IE-UM-00167-001 RGI59x User Manual
Contents
1. fl 280 0000 290 0000 300 0000 310 0000 METE A ure em Figure 9 Selection and Gyro Noise Level result Std 5 2E 3 3 Align the Encoder data with the Gyro data in time For this purpose the encoder data is also recalculated to angular velocity so that it is easier to align them We will use the start of rotation to perform this alignment The red cursor allows you to move the ACP and ARP data in time You can use it to do a rough alignment Then you can use the numerical x field of the cursor display for fine tuning The idea is that the slopes are aligned in ms You can move through the data and look for changes in velocity and verify that the curves are aligned r ayvra Data Gyro deg s 70 00 al au n e Inclina ARP ACP 40 00 30 00 20 00 10 00 0 00 5 10 00 2 I I I I I I I I I is 25 00000 26 00000 27 00000 28 00000 29 00000 30 00000 31 00000 32 00000 33 00000 34 00000 35 00000 BE Fine pasts JCal Jr jeg e Figure 10 Encoder data aligned with gyro data 4 Once time alignment is performed the two black cursors are used to select the data part during start up or slowing down of the antenna in order to perform the autocalibration of the gyro voltage vs angular velocity The gyro voltage is calibrated by calculating the angular velocity as measured with the ACPs By selecting the start2. Computer Clock driver Trigger Out Figure 1 Blockdiagram RGI59x 1 2 2 Connectors Technical Specifications 1 J1 Charger Input a Internal charge controller b Battery type NIMH 4 8V 1 2Ah C Operating current 250mA typ d Battery Autonomy max 4h 2 J2 On Off a On Off key 3 J3 USB a USB1 Interface 4 J4 Trigger Out a BNC connector b Time synchronisation signal 5 Gyro module a Max angular rate 20 to 140 s b Resolution 18bit 6 Inclino module a Measuring range 20 b Static accuracy 0 6 out to 20 c Dynamic accuracy 0 02 7 Positioning a 12rpm radar within 1m of rotational center of antenna b 6rpm radar within 4m of rotational center of antenna IE UM 00167 001 RGIS9x User Manual odt 9 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 1 2 3 Operating Principle The Gyroscope module detects angular velocity using an equilateral triangle prism vibrating unit An ultrasonic wave is bouncing from one face of the crystal to the other round and round as shown in the figure below Piezo electric ceramic for detection Piezo electric ceramic for feedback Pressure wave Piezo electric ceramic for detection Figure 2 Operating Principle of Gyroscope Module When there is no rotation the unwanted vibrations due to vertical motion and due to the backward forward motion are subtracted and the noise components are eliminated
3. IE UM 00167 001 RGI59x User Manual odt 12 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 2 2 2 Making a Recording 1 Click the gt I start button This will start the Radar Encoder Recorder The PPI picture will now be updated according to the encoder signals This will also enable the record button Before starting the recording it is best to stop the antenna rotation 2 Click the 9 eecord button to start recording The program will now ask you to perform the initial connections for the measurement procedure A dialog box will appear Start Recording Please make sure the encoder signals are connected to the Radar ncoder Recorder ARP red connector of the 15pin HD cable SCF gt green connector of the 15pin HD cable lick OK to stark recording he OFF ON Active LED will start Flashing indicating sampling is activated start Recording Please make sure the encoder signals are connected to the Radar ncoder Recorder ARP red connector of the 15pin HD cable ACF gt green connector of Ehe 15pin HD cable lick OK bo stark recording Figure 5 Connections dialog box lower dialog box for serial numbers xx 02 xx Perform the steps as listed in the dialog box in order to bring the RGI in its startup state Once this is done you can click the OK button When the RGI59x and RER794 recording is started the following dialog appears almost immediately IE UM 00167 001 RGI59x User Manual
4. INTERSOFT Radar Gyroscope and Inclinometer RGI59x User Manual Edition 1 Date 25 Nov 09 Status Released Issue WWW INTERSOFT ELECTRONICS COM Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 DocuMENT CHARACTERISTICS Radar Gyroscope and Inclinometer RGI59x User Manual Edition 1 Edition Date 25 November 2009 Status Released Issue Keywords User manual RGI59x Radar Gyroscope and Inclinometer Abstract Author This user manual describes the use of the RGI596 and the RGI597 Contact Information Elke Vanuytven Editor Peter Lievens Contact Person Peter Lievens Tel 32 14 23 18 11 E mail Address Document Name support intersoft electronics com Document Control Information IE UM 00167 001 RGI59x User Manual odt Path C Documents and Settings elke Desktop RASS S User Manuals RGI59x Host System Mac OS X 10 5 6 Software OpenOffice org 3 0 1 Size i IE UM 00167 001 RGI59x User Manual odt 2 26 821021Bytes Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 Document CHANGE RECORD Pages Approved Affected by 001 17 06 09 New Document All EV Revision Date Reasons for change IE UM 00167 001 RGIS9x User Manual odt 3 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 TABLE or CoNTENTS 1
