User Manual for IS-300 and IS-300 Pro Systems
Contents
1. We want you to make an informed and responsible choice about using the InertiaCube2 Accordingly we warn you that even if you read and follow the User Instructions you may experience one or more of the following effects or symptoms if you use InertiaCube2 with a personal display eye strain altered vision eye or muscle twitching headaches neck and shoulder strain nausea and vomiting disorientation dizziness impaired balance and stability drowsiness fainting fatigue sweating extreme paleness impaired hand eye or other co ordination Each effect or symptom if it occurs should be temporary and may last from a few minutes to 30 minutes InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 QV INTERSENSE 9 Appendix E Care and Maintenance Care and Cleaning Recommended cleaning materials are the same as those for computers Antistatic cloths can clean the components and reduce static electricity Cleaning solutions should be applied to the cloth and not directly on any part of the system components Phone amp email support Any questions regarding the care and maintenance of your InertiaCube2 can be handled by phone 781 541 7624 or by email techsupport intersense com Please see the Support page at www intersense com for the technical support contact information Returns to InterSense If you need to return a component to InterSense for replacement or repair contact InterSense prior to shipment to obtain2. J Control Panel 5 File Edit View Favorites Tools Help Back v gt 7 Qsearch Gyrolders G R GS XxX A Ea Address S Control Panel d q we ag A A S i Accessibility De ET oe Control Panel Options System Properties pes 142 General Network Identification Hardware User Profiles Advanced System G Provides system information and changes environment settings Date Time Hardware ETE VE EE Ti si i i i E s Ld sou aed Windows Update N S Device Manager Windows 2000 Support 2 action vew e 9 Gi oe BH B R 4x Internet Options mal Computer DY i H E Disk drives w rS Display adapters DYD CD ROM drives Power Options H 6 Floppy disk controllers H E Floppy disk drives QE 2 68 IDE ATAJATAPI controllers Mag ER InterSense Interface Drivers Sounds and m8 Keyboards Multimedia H Mice and other pointing devices as Monitors Network adapters 3 2 Ports COM amp LPT EEE ee S Communications Port COM1 rovides system information and changes environment se i 4 Communications Port COM2 ow Y ECP Printer Port LPT1 F Unknown device t g Sound video and game controllers 2 System devices E Universal Serial Bus controllers 2 In the Com Port Properties window select Port Settings click Advanced Choose the Com Port number and click OK InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 QV INTERSENSE 7 Appendix C
3. Exit Ctrl Q N ISDEMO Configured for DLL Compatible device I iD v mn Ctrl B Bie ANA Ala P a aa ba E 40 04kbps 181 Records s 64 Frames 3 Inertialubee on Coml Display is ON Select Hardware Device System Initialization window also seen at initial start up 1s shown when Select Hardware Device 1s selected Use this window to select or detect the tracker model connected to your computer Save Current Settings Saves current settings to a file in the windows directory The next time the tracker is turned on these settings will be restored Load Power Up Settings Restores the InertiaCube settings to those present when you first powered up the tracker All changes made to the settings since power up are lost InertiaCube2 Manual Rev 1 1 20 Doc No 072 IC2P0 0010 QV INTERSENSE Load and Save Factory Settings Reset Heading Exit InertiaCube2 Manual Doc No 072 IC2P0 0010 This restores the system settings to the factory defaults Resets the current heading to zero Also known as a heading boresight Exits ISDEMO Rev 1 1 21 QV INTERSENSE 3 4 Communications options This menu item will connect the tracker through the DLL The DLL will automatically detect an InterSense tracker connect to COM ports 1 through 4 on the PC The baud rate of the InertiaCube2 is fixed at 115 200 baud Make sure the computers serial port is ca
4. l45 5lEbps 217 Help Facility Not currently supported in this ISDEMO release All help information is contained in this manual 3 8 Compass Calibration Tool Use the compass calibration procedure to compensate for the effects of static magnetic field distortions caused by objects that the InertiaCube is mounted on i e HMDs cameras hand held computers etc Please keep in mind that calibration can t compensate for dynamically changing magnetic fields so the InertiaCube must be kept away from CRT monitors electric motors and anything that has a moderate to strong electric current flowing through it Note Compass calibration is not available when the InertiaCube2 is connected to the InertiaCube Processor The InertiaCube2 mast be connected directly to the Windows PC running ISDEMO InertiaCube2 Manual Rev 1 1 30 Doc No 072 IC2P0 0010 QV INTERSENSE W Compass Calibration Commands Options This Compass calibration procedure is designed to compensate for the effects of static magnetic field distortions caused by the objects that InertiaCube is mounted on such as HMDs cameras hand held computers etc Please keep in mind that calibration can t compensate for the dynamically changing magnetic fields so InertiaCube must be kept away from the CRT monitors electric motors etc During calibration you will be asked to rotate the sensor covering as much range as possible Rotation must be done at moderate speed The sphere
5. Troubleshooting Problem ISDEMO doesn t work ISDEMO is running but system does not track InertiaCube2 interference Orientation is drifting uncontrollably InertiaCube2 Manual Doc No 072 IC2P0 0010 Reason Solution Most common reasons not in any order 1 2 3 4 5 Connected to wrong COM port plug on the back of the computer The selected serial port is captured by another program and can t be opened by ISDEMO Serial port not capable of running at 115 200 baud rate This is usually due to older computers that cannot run at 115 200 baud The problem is a lack of a proper UART such as the 16550 Incorrect port settings use autodetect for Com parameters Not using Start Displaying Data It may be necessary to select Stop Displaying Data first Check for the following 1 2 The InertiaCube2 is not plugged in The InertiaCube2 was plugged in after power up and a detect command has not been issued Check for the following 1 1 2 3 Placement directly on top of metal You should place the InertiaCube an inch or two away Make sure that InertiaCube2 is properly plugged in Keep InertiaCube2 still for 10 seconds after connecting with ISDEMO or DLL Compass is turned off in ISDEMO Rev 1 1 49 QV INTERSENSE 8 Appendix D Health and Safety warnings and guidelines Important Most of the side effects described in this section usually only occur when a
6. Quality 75 speed around the tracked volume covering as much range as possible Calibration will last 1 Minute Finished collecting data Please press Apply to save them in permanent memory or Cancel to terminate the procedure without saving Please wait while new data is being saved This may take several seconds New calibration values have been saved Current Min Max Shoulder Shoulder Base Nominal Range Width Height Width Dip Angle Magnitude Magnetic Field Compensation MEDIUM OEF l gt HECH InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 38 QV INTERSENSE 4 Developer s Instructions For InterSense SDK Version 4 0 or higher Please refer to the document dll api pdf located in the SDK folder for further details functions and sample code This document describes the interface to be used by the application software to initialize and retrieve data from the InterSense devices using the ISENSE DLL This dynamic link library 1s provided to simplify communications with all models of InterSense tracking devices It can detect configure and get data from up to 32 trackers The DLL maintains compatibility with existing devices and also makes the applications forward compatible with all future InterSense products new DLLs may be required but the application will not need to be recompiled 4 1 Sample Program The DLL 1s distributed with sample programs written in C and C for Windows to
