InertiaCube Bringing 3D To Life
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1. resources associated with this tracker If 0 is passed all currently open trackers are closed When last tracker is closed program frees the DLL Returns FALSE if failed for any reason handle Handle to the tracking device This is the handle returned by ISD OpenTracker InertiaCube Manual Rev 1 1 28 Doc No 072 IC210 0J01 BOOL INTERSENSE ISD GetTrackerConfig ISD TRACKER HANDLE handle ISD TRACKER INFO TYPE tracker BOOL verbose Get general tracker information such as type model port etc Also retrieves genlock synchronization configuration if available See ISD_TRACKER_INFO_TYPE structure definition for complete list of items handle tracker BOOL Handle to the tracking device This is the handle returned by ISD OpenTracker Pointer to a structure of type ISD TRACKER INFO TYPE See isense h for structure definition ISD SetTrackerConfig ISD TRACKER HANDLE handle ISD TRACKER INFO TYPE tracker BOOL verbose When used with IS Precision Series IS 300 IS 600 IS 900 tracking devices this function call will set genlock synchronization parameters all other fields in the ISD TRACKER INFO TYPE structure are for information purposes only handle tracker BOOL IsD_GetCommInfo Handle to the tracking device This is the handle returned by ISD OpenTracker Pointer to a structure of type ISD TRACKER INFO TYPE See isense h for structure definition ISD TRACKER HANDLE handle ISD TRAC2. 1 to ISD MAX STATIONS ISD GetStationConfig ISD TRACKER HANDLE handle ISD STATION INFO TYPE sta tion WORD stationID BOOL verbose Fills the ISD STATION INFO TYPE structure with current settings Function requests configuration records from the tracker and waits for the response If communications are interrupted it will stall for several seconds while attempting to recover the settings handle Handle to the tracking device This is the handle returned by ISD OpenTracker station Pointer to a structure of type ISD STATION INFO TYPE See isense h for structure definition StationID Number from 1 to ISD MAX STATIONS InertiaCube Manual Rev 1 1 30 Doc No 072 1C210 0JO1 BOOL INTERSENSE ISD GetData ISD TRACKER HANDLE handle ISD TRACKER DATA TYPE data Get data from all configured stations Data is places in the ISD TRACKER DATA TYPE structure Orientation array may contain Euler angles or Quaternions depending on the settings of the angleFormat field of the ISD STATION INFO TYPE structure TimeStamp is only available if requested by setting TimeStamped field to TRUE Returns FALSE 1f failed for any reason handle data BOOL Handle to the tracking device This is the handle returned by ISD OpenTracker Pointer to a structure of type ISD TRACKER DATA TYPE See isense h for structure definition The structure is designed to accommodate InterSense Professional Series devices that support multiple senso
3. Do not plug in or unplug the power cable with wet hands Please see Appendix C for Health and Safety warnings and guidelines InertiaCube Manual Rev 1 1 Doc No 072 1C210 0JO1 W INTERSENSE Table of Contents 1 THEORY OF OPERATIONS cccccccsccccccccccccccccccccccccccccccccccccccccccccccces 5 1 1 INERTIACUBE TM INTEGRATED INERTIALINSTRUMENT ccccccccesscescesccesecescesscenseesee 5 1 2 3 DOF GYROSCOPIC EARTH STABILIZED ORIENTATION SENSING GEOS ALGORITHDMG cccecoccecsceccccececcscecescececcscccscesescecescecaecsceseecestececescscescsseseecesescesescsseseeceses 6 2 SPECIFICATIONS AND PERFORMANCE CHARACTERISTICS 8 2 1 PERFORMANCE SPECIFICATIONS cccscoccsceccsceccscecccceccccscscscescececeececscscsescesescess 8 22 CONNFOONNNN Bee 8 gt OPNA 8 3 SETTING UP YOUR NEW INERTIACUBE cccccccccsscscsssscssssccscccscscsccsccssccscseseees 9 3 1 INERTIACUBE COMPONENTS occccccccseseccsescesscesesescesssesecsscesssessssacesssesesescesssesesseceasees 9 3 2 UNPACKING THE INERTIA CUBE SENSOR cccesccssesesesecssssesesesecccesesececscesecesscessceeseesees 9 SY SON 10 3 4 SETTING UP THE HARDWARE erernerernennrnennvnenennenennenennnnennnnensnnenennenennenennenennnnenennener 11 3 4 1 InertiaCube placement eccccccccsescscsesssssssssesssssssssvsvsssvevevsvevavavavavavavavavavevens Il 3 4 2 Computer Power Connection rrrrnnnnnnnnnnvvnnnnnnrrnvnnnnnnnrsnnnnnnnneernnnnnnnnensnene
4. Manual Doc No 072 1C210 0JO1 INTERSENSE Typically you should use 0 which will cause the program to first search for the tracker on the default network port 5001 then on all available RS232 ports If you need to use a different network port enter it as the first parameter to ISD OpenTracker A Makefile is not provided To compile for UNIX simply enter eee Not currently supported in this ISDEMO release All help information is contained in this manual Rev 1 1 25 INTERSENSE 5 Developer s Instructions For DLL version 3 07 5 1 Introduction This document describes the interface to be used by the application software to initialize and retrieve data from the InterSense devices using the ISENSE DLL This dynamic link library is provided to simplify communications with all models of InterSense tracking devices including IS 300 IS 600 IS 900 InertiaCube and all versions of InterTrax It can detect configure and get data from up to 4 trackers The DLL maintains compatibility with existing devices and also makes the applications forward compatible with all future InterSense products 5 2 Sample Program The DLL is distributed with sample programs written in C and Visual Basic to demonstrate usage It includes a header file with data structure definitions and function prototypes Most of the API description below can also be obtained from the header file main cpp Main loop of the program All API calls are made
