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MIDG Series INS/GPS User Manual

1. WO ICROBOTICS INC 7 2 Configuration Query Message CFG_QUERY The CFG_QUERY Message is used to query the parameters of the MIDG IIC internal configuration The message takes on two forms CFG_QUERY GENERAL where a specific CFG_ TEM is being queried or the CFG_QUERY INFO where MIDG HC Product Information is being queried The MIDG IIC responds to each CFG_QUERY GENERAL Message with either an Query Acknowledge Message QUERY_ACK if the operation has been successful or a Query Not Acknowledge Message QUERY_NAK if the operation was not successful The MIDG IIC responds to each CFG_QUERY INFO Message with an Information Acknowledge Message NFO_ACK 7 2 1 Message CFG_QUERY GENERAL Message ID 36 0x24 Payload Length 1 Byte 0x01 Description Query status of CFG_ITEM Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 Ul CFG_ITEM CFG_ITEM number being queried See CFG_SET Messages above 7 2 2 Message QUERY_ACK Message ID 36 0x24 Payload Length Variable Description Acknowledge sent by MIDG IIC upon success Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 Ul CFG_ITEM CFG_ITEM number that was successfully queried 1 1 BN Configuration data for the CFG_ITEM queried l Notes The Payload of a successful CFG_QUERY GENERAL message has the same format as the corresponding CFG_SET Message for the specific CFG_IT
2. The Standard Deviation fields for Angle of Attack and Angle of Slip represent the standard deviations of the angle measurement The actual deviation applied with the measurement is the deviation 4 bit value times 2 plus 1 A deviation value of 0 I degree 1 3 degrees 2 5 degrees 15 31 degrees 6 The Angle of Attack and Angle of Slip are represented as 12 bit scaled signed integesr that represents approximately 90 degrees The scale factor is 90 2048 which gives slightly better than 0 05 degree resolution For example 123 5 4 degrees MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B18 of B27 ME ICROBOTICS INC 6 Miscellaneous MIDG IIC Input Messages Several message are provided for commanding and providing information to the MIDG IIC Miscellaneous input messages are 1D 30 RTCM RTCM differential correction data ID 99 RESET System reset 1 Due to undocumented changes in GPS modules by the manufacturer not all MIDG TIC units support the RTCM Message As it is impossible to determine in the field if the message is available this message should not be used in firmware versions below 2 3 This message is not available in firmware versions 2 3 1 and higher 6 1 Message RTCM Message ID 30 Ox1E Payload Length Variable Description RTCM DGPS corrections Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 BN RTCM data for diffe
3. Drivers Win2K XP64 exe Microsoft Offi WE frerocortotfice werd 87 20 2 1 SLC2JUSB Driver Installation It is advised that all users install the drivers 34KB provided with the SLC2JUSB interface cable however depending on the specific E iran version of the Windows the operating system may automatically search for and meee install the drivers The driver installation is an automated process once it 1s started and requires only minimal user action 1 On the MIDG Software and Utilities CD ROM Select the driver Figure 3 MIDG Software and file from the same folder from which the MIDG Software and Utilities CD ROM folder utilities was selected Figure 3 This is the appropriate drivers for containing SLC2JUSB Drivers the software installation ex C DOCUME 1 ADMINI 1 LOCALS 1 Temp DPInst_Monx64 exe Figure 4 shows the command prompt window After the MC DOCUME L ADMINI 1 LOCALS 1 Temp DPInstx64 exe driver installation has been completed the command prompt pissmamm na window will display FTDI CMD Driver Installation Aa process completed and will close The driver installation is complete 2 2 Windows 7 The Windows 7 operating system will automatically install the drivers as soon as the cable is plugged into a USB port Figure 5 shows the notifications of the driver installation after the SLC2JUSB is plugged into a USB port Figure 4 MIDG I Display and Help Box Installing device d
4. Figure 1 Start Menu Listing for Installed Software 46 ICROBOTICS INC oDIR o Microbotics Inc MIDG Utilities Documents Application Notes Continued ANO002 CalculatingGroundT rack pdf Instructions Transform Correction Transform Correction pdf Display Utility MIDG Display Utility v_2_0_17 pdf Flash Utility MIDG II Flash Loader pdf Magnetic Calibration Mag_cal html MIDG II Magnetic Declination Calibration Instructions pdf swfobject js VAN_mag_cal swf Parser Parser Instructions pdf Message Specification MIDG II Message Specification V2_1 and Higher pdf MIDG II Features Features of v2_3 release pdf Introducing the MIDG Il doc Introducing the MIDG II pdf license rtf MIDG_IIC_Specifications 20111215 pdf Tools interface software COMPORT cpp COMPORT h ecef c ecef h eph_parse c Interface Software pdf main c mBin c mBin h mQueue h NMEAOut c rotate c rotate h MFiles BIT2NUM M BITTEST M CreateQ_ned2ecef m CreateQ_YPR m ecef2enu m ecef2ila m lla2ecef m lla2enu m Mfiles pdf MultQ_V m NormalizedQ m SolveQ_YPR m TransposeQ m vecef2venu m venu2vbc m PSPAD Editor None of the Files are listed Microbotics Inc has provided this software under license This software is simply provided as a convenience and is protected under copyright 2002 2004 Jan Fiala Copyright Microbotics Inc 2011 Page E2 of E2
5. WAAS EGNOS MSAS N A read zero Notes Values represents the probable standard deviation of error MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B7 of B27 SE ICROBOTICS INC 4 8 Message GPS_PV i Message ID 20 0x14 Description GPS Position and Velocity Solution Payload Contents Byte Number Units Purpose Comment Offset Format 0 U4 msec GPS Time 4 U2 Count GPS week Bit field Solution Details Bits 15 12 Bits 11 8 Payload Length 38 Bytes 0x26 Applicable Modes IMU VG INS Number of satellites used in solution GPS Fix Type 0 No Fix 1 Dead reckoning only 2 2D Fix 3 3D Fix 4 GPS dead reckoning combined Time of week valid Week number valid Differential solution WAAS EGNOS MSAS GPS Fix valid Position Format 0 ECEF 1 ENU Relative 2 3 LLA Velocity Format 0 ECEF 1 ENU ENU Relative Position relative to first fix cm 10 deg X Axis Position ECEF X Relative East or Longitude 3 cm 10 deg Y Axis Position ECEF Y Relative North or Latitude cm Z Axis Position ECEF Z Relative Up or Altitude X Axis Velocity ECEF Vx or Relative Veast Y Axis Velocity ECEF Vy or Relative Vnorth Z Axis Velocity ECEF Vz or Relative Vup 32 U2 0 01 Position DOP 34 U2 cm Position Accuracy 36 U2 cm s Speed Accuracy Notes D This message is provided at the selected rate only if data is produced by the GP
6. 1 Temp DPInstx64 exe Installing driver to operate correctly Figure 13 shows the FR notification for when the SCL2JUSB is first interfaced CDM Driver Installation process completed 2 Wait for the PC or laptop to finish installing the new hardware Once the PC or laptop shows the notification that the hardware has been successfully installed the cable is ready to be used Figure 14 Figure 12 MIDG II Display and Help Box Copyright Microbotics Inc 2011 Page 5 of 13 ICG ICROBOTICS INC RREELERERAEEERLELRRRERERER ESR RERBARER EERE ERE ERASE A RING eee RAE EAE REELS EERERRAERERE EER ERA ERS ARERR ER SAR IF USING A GPS ANTENNA ATTACH THE ANTENNA TO THE MIDG SERIES INS GPS UNIT BEFORE PERFORMING STEP 3 ONCE THE UNIT IS PLUGGED IN IT IS IMMEDIATELY POWERED ERERAREKERERERERERERES RRERERARRERERER RR ERRE RR ERRAAI AB NING 4 OF RE EEELE RARER AREA FRE A RERERERERE RA A RAAEREARR ERE RRR 3 Connect the MIDG Series INS GPS to the SLC2JUSB interface cable Since the MIDG Series INS GPS is powered by the USB port no external power supply is required Found New Hardware FT232R USB UART 4 Start an instance of the MIDG Display Utility and under the Port drop down menu select the COM Port Number which is NOT native to the PC or laptop The MIDG Figure 13 Found New Hardware Display Utilities should display the data outputted from the Notification MIDG If there is no data being displayed
7. 5 2 1 Connecting the SLC2JO9SF Interface Cable The following will instruct the user on how to interface the MIDG Series INS GPS to a PC or laptop via the SLC209SF interface cable Figure 15 SLC2JO9SF MIDG Series INS GPS Interface Cable 1 Verify that the external power supply is OFF Connect the RED and BLACK pig tailed wires on the SLC2JO9SF interface cable to the external power supply LP REAEARLELS RAE EAE LENE LEAS EE LELS ASOT SL EEA ee ee PANIES ee eee ee ee eee EASELS EERE LER ELESE AS TAS ERLE ALAS SEA EAS IF USING A GPS ANTENNA ATTACH THE ANTENNA TO THE MIDG SERIES INS GPS UNIT BEFORE PERFORMING STEP 2 Se ee See eS ee ee ee ee en a a re ee RNING ee ee a ee a a ee ee ae RON ee a eae ee Copyright Microbotics Inc 2011 Page 6 of 13 IVO 1CROBOTICS INC Connect the MIDG Series INS GPS to the SLC2J09SF interface cable 3 Connect the SLC2JO9SF interface cable to a PC serial port 4 Start an instance of the MIDG Display Utility and under the Port drop down menu select the COM Port Number which the MIDG Series INS GPS has been connecter to 5 Apply power to the MIDG Series INS GPS The MIDG Display Utility program should immediately begin to give a data read out from the MIDG Series INS GPS If there is no data being displayed verify that the Baud rate on the MIDG Display Utilities program and the MIDG Series INS GPS are the same 6 User Supplied Interface Users may construct their own interface c
8. ATTACH THE ANTENNA TO THE MIDG SERIES INS GPS UNIT BEFORE PERFORMING STEP 3 ONCE THE UNIT IS PLUGGED IN IT IS IMMEDIATELY POWERED SEEK R SSS SSS SOLAS AAAS LORE TERNS HL SOW EERE EAA RNING See eee eee eee ERS RATERS ALELAA ESSA A SEES NERA SESE x Connect the MIDG Series INS GPS to the SLC2JUSB interface cable Since the MIDG Series INS GPS is powered by the USB port no external power supply is required 4 Start an instance of the MIDG Display Utility and under the Port drop down menu select the COM Port Number which is NOT native to the PC or laptop The MIDG Display Utilities should display the data outputted from the MIDG If there is no data being displayed verify that the Baud rate on the MIDG Display Utilities program and the MIDG Series INS GPS are the same DUE TO A LIMITATION IN THE MIDG DISPLAY UTILITIES PROGRAM ALL COM PORTS ON THE PC OR LAPTOP WILL BE RECOGNIZED HOWEVER ONLY COM 1 THROUGH COM 9 ARE ACTIVE 5 Assigning COM Port Numbers Due to user variations in the setup of their PC s or laptops it is impossible to assign a standard COM port number for the SLC2JUSB interface cable The current drivers are set to have the interface cable Seed Comoe Nowe a ee assigned o the first available COM port Unfortunately the MIDG Display Utility hoes et only supports nine 9 active COM ports i e COM 1 through COM 9 this section SH The Device Manager ists al the hardere devices instaled on your computer Use the Devic
9. PINS GRAY Power Return PIN10 WHITE Shield Note Power Return and Shield connected to Digital Ground Pin 8 Rising edge Trigger Input with T ime Mark Option SIS90031C SR STANDARD 1 PPS OUTPUT SIGNALS le 1second ___ PIN 3 Active Edges PIN 8 100ms NOTE If the MIDG IIC is equipped with the Time Mark option SIS90031C SR pin 8 becomes the Tirigger Input A rising edge on this input causes the TIM_TM message to be sent by the MIDG IIC indicating the time of the rising edge to within 1 msec The input is TTL compatible high recognized above 2V low recognized below 0 4V do not exceed 5V Specifications subject to change without notice C5 of C6 Giaae tics inc MIDG IIC SPECIFICATIONS Sete OOS IOS SIS90031C and SIS90031C SR Innovative Navigation and Controls Wwww micro 9 U S 7 a Sa D n i doticsinc com December 15 2011 GPS ANTENNA REQUIREMENTS 1 Antenna mounting must be non magnetic and not use a magnetic mount as this magnet will interfere with the MIDG magnetometers 2 Antenna and Ground Plane A GPS antenna ground plane is recommended Antenna ground plane of 7 x 7 cm 2 75 x 2 75 in minimum is recommended for use with the GPS antenna available from Microbotics Inc Part Number A GPS5 SMA 3 Note on Active Passive Antennas The following information is supplied by GPS receiver manufacturer Passive antennas contai
10. Select lower settings to correct performance problems at low baud rates Select higher settings For faster performance 11 12 is not being used AND lower than COM Port 10 This will open the Advanced Settings for the COM port Figure 11 Select the OK to complete the reassignment This will reassign the COM port to the number which was designated After the COM port has been successfully reassigned close all system windows Receive Bytes 4096 v i Transmit Bytes 4096 vi BM Options Miscellaneous Options Select lower settings to correct response problems Serial Enumerator Serial Printer Latency Timer msec Cancel If Power Off Utes Event On Surprise Removal Minimum Read Timeout msec Set RTS On Close Minimum Write Timeout msec Disable Modem Ctrl At Startup Figure 11 Advanced COM Port Settings Advanced Advanced Defaults Rhee BR BG 6 Help and Support Microbotics Inc is dedicated to supporting the missions of our clients and offers free thirty 30 days of support for all of our products Visit Microbotics on our website at www microboticsinc com for more information about our entire product line For pricing and availability please visit our contact page at www microboticsinc com contact html All technical inquires should be sent to support microboticsinc com Copyright Microbotics Inc 2011 Page A3 of A3 Be CROBOTICS INC MIDG IIC Message
