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Vertical Gyro Demo User Manual

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1. Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 99 Vertical Gyro Demo User s Manual nertialLabs USB Serial Converter Properties General Advanced Driver Details USB Serial Converter Configuration Use these settings to override normal device behaviour Fig A 13 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 56 Vertical Gyro Demo User s Manual inectialLabs APPENDIX B Description of data files The Inertial Labs VG Demo software creates data files if Write button is pressed after VG start These are two binary files with the same name and extensions prm and bin where prm file contains the VG parameters and bin file contains the VG outputs Select Report of experiment from the Convert menu of the VG 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 text 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 VG output data
2. Inertial Labs VG Demo v 15 0 15 430 File Run Parameters Plugins Convert Options XV BPaOaGdsA 3 i WA 006 0 06 0 03 0 23 0 25 0 004 0 001 0 998 28 4 5 917 Orientation sensors outputs READINESS Fig 5 1 In opened VG visualization tab four control buttons active Start 2 and inactive yet Stop X Write and Snapshot X appear in the left vertical toolbar If in the menu Test Options the data output method On Request is chosen then inactive button Request X appears Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 16 Vertical Gyro Demo User s Manual inectialLabs Three icons appear in the status bar Optic data e Warnings X and Failures Warning and failure messages are aia by VG in its Unit Status Word see Appendix C and appear near messages by clicking on them and icons You can close these VG visualization tab consists from two vertical parts Visualization panel of the VG outputs is situated on the left part of the tab The right part displays text data from VG and additional information it is the same for all visualization styles Start button starts the VG with parameters saved in the VG s microprocessor Next initial alignment of the VG is performed with displayed message
3. Inertial Labs VG Demo Parameters Plugins C Run Parameters PIL 3 VG visualization F4 BY ml Load block parameters Bit Read block paramet Open F3 Read block parameters C stop ve F7 io Sable Ctri 5 Get BIT EH Restore parameters B Exit Alt x Low power on Ri save Parameters 1 Low power off p Preset parameters Fig 3 2 Fig 3 3 Fig 3 4 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Vertical Gyro Demo User s Manual inertialLabs ty Test options Devices options o v 15 0 14 428 14 428 Options ae Convert Op Correction options Angles accuracy of Report of experiment FS Yaw stabilization options i Swaying compensation options Fig 3 5 Fig 3 6 Fig 3 7 Icons for the most often used commands are placed on toolbars Run X VG visualization F4 X Stop VG F7 Parameters X Save parameters X Restore parameters Preset parameter variants Convert X Report of experiment F8 Options X Test options X Device options gt lt Correction options X Yaw stabilization options Swaying Compensation Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com V
4. Z 1 D D gt 5 917 1 16 10 59 220 04 nan 5 916 16 11 14 230 09 16 11 33 240 12 16 11 45 250 11 This file includes 10 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 Measured R measured roll angle 6 Target_H reference true heading 7 8 9 1 0 28 0 2 0 22 0 27 0 14 0 34 0 35 220 02 230 11 240 1 290 12 nan 5 916 nan bat Target_H Target P hrs min sec Measured H Measured P SERA mama Target P reference true pitch Vdd input voltage of the VG USW L Unit Status Word low byte see Appendix C for details 0 USW H Unit Status Word high byte see Appendix C for details Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 42 Vertical Gyro Demo User s Manual inectialLabs 11 Continuous self monitoring of the VG health The Inertial Labs VG has continuous built in monitoring of the VG health In the main mode the VG 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 VG If this byte is 0 then the VG operates correctly if it is not 0 see Appendix
5. 159 1x9 y Joe dj Yokes JO Huluulbeg y ul pp BI 99S UONEUWJOJUI JessaodU y UO Buipuadap gep JA SARS pue MBIA 0 SJEUW JOJ OY JO BUO BSOOUD uea JeSN inertial LaS SJEUIJOJ e ep nd no jo uonejuasad Xx9 g Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 61 D kipuaddy 84 ul payloads SI AASN 847 Jo Iq YIES JO SMES SULUN O3 OM 45 34 Ul pays s3749 Y IY pue moj UJIMA woy Aeug Ul SI PJOAA SMEIS HUN MSN ULUN OI ainjejadwa ay Ul pajsi SI J8JUIOH4 AU apisul 3JNJEJ3dLISJ I RJIAE AY Vertical Gyro Demo User s Manual ii gt IgA Sbap hap fap bap HMSO PPA anesdwar 1104 Yd MBA SJIUN BJEP pares SJON 00000000 00000000 0769 OEE GE 0 L6 OE 1 00000000 00000000 OLES OEE SE D L6 OE 1 HT AASA PPA unesedwap joy MBA Ofl b ad 09E 0 1108 806 DEL MeA ua WUB e eu Dere ZIOZ e OOO P0NW 6E 225 apnybuo PO GE apNwe E901 39PA uoneunpsap Iaubepy ZH ajes Juawaunseayy LE ZO SLZLOZ LL 90 8WNSIEG ZLOLDE 296 PA SLSAA UOISIGA Mead EZOOPZLO Wodaijsal pN VINN 0 xipuaddy 84 Ul payloads SI AASN 841 Jo Iq YIES JO SMES suwnjo3 DAM JSB 34 Ul pajsi Sa Aq YBIY pue moj UPM Woy JEUIG Ul SI PONA SMEIS HUN MSN ULUN OI9 ainjejadwa ay ul pajsi SI J8JUIOA4 AU apisul ainjeadwa I RJIAE AY IGA 3 fap ju ju ju 6 6 fH gasfhap sasshap sasshap fap
6. 30 Vertical Gyro Demo User s Manual inectialLabs In a check accuracy window there are control buttons The button Angles opens the window Angles Properties Fig 8 3 in which the operator sets the necessary time Accumulation Time of data acquisition while the measurement in each position of the VG 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 help of arrows or by means of necessary value keyboard input The default value is 20 At accuracy tests it possible to take into account misalignment angles of the VG installation on a test bench platform on which VG is tested Such situation is possible if for VG installation on a test bench platform intermediate adaptations are used for example tilter If deviation angles of tilter adjusting bases for VG relatively to test bench platform are known they are necessary for considering at accuracy check For this purpose Tilter fields are used in the right bottom window corner Fig 8 1 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
7. Marine device parameters Operation at vibrations X cancel Fig 7 1 Parameters for the VG operation at vibrations allows to get better dynamic accuracy of the VG at intensive vibrations than ordinary parameters of the VG algorithm Possible shortcoming of the vibration parameters is decreasing of the VG dynamic accuracy at long duration accelerations of the vehicle Please pay attention to possibility of increasing the VG accuracy at object Swaying via compensation of linear acceleration at place of the VG mounting see section 4 5 Swaying compensation 8 Plugins Menu Plugins menu enables to run additional parts of the VG Demo program To check accuracy of the VG set precisely its attitude in orientation angles with the help of special equipment and compare orientation angles produced by VG with the set angles To start the accuracy check select Plugins menu and then Angles accuracy item Fig 3 5 from the main menu After that the next window will appear see Fig 8 1 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 28 Vertical Gyro Demo User s Manual inertiolLabs Angles accuracy Pith Pitch error deg Roll deg Current Pitch deg Temperature code i 27 X 30 M 50 amp 27 Devices Angles No Name 0 00 30 00 60 00 80 00 100 00
8. VG 1 General information Operating system This version of the program 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 program The VG Demo program is a windows based Win32 application and standard means used 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 VG nonvolatile memory and they are Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Vertical Gyro Demo User s Manual inertial Labs automatically loaded into the VG microprocessor Calibration coefficients are set by VG developers and they can be changed but only under guidance of the VG developer Upon termination the VG Demo program creates a VG Demo ini file for its operation in which the latest used parameters of the microprocessor and shell are stored During work with the VG the files with extensions txt rtf prm 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 program when it is saving text or graphical data Requirements to the system resources The program requires
