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User manual ADMA Version 2x.6.1.4

1. R 19 984 38 4 Miliseconds mes 4 0 DSP 10 1 Size per step 10 ADMA Start Stop unning Help F Sequential data saying Record Start Pause m tecording Boe Figure 15 Dialog Measurement Check of system status Document revision 2x 6 1 4 Page 22 of 52 Date March 2009 A A ADMA LW IW User manual GeneSys Elektronik GmbH If an error bit is set error bytes 0 and 1 measurements are no longer valid In this case please contact our service department AHRS Attitude and Heading Reference System AHRS mode Only solid angles are indicated no position or speed 3 5 3 Checking displayed orientation When the system is at rest and nearly horizontal the following Tilt Heading data should be indicated e Roll 0 e Pitch 0 e Course 0 or 360 ADMA Measurement data 5 xj Byte 3 Byte 2 Byte1 Byte 0 Byte 1 Byte 0 DB 00 20 11 hex 00 00 GPS Position Latitude Longitude Inertial pos Lat 0 02 0 02 0 00 0 0016 0 0003 0 0044 ed g 0 0007 GPS Erors Inertial m GPS Aur Log Milliseconds Size per step 10 ADMA Stop a tunning al Sequen
2. ssssssssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnn 48 7 1 ADMA configuration for ABD steering robot 44us442440snnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnn 48 7 2 IVICASUIPCNM CINE zeinera ELPRERFETSTETRRLENTEERELERT FURRFUERELTLPREFTPELEURREREFRREFFTELEUELTREFELTLFERTEREREFLEL RER 49 8 ADMA firmware download 2424444440040HHHHnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nennen 50 8 1 General use een eaa arar a Aara ea aee arare a E a ea 50 8 2 Firmware System Software Compatibility 2440444444004nnnnnnnennennnnennnnnnnannnnnnnnennnnn 50 8 3 Handling Ini files created by older System Software versions uu 244ssunsnnennnsnnnnennnnnn 50 8 4 Download ADMA firmware 0usssnssssnssnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnonnnnnnnnnnnnnnannnnnn 51 Document revision 2x 6 1 4 Page 4 of 52 Date March 2009 A ADMA LWA IW User manual GeneSys Elektronik GmbH 1 Introduction This user manual serves as an aid in commissioning the ADMA gyro system The first part of the manual describes a routine for testing whether the ADMA gyro system s inertial sensors are operating without error This function test is also a good way to become familiar with ADMA and to gain experience in setting up the ADMA The second part of the manual describes a typical configuration of a test vehicle including auxiliary sensors such as an external speed measurement s
3. uusssssennesssnneennnnssnnnnnnnnnnnnnnnnnnnnennennnnnennnnnnn 38 Figure 28 Dialog Offsets 000 224400nnsnnenennsnnnnnnnnnnnnnennnnnnnnnnnnnnnennennnnennennnnnnnnnnnnonnnnnnnnnrnnnnnnnnn nn 43 Figure 29 ABD steering robot 4 020000 48 Figure 30 Menu Firmware download uusssssnssssnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnen 51 Figure 31 Dialog FW download u04442444444nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 51 Table of diagrams Diagram T Plot rates teren ee ee ce a ee ee ee eee ee eee ee rere 26 Diagram 2 Plot Accelerations uuusssssssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 27 Document revision 2x 6 1 4 Page 52 of 52 Date March 2009
4. Fax 0781 969279 11 Elektronik GmbH 5 5 Modify thresholds for quality The position and the tilt status are implemented to have an easy way to display the ADMA system performance The position and tilt status are based on the Kalman filter internal estimation of the state variable s quality standard deviation With 2 adjustable thresholds for each status it s possible to give a statement about the measurement s quality which can be displayed in form of a traffic light design The threshold green yellow separates small from tolerable measurement errors the threshold yellow red tolerable from non acceptable errors Thus GPS outage situations where system performance degrades over time are easily detected and appropriate actions can be taken while being out on the test track etc Values for pos and tilt quality 0 Red 1 Yellow 2 Green This functionality is also advantageous while in the transient phase of the Kalman filter at the beginning of a measurement After a set time the status is switched active changing from red to whatever the actual state is normally to yellow or green state This indication can be used to start data recording Pl aDMa system Software Configuration data from ADMA E lol x Eile Configuration Data Acquisition Setup Firmware Hotkeys Info Threshold data Misc Min velocity for Autolnit 5 m s J Accept position as origin Geo latitude Min velocity for G
5. gt stopped data acquisition stopped no data tranfer Please note that stopping the data acquisition will set the ADMA back to initial condition and the settled state of the Kalman filter will be lost 7 Group Record The buttons of this group control the start of data recording pausing and stopping and are equivalent to an audio recorder Pressing the button Start will start saving data to the hard disk while Pause will temporarily halt recording until Pause is pressed again In this case the ADMA System Software will continue to save data in the same data file Pressing Stop will end recording leaving you with two choices which are saving the data file to a location and with a file name to your choice or discard the recorded data Data recording DB x m Current data set is to be saved C discarded Figure 13 Dialog Record Stop A new recording can now be started by pressing the Start button again We have also implemented a status visualisation with a led for the group Recording to the right of the control buttons e green gt running received data is saved e red gt stopped no data being saved Document revision 2x 6 1 4 Page 20 of 52 Date March 2009 A ADMA ATA IW User manual GeneSys Elektronik GmbH 3 4 2 Standard recording If the checkbox Sequential data saving is disabled data recording is in standard mode and handling is like described above Please note that if th
6. mail genesys offenburg de www genesys offenburg de A ADMA LWA A IW User manual Genesys Elektronik GmbH 4 Installation and cabling inside the vehicle 4 1 Operational configurations Any of three operational configurations is available in accordance with the involved vehicle test and required accuracy of data Stand alone ADMA with external speed signal and ADMA with D GPS The diagram below depicts these three configurations GPS antenna Radio data link External speed GPS antenna GPS Base Figure 19 Configuration facilites ADMA G with internal GPS Rover Radio data link 4 GPS antenna data link External speed Radio GPS antenna Radio data link Figure 20 Configuration facilities ADMA G with external GPS Rover Note that although the operational configuration involving ADMA with a D GPS does not necessarily require an external speed signal such a signal proves especially useful in situations susceptible to GPS failure GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de Document revision 2x 6 1 4 Page 28 of 52 Date March 2009 A ADMA LWA IW User manual GeneSys Elektronik GmbH 4 2 Point of installation 4 2 1 ADMA The ideal installation point for a gyro system inside a vehicle is at the theoretical centre of motion with the
7. 4 3 Callin Gis EEEE EENAA 30 4 3 1 ADMA in stand alone mode minimal configuration uusssssnnesssnnnennnennnnneennnnnnnenn 30 4 3 2 ADMA in stand alone mode optional connections ssssssssssssssssreiisssssrrrrrrrresserrirrrnneesee 30 4 3 3 ADMA and external speed measurement 444snssnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnn 30 434 ADMA aid GPS areenaan naaa aaa adits aA Aaa AA aA AAA aA AiE 31 4 3 5 ADMA and DGPS with a separate base station uusrsssnnnsnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnn 32 5 Setting up the ADMA in the vehicle unnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nanna 33 5 1 Configuration of the external velocity usnnsessnssnnenennsnnnnnnnnnnnnennnnnnnennnnnnnnnnrnnnnennennenn 33 5 2 Satellite based GPS correction data uuuuuu4s4244nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 34 5 3 Modify threshold for Autolnit function and GPS course 20s442nnensnnsnnnnnnnnnnennnnnnnnnnnnnnn 35 5 4 Modify threshold for standstill detection u 22440044s2400nnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnn 36 5 4 1 Max turn rate at standstill 4ssssnnnnnnnnnnnnnnnnnnnnnnnnnnnunnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 37 5 4 2 Max velocity at standstill uussssunnsssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnnnnnnnnn 37 5 5 Modify thresholds for quality 20s
8. GSM modem Radio GSM modem ADMA G modem connection cable colour code brown only with ADMA with internal GPS GPS modem connection cable only with ADMA with external GPS Long wave receiver for DGPS correction data Power regeneration box 7 34 V Rescue case with replacement cable and download software Event In 1 cable colour code orange Event In 2 cable colour code orange Sync Out cable colour code yellow Error Out cable colour code black Aux Out cable colour code black ADMA Speed cable colour code grey Wireless GSM modem Wireless GSM modem antenna with magnetic base and antenna cable ADMA G modem connection cable colour code brown only with ADMA G with internal GPS GPS modem connection cable only with ADMA with external GPS Power regeneration box 7 34 Volt Rescue case with replacement cable and download software Document revision 2x 6 1 4 Page 8 of 52 Date March 2009 A ADMA ATA IW User manual GeneSys Elektronik GmbH 3 ADMA laboratory bench testing 3 1 General information The routine described below is intended to test the functionality of the gyro system s inertial sensors i e the accelerometers and gyroscopes This function test is also a good way to become familiar with the ADMA and to gain experience in setting up the ADMA 3 2 Setup and cabling The following components should be prepared for the function test e ADMA e ADMA Power supply cable e ADMA COM commun
9. ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A ADMA AA IW User manual G enesys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 Elektronik GmbH 6 2 3 Autostart mode The setting Autostart can be enabled in configurations dialog Data If Autostart is activated the ADMA automatically starts data acquisition after power on Whether the data is transmitted via CAN or COM interface depends on your choice in configurations dialog Interface In this case the 2 parameters start course and pre alignment can t be modified The saved values of the configuration settings are used Please note that the ADMA in Autostart mode takes a minimum of 15 seconds to switch to pre alignment or measuring mode During this time the internal GPS Receiver is booting up and therefore configuration is not possible 6 2 4 Start a measurement via a user specific tool Data acquisition can also be started via a user specific tool The interface protocol for the COM and CAN interface is available on request please contact us Please refer in this case to the contact address on page 2 6 2 5 Start course If the ADMA id operated without GPS this entry will assure that earth rate is compensated correctly which otherwise will lead to calculation errors