11. 2011 Page 2 of 13 ook File Edit view Favorites Tools Help ay wi P Search Folders i OCE Address gt H vista Win 7 a Win 2K to XP 64 w READ ME FIRST doc J Microsoft Office Word 97 20 31 KB Figure 2 MIDG Series INS GPS CD ROM Contents H Win 2K to XP 64 File Edit view Favorites Tools Help Q Back t Search Key Folders Ez vl Go EEx 7 Address B H Win 2K to XP 64 A Drivers Win2K XP64 exe iw READ ME 2K XP64 doc Microsoft Office Word 97 20 34KB Win2k WinXP64 msi windows Installer Package Figure 3 MIDG Series INS GPS Installation Programs Win 2k to Win XP 64 EWA ICROBOTICS INC A Drivers Win2K to XP64 exe An installer package for the driver files for the SLC2JUSB Cable optional B Win2K WinXP64 msi The installer package for the MIDG Series INS GPS Software and Utilities UC READ ME doc A document file detailing all Windows versions which are supported VIEW THE READ ME DOC FILE FOR INFORMATION ON SUPPORTED Mifs VERSIONS OF WINDOWS FOR THE INSTALLATION FILE LOCATED IN THIS wecicaiiaita tengo a FOLDER gt Utilities Setup Wizard 3 Select the installer file msi y extension to be in the l C NA gt The Setup peat will install MIDG II Utilities a your N ins talla tion rocess 4 _ 2a Wea i Next to continue or Cancel to exit the 4 On the Welcome screen press the Next button to conti
12. Field Relative units Z Axis Magnetic Field Bit field N A reads zero Timestamp is GPS time N A read zero Notes D The magnetometer outputs are scaled so that the magnitude of the local field at MIDG IIC calibration is 5000 counts MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B4 of B27 fAICROBOTICS INC 4 4 Message NAV_SENSOR Message ID 10 0x0A Payload Length 39 Bytes 0x27 Description Navigation Sensor Data Applicable Modes VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U4 msec Timestamp X Axis Angular Rate Y Axis Angular Rate Z Axis Angular Rate X Axis Acceleration 1 2 Y Axis Acceleration Z Axis Acceleration Yaw Local Frame Z Axis Attitude 3 Pitch Local Frame Y Axis Attitude Roll Local Frame X Axis Attitiude Orientation Quaternion Qw 4 Orientation Quaternion Qx Orientation Quaternion Qy Orientation Quaternion QZ Bit field INS Mode Timestamp is GPS time DGPS Magnetometer measurement applied External heading measurement applied External position measurement applied External velocity measurement applied External air data measurement applied a MDY Kg m Notes D The sensor readings are compensated by the Kalman Filter g g is defined as 9 799096177 m sec Rotation sequence is taken Yaw Pitch Roll The elements of the Orientation Quaternion must be multiplied by a 9 31322574
13. H Application Notes Contains information about how the MIDG Series INS GPS uses the different operational modes such as Vertical Gyro VG and Inertial Navigation System INS Instructions Contains instructions on how to use all of the MIDG Series INS GPS software as well as how to magnetically calibrate and set the accelerometer biases for the MIDG Series INS GPS Message Specification Contains a current version of the MIDG Series Message Specification 3 1 Installing the Software and Utilities The MIDG Series INS GPS software and utilities are all contained in a single installer package The following steps will guide the user through the software and utilities installation process 1 Place the MIDG Software and Utilities CD into a CD reader Figure 2 shows the root of the CD ROM As shown the root of the CD ROM will contain the two 2 folders and a document file listed below A Vista Win 7 Contains Window Vista and Windows 7 installer B Win 2K to XP 64 Contains Windows 2K to XP64 installer C READ ME FIRST doce Instructs on how to identify Windows version VIEW THE READ ME FIRST DOC FILE FOR INSTRUCTIONS ON HOW TO IDENTIFY THE PC OR LAPTOP S SPECIFIC VERSION OF WINDOWS 2 Open the folder which contains the specified version of Windows Figure 3 shows the contents of the opened folder The selected folder will contain three 3 files Win 2K to XP 64 used as an example Copyright Microbotics Inc
14. MUST NOT EXCEED THE RANGE OF 0 5 VDC FAILURE TO CONNECT THE GND LINE TO THE USER PORT GROUND CAN DAMAGE THE MIDG SERIES INS GPS THIS TYPE OF DAMAGE IS NOT COVERED BY WARRANTY ERERAAREREREREARERERERES RRERERAERERE ERE EER ERA AR A SAAB RING Fe AREER ERRAER EEE FERRARA ERERERERA RAR EREAR RE RE ARE 7 MIDG Series INS GPS Dimensions and Mounting The MIDG Series INS GPS has been CONNECTOR FACE mechanically designed to minimize both size and A weight This make the MIDG Series INS GPS suitable for any application which size weight and power dissipation are key considerations A 0 810 20 57 0576 14 63 Y 1e00 eee eoo coe 0 277 7 04 7 1 Physical Dimensions The MIDG Series y INS GPS physical dimensions and standard A reference axis of the are shown in Figure 20 h a a 0 975 24 77 gt 7 1 1 Physical Characteristics The side of the OE OS OR 0 CIN SERENG MIDG Series INS GPS with the product label is i SCREW INSERTION 187 475 MAX considered the top and the side with the i i connectors is considered the rear the negative X axis The MIDG Series INS GPS was designed in order to maintain directional consistency with the Navigation Industry the positive Y axis is to the right of the unit and the positive Z axis is downwards This axes orientation sets the vee standard positive roll rotation as right side down the positive pitch rotation as front end up and the standard positive yaw rotation as
15. Mista lam isccesscccscccsscecsacsccacccscesecastscdsascsseacavsncetstedseussvosssvesscvessavessocevesestvesssestate 5 5 1 1 Using the SLCZJUSB Interface Cablle cssssssssssssssssccssecessscsssssssscsssssccccccsccsssscscscsees 5 5 2 Using the SLC2J09SF Interface Cablle ccccccsscsssssssssssscsscssssssssessscsseccnsecsscensecssessssesccsocsccsesoosses 6 5 2 1 Connecting the SLC2JO9SF Interface Cablle ssssssssssssssssscccccsssssssssssssescesssssssesess 6 User Supplied Miler lace csccccsccsseccswesvocessscbecccecsccsccecsccesesscustecwstevsscesessscactesenssceustcssucccedacsecswaccatetecvesestesesensys 7 od Mme Foto acs G7 1 6 C1 1 pee er ee ne er re ee eee eee ee ae cere 7 Cs Ps UO Pover G0 er 0 hee ete eer era ne eee eee eae ere ere 8 O12 Diertal Ground Connec Horis ccssar nrnna ieaiai aa 8 62 RS 422 Data Connections sssssicienne ccc caste sete ratte td ainne enara aa ari a iaa aapa 8 63 RS 252 Data Connec Hons a ade aipa e aa riparas 9 64 1 Polse Per Second OmDUl sssr i AEE AENEA 10 OAL Diper MIU aea T caostsectasnceionds 11 MIDG Series INS GPS Dimensions and Mounting esesecececessssssscscscecececcccececceesesososoececesecceceesessesesesceceo 11 LL BPI SICAL Dinen senna AA 11 LLL Physical CharacteristiCSeossissiieriai esius sanina EAEan AEE kaa aana 11 7 2 Mounting the MIDG Series INS GP S ssccscscrsiccedecdcattsedeccsscdeccccesseieescccstcansacavedassccsaestedeseasesiesdiaianeteites 11 7 2
16. SECTION 5 APPLIES TO USERS WHO WILL BE INTERFACING THE MIDG SERIES INS GPS WITH A PC OR LAPTOP VIA MIDG PC INTERFACE CABLES Copyright Microbotics Inc 2011 Page 1 of 13 IGG ICROBOTICS INC 3 MIDG Series INS GPS Software and Utilities The software and utilities package for the MIDG Series INS GPS contains many tools to configure optimize and update the MIDG Series INS GPS as well as all of the needed documentation for understanding how to perform various functions and operations Software included on the CD A MIDG II Display Utility Used to configure display and optimize the MIDG output B MIDG II Flash Loader Used to update the MIDG Series INS GPS firmware l INS Parser Used to parse inertial navigation data recorded from the MIDG while in INS Mode for post operation analysis D II Parser Used to parse inertial measurement data recorded from the MIDG while in IMU Mode for post operation analysis Tools included on the CD F MatLab Files MFiles MatLab program files for various mapping and plotting of route and or flight information There are several examples which will enable the user to become familiar with the MIDG II binary output G Interface Software Contains the C language tools needed to interface a computer to the MIDG Series INS GPS This tool kit may be adapted for flight remote control systems radio transmission and or employed in robotic interfaces Documentation included on the CD
17. T Code carrier locked receiving 50bps data 5 6 Code and carrier locked 4 Code locked 3 Signal detected but unusable 1 2 Channel is searching 0 Channel is idle 8 N 11 I deg Satellite Elevation 8 N 12 I2 deg Satellite Azimuth Notes D This message is provided at the selected rate only if data is produced by the GPS receiver The values in this message are data provided directly by the GPS module and passed to the output message without any intervening processing 2 bk ye NCh is number of receiver channels in this message 1 N goes from zero to NCh 1 MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B9 of B27 SE ICROBOTICS INC 4 10 Message GPS_RAW Message ID 22 0x16 Payload Length 24 nSVs 8 Bytes Description GPS Raw Measurement Data Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U4 msec GPS Time 4 U2 Count GPS week 6 Ul Reserved value indeterminate 7 U1 Count Number of satellites to follow up to 10 After the 8 bytes above are sent the following block is repeated nSVs times once for each satellite 24 bytes per block 24 N 8 R8 cycles Carrier Phase 24 N 16 R8 m Pseudo Range 24 N 24 R4 Hz Doppler Measurement 24 N 28 Ul Address Satellite ID 24 N 29 Information regarding the receiver channel 7 Code carrier locked receiving 50bps
18. clockwise viewed from the top y 0 363 9 22 I 1 000 25 40 7 2 Mounting the MIDG Series INS GPS The MIDG Series INS GPS allows the user several option for mounting the unit within an application The unit can be hard mounted or soft mounted and can be mounted in any orientation 0 063 1 60 lt lt 1 375 34 93 gt 1 500 38 10 gt BOTTOM 7 2 1 Hard mounting the MIDG Series INS GPS The MIDG Series INS GPS has four 0 Figure 20 MIDG Series INS GPS Mechanical Dimensions 80 threaded holes for hard mounting of the unit If the unit is to be hard mounted into and application the maximum depth of screw insertion is 187 4 75 mm Furthermore if the unit is to be hard mounted the unit must be arranged to be isolated from vehicle vibrations and shock Copyright Microbotics Inc 2011 Page 11 of 13 AVO ICROBOTICS INC PRRRAERERRRERERRERLERLERA ESE LEE AIA RAIN GG FARA ERE EER ARES AERA RAE RR ER EARS SCREW INSERTION DEEPER THAN 187 4 75 MM CAN DAMAGE THE MIDG HOUSING THIS TYPE OF DAMAGE IS NOT COVERED BY WARRANTY PERRERERERERERERERERERREREERRE EV ARAN G Se See RAR ELA LER EA RAR RARE RES RARE 7 2 2 Soft Mounting the MIDG Series INS GPS Due to the small size and light weight of the MIDG Series INS GPS in most applications the unit can be mounted via the use of 1 8 double sided foam tape This type of mounting not only helps to red
19. it may be polled by sending a message of the same D to the MIDG IIC but with no payload the message payload length COUNT zero Supported MIDG IIC output messages ID 1 STATUS MIDG IIC Status ID 2 IMU_DATA IMU Data ID 3 IMU_MAG Magnetometer Data ID 10 NAV_SENSOR Navigation Sensor and Attitude Data ID 12 NAV_PV Navigation Position Velocity Data ID 13 NAV_HDG Navigation Heading Data ID 15 NAV_ACC Navigation Accuracy Estimate ID 20 GPS_PV GPS Position Velocity Data ID 21 GPS_SVI GPS Satellite Vehicle Data ID 22 GPS_RAW GPS Raw Measurement Data ID 23 GPS_CLK GPS Clock Data ID 24 GPS_EPH Ephemeris Data polled only ID 25 TIM_UTC UTC Time ID 26 TIM_ERR Time Error ID 27 TIM_PPS Time at 1 PPS ID 28 TIM_TM Time at Time Mark pulse in Due to undocumented changes in GPS modules by the manufacturer not all MIDG IIC units support the GPS_RAW or GPS_EPH Messages correctly As it is impossible to determine in the field if the messages are available and valid these messages should not be used in firmware versions below 2 3 x These messages are not available in firmware versions 2 3 1 and higher The TIM_ERR Message is a legacy message from the earliest MIDG Series units and provides no data useable to the user This message is not available in firmware versions 2 3 1 and higher TIM_PPS Message is a legacy message from when the MIDG Series did not have 1PPS Time Pulse outputs As communications latencies can cause errors this message should
20. not be used for estimating the Time Pulse timing This message is not available in firmware versions 2 3 1 and higher The TIM_TM Message is available only in MIDG IIC units with the Time Mark Option Microbotics Part Number SIS90031C SR MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B2 of B27 Ae ICROBOTICS INC 4 1 Message STATUS Description Status Information Byte Number Units Offset Format 0 U4 msec Bit field 0 01 C Notes 1 Operational mode definitions Current Designation Previously Called IMU Mode IMU Mode Initialize Alignment VG Init Coarse Alignment VG Fast Medium Alignment VG Medium Fine Alignment VG Slow Vertical Gyro Mode VG SE INS Mode INS Mode MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Message ID 1 0x01 Payload Length Applicable Modes 8 Bytes 0x08 IMU VG INS Payload Contents Purpose Comment Timestamp System Status Bits 8 15 Bit a Bit 6 Bit 5 Bit 4 Bits 3 0 N A read zero NV Configuration Valid Timestamp is GPS time DGPS SBAS WAAS EGNOS MSAS N A reads zero Current operational mode l 0 N A 1 IMU Mode 2 Initialize Alignment 3 Coarse Alignment 4 Medium Alignment 5 Fine Alignment 6 Vertical Gyro Mode 7 INS Mode 1 Internal Temperature Defitinition IMU operational mode only sensor data available Kalman Filter not active Sensor