7. The InertiaCube simultaneously measures 9 physical properties namely angular rates linear accelerations and magnetic field components along all 3 axes Micro miniature vibrating elements are employed to measure all the angular rate components and linear accelerations with integral electronics and solid state magnetometers The magnetometers are included for optional yaw drift correction in the sourceless inertial orientation mode only The geometry and composition of these elements are proprietary but the functional performance of the multisensor unit can be understood sufficiently by reference to the equivalent diagram in Figure 1 Figure 2 illustrates the basic physical principal underlying all Coriolis vibratory gyros Suppose that the tines of the tuning fork are driven by an electrostatic electromagnetic or piezoelectric drive to oscillate in the plane of the fork When the whole fork is rotated about its axis the tines will experience a Coriolis force F X v pushing them to vibrate perpendicular to the plane of the fork The amplitude of this out of plane vibration is proportional to the input angular rate and is sensed by capacitive inductive or piezoelectric means to measure the angular rate By way of comparison a conventional inertial measurement unit IMU senses 6 of these properties using 6 separate instruments 3 rate gyros and 3 linear accelerometers each of which by itself would typically be larger heavier and more
8. a Return Authorization RA number When calling please look on the back of IS 900 Processor to provide the serial number and the serial number of any devices you need to return to help us complete the RA process To request an RMA please use the link below and follow the instructions http www intersense com rma Please note that InterSense will not be responsible for materials returned without an RMA number clearly marked on the outside of the shipping package Batteries There are no batteries in the InertiaCube2 system Contact InterSense for custom remote battery packs Electrical power 6 VDC 40 mA InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 52
9. demonstrate usage It includes a header file with data structure definitions and function prototypes Most of the API description below can also be obtained from the header file main c Main loop of the program All API calls are made from here isense c DLL import procedures This file is included instead of an import library to provide compatibility with all compilers isense h Header file containing function prototypes and definitions This file should not be modified types h Header file containing data type definitions InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 39 QV INTERSENSE Appendix A Frequently Asked Questions Ql What is the maximum length of the cable between the InertiaCube2 and the computer The cable between the InertiaCube and the computer has been tested to a length of 15 feet InterSense can provide longer cables Please contact your sales representative for information Q2 Does the InertiaCube have batteries How often do they have to be changed The InertiaCubes do not contain batteries When remotely powered with 4 AA Alkaline Batteries 6 VDC batteries should be changed after 8 hours of continuous use Q3 Are all the interconnection cables shielded Yes Q4 What is the MTBF of each component separately Based on supplier data the MTBF for the InertiaCube2 is estimated at 5 years Q5 What type of shock can the InertiaCube2 sustain These InertiaCube is designed to withstand
10. floppy disk or CD ROM drive insert the floppy disk or CO before clicking Next Optional search locations Floppy disk drives CD ROM drives w Specify location Microsoft Windows Update Back Cancel InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 45 QV INTERSENSE 9 The default InterSense installation folder is C InterSense if during installation you selected a different location your path will be different Found New Hardware Wizard CA ntersenseiDrivers USE FTON 10 Click Next to install the driver Found New Hardware Wizard Driver Files Search Results The wizard has finished searching for driver files for your hardware device InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 46 QV INTERSENSE Found New Hardware Wizard Completing the Found New Hardware Wizard QD USB High Speed Serial Converter Windows has finished installing the software for this device To close this wizard click Finish 4 Pack rence InertiaCube2 Manual Doc No 072 IC2P0 0010 Rev 1 1 47 QV INTERSENSE 6 1 3 Changing COM Port Number 1 InterSense software supports COM Port numbers 1 through 10 so it may be necessary to change the default port number assigned to the USB Adapter From Control Panel select System go to the Hardware tab and open Device Manager Open the Ports section Double click on USB Serial Port to open Properties window
11. of Gentex Corporation InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 QV INTERSENSE Regulatory Statements and Approvals Precautionary Statements Any changes or modifications to the InertiaCube2 not expressly approved by InterSense LLC or Gentex Corporation will void the warranty and any regulatory compliance issued for the system Do not drop or otherwise shock the tracking devices for they can be permanently damaged Do not bend twist pull strongly or tamper in any way with any part of the cabling Take care to avoid electric shocks Do not plug in or unplug the power cable with wet hands Please see Appendix C for Health and Safety warnings and guidelines InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 QV INTERSENSE Regulatory Statements and Approvals FCC Compliance Statement This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 This device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation Warning This is a Class A product In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures Note this equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reason
12. the tracker model selected Select the DLL Compatible option and click ACCEPT Note You must select DLL Compatible or ISDEMO will not be able to correctly configure your tracker W System Initialization ISDEMO Ver 4 2306 Commands Wireless QV INTERSENSE Configured for DLL Compatible device I5 300 Series Ts 600 Series I8 900 Series Ts 1200 DLL Compatible DLL Compatible DLL compatible trackers include all of InterSense s tracking systems that use software applications programmed to the InterSense API which call functions through the InterSense DLL Some InterSense trackers like the InertiaCube2 are only DLL compatible The InterSense precision line of trackers IS 900 IS 1200 can interface either directly through a serial port or via the DLL InertiaCube2 Manual Rev 1 1 18 Doc No 072 IC2P0 0010 QV INTERSENSE 3 2 ISDEMO Main window ISDEMO has six primary menus in its main window File Communications Parameters Display Tools Help EEx W ISDEMO Configured for DLL Compatible device Communications Parameters llsplay cools Help Bitch Yaw 39 8lEbps 180 Records 3 64 Frames 3 Inertialubez on Coml Display is ON InertiaCube2 Manual Rev 1 1 Doc No 072 1C2P0 0010 19 QV INTERSENSE 3 3 File options The File menu provides you with the following options Select Hardware Device Save Current Settings Load Power Up Settings Load and Save Factory Settings Reset Heading Ctrl B
13. tracking device like an InertiaCube2 is used with personal displays or 3D glasses The symptoms listed below are usually referred to as Simulator Sickness A A A Read and follow the user instructions Before using InertiaCube2 read and follow the user instructions In exceptional circumstances failure to read and follow the user instructions could result in possible side effects that may lead to accidental injury during or after use Recommended For use only by persons 15 years of age or older This system should not be used by e Persons under the influence of drugs and alcohol e Pregnant women e Persons suffering from a heart condition e Persons with a history of epilepsy Take frequent breaks It is recommended that InertiaCube2 should be used for no more than one hour at a time After that you should take a 15 minute rest break before re use regardless of how you feel If you feel uncomfortable at any time stop using immediately Rest after using Rest for at least 15 minutes after using InertiaCube2 even if you feel fine and have experienced none of the symptoms described below If you have experienced any undesirable effects or symptoms rest until they are completely gone Do not walk drive ride a bike or operate equipment until you have rested otherwise you risk injury to yourself and others Epilepsy and seizures A very small part of the population has a condition that may r
