 1 Inertial Labs AHRS SSS se Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs sere cose mi 1 General information Operating system This version of the Demo software is fully compatible with the operating system MS Windows XP It can be run also with MS Windows Vista and MS Windows Seven Working with the software The Inertial Labs AHRS Demo software is a windows based Win32 application and standard means us
84. rt number in the Serial port field as Fig 4 1 Shows Step 5 Not obligatory In Test option window Fig 4 1 if you need you can set Record time of data writing when data is being saved to file and Number data for average the quantity of averaged data that can be used for smoothing of viewed data Note that averaging relates to the data output on the screen only and is not applied to the data written in a file Note For the number of the COM port to which the AHRS is connected see 2 Installation of drivers and configuration of the PC parameters and Appendix A Installation of the COM to USB converter drivers and configuration of the PC parameters Step 6 In Test option window Fig 4 1 set check data output mode in the Operating Mode group and also Output Data Format see Appendix B for more information on the output data format Click OK Step 7 Not obligatory If you want to change some parameters of the AHRS or its operation select Device options or Swaying Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 41 Inertial Labs sere eos mi compensation options from the Options menu see Fig 3 7 Appropriate window Fig 4 2 or Fig 4 4 will open Set the necessary AHRS operation parameters Click OK Step 8 Select AHRS Visualizat
85. stallation of drivers and configuration of PC parameters w mwwmwenmwnana 8 De Man Menu TEN AI E 9 4 Goo ME IAA 11 al TONN 11 ie DEE NNN 12 4 3 SWAYING compensation rrnnnrnanrnanrnannnnnnnnnnrnannnanennnrnnnnnnannnanennnennnsnnnnnnanenanennnsnneee 16 224 VVrR TT ON Hr 16 5 RIME 18 L AHRS DN 18 32 NE ANN 23 5 3 On the fly accuracy style Of visualization r arrrnnrrnnreraneranernerrrannranrranernerrnnnnnnsnnnn 24 5 4 Data graphs style of visualization rrrrrnrrrarrrannrnrrrareranrvanernernnannranrnnnenneennnennenennn 25 5 5 Other items of the RINNAN vvvrvrvrvrrvrrvrrrrseN unt 27 6 FETT 28 OL NNN 28 D NESNA 29 l BEE LANSEN MENU EM ee eee 29 7 1 Load block parameters and Read block parameters ItemSs 29 12 Restore PAAMETETS WI 30 bo NENNE 30 2 PES ENE 30 8 PSN 32 Cele EE 32 8 2 Magnetometers field calibration rrrrnrrnanrnanarnnnnranrvanrvanennernnannranernnenneennnannenennn 34 0 3 STO 36 9 MINN 40 10 The AHRS AN 41 10 1 The main operation modes of the AHRS cccccceccseeeeseceeeseeeeseeeeeeeeeneeeaeeeeess 41 10 2 Calibration ol ME AHRS ernaria ER aa 44 10 2 1 Description of the 2D 3D and 2D 2T calibration procedures 46 10 2 2 Clearing of the soft and hard iron calibration parameteTS 54 10 2 3 Conditions of successful calibra
86. t Data Quaternion of Orientation Orientation Sensor Outputs default format NMEA Structure of data block is described in Tables B 2 B 5 for each output data format Table B 2 The AHRS message payload at Full Output Data format number Ugyro Reser Parameter Heading Pitch Uacc wad USW Vdd Utermo Umag 2 byte 2 byte 2 byte 9x2 byte 2 byte 2 byte 2 byte Raw Combi sensor ned data gyros voltage Tenner Orientation angles ature in Note dea 100 accelero VDC EN 9 meters 1000 sensor magne tometers Notes 1 USW is unit status word see section 5 5 for details 2 The following data are recorded in the field Vdd sequentially the AHRS input voltage stabilized voltage supplied to the AHRS sensors 3 In the Utermo field ADC codes are recorded sequentially from 7 temperature sensors inside gyros accelerometers and magnetometers 4 The low byte is transmitted by first Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 80 Inertial Labs sere cose mi Table B 3 Structure of one data block at Quaternion of Orientation format Byte 14 28 number iil i LkO Lk1 Reser ysw Parameter Heading Parameter Heading Pitch Roll Lk Lk3 Reser usw vad Vad Utermo 2 byte 2 byte 2 byte 14 2byte 2byte 2 gt Supply Orientation angles