5. TECHNICAL MANUAL RGI59x RERYT794 2 2eeeeeeeeeeeeeenenen nnne nnn nnne nnns 8 1t 1 G eneral UE OCC COIN t t HH 8 1 2 Hardware Description RGIBOD Inr ioa eot oci Ori dioe Unda lakedevd oaa Ces ecsbbe Een oe ta cox EVER Cue ra USE eer 9 ToT silere IBI re o EE RR 9 1 2 2 Connectors Technical Specifications sessessssssssssssssssssssesene nennen nennen nnns nnns 9 129 OCT TING Principle TEE 10 1 3 Hardware Description REI 9 iccscersienesasscasicsinccsatusitssaesrneswntssncaiactiwsieasnesunssioasnatarteanesecccansiaiecaaness 10 2 GYRO INCLINO DATA RECORDING 0 c0eceeceeceeeeeeeeceeeueceeeeeeueeueeeeeaeeeeeaeeaeeeeeeeeuenaeeaeeesenenes 11 2 1 Theory and Mechanical Placement of the RGI59X cccccsssseeeeeeeeeeeeeeneeeeseneeseeneeeeneseenaessaneesoegs 11 PAPAS Soin al emeret RN c E 12 RP MEC aU reels qiio EET 0 SO oom 12 2 2 2 Making a Recording MT 13 ZZ Did ANY SIS 16 2 2 3 1 Alignment of RGI59x and RER794 Data esses nennen nennen ns 16 2 2 9 2 SYlO INCIINO ANALYSIS eisiiei 19 Ne MNO oes ees esi cies ede sete cease eases 23 3 JANNEXESusc utmost seucewet aude sseaeauemee E E 25 3 1 Annex 1 Connection DIAGl AM sisicadsii
6. amp Time 0 400000 0 200000 0 000000 0 200000 0 400000 0 600000 0 800000 1 000000 0 800000 I I I I I I I i EE a 0 00 50 00 100 00 150 00 200 00 250 00 300 00 350 00 1 20 40 6071 m Ee azimuth North Mark Offset 0 00 deg deg Gyro Deviation Inclinometer Deviation r Gyro Info EUR i Cal 0E40 1 500 Period 0 000 s 1 000 maxdev Inf deg 0 500 r Inclino 0 000 Cal 0 000 vide 0 500 maxdev Inf deg 1 000 r ACP statistics 1 500 ACPR 4096 amp Max 4096 00 us 2 000 Min 4096 00 us 1 l 1 1 1 1 Mean 4096 00 us 0 0 50 0 100 0 150 0 200 0 250 0 300 0 350 0 i STD 4096 00 LE a Harmonics 1 r Progress FUE v a ogress Gyro ACP Gyro Inclino J lt 2 500 um 50 Figure 8 Gyro Inclino Analysis Software Load the recording of interest by clicking the select Folder button You will be prompted to select a recording folder A gyroscope logging is normally placed in a folder created in the VIDEO GYRO subdirectory of the active campaign folder Select the folder of interest and click the Select button 2 2 S 1 Alignment of RGI59x and RER794 Data The program will open the Align RER Gyro vi tool This
7. 090 09000 090 090 090 09 090 090 090 0690 090 09 09 00 090 09 00 90 09 00 09 0 099 09 09 6 06 6 IE UM 00167 001 RGI59x User Manual odt 25 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 3 2 Annex 2 Configuration List Check Qty Description Item List Radar Gyroscope and Inclinometer O 1 Radar Gyroscope and Inclinometer RGI596 RGI596 Accessories O 1 USB A to B cable O 1 Power Supply 9V O 1 Mains power cable O 1 Velcro 5m Radar Encoder Recorder O 1 Radar Encoder Recorder RER794 RER794 Accessories O 1 USB A to B cable O 1 15pHD to 5 BNC m cable 1 8m e Ew iE UM 00167 001 RGI59x User Manual odt 26 26
8. 4 Make sure to place the RGI59x correctly on the antenna pedestal On the RGI59x sticker the normal rotation direction is indicated Normally it is automatically placed correctly when the sticker is pointing up For inclinometer measurements it is required that the arrow points in the same direction as the radar antenna No electrical connections are required The only limitation of the RGI59x is that it can only retain the samples of the last 28 minutes The devices marked xx 02 xx will stop on memory full After installation the antenna rotation can be started The Gyro and Inclinometer will now measure the angular velocity and tilt change during startup during the revolutions that the antenna is rotation and also while the antenna is stopped until stand still If the ARP and ACP signals are connected correctly the dial on the front panel of the tool should start rotating and the indicators will regularly be updated showing the following data 1 IPR This field is dimmed since during rotation only ARP and ACP are connected to the RER 2 ACPR The ACPR Counter shows the amount of ACP pulses per revolution 3 rev Each time the antenna passes North the rev revolution indicator is incremented IE UM 00167 001 RGI59x User Manual odt 14 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 5 Once the Gyro Inclino is recollected from the antenna it needs to be connected to the host computer To stop the rec