5. Scheme 3 Yaw Pitch and Roll Full 360 All Axes 1200 per second 3 per second 1 RMS 3 RMS 180 Hz 8 milliseconds 0 05 Windows 98 2000 NT RS 232 Serial 32mm x 29mm x 24mm 28 grams 0 98 ounce 3 05 m 10 ft cable is provided This cable is extendable to over 30 5 m 100 ft w InterSense provided extension cables 6 VDC via AC to DC Adapter included specify country 100 milliamps The InertiaCube simply plugs into the RS 232 serial port of a computer The AC to DC power adapter is plugged into your main power and the 6 VDC power plug connects to the serial port dongle 2 3 Compatibility The InterSense InertiaCube is PC compatible with Windows 95 98 2000 and XP Third party software using the standard InterSense DLL is also supported Please check with third party software providers or InterSense support isense com about specific software compatibility and support InertiaCube Manual Doc No 072 IC210 0J01 Rev 1 1 qv INTERSENSE 3 Setting up your new InertiaCube 3 1 InertiaCube Components lnertiacube gt i anil 77 07 Serial Port Donel DC Power Jack Be a es ae a ee i a Fr PE E E v g MG End ppr g ary 1 tare 1 3 2 Unpacking the InertiaCube Sensor The InertiaCube orientation sensors come with 10 foot cables that plug into the RS 232 serial port of a computer NOTE The InertiaCube sensor is a precision instrument Care must b
6. from here isense h Header file containing function prototypes and definitions some of which are only applicable to InterSense Professional Series devices and are not used with InterTrax This file should not be modified isense cpp DLL import procedures This file is included instead of an import library to provide compatibility with all compilers not just the VC 6 0 isense dll The InterSense DLL This file should be placed in the Windows system directory or in the working directory of the application InertiaCube Manual Rev 1 1 Doc No 072 1C210 0J01 26 53 Usage INTERSENSE The API provides an extensive set of functions that can read and set tracker configuration but in its simplest form can be limited to just 4 calls as shown below void main ISD TRACKER HANDLE handle ISD TRACKER INFO TYPE tracker ISD TRACKER DATA TYPE data handle ISD OpenTracker NULL 0 FALSE FALSE if handle gt 0 Printi Tyn Az else printf Tracker not found Press any key to exit El R1 X Y while kbhit if handle gt 0 ISD GetData handle amp data printi ELLE GLE GILJE GLE GLE GSE data Station 0 Orientation 0O data Station 0 Orientation 1 data Station 0 Orientation 2 data Station 0 Position 0O data Station 0 Position I data Station 0 Position 2 ISD_GetCommiInfo handle amp tracker printfi 25 2tkbos td Records a VE tracker KBitsPerSec tracke
7. 12 3 5 TRACKER USE GUIDELINES c ccceccececcsceccececcececcscececcecescecesescecescececscsescusescess 13 4 ISDEMO TESTING THE INERTIACUBE soeeosessessesssessessssnsesnesssessesnssnsesnene 14 4 1 USING ISDEMO ersenernernevnennrnernennenernennennrnennennrnennennenennennenennennennenennennenennennennnnene 14 4 2 ISDEMO MAIN WINDOW ccccccscecescecescececcsceccscecscscescsceceececescscesescesescesesees 16 4 3 FILE OPTIONS rerernorevnenennrnennrnennrnenennenennenennnnennnnenennenennenenennenennenennenennenenennenennenennene 17 4 4 COMMUNICATIONS OPTIONS cccececcececcececcececcececcscececcececeececescecescscesescesescecesees 18 4 5 PARAMETER OPTIONS seede 19 4 6 DISPLAY OPTIONS cccccececcececcececccceccccecscececeececescecscscstsceceecesescscusescesescesacees 21 4 7 TOOLS OPTIONS ccccceccececccceccececcececcscecscececesceceececscecestscuceececesescesescesescececees 22 S DEVELOPER S INSTRUCTIONS wisssssssssiscisvseseccvunseccccceacescauccucsbaccevessenscccssadencces 26 L RODIN 26 5 2 SAMPLE PROGRAM crainn EEOAE 26 Ne EEE EEE EE 27 e AP a ee a ee ee eo ee 28 6 APPENDIX A FREQUENTLY ASKED QUESTIONS cccsscccssssccessees 33 7 APPENDIX B TROUBLESHOOTING cccccccccscccccccccccccccccscccscees 34 APPENDIX C HEALTH AND SAFETY WARNINGS AND GUIDELINES 35 9 APPENDIX D CARE AND MAINTENANCE x eseseosevsevevsevsenevneesenneneenenneneeneeee 37 InertiaCube Ma
8. 5 DRAFT ALL AROUND gn 1608 SECTION C C InertiaCube Side View Mounting Holes dimensions in inches InertiaCube Manual Rev 1 1 11 Doc No 072 IC210 0J01 qv INTERSENSE TRUE R 063 ALL AROUND 2X R 105 CA 2X TRUE R 25 1 4X TRUE R 125 InertiaCube Top View dimensions in inches The InertiaCube comes with a 3 05 m 10 cable attached This cable plugs into the serial port dongle The range of the InertiaCube is theoretically unlimited and is only restrained by the length of the cable that attaches it to the computer A length of 3 05 meter 10 feet is standard on all orders Extension cables are available Contact InterSense to order extension cables 3 42 Computer Power Connection The InertiaCube is removed from packaging and plugged into the serial port power dongle as shown below E Connection of InertiaCube2 cable to serial port power dongle Next the AC to DC power converter is connected to wall power and the 6 VDC power jack is plugged into the serial port dongle jack Finally the serial port dongle is connected to your computer Up to four 4 InertiaCubes can be connected to the PC using COM ports 1 thru 4 InertiaCube Manual Rev 1 1 12 Doc No 072 1C210 0JO1 INTERSENSE 3 5 Tracker Use Guidelines e Keep the InertiaCube s still for the first 10 seconds after starting your application software e tis recommended though not required that you wai