14. 32 Converter InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 12 QV INTERSENSE 2 5 Unpacking the InertiaCube2 Sensor The InertiaCube orientation sensors come with 15 foot cables that plug into the RS 232 serial port of a computer NOTE The InertiaCube sensor is a precision instrument Care must be taken when handling this device Most of our customers attach the InertiaCube to devices that are more fragile than the InertiaCube and hence require that the whole system must be handled carefully Although the product can withstand the normal wear and tear experienced by a premium HMD or other device abrupt actions such as dropping it or banging it against another object can permanently damage the InertiaCube InertiaCube2 in packaging 2 6 Software Test software and the InterSense Software Development Kit SDK delivered with the InertiaCube2 are provided on the InterSense Support CD with the system Use the auto install tool to extract and install the software InertiaCube2 Manual Rev 1 1 13 Doc No 072 IC2P0 0010 QV INTERSENSE The following software and drivers are installed from the InterSense Support CD 1 Inthe core of all InterSense software is isense dll which is installed in the Windows system directory 2 Isdemo32 exe 1s installed in the InterSense Programs folder It provides a convenient graphical interface for testing and configuring the tracker 3 InterSense Server Application IServe
15. ENSE 2 Specifications and Performance Characteristics 2 1 Performance Specifications Degrees of Freedom Angular Range Maximum Angular Rate Minimum Angular Rate Accuracy RMS Angular Resolution Update Rate Minimum Latency Prediction Serial Rate Interface Size Weight Cable Power Power Consumption O S Compatibility Software Support InertiaCube2 Manual Doc No 072 IC2P0 0010 3 Yaw Pitch and Roll Full 360 All Axes 1200 per second 0 per second 1 in yaw 0 40 in pitch amp roll at 25 C 0 01 RMS 180 Hz 2 ms for RS 232 PC host OS dependent up to 50 milliseconds 115 2 kbaud RS 232 Serial USB with Serial to USB converter 36 6 mm x 27 7 mm x 18 8 mm 1 44 in x 1 09 in x 0 74 in 17 grams 0 60 ounces 4 572 m 15 ft cable is provided This cable is extendable to 22 86 m 75 ft w InterSense provided extension kits 6 VDC via AC to DC adapter included specify country InterSense USB to serial converter does not require AC to DC power adapter 40 milliamps dll for Windows Vista XP 2000 so for Linux amp SGI IRIX SDK with full InterSense API Windows control amp connectivity software Rev 1 1 10 QV INTERSENSE 2 2 Connection Scheme The InertiaCube2 simply plugs into the RS 232 or USB port of a computer For RS 232 interfacing the AC to DC power adapter is plugged into your main power and the 6 VDC power plug connect
16. INTERSENSE Sensing Every Move InertiaCube2 Product Manual for use with InertiaCube2 Serial and USB Interfaces 2012 InterSense LLC A Division of Gentex Corporation 700 Technology Park Drive Suite 102 Billerica MA 01821 Phone 1 781 541 6330 Fax 1 781 541 6329 www intersense com InertiaCube2 Manual Rev 1 1 l Doc No 072 IC2P0 0010 QV INTERSENSE User Manual for InertiaCube2 DLL Version 4 0 and higher Contacting InterSense Please do not hesitate to contact us for any reason We are here to help and we value your business InterSense LLC A Division of Gentex Corporation 700 Technology Park Drive Suite 102 Billerica MA 01821 USA Telephone 781 541 6330 email Sinfo intersense com Fax 781 541 6329 Internet www intersense com Technical Support 781 541 7624 email techsupport intersense com Patents The label below identifies the protection granted by the Government of the United States to InterSense for its products U S Patents 5 645 077 5 807 284 6 162 191 6 176 837 6 314 055 6 361 507 6 409 687 6 474 159 6 681 629 6 757 068 6 786 877 6 922 632 7 000 469 and Patents Pending INTERSENSE Trademarks InterSense InertiaCubeTM InertiaCube2 SoniDisc GEOS PULSAR CONSTELLATION are trademarks of InterSense LLC All other trademarks are the property of their respective owners Copyright 2012 InterSense LLC A Division
17. W 803375 date 3 Sync status source Ax Port status Port Ll not connected Fort 0 23 not connected Fort 3 not connected Port 4 station 4 IC2 comm ok desc rev 01 07 2005 2 21 Port 5 not available Port 6 not available Port 7 not available Port 8 not available Port 9 not available Data Capture Playback Utility InertiaCube2 Manual Doc No 072 IC2P0 0010 ISDEMO has the ability to write the data it receives from the tracker to a file To utilize this feature you must first specify the name and location of the output file To start data collection select Record Data can be saved As Is or in an ASCII or binary flat file When Flat File option is selected only tracker data is saved one line per update cycle To import data to Excel or Matlab the output format must be set to ASCII or the ASCH Flat file option must be used Previously recorded data can be displayed through ISDEMO by selecting Play Playback option will only work on files saved with the As Is option Rev 1 1 28 QV INTERSENSE M Data Capture Playback Utility Commands Options 1e Mer Plar ei de Binary Flat File dy T I 7 iI C 4data This tool can collect and play back tracker data Data can be saved in Ascii or Binary flat files or as 18 in standard data record format as cribed in the protocol interface document Only fil saved in that form can be used for playback UDP Broadcast Server This tool is used to b
18. a maximum acceleration of 500 g This means that a direct impact on the devices is not recommended The InertiaCubes can withstand a higher level of shock if installed on the inside of an object or mounted on rubber Q6 What are the PIN assignments on the DB9 on the InertiaCube2 Pin Function DCD RX TX DTR GND DSR RTS CTS RI VO CON DW NH KR amp W NH 3 Currently the InertiaCube2 uses four wires RX TX RTS and GND Q7 Do you have any advice about working with software packages Consult with the software vendor or contact InterSense techsupport intersense com Q8 How do I know whether I have the latest release of ISDEMO Check our web site the URL is http www intersense com support html Click on the ISDEMO ZIP hypertext link We always post the latest release for you to download InertiaCube2 Manual Rev 1 1 40 Doc No 072 IC2P0 0010 QV INTERSENSE 6 Appendix B USB Driver Installation 6 1 InterSense USB Adapter Installation on Windows Vista XP and 2000 InterSense USB Adapter utilizes FTDI USB UART device This document details installation of the FTDI Win2k Drivers and was prepared using FTDI documentation FTDI is the registered trademark of the Future Technology Devices International Ltd Future Technology Devices International Ltd St George s Studios 93 97 St George s Road Glasgow G3 6JA Scotland U K Web Site URL http www ftdichip com 6 1 1 Install InterSense Support Softwar
19. able protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense Important Changes or modifications to this product not authorized by InterSense Inc could void the EMC compliance and negate your authority to operate the product This product was tested for EMC compliance under conditions that included the use of InterSense peripheral devices and InterSense cables and connectors between system components It is important that you use InterSense peripheral devices cables and connectors between system components to reduce the possibility of causing interference to radios TV sets and other electronic devices You can obtain InterSense peripheral devices cables and connectors from InterSense or through an InterSense Authorized Reseller Responsible party contact for FCC matters InterSense LLC A Division of Gentex Corporation 700 Technology Park Drive Suite 102 Billerica MA 01821 Industry Canada Statement This Class A digital apparatus complies with Canadian ICES 003 Cet appareil numerique de la classe A est conforme a la nor
20. art Calibration started Please rotate InertiaCube at moderate speed in all directions covering as much range as possible Calibration will last 1 minuteMinute Finished collecting data new calibration values have been computed Please press Apply to save them in permanent memory or Cancel to terminate the procedure without saving Ca ff Min Max ory Calibrated Factory Calibrated Range lases Biases Scalers Scalers 2 4679 1 0000 2 5138 0 9265 1 0123 2 4823 0 9738 1 1105 Samples 1800 100 Apply Compass Calibration gt Commands The Commands gt Restore to Factory Calibration menu provides a way to restore the original factory calibration to the InertiaCube2 The factory calibrated biases and scalar data which is stored in Flash RAM is displayed for each axis in the Compass Calibration window MM Compass Calibration Commands Options Restore to Factory Calibration to compensate Exit tions caused by the objects that InertiaCube is mounted on such as HMDs cameras hand held computers etc Please keep in mind that calibration can t compensate for the dynamically changing magnetic fields so InertiaCube must be kept away from the CRT monitors electric motors etc During calibration you will be asked to rotate the sensor covering as much range as possible Rotation must be done at moderate speed The sphere surrounding the InertiaCube represents all possible orientations The objective during calib
