PROJECT PROPOSAL ON
Contents
1. flash means there are damages or error in Gumstixs or navigation EKF software gt wh 2 TungRay Instruments amp Control Pte Ltd Address Block 51 Ayer Rajah Crescent 02 09 Singapore 139948 Co Reg No Tel 65 6776 1070 6773 0170 Fax 65 6776 2610 Ota website www tic sg email sales tic sg TUNGRAY INSTRUMENTS amp CONTROL Section 6 Software overview The TicNav navigation software comes preinstalled with Tic INS700 A data flow diagram is shown in Fig 2 below LAN Input GPS Receiver includes encoder data and user state control File TicNav INS LAN Output INS Log File Fig 6 Data flow diagram of the TicNav navigation software Detailed data structure of the above data packets is defined in INS700 Interface Control Document S gt whi 2 TungRay Instruments amp Control Pte Ltd Address Block 51 Ayer Rajah Crescent 02 09 Singapore 139948 Co Reg No Tel 65 6776 1070 67730170 Fax 65 6776 2610 20071 TAN website www tic sg email sales tic sg TUNGRAY INSTRUMENTS amp CONTROL Section 7 System specification Physical Parameters e Dimension 125mm D x138 5mm W x 108mm H e Weight 1 5kg 2kg for VI the earlier version e Power 12V 5 DC input 12W max 8W typical System Configuration e Gyroscope 3x Fizoptika VGO95M Fiber Optics Rotation Sensors e Accelerometer 3x TIC QA100 rebalanced quartz pendulum accelerometers e GPS Receiver 1x Ublox LEA 5S modu2. NSTRUMENTS amp CONTROL Section 11 Common acronyms Below is a list of common acronyms used in the User s Manual EKF Extended Kalman Filter FOG Fiber Optic Gyroscope IMU Inertial Measurement Unit INS Inertial Navigation System ZUPT Zero velocity update TIC Tungray Instruments amp Controls Pte Ltd gt wh 2 TungRay Instruments amp Control Pte Ltd Address Block 51 Ayer Rajah Crescent 02 09 Singapore 139948 Co Reg No Tel 65 6776 1070 6773 0170 Fax 65 6776 2610 Ota website www tic sg email sales tic sg 12 TUNGRAY INSTRUMENTS amp CONTROL Section 12 Revision history VOI March 01 2010 1 Split the document into usual VO2 Nov 06 2010 manual and ICD 2 Other updates Paud wh 2 TungRay Instruments amp Control Pte Ltd Address Block 51 Ayer Rajah Crescent 02 09 Singapore 139948 3 No Tel 65 6776 1070 6773 0170 Fax 65 6776 2610 SOO ASIAN website www tic sq email sales tic sg 13
3. al Navigation System INS that is aided by internal GPS and external encoder The encoder input is from user s program through Ethernet Three Fizoptika tactical grade VGO95M FOG gyroscopes and three TIC in house developed navigation grade QA100 quartz accelerometers are used as inertial sensors Due to the exceptionally low bias variation and small output noise of YA100 accelerometers INS700 has the potential to achieve very low error in its roll and pitch measurements as well as a very smooth output in position making it especially suitable for any moving platform used for high precision pointing mapping and other demanding applications The 18 states EKF algorithm is used to correct and calibrate INS error based on Zero velocity Update ZUPT wheel encoder measurements GPS position measurement and vector GPS yaw measurement The vector GPS yaw measurement feature is a future option only Fig 1 The INS700 integrated navigation system 7 TungRay Instruments amp Control Pte Ltd Address Block 51 Ayer Rajah Crescent 02 09 Singapore 139948 Co Reg No Tel 65 6776 1070 6773 0170 Fax 65 6776 2610 200719313W website www tic sg email sales tic sg TUNGRAY INSTRUMENTS amp CONTROL Section 2 Scope of delivery The INS700 are supplied with cables GPS antenna embedded software and manual Table 1 lists all the items that are delivered with the INS700 Table 1 Summary of INS700 system components 2 GPS anten