9. 120 00 150 00 180 00 210 00 240 00 Pitch tlhe Termo accuracy Accuracy 280 00 Min Max 0 000 0 000 0 000 RMS 0 00 300 00 Noise STD deg 0 00 330 00 oud None 360 00 Tilter Auto Tilter Ne Position C Manual deg W Y HAGE Fig 8 1 In a pulldown list in the left top corner there is a capability to choose an orientation angle Pitch or Roll on which the VG will be tested Depending on the chosen parameter the accuracy check window name which is shown in the Fig 8 1 will change The check of VG pitch angle accuracy is carried out by rotating the VG around the horizontally located lateral axis X of the VG on angles specified in the column Angles see Fig 8 1 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 Yaw and Roll in this position The check of roll angle accuracy is carried out by rotating the VG around the horizontally located longitudinal axis Y of the VG on angles specified in the column Angles see Fig 8 1 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 29 Vertical Gyro Demo User s Manual inertialLabs In the left part of check accuracy window there is a button Devices by clicking on which the wind
10. Accel g linear acceleration values in g measured by accelerometers Originally all sensors data are in VG axes X is lateral axis Y is longitudinal axis Z is vertical axis Starting from VG 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 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 18 Vertical Gyro Demo User s Manual inectialLabs VG mounting see Appendix D Variants of the Inertial Labs VG mounting relative to the object axes c Current temperature Temperature degC inside the VG d Input supply voltage of the VG in VDC Vinp VY e Format of output data Output Data Format This format is set by operator in the Test Option window Fig 4 1 f Current mode of the VG operation Readiness Awake or Sleep To stop data output from the VG click the Stop button dl To leave the VG visualization mode click the x in the title of current tab For other styles of visualization of the VG outputs there are clickable previews in the upper part of the VG visualization tab Fig 5 2 It is possible to switch between visualization styles at any time of the VG operation by simple clicking on its preview e i b c d Fig 5 2 a Inertial Labs Inc Address 13800 Coppermine Road Suite
11. Accelerometer Y q Accelerometer Z g Temperature deg C Fig 5 6 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 22 Vertical Gyro Demo User s Manual inectialLabs You can select or deselect signals by clicking on their titles VG yaw deg plots Yaw angle calculated in the VG in degrees VG pitch deg plots Pitch angle calculated in the VG in degrees VG roll deg plots Roll angle calculated in the VG in degrees Accel pitch deg plots Pitch angle calculated in the VG Demo Software based on the VG accelerometers data in degrees Accel roll deg plots Roll angle calculated in the VG Demo Software based on the VG 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 g plots output data of the accelerometer Z in g Temperature deg C plots current temperature inside the VG in Celsius degrees If other then Orientation Sensors Outputs data format is chosen then only proper data will be displayed in the w
12. that are described in the Inertial Labs VG Interface Control Document ICD The first 50 bytes of the bin file are results of the VG initial alignment see Table B 1 Table B 1 Structure of the first 50 bytes of bin file block of initial alignment data 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 Initial Yaw 40 43 Initial Roll 44 47 Initial Pitch 48 49 USW word 2 0 successful initial alignment 20 unsuccessful Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com of Vertical Gyro Demo User s Manual inectialLabs Notes 1 USW is Unit Status Word see Appendix C The Unit Status Word definition for details 2 Inthe 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 VG output data written at VG operation with set data rate 100 Hz default Each data block contains 34 bytes with structure according to the chosen output format Full Output 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
13. 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 a USB Serial Converter Click Finish to close the wizard Cancel Fig A 6 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 51 Vertical Gyro Demo User s Manual inectialLabs 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 CD ROM or if you know the location of the software V 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 VG To do this press the Device Manager button in the System Properties window Fig A 8 in the Hardware page In the opened Device Man
14. 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 32 Vertical Gyro Demo User s Manual Inertial Labs extension is created Note that file with an extension prm and the same name as bin should be present as well 10 The VG operation 10 1 The main operation modes of the VG Step 1 Connect a power cable and data transfer cable to the VG 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 VG 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 VG manufacturer guarantees reliable operation of the VG if it is connected directly to the COM port Step 2 Start VG Demo exe file to begin working with the Demo program The main menu will appear Fig 3 1 Step 3 Select Test options from the Options menu see Fig 3 6 or click x button Test option window Fig 4 1 will open Step 4 Set the correct COM port number Serial port field as it 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
15. 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 19 Vertical Gyro Demo User s Manual inectialLabs 5 2 Cockpit style of visualization Cockpit window allows to show current attitude of the VG 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 yaw indicator in the upper left corner of the window In the right part of the window 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 VG visualization tab Fig 5 2 To stop data output from the VG click the Stop button i Inertial Labs VG Demo v 15 0 15 430 Fie Run Parameters Plugins Convert Options xXxVEBMdevaA VG visualization A 231 24 0 03 0 18 0 20 0 18 Orientation sensors outputs READINESS Fig 5 3 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 20 Vertical Gyro Demo User s Manual inectialLabs 5 3 On the fly accuracy style of visualization On the fly accuracy feature is designed for checking the VG accuracy at its ordinary operation when the VG can b
16. BE GPL ZLOZ OWN TLOLDE 96 PA SLSAA UOISIAA Seay EZOOPZLO Woda isal ZN KUOTEJUSIIO JO UOIUISJENN OQ xipuaddy ay ul paljisads SI AAS 34 JO 4q YIES JO SNEIG SULUN OI DAY JSB 34 Ul pajsi 53449 YBIY pue moj JIM LOY JBUIG Ul SI PIOAA SNEIS UN AASN Aequanbas pap4o3a aye SJOSUAS JAJUI04 347 0 paddns abeyoa paziiqes pue abeyoa Indu 181uI04 au ULUNJOI PPA ayy U saagja ew SJAJEUOJA 3JIJE SouAB ay JO suosuas aunjesaduual UIO Ayequanbas papioaa ase 53P09 JOY ULUNJOJI aunjesadwa 3y U 0A apoo 907 apor addy spol addy apolady aP09 ody aP09I0v apol ddy apology AP09 90 poo DAT Hap Bap fap HIT MSN PPA aunjeiadwia ZAsasey pAasay 7 upe AU x UBeyy Z ov A IW X wy Z OM A IAD X AD loy Yd ANS A spun BJEP P3IARG SJON 00000000 00000000 GLES ECB 0 0 08 CESE FEYIT GECEL EE tt OSE b 950 fb S00EL 00000000 00000000 EOS 9228 0 0 8045 Sege LEGE SETE I DE PS HOP ot 980 EFL 20024 HT MSN PPA aunjedadual galasay pasay z upe A upei x uey 70 A9 Xov 7 049 Kondo 104 YI ANEA Fbl 4 id 9E 0 19H LGG GZL MEA jua wu ije jeru OFA ZIOZ 80 OOO PNYY GE 22 9pP006U01 PO GE apNWeT E9 0L 08P uoneupsep yaube ZH ajel Juawaunseayy BE GE PL ZLOZ LL 90 wale ZL OLOE 296 SLSAA UOISISA EMU EZOOPZLO Wodajsal ON ezed yndyno N4 SJEUIJOJ BJEP jqejlene JO yoes Ul eJep Peres SU JO s jdwex se mojag Hues jij JO SUI pue ep UOISJOA SJEMUII SA 34 sue JXSU pue paIioeds SI ON p s y JO Jagwnu jen s uod
17. 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 VG firmware and Demo Program versions Firmware of the Inertial Labs VG is developing continuously The VG hardware also can be changed Sometimes the VG features are So new that are not supported by old versions of the VG Demo program On the other hand some functions of the old VG Demo programs were deleted from the new program versions We recommend strongly to use version of the VG Demo program that comes on CD with the VG until the VG firmware is updated If the VG has too old firmware version then before execution of any command sent from the Demo Program to the VG the warning window appears see Fig 12 1 that informs about incompatible version of the VG firmware Click OK and continue work Warning Incopatible device firmware version This program supports only 4 1 x Fig 12 1 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 43 Vertical Gyro Demo User s Manual Inertial Labs 13 Choice of 3D model for visualization of the VG orientation The VG Demo program allow