10. colour code yellow Error Out cable colour code black Aux Out cable colour code black ADMA Speed cable colour code grey Radio GSM modem Radio GSM modem antenna with magnetic base and antenna cable ADMA G modem connection cable colour code brown only with ADMA G with internal GPS GPS modem connection cable only with ADMA with external GPS Receiver enabling for WAAS Rescue case with replacement cable and download software Document revision 2x 6 1 4 Page 6 of 52 Date March 2009 A ADMA LWA IW User manual GeneSys Elektronik GmbH 2 3 ADMA with a GPS receiver and GPS base station In the base station the GPS receiver wireless GSM modem and associated cables are integrated into a housing The antenna communication and supply cables need simply to be plugged into the external connectors provided for this purpose The ADMA or ADMA G module A supply cable designated ADMA DC In colour code red A communication cable designated ADMA COM colour code blue A communication cable designated ADMA CAN colour code green The configuration tool designated ADMA System Software ADMA Download cable designated ProgSys I colour code white with programming adapter Documentation User manual Technical Documentation and ADMA System Software Transport case for ADMA or ADMA G GPS receiver only with ADMA with external GPS Receiver GPS supply cable only with ADMA with external GPS Receiver GPS communication cable on
11. Fax 0781 969279 11 Elektronik GmbH 5 7 Compensating the installation position Normally the ADMA the GPS antenna and external speed sensor can t be mounted at the same spot as we would like to but at different positions in or outside the vehicle The GPS antenna is usually mounted on the roof the ADMA in the vicinity of the centre console or in the boot and the speed sensor on the vehicle s side front or rear Radar sensors are sometimes also mounted underneath the vehicle The distance between the individual components is termed lever arm As a consequence the position measured by the GPS antenna does not correspond to the virtual measuring point reference point Point Of Interest An uncompensated lever arm also causes roll pitch and course changes to be registered as errors in the form of position discrepancies Furthermore the speed measured at the installation position of the external speed sensor is not equal to the speed at the virtual measuring point While the vehicle is travelling through a corner or in a circle the speed measured by a sensor mounted on the vehicle s outer side is higher than the speed measured in the middle of the vehicle or on the inside of the vehicle Installation positions are compensated by specifying the position vectors ADMA relative to GPS antenna and ADMA relative to external speed sensor With these lever arms the GPS sensor data and the sensor data of the external speed sensor are
12. GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A ADMA LWA IW User manual G enesys GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de Elektronik GmbH 3 3 5 Auxiliary systems This dialog is used to specify parameters related to auxiliary systems such as speed measurement systems and GPS receivers For the function test it is necessary to deactivate all auxiliary systems as described below e Select the No GPS option from the GPS Model drop down menu in the field labelled GPS e Deactivate the x Signal active option in the field labelled Velocity Elapma System Software Configuration data from ADMA Eile Configuration Data Acquisition Setup Firmware Hotkeys Info lee GPS model GeneSys Elektronik Auxiliary Systems In der Spock 10 Only used with ADMA type without j i internal GPS D 77656 Offenburg Set settings for augmenting systems Extemal velocity configuration r Extemal velocity type Step 5 of 8 Analog Digital r Signal I x signal active I y signal active Load configurator 100 000000 my m s Data Link C offline Data Online DGPS 0 mi Digital 1 0 7 o GSM based augmentatior E Enter in km h Auxiliary Systems capone m Digital velocity Par
13. If the ADMA is operating with D GPS the transient duration of the Kalman filter can be reduced by entering a correct start course but it s an option 6 2 6 Autolnit function yaw angle init If the ADMA is operated with D GPS you might omit entering a start course as this will be automatically set by the ADMA s Autolnit function After pre alignment a first estimation for roll and pitch is found and set as starting values but only with a true start course set the yaw angle will be correct The ADMA Autolnit function will overwrite the yaw angle with the GPS course after exceeding a velocity threshold which will help Kalman filter settling and eliminates the need to have the user enter a start course Please note that the Autolnit function will only be executed once with each measurement started Important for a successful yaw init with the GPS course is a minimum of vehicle speed as the GPS course is calculated from the GPS velocity The rule of thumb is higher vehicle speeds reduce the GPS course error introduced by GPS velocity noise Please keep this also in mind when you are expecting poorer GPS reception When analysing data the successful execution of the Autolnit routine can be detected in the data when the vehicle reaches the configured velocity threshold first time unless the initial yaw angle was already true Yaw angle and GPS course should then be similar but only if the classic coordinate system is chosen pleas
14. genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 Elektronik GmbH Table of figures Figure 1 Setup an cabling 4 c Rank tatala pa anaiena kiana 9 Figure 2 Menu of the ADMA System Software ccccccccccceeeeeceeeeeseceeeeeeecceeeeeeeneeeeesecaeeeeseceeeesenneneeess 11 Figure 3 Dialog Load configuration u 224400ssssnnnnsnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnn nn 11 Figure 4 Dialog Data Link uuusssnnnssnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 12 Figure 5 Dialog Data 2 IHR 13 Figure 6 Dialog Auxiliary Systems u 222424444snnennnnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnannnn nn 14 Figure 7 Dialog Parameters inrsin aaa aaraa aa aaa aa EAE aA SEANA S DERE 15 Figure 8 Dialog Save Exit configuration 40s4444440snnsnnnnennennnnnnnnnnnnnennnnnnnennnnnnnonnnnnnnnnnnnnnnnnnnn 16 Figure 9 Start Measurement item in main menu ueeneessssnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 17 Figure 10 Dialog ADMA Measurement data 444444snsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnen 17 Figure 11 Dialog Start parameter for Measurement uussssnnenennsnnnnennnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnn nn 18 Figure 12 Dialog Measurement in prealignment m
15. have the parameter hint displayed set the focus to the appropriate control element In case of pure keyboard editing you can tab shift tab through the control elements In case of option control elements simply use the arrow keys If you prefer working with a mouse or touchpad the focus can be set with a right button click This only displays the hint of an option control element or a checkbox thus having focus but not changing its state To activate or deactivate these control elements please use the left mouse button If the displayed information isn t sufficient you can obtain further information by clicking on the Help button on the very bottom of the window to open the Technical documentation Please note that a PDF reader has to be installed To make fast and efficient working with ADMA System Software possible the most important functions are available via Hotkeys An overview listing all preset hotkeys is given at the main menu s item Hotkeys Please note that the Hotkeys are not available all the time Document revision 2x 6 1 4 Page 10 of 52 Date March 2009 J N ADMA IW User manual 3 3 2 Loading configuration from the ADMA A ATA GeneSys Elektronik GmbH Certain settings need to be enabled in order to conduct the function test For this purpose it is necessary to check and possibly modify the configuration saved in the ADMA system To view and change these configuration parameters start the ADMA System Sof
16. output as well as the Event 7 and Event 2 inputs which are extremely suitable for establishing chronological references during a measurement Such references can comprise for example a lap index lane entrance or circular travel index A detailed description of the signals and associated cables is provided in the technical documentation 4 3 3 ADMA and external speed measurement ADMA can read in analogue speed signals including 2 axis signals via the Speed terminal For this purpose connect ADMA to the speed sensor via the appropriate ADMA Speed cable Please do not forget the power supply for the speed sensor Document revision 2x 6 1 4 Page 30 of 52 Date March 2009 ADMA IW User manual 4 3 4 ADMA and GPS A LA GeneSys Elektronik GmbH If the ADMA is to be operated with a GPS all the cables for the GPS receiver should be connected first ADMA G with internal GPS receiver and ADMA with external GPS receiver are connected differently In case of ADMA G with internal GPS receiver the GPS antenna has to be connected with the ADMA via a coaxial cable As a rule the GPS antenna is mounted on the roof with a magnetic base To use the DGPS mode of the GPS receiver a modem is required to receive correction data This can be either a wireless or a GSM modem Connect the ADMA modem output with the modem and the modem with its modem antenna Please note that the ADMA supplies the modem with voltage In case of ADMA wi
17. 4224400nnsnnnnennennnnnnnnnnnnnnnnnnnnnennnnnnnonnnnnnnnnnnnnnnannr nn 38 Document revision 2x 6 1 4 Page 3 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de ATA mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 A ADMA LWA User manual GeneSys Elektronik GmbH 5 5 1 Threshold for position quality ssssssneessnssnnenennsnnnnnnnnnnnnnennnnnnnannnnnnnnnnnnnnnannnn nn 39 5 5 2 Threshold for Tilt q ality sssnnnonanosocenoinnnaraa aaia 39 5 5 3 Enter geo latitude and geo longitude 244444nnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 39 5 6 Compensating an ADMA misalignment 4444444HHnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnn 40 5 6 1 ADMA misalignments ai arena 40 5 6 2 Sequence of ADMA misalignment angle compensation 444unssnsenennennennnnnnennnnn 40 5 6 3 Horizontal compensation of a ADMA misalignment 444ssssnnennnennnnnnnnnnnnnnnnnnn 40 5 6 4 Compensation of ADMA s vertical axis misalignment 2244000nsnnnnnnennnnnnnnnnn 41 5 6 5 Compensation of vertical axis misalignment of a 2 axis speed sensor s s s 41 5 7 Compensating the installation position eeeeseess
