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Pirate User Manual

1. C d SRE HOMERS SKA hk PETE After the calibration user could take a test If the calibration fulfills the precision requirement please write the parameters back to flash Section 6 4 shows the detailed steps or else you can calibrate the parameters another time Notes When you need magnetic field compensation please set the compensation style as 2D Section 6 2 1 shows detailed magnetic field compensation style configuration 6 2Parameter Configuration Pirate parameters mainly consist of system operation parameters system output parameters and sensor parameters zhouusong gmail com Page 16 8615183076974 msn zhouusong live cn Pirate User Manual 6 2 1 System Operation Parameters System operation parameters include calculation processor system frequency output frequency serial port baud rate magnetic field compensation style dialogue style 1 Calculation Processor Calculation processor allows user to switch between CPU and GPU But when CPU is chosen the highest system frequency IS restricted to 33Hz System frequency can achieve 125Hz only when DSP 1s selected Instruction J When is 1 DSP takes the calculation work and when is CPU takes the calculation E g DSP calculation J1 CPU calculation JQ 2 System Frequency System frequency includes sensor sampling frequency calculation frequency and serial port highest baud rate The highest system f
2. NN NN IN RNA e Instruction rmz k AAA represents sensitivity in Axis Z rmz16 34234 Sensitivity in Axis Z is 16 34234rad V O in front of the instruction cannot be ignored 6 3User Parameters Store Click the icon of solidifying user parameter and store current zhouusong gmail com Page 27 8615183076974 msn zhouusong live cn Pirate User Manual user parameters in flash When the power supply is off Pirate will load the parameters from the flash Solidifying parameter will rewrite previous parameter configurations so it should be cautious before the operation However solidifying will not lead to disastrous corruption and user could always modify the parameters until they satisfy the expectation Further users can recover ex factory configuration with instruction s1 6 4 MFM Data Store When user takes the calibration of magnetic field compensation according to section 6 1 4 actually the parameter has not been solidified in flash If you want to solidify the parameter send instruction s0O 6 5 DSP Firmware Update The application can be customized and updated according to user s demands Users can contact with our engineers and we are always ready to help to customize the related computation program 6 6 Pirate Data Output 6 6 1 Original Sampling Data Output Format i ni ale de A b n zhouusong gmail com Page 28 8615183076974 msn zhouuso
3. automatically When all the surfaces are sampled calibration is complete In addition when the sampling is not correct for example surface C 1s sampled twice and surface D is skipped the program will warns that the calibration is failed C FERR MEE a m a AF AHRS LEA E E k 6 1 4 Magnetic Field Compensation Calibration Brief introduction about magnetic field compensation s Pirate might be operated near iron geomagnetic field will be twisted because of soft iron In fact Pirate assumes magnetic field a sphere with zero as the center and magnetic intensity as point on the surface but soft iron twisted the sphere to an ellipsoid Consequently compensation 1s needed to recover the sphere from the ellipsoid Operation Click the icon of calibration on top left and select the magnetic field compensation Then the program will bring out the dialogue box showing the calibration operation hint Click OK and zhouusong gmail com Page 15 8615183076974 msn zhouusong live cn Pirate User Manual rotate Pirate uniformly and slowly counterclockwise When the LED indicator begins twinkling it indicates that the calibration starts correctly Keep on rotation until the indicator stops twinkling and becomes normal with on and off by turn which means the calibration completes C PERA