18. EEE EEE EERE EEE EEE EEE REET EEE eee annen 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 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 49 Vertical Gyro Demo User s Manual nertialLabs Found New Hardware Wizard Please choose your search and installation options Sha tans FJ 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 will choose the driver to install Choose this option to select the device driver from a list Windows do
19. In the other case the error window with message Cannot read parameters appears over above window see Fig 4 2 Click OK then close Device Options window and choose the correct COM port number see section 4 1 Test options Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 10 Vertical Gyro Demo User s Manual inertial Labs Fig 4 2 A Device Options Fig 4 3 dialog box will be opened Devices options E Device type VG s Measurement rate Hz 100 Initial alignment time sec Device name D12C0008 Device firmware version WSTS v4 9 7 1 17 01 13 Alignment angles deg Yaw 00 E Pitch 0 00 Roll Fig 4 3 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 11 Vertical Gyro Demo User s Manual inectialLabs You can check or set the following parameters in the Device Options window Fig 4 3 e Device type is VG 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 e Initia
20. Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Vertical Gyro Demo User s Manual inectialLabs converter see Appendix A Installation of the COM to USB converter drivers and configuration of PC parameters for more details To know the number of the PC COM ports click Device Manager in the Hardware tab of the System Properties window Fig 2 1 In the opened Device 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 General Computer Name Hardware Advanced S 2 g Computer Device Manager See Disk drives The Device Manager lists all the hardware devices installed 2 Display adapters a on your computer Use the Device Manager to change the DVD CD ROM drives properties of any device gt File Action View Help 4 Floppy disk controllers J Floppy disk drives dg Human Interface Devices 42 IDE ATAJATAPI controllers Driver Signing I k hat installed dri re nver Signing lets you make sure that installed drivers are amp Keyboards compatible with Windows Windows Update lets you set up aji how Windows connects to Windows Update for drivers Drivers Mice and other
21. On the fly accuracy style of visualization w w wmmemnmanwanwwnwanwnnwanwanwna manani 21 5 4 Data graphs style of visualizatiON wsmwmmmwamanwwamanuna unanunua nanuna inaanza nana 21 5 5 Other items of the Run NE arena 23 6 FEE EE EEE ER 24 6 1 NNN 24 6 2 NNN 25 T Parameters MENU AAA 26 7 1 Load block parameters and Read block parameters w wwamamanzawamawwnwanawwawanawaa 26 7 2 ESC SUG Delle COM a IA AA 26 7 3 NENNE 26 1 4 Preset parameters EEE EEE ENEE AEE EE EEEE EE 27 8 FRI EEE tiamecneeeesnsec em 28 9 CON EEE 32 10 Toe VAA IA AA 33 10 1 The main operation Modes Of the VG ccc ccc cece ecccecceeeceeceeeeeeceeceeeeeeeeeecseeseetseeseeteeeseees 33 10 2 PM ENO WA ai IA eee eee 36 10 2 1 Separate accuracy test for each reference angle wwmmmmmmanwanwanwanza 36 10 2 2 On the fly accuracy test 0 cee ccecc cece cece eeeeceecceeceeecseeceueeaueceuecsuecseesaueseueseeessuesseesseesass 38 11 Continuous self monitoring of the VG health w wwwwanwmmwmamananawanwannawanunamanwnawaa 43 12 Control of compatibility between the VG firmware and Demo Program versions 43 13 Choice of 3D model for visualization of the VG orientatioN ww wmmmamwanwnnwanwamwwa 44 14 EIN 45 14 1 How to repair VG parameters rrrrrnnnrnnrnanrnrnanrrarnnnnnnrn
22. The VG message payload at Full Output Data format number Parameter Yaw Pitch Ugyro Reser usw vad Utermo Uacc ved Lenath 2 byte 2 byte 2byte 6x2 byte 1 2 byte 2 byte 2 byte 9 word sword sword sword bytes word word sword Raw Combi Temper sensor ned Orientation angles ature In Note data gyros voltage deg 100 each accelero VDC meters 1000 sensor 1 USW is unit status word see section 6 5 for details 2 The following data are recorded in the field Vdd sequentially the VG input voltage stabilized voltage supplied to the VG 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 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 58 Vertical Gyro Demo User s Manual inectialLabs Table B 3 Structure of one data block at Quaternion of Orientation format LkO Lk1 Reser USW 2 byte 2 byte W word sword 4x 2 byt 2 byte 2 byte 2 byte 14 yte Quaternion of Orientation angles deg 100 orientation 10000 Notes 1 USW is unit status word see section 6 5 for details 2 Vdd is input voltage of the VG 3 Utermo is averaged temperature in 3 accelerometers 4 The low byte is transmitted by first Tab
23. Timeout msect r Timeouts Event On Suprise Removal I ro Fig A 11 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 54 Vertical Gyro Demo User s Manual inertiaiLabs 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 e gt amp Mice and other pointing devices Monitors BB Network adapters Ports COM amp LPT Be Processors SCSI and RAID controllers Sound video and game controllers vy System devices Universal Serial Bus controllers Intel R 82801FB FBM USB Universal Host Controller 2658 Intel R 82801FB FBM USB Universal Host Controller 2659 Intel R 82801FB FBM USB Universal Host Controller 2654 Intel R 82801FB FBM USB Universal Host Controller 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
24. deviation angles on J corresponding angles y 0 n y Fields Tilter are used by the developer for internal tests of the VG The question on their use for external tests should be coordinated with the developer Inertial Labs company The button Accumulate Data see Fig 8 1 consistently starts VG 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 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 VG Demo exe the file of the report like Accuracy txt is kept It is a Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 31 Vertical Gyro Demo User s Manual Inertial Labs service file which can be used for continuation of testing VG 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 d
25. hap hap HD ASO PPA aUnjeadwal ZTaesay paasay 7 UDEN A upei x upei ZI AI XII Z BIEN A BIEN X BIEN 108 yd MBA SJUN BJEP pases SJON 00000000 00000000 6166 BE 0 0 OO660r 0089 068217 OOOLEOL 0066L00 0098000 OE0 O0O0E00 OOO 880 ell FO LEL 00000000 00000000 GIES BE 0 0 OO660t 006234 000524 002020 00002800 D0 2000 00500 00520 OWeO Seo EFL FPOLEL HT MSN PPA aunjesadial Zali jAesay zZ ue A upei ane 709 ADT KIT Z 34 A SPY X SPY loy yd ANE A BELL 4Ald L D Ia GEO LEL MEA jua WUB e jeru D2r8TLOZ e OOO pi BE 225 APNPBUOT POE apnwe E9 OL p uoneunsap Iyaubeyy ZH ajes Juawaunseayy LZ SS KL ZLOZ LL 90 awad ZLOLOE 296 PA SLSAA UOlsIaA SIEM EZOOFZLO Wodapse EN SINGING JOSUAS UONEIUALO inertial Labs Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 62 Vertical Gyro Demo User s Manual inectialLabs APPENDIX C The Unit Status Word definition Bit Parameter Performance Initial Alianment 0 Successful initial alignment 9 1 Unsuccessful initial alignment due to VG moving 0 Parameters are correct 1 VG Parameters 1 Parameters are incorrect O No failure i rd 1 Failure detected DW O No failure failure Accelerometer Unit 1 Failure detected JA tt 5 Electronics 0 No failure 1 Failure detected Software 0 No failure 1 F
26. operator selects one of the previously saved files with prm extension Consequently the parameters are automatically saved to the VG nonvolatile memory and to the Demo Program shell The same way is used to restore the factory settings of the VG parameters In this case you should select original file with prm extension that comes on CD with Inertial Labs VG 7 3 Save parameters If you have changed some parameters of the VG in Device options window from the Options menu and you want to save these parameters as variant for future work you can save the VG current parameters in binary file with prm extension For this use Save parameters command see Fig 3 4 or click X button After that a Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 26 Vertical Gyro Demo User s Manual inertialLabs Standard Windows Save as window is opened in this window operator is suggested to save current parameters of the VG to a File of parameters with prm extension 7 4 Preset parameters Since the Inertial Labs VG Demo ver 14 7 9 14 it provides preset of the VG parameters that adjust VG algorithm for some specific conditions of operations to get better dynamic accuracy of the VG The latest VG Demo version contains preset parameters for the next conditions of the VG operations e ordinary VG
