Brief Outline for Procedure to Collect H764G Data
Contents
1. When the internal clock has reached approximately 900 sec 10 minutes of recording press CTRL END to stop the program 15 Press ESC twice to exit the program 16 Turn off the H764G INS using the white rocker switch 17 At this point the file that was created contains binary data and more data than you will need to do the lab 18 Now run CDATS PB to play back the collected data and extract the items you need C GMCDATS gt CDATS PB GMCOR_PB IN 19 Change the data file name select lt 3 gt use arrows to select the name of the file you created lt enter gt 20 Select lt O gt to start the program 21 In the command line type the following commands After each ADD the item that you have selected will appear at the top of the screen with units The first item is the system time the next three items are the incremental velocities in the body frame the next three items are the incremental angles in the body frame the last two items are the computed roll and pitch of the INS You can use the up arrow on the keyboard to recall the previous command for editing EXTRACT NEW filename CSV lt enter gt EXTRACT ADD RAW O1 lt enter gt EXTRACT ADD RAW 06 lt enter gt EXTRACT ADD RAW 10 lt enter gt EXTRACT ADD RAW 14 lt enter gt EXTRACT ADD RAW 18 lt enter gt EXTRACT ADD RAW 22 lt enter gt EXTRACT ADD RAW 26 lt enter gt EXTRACT ADD I01P 10 lt enter gt EXTRACT ADD I01P2. 11 lt enter gt 22 Include a header in the file so that you know what you have saved it also includes units EXTRACT HEADER lt enter gt 23 Press F4 to start the extraction of the data This will take some time possibly longer than 10 minutes BOF beginning of file will be flashing in the lower nght corner of the screen while data are being extracted When the extraction is completed EOF end of file will be flashing in the lower right corner of the screen You are NOT done yet 24 When EOF appears in the lower right corner of the screen you need to close the file EXTRACT CLOSE lt enter gt 25 You have now created an ASCII comma separated values CSV file that can be viewed with MS EXCEL or any ASCII editor 26 Press CNTRL END to end the program and ESC to exit the program 27 Restart the computer CTRL ALT DEL making sure the LAN cable is connected 28 Use SSH to transfer your files SAV and CSV in directory CAGMCDATS to your preferred server Save both files since we may wish later to extract other data If you have problems with the LAN connection please see Jong Ki Lee 29 Unplug the power chord for INS from the power strip shut down and turn off the computer turn off the power strip 30 Although reasonably robust the H764G is an expensive piece of equipment and the computer although reliable so far is old and difficult to replace PLEASE HANDLE ALL COMPONENTS OF TH
3. GS745 Inertial Navigation and Positioning Analysis 11 April 2006 Brief Outline for Procedure to Collect H764G Data The H764G is a navigation quality inertial navigation system INS manufactured by Honeywell Inc it includes a GPS receiver but we will not need that Being an INS the H764G also contains a computer that processes raw gyro and GPS data to obtain a navigation solution The H764G communicates with the outside world through a 1553 interface card The computer that we have to collect the data has this interface card as well as the software to send and collect messages data from the H764G This software is Honeywell proprietary and is called Configurable Data Acquisition Test Software CDATS The computer case also contains a power supply for the H764G yielding around 28 VDC that is obtained through a converter from the usual 120 VAC CDATS is fairly user friendly but must run on native MS DOS Hence the computer is relatively old and slow The following gives a step by step procedure to use CDATS on the configured computer to collect pre defined data from the H764G The H764G is capable of generating hundreds of different messages including inertial and GPS data but our interest is solely in extracting raw gyro and accelerometer data as well as the tilt angles as computed by the INS computer A more complete user manual for CDATS is also available 1 Turn on the power strip turn on the HP computer front button make sure t
4. IS LAB WITH CARE AND RESPECT
5. he power chord from the back of the computer is also plugged into the power strip 2 Boot up using OK on request to login 3 Restart the computer in MS DOS mode START shut down menu 4 Change the directory to the root directory C WINDOWS gt CD 5 Change the directory to GMCDATS C gt CD GMCDATS 6 Run the CDATS bus controller using the GMCOREINI initialization file C GMCDATS gt CDATS BC GMCORE IN 7 Change the name of the file to which the data will be saved select lt 3 gt type data file name your choice SAV will be appended lt enter gt 8 Start the H764G INS using the white rocker switch on the power cable you should hear the gyro dither motors 9 Select lt 0 gt to start the program 10 Press ALT F4 to begin the internal alignment of INS The alignment may take up to 6 7 minutes and will go through a number of steps each highlighted in sequence First GC_ALIGN should be highlighted then after a couple of minutes DEGNAVRDY should be highlighted finally NAV_RDY should be highlighted While this is proceeding DO NOT move the INS 11 At any time during the initial alignment press Fl to enter position this is done from initialization file 12 Press SHIFT F1 when NAV_RDY is highlighted to being the navigation function 13 When the internal clock reaches 300 sec recording will begin note the flashing REC in the lower right corner of the screen 14
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