4. User can choose whether text hints are enabled During manual operation text hints will be helpful While during automatically interaction between equipments text hints are prone to be disabled to make the protocol design easier Instruction G represents input parameter G1 Text hints is enabled 6 2 2 Output Parameters Output parameters include original sampling data physical quantity quaternion Euler angles velocity acceleration and GPS location 1 Original Sampling Data User can choose to set the parameter to dump original sampling data by ADC These data are all voltage value of sensors and output with fixed long format Instruction 1 When is original sampling data will not be zhouusong gmail com Page 20 8615183076974 msn zhouusong live cn Pirate User Manual dumped When is 1 the data will be dumped i0 Original sampling data will not be dumped Hil Original sampling data will be dumped 2 Physical Quantity User can choose whether the data after processing should be outputted or not Instruction J When is O physical quantity will not be dumped When is 1 physical quantity will be dumped 0 physical quantity will not be dumped 1 physical quantity will be dumped 3 Quaternion User can choose to output Quaternion of attitude according to demands Instruction k When is Quaternion will not be dumped When is I Quaternion will be dumped k
5. sensor tri axial angular rate sensor and tri axial geomagnetic sensor are sent to 16 bit ADC after procession using analog filters Digital signals from ADC are then transmitted to CPU CPU removes the zero offset and sensitivity error from the sampling data of ADC recovers accurate physical quantities with temperature compensation and then forwards these accurate data to DSP DSP implements the calculation to figure out current device attitude and feeds back to CPU It can further obtain current velocity coordinate and altitude combined with GPS information in a GPS version Finally CPU sends data to the customer through serial port Zhouusong gmail com Page 8 8615183076974 msn zhouusong live cn Pirate User Manual 4 Physical Specifications L 56mm W 40mm H 20mm 27mm in GPS Version zhouusong gmail com Page 9 8615183076974 msn zhouusong live cn Pirate User Manual 5 Pin and Wire Definitions Table 1 Pirate interface with 10 pins 2 54mm GND GND RXD232_0 UARTO TXD232 0 UARTO GND GND RXD232 1 UARTI TXD232 1 UARTI zhouusong gmail com Page 10 8615183076974 msn zhouusong live cn Pirate User Manual 6 Operations We will provide free software on upper computer Friendly interface and detailed explanation below will present users a quick access to Pirate which will accelerate further development 6 1Sensor Calibration Due to process variation during chip manufacture zero
6. 1 Original Sampling Data ti ds ll de 28 552 Pisa quanto asus Seernes 29 009 OQ slelion OUMU tonada 30 HO EET OUT 31 6 05 Acelfraid i opt aa 31 550 Velocity OU 32 50 71 GPS TN GMA ON 32 0 7 OTHER INSTRUCTIONS Aes see 33 Hr Get PL VES Nueva 33 zhouusong gmail com Page 1 8615183076974 msn zhouusong live cn Pirate User Manual 07 812 ll NN 33 6 7 3 Get Serial Numbers comarca 33 6 7 4 Get Main Operation Parameters pp 33 6 7 5 Recover to Ex factory Configuration pp 34 0 7 ME DNA 34 57 710 0 56 A 34 6 7 8 Magnetic Compensation pp 35 RAR 35 o USER INSTRUCCI N l E 37 9 PRODUCT PREDOMINANCE pe 37 TO VIDE O PEN 38 REVISION 38 zhouusong gmail com Page 2 8615183076974 msn zhouusong live cn Pirate User Manual 1 Product Description 1 1 Overview Pirate is a high performance AHRS Attitude and Heading Reference System with surprisingly low price And it can be widely used in electromechanical equipment system such as aeromodeling pilotless aircraft robot which require rigorous dynamic balance With high speed collection of sensor status and effective kalman filter Pirate could provide real time data of full attitude Furthermore as tri axial accelerometer electromagnetic compass assisted three axis gyroscopic as well as temperature compensation algorithm are applied Pirate ensures a steady attitude without drift Wit
7. O Quaternion will not be dumped k1 Quaternion will be dumped Zhouusong gmail com Page 21 8615183076974 msn zhouusong live cn Pirate User Manual 4 Euler angle User could choose to output Euler angle according to requirements Instruction When is Euler angle will not be dumped When is 1 Euler angle will be dumped l0 Euler angle will not be dumped ll Euler angle will be dumped 5 Acceleration Customer can choose to output the acceleration in according to requirements Instruction AK When is O acceleration will not be dumped When is 1 acceleration will be dumped HKO Acceleration will not be dumped K1 Acceleration will be dumped 6 Velocity Customer can choose to output the velocity in each axis of NEU system according to requirements Instruction L zhouusong gmail com 8615183076974 msn zhouusong live cn Page 22 Pirate User Manual When 1s O velocity will be not dumped When is 1 velocity will be dumped HLO Velocity will be not dumped L1 Velocity will be dumped 7 GPS Location Customer can choose to output GPS location according to requirements Instruction AM When is 0 GPS location will not be dumped When is 1 GPS location will be dumped MO GPS location will not be dumped M1 GPS location will be dumped 6 2 3 Sensor Parameters Sensor parameters include zero offset and sensitivity of gyro a