9. INTERSENSE 2 TM InertiaCube Bringing 3D To Life Manual for Serial Port Model InertiaCube Manual Doc No 072 IC210 0J01 INTERSENSE User Manual for InertiaCube DLL Version 3 07 and higher Contacting InterSense Please do not hesitate to contact us for any reason We are here to help and we value your business InterSense Inc 73 Second Avenue Burlington Massachusetts 01803 USA Telephone 781 270 0090 email info isense com Fax 781 229 8995 Internet www isense com Patents The label below identifies the protection granted by the Government of the United States to InterSense for its products U S Patents 5645077 5807284 6162191 and Patents Pending INTERSENSE Trademarks InterSense InertiaCube InertiaCube SoniDisc GEOS PULSAR CONSTELLATION are trademarks of InterSense Inc All other trademarks are the property of their respective owners Copyright 2001 InterSense Inc InertiaCube Manual Rev 1 1 Doc No 072 IC210 0J01 INTERSENSE Precautionary Statements Any changes or modifications to the InertiaCube not expressly approved by InterSense will void the warranty and any regulatory compliance issued for the system Do not drop or otherwise shock the tracking devices for they can be permanently damaged Do not bend twist pull strongly or tamper in any way with any part of the cabling Take care to avoid electric shocks
10. KER INFO TYPE tracker Get RecordsPerSec and KBitsPerSec without requesting genlock settings from the tracker Use this instead of ISD GetTrackerConfig to prevent your program from stalling while waiting for the tracker response This call is used to obtain data rate information handle tracker InertiaCube Manual Doc No 072 1C210 0JO1 Handle to the tracking device This is the handle returned by ISD OpenTracker Pointer to a structure of type ISD TRACKER INFO TYPE See isense h for structure definition Rev 1 1 29 BOOL INTERSENSE ISD SetStationConfig ISD TRACKER HANDLE handle BOOL ISD STATION INFO TYPE Station WORD stationID BOOL verbose Configure station as specified in the ISD_STATION_INFO_TYPE Structure Before this function is called all elements of the structure must be assigned valid values General procedure for changing any setting is to first retrieve current configuration make the change and then apply them Calling ISD_GetStationConfig is important because you only want to change some of the settings leaving the rest unchanged This function is ignored if used with InterTrax30 and InterTrax2 products InterTraxLC and InertiaCube2 only allow the Compass field to be changed handle Handle to the tracking device This is the handle returned by ISD OpenTracker station Pointer to a structure of type ISD STATION INFO TYPE See isense h for structure definition StationID Number from
11. agnetic compassing function is only used to correct drift in yaw In many fly through applications absolute yaw referenced to magnetic north is not important and relative yaw tracking is sufficient This is the case when the user can turn to face an object or rotate the virtual world to bring that object into view In these situations it may be desirable to turn magnetic yaw compensation off if there are large variations in the direction of magnetic north over the tracking area With the compassing turned off the yaw value will drift a few degrees per minute This drift is too slow to notice while it is happening but the cumulative yaw error may eventually become noticeable if the user is seated in a fixed chair and then it may be necessary to apply a Heading Boresight When yaw compensation mode is disabled the Nav frame axes are aligned instead to pseudo north pseudo east and down where pseudo north is simply the direction the InertiaCube x axis was facing on power up or after application of a Heading Boresight command InertiaCube Manual Rev 1 1 Doc No 072 IC210 0J01 W INTERSENSE 2 Specifications and Performance Characteristics 2 1 Performance Specifications Degrees of Freedom Angular Range Maximum Angular Rate Minimum Angular Rate Static Accuracy Dynamic Accuracy Update Rate Latency Angular Resolution O S Compatibility Interface Size Weight Cable Power Power Consumption 2 2 Connection
12. ate Hardware Model Interface Port Serial Number Date Firmware Rev per T Calibracion Ve rs 1 Tl Descriptor InertiaCube Manual Doc No 072 1C210 0JO1 2 Ele ee 0T a LS Brae anion SSeS Tnertiacube2 Serial 1 110037 12 23 2001 43 10 02 2001 2 04 Rev 1 1 22 QV INTERSENSE UDP Broadcast Server This tool is used to broadcast tracker data over the network using UDP packets Other machines on the network run client software that receives this data fee UDP Broadcast Server Commands Help Station Generic ADOF Station 6 Station zZ Station 7 atation j Station 8 Station Station 5 Network Port Number Default Coordinate Frame ghort Encoder Record Time Stamp Virtual Set Frame Complete Encoder Record Idle Local Info dei Getting tracker a Client software can only receive data so stations and output records have to be configured here Depending on available hardware select one of the 4 available options for each of the stations None Station is OFF and no data will be received from it Generic 6DOF Only position and orientation data is available Use this option with the InertiaCube NOTE A unique Network Port number not used by any other computer on the network should be assigned to the server All client applications including the ISDEMO should InertiaCube Manual Rev 1 1 23 Doc No 072 1C210 0JO1 a nin J INTERSENSE use that number