87. t file is more convenient for analysis B 1 Structure of binary file If user has possibility to work with binary file directly below is description of the binary bin file This file structure copies structure of the AHRS output data that is described in the Inertial Labs AHRS Interface Control Document ICD The first 50 bytes of the bin file are results of the AHRS initial alignment see Table B 1 Table B 1 Structure of the first 50 bytes of bin file block of initial alignment data 0 11 3 numbers in ADC codes 12 23 Average acceleration 3 numbers in ADC codes 24 35 Average magn field 3 numbers in ADC codes 36 39 degrees 40 43 degrees 44 47 degrees 48 49 USW word 2 0 successful initial alignment 20 unsuccessful Notes 1 USW is Unit Status Word see Appendix C The Unit Status Word definition for details Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs sere cose mi 2 In the Table B 1 and in all next there is denoted word unsigned 2 byte integer sword signed 2 byte integer 3 The low byte is tthe first All the next data in the bin file are blocks of the AHRS output data written at AHRS operation with set data rate 100 Hz default Each data block contains 34 bytes with structure according to the chosen output format Full Outpu
88. t style is deleted Data graphs is added Field accuracy style changed to On the fly accuracy 5 Added Get BIT in section 5 5 Other items of the 2 0 19 Feb 13 AK Run menu 6 Deleted Service Menu and its description 7 Added Data viewer for data visualization 8 Changed sections 8 2 Calibration of the AHRS and 8 4 2 On the fly accuracy test because of new interface windows of calibration 9 Deleted sections 12 3 What do you have to do when message The parameters are transferred with a mistake and 12 4 Why do you can t write to or read from file in one of the AHRS Demo menu 10 Added section 12 3 What do you have to do if 25 Nov 11 OI Released version Format updates Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A For AHRS Demo Program ver 14 7 9 14 and higher 1 1 24 Feb 12 Ol ON For AHRS Demo Program ver 14 8 12 31 and higher Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com WM SOR gt R WN Inertial Labs sere eos mi messages Cannot read parameters Cannot load parameters or Cannot start AHRS appear 11 Changed name of Appendix B It describes also structure of binary file created at saving AHRS output data 22 May 13 1 Added description of the csv file at accuracy test 1 For AHRS Demo Software ver 15 0 28 and higher 2 Added estimation o
89. ting first alignment angle sets position of the AHRS longitudinal axis Y relative to longitudinal axes of the object measured in the horizontal plane of the object Clockwise rotation is positive second alignment angle is equal to angle of inclination of the AHRS longitudinal axis Y relative to the horizontal plane of the object Positive direction is up third alignment angle is equal to inclination angle of the AHRS lateral axis X measured around AHRS s longitudinal axis Positive rotation is X axis moving down All angles are set in degrees some examples of the Inertial Labs AHRS mounting relative the object are shown on Fig D 1 To check correctness of the alignment angles please run the AHRS using the Inertial Labs AHRS Demo program Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 87 InertialL3bs seme osama Fig D 1 Examples of the Inertial Labs AHRS mounting on the carrier object a alignment angles are 0 0 0 degrees b alignment angles are 0 0 180 degrees c alignment angles are 90 0 0 degrees d alignment angles are 180 90 0 degrees Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 88