9. counted is checked and an error is indicated if it is not 4096 16384 or 65536 The Gyro and Inclino info fields are also updated each time a new revolution is selected For each revolution the revolution time period and the max Gyro deviation absolute value is calculated d Note Please note that the Gyro cal factor is obtained from the Autocalibrate Gyro Voltage function and does not change versus revolution The Inclinometer is factory calibrated and the cal factor is displayed just as indication The max deviation absolute value of the max inclino elevation is calculated for the selected revolution When the Gyro Inclino tab at the bottom of the front panel is selected default the bottom graph will display the Gyro measurement together with the Inclinometer measurement Again both curves are deviation curves deg Gyro Deviation Inclinometer Deviation Gyro L 0 050 T ne Cline L 1 040 0 030 0 020 0 010 0 000 e T 0 010 7 I Ped 50 0 0 0 3 100 0 150 0 200 0 za 300 0 35D 400 0 UDE ERAS e PIDEN cxi Eis pooo IE Harmonics 1 B i ayro ACP I Gyro Inclino Figure 15 Gyro Inclino tab IE UM 00167 001 RGI59x User Manual odt 20 26 c LE Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 The Gyro curve displayed is again the deviation from constant rotation The inclinometer curve is the deviation fro
10. of rotation or the part containing the antenna deceleration the velocity is varied between stand still and max antenna rotation speed 4s 90deg s The gyro module used is linear from 0 deg s up to its max around 110 degrees s By plotting the Gyro voltage vs the ACP measured angular velocity this can also be concluded from the graph When a curve fit is performed on the data only the 1st order slope is of significance The calibration graph is continuously updated when the cursors are changed The black Data graph is the XY representation obtained from the measurement data A linear fit is performed through the measurement points this is the red graph The factory calibration is displayed in green The slope obtained from the linear fit is called the Gyro factor and is displayed throughout the Gyro analysis software When it differs less than 10 of the factory calibration the Gyro error LED is green IE UM 00167 001 RGI59x User Manual odt Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 5 Make sure to select the correct part during start up or slowing down of the antenna using the black cursors and then click the b Calibrate button to confirm the calibration The cal factor indicator will be enabled and the calibration graph will not be updated anymore In case the calibration obtained from the data differs more than 1096 from the factory calibration the factory cal factor will be used and the following
11. sine shaped deviation from constant revolution If the amplitude of the error curve is 0 1deg this indicates that a maximum eccentricity error of 0 1deg exists The higher harmonics must be attributed to other causes like wind load or vibrations In the lower graph the multi turn error curve is shown in a chart graph This graph will add the selected revolution each time the FFT button is pressed This way multiple revolutions of the error curve can be displayed Eccentricity errors will be visible as a sinusoid d Multi turn error curve in degrees Error H 200 400 600 S00 1000 1200 1440 E P Figure 17 Multi turn error curve IE UM 00167 001 RGI59x User Manual odt 21 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 Click the A return button to close the window and return to the Gyro Inclino Analysis window 5 Itis also possible to display the multi turn error curve for all selectable scans in one graph To do this ATE you can click the CA Muttiturn data button This allows you to view the error curve versus azimuth or versus scan number E Multi Turn Data vi deg Max error deg Gyro 0 200000 Indino Oac G Error 0 150000 0 100000 0 050000 0 000000 0 050000 0 100000 0 150000 0 200000 1 1 1 1 1 1 0 00000 500 00000 1000 00000 1500 00000 2000 00000 2500 00000 3000 00000 3500 00000 4000 00000 LL m Cu
12. tool displays the logged encoder output and the Gyro and Inclino voltage versus time Since the RER data and Gyro data were recorded separately the data needs to be synchronized in time The red curve displayed is the Gyro velocity Upon loading the data the following info is extracted from the recording o recording folder name and date time o devices used during the recording o The median of the revolution period and of ACPs per revolution are calculated and displayed 2 Calculate the gyro noise level for a part of the measurement to be selected using the cursors Normally you select the part just before the start of the rotation when the antenna is expected to be at standstill Now click the leyro Noise Level Analysis button and the figure gives you a good indication of the stability of the Gyroscope example in figure 9 The purpose is twofold o The average value of the Gyro voltage is used to calculate the Gyro offset voltage at standstill IE UM 00167 001 RGI59x User Manual odt 16 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 o Checking the stability of the Gyro Normally you select a data portion with the size of a revolution The angular velocity is integrated so the drift is measured and should therefore be in the order of millidegrees At the same time the calibration calculation is activated avro Noise Level 20 00 deg EE adi 60 00 0 0100 40 00 0 0000 IDEO 0 0100
