ProMove-2 - Inertia Technology
Contents
1. Figure 6 Finding the serial port www inertia technology com Page 12 of 23 INERTI TECHNOLOGY Select the FT232 USB UART click right and select Properties from the menu It is connected to COM17 C E Figure 7 Properties of the serial port www inertia technology com Page 13 of 23 INERTIA 5 Visualization settings The View Config menu shows the various options for visualization V Auto scaling on Y axis Graph background color Black White Graph line continuity Lines Points Figure 8 View configuration Global tab Tick the box to set Auto scaling on the Y axis Select Black or the White for the background colour Select Lines or Points for the type of Graph you prefer Select the Graph update speed by moving the slider between the Fast and Slow markers Choose Apply to make the changes or choose Close to exit while discarding all changes www inertia technology com Page 14 of 23 INERTIA Select the Node tab Node colors Node ruber Line color O Figure 9 View configuration Node tab The line color for each node can be changed by selecting the node number and pressing the color button after Line color www inertia technology com Page 15 of 23 INERTIA Select the Graph tab Flot graphs i amp 2 A4 B5 7 6s 10 Acceleration X m s Sensor type Y axis label wae Figure 10 View configuration Graph ta2. Side view Tl Figure 2 The ProMove 2 node layout The description of the LEDs functionality is given in the table below LED 1 2 3 4 Cour ve ow SEEN ECT On Charging turns off when charging is completed Blinking fast For future use Communication Wireless with sensors communication Blinking slow For future use Communication Wireless with sensors communication Slow or fast blinking depends on the set data rate 2 2 Recharging the batteries of the sensor nodes The internal batteries of the sensor nodes should be periodically recharged using their mini USB connector either from the USB ports of a computer active USB hub or using standard USB chargers The gateway has no internal battery and therefore does not require recharging A red LED on the sensor nodes marked as number 1 in Figure 2 indicates the charging status It is turned on while the sensor node is charging It turns off once the sensor node is fully charged Page 5 of 23 INERTIA 2 3 Installing the Gateway driver The FTDI driver must be installed for the USB connection of the Gateway to the PC There is a setup application for the different ms windows operating systems in the Drivers directory on the installation CD Windows7 can find the FTTD driver itself when it is connected to the internet 2 4 Installing the Visual C redistributable The Visual C redistributable is required for the ProMove GUI to
3. INERTIA TECHNOLOGY ProMove 2 Wireless Inertial and Orientation Sensor Platform User Manual v1 1 INERTIA Table of contents Lo ING OMUCHON ssrccccasssssisnscsesevesssenscendecseevenasdedscasedecseesssses sudevsasieaseosascesasdasooassssscenasonasoesssonssenassanceseas 3 D gt SCUUP scveciscseccisteccctsciiaessdesdsccedscexsescededccesesdcues seusdecceacaseneecessdeddcasersnesectsdecedeassanascesddeddceaseaeadcesddcceescs 4 2 1 SYSTEM COSCFIPUION scccscececcssseccecsesesceccecsseceusedessesceuseesesseseucedcensescedcedeaseseeatessensedessesensseeceasesosssseuadeates 4 2 2 Recharging the batteries of the sensor nodeS sesssseessosssecscesssesesoossoeesoesssesesosseseosoesssesesossessese 5 2 3 Installing the Gateway Criver cccccccccccccscsscssssscsscccsscsscscesscsessccscsscssssscscescesesscssssccssssccsssscnsees 6 2 4 Installing the Visual C redistributable ccccccccssccccssscssesecscssccscsscssssccscssccscssessssccssssccsssseseees 6 2 5 Installing the ProMove GUL1 scccssccccssscccscscessccecsccscsscsscscsecscsscescsssssssssessccscssessssscsessccssescseees 6 3 Graphical User IN fae svccciscccsivsatessecssceccscsensescssssteccssveasdsescsssetcevoossestecsscsceseoossssescsedecesesessesedets 7 3 1 D ta SA PINS cases ssticcescsssessacssudscesteascuvesssasccesteaccesasssudsceadesceusataveocsactbasousasontesssatossoacsssuescssouosseusessueosece 8 3 2 Control and iNfO area ssccse
