FY-AHRS-2000B user manual
Contents
1. 0 01 0 11 0 01 0 00 0 01 0 99 0 99 12 0 14 0 49 70 48 0 01 0 29 0 20 0 00 0 01 0 99 0 99 13 0 14 0 48 70 48 0 89 0 24 0 58 0 00 0 01 0 99 0 99 14 0 13 0 47 70 48 0 16 0 59 0 01 0 00 0 01 0 99 0 99 15 0 12 0 48 70 47 0 01 0 76 0 01 0 00 0 01 0 99 0 99 16 0 11 0 48 70 47 043Z 4 11 0 20 0 00 0 01 0 98 0 98 17 0 10 0 48 70 48 0 69 0 24 0 39 0 00 0 01 0 99 0 99 18 0 10 0 49 70 47 0 01 0 06 0 58 0 00 0 01 0 99 0 94 19 0 10 0 49 70 46 0 16 0 11 0 57 0 00 0 01 0 99 0 99 20 0 09 0 48 70 47 0 54 0 93 0 19 0 00 0 01 0 99 0 99 21 0 08 0 47 70 47 0 51 0 06 0 20 0 00 0 01 0 99 0 99 22 0 08 0 48 70 47 0 16 0 11 0 19 0 00 0 01 0 99 0 99 23 0 07 0 48 70 47 0 19 0 41 0 76 0 00 0 01 0 99 0 99 24 0 08 0 47 70 49 0 19 0 06 0 76 0 00 0 01 0 99 0 99 25 0 07 0 48 70 49 0 51 0 41 0 57 0 00 0 01 0 99 0 99 26 0 06 0 48 70 49 0 01 0 24 0 39 0 00 0 01 0 99 0 99 7 0 07 0 48 70 50 0 69 0 11 0 76 0 00 0 01 0 99 0 99 28 0 06 0 49 70 51 0 01 0 41 0 38 0 00 0 01 0 99 0 99 29 0 07 0 49 70 51 0 01 0 11 0 19 0 00 0 01 0 99 0 99 30 0 06 0 49 70 51 0 37 0 41 0 01 0 00 0 0L 0 99 0 99 zi 0 06 0 50 70 51 0 01 0 81 0 39 0 00 0 01 0 99 0 99 32 0 05 0 50 70 51 0 86 0 06 0 01 0 00 0 01 0 99 0 99 33 0 06 0 51 70 52 0 19 0 06 0 76 0 00 0 01 0 99 0 99 34 0 05 0 51 70 53 0 16 0 06 0 19 0 00 0 01 0 99 0 99 35 0 04 0 51 70 54 0 19 0 59 0 38 0 00 0 01 0 99 0 99 36 0 03 O51 70 55 0 34 0 93 0 39 0 00 0 01 0 99 0 99 7 0 02 0 51 70 54 0 16 0 932. the window when the AHRS rotates 360 degrees in the test that is to say magnetic field interference caused by environment and that caused by calibrating with change you need to calibrate magnetic field again Open the calibration window Click the VIEW button on the menu then choose the option Magnetic Correction Display shown as below FY AHRS 2000 TEST VIEW About 3D Display Compass Display Magnetic Correction Display ose i apitre rien T Write to AHRS Magnetic declination 0 Degree SET Select the Record File The tract obvious deviates when AHRS rotate a circle The procedure of calibrate magnetic field is as follow Attention to keep away from the magnetic object for example telephone car engines electric motors audio speakers steel iron and steel nuts or bolts and so on AHRS should be level placed and clockwise rotated a circle and a haft when calibration Guilin Feiyu Electronic Technology Co Ltd http www feryudz cn E mail service feiyu tech com 8 EAE RF ARARAA Coe eee on a FY AHRS 2000B user manual x The calibration information is shown in the software test statue bar when the process reaches 100 the calibration is completed Shown as below CONFIGURATION VIEW About Port CONS aa 115200 al Graphic View Write to AHRS Magnetic declination o Degree SET Select the Record File CONFIGURATION VIEW About Port CON
3. 0 39 0 00 0 01 0 99 0 99 2R n nm n S1 7A SS n S1 H24 A 328 n nn n mt n aa n aa 47 18 1 462 A79 EEO 114KB ANSI CR LF INS Default Text Record file format Command Field 1 Field 2 Field Field Field type 3 4 5 Attitude Pitch Roll Heading X Y data angle angle angle angular rate angular rate Field 6 Field 7 Field 8 Field 9 Field 10 o Z X Y Z resultant angular acceleration acceleration acceleration acceleration rate For example the data of 123 txt record file keep two decimal places 0 12 0 47 70 49 0 51 0 63 0 73 0 00 0 01 0 99 0 99 0 13 0 46 70 47 0 15 0 63 0 04 0 00 0 01 0 99 0 99 Note in the condition of choosing save data record file when finishing testing close the port If you open the port directly to retest the software will show error So you have to close the software first and reopen the software then connect to PC Note We reserve the right to change this manual at any time And the newest edition will be shown on our website Guilin Feiyu Electronic Technology Co Ltd http www feiyudz cn E mail service feiyu tech com 12