21. verify that the Baud rate on the MIDG Display Utilities program and the MIDG Series INS GPS are the same i Found New Hardware Your new hardware is installed and ready to use DUE TO A LIMITATION IN THE MIDG DISPLAY UTILITIES PROGRAM ALL COM PORTS ON THE PC OR LAPTOP WILL BE RECOGNIZED HOWEVER ONLY COM 1 THROUGH COM 9 ARE ACTIVE FOR INSTRUCTIONS ON HOW TO ASSIGN DIFFERENT COM PORT NUMBERS CONSULT ATTACHMENT A SECTION 5 OF THIS MANUAL FOR ANY ISSUES OR QUESTIONS REGARDING THE CORRECT OPERATION OF THE SLC2JUSB REFER TO ATTACHMENT A Figure 14 MIDG IT Display and Help Box 5 2 Using the SLC2J09SF Interface Cable The MIDG Series INS GPS can be ordered with a SLC209SF interface cable This cable is specifically designed to interface the MIDG Series INS GPS with any PC or laptop via serial port Unlike the SLC2JUSB the SLC2JO9SF interface cable Figure 15 requires no driver installation The SLC2JO9SF provides both power and data lines for the MIDG Series INS GPS however unlike the SLC2JUSB interface cable the SLC2JO9SF requires an external power supply to power the MIDG Series INS GPS The external power supply must be able to provide at a minimum 10 VDC and should not exceed 32 VDC 10 32VDC SASS Se ee Oe eT ee A ne ee he ee INCORRECT POLARITY WILL DAMAGE THE MIDG SERIES INS GPS THIS TYPE OF DAMAGE IS NOT COVERED BY WARRANTY AREER ELRREA EST SERSRE SES CREE ARNG Se ee eee eee eee ee EERE RS AREAS
22. 0 Estimated delay Bits 14 12 Reserved send as zero Bits 11 0 True Airspeed Standard Deviation a 6 U2 0 1 m s True Airspeed 4 Bit fields Angle of Attack Details Bits 15 12 Standard Deviation 5 Bits 11 0 Angle of Attack Bit fields Angle of Slip Details Bits 15 12 Standard Deviation Bits 11 0 Angle of Slip Notes D This message has not yet been implemented and is non functioning It is presented for reference only and is subject to change without notice The Time value is either the GPS Time of the measurement or the estimated delay of the measurement from the time when the aiding message is sent and measurement was valid The convention used depends on a Bit 15 of the Details field If time delay is used Bit 15 is zero then the delay value is taken from the least significant byte of the Time value for a maximum delay of 255 milliseconds 3 The Standard Deviation value for True Airspeed is used by the Kalman filter to merge the Speed Measurement into the final solution A deviation value too small for the current speed estimates may cause instability in the final velocity results If a Standard Deviation field is zero it indicates that the measurement should not receive an update The provided airspeed is expected to be the ground speed plus the current wind so that if the actual wind is estimated and removed from this measurement it will be equivalent to the ground speed
23. 03 Bit field Solution Status Bits 4 7 Reserved send zero Bits 2 3 Position Format 0 ECEF 1 ENU Relative 2 33 LLA Velocity Format 0 ECEF 1 ENU ENU position relative to first fix 1 Notes 1 If ENU Relative is selected for Position Format the position will be relative to either the first GPS fix Bit O set since reset or a location specified in configuration Bit O cleared 7 1 6 Message CFG_SET RUN_MODE Message ID 35 0x23 Payload Length 2 Bytes 0x02 Description Set MIDG IIC Run Mode Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U1 CFG_ITEM CFG_ITEM 4 0x04 Run Mode select value 0 IMU Mode 1 Vertical Gyro Mode 2 INS Mode MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B22 of B27 WO ICROBOTICS INC 7 1 7 Message CFG_SET MSG_DIV Message ID 35 0x23 Payload Length 3 Bytes 0x03 Description Set message interval divider Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U1 CFG_ITEM CFG_ITEM 5 0x05 1 Ul Value Output Message D for which the divisor is to be set 2 Ul Value Message Rate Divisor 0 1 255 a Notes 9 If the Message Rate Divisor is non zero the update rate will be 50 Message Rate Divisor Hz If the Message Rate Divisor is zero the specific message requested will be disabled although it may still be querie
24. 1 Hard Mounting the MIDG Series INS GPS ccssssssscessessscsssccscscssessssssccsesesscsssoecs 11 7 2 2 Soft Mounting the MIDG Series INS GPS sesesccsosocescscesssosososococeseocececsesssosoossococececessee 12 To Mom ne OPT ATOM sisi sccescscce sce a enea adaa aa SE a ES 12 Tal Onentanon Corret Hho sissien eaaa AAEE Eiaa a 12 MIDG Series INS GPS MOSSA BE Sonicare dE Srs Ea RNa aana aS 12 SL Microbones Binary Proto he escssccossssssessscesccssccassessacesucccasadeaeescasaseuseusiwesasecteseanesvacencccesescesausaveveuseseuce 12 8 1 1 Microbotics Binary Protocol Message Conte nts ccccccccccsscscsssssssssssssssscessscsscecs 12 S12 Fletcher NO CK SUN csp E 13 Heip and S0ppori ss cee cs ees a 13 ALTACHMENT A SU CZ IU SD vescsscsccecesessssasscatescesiucansisessscctecsvicecssoccescaseaacecanatessnsneavvenceceustusaserasseeseoasesies Al ATTACHMENT B MIDG IT Message Specification FW 2 1 x amp Highet cccccccccsssssscssscecsecesseses Bl ATTACHMENT C MIDG Series INS GPS Specifications csssssssssssssssssscscccsssssessssssssssssccccscsesecs C1 ATTACHMENT D GPS Antenna Specifications sscscsscsssscsssssscssssssssscssssssssscscsssssssssssssssssescece D1 ATTACHMENT E Installation File Directory Tree cccccccscscsscscssssssssssssssssssssssssssssssssssssees E1 ICG ICROBOTICS INC 1 Introduction Congratulations on your purchase of the MIDG Series INS GPS
25. 615 x 1 g to get a unit quaternion External Position and External Air Data aiding have not been implemented bits read zero MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B5 of B27 SE ICROBOTICS INC 4 5 Message NAV_PV Message ID 12 0x0C Payload Length 29 Bytes 0x1D Description Navigation Position and Velocity Solution Applicable Modes VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U4 msec Timestamp cm 10 deg X Axis Position ECEF X Relative Position East or Longitude cm 107 deg Y Axis Position ECEF Y Relative Position North or Latitude cm Z Axis Position ECEF Z Relative Position Up or Altitude X Axis Velocity ECEF Vx or Relative Veast Y Axis Velocity ECEF Vy or Relative Vnorth Z Axis Velocity ECEF Vz or Relative Vup Bit field Solution Details Bit Position estimate invalid Bit l Timestamp is GPS time DGPS SBAS WAAS EGNOS MSAS Velocity estimate invalid Position Format 0 ECEF 1 ENU Relative 2 3 LLA Velocity Format 0 ECEF 1 ENU ENU position relative to first fix 3 Notes Position format ECEF or ENU Relative in cm Longitude and Latitude in 1 o deg Altitude in cm 2 Velocity Format is either ECEF or ENU 6 If Position Format is ENU Relative position is relative to either the first GPS fix or location specified in configuration MIDG IIC Message Specification Firmware 2 1 an
26. Attachment E Installation Directory Tree 1 Introduction This attachment is designed to show the user where all of the files for the MIDG Series INS GPS are installed on the user s PC or laptop There may be differences in the root path of the directory depending on the installation path chosen by the user during installation however the rest of the installation will be the same 2 Start Menu During the installation process of the MIDG Software and Utilities a start menu item will be created named Microbotics Inc This Start menu contains all of the shortcuts for the software utilities and documents included in the software package Figure 1 3 Directory File Tree The directory file tree shows all of the files and their respective installation locations The Microbotics Installer is designed to maintain all files installed by Microbotics within a central file location for ease of search and access NOTE THE ROOT DIRECTORY OF THE INSTALLATION MAY BE DIFFERENT THE SYMBOL DIR REPRESENTS THE USER S ROOT INSTALLATION DIRECTORY oDIR o Microbotics Inc MIDG Utilities Core Files MIDG II Display Air ocx boriIndmm dil cc3250mt dll gmsair bpl gmsinst bpl Lgauge ocx midgdspl exe Strip ocx tee50 bpl vcl50 bp l vcldb50 bp l MIDG II Flash Loader borlndmm dil cc3250mt dll Flash Utility txt Flash Utility txtexe midgflash dll MIDGFlashutil exe vcl50 bp l vcldb50 bp l Parsers borindmm dll c
27. C 32 VDC Power 1 2W max including GPS antenna GPS Antenna 2 Connector Type 50 Ohm SMA right hand thd Antenna Power 5V at center conductor 25 ma max RF Power Input 145 dBm min 61dBm max Antenna Pre Amplifier 45 dB maximum gain Measurements Angular rate all axes Range 300 sec Non Linearity 0 1 of FS Noise Density 0 1 sec VHz 3dB Bandwidth 20 Hz Y S Acceleration all axes Je Range 6 g Non Linearity 0 3 of FS Ran Noise Density 150 ug VHz 3dB Bandwidth 20 Hz 3 a Attitude Accuracy pitch and roll with GPS 0 4 1 0 e Heading Accuracy with GPS and maneuvering 2 10 gt Position Accuracy 2m CEP with WAAS EGNOS available 3 m CEP otherwise Velocity Accuracy lt 0 2 m s Altitude Accuracy 3m SEP with WAAS EGNOS available 5m SEP otherwise Data Output Rates Position Velocity attitude rates accelerations 50 Hz GPS measurements 4 Hz Environment Temperature 40 C to 85 C operating and storage Humidity 10 to 90 RH non condensing Survival Shock 100 g 8ms 1 2 sine Survival Vibration 6 Sms 10 Hz to 2000 Hz random 1 Typical values 2 See section on active passive antennas Specifications subject to change without notice C2 of C6 ic a otics Inc ofr n Virginia 23666 Innovative Navigat Output Electrical RS422 async 115200 baud configurable 8 N 1 Pulse Per Second 2 Complementary pair each side TTL compatible Data Format
28. Continue for all bytes loop CSO byte is sent first followed by CS7 byte CSO CST NOTE THE FLETCHER CHECKSUM IS A TWO BYTE VALUE WHICH IS CALCULATED OVER ALL OF THE BYTES FROM AND INCLUDING THE PACKET_ID THE PAYLOAD_COUNT AND ANY PAYLOAD BYTES REGARDLESS OF THE ACTUAL PAYLOAD DATA FORMAT S 9 Help and Support Microbotics Inc is dedicated to supporting the missions of our clients and offers free thirty 30 days of support for all of our products The MIDG Display utility in the Help drop down menu About MIDG II Display MIDG II Display Utility Version 2 0 17 MM2010 contains the contact information for Microbotics Inc Figure 22 APE TE copyright 2004 2011 1 2 2 http f amaru microboticsinc com Start an instance of the MIDG Display Utility me an mig Bees s arc T sUWIe Hampton VA 23666 Select the Help drop down menu Figure 22 MIDG Display Utility About information Box Select the About option Visit Microbotics on our website at www microboticsinc com for more information about our entire product line For pricing and availability please visit our contact page at www microboticsinc com contact html All technical inquires should be sent to support microboticsinc com Copyright Microbotics Inc 2011 Page 13 of 13 AWG ICROBOTICS INC Attachment A SLC2JUSB 1 Introduction The SLC2JUSB interface cable MBI SLC2JUSB is designed to take advantage of a comput
29. ED TO THE USER SYSTEM FAILURE TO CONNECT THE GND LINE TO THE USER PORT GROUND CAN DAMAGE THE MIDG SERIES INS GPS THIS TYPE OF DAMAGE IS NOT COVERED BY WARRANTY ia SEEFF AEORRE EREN ENEEEEE NEE EREEREREREEEEEEEK ERREKEN Copyright Microbotics Inc 2011 Page 10 of 13 ae ICROBOTICS INC NOTE SECTION 6 4 1 ONLY APPLIES TO MIDG SERIES INS GPS UNITS WITH THE TRIGGER INPUT MODIFICATION SIS90031C SR 6 4 1 Trigger Input The MIDG Series INS GPS may be ordered with a Trigger Input option Microbotics SIS90031C SR This model in the MIDG Series INS GPS has the PPS_P output Pin 8 replaced with the AUX_IN input This specific modification allows the user to send a signal to the MIDG Series INS GPS Upon receiving this signal the modified unit will record the GPS Time when this event occurred and then send an output data message informing the user of this event The signal for the AUX_IN Pin 8 must present a rising edge Low to High transition The AUX_IN input is TTL compatible 3V CMOS compatible and is 5V tolerant The input of this model of MIDG Series INS GPS has a 4 7K pull up resistor to 3V and can be driven by a closure to GND or by an open collector signal to GND The AUX_IN input uses the GND signal line for ground return and the GND line must be connected to the user system ERERAREKEREREREREREREE REE EEE RRRERER ER ERAS ERE AR NING 88 e e ASAE RAAR ARRAS ARERR ERERAERE LA LEER ERERRERE RARER THE AUX_IN SIGNAL VOLTAGE
30. EE EERE REE ER ERE RARER POWER CABLE SHIELD E IF REQUIRED POWER IN co j POS USER POWER SUPPLY POWER 9 NEG 10 32 VDC RTN kd SHIELD N Vin GND MIDG II SLC10232 TO USER PC TxD DATA W D gt mm 2 om OUT gt IN R RxD DATA lr b Www 3 DATA IN lt q Ri m T d lt lt OUT COM 4 COM COM 5 i i Rion GND pegs L FEMALE CONNECTOR Figure 18 RS 422 to RS 232 serial voltage level converter connected between a MIDG Series INS GPS and a PC 6 4 1 Pulse per Second Output When the MIDG Series INS GPS has a valid GPS input the 1 Pulse per Second 7PPS output is lt 1 second gt operational This signal is derived from the data transmitted by the GPS satellites and generates a 100 microsecond pulse once every PIN3 second There are two outputs available at the MIDG Series INS GPS connector Active Edges A PPS_N The PPS_N signal Pin 3 is a 3 volt signal PIN 8 1 which remains High 3 Volts and pulses Low O Volts for 100 microseconds 100 ms gt lt B PPS_P The PPS_P signal Pin 8 is a O volt which remains Low 0 Volts and pulses High 3 Volts for Figure 19 MIDG II Display and Help Box 100 microseconds SLELLG LEAL ALAA ES LESSENS SERS RA ARREARS He ERA EEE OO IARI oe ee ee eee eee eee eee eee eS AAS SELENE ORSON S Ee BOTH THE PPS_N AND PPS_P SIGNALS REQUIRE THE GND SIGNAL LINE FOR GROUND RETURN THE GND LINE MUST BE CONNECT