4. packets 0 0 Complete history Total packets o Allnodes Reset statistics 11 28 30 com17 re started with rate 460800 flow_control 1 logfile 11 29 30 Stats lostttotal id1 3 1579 0 2 id2 557 2029 27 5 all 60 3608 15 5 Figure 3 ProMove GUI with 2 nodes Main window Page 7 of 23 INERTIA 3 1 Data graphs In the default setting the following graphs are displayed from left to right and top to bottom e Acceleration X e Acceleration Y e Acceleration Z e Compass X e Compass Y e Compass Z e Gyroscope X e Gyroscope Y e Gyroscope Z e RSSI Received Signal Strength Indicator 3 2 Control and info area A close up of the Control and Info Area is depicted in Figure 4 Lost packets 0 0 ati tata ae gt Total packets o Allnodes 4 SEs Zoomx Reset statistics Ia an X 12 38 06 com17 re started with rate 460800 flow_control 1 logfile 12 38 27 OnSerialUpdate com17 is stopped Figure 4 The Control and Info Area window of the ProMove GUI Packet loss statistics The drop down menu Complete history selects between statistics for One minute or for the Complete history The All nodes drop down menu gives the option to monitor the statistics of one node or all nodes The statistics can be reset by pushing the Reset statistics button After changing the sensor configuration it is recommended to reset the statistics Toolbox Push to Stop capturing and to Start captur
5. b The Graph number corresponds to the graph windows seen in the ProMove GUI from left to right and top to bottom Select the Graph number and then the Sensor type you would like to see in that graph window You can add your own label by typing a text in the box Y axis label www inertia technology com Page 16 of 23 INERTIA 6 Wireless configuration The configuration of the sensor nodes can be changed wirelessly All configurable options are accessible via the Options Wireless configuration menu The changes made through wireless configuration are not permanent This means that once the nodes are powered off and back on the default settings are automatically reloaded on the sensor nodes 6 1 Global configuration options i Acceleration Compass Gyroscope Global configuration V Global data sampling F Global wireless transmit Sampling rate Hz 200 v Received configurations most recent first Time Node id Sampling Transmit _ seca Figure 11 The Global configuration tab Press the Get button The received result is shown in the Received Configurations panel Double clicking on a line loads the result in the settings window The default settings are restored by pushing the Set Default button The following parameters can be changed in the Global configuration window e Global data sampling Overall sampling is enabled If switched off no data is sampled e Global wireles
6. e box Logging enabled and select the type of logging e Global file for one file with all the nodes data e One file per node for one file per senor node For the Logfile creation method there are the following options e Overwrite the existing file is overwritten e Append data is added after the last entry in the current file e Auto number all created files are numbered in sequence In the Logging filename field the filename for the log should be given Page 11 of 23 INERTIA 4 3 Finding the serial port of the Gateway The serial port used by the ProMove Gateway must be specified in the GUI After plugging in the ProMove Gateway on one of the USB connections of your computer you need to get the number of this serial port As an example for Windows 7 Home Premium go to Menu Start and select peripherals and printers A list of all connected equipment will appear ox et A Hardware en ngue Apparaten en printers gt Z Zoeken in Apparaten en printers 2 Een apparaat toevoegen Een printer toevoegen Afdruktaken weergeven gt 4 Apparaten 4 Dell QuietKey Dell USB Optical GERARD HP SyncMaster Keyboard Mouse 4 Printers en faxapparaten 6 Driver hp 1300 lw22_d op Microsoft XPS PDF Complete ewips01 ewi utwe Document Writer nte nl The Gateway FT232R USB UART lw22_d op ewipsO1 ewi utwente nl Toestand Ou Status 0 document en in de wachtrij Model HP LaserJet 9000 PCL6 Categorie Printer