18. AA User manual ADMA Version 2x 6 1 4 Hardware V 2 x Firmware v 2x 6 0 and higher GeneSys Elektronik GmbH Offenburg Date March 2009 Document revision 2x 6 1 4 N LWA GeneSys Elektronik GmbH Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A ADMA AA IW User manual GeneSys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 Elektronik GmbH Note GENESYS ELEKTRONIK strives to maximize the accuracy of all its data and specifications but cannot rule out the possibility of errors and reserves the right to future modifications without any prior notice GENESYS ELEKTRONIK is not obliged to maintain secrecy over any received material or other information in the absence of any corresponding agreements made with GENESYS prior to submission of such information GENESYS will gladly respond to enquiries and provide product details Copyright Copyright 2006 GENESYS ELEKTRONIK GmbH All rights reserved This entire user manual or excerpts thereof must not be reproduced stored or transmitted in any manner electronically mechanically or otherwise without the prior approval of GENESYS ELEKTRONIK GmbH Windows is a registered trademark of Microsoft Corporati
19. PS course 1 m s l l 48 6000000000 deg Load configuratior Spin rate 255 deg s Geo longitude Data Link Max side slip angle 30 deg 17 3000000000 deg Data Standstill detection r Prealignment Digital 1 0 Max rate at standstill 5 0 1 deg s W Enable il Max velocity at standstill 20 0 01 m s Duration 10 sec Ausiliary Systems eshold yellow to red 500 I 0 01 Threshold green to yellow 100 0 01 Offsets Save 7 Exit configuration r Tilt quality Threshold yellow to red 30 0 01 reshold green to yellow 10 0 01 Figure 27 Dialog Parameters Quality Pos and Tilt Document revision 2x 6 1 4 Page 38 of 52 Date March 2009 A ADMA LWA IW User manual GeneSys Elektronik GmbH 5 5 1 Threshold for position quality The position quality is particularly of interest when D GPS is used If the ADMA is operating with D GPS the position error is expected to be within an error band depending on the quality of the actual GPS position and the available GPS mode If GPS data isn t available for a certain amount of time e g due to GPS outage then the ADMA position quality decreases due to the gyro system s own error dynamic following a square function With decreasing quality the standard deviation of the signals will increase In case the threshold is reached this is shown accordingly yellow resp red Acceptable errors and thus their thresholds may vary wi
20. ameters aasin dat 0 000000 m Pulse fo 000000 m Pulse Std deviation in Std lation in y Offsets fo 000000 mi fo 000000 mi Save 7 Exit configuration m Miscellaneou m Satellite based augmentation I Z Enabled Delay 0 000 msec May time of outage fic ec GeneSys Elektronik GmbH Figure 6 Dialog Auxiliary Systems Document revision 2x 6 1 4 Page 14 of 52 Date March 2009 J N ADMA Va JAN User manual 3 3 6 Parameter A LA GeneSys Elektronik GmbH The dialog Parameter is used to specify the system behaviour For the function test only the parameter Prealignment is important Please enable prealignment and specify a duration of 10 seconds GeneSys Elektronik In der Sp ck 10 D 77656 Offenburg Step 6 of 8 ad configuration Data Link Data Digital 1 0 Ausiliary Systems Parameters Offsets Save Exit configuration Parameters Specify system behaviour Threshold data Min velocity for Autolnit Min velocity for GPS course Spin rate Max side slip angle 5 m s i m s 255 degzs o dea Misc T Accept position as origin Geo latitude 48 6000000000 deg Geo longitude 7 9000000000 deg Standstill detection Max rate at standstill Max velocity at standstill BE TO1rdeg s fo 0 01 m s Prealignment IV Enable Duration 10 sec N r Positio
21. ata 19 984 Milliseconds Size per step 10 ADMA Stop tunning fa Sequential data saying a recording Figure 17 Dialog Measurement Check of displayed rates Document revision 2x 6 1 4 Page 24 of 52 Date March 2009 A ADMA LWA A IW User manual GeneSys Elektronik GmbH 3 5 5 Checking the displayed accelerations The ADMA should be positioned on a laboratory bench or similar facility thus being placed on a close to horizontal surface The following body fixed accelerations should then be indicated e X xis 0g e Y axis 0g e Z axis 1g Byte 3 Byte 2 Byte 1 ByteO Byte 2 Byte 1 Byte 0 00 20 21 hex 00 00 00 0 2439 0 0244 EVE VXF WYF VZF Inertial errors m s EPE Lat Long Height GPS Aux Data No sat Del Ta Data Age s EVE VXF WE VZF m s we Tilt Course Roll Pitch Yaw conected VXC WE Rall Pitch Yaw GPS Course Udo m s 34 65 14 31 359 69 0 00 ADMA Time sat System data ee Millisec Week Ta ms Time Sifs DSP 13 954 2 0 3 0 7 8 r Triggers GPS Tim Syncin Event0 Event GPS Inv path radius _slip angle i Millisec Week Size per step fie 7 Sequential data saving Figure 18 Dialog Measurement Check of displayed accels 3 5 6 Stopping a measurement Click on the Stop and Close butto
22. bot GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A ADMA AA IW User manual G enesys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 Elektronik GmbH 8 ADMA firmware download 8 1 General The ADMA System Software and the ADMA USB download cable allow an easy download of new firmware FW versions onto the ADMA With this feature the customer himself can upgrade his ADMA at his facilities 8 2 Firmware System Software Compatibility Beginning with SW and FW version 21 5 0 the ADMA System Software will check before exchanging settings if SW and FW are compatible This procedure was introduced to minimise possible handling errors based on usage of older versions of either the SW or the FW Current versions can be downloaded or sent by email Please note that versions of SW and FW are compatible if the first three numbers match e g 21 5 0 and 21 5 0 1 etc In case a version mismatch is detected on configuration readout or while starting data acquisition the System Software will give notice and ask you to download the current version of FW and SW The SW will not continue to communicate with the ADMA until version match has been incorporated 8 3 Handling Ini files created by older S
23. cribes standstill detection thresholds and their correct entry which will increase the data integrity The parameters for the Standstill detection Max rate at standstill Max velocity at standstill are very important parameters as standstill allows a special form of augmentation for use with the Kalman filter the so called Zero Velocity Update This variant of the Kalman filter update increases the stability of the measurement mode in case of standstill Elapma System Software Configuration data from ADMA Eile Configuration Data Acquisition Setup Firmware Hotkeys Info Load configuration Data Link Data Digital 1 0 u Ausiliary Systems Offsets Save Exit configuration Figure 26 Dialog r Threshold data Min velocity for Autolnit Min velocity for GPS course Spin rate Max side slip angle 5 m s 1 m s 255 deg s u deg m Misc Accept position as origin Geo latitude 48 6000000000 deg Geo longitude 7 9000000000 deg Max rate at standstill Max velocity at standstill 5 20 0 01 m s r Position quality Threshold yellow to red Threshold green to yellow 500 0 01 m 100 0 01 m Tilt quality Threshold yellow to red Threshold green to yellow 0o 10 01 deg 10 0 01 deg lt Back Next gt q r Prealignment V Enable Duration 10 sec Parameters Standstill detection Documen
24. d in stop amp go travel The ADMA s z axis misalignment about its vertical axis causes the levelled acceleration acting along the X axis to produce a component along the Y axis as well This relationship can be used to compute an angle of misalignment on the basis of the measured data Similar to the horizontal angles the obtained value is entered in the Z field of the section labelled Mounting offset angles If not executed carefully this method can give rise to errors 5 6 5 Compensation of vertical axis misalignment of a 2 axis speed sensor If a 2 axis speed sensor for instance one made by Corrsys is employed its mounting can be rotated The corresponding misalignment can only be determined during a straight ahead run Similar to the misalignment in the case of the ADMA a misalignment causes the vehicle s X axis speed to produce a component along the sensor s Y axis This data can be used to calculate the angle of misalignment The obtained value is entered in the field Ext velocity in the section labelled Mounting offset angles Document revision 2x 6 1 4 Page 41 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A ADMA LWA IW User manual G enesys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0
25. dem antenna communication cable for setup and power supply cable The standard base setup is displayed below GPS antenna RF modem RF modem COMI RF coM2 N m un oO oO GPS antenna Figure 23 GPS base station Pin assignment of the basic design GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de Document revision 2x 6 1 4 Page 32 of 52 Date March 2009 A N ADMA LWA IW User manual GeneSys Elektronik GmbH 5 Setting up the ADMA in the vehicle 5 1 Configuration of the external velocity In the dialogue Auxiliary Systems you can setup an external velocity signal for additional support for the Kalman filter In this dialog you can configure your analogue or digital speed sensor Depending on the velocity source you can set the X and Y axis scale factors for that sensor Elaoma System Software Configuration data from ADMA Di 5 xj File Configuration Data Acquisition Setup Firmware Hotkeys Info GPS GPS Model Novatel ia C Digital IV x signal active I y signal active Load configuration Analog yroa a Bao 100 000000 mV ms Tou O0000D mv m s C Offline gt 100 000 my 7 m s ri Data Online DGPS Std deviation in x 0 360000 m s Digital 1 0 F Radio GSM based augmentation Eu in km h Parameters C