21. ation data being received from the tracker use the Start Displaying Data option 1n the Display menu or press Ctrl D Display Averages This will display average data collected after the display is turned on To reset stop and start displaying data or press the Space bar on the keyboard InertiaCube2 Manual Rev 1 1 26 Doc No 072 IC2P0 0010 QV INTERSENSE 3 7 Tools Options N ISDEMO Configured for DLL Compatible device File Communications Parameters Display Tools Eiteh Data Captu UDP B Aedes Z UD B E rode EE Ae 36 1Ebps ee Rec ords s 3 64 Frames 3 Inertial ube2 on Coml Display is ON System Information This window provides a summary of the InterSense tracker hardware and software configuration RES C Omar d 5 Ig DEMO Version 4 2 on DLL Version 4 04 ELL PALITI mi Feb 20 2008 11 29 2 26 Hardware Type IS Precision Model InertiaCubez2 Interface EIE GES sae Number Calibration Date Descriptor Version Firmware Rev Perceptual Prediction Full pep InertiaCube2 Manual Rev 1 1 21 Doc No 072 IC2P0 0010 System Self Test QV INTERSENSE Its purpose is to detect and display information on all the connected hardware and compare it to the user configuration to evaluate it for errors This tool was primarily designed for troubleshooting the system when hardware failure is suspected Tracker Model InertiaCubez Plus Interface SDF Status ok IMs IMJ 4 S
22. ault a full 3 axis magnetometer calibration is performed when selecting the Start button For special cases where the mounted InertiaCube2 will only rotate about the z axis 1 e on a vehicle a 2 axis magnetic calibration can be selected MM Compass Calibration m E3 Commands Options Calibration Duration This Compass ci for the effect Calibration Axis p 3 Axis Calibration by the objects Display Options P 2 Axis Calibration Cameras hand hesu LUMPULELS Cll LEASE Keep LIL Wiftlu MaL calibration can t compensate for the dynamically changing magnetic fields so InertiaCube must be kept away from the CRT monitors electric motors etc During calibration you will be asked to rotate the sensor covering as much range as possible Rotation must be done at moderate speed The sphere surrounding the InertiaCube represents all possible orientations The objective during calibration is to get each of the 3 axis to intersect as many of the triangles that form that sphere as possible When el Me Min Max Factory Calibrated Factory Calibrated Range Biases Biases Scalers Scalers 2 4802 fi 1 0000 2 4959 fi 0 9265 2 4391 fh 0 9738 InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 QV INTERSENSE Compass Calibration gt Options gt Display Options The Rotate Scene display option is selected by default It keeps the sphere in the window moving with a slight oscillation to provide a visual refere
23. d off while this utility is active and will be turned on when it is closed To begin pick up the sensor and press Start Calibration started Please rotate InertiaCube at moderate speed in all directions covering as much range as possible Calibration will last 1 minuteMinute el Ee Min Max Factory Calibrated Factory Calibrated Range jase Biases Scalers Scalers 1 0000 9265 0 9738 Samples 745 42 Apply Compass correction is turned off while this utility is active and will be turned on when it is closed InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 31 QV INTERSENSE To begin the compass calibration pick up the sensor and press Start button When the calibration is complete the Start button becomes an Apply button The new computed calibrated values are displayed in the window and are applied to the Flash RAM when the Apply button is pressed Press the Cancel button to abort the calibration procedure without saving any new values to the Flash RAM in the InertiaCube2 Once the values are applied the Apply button is replaced with the Start button the Cancel button is replaced with the Close button Close closes the calibration window W Compass Calibration Commands Options minimum is required Compass correction is turned off while this utility is active and will be turned on when it is closed To begin pick up the sensor and press St
24. e Install InterSense support software from the included CD This step must be completed before attempting to install the drivers FTDI Drivers are installed onto your hard drive under InterSense Drivers USB FTDI 6 1 2 Installing USB Driver 1 Plug in InterSense USB Adapter into available USB port Windows will start the Found New Hardware Wizard Click Next to start driver installation Found New Hardware Wizard Welcome to the Found New Hardware Wizard This wizard helps you install a device driver for hardware device To continue click Next 4 Peete Cancel InertiaCube2 Manual Rev 1 1 4 Doc No 072 IC2P0 0010 QV INTERSENSE 2 Select Search for a suitable driver and click Next Found New Hardware Wizard Install Hardware Device Drivers A device driver is software program that enables hardware device to work with an operating system This wizard will complete the installation for this device USB to Serial adapter device driver is a software program that makes hardware device work Windows needs driver files for your new device To locate driver files and complete the Installation click Nest What do you want the wizard to da e Search for suitable driver for my device recommended Display a list of the known drivers for this device so that I can choose a specific driver 3 Select Specify a location click Next Fo
25. ended for augmented reality applications i e overlaying or mixing both virtual and real objects in a visualization system Mode 2 is recommended for use with HMD or other immersive applications The drift correction adjustments are made smoothly and only while the sensor is moving so as to be transparent to the user Sensitivity Level Use this setting when Perceptual Enhancement Level is set to I or 2 It controls the minimum angular rotation rate picked up by the InertiaCube Default is level 3 Increasing sensitivity does not increase latency during normal movements It may however result in some small residual movements for a couple of seconds after the sensor has stopped If your application requires sensitivity greater than the maximum provided by this control you must use Perceptual Enhancement level 0 or 1 instead Prediction Value The InertiaCube2 can predict motion up to 50 ms into the future which compensates for graphics rendering delays and further contributes to eliminating simulator lag InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 QV INTERSENSE 3 6 Display Options Ml ISDEMO C onfigured for DLL Compatible device ug L 1 Eaj I File Communications Parameters llsplay ools Help Ctrl D 40 26kbps 182 Records s 62 Franes 3 is OW Start and Stop Displaying Data To display orient
26. esult in epileptic seizures or loss of consciousness If you or anyone in your family has epilepsy or has experienced seizures or loss of consciousness do not use InertiaCube2 without first consulting your physician Persons who have not experienced seizures or loss of consciousness may still have an epileptic condition We recommend that a non user is always present when InertiaCube2 is being used InertiaCube2 Manual Rev 1 1 50 Doc No 072 IC2P0 0010 QV INTERSENSE Additional possible risks of harm A While tracking technology has been used for many years the range of sensors that are used to calculate positional and angular data continues to develop Over the last twenty years as considerable amount of research has been conducted into possible side effects induced in users of real time computing systems that include various types of tracking sensors This research has reported the symptoms described below from some users of these systems InertiaCube2 has been designed using the latest sensor technologies and we believe that the possibility of such symptoms occurring has been minimized However it is not possible to design for the individual characteristics of each user and it is possible that users will experience one or more of the side effects described below Historic research shows that the effects or symptoms ordinarily occur during and immediately after use and should diminish quickly once the user stops using the system