13. 00000 Input Folder Ral EXSAIMIPLET Date amp Time 12 12 2002 JEVICES RVR 09 03 095 Gyro 57 01 x4023 02 Sampling Sample Rate r Revolution I 300 00000 Azimuth 0 150000 25 esl i gt I l l l 400 00000 i 5 10 12 Morth Mark Offset 90 00 _ deg ira Inta Cal T263 amp Period 4 614 s max dev 0 1997 deg Inclina o Cal 0 050 v deg a dev 0 0077 deg ACF statistics ACPR 4096 amp Max 1161 06 us Min 1027 37 Ls Mean 1126 47 us STD 14 54 Progress 0 200000 50 00000 0 00000 Jp sense Jp jog e I 100 00000 200 00000 Eros pog Ta EH Cur 1 Gyro Deviation Inclinometer Deviation Deg l l 300 0 350 0 400 0 Harmonics 1 l l I I 100 0 150 0 200 0 250 0 Te l 50 0 50 0 ps ES l LAE v9 sj Gvyra ACP Gyro Inclino Figure 20 Example with 90 degrees North Mark Offset The X axis now reads 0 degrees for the position that normally would have been indicated as 90 degrees This is accomplished by reading the data from file with the required offset Deviation from constant rotation is calculated as before relative to the new North Mark The inclinometer reading is only offset in azimuth according to the North Mark Offset ur i IE UM 00167 001 RGI59x User Manual odt Radar Gyroscope and Inclinome
14. 19 Deviation from constant rotation graph e Em IE UM 00167 001 RGI59x User Manual odt 22 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 8 Last but not least it is possible to save the data in the Deviation from constant rotation graph to disk Click the amp ave button to save the data to a file A save file dialog will appear pointing to the VIDEO GYRO subdirectory of the active campaign folder Using optional software an encoder correction table can be created 2 2 3 3 Example The first example was recorded with the old Radar Video Recorder instead of with the RER794 however the result is the same and shows the use of the North Mark Offset parameter In the assumption the ARP provides a fixed reference the ACP periods and Gyro voltage are converted to a new curve deviation from constant rotation using some mathematics This curve is automatically calibrated The software performs this function automatically since at the North pulse it is assumed that the 360deg rotation is completed The North Mark Offset control allows to enter the azimuth that is to be interpreted as North instead of the ARP pulse It can have a value between 0 and 360deg An example for 90deg is illustrated below d z z i Gyro Inclino Analysis M vi vele Revolution Data deg Deviation from Constant Rotation degrees North reference 0 200000 0 150000 0 100000 0 050000 0 000000 0 050000 0 1
15. 4 is setup in order to record ARP and ACP signals of the encoder under test the RGI59x will log the antenna rotation a Note Before starting the recording make sure the RGI59x is fully charged The Radar Encoder Recorder will record ACP ARP timing It has a TTL input port to connect those signals The RGI recording software will ask to connect disconnect the RGI59x at certain times to from the host computer Before the measurement you need to connect it to start sampling and after the measurement it is connected to stop sampling and in order to move the data to file No connections to the RGI59x at all are required during the recording The last 28 minutes of the logging are retained in the internal memory of the RGI59x d Note All Gyro Inclino devices with serial number xx 02 xx f e RGI597 now automatically start recording whenever the device is switched on In the following picture the mechanical placement is shown During the measurement the RGI59x should be installed horizontally on the rotator i e the antenna For large antenna systems it is advisable to measure at the top and at the base of the antenna pedestal By correlating to the amount of wind the bending and stiffness of the system can be verified Also place the RGI59x close to the middle of the antenna to minimize any radial forces The RGI59x must be placed with the straight arrow pointing to the antenna beam direction The label showing the arrows