26. drifting i e the axis moves obviously 5 7 2 External speed measuring system The position vector for compensating speed data refers to the virtual measuring point and consists only of the components e X positive in travel direction Y positive leftward with respect to direction of travel e The Z component is not of significance to compensation The compensation of the external connected velocity to the reference point effects the calculation of the inverse path radius and the side slip angle if no GPS is connected 5 7 3 GPS antenna The position vector for the GPS antenna consists of all three components and refers to the ADMA Document revision 2x 6 1 4 Page 44 of 52 Date March 2009 A ADMA LWA IW User manual GeneSys Elektronik GmbH 6 Configuring ADMA s measurement mode 6 1 System settings Use the ADMA system software to configure the system as required for your tests The following items are parameterised here e Data interface and in the case of CAN advanced options e Sampling frequency prealignment time autostart etc e Additional digital inputs outputs e Existent auxiliary systems such as external speed measurement modules or GPS For further information about this settings use the interactive help described in chapter 3 3 1 In addition to these settings it is necessary to account for data volumes and resultant memory loading occurring during prolonged measurement runs Once all these steps ha
27. e data record is to be saved this data will be converted to ASCII first and is then saved in a separate file 3 4 3 Sequential recording Checking Sequential data saving will allow you to save several individual data records with less handling afford At start you will be asked to enter directory and filename for the sequential data records and then proceed recording as usual With each single data recording you will have the choice to either save or discard the data Saved recordings will not be converted immediately priority is to save the recording sequence where each filename will have a sequence number amended like e Filename_001 bin e Filename_002 bin e alse e Filename_XXX bin If sequential recording is ended all records will be converted to ASCCI and saved in separate prn files Sequential measurement mode x m Current data set is to be saved C discarded Sequential measurement is to be continued ended Peteecssceacenseasencenscesenseey Resscssccsssssssessesssessosemd Figure 14 Sequential measurement mode Continue Terminate serial Document revision 2x 6 1 4 Page 21 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A VAN ADMA LW IW User manual Genesys GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Te
28. e see configuration options of the ADMA Please note that the coordinate system as stated in DIN 70000 is rotated about the roll angle by 180 hence pitch and yaw angles will have an inverted sign compared to the classic coordinate system The GPS course will be output according to the classic coordinate system DIN 70000 90 west 270 east counter clockwise Classic 90 east 270 west clockwise Document revision 2x 6 1 4 Page 46 of 52 Date March 2009 A ADMA ATA IW User manual GeneSys Elektronik GmbH 6 2 7 Pre alignment During pre alignment the roll and pitch angles are calculated from accelerometer data while the vehicle is in standstill The duration of the pre alignment determines the expected precision of the angle estimation Typical time periods are in the range of 5 30 seconds 6 2 8 Transient phase of the Kalman filter The transient phase of the Kalman filter can t be bypassed as described above in chapter 3 5 1 and takes ca 120 seconds However the Transient condition can be supported by the user of the ADMA After pre alignment the Kalman filter converges faster if the vehicle is moved in circles of 8 or is zigzagged down a straight Important are driving conditions with accelerations The vehicle can be driven brisk in this case however spinning states should be avoided Document revision 2x 6 1 4 Page 47 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Off
29. ecking the displayed accelerations 4444sssnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnenn 25 3 5 6 Stopping a measurement uussssssssnnnnennnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnrnnnnnnnnnnn 25 3 6 Dynamic test icissisctasectsttiessseee bitte eden HL MMH AML MMH hadi 26 3 6 1 Test procedure and data display uusssesssssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 26 3 6 2 Checking the rotational speeds uussuu444424nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 26 3 6 3 Checking accelerations uu 444444444nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 27 4 Installation and cabling inside the vehicle 0 00e eee ii eee 28 4 1 Operational configurations 444444444400nnnnnnnnnnennnnennnnnnnnnnnnnnennennnnennnnnnnnnnrnnnnenne nen 28 4 2 Point of installation 2400usnsnnnnnnnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnannennnnannnnnnnnnnnnnnnnnnnnn 29 7A AN aaa Wepre rere re rrr eererre reer ey reece ee rece epee ree 29 4 2 2 External speed measuring system 2244ssnnensnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnann 29 ADS GPSAMteMMa csictcdatsisasistadsdissststedadefsiadeteded aadaledsiotedey ti ataa ata ana daiat iaaa aSa aaa 29 4 2 4 Modem and modem antenna sssssssssssrrsssssssssrrsrttssttennranssastrttnnannsaserttnnnnatasrttnnnannnent 29
30. enburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A LYS Genesys Elektronik GmbH IN ADMA IW User manual 7 ABD Steering Robot HW 2 2 and higher 7 1 ADMA configuration for ABD steering robot You can activate the data output by checking the ABD steering robot in the configuration dialog Data El apa system Software Configuration data from ADMA Eile Configuration Data Acquisition Setup Firmware Hotkeys Info mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 ontiguratior Data Link Digital 1 0 Ausiliary Systems Parameters Offsets Save Exit configuration W Status and Error IV Rates Body J Rates Horizontal J Rates Frame IV Acceleration Body I Acceleration Horizontal I Acceleration Frame J Ext vel analog corr vel I Ext vel digital F Free I Misc 1 Tl Triggers System Data 7 GPS Position absolute 8 IV GPS Position relative IV ABD steering robot I GPS EPE IV GPS Velocity I GPS EVE I GPS Time T GPS Auxiliary Data Tl Tilt Heading I Height I ADMA Time IV Inertial Position absolute J Inertial Position relative J Inertial Velocity Horizontal IV Inertial Velocity Frame I Inertial EPE T Inertial EVE ETE I Free F Free F Free I Free Total da
31. essssseriieissseriirrtststttirriisttssrttrnnrnntssserrrenn 42 5 7 1 Virtual measuring point point of interest 444srnsnnenennsnnnnennnnnnnnnnnnnnnennen nn 44 5 7 2 External speed measuring system uuueuunsssnnnennnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 44 5 7 3 GPS ntenna ssansseemeissskeseiisiibeniiieiehesbieheibiireninisirnnheishri hereeen 44 6 Configuring ADMA s measurement mode u4444442444anannnnnnnnnnnnnnnnnnnnnnnnnn nn 45 6 1 SYSTENN SEtLIMOS 2 sch aa E rer EURE A AA a E 45 6 2 Starting a measurement sitsit saaana naain iaa anaa iaon iaa iaaa ia anaiai aai ad 45 6 2 1 Start measurement in the ADMA System Software uussnsessssnnnnennsnnnnnnnnnnnnnennnnnnnnn 45 6 2 2 Remote Start in the ADMA System Software uuuussnsssnssnnennnsnnnnennnnnnnnnnnnnnnannnnnnann 45 623 Autostart TOC Ciara es eee e E E Sac 46 6 2 4 Start a measurement via a user specific tool 2440snssnnenennnnnnnennnnnnnennnnnnnennnnnnnnnn 46 6 2 9 Start COUMSC ziii n aa aeaa aa apaa aa aA Mad AA E Aaa E ASA NENE 46 6 2 6 Autolnit function yaw angle init ussseeenesessssnnneensnnnnnnnnnennnnnnnnnnnnnnnennnnnnennnnnnnnnnnnnnnnnnnnn 46 6 2 7 Pr ealgnmMeNt ssn a aaa aa aaa steisiiisisiseivsiaisiiisiteseuse 47 6 2 8 Transient phase of the Kalman filter 400s444s0snnnnnnnennsnnnnennnnnnnnnnnnnnnennenn ann 47 7 ABD Steering Robot HW 2 2 and higher
32. factored into the calculation of the ADMA s position such ensuring the correct transformation of ADMA related data to the POI The position vectors are entered and edited in the ADMA System Software s Offsets dialog For determination of the installation position a folding rule or reference tape is completely adequate Document revision 2x 6 1 4 Page 42 of 52 Date March 2009 A ADMA LWA IW User manual GeneSys Elektronik GmbH Please note The vector is based on the coordinate system defined by DIN 70000 Additional details are provided in ADMA s technical description Elapma System Software Configuration data from ADMA u lol x File Configuration Data Acquisition Setup Firmware Hotkeys Info ADMA pitch angle GeneSys Elektronik Offsets In der Sp ck 10 Compensates a pitch angle f 5 5 misalignment D 77656 Offenburg Enter leverarms for mounting offset compensation E g to compensate for a positive pitch Reset offset values angle of 0 5 enter a negative value of 0 5 Step 7 of 8 Mounting offsets r Mounting offsets angle arte Ze ave Load configuration ee ADMA 0 00 0 00 I 0 00 deg Data Link Ext velocity 0 00 deg Data Digital 1 0 r Mounting offsets position g 2 Eye Auxiliary Systems Ext velocity foo 0 0 0 0 om 0 0 Parameters GPS foo 0 0 om a Offsets Save Exit configuration Virtual measurement point Wa W 32 Point of inte
33. genesys offenburg de www genesys offenburg de Elektronik GmbH After clicking the ADMA Start button the following dialog is displayed You can enter e Start course deg and e Pre alignment sec Start parameter COM Start Course deg fo Prealignment sec a Abbrechen Figure 11 Dialog Start parameter for Measurement On requirement these two parameters can be changed After confirming the entries with OK the measurement starts Because prealignment has been activated the initial display consists of the status and selected reset data packets Prealignment is indicated in the system status field by a corresponding flag together with the Count variable which indicates the time remaining to the end of the pre alignment process Important do not move ADMA while prealignment is in progress Document revision 2x 6 1 4 Page 18 of 52 Date March 2009 A ADMA LWA IW User manual GeneSys Elektronik GmbH Pre alignment in progress is indicated as shown below ADMA Measurement data TA 5 xj Byte 3 Byte 2 Byte 1 Da 00 30 Byte 0 01 Byte 3 Byte 2 00 00 Byte 1 00 Byte 0 00 GPS Position Latitude Longitude Inertial pos 0 00 0 00 0 00 deg 0 00 al 0 0000 0 0000 0 0000 0 0000 0 0000 0 0000 GPS Errors EPE m EVE m
34. genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 Elektronik GmbH 4 3 Cabling After mounting in on the vehicle is complete it is necessary to lay the ADMA cables required for operation Based on the minimal configuration the available operational variants are described below Additional information on connection possibilities and the ADMA sockets is provided in the technical description 4 3 1 ADMA in stand alone mode minimal configuration Connect the ADMA Power cable s red coded Lemo plug to the DC In ADMA socket and turn on the power supply Depending on system design the nominal supply is 12 24 or 42 VDC The DC In LED should come on as a result Afterward connect the ADMA COM communication cable s blue coded Lemo plug to the COM ADMA socket and the other end of the cable to the COM interface of your measurement data acquisition device If you want to perform measurements via the CAN bus connect the ADMA CAN communication cable s green coded Lemo plug to the CAN ADMA socket and the other end of the cable to the CAN interface of your measurement data recorder made by Vector or Softing for instance 4 3 2 ADMA in stand alone mode optional connections The minimal configuration for operating ADMA is supplemented by additional terminals which might prove useful for some other measurements These include the SyncOut