4. are small L 0 CW 0 0 X angular rate should be negative others are small 0 CCW O Y angular rate should be positive others are small 0 CW 0O Y angular rate should be negative others are small 0 0 0 CCW Z angular rate should be positive others are small 0 0 CW Z angular rate should be negative others are small GPS testing procedure Please follow this procedure to check if GPS is working correctly To receive GPS signal clearly the user should do this test at outdoor ground 1 Connect Power to INS and connect Ethernet cable to host PC Power on and wait about 3 minutes so that embedded OS finish start up and TicNav software finish initialization 2 Continue to wait about 5 minutes so that more GPS data can be logged 3 Copy log file from INS folder media card into host PC and open file with text editor to check GPS data If GPS is working correctly the readings of latitude and longitude should be close to actual values of users site Typically a damaged GPS could lead to empty log file or readings of GPS are zero Besides checking sensor working status through logging raw data the user also can check IMU and Gumstixs board working status through simply observing status LED installed in front panel Please refer to section 5 for specific LED definition Calibration With the using time of system increasing the INS measurement error may increase gradually as well A calibration when a speci
5. en 7 8 and 11 8 m s Z Accelerate between 1 5 and 1 5 m s X Accelerate between 1 5 and 1 5 m s2 Horizontal Horizontal Y Accelerate between 7 8 and 11 8 m s2 Z Accelerate between 1 5 and 1 5 m s2 Typically a damaged accelerometer reading will exceed range list in above table Gyro testing procedure Please follow this procedure to check if gyros are working correctly ed uk TungRay Instruments amp Control Pte Ltd Address Block 51 Ayer Rajah Crescent 02 09 Singapore 139948 Co Reg No Tel 65 6776 1070 6773 0170 Fax 65 6776 2610 PON ty website www tic sg email sales tic sg TUNGRAY INSTRUMENTS CONTROL 1 Connect Power to INS and connect Ethernet cable to host PC Power on and wait about 2 minutes so that embedded OS finish start up 2 Donot move INS and wait a few minutes 3 Copy log file from INS media card into host PC and open file with text editor to check gyros readings Typically absolute value of a damaged gyro reading will exceed 0 2 rad s about 11 5 degree s 4 Power off and power on to restart INS wait about 2 minutes so that embedded OS finish start up 5 Rotate the INS based on right hand rule according table3 6 Copy log file from INS folder media card into host PC and open file with text editor to check measurements according to table3 Table 3 Specification of INS rotation and angular rate measurement Rotation Angular rate measurement X angular rate should be positive others
6. fic time is elapsed can rectify this error timely The calibration elapse suggested by TIC is half year 6 months and INS700 should be sent back to TIC within every half year for calibration TIC will offer once free calibration after delivery Thereafter the user must pay for calibration service with a reasonable proposed quotation EP uk TungRay Instruments amp Control Pte Ltd Address Block 51 Ayer Rajah Crescent 02 09 Singapore 139948 Co Reg No Tel 65 6776 1070 6773 0170 Fax 65 6776 2610 200719313W website www tic sg email sales tic sg 10 TUNGRAY INSTRUMENTS amp CONTROL Section 10 Coordinate conventions The INS700 uses a coordinate frame that is popular with most navigation systems The below figure shows how the three axes should be bound to INS box N The below table lists the directions that the axes should point to when values of roll pitch and raw are zero and default mounting is used in user s system Table 4 The directions that the axes should point to typically If user use different mounting with default mounting list in table the output of INS should be translated by user self so as to be aligned with their own system coordinate gt whi TungRay Instruments amp Control Pte Ltd Address Block 51 Ayer Rajah Crescent 02 09 Singapore 139948 Co Reg No Tel 65 6776 1070 6773 0170 Fax 65 6776 2610 Ota website www tic sg email sales tic sg 11 TUNGRAY I