16. Mechanical E button on the right side of the RASS S Toolbox E RER Gyro Inclino Recording vi File Edit Operate Tools Window Help EGO r Gyro Inclino Readout Radar Encoder Recorder SerialNumber r Recording Info File Size b kb Time Rec s Gyro V r PPI Pict 0 0000 IPR ACPR 0 0 0 rev 5 Inclino V 0 0000 D 0 00 rev deg Inclino History deg Inclinc 6 000 4 000 2 000 0 000 2 000 4 000 0 00 2 00 4 00 6 00 8 00 10 00 12 00 14 00 16 00 18 00 20 00 lp xp S s lj AY 3 A Figure 4 Gyro Inclino Recording Software Make the set up which is shown in Annex 1 Connection Diagram e The recording software will continuously check the availability of a Radar Encoder Recorder since it is required to sample the encoder signals ACP ARP In case it is not available the PPI pict indicating the encoder reading is disabled Also all recording features will be disabled Once the RER 794 is detected its serial number will be indicated and the PPI pict is enabled e Simultaneously the program will check for the availability of the RGI59x and when available the serial number will be displayed e Incase you want to do a recording make sure that both RER794 and RGI59x are connected The program continuously checks for the availability of the devices Once connected all functions will become available
17. Therefore these components have no effect on the angular detection When the crystal is rotated the wave front is not affected by the rotation Therefore the phase output of the piezo crystal is shifted By comparing the phase difference of the detected output wave versus the drive signal the angular rate can be measured The output voltage of the Gyro module is directly proportional to the angular velocity The inclinometer module uses a liquid based measurement principle for highest accuracy It uses two measurement axes to calculate the relative inclination of the module to the surface of the liquid which is flat in horizontal conditions The sensor is setup as a voltage divider or ratio meter It uses one excitation pin and 4 measurement electrodes and measures the inclination of the module as a ratio of the impedance of the liquid between the excitation pin and the measurement pins 1 3 Hardware Description RER794 1 Radar Timing ACP ARP Trigger Event a Max ACP Pulse period 16ms b ACP ARP for Azimuth TTL 10kQ max 0 to 5V input 2 USB a USB1 Interface b RER794 is powered through the USB connection IE UM 00167 001 RGI59x User Manual odt 10 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 2 Gvno IucuiNo Data RECORDING 2 1 Theory and Mechanical Placement of the RGI59x The Radar Encoder Recorder RER794 and the Radar Gyroscope and Inclinometer RGI59x are used for data collection the RER79
18. ble in the selection 2 Select a revolution with the index indicator named Revolution The progress slide bar will indicate the progress of the calculations The upper graph of the program s front panel displays the deviation from constant rotation By using the X scale button the X axis can be switched between either Time or Azimuth When you choose Time the X axis will be plotted in seconds when you choose Azimuth it will be set in degrees The difference between the Gyro measurement and the encoder position the error curve is displayed in red The maximum error is calculated and displayed in the info field IE UM 00167 001 RGI59x User Manual odt 19 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 3 Select the Gyro ACP tab at the bottom of the front panel The time between the ACP pulses versus time will be displayed now This allows a further examination of the ACP encoder in case anomalies as can be seen at 30 and 210 degrees are present in the top graph Ls Time Between successive Pulses ACP 9 1200 1180 1160 1140 1120 1100 1080 1060 ied ita Deg 50 0 D 50 0 100 0 150 0 200 0 250 0 300 0 350 0 400 0 Iram pg maa S Leo Le n fl BI Gyro ACP J Syro Inclino J Figure 14 Gyro ACP tab A number of information fields are also recalculated each time a new revolution is selected For the selected revolution the number of ACPs
19. ccidnwnnsciiesiseccnencwuciernvascaredecmnndeandeseuanstunetcnuaesenausdenndasnussvouvenuns 25 3 2 Annex 7 Configuration EIsL ooiossovseceesia sui ege dutVb S EDe pr gvra S vRPSB vr rara N Uc VR PIER ME ERU NU 26 IE UM 00167 001 RGI59x User Manual odt 4 26 Edition Date 25 Nov 09 Radar Gyroscope and Inclinometer RGI59x TABLE OF FIGURES Figure 1 Blockdiagram RGISO9X casarse diu EesvwspiwhErea cue KE vba Edo dai S darle iR we saecu Rak CUR s a pU RU Ern ONERE 9 Figure 2 Operating Principle of Gyroscope Module 2 2 elec eese i eee lie eese enn a nn nn annia an nnns 10 PIQUTC 3 CI SOI T H HP 11 Figure 4 Gyro Inclino Recording Software 2 1 eiie eiie eise esses nanus nana nhanh ansa usa u aha sana nnne 12 Figure 5 Connections dialog box lower dialog box for serial numbers xx 02 xx 13 Figure 6 Measurement dialog box right dialog box for serial numbers xx 02 xx 14 Figure 7 Stop dialog DOK dt 15 Figure 8 Gyro Inclino Analysis SOPWALEC 1 ccccccccrseccssnenennsnsanensnnsesaneceennsesansnsaansesansnsannsesansssenesenansenanes 16 Figure 9 Selection and Gyro Noise Level result 1 ecce eiie essen seen nnne anna nnns h ansa nnus han anna 17 Figure 10 Encoder data aligned with gyro data 1 oc