35. ication cable e A PC laptop with the ADMA System Software Connect the ADMA Power cable s red coded Lemo plug to the DC In ADMA socket and turn on the power supply Depending on system design the nominal supply is 12 24 or 42 VDC The DC In LED should come on as a result Afterward connect the ADMA COM communication cable s blue coded Lemo plug to the COM ADMA socket and the other end of the cable to the COM interface of your measurement data acquisition device usually a PC or laptop These connections are also depicted in the diagram below PC Laptop ADMA COM Power Suppl iii ADMA Power Figure 1 Setup an cabling Document revision 2x 6 1 4 Page 9 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A ADMA AA IW User manual GeneSys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 Elektronik GmbH 3 3 Modifying the ADMA s configuration 3 3 1 Handling of the ADMA System Software Help For a better usability of the ADMA System Software an interactive help has been implemented With each parameter available in the configuration mode a hint will be displayed and if applicable an image to assure that the most important information are available for the user To
36. ill correspond to a horizontal and in driving direction mounted ADMA Further transformations e g lever arms which follow the misalignment compensation in code are not affected 5 6 3 Horizontal compensation of a ADMA misalignment Please bring the vehicle into the desired reference orientation and start the setup routine for the roll and pitch angle from the ADMA System Software menu The setup routine will give you an estimate of the two angles within 1 min and saves those in the ADMA internal setup configuration after finishing the routine While the routine is running the estimated offset angles are displayed Please note If the ADMA is operated only with an external velocity signal then the position calculation is made via dead reckoning methods The dead reckoning calculates the position with integrated velocity and the course angle The height can be calculated accordingly but in this case using the pitch angle instead of the course angle However the pitch angle misalignment must be compensated for the height measurement to be acceptable Document revision 2x 6 1 4 Page 40 of 52 Date March 2009 A ADMA LWA IW User manual GeneSys Elektronik GmbH 5 6 4 Compensation of ADMA s vertical axis misalignment The ADMA s Z axis misalignment with respect to its longitudinal axis cannot be ascertained as easily as the horizontal angles One alternative is to perform a setup test involving longitudinal acceleration produce
37. ion Data Link Digital 1 0 Auxiliary Systems Parameters S Offsets Save 7 Exit configuration IV Rates Body IV Rates Horizontal I Rates Frame IV Acceleration Body IV Acceleration Horizontal I Acceleration Frame J Ext vel analog corr vel I Ext vel digital IT Free I Misc 1 I Triggers IV System Data I GPS Position absolute I GPS Position relative I ABD steering robot 7 GPS Velocity I Free I GPS EVE I Free I GPS Time GPS Auxiliary Data IV Tilt Heading I Height Total I ADMA Time databytes transmitted Total databyte Header Checksum 7 Inertial Position absolute 7 Inertial Position relative I Inertial Velocity Horizontal i Autostart T Inertial Velocity Frame E I Autostart J Inertial EPE J Inertial EVE ETE ee MErEREN 7 Free Frequency Hz 50 E Data coordinate output format I DIN 70000 lt Back Next gt Figure 5 Dialog Data With this dialog other settings can be changed such as the Data coordinate output format the Update frequency and the Autostart mode The following settings are needed for the function test e Deactivate the DIN 70000 option in the field labelled Data coordinate output system e Set the Update frequency to 50 Hz upper limit for most PCs with COM data transfer e Please deactivate the Autostart option Document revision 2x 6 1 4 Page 13 of 52 Date March 2009 GeneSys Elektronik
38. ion point on the vehicle s roof can be freely selected it is advisable to select a point directly above the ADMA This is where the vector to the ADMA s installation point is at its shortest and the effects of pitching and rolling at a minimum Compensation of the GPS antenna s installation point is described in Section 5 7 3 4 2 4 Modem and modem antenna If the ADMA is operated together with a GPS receiver in the RTK DGPS mode also termed local area DGPS it is also necessary to employ a wireless GSM modem for receiving correction data from the base station In most cases the modem s IPxx protection type is not sufficient for external mounting on the vehicle so that the modem unit needs to be mounted inside the vehicle while only the modem s antenna is fastened on the roof Please note Wireless modems which usually transmit over a 433 868 MHz band need a direct line of sight to the base station s radio antenna in almost all cases and therefore should be installed as high as possible on the vehicle s roof This does not apply to GSM modems which are capable of maintaining contact with the base station even under adverse conditions without a direct line of sight Document revision 2x 6 1 4 Page 29 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A ADMA AA IW User manual G enesys mail
39. ive position data output from the ADMA is referenced to this point This is very suitable for repetitive tests where recorded data sets have to be compared path following tests or steering influence tests Please note Some test setups with DGPS might take more than a day or test campaigns might have to be run over a longer period of time but the users could find themselves in the situation to remove the base station at the end of the day In case of measurements in RTK DGPS mode up to 2cm the exact position of the base station antenna needs to be saved and marked to meet the requirements of comparability Additionally at the first day of a measuring campaign the exact position of the base station antenna should be determined if no known position is available also see GPS base documentation for saving measured GPS base positions Document revision 2x 6 1 4 Page 39 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A ADMA AA IW User manual G enesys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 Elektronik GmbH 5 6 Compensating an ADMA misalignment 5 6 1 ADMA misalignment As described earlier an exact alignment of the ADMA s measurement axes with the vehicle s axes i
40. l 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de Elektronik GmbH 3 5 Static test 3 5 1 Transient condition of the Kalman filter The Kalman filter of the ADMA can be active without auxiliary systems like an external velocity or a D GPS in standstill It is possible to experience transient effects in the first few minutes lt 120 seconds After this transient phase stable values are shown This transient phenomenon in the beginning of a initiated measurement is inherent with the Kalman filter s design and can only be temporal compressed however not eliminated 3 5 2 Checking the system status The system status indicates the system s states as well as elementary errors During correct measurement this status should indicate AHRS mode status byte 1 bit 5 0x20 Furthermore the Count status variable is incremented by one each time a new data record is transmitted status byte 3 Once the maximum displayable figure of 255 has been reached the transmission count is resumed from 0 ADMA Measurement data E E C Error Byte3 Byte 2 Byte1 Byte 0 00 o0 00 00 GPS Position _ Latitude Longitude GPS al krame _GPS Enrors _ GPS Aur No sat Log delay Ta
41. l Eile Configuration Data Acquisition Setup Firmware Hotkeys Info Start Measurement Remote START Remote STOP Figure 9 Start Measurement item in main menu This invokes the window shown below ADMA Measurement data 7 7 loj x Byte 3 Byte2 Byte1 Byte 0 Byte 3 Byte2 Byte1 Byte 0 Latitude Longitude ermal velocity analog m s Vel corrected m s Inertial m Tilt Course GPS Aur og delay Ta System data a ms Milliseconds i emp C Figure 10 Dialog ADMA Measurement data There are two data acquisition modes for saving data available e Single data set saving e Sequential data set saving Sequential data saving can be enabled disabled by using the checkbox in the lower left corner of the window For first tests we recommend disabling sequential data saving Document revision 2x 6 1 4 Page 17 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A ADMA ATA IW User manual GeneSys GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail
42. l aDMa system Software Configuration data from ADMA E iol x File Configuration Data Acquisition Setup Firmware Hotkeys Info Load configuratior r Save Exit configuration mode Data Link G e Data Save settings in ADMA Digital 1 0 Save settings in ini file N Aa Syeleme Save settings in ADMA and in ini file Parameters 2 A i s 2 Exit configuration mode without saving data Offsets C Load new settings without saving Save Exit configuration mode Figure 8 Dialog Save Exit configuration If you want to save changed settings to the ADMA a password has to be entered Default password is adma To change the password use menu File gt change password The modified configuration can be saved for further tests on the hard disk For this purpose choose the option Save settings in ini file If you want to save the altered configuration both in the ADMA and in ini file please select the option Save settings in ADMA and in ini file After choosing an option and confirming with the button Save Exit configuration the configuration mode will be closed and the program will return to the main menu Document revision 2x 6 1 4 Page 16 of 52 Date March 2009 A A ADMA LW IW User manual GeneSys Elektronik GmbH 3 4 Starting a measurement To start a measurement select Data Acquisition Start Measurement from the ADMA System Software s main menu Elapma System Software E ioj x