31. EM requested with the data indicating the actual values present in the MIDG IIC internal configuration 7 2 3 Message QUERY_NAK Message ID 36 0x24 Payload Length 3 Bytes 0x03 Description Not Acknowledge sent by MIDG IIC upon failure Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 Ul Message_ID ID 36 0x24 indicating this is a reply to CFG_QUERY GENERAL 1 Ul CFG_ITEM CFG_ITEM number that was unsuccessfully queried 2 Ul Code Failure code 2 Bad CFG_ITEM number MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B26 of B27 SE ICROBOTICS INC 7 2 4 Message CFG_QUERY INFO Message ID 36 0x24 Payload Length 2 Bytes 0x02 Description Query Product Information from the MIDG HC Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format CFG_ITEM CFG_ITEM 20 0x14 indicating this is a query for CFG_QUERY INFO Product ID queried 0 Manufacturer 1 Product 2 Part Number 3 Serial Number 4 Support Key 5 Firmware Version 7 2 5 Message INFO_ACK Message ID 36 0x24 Payload Length Variable Description Product Information sent by the MIDG IIC Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format CFG_ITEM CFG_ITEM 20 0x14 indicating this is a reply to CFG_QUERY INFO Code Product ID queried BN ASCII string Inf
32. FG_SET CFG_SAVE Message ID 35 0x23 Payload Length 1 Byte 0x01 Description Save configuration to NV memory Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 Ul CFG_ITEM CFG_ITEM 100 0x64 Notes D This configuration message must be issued for any configuration changes to be preserved across resets 7 1 12 Message CFG_SET CFG_LOAD Message ID 35 0x23 Payload Length 1 Byte 0x01 Description Load configuration from NV memory Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 Ul CFG_ITEM CFG_ITEM 101 0x65 Notes This configuration message resets the MIDG IIC configuration information to the values stored in NV memory 7 1 13 Message CFG_SET CFG_ERASE Message ID 35 0x23 Payload Length 1 Byte 0x01 Description Erase configuration in NV memory reset to default Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 Ul CFG_ITEM CFG_ITEM 102 0x66 Notes D This configuration message erases the configuration in the non volatile memory and resets the configuration in the MIDG IIC to its Factory default values This erasure also forces the NV Configuration Valid flag in the STATUS Message Bit 7 to remain reset until a new configuration is saved via a CFG_SET CFG_SAVE Message MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B25 of B27
33. GPS sends message via an asynchronous serial port using RS 422 voltage levels This type of communication makes the MIDG Series INS GPS suitable for use in electrically noisy environments The data is binary encoded as eight data bits no parity and one stop bit 8 N 1 with no data flow control The default baud rate is set at 115200 Baud however the user can change the baud rate by using the MIDG Display Utility software or by sending the appropriate BAUD Configuration Message to the unit Table 2 shows the baud rates supported by the MIDG Series INS GPS 8 1 Microbotics Binary Protocol The MIDG Series INS GPS uses the standard Microbotics Binary Protocol All of the MIDG Series INS GPS messages are based on the Microbotics binary protocol an ASCII data terminal program i e Microsoft Hyper Terminal cannot read nor be used to communicate with a MIDG Series INS GPS Refer to Attachment B for a complete MIDG Series INS GPS Message Specification 8 1 1 Microbotics Binary Protocol Message Contents Microbotics binary protocol is a serial data stream comprised of 8 bit bytes with the following basic format Sync Sync Packet_ID Payload_count Payload bytes if any CS0 CST Copyright Microbotics Inc 2011 Page 12 of 13 al ICROBOTICS INC Sync0 and Syncl The SyncO Syncl bytes are used to indicate the beginning of a specific message and have the binary values of 0x81 and OxA1 respectively Packet_ID
34. IELD W ADI yp USER SYSTEM 120 Q TERMINATION IF REQUIRED T r TWISTED PAIR M R R R para gt 6 w E M DATA T i 7 m P F d TWISTED PAIR R 1 M T Ts T DATA W ol Tpos WN para IN OUT R 2 120 Q TERMINATION NIN Taf Nigh T DIGITAL IF REQUIRED GND GROUND m Figure 17 Typical RS 422 to RS 422 Data Connections 6 3 RS 232 Data Connections The MIDG Series INS GPS only supports RS 422 data communications However with a serial voltage level converter such as the Microbotics SLC10232 the RS 422 data stream is easily converted into a RS 232 data stream This enables the MIDG Series INS GPS to communicate over an RS 232 port like those used on a PC or laptop computer A typical connection to a PC style serial port using the Microbotics SLC10232 Serial Voltage Level Converter is shown in Figure 18 NOTE SERIAL VOLTAGE LEVEL CONVERTERS NOT SUPPLIED BY MICROBOTICS INC MAY HAVE DIFFERENT WIRING REQUIREMENTS REFER TO THE MANUAL WHICH CAME WITH THE SERIAL VOLTAGE LEVEL CONVERTER PRIOR TO USING NOTE THE FOLLOWING STEPS ONLY APPLY TO THE MICROBOTICS SLC10232 NOTE THE GROUND LINE SHOULD HAVE ALREADY BEEN CONNECTED IN ACCORDANCE WITH SECTION 6 1 2 STEP 3b 1 Connect the T and T pair Pin 6 Green Pin 7 Blue respectively to the R and R pair of the SLC10232 The T pin is connected to the R pin of the user system The T pin is connected to the R pin of the user s
35. In Pin 4 Orange wire on the Omnetics mating connector 10 32 VDC input PIN 4 PIN 1 B Power Return Pin 9 Gray wire on the O RS 422 Receive Pos lt Receive Pos mnetics mating connector return C Ground Digital Ground Yellow wire on i the Omnetics mating connector tied to the ground of the user serial port D Shield Pin 10 White wire on the Omnetics mating connector tied to the shield of the ower neturn user power cable Note Power Return and Shield are connected to Digital Ground Trigger Input on Units with Trigger Option Figure 16 MIDG II Display and Help Box Copyright Microbotics Inc 2011 Page 7 of 13 ICG ICROBOTICS INC 6 1 1 Power Connections Steps one 1 and two 2 will instruct the user on the proper power input and power return connections As stated in section 5 2 the MIDG Series INS GPS requires a DC power source capable of a minimum of 10 VDC and not to exceed a maximum of 32 VDC 10 32 VDC The unit uses a switch mode power converter with a typical constant power dissipation of less than 1 2 watts 1 Connect the positive side of the power source to the PWR_IN Pin 4 Red 2 Connect the negative side of the power source to the PWR RTN Pin 9 Gray 6 1 2 Digital Ground Connections Steps three a 3a and three b 3b will instruct the user on the proper connections for the Digital Ground Special attention should be applied while making this connection b
36. MIDG SERIES INS GPS USER MANUAL 09 January 2012 Research Drive Suite G AMPTON Virginia 27666 ww N Abe 86 27 7728 Innovative N Pe d Controls AWO ICROBOTICS INC Section 1 2 3 SUR S TABLE OF CONTENTS Heading Page irode OU occ ssccsaccescteceaceecctece beste dae ceceee semanet ca evsceeeectensecdgeeescdedec las sevenevesacauestewsassyevoesceseuseasosscesecesecsusateenss 1 OG CUTTING TS CAE UC oe vecovecssscewiesestavacivacocsessecssvoscvexencsuvadeusavacdeeasedeseceesucnensavavaveuveuucessavensscsanevossssavavacadecsecteseseseasee 1 MIDG Series INS GPS Software and Utilities csscsscsssssssessssssssssssacssecssssoncesessssenensoncnssscessesesssssenesnoness 2 3 1 Installing the Software and Utilitics ccccccccossossocossocsscossocsscocesccsscsocsssecsscecccsensesscenesscoesscsesocsess 2 GPS Antenna SPC CHIC ANIONS sii scsisscasssesessceoucavessesasacavesesscenesdneccsoesusssssenssvstedausnatadeseasdeeseueusasawansearseeccxesesoieesys 4 Al PROV GS Fai a acess voc ce ee ss ct nec he sects cea viareca ces se ea sen ease testo teate tae aten ss eu stbecenecewnacaceucstecsek 4 A Fase GESANGE IAS a aa ceuesteaeceaessenseueieees 4 4 3 Installing and Using the MIDG Series INS GPS Patch Antenna ssccccesssssosoccocecessecececsssossese 5 Installing and Using the SLC2JUSB Interface Cable cccsssssssssssssssssssscccsscsssssssssessesessscscessees 5 5 1 SLC2JUSB Driver
37. Microbotics Binary Protocol Physical Size 1 500 W x 810 H x 1 725 D Weight 55 grams www microboticsinc com 3 One side used for Trigger Input when Time Mark Option ordered SIS90031C SR Specifications subject to change without notice C3 of C6 icrobotics Inc esearch Drive Suite G on Virginia 23666 Innovative N 0 810 20 57 0 576 14 63 0 277 7 04 1MM SCREW ON MATING CONNECTOR MATING SCREW REQUIRES 035 9MM ALLEN HEAD SOCKET DRIVE 0 575 14 64 0 975 24 77 MOUNTING HOLES FOR 0 80 UNF SCREWS 4 PLCS SCREW INSERTION 187 4 75 MAX 0 363 9 22 1 725 43 82 1 000 25 40 Www J icrob oticsin c com 0 063 1 60 1375 34 93 1 500 38 10 BOTTOM Specifications subject to change without notice C4 of C6 Icsinc com Ta gt S x MIDG IIC CONNECTOR PIN OUT PIN 10 PIN 5 PIN 4 PIN 1 VIEWED FROM FACE OF MIDG CONNECTOR CONNECTOR PIN OUT Colors refer to mating connector cable PIN4 BLACK Rb Receive pos MARK high SPACE low PIN2 BROWN Ra Receive neg MARK low SPACE high PINS RED PPS_N 1 PPS pulse Idle high falling active edge PIN4d ORANGE Power In 10 32 VDC 1 2 w max PINS YELLOW Digital Ground do not use for Power Return PING GREEN Tb Transmit pos MARK high SPACE low PIN7 BLUE Ta Transmit neg MARK low SPACE high PINS VIOLET PPS_P Aux 1PPS pulse Idle low rising active edge
38. ND CAN DESTROY THE INTEGRATED GPS RECEIVER THESE TYPES OF DAMAGE ARE NOT COVERED BY WARRANTY Pee ee eS ee eh ee tee ee ee en EREEREER EREREERRENEN Copyright Microbotics Inc 2011 Page 4 of 13 AVG 1CROBOTICS INC 4 3 Installing and Using the MIDG Series INS GPS Patch Antenna The MIDG Series INS GPS can be ordered with a patch antenna Figure 9 Microbotics Part Number A GPS5 SMA This antenna is designated for use with the MIDG Series INS GPS to provide GPS reception to the onboard receiver The complete antenna specifications are included in Attachment D of this manual 1 Place the patch antenna in a location with an unobstructed view of the sky 2 Connect the SMA connector from the antenna cable to the SMA jack on the face plate of the MIDG Series INS GPS SECTION 5 IS OPTIONAL THIS SECTION ONLY APPLIES IF MIDG SERIES INS GPS IS TO INTERFACED WITH A PC OR LAPTOP VIA MIDG INTERFACE CABLE SLC2JUSB OR SLC2J09SF 5 Installing and Using the SLC2JUSB Interface Cable The MIDG Series INS GPS can be ordered with a SLC2JUSB interface cable This cable is specifically designed to interface the MIDG Series INS GPS with any PC or laptop via USB port The SLC2JUSB cable Figure 10 provides both power and data lines for the MIDG Series INS GPS 5 1 SLC2JUSB Driver Installation The driver installation is an automated process once it is started and will require only minimal user action 1 On the MIDG Software and Utilit
39. NS GPS with all of the available accessories Please verify the order contents with the purchase order to ensure that all items ordered have been received A standard MIDG Series INS GPS will come with the following items A MIDG Series INS GPS SIS90031C SIS90031C SR SIS90031C G Dependant on the model ordered B MIDG Utilities CD ROM Contains all of the software utilities and documentation for the MIDG Series INS GPS C Mating Connector An 18 30 AWG Omnetics mating connector with pigtail and stainless capturing screw D Mounting Screws Nonmagnetic stainless mounting screws 0 80 x 3 16 E Hex Wrench A 0 9mm hex wrench for use with the capturing screw on the mating connector Optional MIDG Series INS GPS accessories which may p gure 1 MIDG Series INS GPS with Accessories be ordered are l F SLC2JUSB A pre built MIDG Mating USB interface cable to provide power and data connections to the MIDG Series INS GPS SLC2JO9SF A pre built interface cable provides power and data connections to the MIDG Series INS GPS to a PC s RS232 serial port and a 10 32 VDC 100 mW external power supply Active GPS Antenna A five 5 volts Hi Gain Lo Noise GPS patch antenna SLC10232 A Serial Voltage Level Converter for RS232 to from RS422 or TTL format HE A OPTIONAL MIDG SERIES INS GPS ACCESSORIES ARE DETAILED IN SECTION 4 AND SECTION 5 SECTION 4 APPLIES TO USERS WHO WILL BE ATTACHING A GPS ANTENNA TO THE MIDG SERIES INS GPS
40. R a Product Dimensions 0 56 14 2 2 00 50 8 e e e e 1 79 e 45 5 E Features Compact UC Series GPS antennas deliver noise attractive package temperature and ANT GPs UC xxx DATA SHEET E7 Description performance in a rugged They antennas attach via a standard SMA Part 15 compliant RP SMA or MCX connector High gain low noise design Low current consumption Wide operating temperature Fully weatherized waterproof Rugged amp damage resistant Magnetic mount Center Freq Bandwidth Impedance VSWR Ant Gain 90 Polarization Axial Ratio 90 System Gain Noise Input Voltage lt _ Electrical Specifications 1575 42MHz 9MHz minimum 50 ohms 1 5 maximum 3 0dBi RHCP 3 0dBi maximum 28dBi typ 2 2dqdB maximum 3 0 5 0 VDC Power Consum 20MmA maximum Oper Temp Mounting Cable Cable Length Connector 31 F to 185 F 35 C to 85 C Magnetic RG 174 197 6 5m 150mm SMA RP SMA or MCX male E Ordering Information MCX SMA male RP SMA Antenna Factor 159 Ort Lane Merlin OR 541 956 0931 phone ANT GPS UC SMA with SMA connector ANT GPS UC RPS with RP SMA connector ANT GPS UC MCX with MCX connector 97532 www antennafactor com 541 471 6251 fax high gain and cosmetically feature a wide operating low current consumption Rev 2 9 11 EWE ICROBOTICS INC
41. S receiver 2 If Position Format is ENU Relative position is relative to either the first GPS fix or location specified in configuration Position Format ECEF or ENU Relative in cm Longitude and Latitude in 107 deg Altitude in cm Velocity Format is either ECEF or ENU 6 Accuracy is the square root of the variance in the filtered estimate MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B8 of B27 SE ICROBOTICS INC 4 9 Message GPS_SVI Message ID 21 0x15 Payload Length 8 NCh 6 Bytes Description GPS Satellite Vehicle Information Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U4 msec GPS Time 4 Ul Reserved value indeterminate 5 Ul Count Number of satellites to follow 1 16 After the 6 bytes above are sent the following block is repeated NCh times once for each satellite 8 bytes per block 8 N 6 Ul Count Receiver channel number 1 16 8 N 7 Ul Address Satellite ID on this receiver channel 8 N 8 U1 dBy Carrier to Noise ratio 8 N 9 Bit field Information regarding the satellite Bits 7 5 N A value indeterminate Bit Satellite is unhealthy will not be used Bit Orbit information is ephemeris Bit i Orbit information available for this satellite Bit f DGPS data available for this satellite Bit l Satellite used for navigation 8 N 10 Information regarding the receiver channel