4. E mail service feiyu tech com 1 EM ET RT RRA RA Al Pay attention that black cable corresponding to each other when connection shown as below The use of software Open the software choose the right Com Port and Baud Rate the default Baud Rate is 19200b s and check the Com Port number which you can find in the device manager Change this option if necessary After this you can connect successfully by clicking Open button Shown as below S Sees RAE REA BSW HHH amp 3 DVD CD ROM 3Eahas IDE ATA ATAPI l ra SCSI 0 RAID Etla Se ohp Se REGRESS to Serial Bridge COMS P OMI BS TAKS hlas O RE CRS eS BARIERE hlag E9 Pisica OY ARE ETF Guilin Feiyu Electronic Technology Co Ltd http www feiyudz cn E mail service feiyu tech com 2 J BAIFRTRRARAA FelyaTech Guilin Feiyu Electronic Technology Co Ltd FY AHRS 2000B user manual me FY AHRS 2000 TEST CONFIGURATION VIEW CONFIGURATION VIEW About Graphic View Write to AHRS e to AHRS eclination Magnetic declination Degree SET Select the Record File Select the Record File After click Graphic View button the 3D graphics demo window will be pop up FY AHRS 2000 TEST iii roll 0 02 picth 0 03 yaw LIZz62 Write to AHRS Magnetic declination Select the Record File How to change the Baud Rate permanently For example cha
5. EM CF AF RIZ A RE Al ESE Ee aerial setio tet ne Ba FY AHRS 2000B user manual FY AHRS 2000B user manual FY AHRS 2000B is a high performance strap down inertial navigation system that can measure any point of orientation of the entire locomotive and vehicle in the 3D space AHRS could make high precision positioning for any stationary or moving objects with angular velocity even short magnetic interference will not affect the heading accuracy of the AHRS The system can be carried out AHRS magnetic field calibration to eliminate the hard and soft iron materials motorcycles offset caused by magnetic fields FY AHRS 2000B uses aluminum as packing materials By this it can help to protect the gyro and acceleration sensor and it is convenient to install with the small volume X FY AHRS 20008 4 wu a a MTT i ETIT a 5 a pame r 8 p Sa gt Bn E f EI a ag eee A ae were x HH HH PULIH LIL LULIOLITLU EEA indi The heading accuracy is 1 degrees attitude and heading data on a static accuracy is less than 0 5 degrees and the dynamic accuracy is less than 2 degrees Detailed performance parameters are shown on the parameters and installation manual How to connect the FY AHRS 2000B to computer First you should connect the AHRS module to the connecting cable then connect to USB TTL cable shown as the ope Guilin Fetyu Electronic Technology Co Ltd http www fe1yudz cn
6. HES AHRS Reset RRS Do you want to initialize the gyro TRga c You must ensure there is no vibration during this process Y cc C Writeto AHRS Z Ace 7 Curo F Sve 0 98 X Mag 75 00 Wag OU Y Mag 375 08 Y Mag 376 10 Z Mag 190 00 Select the Record File Z Mag 194 00 Select the Record File The gyro begins to initialize after confirming There is no any Refresh Rate information on the left display box This moment the AHRS module should be kept static You can tilt place but shake is not allowed The refresh data will recover after gyro initialization and the axial rate X Rate Y Rate Z Rate is less than 1 degrees by now the gyro initialization has been completed and AHRS will save the parameter automatically If the angle rate is beyond you need initialize gyro again FY AHRS 2000 TEST CONS v 115200 Graphic View Write to AHRS Magnetic declination Select the Record File Guilin Feiyu Electronic Technology Co Ltd http www feryudz cn E mail service feiyu tech com 7 CAS RTRRAROA FelyaTech Guilin Feiyu Electronic Technology Co Ltd FY AHRS 2000B user manual How to calibrate magnetic field You need to calibrate magnetic field after finishing the installation at the first time If change the working environment or the carrier of AHRS the tract obvious deviates or the centre of the tract circle is not in the centre of