8. Pirate User Manual Professional Altitude Navigation Equipment Technique Support zhouusong gmail com Phone 86 15183076974 Pirate User Manual Table of Contents TABLE OF GCONIEN IS ae 1 PRODUCT DESCRIPTION a Hp 3 OVERVWIEVWW tn 3 1 2 PY PICA ARPLICA TIONS see 4 1 2 1 Aeromodeling Stability Control 8 8 28 88838833 4 1 2 2 Pilotless Aircraft Submarine and Airship Stability Control 4 123 ROPE a n D D 1 24 Terrace Stability Control cian a a AGS D 25 NE D 2 o o ib in 6 2 7 FPY EISLPESON VIEW see 6 2 TECHNICAL SPECIFICATION susen 7 S HARDWARE DESCRIPTO Noi iia sd 8 PFYSIGALSPEGIFICANONS Lee 9 SPINAND WIRE DEFINITION Sussie 10 OPERATION O usant 11 SENSOR CALIBRATION nanna AAA aaa di 11 OH 11 6 1 2 Accelerometer Calibration pp 12 6 1 3 Magnetometer Calibration pp 13 6 1 4 Magnetic Field Compensation Galibration 15 6 2 PARAMETER CONFIGURATION 16 6 2 1 System Operation Parameters pp 17 522 Outputbraralnele S aaa aaa ay Ge 20 623 Sensor ara meters m a E b 23 6 5 USER PARAMETERS STORE passa oa m Rani 27 6 4 MFM DATA STORES ii Saar a aaa 28 DSP FIRMWARE UPDATE airada id adal 28 60 PIRATE DATA QUI PUT rr AAA AAA AA 28 56
9. attitude and adjusting itself to recover stable immediately zhouusong gmail com Page 4 8615183076974 msn zhouusong live cn Pirate User Manual 1 2 3 Robot Balance Bionic Robot 1s a promising subject that people concern dramatically It amends its posture by adapting active joints based on current attitude data AHRS however is crucial to acquire posture of the robot Also it can be used to judge robot motion direction and helps find destination quickly 1 2 4 Terrace Stability Control Terrace 1s widely used to keep devices steady AHRS combined with Terrace will make the development much easier With excellent response time and high angular velocity tolerance Terrace integrated AHRS will satisfy a large number of critical applications such as photograph 1 2 0 Games Nintendo wil is a successful paradigm of AHRS applied in video game console With AHRS the game console can detect the movement and achieve ideal effects It will be a proper choice for joystick development which satisfies the technique requirements and permits convenient integration with miniature size zhouusong gmail com Page 5 8615183076974 msn zhouusong live cn Pirate User Manual 1 2 0 VR For a better product demonstration sellers usually display 3D model of their products on a large screen However the mouse restricts its movement in 2D planar and thus it 1s insufficient to show consumers the products from various angles With integrati
10. axis zero offset of Y axis accelerometer sensitivity of Y axis zero offset of Z axis and accelerometer sensitivity of Z axis To calibrate six parameters we turn each surface of Pirate downward to get SIX samplings in all and figure 2 shows the operation Although it is better to keep vertically downward during operation a little deviation makes no difference to final calibration zhouusong gmail com Page 12 8615183076974 msn zhouusong live cn Pirate User Manual m mr ur m iz Fig 2 Accelerometer Calibration Demo Operation Click the icon of calibration on top left and select acceleration Then keep Pirate still according to the hints Take Pirate as a cubiod and the six surfaces are named as A B C D E and F separately Whenever we complete a sampling for one of the surfaces facing downward the program will request to change automatically When all the surfaces are sampled the calibration is complete In addition when the sampling 1s not correct for example surface C is sampled twice and surface D is skipped the program will warns that the calibration fails C x El VH TH AHRS EME a AE SKE 5 me 6 1 3 Magnetometer Calibration There are three axes including X Y and Z in each Magnetometer and there are zero offset and sensitivity for each axis Thus six parameters need to be calibrated for each accelerometer and they are zero offse