90. tion of the AHRS rrrarerarernrrnrarnrarernrrnnnrnnennnnn 55 10 3 Accuracy test of the AHRS wi 57 10 3 1 Separate accuracy test for each reference angle wwmwwanea 57 10 3 2 ON INE MY accuracy 1ES WI 59 11 Continuous self monitoring of the AHRS health wwmwwawwnnwanwanwnnwnmwwaza 64 12 Control of compatibility between the AHRS firmware and AHRS Demo versions 64 13 Choice of 3D model for visualization of the AHRS orientation 65 TONN 66 14 1 How to repair the AHRS parameters rrrrrrrnrrrarerernnrennnrnnnnnernnnrnanernnnnnennnennneneee 66 14 2 What do you have to do at strange behavior of the AHRS wwmwmamwanaa 67 14 3 What do you have to do if messages Cannot read parameters Cannot load Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs sere cose mi parameters or Cannot start AHRS appear rrrarernrennrnnnrrnnnenannnernnnenannnnnnnnrnnnennnnnnnnneennn 68 APPENDIX A Installation of the COM to USB converter drivers and configuration of PC Ba IVC EEE EE 70 APPENDIX B Description of data files rrarerarernrrnnrrnrrrarernrnnernnnrranenannnnrrnnennnnnuennennseneee 79 APR PC USO INN YMC EE EEE 19 B 2 Text presentation of output data fo
91. use and drag mouse in up left direction Legend is located at the left upper corner of the tab This legend shows mean value STD and name of displayed graphs It is possible to select the graphs you want to display by right click on the graphs area Step 10 Estimate the calibration quality If the calibration was successful and predicted heading accuracy is acceptable on window Fig 8 8 or captions Excellent calibration or Good calibration appear in the window Fig 10 9 then click Accept button Fig 10 11 to accept calibration parameters Acceptable calibration caption is satisfactory too but we recommend to recalibrate the AHRS There are two highlighted captions Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 52 Inertial Labs sere cose mi ACCEPT REQUESTED informs you can click Accept button to accept calibration parameters EXIT REQUESTED informs you can click Exit button to exit from the calibration procedure without saving of calibration parameters If to click the Accept button then calibration matrix of the magnetometer biases and scale factors will be calculated and saved to the AHRS nonvolatile memory automatically If calibration results were accepted then in the directory in which the AHRS Demo exe file is located files with prm and amd extension will be created
92. window a few captions are highlighted see Fig 10 4 IS STARTED reports that calibration procedure is started NEXT REQUESTED asks to click the Next button to start the calibration run STOP REQUESTED informs you can click Stop button to stop calibration run EXIT REQUESTED informs you can click Exit button to exit from the calibration procedure Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 46 InertialL3bs verenna Magnetic field calibrations Input data Mean STD Name 0 0 0 0000 Before calibration 0 0 Calibration type 2D 2T 0 0000 After calibration Accumulation time sec 10 z Reference azimuth deg E 00 me Calibration status SUCCESS IS_STARTED INIT_ALIGNMENT DATA_ACCUMULATING DATA_CALCULATING NEXT_REQUESTED STOP_REQUESTED ACCEPT_REQUESTED EXIT_REQUESTED RF_RELIABLE 9g Module error nT Clear Next Stop WOM Accept Fig 10 4 Step 8 Press Next button Initial alignment of the AHRS will start signified by the highlighted caption INIT_ALIGMENT see Fig 10 5 During the initial alignment the AHRS should be unmovable relative to the Earth eR Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 47 Inertial Labs
93. window to log file Note Command code in this table is payload of the command with 9 bytes structure Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Inertial Labs sere eos mi When the AHRS answers on above commands then these answers appear in the Response window see Fig 8 2 Different buttons will be active depending on calibration type See additional document for detailed description of the embedded calibration procedures ta Embedded Mag field calibration Get FJ Clear Read b Start 4 Clear response H Save response Preferences Response COM Port COM3 M Latitude 39 1 17 Calibration Type 3D M 0 Input data 21 11 2012 20898 4219 47517 1953 3 li Alignment angles Accumulation Time 0 00 10 3 Cat thradhold R 3 Inclinati th hold Magnetic declination deg 0 00 Auto ge keep Latitude deg 39 04 Longitude deg 77 39 Altitude meters 0 00 t 1 09965 0 28674 0 12862 Date 21 11 2012 M 0 03187 1 14030 0 12109 0 35807 0 16074 1 11721 1094 02 763 51 552 71 0 00 0 00 Fig 8 2 8 2 Magnetometers field calibration Another and more convenient way for AHRS hard and soft iron calibration is provided by AHRS Demo software Before calibration please check in the Test Options dialog box Fig 4 1