7. S i 115200 a Graphic View Write to AHRS Magnetic declination o Degree SET Select the Record File Guilin Feiyu Electronic Technology Co Ltd http www feryudz cn E mail service feiyu tech com 9 EASE TRRAROA FelyaTech Guilin Feiyu Electronic Technology Co Ltd FY AHRS 2000B user manual Graph comparison is also displayed in the graphic demo window shown in the follow the right circle is the front calibration tract and the left one is the hind calibration tract MM AHRS Test By the end of the magnetic field calibration click Write FLASH button it will write the amend parameters in the FLASH and keep them permanently An information will shown in the window if succeed H FY AHRS 2000 TEST OPEN CONFIGURATION VIEW About Pitch 0 31 Port Roll 0 21 COMS Close Course 10 09 115200 Graphic View Select the Record File Note the rotation angle should be not more than 200 degrees per second when calibration 100 degrees per second or less than is suggested Guilin Feiyu Electronic Technology Co Ltd http www feryudz cn E mail service feiyu tech com 10 KIS RFRRARAA How to record data file and data format Firstly open the software click Select the Record File button to choose the file shown as below FY AHRS 2000 TEST OPEN CONFIGURATION VIEW About 0 23 Port Olt coms Close 111 64 115200 v Graphic View 0 36 0 47 Wr
8. SEEELESEEEEEEELELELEEEEEEEEEESESESEEEEES ESHER EES o Degree SET Select the Record File Click the Close button to close the Com Port choose 115200 as the Baud Rate shown as below FY AHRS 2000 TEST 0 20 _ itch 0 42 0 34 i 0 79 186 08 185 29 0 13 0 59 0 36 Write to AHRS gt O T9 O15 E Fee Magnetic declination 0 00 0 09 0 01 0 Dagris 0 99 0 99 SET 374 00 40 77 39 252 00 Select the Record File Select the Record File Guilin Feiyu Electronic Technology Co Ltd http www fe1yudz cn E mail service feiyu tech com 4 HCE RTRRARG A oe a eee on a FY AHRS 2000B user manual Then click the Open button to reopen the port the refresh data is shown on the left box FY AHRS 2000 TEST OPEN CONFIGURATION VIEW About CONFIGURATION VIEW About F Port CONS aa i worry ee ee 115200 Graphic View Write to AHRS O Write to AHRS Magnetic declination Magnetic declination bo Degree 3 bo Degree SET Oe SET Select the Record File Select the Record File By now the Baud Rate change has been completed If you power off the AHRS then repower on the Baud Rate is 115200 How to change the Refresh Rate permanently For example change the Refresh Rate to SOHZ Click the CONFIGURATION button on the menu then choose the option AHRS Output R
9. data is related to Baud Rate such as if the Baud Rate is 19200 while you want to set the Refresh Rate to 1OO0HZ In this situation even though you can set to IOOHZ the actual Refresh Rate can t reach 1OOHZ Therefore if you want a high Refresh Rate you have to turn up the Baud Rate at first How to initialize the gyro If any of axial rate X Rate Y Rate Z Rate goes beyond 1 degrees when the AHRS module is in static state you need to initialize the gyro Shown as below Guilin Feiyu Electronic Technology Co Ltd http www feryudz cn E mail service feiyu tech com 6 AKT BF RRARAA MM AHRS Test ES Fy AHRS 2000 TEST roll 129 78 OPEN CONFIGURATION VIEW About picth 14 09 yaw 42 89 Pitch 12 98 Roll 134 T4 230 94 ME v Graphic View Write to AHRS Magnetic declination 0 Degree SET Select the Record File The procedure of gyro initialization is as follow Click the CONFIGURATION button on the menu then choose the option Gyro Initialization Choose Yes when the confirmation window is pop up Shown as below FY AHRS 2000 TEST mrs FY AHRS 2000 TEST OPEN CONFIGURATION VIEW About AHRS Output Refresh Rate gt Pitch E z Pitch 0 63 Po Roll 134 AHRS Output Baud Rate i Roll 129 40 l Course 154 Read AHRS aphic View X Rate 11 Sine ee initialize the gyro ek st Magnetic Correction Program A