27. expensive than an InertiaCube Unlike conventional rate gyro and accelerometer instruments which must be carefully aligned on a precision machined tri axial mounting block the InertiaCube is a monolithic device with its orthogonal outputs factory calibrated to precise alignment Being a digital device using serial cables the InertiaCube2 cabling and connectorization is relatively non critical and the cables can be extended to over 100 feet without fear of contaminating sensitive analog signals The power consumption of the InertiaCube2 is 100 mA at 6VDC which makes it suitable for prolonged operation from small battery in future wireless applications Figure 3 shows an InertiaCube2 InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 QV INTERSENSE driven vibration x accel y sensed vibration X gyro j x Z BYTO y gyro y accel y mag ae z accel angular rate Z mag Figure 1 Functional diagram of InertiaCube2 Figure 2 Principle of Coriolis vibratory Gyroscope Figure 3 InertiaCube2 1 2 3 DOF Gyroscopic Earth stabilized Orientation Sensing GEOS 7 algorithms Figure 4 shows the processing which is used to compute orientation using this sensor configuration The basic computation of orientation from gyroscopic angular rates in the top line of boxes provides the very rapid dynamic response and high resolution of the system The accelerometers and magnetometers are used to stabilize the orie
28. g After calibration data is stored in the sensor s EEPROM the system will be able to start calculating compass data quality and display it on the screen It also displays 2 different Yaw values first is the normal output of the sensor second is the pure compass yaw as reported by the sensor By comparing the values when magnetic interference is introduced you can determine the effectiveness of the calibration and select the appropriate Magnetic Field Compensation factor In a very clean magnetic environment a higher level of compensation may be appropriate This will guarantee that compass data is heavily discounted whenever data diverges from the stored nominal values If you expect a lot of interference a lower value of compensation may be appropriate allowing for more compass data to be used The system can track well without the use of compass for some time before any significant drift accumulation However it is important to allow the Kalman filter algorithm to use enough compass data to maintain stability and accuracy The default value is Medium and it works well under most conditions N Compass Calibration Commands Options sensor EEPROM to take effect During normal tracking compass measurements are discounted based on how far they diviate from the nominal values To begin pick up the sensor and press Start Tracked Yaw 164 30 Compass Yaw 165 38 Calibration started Please move InertiaCube at moderate Pie EE Me
29. ion is to get each of the 3 axis to intersect as many of the triangles that form that sphere as possible When triangle is intersected it acquires the color component of the intersecting axis which provides visual cue desiqned to help with the process Once all 3 axis have intersected a particular triangle it becomes white It is not necessary to cover the entire surface of the sphere but at least 70 is recommended to guarantee accurate calibration and 50 minimum is required eT C S Min Max Factory Calibrated Factory Calibrated Range Biases Biases Scalers Scalers 2 4981 N A 1 0000 N A 2 4811 N A 023573 2 4968 N A 0 9436 3 9 4 Calibration Procedure During the calibration procedure the system collects magnetic field data and displays it in the form of histograms for inclination dip angle and field strength magnitude A third 3 dimentional histogram is a combination of both data sets and provides additional visual feedback The Dip Angle data is displayed in green throughout the interface Magnitude data is in blue Tuning parameters and graphs are in yellow N Compass Calibration Commands Options This Compass calibration procedure is designed to calculate Current Peak Mean Median nominal magnetic field dip angle and magnitude for tracked volume During calibration you will be asked to move the sensor covering Tracked Yan as much of the tracked area as possible Sensor should be moved and rotated at moderate s
30. ld values it is possible to detect such disturbances and prevent them from negatively affecting tracking performance The Magnetic Environment Calibration Tool was developed to measure the normal magnetic inclination and field strength for a particular environment store it in permanent sensor memory and tune how it affects integration of compass data in tracking algorithms InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 34 QV INTERSENSE The Earth s field is closely approximated by the field of a dipole magnet positioned at the centre of the Earth Magnetic inclination dip angle is the angle that the geomagnetic field 1s tilted with respect to the surface of the earth Magnetic inclination varies from 90 at the magnetic poles perpendicular to the surface to 0 at the magnetic equator parallel to the surface The strength of the field at the Earth s surface ranges from less than 0 3 gauss to over 0 6 gauss depending on the location Both dip angle and field strength can also be affected by building materials and other sources therefore calibration will only be valid at the specific location where it was performed 3 9 2 Algorithm The InterSense 3 DOF tracking algorithm uses Kalman filters to estimate and correct drift and errors based on data from the reference sensors in this case the magnetometer The Kalman filters assign noise values to the inputs based on the known sensor characteristics and other paramete
31. low Connection of InertiaCube2 RJ12 cable to RS 232 serial port connector Next the AC to DC power converter is connected to wall power and the 6 VDC power jack is plugged into the serial port connector jack Finally the serial port connector is connected to your computer Up to four 4 InertiaCubes can be connected to the PC using COM ports thru 4 2 7 3 USB Connection to the IneriaCube2 The InertiaCube2 can interface through the USB port of any computer running an operating system supported by InterSense When connecting through USB Hubs which in turn are connected to the host computer latency will increase by approximately 5 to 8 ms Latency through the USB interface is also dependent on the operating system used with the computer Please contact our technical support techsupport isense com for questions related to USB latency and operating systems For optimum USB performance with the InertiaCube2 we recommend use of the optional InterSense USB to RS 232 Serial Converter To use simply plug the RJ12 connecter from the InertiaCube2 cable into the USB to RS 232 Converter and then plug the USB connector into the host computer InertiaCube2 Manual Rev 1 1 16 Doc No 072 IC2P0 0010 QV INTERSENSE Connection of IneriaCube2 cable to InterSense USB Serial Converter Please refer to Appendix B or the Product CD for detailed instructions on installing and the configuration of the USB drivers for the IneriaCube2 T
32. me NMB 003 du Canada European Community Complies with EN 55024 1998 A1 2001 A2 2003 EN 61000 3 2 2001 EN 61000 3 3 1995 A1 2001 Class A ITE emissions requirements InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 QV INTERSENSE TABLE OF CONTENTS 1 THEORY OF OPERATIONS osse esse sd sees GEN Gis oe sede de deed es sede ed de ede 7 1 1 INERTIACUBE2 INTEGRATED INERTIAL INSTRUMENT ee ee ee ee ee ee ee ed 7 1 2 3 DOF GYROSCOPIC EARTH STABILIZED ORIENTATION SENSING GEOS PST Gi OTN n RE sects ec EO EE OO AO ater Gaba OE NV 8 2 SPECIFICATIONS AND PERFORMANCE CHARACTERISTICS 10 2 1 PERFORMANCE SPECIFICATIONS cccsccscecceccscecceccscecceccsceccescscescescscescescssescesences 10 22 CONNECTION SCHEME is Ee eko see ee se Ge ee ee sen sade Ge Ge GR We RE Ne GIE 11 23 OPNE 11 2 4 INERTIACUBE2 COMPONENTS cccccsscecccecescecccececccceccececescecescecesescecesceceseeceses 12 2 5 UNPACKING THE INERTIACUBE2 SENSOR ccceccecccccceccececcecescescecescessecesceseaces 13 2 6 SOFTWARE z cccceccccecccceccccecceccceccecescececusceceececeececceececusceceecececescescesesescesascecaseeceees 13 2 7 SETTING UP THE HARDWARE cccccecccecescececcececcececesceceececescecescscesescesescecesceceses 15 MTT 15 JE Computer F NNN 16 2 7 3 USB Connection to the IneriaCube2F EES ee 16 3 ISDEMO TESTING THE INERTIACUBE2 eeseeseosevsenersevsenernersensenernenseneeneeee 18 3 1 USING ISDEMO rereeverner