11. ccelerometer and magnetometer 1 Zero offset and sensitivity of gyro in Axis X NN NN INN AN Instruction Rgx NN NN IN INNI e represents zero offset in Axis X Rex01 33245 Zero offset voltage in Axis X is 1 33245V 0 in zhouusong gmail com Page 23 8615183076974 msn zhouusong live cn Pirate User Manual front of the instruction cannot be ignored ANN NN INN e Instruction rgx ANN NNN NN e represents sensitivity in Axis X Hrex16 34234 Sensitivity in Axis X is 16 34234rad V O in front of the instruction cannot be ignored 2 Zero offset and sensitivity of gyro in Axis Y NN NN IN NN e Instruction Rgy ANN NNN IN NA e represents zero offset in Axis Y Rey01 33245 Zero offset voltage in Axis Y is 1 33245V 0 in front of the instruction cannot be ignored ANN NNN NR NA e Instruction rgy ANN RANN AN e represents sensitivity in Axis Y Hrey16 34234 Sensitivity in Axis Y is 16 34234rad V in front of the instruction cannot be ignored 3 Zero offset and sensitivity of gyro in Axis Z NN NNN INN e Instruction Rgz NN NNN NNN e represents zero offset in Axis Z Regz01 33245 Zero offset voltage in Axis Z is 1 33245V in front of the instruction cannot be ignored ANN NNN Instruction rgZ zhouusong gmail com Page 24 8615183076974 msn zhouusong live cn Pirate User Manual NN NN IN INNA e repre
12. dicate roll pitch and yaw of Eulerian Angle respectively All the data are corrected to 1 decimal place with 4 decimal places in all and the unit is deg With NEU coordinate system and right hand rule definition the range of roll pitch and yaw of Eulerian Angle are 180 deg 180 deg 90 deg 90 deg and 180 deg 180 deg respectively E g 1 044 3 014 8 008 3 Roll pitch and yaw of Eulerian Angle are 44 3 deg 14 8 deg and 8 3 deg respectively 6 6 5 Acceleration output Description in the instruction represent variable symbols and ON AMAN may also be indicates acceleration straight to the east north and up respectively All the data are corrected to 2 decimal zhouusong gmail com Page 31 8615183076974 msn zhouusong live cn Pirate User Manual places with 5 decimal places in all and the unit is m s E g K 024 35 012 28 000 53 Accelerations straight to the east north and up are 24 35 m s 12 28 m s and 0 53 m s respectively 6 6 6 Velocity Output Description in the instruction represent variable symbols and EN ANNANN may also be indicates velocity straight to the east north and up respectively All the data are corrected to 2 decimal places with 5 decimal places in all and the unit is m s E g L 044 34 014 23 008 36 Velocities straight to the east north and up are 44 34 m s 14 23 m s and 8 36 m s respectively 6 6 7 GPS Informati
13. e same time we concern what user concerns and are always ready for technique support and corporation 10 Video Demo http v youku com v_show id_XMTQzNjAzODQ4 html Pirate Advertising Video No Fast Forwarding http www youtube com watch v 8lwbZe20Apk Pirate Advertising Video No Fast Forwarding http v youku com v_show id_XMTA30TkyMDky html Application in Virtual Reality Modeling Real View 11 Revisions 2009 12 19 V1 01 zhouusong Add magnetic field compensation 2010 01 08 V1 02 Add quick access zhouusong gmail com Page 38 8615183076974 msn zhouusong live cn Pirate User Manual zhouusong gmail com Page 39 8615183076974 msn zhouusong live cn
14. eceiving attitude data correctly you will be able to try some other basic operation and get familiar with upper software zhouusong gmail com Page 36 8615183076974 msn zhouusong live cn Pirate User Manual 150 BEME Such as setting system frequency reading reas All the data rk O device serial number that user sends to Pirate can be seen in the box to help familiarize the protocol and program When there 1s no data out check baud rate setting of serial port first and then wiring through making sure whether the indicator twinkles or not If it still doesn t work properly please contact with Us 8 User Instruction As motion sensors MEMS are used in Pirate both accelerometer and gyro will be influenced seriously suffering rigid vibration which will lead to incorrect sampling and then result in false attitude angle So it is highly recommended that shock absorber is equipped in case of sensor damage or incorrect sampling 9 Product Predominance With powerful CPU DSP architecture implementing calculation and effectively Kalman filtering Pirate provides real time output zhouusong gmail com Page 37 8615183076974 msn zhouusong live cn Pirate User Manual efficiently Pirate allows user to customize output flexibly satisfying various development demands and also reserves interface for GPS extension We have an efficient design team making sure high quality and low price product At th