42. Specification for Firmware V2 1 x and Higher 9 January 2012 1 Scope This document outlines the messages sent to and from the MIDG IIC via the serial communications port 1 1 Differences Between This Message Specification and Previous Versions This specification is an update to earlier Message Specifications In particular it addresses certain messages which are no longer supported especially by firmware versions 2 3 1 and higher corrects several errors and better defines the Configuration Messages Of particular importance are several data packets which are either no longer properly supported by the GPS module in the MIDG IIC no longer of valid use to the client or provide possible false information thus the related messages should not be used in firmware versions below 2 3 x and are no longer supported in firmware versions 2 3 1 and higher Satellite Ephemeris 7 M_EPH Message GPS Raw Data GPS_RAW Message GPS 1PPS Estimate GPS_PPS Message Time Error TIM_ERR Message RTCM Differential Corrections RTCM Message Additionally the various VG Modes previously used in earlier versions are now referred by their actual operations STATUS Message 2 Serial Interface Communication with the MIDG IIC occurs via an asynchronous communication port using the Microbotics Binary Interface Protocol MBI The Factory default is 115200 Baud 8 data bits no parity bit and one stop bit 8 N 1 The baud rate can be changed by the user v
43. The Packet_ID is an unsigned 8 bit byte identifying the command type Payload_count The Payload_count is an unsigned 8 bit byte indicating the number of bytes in the payload to follow The Payload_count can be 0x00 no payload through OxFF 255 theoretic maximum bytes in the actual payload NOTE THE PAYLOAD_COUNT VALUE IS THE TOTAL NUMBER OF PAYLOAD BYTES FOLLOWING THE PAYLOAD_COUNT BYTE REGARDLESS OF THE ACTUAL PAYLOAD DATA FORMAT S IF THERE IS NO PAYLOAD THE PAYLOAD_COUNT VALUE IS ZERO Payload The payload is specific for the message is specified in the Packet_ID The payload can be comprised of any mix of bytes 16 bit words or 32 bit words All Payload values are sent in big endian format the first byte of each multi byte value 16 bit or 32 bit data values contains the most significant bits of that value CS0 and CS1 The CSO and CS1 part of the message forms a two byte Fletcher checksum This checksum includes of all bytes between Sync1 and CS0 8 1 2 Fletcher Checksum The Microbotics Message Specification uses a Fletcher checksum regardless of the message type and payload The Fletcher checksum is calculated in the following manner 1 2 3 4 5 CSO and CS1 are initially both set to zero CSO CST 0 The next byte is added to the current CSO value to form the new CSO value modulo 256 CS0 byte_value The new CSO value is added to the current CS7 value to form the new CS7 value modulo 256 CS7 CSO
44. able Modes INS Payload Contents Purpose Comment Time i Details Bit 15 Time value format 1 GPS Time 0 Estimated delay Reserved send as zero 2 Bits 14 0 X magnetic component Y magnetic component Relative units Z magnetic component Notes The Time value is either the GPS Time of the measurement or the estimated delay of the measurement from the time when the aiding message is sent and measurement was valid The convention used depends on a Bit 15 of the Details field If time delay is used Bit 15 is zero then the delay value is taken from the least significant byte of the Time value for a maximum delay of 255 milliseconds Units for the magnetic components may be selected arbitrarily The maximum vector value should be high enough to provide good resolution but low enough to avoid saturating the 16 bit signed integer field A scaled range of 10000 counts would be a good choice Internally the MIDG IIC will convert the vector components to a normalized unit vector for use as a measurement MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B15 of B27 fa 1CROBOTICS INC 5 3 Message AID_POS Message ID 37 0x25 Payload Length 20 Bytes Description Position Aiding Applicable Modes INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U4 msec Time Bit fields Details and Vertical Position Standard Deviation Bit 15 Time
45. able or permanently mount the MIDG Series INS GPS with in an application This section will instruct the user on how to wire the MIDG Series INS GPS into an application The MIDG Series INS GPS can easily be wired into a system using RS 422 signals or it can be wired into a system with an RS 422 to RS 232 serial voltage level converter such as the Microbotics SLC10232 Table 1 provides full information about each pin and Figure 16 shows a visual representation of the Omnetics Mating connector Table 1 MIDG Series INS GPS Pin Out R RS 422 positive data receipt into MIDG IT MARK High Ra __ RS 422 negative data receipt into MIDG II MARK Low PWR_IN i Pin 6 Pin 7 RS 422 negative data transmit from MIDG IT MARK Low Pin 8 1 pulse per second 1 PPS Pulse IDLE Low Rising Active Edge Pin 9 Power ground negative side Pin 10 Shield for power cabling if needed SEEKS LAEL SRA AACE LENS SEAS EE LEASE eee ee ee ee eA Oe ANI eee ee ee ee ee eee See EE EEL E AS TAS eREREE LAS PEA EAS DAMAGE TO THE MIDG SERIES INS GPS BECAUSE OF INCORRECT WIRING IS NOT COVERED BY WARRANTY aaa o aa LS ASS SEERA SELES A CHAD eR Ne eee eee AAS Sea ee ee a ERS LALA RELEASES ELSES AS SR ee EN eRe eA 6 1 General Connections There are four connections which PERCEIVED LOOKING INTO THE FACE OF THE are ae sere to RS 422 and RS 232 The common connections CONNECTOR FOR THE MIDG SERIES INS GPS are as follows PIN 10 PIN 5 A Power
46. ad Type Description Ul Unsigned 8 bit integer one byte I Signed 8 bit integer one byte U2 Unsigned 16 bit integer two bytes 2 Signed 16 bit integer two bytes U4 Unsigned 32 bit integer four bytes 14 Signed 32 bit integer four bytes Bx String of x bytes x bytes R4 IEEE 754 single precision four bytes BN Variable length string of bytes R8 IEEE 754 double precision eight bytes 3 5 CHECKSUM Bytes The two byte checksum is a Fletcher checksum as defined in internet RFC 1145 It is computed over all bytes between and including the D byte COUNT byte and all payload bytes The basic algorithm is as follows CHKSUM_0O 0 CHKSUM_1 0 for each byte from D to PAYLOAD_N inclusive CHKSUM_0 CHKSUM_O byte Only 8 bits maintained modulo 256 CHKSUM_1 CHKSUM_1 CHKSUM_O Only 8 bits maintained modulo 256 Once the checksum has been calculated the low 8 bits of CHKSUM_O are send followed by the low 8 bits of CHKSUM_1 MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B1 of B27 WE ICROBOTICS INC 4 MIDG IIC Output Messages The following messages are provide data output from the MIDG IIC Any of these messages may be configured to be transmitted from the MIDG IIC at a user selectable rate from once every 5 seconds to 50Hz Rates for these messages are set using the CFG_SET Message ID 35 with the MSG_DIV Command ITEM_ID 5 When a message is disabled its output rate is set to zero
47. alignment initialization Sensor coarse alignment Sensor medium alignment Sensor fine alignment Vertical Gyro operational mode all data available Kalman Filter active without using GPS data INS operational mode all data available Kalman Filter active using GPS data Page B3 of B27 SE ICROBOTICS INC 4 2 Message IMU_DATA Message ID 2 0x02 Payload Length 23 Bytes 0x17 Description Inertial Measurements Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U4 msec Timestamp X Axis Angular Rate Y Axis Angular Rate Z Axis Angular Rate X Axis Acceleration 1 2 Y Axis Acceleration Z Axis Acceleration Relative units X Axis Magnetic Field 6 Relative units Y Axis Magnetic Field Relative units Z Axis Magnetic Field Bit field Flags Bit 7 GPS 1PPS flag Bit 6 Timestamp is GPS time Bits 5 0 N A read zero Notes D The sensor readings are calibrated values not compensated by the Kalman Filter g g is defined as 9 799096177 m sec The magnetometer outputs are scaled so that the magnitude of the local field at MIDG IIC calibration is 5000 counts 4 3 Message IMU_MAG Message ID 3 0x03 Payload Length 11 Bytes 0x0B Description Magnetometer Measurements Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U4 msec Timestamp Relative units X Axis Magnetic Field a Relative units Y Axis Magnetic
48. an external pulse input at Pin 8 of the MIDG IIC output connector The MIDG IIC records the GPS time of the rising edge of the received pulse I ms and sends this message at the first 50 Hz update slot of MIDG IIC processing maximum update of 50 Hz If multiple pulses are received in a 50 Hz period only the time of the most recent rising edge is reported MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B13 of B27 ME ICROBOTICS INC 5 MIDG IIC External Aiding Input Messages The MIDG IC messages defined in this section provide a mechanism for aiding the MIDG IIC Kalman filter with external measurements including heading magnetic vector position velocity and air data The MIDG IIC supports the following input aiding messages ID 31 HDG_MEAS Heading Aiding ID 32 AID_MAG Magnetometer Vector Aiding ID 37 AID_POS Position Aiding ID 38 AID_VEL Velocity Aiding ID 39 AID_AIR Airspeed Aiding The AID_POS and AID_AIR Messages have not yet been implemented and are non functioning While the HDG_MEAS AID_MAG and AID_VEL Messages have been implemented they have not been fully tested nor are their effects especially with invalid entries fully known at this time The user accepts any and all risks and consequences when using any aiding message 5 1 Message HDG_MEAS Message ID 31 0x1F Payload Length 8 Bytes 0x08 Description Heading Measurements Applicable Modes INS Payload Contents Byte N
49. c3250mt dll ll Parse bat liparse exe INS Parse bat insparse exe vcl50 bp l Documents Application Notes ANO01 OpModes pdf Copyright Microbotics Inc 2011 Page E1 of E2 7 Zip fan Accessories ACECAD T Acronis A Administrative Tools amp Advanced Installer 8 7 T Android SDK Tools ifm APC mm Corel PDF Fusion FTDI an Games 15 7 0 Extensions ff MATLAB A II Parse INS Parse i MIDG II Display f MIDG II Flash E pspad G Documents fm Microbotics Inc 2 Microsoft Office Im Microsoft Silverlight T Microsoft Silverlight 3 SDK Ala A a Microsoft Silverlight 4 SDK Microsoft SQL Server 2008 T Microsoft Visual Studio 2010 Express Microsoft WebMmatrix A Mockup Screens 4 29 2 MySQL if Startup A u blox WCF RIA Services 1 0 SP1 Internet Firefox E mail Mozilla Thunderbird ES Microsoft Office Wor MIDG II Display v a v v ad we vv v v v v Y v v v v v ad tt v ad v v vv v vr oR m WebsitePanel E Notepad DE ACECAD DigiMemo Manager garal i Adobe Reader x xe 5 SEE ce Ix Microsoft Office Exc Inea EX Dioro Microsoft Visual webi 2 Internet Explorer 64 bit SENSIS L HOE pe Microsoft Web Platform Installer Microsoft Visual C Mozilla Firefox Lt Express windows Media Player ARTE Sk windows Movie Maker Log OFF Ko Turn OFF Computer fe C Documents and Se fe Liin 2K to XP 6 i3 Start
50. cessing MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B11 of B27 f 1CROBOTICS INC 4 14 Message TIM_ERR Message ID 26 0x1A Payload Length 7 Bytes 0x07 Description Time Error Information Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format msec GPS Time Counts Time timer bias Counts Data timer bias Bit field Flags Bit N A reads zero Bit 6 Timestamp is GPS time Bits 5 0 N A read zero Notes This message is a legacy message that actually provides no useful data to the user as the message only defines information used internally by the MIDG Series units This message is not available in firmware versions 2 3 1 and higher 1 2 4 15 Message TIM_PPS Message ID 27 0x1B Payload Length 16 Bytes 0x10 Description Time Pulse Information Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U4 msec GPS time of next pulse 4 U4 msec 2 Fractional millisecond of next pulse 8 14 ps Quantization error of next pulse 6 12 U2 GPS week number of next pulse Bit field Flags Bits 7 3 N A read zero Bit 1 UTC is available Bit 0 Time base is O GPS 1 UTC 15 Ul Reserved value indeterminate Notes This message is a legacy from when the MIDG Series units did not have a Time Pulse output signal 1PPS and indicates the estimated time of the next GPS ti
51. d 7 1 8 Message CFG_SET POS_REF Message ID 35 0x23 Payload Length 16 Bytes 0x10 Description Set ENU Relative position reference Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 CFG_ITEM CFG_ITEM 6 0x06 U1 1 Ul Reserved send zero 2 U2 Reserved send zero 14 cm X Position ECEF coordinates a 14 cm Y Position ECEF coordinates 14 cm Z Position ECEF coordinates Notes The specified location is used as the reference point against which relative ENU Relative position is calculated MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B23 of B27 fA1CROBOTICS INC 7 1 9 Message CFG_SET XFORM Message ID 35 0x23 Payload Length 8 Bytes 0x08 Description Set Transform from Platform to MIDG IIC Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U1 CFG_ITEM CFG_ITEM 10 0x0A 1 Ul Reserved send zero 1 Transform Yaw Transform Pitch Transform Roll Notes The Yaw Pitch and Roll indicate the Euler angles that define the direction cosine matrix to rotate a vector in the vehicle coordinates to a vector in the MIDG IIC sensor coordinates The rotation is taken Yaw Pitch Roll 7 1 10 Message CFG_SET HDG Message ID 35 0x23 Payload Length 8 Bytes 0x08 Description Set Transform from Platform to MIDG IIC Applicable Modes IMU VG INS Payload Contents B