94. y for considering at accuracy check For this purpose Tilter fields are used in the right bottom window corner Fig 8 4 Here it is possible None is not to consider deviations of bases Auto is to consider deviations for tilter used for Inertial Labs internal tests Tilter No and a corresponding cell Position in this tilter Manual is to consider manually bases deviation angles on corresponding angles y 0 n y Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 38 Inertial Labs sere cose mi Fields Tilter are used by the developer for internal tests of the AHRS The question on their use for external tests should be coordinated with the developer Inertial Labs company The button Accumulate Data see Fig 8 4 consistently starts AHRS units for operation Automatically in the top part of the check accuracy window the page Current angle deg opens in which in the form of the graph the current measured angle Heading Pitch or Roll is plotted Upon completion of data collecting there is an averaging the measured data and switching on a following controllable angle and in a folder where there is file AHRS Demo exe the file of the report like Accuracy _ txt is kept It is a service file which can be used for continuation of testing AH
95. ytes 4096 Defaults BM Options Miscellaneous Options Select lower settings to correct response problems Serial Enumerator Serial Printer Cancel If Power Off Latency Timer msec 16 Timeouts Event On Surprise Removal Set ATS On Close an ea Wace Disable Modem Ctrl At Startup Minimum Write Timeout msec Fig A 11 Inertial Labs Inc Address 39959 Catoctin Ridge Street Paeonian Springs VA 20129 U S A Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 76 InertialL3bs seme osm ma In the case of problems in COM to USB driver operation please make one more adjustment of the driver In the Device Manager window see Fig A 9 go to the Universal Serial Bus controllers section item USB Serial Controller see Fig A 12 Twice click on this item to set its properties The window USB Serial Controller Properties will be opened where go to Advanced tab and check Load VCP box see Fig A 13 Device Manager File Action View Help gt 8 SS eT Mice and other pointing devices Monitors B Network adapters Y Ports COM amp LPT MB Processors amp SCSI and RAID controllers Sound video and game controllers System devices Universal Serial Bus controllers Intel R 82801FB FBM USB Universal Host Controller Intel R 82801FB FBM USB Universal Host Controller Intel R 82801FB FBM USB Universal Host Controller Int
96. z 100 Latitude deg 39 0400 m Initial alignment time sec 30 Longitude deg 77 3900 Altitude m 0 00 Device name C1340071 Date 18 02 2013 Device firmware version WSTS v4 9 9 4 24 12 13 Auto Alignment angles deg Heading 0 00 Pitch 0 00 Roll 0 00 Magnetometers calibration on hard amp soft iron H filter time constant sec 0 6 Pitch Roll threshold deg 20 Start with Factory Clb gt Mag Disp threshold nT 2 1000 Zone azimuth min deg 15 Inclination threshold deg 15 B Zone pitch min deg 20 Success threshold nT 2500 Zone centre threshold deg 5 ED ap ee be amp Fig 4 2 e Initial alignment time sec sets the initial alignment time in seconds The AHRS output data will be displayed in respective windows only after the time set in this parameter is over During initial alignment the AHRS must be absolutely unmovable relative to the Earth Minimum value of the parameter is 1 and it can be changed to 1 with arrows or by entering the necessary value from a keyboard Default value is set to 30 e Device name specifies the name of the device in use This parameter can not be changed e Device firmware version the firmware version of the AHRS in use It consists of symbols of the firmware type firmware version and date of th

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