15. h minor configuration Pirate could also export original data physical quantity and quaternion modify system cycle and provide multiple interfaces satisfying various customer demands At the same time it could keep customer parameters with flash AP In Application Program even when the system is power off and thus it is convenient for secondary development In addition the zhouusong gmail com Page 3 8615183076974 msn zhouusong live cn Pirate User Manual competitively lower price makes it rather proper for low cost application 1 2 Typical Applications 1 2 1 Aeromodeling Stability Control Usually plenty techniques and experiences are necessary for an aeromodeling operator to keep the flight posture steady which becomes an obstacle for many aeromodeling amateurs However aeromodeling equipped with Pirate and simple movement execution algorithm reduces the risk of posture fluctuation remarkably and thus increases flight stability which makes the aeromodeling operation available for more amateurs At the same time Pirate also simplifies some complex operations such as rattlesnake action in aeromodeling competition 1 2 2 Pilotless Aircraft Submarine and Airship Stability Control In pilotless aircraft submarine airship AHRS and etc Pirate will be appropriate for these kinds of applications which need to keep Stable automatically especially when the system experiences intensive movement and requires knowing its
16. ion raz k NN NNN INN e represents sensitivity in Axis Z ray16 34234 Sensitivity in Axis Z is 16 34234rad V in front of the instruction cannot be ignored 7 Zero offset and sensitivity of magnetometer in Axis X ANN LK LK IR ANA e Instruction ARMX NN NNN IR NA e represents zero offset in Axis X HRMx01 33245 Zero offset voltage in Axis X is 1 33245V in front of the instruction cannot be ignored NN NN INN e Instruction rmx k 2 represents sensitivity in Axis X rmx16 34234 Sensitivity in Axis X is 16 34234rad V 0 in front of the instruction cannot be ignored zhouusong gmail com Page 26 8615183076974 msn zhouusong live cn Pirate User Manual 8 Zero offset and sensitivity of magnetometer in Axis Y ANN ANNI e Instruction Rmy NN NN IN INNI e represents zero offset in Axis Y Rmy01 33245 Zero offset voltage in Axis Y is 1 33245V in front of the instruction cannot be ignored NN IN IN IN RNA e Instruction rmy NN NN IN INN e represents sensitivity in Axis Y rmy16 34234 Sensitivity in Axis Y is 16 34234rad V in front of the instruction cannot be ignored 9 Zero offset and sensitivity of magnetometer in Axis Z NN NN IN IN NN e Instruction Rmz ANN NNN NN e represents zero offset in Axis Z Rmz01 33245 Zero offset voltage in Axis Z is 1 33245V O in front of the instruction cannot be ignored
17. ng live cn Pirate User Manual IN NANNA IN ANNAN MN INNA IN uu Ta TY ET Description in the instruction represent variable symbols and may also be MW indicates voltage values of gyro in Axis X Y and Z respectively The following three data represent voltage of accelerometer in Axis X Y and Z respectively the last data represents temperature and the left data represent voltage of magnetometer in Axis X Y and Z respectively All the data are corrected to 4 decimal places with 5 decimal places in all and O in the tail cannot be ignored Es i 12200 12152 1 1962 L0299 110107 2 0001 FOUSOOL 0 LOT 0 049 2 001 Measured voltage value of gyro accelerometer and magnetometer in three axes are 1 2266 1 2152 1 1962 1 6283 1 6157 2 3051 0 3661 0 1014 and 0 3549 respectively Voltage of temperature sensor 1s the last data 1 e 2 7867 6 6 2 Physical Quantity Output Format e b 2 Ge ene AL k rd n AE NR RAN NR NAN NARA NR NAA x m FP Description in the instruction represent variable symbols EN MANN and may also be indicates angular velocity of gyro in Axis X Y and Z respectively The data is corrected to 4 decimal places zhouusong gmail com Page 29 8615183076974 msn zhouusong live cn Pirate User Manual with 6 decimal places in all and the unit is rad s The following three data represent accelera