52. d above 9 January 2012 Page B6 of B27 WO ICROBOTICS INC 4 6 Message NAV_HDG Message ID 13 0x0D Payload Length 17 Bytes 0x11 Description Navigation Heading Information Applicable Modes INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 01 deg Magnetic Heading 2 0 01 deg Magnetic Declination l I2 0 01 deg Magnetic Dip Course Over Ground 3 Speed Over Ground Vertical Velocity Bit field Declination and dip valid Timestamp is GPS time N A read zero Notes 1 Magnetic Declination and Magnetic Dip are taken from the World Magnetic Model which requires initialization with the current location As a result these values are not valid until position is known and Bit 7 is set in the Flags bit field Course Over Ground Speed Over Ground and Vertical Velocity are calculated from the navigation solution data and correspond to the velocities presented in the NAV_PV message 4 7 Message NAV_ACC Message ID 15 0x0F Payload Length 17 Bytes 0x11 Description Navigation Solution Accuracy Estimate Applicable Modes INS Payload Contents Byte Number Units Purpose Comment Offset Format Horizontal position accuracy estimate 1 Vertical position accuracy estimate Horizontal velocity accuracy estimate Vertical velocity accuracy estimate 0 01 deg Tilt accuracy estimate t 0 01 deg Heading accuracy estimate Bit field Content valid Timestamp is GPS time DGPS SBAS
53. data 5 6 Code and carrier locked 4 Code locked 3 Signal detected but unusable 1 2 Channel is searching 0 Channel is idle 24 N 30 Ul dBy Carrier to Noise ratio 24 N 31 Ul Loss of link indicator RINEX definition Notes Due to undocumented changes in GPS modules by the manufacturer not all MIDG IIC units support the GPS_RAW Message As it is impossible to determine in the field if the Raw Data are available from the GPS module this message should not be used The values in this message are data provided directly by the GPS module and passed to the output message without any intervening processing This message is provided at the selected rate only if data is produced by the GPS receiver nsvs is number of satellites in this message 4 bk a N goes from zero to NSVS 1 4 11 Message GPS_CLK Message ID 23 0x17 Payload Length 20 Bytes 0x14 Description GPS Receiver Clock Solution Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U4 msec GPS Time 4 14 ns Clock bias 8 14 ns s Clock drift 12 U4 ns Time accuracy estimate 16 U4 ps s Frequency accuracy estimate Notes This message is provided at the selected rate only if data is produced by the GPS receiver The values in this message are data provided directly by the GPS module and passed to the output message without any intervening processing MIDG IIC Message Specification Firmwar
54. e 2 1 and above 9 January 2012 Page B10 of B27 Ae ICROBOTICS INC 4 12 Message GPS_EPH Message ID 24 0x19 Payload Length 77 Bytes 0x4D Description GPS Satellite Ephemeris Data Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 Ul Address Satellite ID 1 U4 GPS Handover word After the 5 bytes above are sent the following element is repeated 24 times Each element is a 24 bit word of the GPS Navigation Message see CD GPS 200 The 8 words following the Telemetry and Handover Words of Sub frames through 3 are included Each word is arranged most significant byte first big endian N 3 U3 24 Bit Word Navigation Words from Sub frames 1 through 3 a Notes Due to undocumented changes in GPS modules by the manufacturer not all MIDG IIC units support the GPS_EPH Message correctly the Navigation Words contents may be invalid As it is impossible to determine in the field if the Ephemeris Data are available from the GPS module or if the message contents are valid this message should not be used in firmware versions below 2 3 x This message is not available in firmware versions 2 3 1 and higher This message does not have a configurable message rate Ephemeris data is polled for a satellite by sending a message to the MIDG IIC with ID 24 GPS_EPH and a single payload byte which is the Satellite ID for the satellite for which ephemeris data is being r
55. e Manager to change the System Properties will guide the user through the process of reassigning COM port numbers properties of any device 5 1 Accessing the Device Manager The following steps are the instructions for Drivers opening the Device Manager in Windows 2000 through Windows XP 64 G reg pe is Sa ON OEE pa laa how Windows connects to Windows Update for drivers Driver Signing Windows Update Hardware Profiles 1 Pressing the Windows key and the Pause key at the same time to open the System Properties dialog box lt Hardware profiles provide a way for you to set up and store za different hardware configurations Pressing the Windows key and the Pause key at the same time will open the System Properties dialog box on all versions of Windows 2 Select the Hardware tab in the System Properties dialog ee box Figure 8 Figure 8 System Properties dialog box Hardware Tab Copyright Microbotics Inc 2011 Page A2 of A3 a W 1CROBOTICS INC 3 Select the Hardware tab in the System Properties dialog box Figure 8 Device Manager File Action view Help 4 R a gt Keyboards 4 Press the Device Mana er button to open Mice and other pointing devices the Device Manager Figure 9 S Double click on the USB Serial Port listing This will open the USB Serial Port COM 15 Properties dialog box Figure 10 NOTE The actual COM number may be different On
56. e least significant byte of the Time value for a maximum delay of 255 milliseconds Bit 14 of Details set indicates the Up Velocity is actually the absolute value of the total speed through space and Bits 11 0 are the Standard Deviation of this speed measurement If Bit 14 of Details is set then all elements of the message after Up Velocity are ignored and may be omitted by the sender The Payload Length in this case is 8 bytes 3 The Standard Deviation values are used by the Kalman filter to merge the Velocity Measurement s into the final solution A deviation value too small for the current heading estimates may cause instability in the final velocity results If a Standard Deviation field is zero it indicates that the associated measurement should not receive an update e g a packet that updates the East and North velocities but not the Up Velocity would set the Horizontal Speed Standard Deviation to zero if Bits 11 0 of Details are zero then the Up Velocity is not used in the measurement update MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B17 of B27 fa 1CROBOTICS INC 5 5 Message AID_AIR Message ID 39 0x27 Payload Length 12 Bytes 0x0C Description Air Data Aiding Applicable Modes INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U4 msec Time Bit fields Details and airspeed standard deviation Bit 15 Time value format 2 1 GPS Time
57. ecause of the specific configuration of the user s system NOTE STEP 3a IS APPLICABLE TO ONLY TO RS 422 SYSTEMS 3a Connect the GND line Pin 5 Yellow to the Ground of the user system s RS 422 port This line is tied directly to the Digital Ground user s serial port NOTE STEP 3b IS APPLICABLE TO ONLY TO RS 232 SYSTEMS 3b Connect the GND line Pin 5 Yellow to the Ground of the user s RS 232 serial voltage level converter This line is tied to the user s Digital Ground on the RS 422 to RS 232 serial voltage level converter The Digital Ground from this converter should also be tied to the user s Digital Ground on the RS 232 port 6 1 2 Shield Connections Steps four 4 will instruct the user on the proper connections for the Shield line Optional 4 Connect the Shield line to the shield of the power cable If applicable PERERA ELERA AAAS SASL LEN ELEN SE SELES SASSER AARAA ENS ARI ee eee Se eee eS eee EERE ELELSE EA ASS ERE LENS Oe OOS eS USE THE PWR_RTN LINE FOR POWER RETURN TO THE POWER SUPPLY NEGATIVE SIDE DO NOT USE THE GND SIGNAL LINE FOR POWER RETURN AS THIS USAGE CAN DAMAGE THE MIDG II AND VOIDS THE WARRANTY HP REASLAEL ERLE LASER ENE R ERS EE LEER ODO Oe Eee eee OARS ee eee eee eee SEAR AS EERE AER ELE LEAS EAS SAREE LEAS SEA EARS 6 2 RS 422 Data Connections The MIDG Series INS GPS uses a RS 422 differential mode asynchronous serial data stream for communications to and from the user s system Figure 17 shows a
58. equested In order to prevent overrunning the MIDG IIC output queue requests are cached and ephemeris messages are sent at a rate of only one ephemeris message per second 8 If no valid ephemeris data is available for a satellite this message will have a single byte payload the Satellite ID and the Handover Word and Navigation Words will not be included In this case the Payload Length will be 1 A N goes from zero to 23 Each these elements are 24 bit 3 byte words Since the Navigation Words require significant byte splitting and parsing no effort is made to align the 24 bit words on 4 byte boundaries 4 13 Message TIM_UTC Message ID 25 0x19 Payload Length 16 Bytes 0x10 Description UTC Time Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U4 msec GPS Time 4 14 ns Nanoseconds of Second 5 x 10 to 5x 10 UTC Year 1999 2099 UTC Month 1 12 UTC Day of Month 1 31 UTC Hour of Day 0 23 UTC Minute of Hour 0 59 UTC Second of Minute 0 59 UTC Bit field Time information validity Bits 7 3 Reserved value indeterminate Bit 2 Valid UTC leap seconds known Bit 1 Week number valid Bit 0 Time of week valid Notes This message is provided at the selected rate only if data is produced by the GPS receiver The values in this message are data provided directly by the GPS module and passed to the output message without any intervening pro
59. er s USB port to provide the MIDG Series INS GPS with bidirectional communication and power Figure 1 1 1 Description The MIDG II INS USB Interface Cable is approximately forty eight inches 48 in 121 92 cm in length and covered with black plastic sheathing At one end of the cable is a standard Type A male USB connector which will connect to any Type A female USB receptacle on the user s computer The other end of the cable has an Omnetics 10 pin mating connector specifically designed to connect to any MIDG Series INS GPS unit Figure 1 SLC2JUSB 1 2 Functionality The SLC2JUSB interface cable is designed to power a MIDG Series INS GPS unit via USB port Therefore there is no requirement for an external power supply The interface cable has a recessed reset button on the top of the USB connector housing Figure 2 Circled in Red which provide the user with the ability to cycle the power to the MIDG Series INS GPS without having to unplug the unit or the cable Figure 2 Recessed Power Button i H Win 2K to XP 64 BEK File Edit view Favorites Tools Help ae 2 Installation The SLC2JUSB interface cable may be ordered with a MIDG Series INS GPS or it may be ordered separately In both cases a CD ROM will arrive with the interface cable containing the drivers These drivers will have to be installed prior to using the interface cable peck H i D Search Key Folders z Address B H Win 2K to XP 64 vi Go FA
60. ia the MIDG Display Configuration Program The physical interface is an RS 422 differential serial link for high noise immunity 3 Microbotics Binary Protocol The MBI Protocol is a series of message packets defined in the following sections to communication with the host computer These o CHECKSUM RANGE _ eo PD Hex 0x81 Hex OxA1 Dec 129 Dec 161 messages provide sensor data transfer between MIDG IIC the host as well as facilitate MIDG IIC configuration The MBI Protocol is a standardized binary byte packet format that has the following structure 3 1 SYNC Bytes The two SYNC bytes are used to define the message packet The first byte SYNC_O is has the hexadecimal value of 0x81 while the second byte SYNC_1 has the hexadecimal value of 0xA1 3 2 ID Byte The ID byte defines the specific message 3 3 COUNT Byte The COUNT byte is the number of bytes in the payload regardless of payload formatting zero if the message has no payload bytes 3 4 PAYLOAD The payload is composed of a sequence of bytes that represent data values within a message All payload values are bit endian meaning the most significant byte of a multi byte payload value is sent first In bit field values Bit O represents the least significant bit of the payload value In the section that follows the application messages will be defined using the nomenclature shown below to indicate the type of value represented in the payload Payload Type Description Paylo
61. ies CD ROM Select the driver file from the same folder from which the MIDG l Software and utilities was selected Figure 11 This is the Figure 10 SLC2JUSB Interface Cable appropriate drivers for the software installation fm H Win 2K to XP 64 SEE For Windows Vista and Windows 7 users the PC or laptop may automatically search He Edt view Favorites Tools Help a for the appropriate drivers For specific information about the SLC2JUSB refer to Qs fh seh Folders F Attachment A Section 3 in this manual EE ea Hiwin 2 to 2 64 v EJ co Figure 12 shows the command prompt window After the drivers have been installed oa the command prompt window will display FTDI CMD Driver Installation process mE READ ME 2K XP64 doc completed The command prompt window will them close and the driver installation iii is complete fee 5 1 1 Using the SLC2JUSB After the drivers have been installed whether automatically or manually the following will instruct the user on how to interface the MIDG Series INS GPS with the PC or laptop Figure 11 MIDG Software and 1 Plug the USB end of the interface cable into any port on the PC Utilities CD ROM folder or laptop The first time the interface cable is used the PC or laptop containing SLC2JUSB Drivers will have to identify the device and then GSA een kee othvcn unm I moc 64 bit OS detected assign the drivers previously installed for it C DOCUME 1 ADMINI 1 LOCALS