13. e should be used for no more than one hour at a time After that you should take a 15 minute rest break before re use regardless of how you feel If you feel uncomfortable at any time stop using immediately Rest after using Rest for at least 15 minutes after using InertiaCube even if you feel fine and have experienced none of the symptoms described below If you have experienced any undesirable effects or symptoms rest until they are completely gone Do not walk drive ride a bike or operate equipment until you have rested otherwise you risk injury to yourself and others Epilepsy and seizures A very small part of the population has a condition that may result in epileptic seizures or loss of consciousness If you or anyone in your family has epilepsy or has experienced seizures or loss of consciousness do not use InertiaCube without first consulting your physician Persons who have not experienced seizures or loss of consciousness may still have an epileptic condition We recommend that a non user is always present when InertiaCube is being used InertiaCube Manual Rev 1 1 35 Doc No 072 1C210 0JO1 INTERSENSE Additional possible risks of harm While tracking technology has been used for many years the range of sensors that are used to calculate positional and angular data continues to develop Over the last twenty years as considerable amount of research has been conducted into possible side effects induced
14. e taken when handling this device Most of our customers attach the InertiaCube to devices that are more fragile than the InertiaCube and hence require that the whole system must be handled carefully Although the product can withstand the normal wear and tear experienced by a premium HMD or other device abrupt actions such as dropping it or banging it against another o bject can permanently damage the InertiaCube InertiaCube Manual Rev 1 1 Doc No 072 1C210 0JO1 qv INTERSENSE AC to DC Power Ad MnertiaCube an a MORT m InertiaCube in Ke ol CD not ee 3 3 Software Test software and the DLL Software Development Kit SDK delivered with the InertiaCube is provided on CD with the system Use the auto install tool to extract and install the software InertiaCube Manual Rev 1 1 Doc No 072 1C210 0JO1 10 INTERSENSE 3 4 Setting up the Hardware 3 4 1 InertiaCube placement The InertiaCube is typically screwed or bolted to the object it is tracking use of plastic or aluminum screws is recommended As best as possible locate the InertiaCube level to the ground in relation to its actual position during use Correct Incorrect Optimally you would mount the InertiaCube onto a base plate In cases of anticipated vibration or physical shock it 1s recommended that rubber mounting pads be used The mounting holes for the InertiaCube are illustrated below a ry 1
15. f an object or mounted on rubber What are the PIN assignments on the DB9 on the InertiaCube gt Function DCD RX TX DTR GND DSR RTS CTS RI I oMNAIUYUYRQNN Currently the InertiaCube uses four wires RX TX RTS and GND Do you have any advice about working with software packages Consult with the software vendor or contact InterSense support Qisense com How do I know whether I have the latest release of ISDEMO Check our web site the URL is http www isense com support html Click on the ISDEMO ZIP hypertext link We always post the latest release for you to download InertiaCube Manual Rev 1 1 33 Doc No 072 1C210 0JO1 INTERSENSE 7 Appendix B Troubleshooting Problem ISDEMO doesn t work ISDEMO is running but system does not track InertiaCube interference Orientation is drifting uncontrollably InertiaCube Manual Doc No 072 1C210 0J01 Reason Solution Most common reasons not in any order 1 2 3 4 5 Connected to wrong COM port plug on the back of the computer The selected serial port is captured by another program and can t be opened by ISDEMO Serial port not capable of running at 115 200 baud rate This is usually due to older computers that cannot run at 115 200 baud The problem is a lack of a proper UART such as the 16550 Incorrect port settings use autodetect for Com parameters Not using Start Displaying Data It may be necessary to se
16. for PARTIAL compass mode magnetometer readings are used to reduce drift and maintain stability but not as an absolute measurement system In this mode system is much less susceptible to magnetic interference but heading drift will accumulate If compass is OFF no heading compensation is applied Perceptual Enhancement Level Not applicable for InertiaCube Consult InterSense if needed Sensitivity Level Not applicable for InertiaCube Consult InterSense if needed Prediction Value Not applicable for InertiaCube Consult InterSense if needed InertiaCube Manual Rev 1 1 20 Doc No 072 1C210 0JO 1 4 6 Display Options fax ISDEMO Configured for DLL Compatible device 39 B1Ebps 180 Records InertiaCube on Coml Start and Stop Displaying Data WV INTERSENSE 0 Frames s Display is To display orientation data being received from the tracker use the Start Displaying Data option in the Display menu or press Ctrl D InertiaCube Manual Rev 1 1 Doc No 072 1C210 0JO1 21 4 7 Tools Options ig ISDEMO Configured for DLL Compatible device Pitch 40 62Kbps ee InertiaCube2 on Coml System Information system Roll UDP Broadcas UDE E ute hal era 184 Records s 26 Frames s Display is ON This window provides a summary of the InterSense tracker hardware and software configuration fee System Information 2 on ATL q ISDEMO Version BIEN EFE fn DLL Build D