27. pointing devices Monitors Driver Signing Windows Update E Network adapters Ports COM amp LPT Hard Profi F Communications Port COM2 part 7 ECP Printer Port LPT1 Hardware profiles provide a way for you to set up and store F USB Serial Port COM21 zaf different hardware configurations silt Processors amp SCSI and RAID controllers Hardware Profiles Sound video and game controllers ny System devices Universal Serial Bus controllers lt p v50 devices Fig 2 1 Fig 2 2 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Vertical Gyro Demo User s Manual Inertial Labs 3 Main menu ofthe program The main menu of the Inertial Labs VG Demo program contains the following items see Fig 3 1 Inertial Labs VG Demo v 15 0 18 453 File Run Parameters Plugins Convert Options XV BObAXvVA Fig 3 1 File Menu contains standard Windows file management commands Fig 3 2 Run Menu contains the VG control commands Fig 3 3 Parameters Menu contains operations with VG parameters Fig 3 4 Plugins Menu contains the VG plugins Fig 3 5 Convert Menu contains conversion of binary data to the text format Fig 3 6 Options Menu contains the VG configuration commands Fig 3 6 abs VG Demo v 15 0 14 428 eee Plugins Convert rtial Labs VG Demo v 15 0
28. to or read from file in one of the VG Demo menu 11 Changed name of Appendix B It describes also structure of binary file created at saving VG output data 1 For VG Demo Software ver 15 0 28 and higher 2 Rolling compensation menu item is changed to Swaying compensation 21 30 May 13 ON AK 3 Added section 12 3 What do you have to do if messages Cannot read parameters Cannot load parameters or Cannot start VG appear 4 Added description of the csv file created at accuracy test AK Added 6 File Menu and 7 Parameters Menu 2 2 09 Oct 13 sections AB Marketing changes Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Vertical Gyro Demo User s Manual inectialLabs Table of contents alliere 11 od 0 ceo crete anette tee ae sce EEE ME ec AA EN anes 4 1 EE Mal 014100 100 g EEE ee ee 4 2 Installation of drivers and configuration of PC parameters rrrnnrranrranavnnrvnnrrnnrrnnrnnnennnennnenen 5 3 Main menu of the programi RE EE EE T 4 NST 9 4 1 TFT 9 4 2 JE 10 4 3 VNR 13 4 4 COMECUON OPL ONS Lassen ea WAA YA MPATE E AE MAYA AMEN EEE MBI MUA 13 4 5 WY AVI oo MEI IO EE EN EE 14 D FN 15 5 1 VE DP 16 5 2 Cockpit style Of VISUALIZATION 0 0 cece cece cece cece eeceeecaeecaeesee eee eeaeeeeeeseueeseeeseesseesseeeeeeseeesaes 20 5 3
29. window Fig 8 2 will appear Step 8 Select required amount of the tested VG units in Number of Devices line Step 9 In the column COM port in dropdown windows COMN choose COM ports to which the VG units are connected Click Scan button In the column Device Name VG units are determined in accordance with chosen COM ports Button OK becomes active Step 10 If all VG units under test successfully determined click button OK Window Devices Properties will close and found connected VGs will appear in the accuracy check window instead of label NoName Step 11 If orientation angles of the VG 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 VG and chooses if necessary Temperature Sensor for the temperature control Step 12 If angles of obliquity of the VG 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 VG in accordance with the values indicated in Angles column Then click on Accumula
30. 5 8377 Website www inertiallabs com 45 Vertical Gyro Demo User s Manual inectialLabs To check whose parameters are loaded in the connected VG please select Device options from the Options menu or click x button see Fig 3 7 Device options window Fig 4 3 will open Devices options Device type vG Measurement rate Hz 100 Initial alignment time sec n lt f Device name C1290027 Device firmware version WSTS v4 9 6 8 12 11 12 Alignment angles deg Yaw 0 00 Pitch 000 Roll 000 X Cancel In the field Device name you will see serial number of the VG up to 8 symbols It must correspond to serial number that is placed on label on VG s nose If Device name doesn t correspond to serial number of the connected VG then you must restore original parameters as that described in above section Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 46 Vertical Gyro Demo User s Manual inectialLabs 14 3 What do you have to do if messages Cannot read parameters Cannot load parameters or Cannot start VG appear When you use Inertial Labs VG Demo Software the most of operations are started with reading data from the VG nonvolatile memory to control correct VG status For this purp
31. 6 Mbytes of RAM for proper operation Hard disk capacity required for proper operation is determined by the size of the program files approximately 12 MBytes and by the files saved during operation no more than 100 Mbytes Recommended screen resolution is 1280x1024 pixels The VG is connected to a computer through a standard COM port The VG 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 VG can greatly depend on the quality of the COM to USB converter and on correct configuration of its driver VG manufacturer guarantees reliable operation of the VG 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 are described Requirements to operators The VG Demo software uses a standard Windows operating system Therefore operators should know the basic principles of PC operation to use the program and they should be able to use the Windows operating system 2 Installation of drivers and configuration of PC parameters Installation of the program The Inertial Labs VG Demo program doesn t require any installation Just copy the program folder VG Demo 148 to the working directory When you connect the VG to a standard computer COM port drivers are not needed If the VG is connected to a USB port with a COM to USB Inertial Labs
32. Fig 10 2 Step 12 Rotate VG 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 Yaw 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 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 40 Vertical Gyro Demo User s Manual inectialLabs You can verify all snapshots data by clicking on the arrow button Sul Lu 8 After each snapshot calculation is performed and graph Yaw Error is plotted Fig 10 3 Yaw error deg graph shows difference between VG measurements and reference angles Inertial Labs VG Demo v 15 0 15 430 File Run Parameters Plugins Convert Options VG visualization 4 Snapshots 4 218 271 0 06 0 03 0 21 0 25 Orientation sensors o
33. 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 VG 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 rifle Note For visual convenience of the VG position perception displayed on the monitor and the VG real position it is recommended to place the VG 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 X 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 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 17 Vertical Gyro Demo User s Manual InertialLabs e visualization through opening the file in File menu see item 10 1 1 Data viewer e convertation to text file using Report
34. Vertical Gyro Demo User Manual inertialLabs Vertical Gyro System DEMO PROGRAM VG DEMO User Manual Revision 2 2 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Vertical Gyro Demo User s Manual inectialLabs Revision history Revision Date Author Description 20 Jun 12 OI Released version 1 For VG Demo Software ver 15 0 and higher 2 Changed interface of VG Demo 3 Changed affixment of X Y Z axes of calibrated VG sensors output to the object axes for VG firmware since v 4 9 6 3 4 Added Correction options menu and its description in section 4 Options Menu 5 In section 5 Run menu deleted VG Data text style of visualization added Data graphs style of visualization Field accuracy style of visualization changed to On the fly accuracy style of visualization 6 Added Get BIT in section 5 5 Other items of the 2 0 21 Jan 13 AK ON Run menu 7 Deleted Service Menu and its description 8 Added Data viewer for data visualization 9 Changed sections 8 2 Calibration of the VG and 8 4 2 On the fly accuracy test because of new interface windows of calibration 10 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