43. ly with ADMA with external GPS Receiver colour code brown GPS rover antenna with cable in case ADMA G with in case ADMA without colour code brown Magnetic base for GPS rover antenna with assembly adapter Documentation GPS receiver Transport case for GPS Rover GPS base receiver integrated into a housing GPS base supply cable GPS base communication cable GPS base antenna and cable Wireless GSM modem integrated into a housing Wireless GSM modem antenna and antenna cable Connection cable from GPS base to Wireless GSM modem Wireless GSM modem power supply unit 220V Tripods for GPS base antenna and Wireless GSM modem antenna Mounting structure for GPS base antenna and Wireless GSM modem antenna Documentation on the GPS receiver and GPS control terminal Transport case for GPS base Document revision 2x 6 1 4 Page 7 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de ATA mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 A ADMA LW User manual GeneSys Elektronik GmbH Optional items HW 2 2 and higher versions I u o o o o o o o o Event In 1 cable colour code orange Event In 2 cable colour code yellow ADMA Speed cable colour code grey Radio
44. n be improved As the satellites used to transmit the correction data are geostationary the signal coverage will be available for fixed regions which are e EGNOS Europe e WAAS America e MSAS Asia Japan Please see Satellite based Augmentation at the Auxiliary Systems dialog for activation of this service A ADMA LWA IW User manual GeneSys Elektronik GmbH 5 3 Modify threshold for Autolnit function and GPS course The Autoinit function of the ADMA is used to automatically set the ADMA inertial states after system start up including the yaw angle This is only possible with an adequate vehicle velocity since the yaw angle will be overwritten with the GPS course over ground value and therefore a certain speed is essential The Min velocity for Autolnit m s threshold is used to allow the user to set this threshold to his application requirements For instance Dozers and other slow moving vehicles have difficulties to reach velocities of let s say 5 m s Please note that depending on GPS reception the accuracy of the GPS course over ground can vary quite a lot at low speeds We recommend using a 3 m s threshold only with good GPS reception In case of bad GPS reception 5 m s under some conditions even 7 m s are advisable The Min velocity for GPS Course m s threshold is used to switch of GPS course over ground calculation if the vehicle speed drops below this threshold Pl aDMa system Software C
45. n quality Threshold yellow to red Threshold green to yellow 500 0 01 m fioo 0 01 m r Tilt quality Threshold yellow to red Threshold green to yellow o 10 01 deg fio 0 01 deg lt Back Next gt Help Prealignment duration Increasing prealignment time leads to more precise estimates OO Good results can be expected within a range of 5 20 sec GeneSys Elektronik GmbH Figure 7 Dialog Parameters Document revision 2x 6 1 4 Page 15 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A ADMA LW IW User manual G enesys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 Elektronik GmbH 3 3 7 Transmitting modified settings to ADMA The altered settings now need to be transmitted to the ADMA For this purpose click in the left frame the Save Exit configuration button The following dialog Save configuration will open with different options to save the altered settings Please note that exiting the configuration modus without saving is possible too Please select the option Save settings in ADMA and confirm with the Save Exit configuration mode button This commences data transmission P
46. nnnnenssnnnnennnnnnnnnnnnnnnnnnnnnnnnennr nen 11 3 3 3 Configuring measurement data transmission via the COM interface ee 12 3 3 4 Selection of data packets to be transmitted 224440snssnnnnennennnnnnnnnnnnnnnnnnnnennnnnnnn 13 33 5 Auxiliary systems ae 2 4 seen 14 3 3 0 Parameter nie an bisa Dana sea un watunaacimas ined A imagen EA a a S N 15 3 3 7 Transmitting modified settings to ADMA sessssnsenssssnnnnennennnnonnnnnnnnnnnnnnnennr nn 16 3 4 Starting a measurement arae raare eaaa sedare aed eai verase arinei 17 3 4 1 Data recording principle of operation 4ussssnnssennsnnnnennnnnnnnnnnnnnnnnnennnenne nen 20 34 2 Standard recording 44a ss syysenevsaute ses yyegseeaeteuyess irn 21 3 4 3 Sequential recording 444444444nnnnnnnnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 21 3 5 Static d 1 CPONFTFPEPEIFPETIIETIPRUREREFLEPIECLEURLRCHIETELILELEPIERTEREREETLREFUIETTPIERERTLREFTILTEPTERERTERERLPITERTFERERLIERTEFFTRE 22 3 5 1 Transient condition of the Kalman filter 2440s4s24ssnsnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnennnnnnnn 22 3 5 2 Checking the system Status sis 22 3 5 3 Checking displayed orientation uusssssssssnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnann 23 3 5 4 Checking displayed rotational Speeds 4444sssnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 24 3 5 5 Ch
47. ns in succession GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A VAN ADMA LW IW User manual GeneSys GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de Elektronik GmbH 3 6 Dynamic test 3 6 1 Test procedure and data display As part of the dynamic test the ADMA undergoes defined linear and rotary motion i e along or about the systems sensor axis The rotational speeds are checked first beginning with the X axis roll followed by the Y and Z axes and followed by the acceleration check in the same sequence of axes For easier analysis the data can be saved and processed with an appropriate software tool If you want to save the data explicitly click on the Save measurement data option in the measurement mode window When starting a measurement with the Save measurement data activated a dialog will open asking a file name While a measurement is in progress the acquired data is saved in binary format On completion of the measurement with the Stop button the measurement data to be evaluated will be converted automatically to ASCII format Overall 3 files are created e Filename dat Data in binary format e Filename prn Data in ASCII format e Filename Prnlist txt Description of the individ
48. ode 444444nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 19 Figure 13 Dialog Record Stop uumsssssssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnann 20 Figure 14 Sequential measurement mode Continue Terminate serial uusuuuss4444nnnnnnennnnnnnnnnnnn 21 Figure 15 Dialog Measurement Check of system status 2240usssnnennnsnnnnnnnnnnnnnennnnnnnennnnnnnnnnn nn 22 Figure 16 Dialog Measurement Check of displayed orientation ussssnnesnnennnnennennnnnennnnn 23 Figure 17 Dialog Measurement Check of displayed rates 224404nnsnnnnnnnsnnnnennnnnnnennnnnnnnnnnn nn 24 Figure 18 Dialog Measurement Check of displayed accels uu0224000snnnnnnnennennnnennnnnnnnnnnnnnn 25 Figure 19 Configuration facilites ADMA G with internal GPS Rover 2240usssnnennnennnnennnnnnnnnnnnnn 28 Figure 20 Configuration facilities ADMA G with external GPS Rover uu nuussnsssnenennsnnnnnnnnnnnnennnnn 28 Figure 24 Dialog Aux Systems Configuration of the external velocity 2200nssnsnennsnnnnennnnn 33 Figure 25 Dialog Parameter Threshold for Autolnit and GPS course 2uussssnennnennnnnnnnnnnnennnnn 35 Figure 26 Dialog Parameters Standstill detection uuusssssssssnnnnnnnnannnnnnnnnnnnnnnannnnnnnnnnnnnnnnnnnnnnnn 36 Figure 27 Dialog Parameters Quality Pos and Tilt
49. on DlAdem is a registered trademark of National Instruments Revision Document revision 2x 6 1 4 Date March 2009 Contact GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Phone 0049 781 969279 30 Fax 0049 781 969279 11 www genesys offenburg de Document revision 2x 6 1 4 Page 2 of 52 Date March 2009 A ADMA ZW IW User manual GeneSys Elektronik GmbH Table of contents 1 INCHOGUCHION PPPBRBERRUBREPFEBEUERPERESREPFE PFEREPEBEUEPEPELEPERBEREEEPEBEFLEREBERFEAEEBERFEFEREBEURFEPERFEREREBEEELEEEPEFIEEBREPEBESERE 5 2 Scope Of delivery lan ara inneren 5 2 1 ADMA onlylars ni ne een ie den 5 2 2 ADMA with internal external GPS receiver 244sssnnsssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 6 2 3 ADMA with a GPS receiver and GPS base station 44424444snnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 7 3 ADMA laboratory bench testing n4nn anna ee ann nn ann anna nn nn 9 3 1 General INFORMAL OM Aeaee eraen eee eg TEERDER PLERRLIETTEUPELTEIEEUERTPPERPLIFSTLRRELTUFPLRUTFFSERRITTFURPETLRER 9 3 2 Setup and Cabling r 24242 2 41 E an aaa ungern Dann eee ese te 9 3 3 Modifying the ADMA s configuration uussssnnssnnsnnnnnnnnnnnnnnnnnnnnnennnnnnnonnennnnnnnnnnnnnennnnn 10 3 3 1 Handling of the ADMA System Software Help ccccceceeeeeeeeeeeeseeneeeesenneeeessenaeeeeeeaas 10 3 3 2 Loading configuration from the ADMA uuunsnnessnnss
50. onfiguration data from ADMA E 5 xj File Configuration Data Acquisition Setup Firmware Hotkeys Info Misc in velocity for Autolnit 5 m s J7 Accept position as origin Geo latitude Min velocity for GPS course 1 m s Ber wen 48 6000000000 deg Geo longitude ee Data Link Max side slip angle 90 deg 7 9000000000 deg Load configuratior Spin rate deg s Data Standstill detection r Prealignment Digital 1 0 Max rate at standstill E 0 1 deg s IV Enable Max velocity at standstill 20 0 01 m s Duration 10 sec Ausiliary Systems Threshol 500 0 01 Id yellow to red Offsets Threshold green to yellow fi 00 0 01 Save Exit configuration Tilt quality Threshold yellow to red 30 0 01 Threshold green to yellow 10 0 01 GeneSys Elektronik GmbH lt Back Next gt Figure 25 Dialog Parameter Threshold for Autolnit and GPS course Document revision 2x 6 1 4 Page 35 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de LWA GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de IN ADMA User manual 5 4 Modify threshold for standstill detection A LYS GeneSys Elektronik GmbH The following des
51. orrection data 0 000000 m Pulse CMR eviation m Offsets Save 7 Exit configuration atellite based augmentation IV Enabled C EGNOS G Waas I Outage logic activated Pen Ext Velocity Kalmanfiter Gene Sys Elektronik GmbH Max time of outage Figure 24 Dialog Aux Systems Configuration of the external velocity There is also the possibility to have the ADMA estimate the X scale factor of the external velocity sensor automatically For this we have implemented a External Velocity Kalman filter which has 3 Modes available e Off Ext Vel Kalman filter is deactivated e Once Activation for one measurement e On Ext Vel Kalman filter is permanently activated The determined scale factor is saved for further measurements The scale factor estimation of the external velocity sensor is signalled by 2 status bits see Technical documentation Document revision 2x 6 1 4 Page 33 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A ADMA AA IW User manual GeneSys GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de Elektronik GmbH 5 2 Satellite based GPS correction data With satellite based correction data the GPS data accuracy ca