17. g Recommended cleaning materials are the same as those for computers Antistatic cloths can clean the components and reduce static electricity Cleaning solutions should be applied to the cloth and not directly on any part of the system components Phone amp email support Any questions regarding the care and maintenance of your InertiaCube can be handled by phone 781 270 0090 or by email support Qisense com Please see the Support page at Www isense com for the technical support contact information Returns to InterSense Should you need to return any component of your system to InterSense for replacement or repair contact InterSense prior to shipment to obtain a Return Material Authorization RMA Number and when shipping use the following address InterSense Inc 73 Second Avenue Burlington MA 02129 USA Please note that InterSense will not be responsible for materials returned without an RMA number clearly marked on the outside of the shipping package Batteries There are no batteries in the InertiaCube system Electrical power 6 VDC 100 mA InertiaCube Manual Rev 1 1 Doc No 072 1C210 0JO1 37
18. in users of real time computing systems that include various types of tracking sensors This research has reported the symptoms described below from some users of these systems InertiaCube has been designed using the latest sensor technologies and we believe that the possibility of such symptoms occurring has been minimized However it is not possible to design for the individual characteristics of each user and it is possible that users will experience one or more of the side effects described below Historic research shows that the effects or symptoms ordinarily occur during and immediately after use and should diminish quickly once the user stops using the system We want you to make an informed and responsible choice about using the InertiaCube Accordingly we warn you that even if you read and follow the User Instructions you may experience one or more of the following effects or symptoms if you use InertiaCube gt with a personal display eye strain altered vision eye or muscle twitching headaches neck and shoulder strain nausea and vomiting disorientation dizziness impaired balance and stability drowsiness fainting fatigue sweating extreme paleness impaired hand eye or other co ordination Each effect or symptom if it occurs should be temporary and may last from a few minutes to 30 minutes InertiaCube Manual Rev 1 1 Doc No 072 1C210 0J01 INTERSENSE 9 Appendix D Care and Maintenance Care and Cleanin
19. l Rev 1 1 18 Doc No 072 IC210 0J01 EV INTERSENSE 4 5 Parameter options Parameters menu gives you access to the tracker configuration controls Configured for DLL Compatible device 39 15Kbps 178 Records s 39 Frames s TnertiaCube2 on Coml Display is Station and Sensor Parameters The window shown below allows you to configure each InertiaCube The DLL version 3 07 can support up to four 4 stations but ISDEMO only will allow interaction with one 1 E Station Configuration OF Ei Commands State InertiaCube Enhancenent Sensitivitvy Compass Prediction Station 1 ON I 2 a Full O Double clicking on the Station line or clicking the Change button will bring up the Station Configuration window where changes can be made InertiaCube Manual Rev 1 1 19 Doc No 072 IC210 0J0O1 GP INTERSENSE Station Configuration window F Station Configuration TAT Commangqs Help Max Smoothness FF m Preedi ciconia e Min Station ON OFF The station is always ON and data records will be sent continuously Compass This controls the state of the compass component of the InertiaCube When station is configured for FULL compass mode the readings produced by the magnetometers inside the InertiaCube are used as absolute reference orientation for yaw Metallic objects and electronic equipment in close proximity to the InertiaCube can affect the magnetometers When station is configured
20. le to correctly configure your tracker E System Initialization ISDEMO Yer 4 0719 Commands Help Configured for DLL Compatible device 18 300 Series 18 600 Series IS 900 Series FG DLL Compatible InertiaCube Manual Rev 1 1 14 Doc No 072 IC210 0J0O1 INTERSENSE DLL Compatible DLL compatible trackers include all of InterSense s tracking systems that use software applications programmed to the InterSense API which call functions through the InterSense DLL Some InterSense trackers like the InertiaCube amp InterTrax LC are only DLL compatible The InterSense precision line of trackers IS 300 IS 600 and IS 900 can interface either directly through a serial port or via the DLL IS 300 The IS 300 is a 3 Degree Of Freedom DOF tracker It obtains its primary motion sensing data using a miniature solid state inertial measurement unit InertiaCube which senses angular rate of rotation gravity and earth components along three perpendicular axes The angular rates are integrated to obtain the orientation yaw pitch and roll of the sensor Gravitometer and compass measurements are used to prevent the accumulation of gyroscopic drift IS 600 The IS 600 uses an InertiaCube to sense angular rate of rotation and linear acceleration along three perpendicular axes The angular rates are integrated to obtain the orientation yaw pitch and roll of the sensor and the linear accelerations are transformed into a