10. efresh Rate select SOHZ Choose Yes when the confirmation window is pop up Shown as below FY AHRS 2000 TEST CONFIGURATION VIEW About Port AHRS Output Refresh Rate ort e e coms i Close C AHRS Output Baud Rate soHz Cc Read AHRS Gyro Initialization Magnetic Correction Program AHRS Reset Write to AHRS Select the Record File Select the Record File Guilin Fetyu Electronic Technology Co Ltd http www feryudz cn E mail service feiyu tech com 5 EM CF RT RIA RZ Al Acad ae ae aan reer Ba FY AHRS 2000B user manual Click the Write to AHRS button the new Refresh Rate will be written to AHRS permanently There is a message shown in the status box if change successfully ES FY AHRS 2000 TEST OPEN CONFIGURATION VIEW About Pitch 0 51 Port Roll 0 31 COMS v Close Course 86 23 115200 Graphic View A Rate 0 65 Y Rate 0 02 Z Rate 0 TO0 X Acc S0 Y Acc 0 00 Z Ace 0 98 Sve 0 98 X Mag 17 00 Y Mag 351 63 Z Mag 231 00 Select the Record File The change of Refresh Rate is real time so it is not necessary to power off and repower on The successful change setting has been saved permanently The Refresh Rate is SOHZ when you connect next time After changing the Refresh Rate the graphic is also change shown on the demo window MM AHRS Test roll 0 37 picth 0 41 yaw 105 90 Note the actual Refresh Rate of the
11. ite to AHRS 0 60 Write tows e Magnetic declination 0 00 o ee 0 99 SET 149 50 388 T3 193 00 Choose the save path and name the file in the pop up window the postfix should be txt EREET O Ree aa QRealFlight G4 AEri Erns BEHE E 1 TSO 123 txt ae TW T Text File txt 7 BDH Choose the Open button and confirm the software will begin to record the test data Click Close button to stop recording when finish test FY AHRS 2000 TEST OPEN CONFIGURATION VIEW About Write to AHRS Magnetic declination bo Degree SET Guilin Feiyu Electronic Technology Co Ltd http www feiyudz cn E mail service feiyu tech com 11 EAE RF ARARAA oc i ee FY AHRS 2000B user manual The content of record file is as follow fh 123 bct Notepad2 eo ee RHO 86 SEV REG WEY D GRH aa as ERI aK p 1 0 12 0 47 70 49 0 51 0 63 0 73 0 00 0 01 0 99 0 99 2 0 13 0 46 70 47 0 15 0 63 0 04 0 00 0 01 0 99 0 99 3 0 13 0 46 70 47 0 20 0 11 0 54 0 00 0 01 0 99 0 99 4 0 13 0 47 70 47 0 33 0 28 1 19 0 00 0 01 0 99 0 99 5 0 15 0 46 70 48 0 16 0 46 0 19 0 00 0 01 0 99 0 99 6 0 15 0 46 70 47 0 16 0 29 0 20 0 00 0 01 0 99 0 99 7 0 14 0 47 70 47 0 16 0 41 0 39 0 00 0 01 0 99 0 99 0 13 0 47 70 47 0 86 0 24 0 38 0 00 0 01 0 99 0 99 8 9 0 13 0 48 70 48 0 86 0 29 0 20 0 00 0 01 0 99 0 99 10 0 14 0 49 70 48 0 19 0 46 0 39 0 00 0 01 0 99 0 99 11 0 14 0 48 70 48
12. nge the default rate 19200 to 115200 You should do as following Click the CONFIGURATION button on the menu then choose the option AHRS Output Baud Rate select 115200 Choose Yes when the confirmation window is pop up Shown as below ie oy _ i FY AHRS 2000 TEST ai OPEN CONFIGURATION VIEW About AHRS Output Refresh Rate gt oe 2 AHRS Output Baud Rate b 115200 Pitch 0 21 oon Roll 0 07 Close Course 1 57600 3 7 Read AHRS Course 16 56000 Whice View X Rate Gyro Initialization z Y Rate o nna Y Rate C 5 38400 T Rate 7 Rate Magnetic Correction Program 19200 J 7 pore AHRS Reset lt X Ace ber X Acc Y Ace Write to AHRS 9600 Acc Z Acc ew 4300 Z Acc Sve 99 SET avt X Mag 00 2 X Mag Y Mag 04 Y Mag 00 Select the Record File Z Mag Select the Record File Guilin Feiyu Electronic Technology Co Ltd http www feryudz cn E mail service feiyu tech com 3 AN oR steele FeiyuTech is adie FY AHRS 2000B user manual Click the Write to AHRS button the new Baud Rate will be written to AHRS permanently There is a message shown in the status box if change successfully And only by writing successfully can you save completely FY AHRS 2000 TEST Port CONS 7 Close 19200 Graphic View Write to AHRS 7 NAR e eee REE EEE EEE EEEEEEESERESE
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