33. nce to the progress of calibration process fl Compass Calibration Commands Options Calibration Duration P This Compass c AM compensate for the effect Calibration Axis nns caused by the objects Display Options P Rotate Sc cameras hand heiu Cumpucecs CLU ritase KEEP LI manu UAL calibration can t compensate for the dynamically changing magnetic fields so InertiaCube must be kept away from the CRT monitors electric motors etc During calibration you will be asked to rotate the sensor covering as much range as possible Rotation must be done at moderate speed The sphere surrounding the InertiaCube represents all possible orientations The objective during calibration is to get each of the 3 axis to intersect as many of the triangles that form that sphere as possible When a if Min Max Factory Calibrated Factory Calibrated Range Biases Biases Scalers Scalers 2 4802 1 0000 2 4959 0 9265 2 4391 0 9738 3 9 Magnetic Environment Calibration Tool 3 9 1 Theory of Operation The InterSense InertiaCube sensors measure the Earth s magnetic field along three perpendicular axes to calculate the direction of magnetic north This data is used as reference for yaw heading and prevents any drift accumulation in the inertial system As with any compass local disturbances of the Earth s magnetic field can corrupt data and cause errors in the sensor output By characterizing and storing normal magnetic fie
34. nennenernennennrnernennsnnrnennesnrnennennrnannennennnnensenennennennenennennennnnee 18 3 2 ISDEMO MAIN WINDOW ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee ee 19 39 ELE OP TONG ase EE N aea EE 20 3 4 COMMUNICATIONS OPTIONS ccccecoscececcececcececcececescecscecescececesceceececscecesesceseecess 2 3 5 PARAMETER OPTIONS ccceccccecccceccccecescececcececeececeececececescecesesceceecscscscesescesuccess 23 3 6 DISPLAY OPTIONS ccccsceccecceccececceccscecceccsceecescscescescecescescesescescscescescesescescseecs 26 3 7 TOOLS OPTIONS se eee 27 3 8 COMPASS CALIBRATION TOOL cccceccecceccecceccecceccecceccecceccscescescescescescescescesceess 30 3 9 MAGNETIC ENVIRONMENT CALIBRATION TOOL ccccceccsceccececcececsceceseeceseecess 34 TAN EE NJ 34 Ee EE EE EE OE EE 35 3 9 3 Starting Calibration Procedure ee ee ee ee ee ee 35 3 94 Calibration Procedure SS ee ee ee ee 36 3 95 Calibration Results ES ee ee ee ee 37 ER EN DETS ER EE NE EE EE ER EE EE 38 4 DEVELOPER S INSTRUCTIONS 2 cccccccccccsccccccccccccccccccccccccscsscccccces 39 4 1 SAMPLE PROGRAM ei GER rist seker Ge Ge ee Ge Ge Ge T RE ee ee ee ee 39 5 APPENDIX A FREQUENTLY ASKED QUESTIONS 2 csscccssssccescees 40 6 APPENDIX B USB DRIVER INSTALLATION eeseseesessevvsevsenersesseneenerseneeneeee 41 6 1 INTERSENSE USB ADAPTER INSTALLATION ON WINDOWS VISTA XP AND 200041 6 1 1 Install InterSense Suppor
35. ntation to the earth s gravitational and magnetic fields thus eliminating the gradual but unbounded accumulation of gyroscopic drift errors The Kalman filter uses an ever evolving adaptive algorithm to discard the portion of the accelerometer measurements which are due to actual motion instead of gravity This is a very important step because otherwise horizontal accelerations would result in very large transient pitch and roll errors known as slosh The low cost sourceless trackers used in early consumer HMDs are inclinometer compass devices and are thus intrinsically slosh prone to the point of being uncomfortable to use InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 QV INTERSENSE I I Perceptual Enhancement i I I Kalman Filter Algorithm Orientation Error Estimator TT Figu re 4 GEOS mode tracking algorithm In the default operating GEOS mode the reference frame hereafter referred to as Navigation frame or Nav frame or N frame 1s the locally level geographic frame with its x axis pointing north y axis east and z axis down The Euler angles reported by the tracker can be described as a sequence of rotations applied to the InertiaCube starting with its body axes initially aligned with the Nav frame axes and resulting in the current orientation The sequence starts with a rotation by yaw about the Z axis followed by a rotation by pitch about the new Y axis 1 e body frame axis follo
36. pable of supporting this baud rate The first two rates kbps and records s displayed at the bottom of the window show the InertiaCube2 update rates The third rate frames s shows the graphics update rate based on the PC s hardware configuration N ISDEMO Configured for DLL Compatible device File Communications Parameters Leplay Detect Tracker Pitch 39 52kbps 160 Records 3 64 Frames 3 Inertialubez2 on Coml Display is ON Detect Tracker Will reinitialize the DLL and detect the connected tracking device s InertiaCube2 Manual Rev 1 1 22 Doc No 072 IC2P0 0010 QV INTERSENSE 3 5 Parameter options Parameters menu gives you access to the tracker configuration controls N ISDEMO Configured for DLL Compatible device Eitceh Station and Sensor Parameters The window shown below allows you to configure the InertiaCube2 N Station Configuration Commands Double clicking on the Station line or clicking the Change button will bring up the Station Configuration window where changes can be made InertiaCube2 Manual Rev 1 1 23 Doc No 072 IC2P0 0010 Station Configuration window QV INTERSENSE N Station 1 Configuration Commands kakie OnO Max Smoothness Station ON OFF Compass The station is always ON and data records will be sent continuously The InertiaCube2 can not be turned off This controls the state of the com
37. pass component of the InertiaCube2 When compass is ON the readings produced by the magnetometers inside the InertiaCube are used as absolute reference orientation for yaw Metallic objects and electronic equipment in close proximity to the InertiaCube can affect the magnetometers If compass is OFF no heading compensation 1s applied Perceptual Enhancement Level InertiaCube2 Manual Doc No 072 IC2P0 0010 In order to provide the best performance for a large range of applications three levels of perceptual enhancement are available None of the modes introduce any additional latency Mode 0 provides the best accuracy The inertial tracker uses gyros to measure angular rotation rates for computing the sensor s orientation To compensate for the drift tracker uses accelerometers to measure the actual physical position and orientation of the sensor That data is then used to compute the necessary correction In Mode 0 correction adjustments are made immediately no jitter reduction algorithms are used This results in most accurate output not recommended for head tracking with lower RMS error Use this mode for accuracy testing or for any application that requires best accuracy Rev 1 1 24 QV INTERSENSE Mode 1 provides accuracy similar to that of mode 0 with an addition of a jitter reduction algorithm This algorithm reduces the accuracy by only a small amount and does not add any latency to the measurements Mode 1 is recomm
38. peed Collected data is displayed as histograms of dip angle and magnitude and as combined 3 D histogram Graphs should have prominent peaks that identify the nominal or normal magnetic field values Calibration results must be saved in sensor EEPROM to take effect During normal tracking compass measurements are discounted based on how far they diviate from the nominal values Compass Yaw To begin pick up the sensor and press Start Calibration started Please move InertiaCube at moderate Speed around the tracked volume covering as much range as possible Calibration will last 1 Minute FE ee ee eee Current Min Max Shoulder Shoulder Base Nominal Range Width Height Width Dip Angle 47 08 59 02 4 900 800 8 000 Magnitude 0 471 0 606 0 050 D 0 100 Magnetic Field Compensation MEDIUM si a Stored Magnetic Field Calibration None InertiaCube2 Manual Rev 1 1 36 Doc No 072 IC2P0 0010 QV INTERSENSE You can select calibration duration from the Options menu default is I minute During calibration the sensor should be moved and rotated at a moderate speed covering as much of the tracked volume as possible It should be kept away from any potential sources of magnetic interference such as metal furniture electronics etc Histograms should have pronounced peaks 3 9 5 Calibration Results After the end of the calibration period a new Dip Angle and Magnitude are calculated and can be store in the sensor
39. r exe provides multiple services to applications requiring tracker data Server runs in the system tray reading the data from the connected devices at the maximum speed allowed by the operating system That data is then made available to other applications that use the InterSense DLL to communicate with the tracker This allows multiple applications running at the same time to read data from the same tracking device 4 Joystick Emulation Drivers that can present any InterSense tracker as a joystick to the operating system That means that games like the Microsoft Flight Simulator can use the tracker to control the line of sight Server reads tracker data in real time and passes it to the InterSense Joystick Driver where it becomes available to all applications capable of reading joystick through DirectInput Interface 5 JMouse program that allows any joystick device to control the line of sight in 3D applications such as games flight simulators etc It works by converting joystick movement to simulated mouse commands JMouse uses DirectInput to detect and read data from joystick devices so it requires DirectX version 8 0 or higher To work with InterSense tracking devices JMouse requires InterSense Joystick drivers and IServer 6 InterSense SDK sample programs and instructions The SDK folder contains InterSense libraries for WindowsCE PocketPC Linux and IRIX Sample code is provided to demonstrate the SDK use in Microsoft Vis