21. lect Stop Displaying Data first Check for the following 1 2 The InertiaCube is not plugged in The InertiaCube was plugged in after power up and a detect command has not been issued Check for the following 1 1 2 3 Placement directly on top of metal You should place the InertiaCube an inch or two away Make sure that InertiaCube is properly plugged in Keep InertiaCube still for 10 seconds after connecting with ISDEMO or DLL Compass is turned off in ISDEMO Rev 1 1 34 INTERSENSE 8 Appendix C Health and Safety warnings and guidelines Important Most of the side effects described in this section usually only occur when a tracking device like an InertiaCube is used with personal displays or 3D glasses The symptoms listed below are usually referred to as Simulator Sickness A A Read and follow the user instructions Before using InertiaCube read and follow the user instructions In exceptional circumstances failure to read and follow the user instructions could result in possible side effects that may lead to accidental injury during or after use Recommended For use only by persons 15 years of age or older This system should not be used by e Persons under the influence of drugs and alcohol e Pregnant women e Persons suffering from a heart condition e Persons with a history of epilepsy Take frequent breaks It is recommended that InertiaCub
22. nd script BOOL ISD NumOpenTrackers WORD count Number of currently opened trackers is stored in the parameter passed to this function BOOL ISD ResetAngles ISD TRACKER HANDLE handle float yaw float pitch float roll Reset tracker angles to specified values only serial version of InterTrax2 is supported in this release BOOL ISD ResetHeading ISD TRACKER HANDLE handle WORD stationNum Reset heading to zero InertiaCube Manual Rev 1 1 Doc No 072 1C210 0JO1 INTERSENSE 6 Appendix A Frequently Asked Questions Ql Q2 Q3 Q4 Q5 Q6 Q7 Q8 What is the maximum length of the cable between the InertiaCube and the computer The cable between the InertiaCube and the computer has been tested to a length of 100 feet InterSense can provide longer cables Please contact your sales representative for information Does the InertiaCube have batteries How often do they have to be changed The InertiaCubes do not contain batteries Are all the interconnection cables shielded Yes What is the MTBF of each component separately Based on supplier data the MTBF for the InertiaCube is estimated at 5 years What type of shock can the InertiaCube sustain These InertiaCube is designed to withstand a maximum acceleration of 500 g Basically this means that a direct impact on the devices is not recommended The InertiaCubes can withstand a higher level of shock if installed on the inside o
23. nual Rev 1 1 Doc No 072 IC210 0J01 INTERSENSE 1 Theory of Operations Congratulations for buying the finest orientation tracker on the market This technology offers you several advantages e Very low latency e Unlimited range e Smooth jitter free tracking The InertiaCube is an inertial 3 DOF Degree of Freedom orientation tracking system It obtains its motion sensing using a miniature solid state inertial measurement unit which senses angular rate of rotation gravity and earth magnetic field along three perpendicular axes The angular rates are integrated to obtain the orientation yaw pitch and roll of the sensor Gravitometer and compass measurements are used to prevent the accumulation of gyroscopic drift 1 1 InertiaCube integrated inertial instrument The InertiaCube is a monolithic part based on micro electro mechanical systems MEMS technology involving no spinning wheels that might generate noise inertial forces and mechanical failures The InertiaCube simultaneously measures 9 physical properties namely angular rates linear accelerations and magnetic field components along all 3 axes Micro miniature vibrating elements are employed to measure all the angular rate components and linear accelerations with integral electronics and solid state magnetometers The magnetometers are included for optional yaw drift correction in the sourceless inertial orientation mode only The geometry and composition of
24. r RecordsPerSec Sleep 6 ISD CloseTracker handle InertiaCube Manual Rev 1 1 Doc No 072 IC210 0J01 Z NO 7 E 27 INTERSENSE 5 4 API ISD TRACKER HANDLE ISD OpenTracker HWND hParent DWORD commPort BOOL 2nroScreen BOOL verbose hParent Handle to the parent window This parameter is optional and should only be used if information screen or tracker configuration tools are to be used when available in the future releases All included sample programs pass NULL commPort If this parameter is a number other than O program will try to locate an InterSense tracker on the specified RS232 port Otherwise it looks for USB device then for serial port device on all ports at all baud rates Most applications should pass 0 for maximum flexibility If you have more than one InterSense device and would like to have a specific tracker connected to a known port initialized first then enter the port number instead of 0 infoScreen This feature has not been implemented Its purpose is to display an information window to show the tracker detection progress and results Currently DLL writes only to Windows console Most applications should pass False verbose Pass True if you would like a more detailed report of the DLL activity Messages are printed to Windows console BOOL ISD CloseTracker ISD TRACKER HANDLE handle This function call de initializes the tracker closes communications port and frees the
