Magnetic Declination Calibration Instructions.
Contents
1. mode 0 iam EE Fom Te 7 From the Messages drop down box Select oo ise seicciy vector or heating measurements 1 ie ee yah IMU MAG and Enter a one 1 into the Beet i mas Divisor field Figure 3 This will enable the Li es IMU_MAG message to be outputted by the unit at Figure 2 Heading tab fifty hertz 50 Hz The message rate for the specified message will be 50 divisor If the divisor is zero the message will be disabled although it may still be queried 8 Query p Set Ack received Press the Set button Figure 3 Messages tab Copyright Microbotics Inc 2011 Page 1 of 3 IVO 1CROBOTICS INC 9 Select the General tab and Press Save Configuration button Figure 4 This will save the configuration which was just entered The unit is now ready for magnetic declination calibration Alternately 1f the calibration is to be done at another time and or location this configuration will be save when the unit is powered down Note Magnetic variations are unpredictable in certain areas especially where large quantities of ferric metals are present Format Pos Ref Form Heading Info General Protocol Baud Messages Run Mode Save Configuration Revert To Saved Config Erase Configuration J guey _ set Figure 4 General tab FERRER ERARAEERER EL AEE RELEASES EERRER EE REELS ERI ARF eee eee EA Se AA ELEAA ERA RAAA ARERR AR ER ERE REE A CEO RS DO NOT2. IVO 1CROBOTICS INC MIDG Series INS GPS Magnetic Declination Calibration Instructions NOTE This instruction assumes that the MIDG II Software has previously been installed on the computer This software needs to be installed prior to performing this operation Note Magnetic variations are unpredictable in certain areas especially where large quantities of ferric metals are present 1 Introduction This instruction is designed to guide the user on how to perform the magnetic declination calibration of the MIDG Series INS GPS for a specific geographical area 2 Prerequisites The following prerequisites will be needed to perform this operation MIDG Series INS GPS mounted in the vehicle portable computer with the MIDG Display Utility installed MIDG Series INS GPS Interface cable MBI SLC2JUSB SLC2JO9SF or user supplied and this instruction ERRREREREERRERREREERLERERE ERA EREREAR ERE EAERER OI ARMING RRSP eS EEA AREAS AE EERAEREA ERE RRS REA RAE A RAED WARNING DO NOT apply power to unit prior to connecting the interface cable DO NOT use voltages higher than stated in the MIDG Series INS GPS specifications sheet DO NOT connect the GPS antenna to the unit while powered Doing any of these actions may damage the unit THESE DAMAGES ARE NOT COVERED BY WARRANTY RARER AEEREEALERE ERE RARER RAE RERE RARER ER EERE SS ARN Ae ee ee EAE AERA REEARALEREA EERE BREA ERE SEERNE ERS 3 Set Up Prior to performing the magnetic declination c
3. PROCEED WITH THE MAGNETIC DECLINATION CALIBRATION UNTIL THE FIRST SECTION HAS BEEN COMPLETED FAILURE TO DO SO WILL RESULT IN CALIBRATION ERRORS ERATE REAEAEREERAEERELERERER ERR AER EREDAR SEER SEL EAE LAE EAR EE ARREARS EA EERE EAEREREER AER 4 Performing the Magnetic Declination Calibration The magnetic declination calibration can only be performed after the unit has been configured specifically for such The following steps will instruct the user on how to perform this operation We Plotter 1 Open an instance of the MIDG Display Utility and Select the Options drop down menu Z Select_the Plot option This will open the Plotter Plot utility Figure 5 3 Select the Mag radio button and the Press the Center button This will display all three 3 axis of the magnetometer 4 Drive the course starting forward and begin a full circular turn The Plotter should look similar to Figure 6 5 After turning 360 degrees Pause the Plot utility by selecting the Pause checkbox 6 Left click and hold the slider tabs at the bottom of the plotter screen while dragging the slider toward the left side of the pane This will bring the full turn on to the plotter screen The screen should look similar to Figure 6 Note The Plot utility only considers the viewable area when calculating a diagram of the Magnetic route trace 7 Press the Mag Cal Utility button at the bottom right of the Plot utility
4. alibration the MIDG Series INS GPS must mounted in the vehicle and interfaced with the computer Refer to the MIDG Series INS GPS User Manual for instruction on how to properly mount and interface the MIDG Series INS GPS 1 Open an instance of the MIDG Display Utility ai Display and Select the desired COM from the Port meee z e Plot option on the menu bar Status Hagod veizero un Mode Temperature C 0 00 N config valid no Time Stamp ms 0 FO 2 Select _ Options from the Menu Bar then avser p ax yaw Select MIDG Config Figure 1 E a e errr mesie ms 0 Fo Q GPS PY 3 Select the Heading tab and Press the Ss ae x goo00000 vx 000000 00000000 z if pote Vy best Query button Figure 2 This will display Spe ms EO a a ime Stamp ms 3 3 the current magnetometer biases c Pos Vel Att To H 00000 000000 900000 s no Time Stamp ms 0 000000 000000 000000 Time Stamp ms 0 4 Reset all bias values to zero 0 and press the Time Stamp ms 0 Raw GPS Measurement ts Set button Figure 2 Figure 1 MIDG Display Utility with MIDG Config option selected 5 Verify that the Enable in INS mode Enable in VG mode and ppa Use velocity vector for heading measurements are all checked Genes Piotocoi Baud Messages Aun Mode and Press the Set button Figure 2 oo an a Aid Threshold 6 Select the Messages tab Figure 3 4 LE I Enable in INS mode q V Enable in YG
5. the Heading tab and enter the R y and z bias Query Set Reply received estimates This data is found in the bottom left corner of the Magnetometer Bias Estimation Utility Figure 9 Heading tab 12 Press the Set button and wait for an Ack message This sends the magnetometer bias estimates to the unit 13 Select the General tab and Press the Save Configuration button This saves the bias estimates to the current configuration profile This completes the Magnetic Declination Calibration The MIDG II INS is now properly calibrated for magnetic variations 5 Help and Support Microbotics Inc is dedicated to supporting the missions of our clients and offers free thirty 30 days of support for all of our products Contact Microbotics Inc for pricing and availability Specific technical questions should be sent to support microboticsinc com Copyright Microbotics Inc 2011 Page 3 of 3
6. to display the Magnetometer Bias Estimation Utility Figure 7 Load From MIDG Date 11 8 2007 v Figure 7 Magnetometer Bias Estimation Utility Copyright Microbotics Inc 2011 Page 2 of 3 AVO ICROBOTICS INC 8 Press the Import button to import the Plot JL Magnetometer Bias Estimation Utility data The imported data should look similar to Figure Cia ton ___ eo 8 The red represents the actual plot and the blue dots eee l represent the estimated magnetic planar curve oo a a ee oC however the utility has not consider the z axis oe T eee Dp erer Note The software calculates the x and y axis bias estimates but f wl A apanan Vente foom there is an error on the z axis 4 NS A Shouldbe 0 Bias Estimates x 92 3 000 2 000 1 000 0 1 000 2 000 3 000 y 5 9 Enter the latitude longitude and altitude in the provided boxes at the top right of the Magnetometer Bias Estimation Utility or Press the Load from MIDG button must have GPS connectivity with 3D fix After en entering the altitude the software calculates the magnetic data from Foma Posret xFom Headiia mo Internal Magnetometer Figure 8 Magnetometer data imported software tables se TF 10 Select Options from the Menu Bar then Select MIDG Config g tntenins ro Figure 9 Enable in VG mode MV Use velocity vector for heading measurements F even when turning 11 Select
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