7. le default and 1x Hemisphere vector GPS receiver for future extension only e IUM DAQ Module 1x TIC DAQ V2 with C8051F340 uC and ADS1256 24 bit delta sigma ADCs e INS Computer 1x Gumstix Verdex Pro XL6P with Xscale PXA270 processor 600MHz e Power Supplier 1x TIC Utility Board e Firmware TicNav3A with standard strap down INS algorithm and 18 state EKF algorithm System Performance typical value e Position Accuracy o With Encoder typically 3 of distance travelled o With GPS typically 3m horizontal and 5m vertical under good GPS reception o 60sec after GPS outage within 10m e Velocity Accuracy o Within 0 2m s as long as encoder data is available e Attitude Accuracy o Roll 0 15 deg static 0 35 deg dynamic o Pitch 0 15 deg static 0 35 deg dynamic o Yaw In door mode 30 deg hr static 0 35 deg dynamic o Yaw Out door mode with GPS 1 deg static 0 35 deg dynamic wh t TungRay Instruments amp Control Pte Ltd Address Block 51 Ayer Rajah Crescent 02 09 Singapore 139948 Tel 65 6776 1070 6773 0170 Fax 65 6776 2610 AR KAN website www tic sg email sales tic sg TUNGRAY INSTRUMENTS amp CONTROL Section 8 Maintenance There are several checks that can be performed in the user s site to ensure that the system is working correctly In this section we provide some diagnostic procedures for user to verify the functionality of accelerometers gyroscopes as well as the build in GPS recei
8. na cable for front GPS only S O 7 GPS antenna for front GPS only Embedded navigation EKF software The software has been installed inside system unit Hard copy of ICD document Hard copy of user manual This document In addition to the components supplied the users need to prepare their own laptop or PC to configure INS700 and read navigation data from system unit ed whi TungRay Instruments amp Control Pte Ltd Address Block 51 Ayer Rajah Crescent 02 09 Singapore 139948 Co Reg No Tel 65 6776 1070 6773 0170 Fax 65 6776 2610 PDO EMSS ty website www tic sg email sales tic sg TUNGRAY INSTRUMENTS amp CONTROL Section 3 Hardware overview and connection An overview of the INS700 hardware structure is given in Fig 2 below Gumstix CPU Module DAO Board Fiber Glass Gyroscopes x3 Fig 2 Overview of INS700 internal hardware structure and labeled parts The Vector GPS receiver is only future extension For standard INS700 version 2 GPS dada is from the Ubloc GPS receiver chip installed on the Utility board So the rear GPS antenna is also not in use From INS700 Version 2 a power supply protector module has been integrated into the design This protector can protect other components from possible damage caused by lower or higher voltage of the 12V power supply With this protector an input voltage less than 11V will not be able to start up INS and the power will be cut off automatically if i
9. nput voltage is lower than 9V or higher than 16V during INS working EP uh TungRay Instruments amp Control Pte Ltd Address Block 51 Ayer Rajah Crescent 02 09 Singapore 139948 Co Reg No Tel 65 6776 1070 6773 0170 Fax 65 6776 2610 Ota website www tic sg email sales tic sg TUNGRAY INSTRUMENTS amp CONTROL The INS700 can be connected through 3 cable connectors all located on the front panel pa ing 12 Pin Circular Connector _ om 3 BNC Connectors 09 Rear GPS ou Fig 3 INS700 hardware connection and orientation The 2 BNC connectors are for connection to the GPS antennas The left BNC connector is for the front GPS antenna while the right BNC connector is for the rear GPS antenna Power supply cable and Ethernet cable are led from 12 pin circular connector the end of the power supply cable should be connected to 12V power supply while the end of Ethernet cable should be connected to Ethernet card of computer that is used to receive navigation data from INS700 or send encoder data to INS700 For pin assignment of circular connector please refer to INS 700 Interface Control Document lt gt uh TungRay Instruments amp Control Pte Ltd Address Block 51 Ayer Rajah Crescent 02 09 Singapore 139948 Co Reg No Tel 65 6776 1070 6773 0170 Fax 65 6776 2610 Ota website www tic sg email sales tic sg TUNGRAY INSTRUMENTS amp CONTROL Section 4 Installation The