25. reference coordinate frame and double integrated to keep track of changes in position x y and z Ultrasonic time of flight distance measurements are used to obtain a starting position and to correct any drift in the inertial position and orientation tracking IS 900 The IS 900 is similar to the IS 600 except the roles of the SoniDiscs and ReceiverPods are reversed Ultrasonic range measurements are made with respect to an array of SoniDiscs The array Is positioned over the required tracking area or on wall behind the tracker or both The SoniDiscs are triggered by infrared triggering codes and they respond by emitting an ultrasonic chirp which propagates through the air Three ReceiverPods mounted in the tracker then detect this chirp The ReceiverPods and associated electronics on the tracker measure the time of flight and thereby obtain range measurements from the camera to whatever SoniDiscs are nearby and visible InertiaCube Manual Rev 1 1 Doc No 072 1C210 0J01 15 I NTERSENSE 42 ISDEMO Main window ISDEMO has six primary menus in its main window File Communications Parameters Display Tools Help ii TE EE ISDEMO Configured for DLL Compatible device File Communications Parameters Display Tools Pitch 239 681Kbps 180 Records s 39 InertiaCubez2 on Coml Display is InertiaCube Manual Rev 1 1 Doc No 072 1C210 0JO1 16 WV INTERSENSE 4 3 File options The File menu p
26. rovides you with the following options Select Hardware Device Reset Heading Exit PE a EE EE EE EEE ISDEMO Configured for DLL Compatible device E Communications Parameters Display Hardware Device Ctrl B Ctrl a lr Fecords sS on Coml Dien Select Hardware Device System Initialization window also seen at initial start up is shown when Select Hardware Device is selected Use this window to select or detect the tracker model connected to your computer Reset Heading Resets the current heading to zero Exit Exits ISDEMO InertiaCube Manual Rev 1 1 17 Doc No 072 1C210 0JO 1 INTERSENSE 4 4 Communications options This menu item will connect the tracker through the DLL The DLL will automatically detect an InterSense tracker connect to COM ports I through 4 on the PC The baud rate of the InertiaCube is fixed at 115 200 baud Make sure the computers serial port is capable of supporting this baud rate The first two rates kbps and records s displayed at the bottom of the window show the InertiaCube update rates The third rate frames s shows the graphics update rate based on the PC s hardware configuration OO EEE ISDEMO Configured for DLL Compatible device Communications Derece ile sical ss pKHaTEN 10 23KEbps 182 Records s 6 Frames s InertiaCubez on Coml Display is Detect Tracker Will reinitialize the DLL and detect the connected tracking device s InertiaCube Manua
27. rs In the case of the InterTrax series trackers the only data available is Euler angles in the first element of the Station array Orientation data order is Yaw Pitch Roll ISD GetCameraData ISD TRACKER HANDLE handle ISD CAMERA DATA TYPE Data Get camera encode and other data for all configured stations Data is places in the ISD CAMERA DATA TYPE structure This function does not service serial port so ISD GetTrackerData must be called prior to this Should only be used with IS Precision Series tracking devices not valid and will be ignored if used with InterTrax handle data InertiaCube Manual Doc No 072 1C210 0JO1 Handle to the tracking device This is the handle returned by ISD OpenTracker Pointer to a structure of ISD CAMERA DATA TYPE See isense h for structure definition Rev 1 1 31 INTERSENSE BOOL ISD SendScript ISD TRACKER HANDLE handle char command Send a configuration script to the tracker Script must consist of valid commands as described in the interface protocol Commands in the script should be terminated by the New Line character In Line Feed character r is added by the function and is not required Should only be used with IS Precision Series tracking devices except InertiaCube2 not valid and will be ignored if used with Inter Trax handle Handle to the tracking device This is the handle returned by ISD OpenTracker command Pointer to a string containing the comma
28. sensitive analog signals The power consumption of the InertiaCube is 100 mA at 6VDC which makes it suitable for prolonged operation from a small battery in future wireless applications Figure 3 shows an InertiaCube InertiaCube Manual Rev 1 1 Doc No 072 IC210 0J01 INTERSENSE 4 x accel v ovra v accel v mag t sensed driven vibration O vibration Q 7 9OVTO Z accel angular rate Z mag Z Figure 1 Functional diagram of InertiaCube Figure 2 Principle of Coriolis vibratory Gyroscope FAG Je ar Lt SEE J phe AEE 24 Me E AS CEEA E oe ee ie ee ee Fis ee Ea ma ee KE A ie Oe ee ee ae Ce eee Se ee ee ge ee ee ae a ee es ne Figure 3 InertiaCube 1 2 3 DOF Gyroscopic Earth stabilized Orientation Sensing GEOS algorithms Figure 4 shows the processing which is used to compute orientation using this sensor configuration The basic computation of orientation from gyroscopic angular rates in the top line of boxes provides the very rapid dynamic response and high resolution of the system The accelerometers and magnetometers are used to stabilize the orientation to the earth s gravitational and magnetic fields thus eliminating the gradual but unbounded accumulation of gyroscopic drift errors The Kalman filter uses an ever evolving adaptive algorithm to discard the portion of the accelerometer measurements which are due to actual motion instead of gravity This is a very impor