35. ager 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 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 52 Vertical Gyro Demo User s Manual inertialLabs 21 x System Restore Automatic Updates Remote General Computer Name Hardware Advanced A Device Manager 0 x File Action View Help System Properties e gt MESRA zA Device Manager i The Device Manager lists all the hardware devices installed 5 lg on your computer Use the Device Manager to change the op Disk drives properties of any device Display adapters H DVD CD ROM drives o 3 Floppy disk controllers J Floppy disk drives cee Human Interface Devices H E IDE ATA ATAPI controllers tp Keyboards 4 Mice and other pointing devices E Monitors H B Network adapters E rA Ports COM amp LPT I Communications Port COM2 15 Hardware profiles provide a way for you to set up and store x2 different hardware configurations ae oe vl mer in min foe di SE Serial Port COM3 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 Har
36. ailure detected 7 See the Table below 0 Supply voltage is not less than minimum level 1 Low supply voltage detected o MEOR EC EDNET 0 Supply voltage is not higher than maximum Supply level 1 High supply voltage detected 0 X angular rate within the normal range 10 High 1 X angular rate is outrange warning 11 Angular Rate 0 Y angular rate within the normal range byte Exceeding Detect 1 Y angular rate is outrange 12 0 Z angular rate within the normal range 1 Z angular rate is outrange 13 Reserved O Environmental 0 Temperature within the operating range 14 Temperature 1 Temperature is out of the operating range See the Table below Indication of the VG current operational modes USWbits Bit 7 Bit 15 vene Readiness 01 0 Sleep this is in the last data block sent by the VG before it went to Sleep mode Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 63 Vertical Gyro Demo User s Manual inectialLabs APPENDIX D Variants of the Inertial Labs VG mounting relative to the object axes The Inertial Labs VG can be mounted on the object in any known position up to upside down upright etc relative to the object axes Such mounting doesn t change right determination of the object orientation if angles of the VG mounting are c
37. cations Low Power OFF switches the VG to the standard power consumption mode When this mode is active a LED indicator on the VG case turns on 6 File Menu File menu enable to work with already saved tests results 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 VG 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 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 corner of the tab This legend shows mean value STD standard deviation and name of displayed data Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inert
38. con in the title of current tab Step 15 Select Stop VG 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 5 or press F8 in the main menu or click x 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 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 35 Vertical Gyro Demo User s Manual Note When large file data is processed then some time is necessary for text file saving If you will start new operations with program before the end of text file saving then program will appear as not responding or locked Just wait some time for saving end after that program will be unlocked Also you can plot saved VG binary data using File menu See section 6 1 for more details 10 2 Accuracy test of the VG To check VG accuracy it is recommended to use Inertial Labs VG Demo software which allows to estimate accuracy of the VG in given range of orientation angles At the same time it is necessary to use special device allowing to set angular positions of the VG strong wi
39. d deg 0 Gain A 0 1000 Gain M 0 1000 Time begin sec 60 Time end sec 90 X Cancel Fig 4 5 e Filter time constant sec parameter of low pass filter for gyro drift estimation Default value is set to 30sec Note To disable gyro drift estimation please set the filter time constant to zero e Heading change time sec time of heading angle evaluation to cut off filter Default value is set to 0 16sec e Heading threshold deg heading change threshold to cut off filter Default value is set to 0 08 deg 4 5 Swaying compensation It is possible to increase the VG accuracy at object Swaying if to compensate linear acceleration at place of the VG mounting For this purpose select Swaying Compensation from the Options menu Fig 3 7 or click amp button Fig 3 1 A Swaying Compensation Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 14 inectialLabs Vertical Gyro Demo User s Manual dialog box Fig 4 6 will be opened that allow you to set the lever of the VG mounting relative to the centre of the object Swaying usually this is object centre of gravity Swaying compensation options Device mounting lever m Right hoo Forward 0o00 S Upjoo For enes Fig 4 6 5 Run Menu Control of the VG is done by
40. dware Profiles z Bl ate Processors n MAIAS ced H 6 Sound video and game controllers ce System devices Universal Serial Bus controllers OK Cancel Apply Fig A 8 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 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 53 Vertical Gyro Demo User s Manual inertial Labs USB Serial Port COM3 Properties x General Port Settings Driver Details Bits per second Data bits av Parity None vi Stop bits 1 Flow control None vi Advanced Restore Defaults Fig A 10 Advanced Settings for COM3 COM Port Number USB Tiansfer Sizes Select lower settings to corect performance problems at low baud rates Select higher settings for lastet performance Receive Bytes 4095 p Transmit Bytes 4095 BM Options Miscellaneous Options Select lower settings to correct response problems Senal Enumerator vw Senal Pnnter ns verd Set RTS On Close dn ts on i Minimum Write
41. e 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 4 2 On the fly accuracy test Inertial Labs VG Demo v 15 0 15 430 File Run Parameters Plugins Convert Options UU Vv Bas ea A VG visualization A Orientation sensors outputs READINESS Fig 5 4 5 4 Data graphs style of visualization Data graphs window allows to show graphs of current VG 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 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 21 Vertical Gyro Demo User s Manual inectialLabs It is possible to select the signals you want to display by right click on the graphs area As a result window shown in the Fig 5 6 will appear Inertial Labs VG Demo v 15 0 15 430 File Run Parameters Plugins Convert Options xXxvbBoadseava VG visualization A kean STD Name 237 3 0 0223 VG vam de Orientation sensors outputs READINESS Fig 5 5 lt YG yaw deg VG pitch deg VG roll deg Accel pitch deg Accel roll deg Gyro X deg sec Gyro deg sec Gyro Z deg sec Accelerometer X q
42. earch 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 your 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 a device Keene SAAANA Click Next to continue Cancel Fig A 1 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 48 Vertical Gyro Demo User s Manual inertial LIDS 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 e If your hardware came with an installation CD WE or floppy disk insert it now What do you want the wizard to do Install the software automatically Recommended SEER EEE EERE EERE EERE EEE EERE EEE EERE EERE EEE EERE EEE EEE EEE EEE EEE EEE EEE EEE EEE EEE EEE EEE E EEE EEE TEER R RRR LEER EERE EEE
43. ed in the Table B 5 Table B 5 The VG message in NMEA format Parameter Roll Pitch Pitch Yaw Temperature Temperature hex written Note with ASCII Notes USW is unit status word see section 6 5 for details Temperature is averaged value for 3 accelerometers Vdd is input voltage of the VG Check sum consists of a and two hex digits representing KOR of all characters between but not including and a nada Important note The VG maximum data rate is limited to 50 Hz in the NMEA output format Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 60 9 xipuaddy ay ul paljisads SI AASN 34 JO 4q 4323 JO SNJEIG suwnjo3 DA JSB 34 Ul pajsi 53440 YBIY pue MO JIM LOY JBUIG Ul SI PIOAA SNEIS HUN AASN ULUN OI9 ainjejadwa ay Ul pajsi SI J3JUIOH 34 apisul aunjesadway Jheare ay IA 3 bap bap Hap HA MSN PPA aunjesadua ZAlasay Alasay EHT 1934 Yd SUN EJED pares 3JON Vertical Gyro Demo User s Manual 00000000 00000000 6465 oct 0 0 90160 SOLOO CHOO LELFO fe D FLL 6L LEL 00000000 00000000 616 o cE 0 0 0L6 0 FOLODO CHOO DELFO E D FLL OG LEL HA MSN PPA Sunjesaduap gaasay Masay EM CH WA OF 198 MBA 6FLL 4 id FEN 1108 EGL LEL ME jua wufije jepu OPO TIOZ 98GQ 000 map GE 22 apNUbuoT pO6E PN7 E9 0L 08PI UOeUIIap Iyaubeyy ZH ajel JUawaunseayy