18. offset and sensitivity of each sensor 15 different To ensure excellent performance of Pirate we will take the calibration for each Pirate before outgoing However acceleration and geomagnetic also have minor differences in diverse areas For applications with high precision requirement we suggest users taking another sensor calibration to ensure system higher precision Calibrations for three kinds of sensors used in Pirate are introduced separately below 6 1 1 Gyro Calibration Open upper computer software click the icon of calibration on top left and choose gyro Then keep Pirate still for about 20 seconds and click ok according to the hints zhouusong gmail com Page 11 8615183076974 msn zhouusong live cn Pirate User Manual FEIR A m ti s AHRs C 6 x zo ik Hz Notes As most users may not have a turntable or similar precision rotation equipments so gyro sensitivity cannot be calibrated for most of users However user can modify the gyro sensitivity according to demands The operation method can be found in section 6 2 3 6 1 2 Accelerometer Calibration There are three axes including X Y and Z in each tri axis accelerometer and there are zero offset and sensitivity for each axis Thus six parameters need to be calibrated for each accelerometer and they are zero offset of X axis accelerometer sensitivity of X
19. ommended that user should check system frequency and output frequency ensuring that whether system frequency degrades zhouusong gmail com Page 18 8615183076974 msn zhouusong live cn Pirate User Manual NINA Instruction n 77 x represents output frequency E g n004 Output frequency is set 4 and actual output cycle is system cycle multiplied by 4 4 Serial Port Baud Rate User can customize serial port baud rate based on application demands with the instruction below Serial port baud rate changes the moment the instruction 1s sent out so user should also make sure the adaption in receiving port at the same time to avoid mess data NINI INN IN Instruction 0 represents baud rate E g 40038400 Baud rate is set 38400 Please make sure not ignore the 0 in front of the instruction 5 Magnetic Field Compensation Style User can choose either no compensation 2D compensation or 3D compensation Additional fitting is needed when 3D compensation is adopted depending on application requirements When Pirate is operated around soft iron 2D compensation 1s highly recommended Instruction m represents magnetic field compensation style means no compensation at all I means 2D compensation and 3 means 3D zhouusong gmail com Page 19 8615183076974 msn zhouusong live cn Pirate User Manual compensation E g fml Select 2D magnetic field compensation 6 Dialogue Style
20. on Output Description in the instruction represent variable symbols and 6 2 EN NAAR may also be indicate longitude latitude and altitude respectively The first data is corrected to 6 decimal places with 9 decimal places In all the second data is corrected to 6 decimal places with 8 decimal places in all and the third data is corrected to 1 decimal zhouusong gmail com Page 32 8615183076974 msn zhouusong live cn Pirate User Manual place with 5 decimal places in all Unit of longitude and latitude is deg and unit of altitude 1s m Note indicates east longitude or north latitude while indicates west longitude or south latitude E g M 044 387542 14 876787 0108 3 It means that the object is 44 387542 east longitude and 14 876787 south latitude and the altitude is 108 3 m 6 7Other Instruction 6 7 1 Get CPU Version Instruction a Get current version of software in CPU 6 7 2 Get DSP Version Instruction b Get current version of software in DSP 6 7 3 Get Serial Numbers Instruction d Get the serial number of current module 6 7 4 Get Main Operation Parameters Instruction f Get the parameter of current system zhouusong gmail com Page 33 8615183076974 msn zhouusong live cn Pirate User Manual 6 7 0 Recover to Ex factory Configuration Instruction t The recovery operation is actually write the ex factory parameter to flash instead of user customization During the rec