7. e scales with the number of nodes in the network and the activated sensors e g 200 Hz for all inertial sensors for 6 nodes 100 Hz for 12 nodes ProMove 2 features additionally an RF power amplifier for extended coverage and improved sensitivity and a mini USB connector for charging the Li lon battery Everything fits in a compact casing of 65x50x30 mm Page 3 of 23 INERTIA 2 Setup 2 1 System description The system consists of a number of sensor nodes the ProMove 2 the USB gateway FastGateway and the Graphical User Interface ProMove GUI software for monitoring and logging the inertial data The setup is depicted in Figure 1 The sensor nodes communicate wirelessly with the gateway using the proprietary FastMAC protocol The gateway is connected via its mini USB connector with a PC that runs the ProMove GUI The gateway can be easily recognized because it has no on off switch and has only two LEDs whereas the sensor nodes have four LEDs Figure 2 shows the top view and side view layout of the ProMove 2 nodes with the identification of reference system axes X Y Z on off switch mini USB connector and LEDs rae Fast Gateway A r F Easimac Pi 8Q2 15 4 Pag ProMove 2 d A ProMove 2 ProMove 2 Figure 1 Setup of sensor nodes gateway and GUI Page 4 of 23 INERTIA X axis Y axis Side view 1 2 i eo op view r Z axis 3 4 X axis Mini USB connector ProMove 2
8. gain 260 mW max TX power low gain 210 mW min TX power low gain Battery Dimensions 3 7 V 950 mAh rechargeable gt 10 h operation at max TX power 65x50x30 mm Weight 70g with enclosure www inertia technology com Page 23 of 23
9. ing The Zoom slider zooms in or out the data displayed in the graphs The Pan X option enables shifting the data displayed in the graphs to left or right Legend The legend window shows which line color is used for each sensor node in the graphs Page 8 of 23 INERTIA System messages The system messages are displayed in the reserved area 3 3 Menus There are four top menus File Options View and Help The File menu has the menu items Capture for setting the data capture configuration and Exit to quit the GUI The Options menu has the menu item Wireless configuration which configures the sensor and the wireless connection parameters The View menu has the menu items Config for the configuration of the graphs and Clear all graphs for clearing the graph windows The Help menu has the items Manual for a copy of the users manual and About with the revision information for the ProMoveGUI The menus and functionality are further described in the following sections Page 9 of 23 INERTIA 4 Real time data capture The File Capture menu enables the real time data capturing and logging to files Logfile creation method 5 Overwrite s Append Figure 5 The File Capture window 4 1 Serial port selection and configuration The serial port COM must be set for the ProMove GUI See section 4 3 for an example on how to find the correct serial port For COM ports higher than 9 type in d
10. irectly the COM number in the drop box It is recommended to use the default settings for Baudrate and Flow control Use the Start and Stop buttons to start and stop receiving data A previous serial connection will be removed after pressing the Remove button www inertia technology com Page 10 of 23 INERTIA 4 2 Logging to file Data logging is performed in real time in parallel with plotting the graphs Log files can optionally be split in separate files per sensor node Data logging is done in comma separated values file format with the following fields on each line e timestamp a 16 bit timestamp e node id the node id e ax the x value of the acceleration e ay the y value of the acceleration e az the z value of the acceleration e cx the x value of the compass e cy the y value of the compass e cz the z value of the compass e gx the x value of the gyroscope e gy the y value of the gyroscope e gz the z value of the gyroscope e rssi the RSSI value of the last received packet Note that there can be empty values in a log file since not all sensors sample at the same rate The sampling rate can be adjusted separately per sensor type see section 6 The compass sensor has an internal maximal sampling rate of 50 Hz so only one out of four values is actually sampled when the global sampling rate is set at 200Hz Additionally the RSSI information is relevant for one out of seven samples To enable logging tick th
11. ons most recent first Time Node id Sampling Transmit Range 10 21 20 406 2 true 10 21 20 390 1 true 10 21 20 47 2 true Figure 14 The Compass configuration tab www inertia technology com Page 20 of 23 INERTIA 6 5 Gyroscope configuration options The Gyroscope configuration is depicted in Figure 15 The following options are available e Enable sampling and transmission of gyroscope values e Set the measurement range 2000 s or 440 s e Adjust sampling modulus allows the sampling rate to be reduced for this sensor For instance when modulus is set to 2 the number of samples that this sensor sends is divided by 2 i e when the sampling rate is 100Hz the sensor will send at 50Hz Wireless Global Acceleration gyroscope config 7 Enable sampling V Enable transmission Large vs reduced range 2000 s 440 s E Adjust sampling modulus Received configurations most recent first Time Node id Sampling Range 10 21 20 406 2 true 2000 s 10 21 20 390 1 2000 s 10 21 20 281 2 true 2000 s _ Figure 15 The Gyroscope configuration tab www inertia technology com Page 21 of 23 INERTIA 7 Calibration All sensors are factory calibrated For improved performance and adaptation to the specific experimental environment we recommend to perform e Custom compass calibration of the offset and scale val