44. emo program The main menu will appear see Fig 3 1 3 Select Test options from the Options menu or click button see Fig 3 6 Test options window Fig 4 1a 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 VG 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 Service menu see Fig 3 4 or click x button A standard Windows Open window will open 6 Select file with extension prm containing the factory settings of the VG 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 VG memory automatically 14 2 What do you have to do at strange behavior of the VG If you see strange behavior of the VG first check whose parameters are loaded in the connected VG This may occur for example if you have restored parameters that corresponds to another VG with not proper serial number Please use Restore parameters command accurately to avoid wrong parameters loading into the VG s memory Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 93
45. ertical Gyro Demo User s Manual inectialLabs 4 Options Menu 4 1 Test options To set operation parameters of the VG COM port format of output data select Test options Fig 3 7 from the Options menu or click button A Test Options dialog box Fig 4 1 will be opened Test options OMG Output data format Serial port COM3 Processing Full output data Allow data saving v Enable debug log Quaternion of orientation Allow auto start Record time 00 01 00 amp Orientation sensors outputs Number data for average 1 5 Operating mode Continuous On request X Cancel Fig 4 1 You can set the following parameters in the Test Options window e Serial port number of the COM port to which VG 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 VG Demo crash it can be used to debug errors Log file contains information about commands that were sent by the VG Demo and Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Vertical Gyro Demo User s Manual inertial Labs appeared errors In case of errors this file should be sent to t
46. es not guarantee that the driver you choose will be the best match for your hardware cues Fig A 3 Select the folder that contains drivers for your hardware My Documents 4 My Computer S Local Disk C 4 DVD Drive D Innalabs_iAHRS E COM to USB Driver O Documentation O Innalabs AHRS Demo Program To view any subfolders click a plus sign above Fig A 4 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 50 Vertical Gyro Demo User s Manual inertial LaS Hardware Update Wizard Please choose your search and installation options a tae J 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 JE COM_to_USB_Driver C Don t 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 will automatically start the driver installation If installation is completed successfully the
47. ess 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 VG main data Step 11 When the VG is set in necessary position and is ready to save data click Snapshot button Window shown in Fig 10 1 will appear Snapshot Target Yaw v ma deg 0000 FE eg Pitch 0 00 deg X Cancel Fig 10 1 Depending on known target orientation its relative or absolute azimuth and pitch elevation select Heading or and Pitch checkboxes see Fig 10 1 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 VG angles are saved Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 39 Vertical Gyro Demo User s Manual InertialLabs Then press OK button New tab Snapshots like shown in Fig 10 2 will open Return to previous tab by clicking on its title VG visualization Inertial Labs VG Demo v 15 0 14 428 File Run Parameters Plugins Conver t Options EX I Bas aA ON VG visualization Dt Snapshots XX Snapshot no 1 Yaw Pitch Measured 359 99 0 07 Target 359 99 Roll 0 21 System headings VG Magnetic
48. file of the report like Accuracy 2010991830 txt is created where numbers are year month day hours minutes of performed test there are averaged data for each VG run at accuracy test In the first column of this file there is VG s n second column is number of reference angle starting from zero 6 8 columns are averaged Yaw Pitch and Roll measured by VG 10 2 2 On the fly accuracy test Step 1 Carefully set VG 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 Field Accuracy in the Run menu Fig 3 3 and then click on the On the fly accuracy preview shown in the Fig 5 2c Window shown in the Fig 5 4 will appear Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 38 Vertical Gyro Demo User s Manual inectialLabs Step 9 Click Start x button Initial alignment of the VG 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 VG has to be unmovable relative to the Earth After initial alignment completes see changes in numeric data of VG Step 10 Not obligatory To save VG data click Write x button See a progr
49. 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 VG 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 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 33 Vertical Gyro Demo User s Manual inectialLabs 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 VG or its operation select Device options Yaw stabilization options or Swaying compensation options from the Options menu see Fig 3 7 Appropriate window Fig 4 3 4 5 will open Set the necessary VG operation parameters Click OK Step 8 Select VG visualization from the Run menu Fig 3 3 or click x 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 it
50. he Inertial Labs with brief description of user actions e Allow auto start checkbox allows operation with VG which was already started before run of the VG 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 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 VG S output method Continuous or stepped On Request The default value is Continuous e Output Data Format sets format of the VG output data Select one of the formats Full Output Data Quaternion of Orientation Orientation Sensor Outputs default value For more information on the output data format see Appendix B 4 2 Device options To set and control of VG operation parameters select Device options from the Options menu Fig 3 7 or click x button Fig 3 1 You can select Device option item only if VG is powered and connected to computer and COM port number is chosen properly
51. iallabs com 24 Vertical Gyro Demo User s Manual inectialLabs To close graphs please click the x icon in the title of current tab Inertial Labs VG Demo v 15 0 30 51 7 Fie Run Parameters Plugins Convert Options AxB JODA Va i SID Name 1462 00148 VG yaw de My i I Fig 6 1 6 2 Save as item You can preset name of file for data writing For this select item Save as Fig 3 2 and enter desirable file name Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 25 Vertical Gyro Demo User s Manual inectialLabs 7 Parameters menu Parameters menu enable to work with VG 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 These items are used to check operation of appropriate commands of the VG VG Demo software allows more convenient means to load the VG parameters to the VG nonvolatile memory see section 7 2 7 2 Restore parameters Restore parameters command see Fig 3 4 is used to quickly load the VG parameters to the VG nonvolatile memory When Restore parameters command is selected or x button is clicked a standard Windows Open window opens in this window
52. indow 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 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 VG stops the VG 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 can be clicked Get BIT opens tab with the VG Built in Test BIT status It shows temperature and the Unit Status Word USW of the VG The USW includes redundant information about the VG state The low byte bits 0 7 of USW indicates failure of the VG The high byte bits 8 15 contains a Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 23 Vertical Gyro Demo User s Manual inertial Labs warning or is informative for the user For more information see Appendix C The Unit Status Word definition Low Power ON switches the VG to low power consumption mode When this mode is active a LED indicator on the VG case turns off or blinks in some VG modifi