40. racker Use Guidelines e Keep the InertiaCube s still for the first 10 seconds after starting your application software e tis recommended though not required that you wait for the InertiaCube to warm up it achieves optimal performance after warming up for at least 15 20 minutes e The InertiaCube is tuned for normal head motion Avoid shaking vibration Remember this precision instrument uses angular rate sensors which sense smooth regular movement very well If you keep these guidelines in mind your InertiaCube2 will deliver superb performance InertiaCube2 Manual Rev 1 1 Ly Doc No 072 IC2P0 0010 QV INTERSENSE 3 ISDEMO Testing the InertiaCube2 ISDEMO is included as a test and diagnostics tool With it you can test all the features of your tracker At the time of this publication the latest release of ISDEMO is version 4 2306 though the documentation below for version 4 2306 below is valid for later releases Please check with www intersense com support to keep your version of ISDEMO up to date ISDEMO provides a convenient graphical interface to validate the communication of the InertiaCube2 to the PC and test performance through the standard InterSense DLL See Section 4 Developers Instructions to learn how to interface the InertiaCube2 to software applications 3 1 Using ISDEMO The first screen you ll see is the hardware selection window shown below The program creates a different interface depending on
41. ration is to get each of the 3 axis to intersect as many of the triangles that form that sphere as possible When ef Min Max Factory Calibrated Factory Calibrated Biases Scalers Scalers 1 0000 N A 9265 N A 0 9738 InertiaCube2 Manual Rev 1 1 32 Doc No 072 IC2P0 0010 QV INTERSENSE Compass Calibration gt Options gt Calibration Duration The default calibration process duration is 1 minute but a longer 2 minutes or shorter 30 seconds can be selected MI Compass Calibration fel ET Commands Options Calibration Duration 30 Seconds This Compass ct for the effecti Calibration Axis b 1 Minute by the objects Display Options p 2 Minutes cameras hand hesu LCUMPULELS CLU LEASE Keep LU MifUu MaL calibration can t compensate for the dynamically changing magnetic fields so InertiaCube must be kept away from the CRT monitors electric motors etc During calibration you will be asked to rotate the sensor covering as much range as possible Rotation must be done at moderate speed The sphere surrounding the InertiaCube represents all possible orientations The objective during calibration is to get each of the 3 axis to intersect as many of the triangles that form that sphere as possible When el Me Min Max Factory Calibrated Factory Calibrated Range Biases Biases Scalers Scalers 2 4802 N A 1 0000 N A 0 9265 N A 0 9738 Compass Calibration gt Options gt Calibration Axis By def
42. roadcast tracker data over the network using UDP packets Other machines on the network run client software that receives this data Mi UDP Broadcast Server Comnan ad Network Port Number Short Encoder Record Time Stamp Complete Encoder Record Idle Windows Sockets 1 1 Local Info Yury ltshuler l Getting tracker settings Pl 0 00Ebps Client software can only receive data so stations and output records have to be configured here Depending on available hardware select one of the 4 available options for each of the stations InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 QV INTERSENSE None Station is OFF and no data will be received from it Generic 6DOF Only position and orientation data is available Use this option with the InertiaCube2 NOTE A unique Network Port number not used by any other computer on the network should be assigned to the server All client applications including the ISDEMO should use that number to receive data Default is 5001 and should not be changed unless there is a conflict UDP Broadcast Client ISDEMO itself can be a UDP client Simply enter the port on which data is transmitted and press Receive As UDP packets are received data can be displayed in the main window of ISDEMO EE UDP Broadcast Client E Cl x Commands Help Network Fort Number 5001 Idle Local Info DEMOROOM 192 168 1 246 Receiving data from 192 166 1 246 port 1340
43. rs discounting the affect of the compass on the output When nominal values for magnetic field inclination and strength are known it will use them to calculate quality of the magnetometer data This calculation uses tuning parameters and is based on how much the compass data deviates from the calibrated values When the input falls outside of the range allowed by the tuning parameters no compass data is used The system can continue to accurately track orientation using only gyro data until magnetic interference is removed and the compass data can be used again 3 9 3 Starting Calibration Procedure The Calibration Tool is located in the Tools menu of the main ISDemo window The type of calibration can be selected in from the Options Menu InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 35 QV INTERSENSE Compass Calibration Commands Options Calibration Type P Fixed Metal Calibration This Compass ci effects of stai Calibration Duration P Magnetic Environment that Inertiafu Display Options eras hand held computers etc A tion can t compensate for the dynamic se InertiaCube must be kept away from the CRT monitors electric motors etc Calibration Axis During calibration you will be asked to rotate the sensor covering as much range as possible Rotation must be done at moderate speed The sphere surrounding the InertiaCube represents all possible orientations The objective during calibrat
44. rt installation of the USB Serial Port Found New Hardware Wizard InertiaCube2 Manual Doc No 072 IC2P0 0010 Welcome to the Found New Hardware Wizard This wizard helps you install a device driver for hardware device To continue click Next Rev 1 1 44 QV INTERSENSE 7 Select Search for a suitable driver click Next Found New Hardware Wizard Install Hardware Device Drivers A device driver is software program that enables hardware device to work with an operating system This wizard will complete the installation for this device USE Serial Port device diverts software program that makes a hardware device work Windows needs driver files for your new device To locate driver files and complete the installation click Next that do vou want the wizard to do Search for a suitable driver for my device recommended Display a list of the known drivers for this device so that I can choose a specific driver 8 Select Specify a location click Next Found New Hardware Wizard Locate Driver Files Where do you want Windows to search for driver files Search for driver files for the following hardware device USB Serial Part The wizard searches for suitable drivers in its driver database on your computer and in any of the following optional search locations that you specify To start the search click Next If vou are searching on
45. s EEPROM by pressing the Apply button The interface is updated and the tuning parameters are displayed in the form of a yellow line covering what is now considered usable compass data To adjust the tuning parameters use the Magnetic Field Compensation slider control at the bottom of the screen N Compass Calibration Commands Options as much of the tracked area as possible Sensor should be moved and rotated at moderate speed Collected data is displayed as histograms of dip angle and magnitude and as combined 3 D histogram Graphs should have prominent peaks that identify the nominal or normal magnetic field values Calibration results must be saved in Tracked Yawn 159 19 sensor EEPROM to take effect During normal tracking compass measurements are discounted based on how far they diviate from the nominal values Compass Yawn 158 16 To begin pick up the sensor and press Start Calibration started Please move InertiaCube at moderate speed around the tracked volume covering as much range as possible Calibration will last 1 Minute Finished collecting data Please press Apply to save them in permanent memory or Cancel to terminate the procedure without saving ed Current Min Max Shoulder Shoulder Base Nominal Range Width Height Width Dip Angle Magnitude Magnetic Field Compensation MEDIUM gt InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 37 QV INTERSENSE 3 9 6 Testing and Tunin