20. ci e eee liess eese sena nns h nn nans n a nnn 17 Figure 11 aim S 18 Figure 12 Selection of revolution of interest oie e esee lees i esee essen nane nna a nant hannah aa naa hannah nnno n a 18 Figure 13 Alignment tool before returning to Gyro Inclino Analysis tool 19 FOWE CI qoi Ca H 20 PIQUTC 19 GTO INCHINO rj Me E 20 Figure 16 AC PT COUCIICY VIC APR 21 ait EM Mul tUr GirOr CUVE Mem 21 Figure 187 Mul CUE Galain anaE Ea EEEE RAE EEEE EEE EREA EAE EEEE RA EEA 22 Figure 19 Deviation from constant rotation Graph sccccscccsseeccnnesnnnenennesesanesennesecansssassesanensesonsnnesanenaes 22 Figure 20 Example with 90 degrees North Mark Offset 1 1 ee eeeeee eere elle eese eene n nnno hann nnns 23 Figure 21 Example of a poor performing 12bit encodler 1 eee cee eire eese e essen nan aaa nh a aan naa aan aa 24 Figure 22 RGIS96 RER794 SOD UDiueaisastasaxem sue cexuuERu uu Manu EFE cosa C qux URs MEE SRZMN CHER SUR aa GNEKCSEEIUE ECKEN NU 25 e dE IE UM 00167 001 RGI59x User Manual odt 5 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 Conventions USED o Note This icon to the left of bold italicized text denotes a note which alerts you to important information DA Caution This icon to
21. eg s Gyro 77 06 Inclino 70 00 ARP 60 00 50 00 40 00 30 00 20 00 10 00 0 00 1 14 44 s i l 1 0 00000 20 00000 40 00000 60 00000 80 00000 100 00000 ACP i M axes AI Bl Ena lpo s27 p ss mE VETT amp Le Gyro Voltage versus Angular Velocity Gyro Noise Level v i 0 00002 e 1 800 i 0 00001 0T S 1 700 ud 0 00000 1 600 l 0 00001 s 1 500 AE 000 20 0000 ag 5000 25 0000 27 5000 Mx xg S 1 400 np s FU Std 4 8E 6 1 300 r Calibration r Input folder 1 200 Gyro 11 59E 3 bd ESTRERS 1 100 Inclino 110 000 amp 1 000 Date amp Time 0 900 S ig Info 5 05 2007 0 800 deais a A 10 21 05 20 000 30 000 40 000 50 000 60 000 70 000 80 000 1024 FM n S el oge cm RER794 001 TDI vt e Gyro S7 01 x4023 45 Figure 13 Alignment tool before returning to CTEPTUM Analysis tool 2 2 e 2 Gyro Inclino Analysis The Gyro Inclino Analysis tool will display the revolutions as selected before leaving the Autocalibrate Gyro Voltage vi program The file name date and time of recording will be displayed in the corresponding fields Also the calibration data and error flags will be set according to the results obtained in the Autocalibrate Gyro Voltage program The revolution selector shows the number of revolutions availa
22. error dialog will appear he Gyro calibration Factor calculated From Ehe measurement data differs oo much Fram Ehe Factory calibration Select Auta Cal to use the calibration Factor calculated From the easurement Select Factory Cal En select the Factory cal File Factor ri x Auto Cal Factory Cal Figure 11 Error dialog The Gyro field will display the cal factor as obtained from the data but its background will flash red and the error LED is active Calibration Sample Rate o Gyro 15 89E 6 e Inclina ns You can now select whether you use the calibration factor derived from the measurement auto cal button or whether you use the factory calibration factory cal button Before returning to the analysis program it is important that you set the cursors again now to select the revolution of interest m ayra Data dea s amp 103 65 a ARP 60 00 40 00 20 00 0 00 Las l ox z E 4 a 22 127 5 l 0 00000 z0 00000 40 00000 60 00000 Bu 00000 100 00000 eps m amp BE lime bras JC Je Figure 12 Selection of revolution of interest IE UM 00167 001 RGI59x User Manual odt 18 26 c LE Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 6 Click the Return button to close the Autocalibrate Gyro voltage program and to move the selected data and related info to the Gyro Inclino Analysis tool P Align RER Gyro vi BHRBN d
23. m constant inclination This way the errors in elevation of the antenna become visible versus rotation and this while the system is turning at its normal operational speed The harmonics control allows to perform an FFT filter on the inclinometer data By default it is set to 1 4 Backto the Gyro analysis now The three curves of the Deviation from constant rotation can also be viewed in the frequency domain A frequency view of the data can be shown by clicking the cape button The ACP Frequency view program will appear It consists of two graphs I ACP frequency view vi Deviation from Constant Rotation degrees Frequency domain Curve z 0 030 m C E 0 020 a avra ace 0 010 3 Error 0 000 I I I I I I l l I I 0 0 1 0 3 0 4 0 5 6 0 7 0 6 0 9 0 10 0 10 7 a 20 Bb Geo Jes pos WEA y Multi turn error curve in degrees Error E I l l l l l l l l l l l l 30 100 150 200 250 300 350 400 450 S00 550 600 650 20 M sE M A519 gm Figure 16 ACP frequency view The top graph displays the frequency contents of the selected curve Use the radio buttons at the right of the window to select the curve displayed This curve represents the different frequency components of the error signal in Hz The OHz component is at its maximum if the phase of the error is 90deg or 270deg The X axis can be switched between Harmonics 1 rev or Frequency Hz The first point represents the first harmonic signal or the basic