29. t for the InertiaCube to warm up it achieves optimal performance after warming up for at least 15 20 minutes e The InertiaCube is tuned for normal head motion Avoid shaking vibration Remember this precision instrument uses angular rate sensors which sense smooth regular movement very well If you keep these guidelines in mind your InertiaCube will deliver superb performance InertiaCube Manual Rev 1 1 Doc No 072 1C210 0JO1 13 W INTERSENSE 4 ISDEMO Testing the InertiaCube ISDEMO is included as a test and diagnostics tool With it you can test all the features of your tracker Software included with your tracking device includes the following 1 isdemo32 exe Win32 version To be used under Windows95 98 and NT 2 d3dtrax exe Direct 3D demo program 3 Software SDK See Section 5 for information 4 Jmouse Program Mouse emulator for full screen graphics applications ISDEMO provides a convenient graphical interface to validate the communication of the InertiaCube to the PC and test performance through the standard InterSense DLL See Section 5 Developers Instructions to learn how to interface the InertiaCube to software applications 4 1 Using ISDEMO The first screen you ll see is the hardware selection window shown below The program creates a different interface depending on the tracker model selected Select the DLL Compatible option Note You must select DLL Compatible or ISDEMO will not be ab
30. tant step because otherwise horizontal accelerations would result in very large transient pitch and roll errors known as slosh The low cost sourceless trackers used in early consumer InertiaCube Manual Rev 1 1 Doc No 072 1C210 0JO1 INTERSENSE HMDs are inclinometer compass devices and are thus intrinsically slosh prone to the point of being uncomfortable to use Perceptual Kalman Filter Enhancement Al ori Orientation gorithm Error Figure 4 GEOS mode tracking algorithm In the default operating GEOS mode the reference frame hereafter referred to as Navigation frame or Nav frame or N frame is the locally level geographic frame with its x axis pointing north y axis east and z axis down The Euler angles reported by the tracker can be described as a sequence of rotations applied to the InertiaCube starting with its body axes initially aligned with the Nav frame axes and resulting in the current orientation The sequence starts with a rotation by yaw about the Z axis followed by a rotation by pitch about the new Y axis 1 e body frame axis followed by a rotation by roll about the new X axis 1 e body frame x axis The line from the magnetic field sensor outputs of the InertiaCube to the Kalman filter is a dotted line to indicate that the use of the magnetometers may optionally be disabled The accelerometer measurements are sufficient to correct all the drift in pitch and roll and the geom
31. these elements are proprietary but the functional performance of the multisensor unit can be understood sufficiently by reference to the equivalent diagram in Figure 1 Figure 2 illustrates the basic physical principal underlying all Coriolis vibratory gyros Suppose that the tines of the tuning fork are driven by an electrostatic electromagnetic or piezoelectric drive to oscillate in the plane of the fork When the whole fork 1s rotated about its axis the tines will experience a Coriolis force F X v pushing them to vibrate perpendicular to the plane of the fork The amplitude of this out of plane vibration 1s proportional to the input angular rate and it is sensed by capacitive or inductive or piezoelectric means to measure the angular rate By way of comparison a conventional inertial measurement unit IMU senses 6 of these properties using 6 separate instruments 3 rate gyros and 3 linear accelerometers each of which by itself would typically be larger heavier and more expensive than an InertiaCube Unlike conventional rate gyro and accelerometer instruments which must be carefully aligned on a precision machined tri axial mounting block the InertiaCube is a monolithic device with its orthogonal outputs factory calibrated to precise alignment Being a digital device using serial cables the InertiaCube cabling and connectorization is relatively non critical and the cables can be extended to over 100 feet without fear of contaminating
32. to receive data Default is 5001 and should not be changed unless there is a conflict UDP Broadcast Client ISDEMO itself can be a UDP client Simply enter the port on which data is transmitted and press Receive As UDP packets are received data can be displayed in the main window of ISDEMO li UDP Broadcast Client Commands Help Network Fort Number taleg Local Info DEMOROOM 192 166 1 246 Receiving data from 1923 168 1 246 port 1340 l45 51lEbps 217 a8 8 324 Packets s 100Hz Isdriver Notes The latest version of ISDRIVER program has support for UDP client and is available from InterSense support Qisense com It can be compiled for Win32 or UNIX the network code has only been tested on IRIX and Linux so far If you encounter any problems on other platforms please contact InterSense and it will be corrected File isense h contains all definitions and function prototypes There are extensive comments that explain the use of all functions Win32 platform is detected automatically during compilation On UNIX however you need to specify which flavor of UNIX you re using At the top of isense h there are defines that should be changed appropriately File main c contains a sample main and shows how to open a tracker get and change station settings read and display data etc The first parameter to ISD OpenTracker is the port number InertiaCube Manual Rev 1 1 Doc No 072 1C210 0JO1 Help Facility InertiaCube
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