12. options are available e Enable sampling and transmission of acceleration e Set the measurement range 2g or 6g e Adjust sampling modulus allows the sampling rate to be reduced for this sensor For instance when modulus is set to 2 the number of samples that this sensor sends is divided by 2 i e when the sampling rate is 100Hz the sensor will send at 50Hz Global i Compass Gyroscope acceleration config V Enable sampling V Enable transmission E Adjust sampling modulus 1 Range g Received configurations most recent first Time Node id Sampling Transmit 10 21 20 406 2 true 10 21 20 390 1 true 10 21 20 281 2 true Figure 13 The Acceleration configuration tab www inertia technology com Page 19 of 23 INERTIA 6 4 Compass configuration options The Compass configuration is depicted in Figure 14 The following options are available e Enable sampling and transmission of compass values e Set the measurement range to one of the following values 0 7 1 15 2 3 2 38 45 65 Gauss e Adjust sampling modulus allows the sampling rate to be reduced for this sensor For instance when modulus is set to 2 the number of samples that this sensor sends is divided by 2 i e when the sampling rate is 100Hz the sensor will send at 50Hz V Enable sampling V Enable transmission E Adjust sampling modulus 4 Received configurati
13. run This redistributable is available as a setup application in the Drivers directory of the installation CD 2 5 Installing the ProMove GUI The ProMove GUI can be found in the ProMoveGUI folder on the installation CD Copy the folder ProMoveGUI from the CD to the hard drive of your PC Double click on the application ProMoveGUI to launch the program www inertia technology com Page 6 of 23 INERTIA 3 Graphical User Interface Figure 3 shows the Graphical User Interface GUI It is available for Microsoft Windows and for recent versions of Ubuntu Linux The GUI contains 10 Graphs that show by default the following parameters e Acceleration on X Y and Z axes e Compass magnetic field intensity on X Y and Z axes e Gyroscope turn rate on X Y and Z axes e Signal strength RSSI information A different line colour corresponds to a different sensor node in the network The Control and Info Area at the bottom right shows 1 The Packet loss statistics panel displaying a The number of lost packets b The total number of packets received from the sensor nodes c The button for resetting the statistics d The drop down menu for the Complete history e The drop down menu for selection of one or All nodes 2 The Toolbox panel used to control the data capturing to zoom and pan the data 3 The reserved area for system messages 4 The legend with the corresponding colors for each sensor in the graphs Packet loss statistics Lost
14. s transmit Can be switched off to stop receiving data www inertia technology com Page 17 of 23 INERTIA e Sampling rate Set the rate at which data is sampled for each sensor Currently supported rates are 50 100 150 and 200 Hz 6 2 Wireless configuration options The Wireless configuration is depicted in Figure 12 This configuration can be used to change the following characteristics of the radio communication e Config destination specifies the target of the configuration the Gateway or the Nodes e Frequency channel specifies the frequency channel to be used e Gain specifies the sensitivity of the receiver High gain is recommended e Transmit power selects the transmission power level High Medium and Low When changing the frequency channel first set the node configuration and then the gateway configuration otherwise the gateway may not be able to connect to the nodes anymore Wireless Global Acceleration Compass Gyroscope radio config Gain Config destination High Low Gateway Nodes Frequency channel 17 v Transmit power Received configurations most recent first Time Node id Channel 14 38 45 867 2 21 14 38 45 810 1 21 14 38 45 792 0 21 Figure 12 The Wireless configuration tab www inertia technology com Page 18 of 23 INERTIA 6 3 Acceleration configuration options The Acceleration configuration is depicted in Figure 13 The following