53. ization options Fig 4 4 dialog box will be open that allow you to set the following parameters Yaw stabilization options Time constants of gyro BP filter sec 0 16 5 Gyros thresholds degisec 0 50 0 15 gt cane Fig 4 4 e Time constants of gyro BP filter sec parameters of band pass filter for smoothing gyro data Default values are set to 0 20sec and 0 16sec e Gyros thresholds deg s thresholds for filtered gyros noise in case of magnetic disturbance threshold exceeding Default values are set to 0 50 deg s and 0 15 deg s 4 4 Correction options It is possible to use low pass filter for gyro drift estimation Select Correction options from the Options menu or click x button Fig 3 1 In the open dialog box choose Estimator tab The window Fig 4 5 will appear that allow you to set the following parameters in Gyro drift estimator part Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 13 Vertical Gyro Demo User s Manual inertialLabs Correction options Horizon correction Azimuth correction Kalman filter Estimator Additional Reduced order estimator Gyro drift estimator Off On Filter time constant sec Cutting threshold G 0 1500 Heading change time sec Cutting threshold A 200 0000 Heading threshol
54. l 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 34 Vertical Gyro Demo User s Manual inectialLabs 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 X 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 VG Demo exe is located Default name of file with saved data is generated automatically and consists of the VG serial number 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 and minutes and seconds of operation 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 VG microprocessor parameters at which this data was obtained are saved For example D1240001 201 1 03 10 09 42 26 txt corresponds to data saved from the VG s n D1240001 on 2011 March 10 at 09 42 26 Note You can preset name of file for data writing For this select item 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 5 5 click the X i
55. l alignment time sec sets the initial alignment time in seconds The VG output data will be displayed in respective windows only after the time set in this parameter is over During initial alignment the VG 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 60 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 VG in use It consists of symbols of the firmware type firmware version and date of this version issue separated by blanks This parameter can not be changed e Alignment angles deg angles between the VG axes and the carrier object are set after VG mounting see Appendix D Variants of the Inertial Labs VG mounting relative to carrier axes Default values are set to 0 degrees Before working with the Options menu it is desirable to select Stop VG in the Run menu or press F7 key Fig 3 3 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 12 Vertical Gyro Demo User s Manual inertial Labs 4 3 Yaw stabilization Select Yaw stabilization options from the Options menu or click amp button Fig 3 1 A Yaw stabil
56. le B 4 Structure of one data block at Orientation Sensor Outputs format GyroX AccX Reserv Reser Parameter Yaw Pitch GyroY AccY ed USW Vdd Utermo ved GyroZ AccZ 3x 3x 3x 2 byte 2 byte 2 byte 2 byte yte 2 byte 2 byte Longin word sword sword 2 byte 2 byte 2 byte 4 byte word word sword sword sword sword Angular Orientation angles rates Note deg 100 deg s Notes 1 KG 100 KA 10000 2 Angular rates and linear accelerations are in the VG axes X is a lateral axis Y is a longitudinal axis Z is a vertical axis USW is unit status word see section 6 5 for details Vdd is input voltage of the VG Utermo is averaged temperature in 3 accelerometers The low byte is transmitted by first P a Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 59 Vertical Gyro Demo User s Manual inertial Labs At the NMEA Output the VG 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 PARR is identifier and other fields are list
57. nnnnarnannnernnsnnernannneenunnnnenunnneennennn 45 14 2 What do you have to do at strange behavior of the VG rrarrrnrrrnrrnnrrvnrrrnnrnnrnnennnennn 45 14 3 What do you have to do if messages Cannot read parameters Cannot load parameters or Cannot Start VG ADPEAM cece cece cece eee eeceeceeeteeceeeseeeseeceeeeseteeeeeeseesseeseeeeeees 47 PITS CN REE eae epics cee pow AA WA NE NE 48 A Installation of the COM to USB converter drivers and configuration of PC parameters 48 BCS Ci OU OM NA NOS EE EE 57 B 1 Strudu e OF DIN ANY Ne Au 57 B Text presentation of output data formats ww wanwwmwamanwananwanwnwwnwanzwwa www wakanza wwa wawaa 61 C HE Unit Satus Word CSU IIIA 63 D Variants of the Inertial Labs VG mounting relative to the object akes wwwwwwmwwa 64 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com Vertical Gyro Demo User s Manual inectialLabs Introduction This manual is designed to study and use software for all modifications of Inertial Labs VG 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 VG Fig 1 1 The Inertial Labs
58. 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 X is used for fixing the current values of measured data during continuous run see item 8 4 2 On the fly accuracy test If in the menu Options the data output method On Request is chosen then getting data from the VG is performed by clicking the button ZA 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 lower 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 lower part of the window Fig 5 1 a Orientation angles Yaw freely integrated Pitch and Roll In the VG column angles calculated in the VG s microprocessor using the embedded main algorithm are output The Acc column shows orientation angles calculated in the VG Demo Program using simplified algorithms based on accelerometers data Angles in the Acc column are auxiliary they are used by developers only to control operation of the main algorithm b Calibrated output signals of the VG sensors Rate deg sec angular rate values in deg sec measured by angular rate sensors
59. operation e marine application e vibrations To modify VG 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 VG operations and click OK to update the VG parameters according to selected variant Note you are able to apply Preset parameter variants only if VG is powered and connected to computer and COM port number is chosen properly Ordinary device parameters correspond to those loaded in the VG by manufacturer and provides correct VG operation in the most of applications Original file with prm extension that comes on CD with the Inertial Labs VG also contains parameters of the VG algorithm for ordinary VG operation Marine device parameters provides accurate initial alignment of the VG at slow rocking vehicle Note that ordinary algorithm parameters require VG unmoving at procedure of the initial alignment see section 8 1 The main operation modes of the VG The initial alignment procedure of the VG with marine parameters takes 90 seconds During this period don t accelerate the VG only slow rocking is admissible Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 27 Vertical Gyro Demo User s Manual inertial Labs Preset parameters Variants Ordinary device parameters
60. orrectly stored in the VG nonvolatile memory To set these angles select item Device option from the Options menu In opened window Fig 4 3 Angles of the VG mounting are in the Alignment angles section The VG alignment angles are set in next order like yaw pitch and roll setting first alignment angle sets position of the VG 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 VG 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 VG lateral axis X measured around VG longitudinal axis Positive rotation is X axis moving down All angles are set in degrees some examples of the Inertial Labs VG mounting relative the carrier object are shown on Fig D 1 To check correctness of the alignment angles please run the VG using the Inertial Labs VG Demo program Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 64 Vertical Gyro Demo User s Manual inertial LaS Fig D 1 Examples of the Inertial Labs VG mounting on the carrier object a alignment angles are 0 0 0 degrees b alignment angles are 0 9 1 0 180 deg