24. must be at the top don t put it upside down since clockwise is the correct rotational direction Figure 3 RGI59x Setup For the inclinometer it is important to place the RGI59x within 1m of the rotational center This is necessary to avoid saturation of the inclinometer module It measures inclination using a liquid Due to the centrifugal force on the liquid it is required to keep the device close to the center of rotation Once saturation is reached max inclination level of the module the changes in inclination cannot be measured anymore This can be mechanically compensated by placing the inclinometer under a certain positive inclination allowing a larger radius 0 06060606060690606060606202060090600600606206020920206020602060206020202020060620602060202090200600620602020090209006006060202020200060060206020200209020092090 000909909 996 IE UM 00167 001 RGI59x User Manual odt 11 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 The RGI59x can be placed on different sections of the antenna construction for evaluation of separate antenna components Velcro is used for a temporary fixing Installing or changing the position of the RGI59x requires only a few minutes When positioning the device choose the location of the RGI59x such that it will have the least amount of vibration 2 2 Software 2 2 1 Getting Started The RGI59x Gyro Inclino Data Recording with RER794 application can be loaded using the
25. ngular velocity and planar angle of the antenna For this purpose the device is mounted on the rotating part of the SSR or PSR antenna and the data is logged in the RGI59x s internal memory At the same time a RER794 Radar Encoder Recorder installed close to the interrogator s cabinet measures and records the azimuth information from the encoder ACP and ARP After the recording the RGI59x is taken down from the antenna and linked to the computer connected to the RER794 The rotational information data combined with the encoder signal provide essential information on encoder accuracy and platform leveling Note that deviation on the instantaneous azimuth encoder error is measured because biases e g wind load are simultaneously recorded at encoder RER794 and antenna level RGI59x These two signals plus their difference are shown in the software Antenna start up and stop are also recorded and provide information about the mechanical stiffness of the radar tower The RGI59x works for any type of radar SSR PSR fast RGI597 or slow rotating RGI596 IE UM 00167 001 RGIS9x User Manual odt 8 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 1 2 Hardware Description RGI596 1 2 1 Block Diagram Radar Gyroscope and Inclinometer Charger Input Circuit On Off Key Battery Gyroscope Memory and I USB Inclinometer gt processor
26. odt 13 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 Gyro Disconnection ow vau can disconnect the Gyra Inclino Please make sure to only disconnect the USB cable From the Gyro Inclino but bo leave the Gyro Please move the Gyro Inclino Ea the antenna and perform the easurement his dialog box will close automatically in 30 seconds ment pvp ES Gyro Disconnection ow vou can disconnect Ehe Gyro Inclino and switch it off using Ehe key Please make sure En leave the key on the Gyro Inclino and switch it on hen placing it an the radar antenna he avra Inclina will automatically start recording on switch on IE will stop ecording when its memory is Full ar when it is reconnected ta the box will clase automatically in 30 seconds meow pp Figure 6 Measurement dialog box right dialog box for serial numbers xx 02 xx 3 You can now disconnect the USB cable and install the RGI59x onto the radar antenna It is important to leave the RGI switched on therefore it is best to remove the key from the on off switch to prevent the gyro inclino from being switched off Note All Gyro Inclino devices with serial number xx 02 xx f e RGI597 now automatically di start recording whenever the device is switched on For these devices it is allowed to switch them off while climbing the tower and switch them back on when placing the device on the pedestal