62. internal configuration The general form of this message is 1 ooo CHECKSUM RANGE oo gt ed eoon oeo ow Hex 0x81 Hex OxA1 Hex 0x23 Dec 129 Dec 161 Dec 35 CFG_ITEM The D for the CFG_SET Message is 35 0x23 with the first byte of the Payload being the specific CFG_ITEM being set The balance of the Payload is configuration specific to the CFG_ITEM The details for each CFG_ITEM are outlined in the sections below The MIDG IIC responds to each CFG_SET Message with either an Configuration Acknowledge Message CFG_ACK if the CFG_ITEM operation has been successful or a Configuration Not Acknowledge Message CFG_NAK if the operation was not successful 7 1 1 Message CFG_ACK Message ID 40 0x28 Payload Length 2 Bytes 0x02 Description Acknowledge sent by MIDG IIC upon success Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U1 Message_ID ID 35 0x23 indicating this is a reply to CFG_SET 1 Ul CFG_ITEM CFG_ITEM number that was successfully changed 7 1 2 Message CFG_NAK Message ID 41 0x29 Payload Length 3 Bytes 0x03 Description Not Acknowledge sent by MIDG IIC upon failure Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U1 Message_ID ID 35 0x23 indicating this is a reply to CFG_SET 1 Ul CFG_ITEM CFG_ITEM number that was unsuccessfully changed 2 Failure codes 1 Wrong number of parameters Bad CFG_ITEM
63. ky The maximum gain only when long cables are involved must not be greater than 50 dB and if a high gain antenna is used the user must make sure the actual signal at the SMA connector is less than 61 dBm e g by having enough cable between the antenna and the MIDG Series INS GPS to attenuate the antenna amplifier signal in order to prevent swamping the GPS receiver and degrading the MIDG II performance A typical useable antenna gain range is 15 30 dB Figure 9 MIDG Series INS GPS Optional Patch Antenna A GPSS SMA 4 2 Passive GPS Antennas If the cable length between the MIDG Series INS GPS and the GPS antenna is short less than 12 inches 300 mm and the antenna as a very clear view of the sky a passive GPS antenna may be used TELAT LAER SRA LAA LE LENE LEASE ERS SESS eRe ee eee ee AALS eae 8 ee eee R EASES EEA ERERE SESE RS EASELS LAS CHAE AES ONLY USE A GPS ANTENNA THAT IS RATED FOR 5V OPERATION AND DRAWS LESS THAN 25 MA USE OF A LOWER VOLTAGE ANTENNA CAN DAMAGE THE GPS ANTENNA POWER SUPPLY DESTROY THE INTEGRATED GPS RECEIVER OR DESTROY THE GPS ANTENNA AMPLIFIER DISCONNECT THE POWER TO THE MIDG SERIES INS GPS BEFORE CONNECTING OR DISCONNECTING THE ANTENNA IF THE MIDG SERIES INS GPS MUST REMAIN POWERED WHEN THE ANTENNA IS CONNECTED OR DISCONNECTED EXTREME CARE MUST BE TAKEN TO PREVENT THE CENTER CONDUCTOR OF THE SMA CONNECTOR FROM CONTACTING THE BODY OF THE CONNECTOR AS THIS WILL SHORT OUT THE GPS ANTENNA POWER SUPPLY A
64. ly numbers above 9 have to be changed USB Serial Port COM15 Properties General Port Settings Driver Details Bits per second 9600 Data bits 8 Parity None 6 Stop bits 1 Flow control None Advanced Restore Defaults 7 8 9 Figure 10 Port Settings Tab of the USB Serial Port Properties dialog box 10 Select the COM Port Number drop down menu and choose a COM Port which amp Monitors VD Multifunction adapters 33 Multi port serial adapters Network adapters Y Ports COM amp LPT F Communications Port COM253 PCI Express UART Port COM1 F PCI Express UART Port COM2 F PCI Express UART Port COM3 F PCI Express UART Port COM4 F PCI Express UART Port COMS F PCI Express UART Port COM6 F PCI Express UART Port COM F PCI Express UART Port COM8 aF PCI Parallel Port LPT1 F S Processors Sound video and game controllers S Storage volumes Figure 9 Device Manager with Ports COM amp LPT expanded Select the Port Settings Tab This will display the port settings Figure 10 Press the Advanced button This will open the Advanced Settings for the COM port Press the Advanced button This will open the Settings for the COM port Press the Advanced button This will open the Settings for the COM port Advanced Settings for COM15 COM15 v COM Port Number USB Transfer Sizes
65. me pulse This message is just passed through from the GPS module by the MIDG IIC via two serial data transmissions with uncertain latencies Thus the data in this message may be incorrect for the next pulse being output by the GPS module As the 1PPS Time Pulse output signal is available at the MIDG IIC output connector use of this message is not recommended This message is not available in firmware versions 2 3 1 and higher The Time Pulse output signal is present only when the receiver is able to calculate a position solution Accuracy of the Time Pulse output signal available at the MIDG IIC output connector is 50 Syms with 99 lt 100 ns error The time pulse signal is aligned to a 23 104 MHz clock which results in a resolution of 43 ns The resulting quantization is considered in the time accuracy estimation of the receiver MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B12 of B27 Ae ICROBOTICS INC 4 16 Message TIM_TM Message ID 28 0x10 Payload Length 8 Bytes 0x08 Description Time Mark Information Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U4 msec GPS time of received pulse rising edge 4 U2 Count GPS week number of received pulse rising edge 6 U2 Reserved value indeterminate Notes This message is only available on MIDG TIC units that have the Time Mark Option Microbotics Part Number SIS90031C SR supporting
66. mpleting the MIDG II Utilities Setup Wizard 10 Press the Finish button to complete the installation process FOR MORE INFORMATION ABOUT ANY OF THE MIDG SOFTWARE AND UTILITIES PLEASE LS A Click the Finish button to exit the Setup Wizard REFER TO THE APPROPRIATE INSTRUCTION MANUALS FOR EACH ALL NECESSARY NN 5 DOCUMENTATION HAS BEEN INSTALLED IN THE DOCUMENTS FOLDER OF THE INSTALLATION ATTACHMENT B HAS A LISTING OF ALL FOLDERS AND FILES SECTION 4 IS OPTIONAL THIS SECTION ONLY APPLY IF THE MIDG SERIES INS GPS Se ACCESSORY ANTENNA IS PURCHASED A GPS5 SMA C view readme File INSTALLED WITH THIS SOFTWARE AND THEIR RELATIVE LOCATIONS Figure 8 Finished Installation Screen 4 GPS Antenna Specifications The MIDG Series INS GPS must be connected to an external GPS antenna for reception of GPS signals The MIDG Series INS GPS can be use with active or passive GPS antennas The SMA connector on the rear of the MIDG Series INS GPS supplies 5 VDC to the user s GPS antenna 4 1 Active GPS Antennas For most applications an active GPS antenna is recommended The antenna is powered through the SMA connector which provides 5 VDC on the center pin Any antenna connected to a MIDG Series INS GPS must be designed for 5 VDC operation and must not draw more than 25 mill amperes When an active antenna is used it should have a rated gain of at least 15 dB with greater gains needed for longer cables or obstructed view of the s
67. n filter to merge the Position Measurement s into the final solution A deviation value too small for the current heading estimates may cause instability in the final position results If a Standard Deviation field is zero it indicates that the associated measurement should not receive an update e g a packet that updates the Latitude and Longitude but not the Altitude would set the Vertical Standard Deviation Bits 11 0 of Details to zero MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B16 of B27 fa 1CROBOTICS INC 5 4 Message AID_VEL Message ID 38 0x26 Payload Length 14 Bytes 0x0E Description Velocity Aiding Applicable Modes INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U4 msec Time Details and speed standard deviation Bit 15 Time value format 1 GPS Time 0 Estimated delay Bit 14 Speed only 2 Bits 13 12 Reserved send zero Bits 11 0 Vertical Speed Standard Deviation 2 3 Up Velocity or total Velocity Magnitude if Bit 14 is set 2 East Velocity North Velocity 12 U2 0 1 m s Horizontal Speed Standard Deviation 3 Notes The Time value is either the GPS Time of the measurement or the estimated delay of the measurement from the time when the aiding message is sent and measurement was valid The convention used depends on a Bit 15 of the Details field If time delay is used Bit 15 is zero then the delay value is taken from th
68. n only the radiating element e g the ceramic patch or the helix structure The use of an active antenna is always advisable if the RF cable length between receiver and antenna exceeds about 10 cm Care should be taken that the gain of the LNA inside the antenna does not lead to an overload condition at the receiver A gain of 15 21 dB is usually sufficient even for cable lengths up to 5m There s no need for the antenna LNA gain to exceed 26 dB for use with this receiver With short antenna cables gains in excess of 25dB may swamp the GPS RF front end When comparing gain measures of active and passive antennas one has to keep in mind that the gain of an active antenna is composed of two components the antenna gain of the passive radiator given in dBic and the LNA power gain given in dB A low antenna gain cannot be compensated by high LNA gain If a manufacturer provides one total gain figure it is not sufficient to judge the quality of the antenna One would need information on antenna gain in dBic amplifier gain and amplifier noise figure ALERT REGARDING ANTENNA CONNECTION 5v power for active antennas is supplied via the MIDG GPS SMA connector The GPS antenna must never be connected or disconnected while the MIDG is powered Connecting or disconnecting the GPS antenna with power applied to the MIDG may damage the GPS receiver and will void the MIDG warranty Specifications subject to change without notice C6 of C6 AEPACTO
69. nstallation This is the folder where MIDG II Utiities wil be installed program Figure 6 shows the default path for the installation However the user may specify any location To install in this folder click Next To install to a different folder enter it below or click desired Rare Folder 8 Press the Next button at the bottom of the screen to rmfies imersbotes newbs ities continue with the installation P eee i MIDG II Utilities Setup Advanced Installer Ready to Install Cancel The Setup Wizard is ready to begin the MIDG II Utilities installation Figure 6 Select destination folder screen Click Install to begin the installation If you want to review or change any of your installation settings click Back Click Cancel to exit the wizard 9 Press _the Install button at the bottom of the screen to continue with the installation Figure 7 At this point the Installer screen will display the progress of the installer as it installs several files and programs on to hard drive of the PC or laptop The location of these files will be where ever the installation location was designated in Step 7 Advanced Installer Cancel Figure 7 Ready Installation screen Copyright Microbotics Inc 2011 Page 3 of 13 AVE ICROBOTICS INC Once the installation is finished the Finished screen Figure 8 will appear Emet OY The user may open the Read Me file or review the file at a later time Co
70. nue the installation process Figure 4 i MIDG II Utilities Setup Cancel End User License Agreement Please read the following license agreement carefully Figure 4 Installation Welcome Screen END USER LICENSE AGREEMENT EULA THIS SOFTWARE END USER LICENSE AGREEMENT 5 Read the End User License Agreement EULA Select the I AGREEMENT IS A LEGAL AGREEMENT BETWEEN THE USER EITHER AN INDIVIDUAL OR IF PURCHASED OR ACQUIRED BY acce he terms in the License Agreement radio button oa FOR AN ENTITY AN ENTITY AND MICROBOTICS INC IT tt t s in t L t 1 tton PROVIDES LICENSE TO USE THIS SOFTWARE WITH ANY AND F 5 sh he End U A Th KE FRIET DETUEN GHG OR UNKNOW THIS 1gure Shows the n ser icense greement screen e AGREEMENT CONTAINS WARRANTY INFORMATION AND u u 1 1 1 1 LIABILITY DISCLAIMERS BY DOWNLOADING INSTALLING OR v Next button will become active If the license agreement radio button is not selected the installation will not continue HARIA TP ATA A TI HAPARA A 8 TA Tii wr esas OI accept the terms in the License Agreement Ooi do not accept the terms in the License Agreement arcane eer 6 Select the Next button at the bottom of the EULA screen to cancel continue A copy of the EULA agreement is installed with the rest of the software and documentation Figure 5 EULA Agreement Screen i MIDG II Utilities Setup Select Installation Folder 7 Select the destination folder for the i
71. number Invalid request Change would exhaust the serial port bandwidth Subsystem busy retry message MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B20 of B27 SE ICROBOTICS INC 7 1 3 Message CFG_SET BAUD_RATE Message ID 35 0x23 Payload Length 2 Bytes 0x02 Description Set serial communication baud rate Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 Ul CFG_ITEM CFG_ITEM 1 0x01 Baud Rate 0 115200 1 57600 2 38400 3 19200 4 9600 Notes 1 Changes take effect on reset 7 1 4 Message CFG_SET PROTOCOL Message ID 35 0x23 Payload Length 2 Bytes 0x02 Description Set serial communication protocol Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 Ul CFG_ITEM CFG_ITEM 2 0x02 1 U1 Code Protocol 0 Microbotics Binary Interface Protocol only valid protocol Notes 1 Changes take effect on reset The only valid protocol is Microbotics Binary Interface Protocol MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B21 of B27 WO ICROBOTICS INC 7 1 5 Message CFG_SET FORMAT Message ID 35 0x23 Payload Length 2 Bytes 0x02 Description Set output format for position and velocity Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 Ul CFG_ITEM CFG_ITEM 3 0x