52. rest foo j 0 0 em Change view I DIN70000 definition Figure 28 Dialog Offsets Document revision 2x 6 1 4 Page 43 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A ADMA LWA IW User manual Genesys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 Elektronik GmbH 5 7 1 Virtual measuring point point of interest If the ADMA isn t mounted in the virtual measurement point Point Of Interest then a lever arm exists between the reference point and the installation position of the ADMA This lever arm can be compensated by entering the lever arms of the virtual measurement point The entry should be made correspondent to the coordinate system DIN70000 in cm e X positive in travel direction e Y positive leftward with respect to direction of travel Z positive upward Please note This compensation is only valid if the assumption is met that the car turns around a virtually fixed axes and the movement of this axes in the horizontal plane is insignificant relative to the vehicle However this compensation is incorrect if the axis doesn t fulfil the above mentioned condition For example this could happen in driving situations like spinning or
53. s Inertial m Tilt Course GPS Aux System data 0 000 00 0 0 Milliseconds Size per step 10 4 unning Sequential data saving a recording Figure 12 Dialog Measurement in prealignment mode Once pre alignment is complete the ADMA switches automatically to the measurement mode and starts to transmit current measurement data Important The Kalman filter will need some time to settle Document revision 2x 6 1 4 Page 19 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A ADMA LWA IW User manual GeneSys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 Elektronik GmbH 3 4 1 Data recording principle of operation The control buttons for starting stopping data acquisition is separated into two groups e ADMA e Recording 7 Group ADMA With the two buttons Start and Stop the ADMA can be put into or set back from data acquisition operation This is also visualised by the status led to the right of the two buttons e green gt running data acquisition active data is transfered e red
54. s rarely achieved However it is possible to mathematically compensate for such alignment errors Compensation values can be entered in the Offsets dialog in the ADMA System Software Please note As reference orientation a horizontal defined plane of the vehicle is used which aligns with the axis of the DIN70000 coordinate system This plane then defines zero for the Roll and Pitch angles It s also very important to state the lever arm vectors within this coordinate system to obtain correctly compensated data 5 6 2 Sequence of ADMA misalignment angle compensation The sequence of misalignment angle compensation is mathematically defined by which rotary matrices are applied X Y Z Roll Pitch Yaw With the setup routine given by ADMA System Software the first two axes can be compensated Once executed only the misalignment in Yaw Z remains which can be entered using the configuration menu of the ADMA System Software To avoid errors in compensating all three misalignments saved in the ADMA configuration are set to zero prior to execution of the setup routine compensating Roll and Pitch misalignment This approach will assure that the setup routine will be executed upon the body fixed non compensated coordinate system of the ADMA Finally the compensation of the Yaw misalignment has to be entered After successful compensation of the misalignment angles all axes are mathematically rotated correctly thus the measurement data w
55. system s measuring axes parallel to those of the vehicle If installation at the centre of motion is not possible the ADMA system needs to be positioned at a point inside the vehicle more conducive to installation In this case the selected point should preferably lie on one of the axes or on a plane formed by two axes and containing the centre of motion for example in the boot on the vehicle s longitudinal axis passing through the centre of motion The ADMA s ideal position of installation in a vehicle is one in which the ADMA s measurement axes align with those of the vehicle i e where the X measurement axis is parallel to the vehicle s longitudinal axis It is difficult to actually achieve this ideal situation so that the resulting discrepancy in alignment needs to be compensated Section 5 6 cont describes how to compensate discrepancies in the ADMA s installation position and alignment 4 2 2 External speed measuring system Usually the external speed measuring system is attached to one side of the vehicle For slalom tests involving a higher risk of damage to the sensor a point at the front rear of the vehicle can be used 4 2 3 GPS antenna If the ADMA is operated together with a GPS receiver the GPS antenna must be mounted on the vehicle s roof to ensure a clear line of sight to GPS satellites The ideal position for the antenna is one offering a clear view of the entire sky from the zenith to the horizon If the installat
56. t revision 2x 6 1 4 Page 36 of 52 T GeneSys Elektronik GmbH Date March 2009 A ADMA ATA IW User manual GeneSys Elektronik GmbH 5 4 1 Max turn rate at standstill The measured ADMA turn rates allow a good detection of vehicle standstill as the measured rates of the vehicle are smaller in standstill compared to those in dynamic operation However the thresholds have to be checked and adapted depending on the type of vehicle This can best be done with a test measurement followed by a data analysis The special mode of the Kalman filter update via Zero Velocity Update is available in all operation modes however in solo operation no external velocity no D GPS only the turn rates are used for standstill detection 5 4 2 Max velocity at standstill If the ADMA is operated in a non solo mode then an additional check against the inertial velocity is performed for standstill detection In that case both criteria rate and velocity need to be valid for the ADMA to indicate standstill detection Document revision 2x 6 1 4 Page 37 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A ADMA LWA IW User manual G enesys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0
57. ta Link appears For testing please click on the COM option This sets up the ADMA to transmit the data via the COM port The ADMA System Software is capable of receiving the data via the COM port where the data will be displayed and if required stored Elapma System Software Configuration data from ADMA Eile Configuration Data Acquisition Setup Firmware Hotkeys Info lee Data Digital 1 0 Ausiliary Systems Parameters Offsets Save Exit configuration Interface CAN COM CAN Identifier Standard Extended BaseiD J100 dec 0464 hex m CAN Baudrate kB 115 COM Baudrate kB Figure 4 Dialog Data Link Document revision 2x 6 1 4 Page 12 of 52 Date March 2009 A LA GeneSys Elektronik GmbH IN ADMA IW User manual 3 3 4 Selection of data packets to be transmitted The Data dialog is used to individually select the data packets to be transmitted by the ADMA Data packets which are not required can be deactivated in order to reduce the transmission data volume The following data packets need to be selected for the function test e Rates Body e Rates Horizontal e Acceleration Body e Acceleration Horizontal e Tilt Heading El apa system Software Configuration data from ADMA 5 x File Configuration Data Acquisition Setup Firmware Hotkeys Info JV Status and Error I GPS EPE F Free Load configurat
58. tabyte Header Checksum Total databytes transmitted Autostart J Autostart Update frequency 100 Data coordinate output format T DIN 70000 Frequency Hz GeneSys Elektronik GmbH lt Back Next gt Help Figure 29 ABD steering robot If this checkbox is active the Update Frequency is set to 100Hz which is specified for the ABD steering robot In addition all needed configuration for the Ethernet interface is set automatically for the communication to the robot ADMA ABD Steering Robot IP Address 195 0 0 132 195 0 0 100 Port 1025 1025 Protokoll UDP UDP Use Save Settings in ADMA in the Save Exit configuration dialog to transfer the configuration to the ADMA Document revision 2x 6 1 4 Page 48 of 52 Date March 2009 A ADMA ATA IW User manual GeneSys Elektronik GmbH 7 2 Measurement If you activate the steering robot and download the configuration to the ADMA or power cycle the previous configured ADMA and no Ethernet cable is connected the Ethernet interface LED on the front of the ADMA should blink with about 1Hz Then the ADMA tries to reach the robot with the IP address 195 0 0 100 If you now connect the ADMA to the Robot via Ethernet cable the LED should stop to blink after less then 10 seconds only then you can start the data acquisition The Ethernet interface LED should blink fast 100 Hz if data is send to the ro
59. ternal GPS receiver The ADMA or ADMA G module A supply cable designated ADMA DC In colour code red A communication cable designated ADMA COM colour code blue A communication cable designated ADMA CAN colour code green A ADMA Download cable designated Prog colour code white with programming adapter The configuration tool designated ADMA System Software Documentation User manual Technical Documentation and ADMA System Software Transport case for ADMA or ADMA G GPS receiver only by ADMA with external GPS Receiver GPS supply cable only by ADMA with external GPS Receiver GPS communication cable only by ADMA with external GPS Receiver colour code brown GPS rover antenna with cable in case ADMA G with in case ADMA without colour code brown Magnetic base for GPS rover antenna Documentation GPS receiver Transport case for GPS Rover Optional items HW 2 2 and higher versions HW 2 1 Signal In cable colour code orange Signal Out cable colour code yellow ADMA Speed cable colour code grey Radio modem or GSM modem Radio GSM modem antenna with magnetic base and antenna cable ADMA G modem connection cable colour code brown only with ADMA G with internal GPS GPS modem connection cable only with ADMA with external GPS Receiver Receiver enabling for WAAS Rescue case with replacement cable and download software Event In 1 cable colour code orange Event In 2 cable colour code orange Sync Out cable