61. ose the VG 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 VG is powered and LED indicator on the VG case lights red e The VG 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 Then simply click OK button and repeat your operation R Cannot read parameters R Cannot load parameters R Cannot start VG ok Fig 14 1 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 47 Vertical Gyro Demo User s Manual inectialLabs Appendix A Installation of the COM to USB converter drivers and configuration of PC parameters Inertial Labs VG developer highly recommends connection of the VG to a computer through a standard COM port for guaranteed reliable operation of the VG If connection of the VG 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 VG Sequence of the converter driver installation is as follows Connect the converter to a computer The computer automatically starts a s
62. ow Devices Properties is opened see Fig 8 2 In this window the operator in line Number of Devices sets the necessary quantity of simultaneously tested VG 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 VG 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 program serially polls specified COM ports and in column Device Name names of found VG are displayed and button OK becomes active By clicking the button OK see Fig 8 2 names found in window Devices Properties are transferred to the left of a check accuracy window Fig 8 1 instead of label NoName Clicking the button Cancel or button X closes the window Devices Properties Fig 8 2 Device Properties Number of Devices 1 Device name Port Name BaudRate 1290027 COM3 115200 Accumulation Time 20 3 Accuracy checking points 300 00 330 00 360 00 Temperature Sensor C Gyox YA ccx Guoy 6 AT C GyoZ AccZ OK Refresh Scan Fig 8 2 Fig 8 3 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com
63. ownload a file Accuracy txt with the last measured data In pages Pitch deg Roll deg Temperature deg C the current same VG 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 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 VG is displayed Note Page Current Pitch deg changes its name on Current Roll deg and the page Pitch Error deg changes its name on Roll Error deg depending on the chosen controlled parameter in left top corner of the window Accuracy see Fig 8 1 9 Convert Menu Report of experiment command is used for conversation of saved binary data to text file When Report of experiment command is selected or button x is clicked or F8 is pressed see Fig 3 5 a standard Windows Open window is opened in this window operator selects one of the bin files saved previously when the VG was operating in its standard mode Consequently a report file with same name but with txt Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel
64. rees 0 0 0 degrees 80 90 0 degrees c alignment angles are d alignment angles are Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 65
65. s preview on the tab Depending on the selected style windows shown in Fig 5 3 5 5 will appear Step 9 Click Start x button Initial alignment of the VG 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 VG 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 VG position perception displayed on the monitor and the VG real position it is recommended to place the VG 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 X button to get data from the VG each time if you want Observe changes in numeric data and graphical evolutions of the object Step 11 To save data click Write X 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 In On Request operating mode data are written in file sequentially with the each clicking Request xX button Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Te
66. s to use different 3D models for visualization of the VG orientation angles when VG visualization item from the Run menu is used for work with the VG 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 VG Demo software There are files model mgl which contain these models and appropriate screenshot files To set desirable 3D model for the VG visualization just copy the file model mgl from appropriate folder of 3D models to configs subfolder in folder with the VG Demo software At this you should replace existing file Some examples of 3D models for the VG visualization are shown on Fig 13 1 Ferrari F40 Submarine Clipper Fig 13 1 Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 44 Vertical Gyro Demo User s Manual inectialLabs 14 Troubleshooting 14 1 How to repair VG parameters Need to repair of the VG parameters appears in some cases for example at incorrect loading of parameters into the VG memory You can use original file with prm extension that comes on CD with the Inertial Labs VG or use own files created by Save parameters command if these files contain valid data of course Follow next steps to restore VG parameters 1 Connect the VG to PC and power it 2 Start the VG D
67. te Data button to start VG See in the window the behavior of VG angle After time of run complete the window is opened with averaged errors of the VG Step 14 Repeat Step 13 for each reference angle indicated in the Angles column Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 3 Vertical Gyro Demo User s Manual inertialLabs 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 VG 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 bmp file For each run the txt file is created with saved VG data in the data subdirectory File name consists of s n of VG indication what VG angle was tested P pitch R roll reference angle reference temperature time of run For example file D1240001 P 38 22 T 27 1831 txt corresponds to data saved from the VG s n D1240001 at pitch accuracy test for target angle 38 22 at 18 31 Also the
68. th respect to tested angles The VG should be rotated just in plane of one of its base surfaces The Inertial Labs VG Demo software allows two variants of VG accuracy test e Angles accuracy at which the VG restarts each time after it set on new reference angle e On the fly accuracy when VG 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 next analysis At this the separate data file is created for each tested VG position On the fly accuracy style of visualization is designed for continuous VG operation at it setting to different reference angles 10 2 1 Separate accuracy test for each reference angle Step 1 Carefully set VG 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 5 Accuracy check window will appear Fig 8 1 In the left upper corner Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 36 Vertical Gyro Demo User s Manual inectialLabs of the dropdown window choose orientation angle Pitch or Roll for the VG testing Step 7 Click Devices button Devices Properties
69. the commands in the Run menu Fig 3 3 This menu contains next items e VG visualization opens appropriate tab with different variants of visualization of the VG operation Stop VG stops the VG Get BIT opens tab with the VG Built in Test BIT status temperature and the USW see Appendix C The Unit Status Word definition Low Power ON switches the VG to low power consumption mode In this mode the VG doesn t calculate orientation and doesn t output any data Low Power OFF switches the VG to the standard power consumption mode There are four styles of visualization of the VG outputs VG 3D Demo Cockpit Snapshots for the on the fly accuracy test Data graphs Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 15 Vertical Gyro Demo User s Manual inectialLabs 5 1 VG 3D Demo VG 3D Demo is default variant of the VG visualization in which current orientation angles of the VG are shown as spatial orientation of a plane see Fig 5 1 To go to this visualization stile select VG visualization from the Run menu Fig 3 3 or select DE in drop down box on the toolbar or press F4 button Some additional 3D models may be used for visualization of the VG orientation see below Section 11 Selecting 3D model for visualization of the VG orientation
70. utputs READINESS Fig 10 3 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 Step 13 To stop the accuracy test click Stop X button If the VG data were writing and time set in Record time in the Options Test option menu was reached then accuracy test will be stopped too Inertial Labs Inc Address 13800 Coppermine Road Suite 300 Herndon VA 20171 USA Tel 1 703 880 4222 Fax 1 703 935 8377 Website www inertiallabs com 41 Vertical Gyro Demo User s Manual inectialLabs Step 14 To close the On the fly accuracy tab simple go to the other visualization style or close VG visualization tab by clicking the x in the 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 16 10 59 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 Table 10 1 Example of the csv file created at accuracy test

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