10. oh TungRay Instruments amp Control TIC INS7OO Users Manual Lc Tungray Instruments amp Control Pte Ltd Block 51 Ayer Rajah Crescent 02 09 Singapore 139948 Tel 65 6776 1070 Fax 65 6776 2610 TUNGRAY INSTRUMENTS amp CONTROL Table of Contents CUNO NN ad MIMO CU COS bana 1 Section 2 SCODE of CIV CLV caracenssnadacuceesncntaesncoasasesavgnasasawesataoveauiesetaccleunenpacsneveaasaueusuneasewennasenanasaceaeuesenpamanenennet ais 2 Section 3 Hardware overview and CONNECTION oooooWW W Woo 3 SOCCIOND GIS Ua AION in Rn en east NN asa Ank 5 Section 5 Led definitions oooo Wo mann 6 Secom GSO IU Wal SOV ei OW eaan E EE sagiuacaueeaningssnnseconenecant 7 Section 7 System Pa ot 8 SECTION Maintenant E iseer pennie annenin aE carton a NEA E EE ENEE EAEE EE O AAEE in EENAA 9 Accelerometer testing procedure oocoo ooo oo 9 Gyro testing broo ne N aan en aa san aa T 9 CPTO e rO COU a aa Santan Rea ab er 10 CADES ON ee amanat aa ene laa sn Hanna aa Kanaan AP Ben AA am an ME San DAR ma asean ane aa aan 10 Section 10 Coordinate CONVENTIONS W Wo mn 11 Setor Sora mo ON ro na 12 SOC TION Zs REV TOn NO nana Tetes na 13 LS MEME Tonghay Instrumente amp Control Pie Lie Co Reg No Tel 65 6776 1070 6773 0170 Fax 65 6776 2610 200719313W website www tic sg email sales tic sg TUNGRAY INSTRUMENTS amp CONTROL Section 1 Introduce TIC INS700 is a tactical grade Inerti
11. re are 8 mounting holes in INS700 base plane User is recommended to select 4 suitable holes from the 8 to install INS700 on their system The figures below are the mechanical drawings for the INS700 outline and mounting holes Fig 5 outline of Tic INS700 In most circumstances the INS700 should be mounted directly onto the chassis of user system say robotic vehicle and X direction of INS should point to front of user s system Y direction of INS should point to right of user s system please refer to Fig 3 2 GPS antennas should be mounted in a good open location and on a suitable ground plane such as the roof of a robotic vehicle To ensure the accuracy of Vector GPS yaw measurement the 2 GPS antennas should be mounted with a horizontal separation distance not less than 0 5m ed whi TungRay Instruments amp Control Pte Ltd Address Block 51 Ayer Rajah Crescent 02 09 Singapore 139948 Co Reg No Tel 65 6776 1070 6773 0170 Fax 65 6776 2610 PDO EMSS ty website www tic sg email sales tic sg TUNGRAY INSTRUMENTS amp CONTROL Section 5 Led definitions The front panel has a status LED the LED can indicate whether INS 700 is working normally The LED will flash green color initially once power up After Gumstixs initialization finish initialization will take about 40 seconds the LED will flash green color and red color alternately No green color flash means there are damages or errors in IMU sensor no red color
12. ver If the problem remains the user should send the INS700 back to TIC for further diagnostic To ensure INS system has a sustained nice performance it should also be sent back to TIC for periodic calibration The recommended calibration period is 6 months Accelerometer testing procedure Please follow this procedure to check if accelerometers are working correctly 1 Connect Power to INS and connect Ethernet cable to host PC Power on and wait about 1 minute so that embedded OS finish start up 2 Orient INS in the ways shown in table2 3 Copy log file from INS folder media card into host PC and open file with text editor to check accelerometers readings are within table2 Table 2 Specification of INS orientation and accelerate measurement Accelerate measurement Y X Accelerate between 1 5 and 1 5 m s Horizontal Horizontal Down Y Accelerate between 1 5 and 1 5 m s Z Accelerate between 7 8 and 11 8 m s X Accelerate between 1 5 and 1 5 m s Horizontal Horizontal Up Y Accelerate between 1 5 and 1 5 m s Z Accelerate between 7 8 and 11 8 m s X Accelerate between 7 8 and 11 8 m s Down Horizontal Horizontal Y Accelerate between 1 5 and 1 5 m s Z Accelerate between 1 5 and 1 5 m s X Accelerate between 7 8 and 11 8 m s Up Horizontal Horizontal Y Accelerate between 1 5 and 1 5 m s Z Accelerate between 1 5 and 1 5 m s X Accelerate between 1 5 and 1 5 m s Horizontal Down Horizontal Y Accelerate betwe
Download Pdf Manuals
Related Search