60. th external GPS receiver the GPS receiver has to be connected with the GPS antenna via a coaxial cable As a rule the GPS antenna is mounted on the roof with a magnetic base To use the DGPS mode of the GPS receiver a modem is required to receive correction data This can be either a wireless or a GSM modem Connect the receiver with the modem and the modem with its modem antenna Please note that both the GPS receiver and the optional modem need to be supplied 5 2 e nn a O RF modem Figure 21 ADMA G with internal GPS receiver GPS antenna RF modem GPS Rover Figure 22 ADMA with external GPS receiver Document revision 2x 6 1 4 Page 31 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A ADMA ATA IW User manual GeneSys Elektronik GmbH 4 3 5 ADMA and DGPS with a separate base station The separate base station is set up similar to the installation of an external GPS receiver in the vehicle except that in the case of a mobile station a PC or laptop communicates with the base There are two different GPS base models available Besides a standard GPS base GeneSys also offers an all weather housing for accommodating all the essential components of a base station In this case just simply connect the housing s integrated sockets to the GPS antenna mo
61. th the application and can be within a possible error range of 0 1 1 5 10 or even 20m As an example in case of crosswind influence tests the position measurement needs to be very exact and accordingly the limits must be set closely With the GPS re entering after a GPS outage the position quality will increase again This leads to smaller standard deviations of the ADMA position and thus affecting the position standard deviation Please note The position error can be reduced to a linear error behaviour by using an external velocity signal Associated with this is a better expected position quality over the time 5 5 2 Threshold for Tilt quality In contrary to the position quality the tilt quality is of interest to most operation modes It is advantageous that the tilt error only increases linear over the time In cases of a D GPS outage a better error behaviour can be expected compared to those of the position 5 5 3 Enter geo latitude and geo longitude To operate the ADMA without D GPS the actual position can be defined in the configuration With the correct entry of the geo latitude the earth rate and the earth gravitational vector length can be calculated correctly If the ADMA is using D GPS the entered position can be used as the origin for the relative position grid local tangent plane To allow this option activate the checkbox Accept position as origin for further information see the Technical documentation The relat
62. tial data saving a fecording Figure 16 Dialog Measurement Check of displayed orientation Document revision 2x 6 1 4 Page 23 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A VAN ADMA LW IW User manual GeneSys GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de Elektronik GmbH 3 5 4 Checking displayed rotational speeds In a static state the following rotational speeds should be indicated e X axis 0 s e Y axis 0 s e Z axis 0 s ADMA Measurement data E iol xi Status Byte 3 Byte 2 Byte 1 DB 00 20 Byte 0 11 Byte3 Byte 2 00 00 Byte 1 00 Byte 0 00 221 Latitude Longitude GPS Position 0 02 0 02 0 01 E 0 02 0 00 GPS Velocity fran Acceleration 0 0044 0 0016 0 9990 0 0007 0 0003 0 9990 GPS Erors Extemal velocity ah R Inertial m Miscellaneous Tilt Course GPS Aus ekeliim 0 08 No sat H 0 29 0 00 COG deg 0 00 System d
63. tware and select the menu option Configuration Plana System Software x File Configuration Data Acquisition Setup Firmware Hotkeys Info Figure 2 Menu of the ADMA System Software la x The following dialog will open where you can choose the source to load the configuration data from For function testing the settings should be loaded from the ADMA Please choose the option Load settings from ADMA and confirm with the button Load Generate settings El apa system Software File Configuration Data Acquisition Setup Firmware Hotkeys Info r Load settings C Load Settings from ini File Load settings from ADMA Generate new settings Load Generate settings Cancel Figure 3 Dialog Load configuration 15 x The ADMA system software then starts to read out the ADMA s configuration data Once this process is complete the loaded data is displayed Document revision 2x 6 1 4 Page 11 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de AYA GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de VAN ADMA User manual A LYS Genesys Elektronik GmbH 3 3 3 Configuring measurement data transmission via the COM interface The dialog Da
64. ual columns of the file filename prn 3 6 2 Checking the rotational speeds Start a measurement with the storage option activated as described above After prealignment the system is rotated about the individual measurement axes in the sequence X Y and Z The plotted data could look like this k rperfeste Drehraten 300 200 4 4 4 4 100 100 200 300 0 2 4 6 8 10 12 14 16 18 20 22 Zeit in Sekunden Drehrate in X Drehrate in Y Drehrate in Z Diagram 1 Plot rates Document revision 2x 6 1 4 Page 26 of 52 Date March 2009 A ADMA LWA IW User manual GeneSys Elektronik GmbH This data plot shows that ADMA detects negative as well as positive rotational speeds about all three measurement axes 3 6 3 Checking accelerations Start another measurement with the storage option activated as described above After pre alignment the system is moved linearly along the individual axes in the sequence X Y and Z The plotted data could appear as follows k rperfeste Beschleunigen Beschleunigung in g Beschleunigung in X Beschleunigung in Y Beschleunigung in Z Diagram 2 Plot Accelerations This data plot shows that ADMA detects negative as well as positive accelerations along the three measurement axes GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11
65. ve been taken measurements can be properly started 6 2 Starting a measurement Basically there are 4 possibilities to start a measurement e Start a measurement via the main menu s item Start measurement in ADMA System Software e Start a measurement via the main menu s item Remote Start in ADMA System Software e Start a measurement via the Autostart mode e Start a measurement via a user specific tool 6 2 1 Start measurement in the ADMA System Software In this case the ADMA measuring mode is started with the System software via the COM port Before starting a measurement please enter the start course and the pre alignment in the displayed dialog The measurement will start directly after this For further information about these 2 parameters have a look at the following chapters 6 2 5 and 6 2 7 The dialog ADMA measurement data appears and the parameters are displayed 6 2 2 Remote Start in the ADMA System Software Remote Start starts a measurement in which the data is output via the CAN port For this purpose select CAN port in dialog Parameter in configuration mode Before starting a measurement please enter the start course and pre alignment in the displayed dialog For further information about these 2 parameters have a look at the following chapters 6 2 5 and 6 2 7 The dialog ADMA measurement data appears and the data are displayed Document revision 2x 6 1 4 Page 45 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp
66. ware Hotkeys Info lEix Figure 30 Menu Firmware download The following dialog will appear where you can search for the ADMA firmware file using the Load BIN file button Following loading of the binary firmware file download could be started although we recommend checking download verification USB Firmware download E p x Note Before the download starts there will be a compatibility check between the Firmware and the ADMA hardware For this operation its necessary that the ADMA is connected to the PC via COM cable Load BIN file CHADMA Firmware ADMA_v21_6_0_0 BIN IV Verify Firmware download Start download Figure 31 Dialog FW download The Start download button will initiate a sequence of actions the first step will clear the flash chip followed by reprogramming and finally verifying the download process if enabled After step 2 and 3 you will be informed if either of the both steps were successfully executed After a successful download please remove the supply voltage for a couple of seconds to then find the ADMA ready for operation Please note that the new firmware might need a compatible System Software Document revision 2x 6 1 4 Page 51 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A ADMA AA IW User manual G enesys mail genesys offenburg de www
67. ystem Software versions Ini files that have been created with older versions of the SW can now be read with versions 21 5 0 and newer If the SW detects a missing entry in the older Ini file it will give notice that a parameter was not found and set it to its default For later analysis all given messages will be saved in a text file named Protocol txt in the working directory of the SW The updated copy of the configuration parameters can now be downloaded to the ADMA and or be saved in a new Ini file New with SW Version 21 5 0 is that the Ini file will now be saved with a header containing basic system information It will be located at the beginning of the file and it will show this information ADMA serial number ADMA hardware version ADMA firmware version ADMA System Software version with which the Ini file was made Please note that the header is only added if an ADMA has been read and the configuration was saved to an ini file Important Please don not change the ini file manually Document revision 2x 6 1 4 Page 50 of 52 Date March 2009 A ADMA ATA IW User manual GeneSys Elektronik GmbH 8 4 Download ADMA firmware Please apply correct supply voltage to the ADMA and connect the USB Download cable to the ADMA and the USB Port of or PC laptop Then start the ADMA System Software and choose from the menu Firmware JTAG Downlaod gt EEE System Software File Configuration Data Acquisition Setup Firm
68. ystem or a GPS 2 Scope of delivery 2 1 ADMA only The ADMA module A supply cable designated ADMA Power colour code red A communication cable designated ADMA COM colour code blue A communication cable designated ADMA CAN colour code green ADMA Download cable colour code white The configuration tool designated ADMA System Software Documentation User manual Technical Documentation and ADMA System Software Transport case Optional items HW 2 2 and higher versions e Signal In cable colour code orange e Signal Out cable colour code yellow e ADMA Speed cable colour code grey e Rescue case with replacement cable and download software HW 2 1 e Event In 1 cable colour code orange Event In 2 cable colour code orange Sync Out cable colour code yellow Error Out cable colour code black Aux Out cable colour code black ADMA Speed cable colour code grey e e e e e e Rescue case with replacement cable and download software Document revision 2x 6 1 4 Page 5 of 52 Date March 2009 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de ATA mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 A ADMA LWA 2 2 User manual GeneSys Elektronik GmbH ADMA with internal ex

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