46. s to the RS 232 serial port connector For USB interfacing the InterSense USB to RS 232 serial converter is plugged into the USB port on the host computer The InterSense USB to RS 232 serial converter will up convert the 5 VDC power from the USB port to a regulated 6 VDC power required by the InertiaCube2 Other third party USB to RS 232 serial converters may work with the InertiaCube2 but typically require an external power source or main power adaptor Please refer to Appendix B or the InterSense Support CD for detailed instructions on installing and the configuration of the USB drivers for the IneriaCube2 2 3 Compatibility The InterSense InertiaCube2 1s PC compatible with Windows Vista XP and 2000 Third party software using the standard InterSense dll isense dll is also supported Please check with third party software providers or InterSense techsupport intersense com about specific software compatibility and support InterSense also provides support for Linux SGI IRIX operating systems with a shared object library so file included on the InterSense product CD InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 11 QV INTERSENSE Setting up your new InertiaCube2 2 4 InertiaCube2 Components InertiaCube2 RS 232 Serial Port Connector and Power Jack Standard InertiaCube2 Components power supply not shown InterSense Inc USB to RS232 Adaptor W Flush Buffer Optional USB to RS2
47. surrounding the InertiaCube represents all possible orientations The objective during calibration is to get each of the 3 axis to intersect as many of the triangles that form that sphere as possible When Cn 1 Min Max Factory Calibrated Factory Calibrated Range Biases Biases Scalers Scalers 2 4802 N A 1 0000 N A 2 4959 N A 92 N A 2 4891 N A During calibration you will be asked to rotate the sensor covering as much range as possible Rotation must be done at moderate speed The sphere surrounding the InertiaCube represents all possible orientations The objective during calibration is to get each of the 3 axes to intersect as many of the triangles that form that sphere as possible When a surface triangle in this sphere is intersected it acquires the color component of the intersecting axis providing a visual cue to help with the process Once all 3 axes have intersected a particular surface triangle it becomes white It is not necessary to cover the entire surface of the sphere with white during calibration but at least 70 is recommended to guarantee accurate calibration and 50 minimum is required MM Compass Calibration Commands Options help with the process Once all 3 axis have intersected a particular triangle it becomes white It is not necessary to cover the entire surface of the sphere but at least 70 is recommended to quarantee accurate calibration and 50 minimum is required Compass correction is turne
48. t Software ee ee ee ee ee 4 OD stalle USB DIV CT EEE 41 InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 QV INTERSENSE OTS Changine COM Fort Number iese ER RE EER EEN OE Ee Ee RR EER ER EE 48 APPENDIX C TROUBLESHOOTING ecocococococcccccossssssssssssssssssssssssssssso 49 APPENDIX D HEALTH AND SAFETY WARNINGS AND GUIDELINES 50 APPENDIX E CARE AND MAINTENANCE eessssssss sesse sesse ee esse esse sees ees ee ee ees 52 InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 QV INTERSENSE 1 Theory of Operations Congratulations for buying the finest orientation tracker on the market This technology offers you several advantages e Very low latency e Unlimited range e Smooth jitter free tracking The InertiaCube2 is an inertial 3 DOF Degree of Freedom orientation tracking system It obtains its motion sensing using a miniature solid state inertial measurement unit which senses angular rate of rotation gravity and earth magnetic field along three perpendicular axes The angular rates are integrated to obtain the orientation yaw pitch and roll of the sensor Gravitometer and compass measurements are used to prevent the accumulation of gyroscopic drift 1 1 InertiaCube2 integrated inertial instrument The InertiaCube2 is a monolithic part based on micro electro mechanical systems MEMS technology involving no spinning wheels that might generate noise inertial forces and mechanical failures
49. ual C Visual Basic WindowsCE Linux and IRIX applications Please see the documentation on the InterSense Support CD for details Please refer to Appendix B or the InterSense Support CD for detailed instructions on installing and the configuration of the USB drivers for the IneriaCube2 InertiaCube2 Manual Rev 1 1 14 Doc No 072 IC2P0 0010 QV INTERSENSE 2 7 Setting up the Hardware 2 7 1 InertiaCube2 placement The InertiaCube is typically screwed or bolted to the object it is tracking use of plastic or aluminum screws is recommended As best as possible locate the InertiaCube level to the ground in relation to its actual position during use Correct Incorrect Optimally you would mount the InertiaCube2 onto a base plate In cases of anticipated vibration or physical shock it is recommended that rubber mounting pads be used The mounting holes for the InertiaCube2 are illustrated below Diameter of each hole is 0 120 inches Side Bottom Dimensions in inches InertiaCube2 Mechanical Drawing InertiaCube2 Manual Rev 1 1 15 Doc No 072 IC2P0 0010 QV INTERSENSE The InertiaCube2 comes with a 4 572 m 15 cable attached as standard This cable plugs into the serial port connecter Extension cables are available Contact InterSense to order extension cables 2 7 2 Computer Power Connection The InertiaCube2 is removed from packaging and plugged into the serial port connector as shown be
50. und New Hardware Wizard Locate Driver Files Where do you want Windows to search for driver files Search for driver files for the following hardware device USB to Serial adapter The wizard searches for suitable drivers in its driver database on your computer and in any of the following optional search locations that you specify To start the search click Nest If vou are searching on floppy disk or CD ROM drive insert the floppy disk or CD before clicking Next Optional search locations Floppy disk drives O CD ROM drives Specify location Microsoft Windows Update lt Back Cancel InertiaCube2 Manual Rev 1 1 42 Doc No 072 IC2P0 0010 QV INTERSENSE 4 The default InterSense installation folder 1s C InterSense if during installation you selected a different location your path will be different Found New Hardware Wizard CA IntersenseiDriver USE FTON 5 Click Next to install the driver Found New Hardware Wizard Driver Files Search Results The wizard has finished searching For driver files for your hardware device InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 43 Found New Hardware Wizard QV INTERSENSE Completing the Found New Hardware Wizard QD USB High Speed Serial Converter Windows has finished installing the software for this device To close this wizard click Finish 4 Pack rence 6 Next Windows will automatically sta
51. wed by a rotation by roll about the new X axis 1 e body frame x axis The line from the magnetic field sensor outputs of the InertiaCube to the Kalman filter 1s a dotted line to indicate that the use of the magnetometers may optionally be disabled The accelerometer measurements are sufficient to correct all the drift in pitch and roll and the geomagnetic compassing function is only used to correct drift in yaw In many fly through applications absolute yaw referenced to magnetic north is not important and relative yaw tracking is sufficient This is the case when the user can turn to face an object or rotate the virtual world to bring that object into view In these situations it may be desirable to turn magnetic yaw compensation off if there are large variations in the direction of magnetic north over the tracking area With the compassing turned off the yaw value will drift a few degrees per minute This drift is too slow to notice while it is happening but the cumulative yaw error may eventually become noticeable if the user is seated in a fixed chair and then it may be necessary to apply a Heading Boresight When yaw compensation mode is disabled the Nav frame axes are aligned instead to pseudo north pseudo east and down where pseudo north is simply the direction the InertiaCube2 x axis was facing on power up or after application of a Heading Boresight command InertiaCube2 Manual Rev 1 1 Doc No 072 IC2P0 0010 QV INTERS
Download Pdf Manuals
Related Search