21. on with AHRS the sellers can simply rotate Pirate to display their products and can switch to the angles that consumers concern at will It also makes the interaction effective and impresses the consumers deeply 1 2 7 FPV First Person View FPV served as a popular entertainment is accepted gradually nowadays Conventional FPV merely displays some basic parameters such as current coordinates With the assistance of FPV you can now obtain and change current attitude and course exactly the same as a pilot does in a combat plane zhouusong gmail com Page 6 8615183076974 msn zhouusong live cn Pirate User Manual 2 Technical Specification Gyro Full Scale 1200deg s Yaw Static Accuracy I Pitch Roll Static Accuracy 1 Dynamic accuracy EN Dynamic range Roll Yaw 150100 Pitch 007500 Resolution VI Maximum update rate 125Hz Digital interface RS232C l 8 1 N 9600bps 115200bps Operating voltage DG 751 VINGE Power consumption lt 1 5W Operating Temperature 10 C45 C Size Wx Lx 56mmX40mmXx20mm zhouusong O gmail com Page 7 8615183076974 msn zhouusong live cn Pirate User Manual 3 Hardware Description GPSI optionalll CPU RS232 gt tri axial gyro tri axial accelerometer 16 bit ADC tri axial geomagnetic temperature Fig I General Framework of Hardware System Design Figure 1 shows the general framework of the hardware design Data collected from tri axial accelerometer
22. overy you will be warned to make a secondary confirmation The parameters will not be recovered unless you send an S through serial port 6 7 6 Magnetic Declination Instruction H x in the instruction represents variable symbols and may also be According to right hand rule usually indicates counterclockwise and indicates clockwise PAR AI indicates magnetic declination and the unit 1s deg E g AH 004 2 Set magnetic declination 4 2 deg to east Note that O in head of the instruction cannot be ignored 6 7 7 Angle Instruction HAN NN 0 in the instruction represents variable symbols and may also be According to right hand rule usually indicates counterclockwise and indicates clockwise PAR AI indicates angle and the unit is deg E g AN 024 2 Set angle 24 2 deg and make sure that 0 in head of the instruction is not ignored The instruction aims to transfer zhouusong gmail com Page 34 8615183076974 msn zhouusong live cn Pirate User Manual angle flexibly which will make programming on upper computer more convenient 6 7 8 Magnetic Compensation Instruction HF NN in the instruction represents variable symbols and may also be According to right hand rule usually indicates counterclockwise and indicates clockwise OPNAR AI indicates current angle and the unit is deg E g F 090 0 Set
23. requency is 125Hz but when CPU takes the calculation the highest frequency IS 33Hz Note When higher frequency 1s set In compulsorily system will slow down automatically without leading to system corruption So it is highly recommended that user acquire the system frequency zhouusong gmail com Page 17 8615183076974 msn zhouusong live cn Pirate User Manual through system call Instruction 71777 s represents frequency E g HI100 Set system frequency as 100Hz 3 Output Frequency Output frequency 1S a parameter that depicts operation frequency of output port However it 1s not real frequency it is actually associated with system frequency When the system frequency 1s 33Hz and the output frequency is set 1 Then real output operation cycle is 1 33s similarly when the system frequency is 120Hz and the output frequency is set 2 Then the output operation cycle is 1 120 2s i e 1 60s Note When user needs to transmit too much information at given system frequency output port might not be able to support the transmission Then the system will decrease output frequency until all the data can be transmitted in one output port cycle When output frequency is set I equaling the minimum output frequency and output port still cannot transmit all the data in one cycle system cycle will also decrease automatically to satisfy output requirement So when user has a large number of data to be sent in a single cycle itis highly rec
24. sents sensitivity in Axis Z rey16 34234 Sensitivity in Axis Z is 16 34234rad V O in front of the instruction cannot be ignored 4 Zero offset and sensitivity of accelerometer in Axis X NN LK LK IN NN e Instruction Rax NN RANN ANA e represents zero offset in Axis X HRax01 33245 Zero offset voltage in Axis X is 1 33245V 0 in front of the instruction cannot be ignored ANN LK LK LK NN e Instruction rax k ANN NNN NN e represents sensitivity in Axis X rax16 34234 Sensitivity in Axis X is 16 34234rad V in front of the instruction cannot be ignored 5 Zero offset and sensitivity of accelerometer in Axis Y NN NN IN IRN e Instruction Ray NN RAIN RNA e represents zero offset in Axis Y Ray01 33245 Zero offset voltage in Axis Y is 1 33245V 0 in front of the instruction cannot be ignored NN NNN IRAN e Instruction ray NN NN INN NN e represents sensitivity in Axis Y ray16 34234 Sensitivity in Axis Y is 16 34234rad V in zhouusong O gmail com Page 25 8615183076974 msn zhouusong live cn Pirate User Manual front of the instruction cannot be ignored 6 Zero offset and sensitivity of accelerometer in Axis Z ANN NN IN NN e Instruction Raz NN NNN NN e represents zero offset in Axis Z Raz01 33245 Zero offset voltage in Axis Z is 1 33245V 0 in front of the instruction cannot be ignored ANN NN INN NA e Instruct