15. snsees 20 6 5 Gyroscope configuration OPTIONS ccccccccsceccssesccccescsscssccesccssssccscssesssssessscesssscsssscesssecesesoees 21 F COND PAUOM ciseaserassssasensiscnsannassnsestosscnssenssebetssnssansesudesdecsausssecesuddestesdodsdedeadessseekescnssasasessesennscesaees 22 8 Technical Specifications siciccsssicisccccccndscesstosssccccdeessesesedsiacsedecesenstedsuddcccvessssesstssddcdensesseadeiescecdcace 23 Page 2 of 23 INERTIA 1 Introduction The ProMove 2 is a highly miniaturized inertial sensor node that captures and communicates wireless full 3 D motion and orientation information It combines the latest advances in MEMS sensor design and low power wireless communication Featuring a suite of modern inertial and magnetic sensors a dedicated microcontroller for application specific software and a separate System on Chip SoC solution for wireless networking ProMove 2 is a powerful versatile platform for motion sensing applications The sensor information provided by ProMove 2 consists of 3 D acceleration 3 D turn rate gyroscope and 3 D magnetic field intensity compass The data is communicated using the 2 4 GHz wireless radio to a central node the FastGateway which connects through USB to a computer The data can be visualized in the ProMove GUI software and is logged for post analysis Multiple ProMove 2 nodes can form a network and report the sensor data fully synchronized to the FastGateway The sampling rat
16. sscscssscscccserssecscsssssenssesssscsescssenssesessenssesssesssscessessesesesesscessonsseeses 8 3 3 MENUS EA E E 9 4 Real time data CAPILUT ES s cciiccesccsccisssdcciccesesscsssedstcsessessseincsstectesscosesvacdsedsdestcasedvacscseckesscasetsseccesees 10 4 1 Serial port selection and configuration seesssesessessseoseeeseesesoeseoossoessoesesesssoessoesosesesessesesssesosssese 10 4 2 Logging tO TO isscscccsssssdescsousssscesacgecssvonssessesatnscscnosssesuendesesssvonstacussavsesecbocssesussbesecestecssueussvesssesbeusduessss 11 4 3 Finding the serial port of the Gatewal cccccsscsccssrcccscsscssesecsccscsscsscscsecscssecssssessesecsssscesees 12 Visualization Settings sccessccsasesscsnnsssnsserssedadennsscnsecesseesesnsscasedeaevesseeeddsegedeadosdseonedsiasdedsesescenasesasces 14 Wireless CONfISUTULION siscccicascsseicccnlccdecessssestcodsecdcossessessiedudeddossessetsseuededsosteasedsseuceedsonsesesssesceses 17 6 1 Global configuration Options ssscscsscssssscescscesssssscssssscscesssscssccsssscssssscssssccsssscessscessssssessoees 17 6 2 Wireless configuration Options scccccccsccsccsssscscsscsccsccscssccsssscescsccsesssesssscsscssesesssesssssescsseseses 18 6 3 Acceleration Configuration Options c cccscsssssssssscsscscscssccsssscescsccssssccsssscesescesesssesssssssesseroees 19 6 4 Compass configuration options ccsccsccscsscssesscscescsscsscscescssssscscsscssssssessscssessesssscessssces
17. ues by using for example the method presented in 1 e Custom gyroscope calibration of the offset values by collecting a short data log in still position 1 Caruso M J 2000 Applications of magnetic sensors for low cost compass systems IEEE Position Location and Navigation Symposium pp 177 184 w inertia technology com Page 22 of 23 INERTIA 8 Technical Specifications Range 2g t6 Resolution 1 mg 2 g range Sensitivity 1024 LSb g 2 g range Non linearity 2 FS Cross axis 43 5 Calibration On chip factory calibration Range Dual 440 s and 2000 s Non linearity lt 1 FS Resolution 0 21 s 440 s range 0 98 s 2000 s range Cross axis 1 Calibration On chip factory calibration Compass Range 4 5 Gauss Resolution 7 mGauss Cross axis 0 2 FS Gauss Sampling rate Frequency band 2 4 GHz Data rate 250 kbps TX power Selectable max 22 dBm RX sensitivity 11 dB high gain 1 dB low gain Range gt 50 m at max TX power Scales with the number of nodes in the network 200 Hz for 6 nodes 100 Hz for 12 nodes Synchronization lt 6 us Wired interface USB 2 0 full speed compatible Storage Visualization software 128 Mbit Flash memory ProMove GUI runs on Windows 7 Vista XP 2000 Ubuntu Linux Gateway Power consumption in real time streaming mode FastGateway with USB interface 275 mW max TX power high
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