72. ormation requested returned as a NULL terminated ASCII string Notes D The requested information is returned after the Product ID byte as a NULL terminated string If the requested Product ID is not recognized or the information is not available the reply will be a NULL string a single byte of 0x00 MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B27 of B27 Ic ob tics Inc search Drive Suite G npton uN He 23666 Innovative Navigat The MIDG IIC is a GPS aided inertial navigation system INS for use in applications requiring attitude position velocity acceleration and angular rates for navigation or control An internal GPS receiver measures position and velocity and passes this information to the data fusion processor to be combined with the inertial data to generate an optimal solution An internal three axis magnetometer provides a magnetic heading reference when needed A build option SIS90031C SR uses Pin 8 as a Time Mark input to allow GPS time tagging of the rising edge of an input signal pulse Features Full INS Solution Low Power Light Weight Small Size www microboticsinc com Standard Sensor Axes can be changed by user Specifications subject to change without notice C1 of C6 icrobotics Inc 28 arch Drive Suite G Hampton Virginia 23666 1 757 865 7728 MIDG IIC Specifications t Power Requirements Input Voltage 10 VD
73. rential GPS corrections 7 Notes Due to undocumented changes in GPS modules by the manufacturer not all MIDG IIC units support the RTCM Message As it is impossible to determine in the field if the message is available this message should not be used in firmware versions below 2 3 This message is not available in firmware versions 2 3 1 and higher RTCM corrections are provided to the MIDG IIC as a stream of bytes Typically GPS ground stations that create differential GPS corrections provide a serial stream of these corrections to the user The contents of this stream must be encapsulated in this packet and provided to the MIDG IIC The MIDG IIC accepts RTCM message types l 2 3 and 9 6 2 Message RESET Message ID 99 0x63 Payload Length 4 Bytes 0x04 Description Software Reset Command Applicable Modes IMU VG INS Payload Contents Byte Number Units Purpose Comment Offset Format 0 U4 Reset Code Value must be 0x01310655 for the reset to occur MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B19 of B27 NO ICROBOTICS INC 7 Configuration Configuration messages provide access to the setup information of the MIDG IIC This includes the selected mode of operation message rates output formats etc Configuration operations use two MBI messages CFG_SET Message 35 and CFG_QUERY Message 36 7 1 Configuration Set Message CFG_SET The CFG_SET Message is used to set parameters of the MIDG IIC
74. river software Click here for status i Your device is ready to use gt Device driver software installed successfully Figure 5 Windows 7 automatically installing FTDI Drivers for the SLC2JUSB Interface Cable Copyright Microbotics Inc 2011 Page Al of A3 AVG 1CROBOTICS INC 3 Using the SLC2JUSB After the drivers have been installed whether automatically or manually the following will instruct the user on how to interface the MIDG Series INS GPS with the PC or laptop 1 Plug the USB end of the interface cable in any USB port on the PC or laptop The first time the interface cable is used the PC or laptop will have to identify the device and then assign the drivers previously installed for it to operate correctly Figure 6 shows the notification for when the SCL2JUSB is first i Found New Hardware FT232R USB UART interfaced with the computer Figure 6 Found New Hardware Notification 2 Wait for the PC or laptop to finish installing the new hardware Once the PC or laptop shows the notification that the hardware has been successfully installed the cable is ready to be used Figure 7 i Found New Hardware Your new hardware is installed and ready to use 11 20 AM Figure 7 New Hardware is Ready to Use Notification BRAELERRERAAELAEREREERA ERE ERERERARERE ERE LREEEE AAS OMAR ANG VATER EAS EAS ERE AAS ER EAR AA EERE EEE REA RES AREER ARE RRA RS IF USING A GPS ANTENNA
75. the smallest and most advanced Inertial Navigation System INS in its class This guide is designed as a quick start guide and will get your MIDG Series INS GPS up and running Along with the MIDG Series INS GPS is a whole host of tool and software which enables you to quickly custom tailor the MIDG s operation to fit your specific needs The MIDG Series INS GPS is an inertial navigation system INS using GPS aiding The on board GPS receiver can track up to sixteen satellites when the GPS antenna has a clear view of the sky and is WAAS and EGNOS compliant The GPS provides a three dimensional fix allowing the INS to determine its current position within two meters The system also contains an array of sensors which coupled with a GPS receiver provide the input data to the internal microprocessor running an optimized Kalman filter This Kalman filter considers all the data provided estimates and adjusts for the sensor errors and determines the vehicle s position velocity and attitude The MIDG Series INS GPS provides a serial data stream which can be easily integrated with the user control computer and or control center Data outputs can be polled or automatically updated for position attitude etc at intervals up to 50 Hz 2 Getting Started The MIDG Series INS GPS will have been shipped several other items Some of these items are optional and depending on your order you may or may not have received them Figure shows the MIDG Series I
76. typical RS 422 to RS 422 connection As shown there are five signal lines which are used for serial communications T T R R and GND NOTE THE GND LINE SHOULD HAVE ALREADY BEEN CONNECTED IN ACCORDANCE WITH SECTION 6 1 2 STEP 3a 1 Connect the T and T pair Pin 6 Green Pin 7 Blue respectively to the R and R pair of the user s system The T pin is connected to the A pin of the user system The T pin is connected to the R pin of the user system The T and T pins are signals transmitted from the MIDG Series INS GPS 2 Connect the R and R pair Pin 2 Brown Pin 1 Black respectively to the T and T pair of the user s system The R pin is connected to the T pin of the user system The R pin is connected to the T pin of the user system The R and R pins are signals received by the MIDG Series INS GPS SEARLS ASEELES LS ALAS ESL LES SESE EARA AEA Se RNa ee eee AEN eee ee ee A eee READ LAER REALE EL ERE LSA ARE ORE RS ee a FAILURE TO CONNECT THE GND LINE TO THE USER RS 422 PORT GROUND CAN CAUSE ELECTRICAL FAILURE OF THE MIDG SERIES INS GPS ELECTRICAL FAILURE OF THIS NATURE IS NOT COVERED BY THE WARRANTY LESEAGAAEE SASS SARL ESAS LESS RELEASE Se Oe eRe EAR ARNING ee eee ee eee SRE RS LAE EERE ALELEAELEA AAAS SAEED ERAS ES CO Copyright Microbotics Inc 2011 Page 8 of 13 AVO ICROBOTICS INC a LL ae POWER IN a POS USER POWER SUPPLY POWER Qos _ NEG 10 32 VDC RTN k SH
77. uce vibration from coupling into unit but also makes removal of the unit from an application easier 7 3 Mounting Orientation The MIDG Series INS GPS can be mounted in any orientation within an application However for optimal performance the MIDG Series INS GPS should be mounted as closely to the center as possible and with the same orientation as the application i e the front of the unit Figure 21 MIDG Series INS GPS pointed in the same direction as the front of the application Figure 21 shows the three axes of the MIDG Series INS GPS for aiding in proper mounting of the unit Axes 7 3 1 Orientation Correction In applications where the MIDG Series INS GPS cannot be mounted optimally MIDG Series INS GPS can be aligned to any orientation The by using the Transform Xform function the MIDG Series INS GPS may be oriented into a perfect alignment within an application NOTE THE XFORM FUNCTION IS PART OF THE MIDG DISPLAY UTILITY SOFTWARE REFER TO THE MIDG DISPLAY UTILITY SOFTWARE MANUAL FOR MORE INFORMATION ON THE PROPER USE OF THIS FUNCTION NOTE ATTACHMENT B CONTAINS THE MIDG SERIES INS GPS MESSAGE SPECIFICATION REFER TO THE MIDG MESSAGE SPECIFICATION FOR MORE INFORMATION ON SPECIFIC MESSAGES MESSAGE RATES AND MESSAGE CONFIGURATION VERIFY THAT THE MIDG MESSAGE SPECIFICATION IS THE APPROPRIATE TO THE FIRMWARE VERSION OF THE MIDG SERIES INS GPS USED IN THE APPLICATION 8 MIDG Series INS GPS Messages The MIDG Series INS
78. umber Units Purpose Comment Offset Format 0 U4 msec Time Bit fields Details and vertical position standard deviation Bit 15 Time value format 1 GPS Time 0 Estimated delay Bits 14 12 Reserved send as zero Bits 11 0 Heading Standard Deviation 2 6 2 0 1 deg Heading Measurement Valid range is 1800 to 3600 8 Notes The Time value is either the GPS Time of the measurement or the estimated delay of the measurement from the time when the aiding message is sent and measurement was valid The convention used depends on a Bit 15 of the Details field If time delay is used Bit 15 is zero then the delay value is taken from the least significant byte of the Time value for a maximum delay of 255 milliseconds The Heading Standard Deviation is used by the Kalman filter to merge the Heading Measurement into the final solution A deviation value of zero causes the message to be ignored A deviation value too small for the current heading estimates may cause instability in the final heading results The Heading Measurement is in True Heading with North at 0 degrees and East at 90 degrees MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B14 of B27 Ae ICROBOTICS INC 5 2 Message AID_MAG Description Magnetometer Vector Byte Number Units Offset Format 0 U4 msec Bit field Relative units Relative units Message ID 32 0x20 Payload Length 12 Bytes Applic
79. value format 1 GPS Time 0 Estimated delay Bit 14 Measurement reference coordinates 2 3 1 ECEF 0 Altitude Lon Lat Bit 13 Calculate altitude bias Bit 12 Reserved send as zero Bits 11 0 Vertical Standard Deviation 4 6 U2 0 1 m Horizontal Standard Deviation ECEF X or Altitude cm 10 deg ECEF Y or Longitude cm 10 deg ECEF Z or Latitude Notes D This message has not yet been implemented and is non functioning Itis presented for reference only and is subject to change without notice The Time value is either the GPS Time of the measurement or the estimated delay of the measurement from the time when the aiding message is sent and measurement was valid The convention used depends on a Bit 15 of the Details field If time delay is used Bit 15 is zero then the delay value is taken from the least significant byte of the Time value for a maximum delay of 255 milliseconds 6 If Bit 14 of Details is set ECEF coordinates the message must be full length If it is cleared Altitude Lon Lat then a short message that includes a Horizontal Standard Deviation of zero and ends with the Altitude field 8 11 bytes of the Payload is accepted The Payload Length in this case is 12 bytes 4 If Bit 13 of Details is set the MIDG IIC assumes it must calculate a bias for the altitude measurement when internal GPS data is available The Standard Deviation values are used by the Kalma
80. ystem The T and T pins are signals transmitted from the MIDG Series INS GPS 2 Connect the R and R pair Pin 2 Brown Pin 1 Black respectively to the T and T pair of the SLC10232 The R pin is connected to the T pin of the user system The R pin is connected to the T pin of the user system The R and R pins are signals received by the MIDG Series INS GPS 3 Connect the TxD line of the SLC10232 to the DATA IN pin of the PC Data is transmitted from the MIDG via T and T pins to the SLC10232 The SLC10232 converts the signal from RS 422 to RS 232 and transmits the data to the PC s data in port via the TxD line 4 Connect the RxD line of the SLC10232 to the DATA OUT pin of the PC Data is transmitted to the SLC10232 via DATA OUT pin of the PC The SLC10232 converts the signal from RS 232 to RS 422 and transmits the data to the MIDG via R and R pins of the SLC10232 Copyright Microbotics Inc 2011 Page 9 of 13 IVG ICROBOTICS INC RRAELTRERAEAEALELRRR ERE REESE RERERERAEAR ERLE LEAR EAE ARAN eee RP eae SEALS E EE EERE RRERERL EES ERAS ARERR ER OSA FAILURE TO CONNECT THE GROUND LINES BETWEEN THE MIDG SERIES INS GPS THE SERIAL VOLTAGE LEVEL CONVERTER AND THE USER PC S RS 232 PORT GROUND CAN CAUSE ELECTRICAL FAILURE OF THE MIDG SERIES INS GPS ELECTRICAL FAILURE OF THIS NATURE IS NOT COVERED BY THE WARRANTY BREREREEREAEEEAREREREEE LORE EREREREAE RARER SRERE RARER EA ARAN Eee REL ERA EAER AREA AR ER EARAAELRE
81. yte Number Units Purpose Comment Offset Format 0 U1 CFG_ITEM CFG_ITEM 11 0x0B Bit fields Magnetometer operation settings Bit 7 Reserved send zero Bits 6 4 Internal magnetometer aiding Threshold Leve Bit 3 Use velocity vector for heading even when turning Bit Use velocity vector for heading 2 Bit Enable internal magnetometer in VG Mode Bit Enable internal magnetometer in NS Mode y Relative units X axis magnetometer bias 6 Relative units Y axis magnetometer bias Relative units Z axis magnetometer bias Notes The internal magnetometer will not be used if the current heading accuracy is better than the selected Threshold Level The Threshold Levels correspond to 1 sigma error estimates as follows Threshold Level Error Estimate 1 sigma 0 0 5 degree I 1 0 degree 2 2 0 degrees 3 4 0 degrees 4 8 0 degrees 5 12 0 degrees 6 20 0 degrees 7 30 0 degrees Bit 2 allows the velocity vector from the GPS or an external measurement to be used as heading aiding This assumes that the MIDG IIC is aligned with the vehicle such that heading is equivalent to direction of motion and is generally applicable for ground vehicles If the velocity vector is different from heading when turning select Bit 3 also The provided bias values are subtracted from the magnetometer data MIDG IIC Message Specification Firmware 2 1 and above 9 January 2012 Page B24 of B27 WO ICROBOTICS INC 7 1 11 Message C

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