25. t of X axis accelerometer sensitivity of X axis zero offset zhouusong gmail com Page 13 8615183076974 msn zhouusong live cn Pirate User Manual Of Y axis accelerometer sensitivity of Y axis zero offset of Z axis and accelerometer sensitivity of Z axis To calibrate six parameters we turn each surface of Pirate to north to get six samplings in all and figure 3 shows the operation Although it is better to keep the surface straight to north during sampling a little deviation makes no difference to the calibration Pu Figure 3 Magnetometer Calibration Demo Notes Geomagnetic filed direction is different from geographic north and there are always both magnetic declination and magnetic inclination everywhere When user could be able to keep better coordination between geomagnetic filed direction and the sampling axis based on local magnetic declination and magnetic inclination more accurate zero offset and sensitivity can be achieved If user wants to know more about calibration please contact with our engineers Operation Click the icon of calibration on top left and select compass Then keep Pirate still according to the hints Take Pirate as a cubiod and the six surfaces are named as A B C D E and F separately Whenever we complete a sampling with one of the zhouusong gmail com Page 14 8615183076974 msn zhouusong live cn Pirate User Manual surfaces facing north the program will request to change
26. the expected angle after magnetic compensation 90 deg and O in head of the instruction cannot be ignored The instruction makes magnetic compensation more convenient for some special attitude Also 1t enables further manual magnetic compensation when previous magnetic calibration is not satisfactory Note that Pirate must be kept horizontal when the instruction 1s executed 7 Quick Access When you get our product connect the serial port and power supply according to the manual at first and power on Open upper computer software by clicking c E 3646 com AHRS For Pirate exe Set serial port and choose zhouusong gmail com Page 35 8615183076974 msn zhouusong live cn Pirate User Manual FIFO baud rate 115200 a 115200 and Then open click the icon FIRE Finally Pirate attitude displays In bottom left of data receiving region Click icon on top left Real time Pirate shows in the video 0 0 0 0 0 Red Ax LS Blue Y Ax12 am T tars lrreen L ARLE Note You may find that the attitude of Pirate in your hand doesn t coordinate with that in software The main reason is possibly that NEUs in software and that in Pirate differ To address the problem move mouse to the center of the graph hold on drag it slowly and then the coordinate system gets to change Keep on tuning coordinate system in this way until NEU in software and Pirate coincides When you finish r
27. tion of accelerometer in Axis X Y and Z respectively the unit is m s the last data represents temperature the unit is deg and the left data represent magnetic intensity of magnetometer in Axis X Y and Z respectively the unit is local magnetic intensity 10 All the left data are corrected to 3 decimal places with 5 decimal places in all and O in the tail cannot be ignored E g 07 5032 09 0524 08 6093 01 363 02474 11 342 06 450 02 535 06 746 16 250 s Angular velocities of current device in three axes are 7 5032 rad s 9 0524 rad s and 8 6093 rad s respectively Accelerations in three axes are 1 363 m s 2 474 m s 11 342m s Assume local magnetic intensity is 0 65 Gs and then magnetic intensities in three axes are 6 450x0 65 10Gs 02 535x0 65 10Gs and 06 746x0 65 10Gs respectively The last number shows that current temperature is 16 250 C 6 6 3 Quaternion Output Description can be substituted by as it is simply a variable symbol Data in the instruction represents QO Q1 Q2 and Q3 zhouusong gmail com Page 30 8615183076974 msn zhouusong live cn Pirate User Manual respectively E g k 0 0231 0 3981 0 0272 0 9167 QO Q1 Q2 and Q3 are 0 0231 0 3981 0 0272 and 0 9167 respectively 6 6 4 Euler Output Format sk Description in the instruction represent variable symbols and 6 gt EN NNNNA may also be in

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