27. ording you can use the Stop button In case you stop the program before you connected the Gyro to the computer the following dialog box will pop up Gyro Reconnect Before clicking the Stop button iE is necessary to reconnect Ehe Syro Inclina to Ehe USB port of the computer This allows the software to copy he data From the Gyro into File Figure 7 Stop dialog box In this case follow the instructions of the dialog box and then click the Stop button 6 Now itis the time to save the data to a logfile In fact the RER794 data ARP ACP timing info and the RGI59x data Gyro samples Inclino samples are logged in separate files in a logging folder Click the save button to save the date A select folder dialog will appear Click the New Folder button to create a new folder Make sure you select the proper campaign folder Enter a name for the recording folder and click Create The new folder is created and already selected in the SelectFolder vi IE UM 00167 001 RGI59x User Manual odt 15 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 2 2 3 Analysis The RGI59x Gyro Inclino Data Analysis application can be loaded using the Mechanical button on the right side of the RASS S Toolbox E Gyro Inclino Analysis N vi File Edit Operate Tools Window Help 0l r Revolution Data r Input Folder deg Deviation from Constant Rotation degrees North reference 0 600000 r Date
28. ri Bo2 95 Nan JIE Scale degrees v Figure 18 Multi turn data 6 The data in the Gyro Inclino Analysis program can be printed using the Elprint button The standard report dialog will appear allowing you to print the curves to a report or directly to paper A second method of output is the Export function It will output the ACP statistics to a tab separated file To do this click the El export button in the Gyro Inclino Analysis tool This will cause the program to start calculating the output parameters for all scans except the first one 0 and the last one and show them using the PrintTables vi You can then choose to directly print the page or to export it to a tab separated file 7 Itis possible to create an average of the Gyro error signal in the Deviation from constant rotation graph This can be done using the Add and Subtract buttons For each revolution the Add button can be used once to add the error curve to the reference Once clicked the Add button will be disabled and the Subtract button enabled to allow selection of the wanted revolutions only The reference curve is displayed in black on the Deviation from constant rotation graph deg Deviation from Constant Rotation degrees North reference Gyro ACP Error Ref 0 750000 1 000000 7 I I I I I l I I beg 50 00 0 00 50 00 100 00 150 00 200 00 250 00 300 00 300 00 400 00 LIBE AR us NEED cwi fas Jo ES amp mun s Figure
29. ter RGI59x Edition Date 25 Nov 09 The second example was also recorded with the old Radar Video Recorder instead of with the RER794 however the result is the same and shows a typical measurement of a poor performing 12bit encoder The eccentricity is approximately 0 2deg 1 ACP corresponds to 0 088deg for a 12 bit encoder deg Deviation from Constant Rotation degrees North reference Gyro 0 200000 ACP O 150000 anki Isi Error 0 10006060 j 1 T Ref 0 050000 I 1 OUS RP ce eue i a a W 0 050000 Y e i 0 100000 0 150000 l 0 200000 3 i i Deg MIS a S0 00000 100 00000150 00000 e e mee d Cur 1 b ko m H A Azmuth Figure 21 Example of a poor performing 12bit encoder IE UM 00167 001 RGI59x User Manual odt 24 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 3 ANNEXES 3 1 Annex 1 Connection Diagram Radar System Connectors Encoder Radar Encoder Recorder 9 USB Connection with Computer Radar Gyroscope and Inclinometer RGI oom eee eee EON RENNES eee eee DOM GNE OO GUN OO GEO DO GN DO SO DONI USB USB Connection with Computer During the encoder measurement the RGI needs to be placed levelled on the rotator At that moment no connections to the RGI are required Figure 22 RGI596 RER794 Set up E 090 090 06909 09090 090 090 90 90 0 090 0900 090
30. the left of bold italicized text denotes a caution which alerts you to the possibility of data loss or a system crash Warning This icon to the left of bold italicized text denotes a warning which alerts you to t he possibility of damage to you or your equipment IE UM 00167 001 RGIS9x User Manual odt 6 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 GLOSSARY OF TERMS ACP Azimuth Change Pulse ACPR Amount of ACP s per revolution ARP Azimuth Reference Pulse FFT Fast Fourier Transform PPI Plan Position Indicator PSR Primary Surveillance Radar Radar Radio Detection And Ranging RASS S Radar Analysis Support Systems Site measurements SSR Secondary Surveillance Radar TTL Transistor Transistor Logic IE UM 00167 001 RGI59x User Manual odt 7 26 Radar Gyroscope and Inclinometer RGI59x Edition Date 25 Nov 09 1 TEcHNICAL Manua RGI59x RER794 1 1 General Introduction The Radar Gyroscope and Inclinometer RGI59x and the Radar Encoder Recorder RER794 provide a tool to perform mechanical check up and analysis of the antenna system The RGI59x basically has 2 co related functions measuring e the quality of the encoder system e the leveling of the platform The RGI59x also allows you to evaluate the mechanical and structural design of the antenna support and tower under wind loads temperature etc The RGI59x measures the a
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