3D-BIRD™
Contents
1. SIN R SIN A SIN R COS A COS R SIN E COS A COS R SIN E SIN A COS R COS E where R Roll E Elevation A Azimuth The matrix elements take values between 1 If your application reads MATRIX in integer format the scaling of all elements is 99996 Ox7FFF 0 0x0 1 0x8000 3D BIRD Matrix structures are defined as the following Rotation Matrix in floating point format typedef struct tag3DBIRDMATRIXFLOAT float f 3 3 _ 3DBIRDMATRIXFLOAT Rotation matrix in integer format typedef struct tag3DBIRDMATRIX int n 3 3 _ 3DBIRDMATRIX 20 Installation and Operation Guide Windows Driver QUATERNION In QUATERNION mode the 3D BIRD returns the four quaternion parameters that describe the orientation of the sensor with respect to the reference coordinate frame The quaternions qo G2 and where q is the scalar component have been extracted from the MATRIX output using the algorithm described in Quaternion from Rotation Matrix by Stanley W Shepperd Journal of Guidance and Control Vol 1 May June 1978 pp 223 4 The quaternions take values between 1 If your application reads QUATERNIONS in integer format the scaling of all quaternions is 99996 Ox7FFF 0 0x0 1 0x8000 3D BIRD Quaternions structures are defined as the following Quaternions in floating point format typedef struct tag3DBIRDQUATERNIONFLOAT float 7 float fQl fl2. to 3dbirdWakeUp Read _3dbirdWakeUp description for more details This function returns TRUE if executed successfully otherwise it returns FALSE 30 Installation and Operation Guide Windows Driver 3dbirdWakeUp BOOL DLLEXPORT _ 3dbirdWakeUp int nGrouplD WORD wComport DWORD dwReadTimeout DWORD dwWrite Timeout This function initializes the serial port specified by the application and wakes up a 3D BIRD attached to this serial port Eua Name Parameter Parameter Parameter Description Type Value nGrouplD 3 ID number that the user wants to associate with this 3D BIRD Different 3D BIRDs use different ID numbers wComport WORD a Number of the comport attached to the 3D BIRD e g COM1 1 COM2 2 etc Maximum time in msec that the application will take when trying to transmit a serial character dwHeadTimeout DWORD Maximum time in msec that the application will take when trying to receive a serial character dwWrite Timeout DWORD This function returns TRUE if executed successfully otherwise it returns FALSE 31 Installation and Operation Guide Error Messages 6 0 ERROR MESSAGES The 3D BIRD keeps track of system errors When an error occurs the byStatus byte ERROR bit is set to a 1 and the error code is put into the byError byte in the 3D BIRD configuration structure _3DBIRDDEVICECONFIG The user can query the _ SDBIRDDEVICECONF IG structure by calling the _3dbirdGetDeviceConfig When the
3. At 6 2 the Azimuth and Roll become undefined This behavior is not a limitation of the 3D BIRD it is an inherent characteristics of these Euler angles If you need stable representation of the sensor orientation at high Elevation angles use the MATRIX or QUATERNIONS output mode If your application reads EULER ANGLES in integer format the scaling of all angles is full scale 180E That is 179 99E Ox7FFF OE 0x0 180E 0x8000 3D BIRD Euler Angles structures are defined as the following Euler Angles in floating point format typedef struct tag3DBIRDANGLESFLOAT float fazimuth float felevation float froll _ 3DBIRDANGLESFLOAT Euler Angles in integer format typedef struct tag3DBIRDANGLES int nazimuth int nelevation int 111 047 3DBIRDANGLES 19 Installation and Operation Guide Windows Driver MATRIX In MATRIX mode the 3D BIRD returns 9 elements of the rotation matrix that define the orientation of the sensor with respect to the reference coordinate frame If you want a three dimensional image to follow the rotation of the sensor you must multiply your image coordinates by this rotation matrix The nine elements of the rotation matrix in Euler angle notation are defined generically by COS E COS A COS E SIN A SIN E COS R SIN A COS R COS A SIN R SIN E COS A SIN R SIN E SIN A SIN R COS E
4. MB 2 3 MM 1 3 MB 2 1 MM 1 4 0 MM 2 1 MB 3 2 MM 2 2 MB 3 3 MM 2 3 MB 3 1 MM 2 4 0 MM 3 1 MB 1 2 MM 3 2 MB 1 3 MM 3 3 MB 1 1 MM 3 4 0 MM 4 1 Ypos MM 4 2 Zpos MM 4 3 Xpos MM 4 4 1 0 Installation and Operation Guide Appendix II Application Notes APPENDIX Ill FCC REGULATION AND CANADIAN REGULATIONS FCC Regulations Warning Changes or modifications to this unit not expressly approved by the party responsible for compliance could void the user s authority to operate the equipment NOTE This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to Part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at the user s expense Canadian Regulations This digital apparatus does not exceed the Class A limits for radio noise emissions from digital apparatus set out in the Radio Interference Regulation of the Canadian Department of Communications Le present
5. and Operation Guide Windows Driver _3dbirdSetDeviceConfig BOOL DLLEXPORT _ 3dbirdSetDeviceConfig int _3DBIRDDEVICECONFIG pdevcfg This function sets the configuration of the 3D BIRD Parameter Parameter Type Parameter Parameter Description Name Value nGrouplD int n 3D BIRD ID number that was passed to _3dbirdWakeUp Read _3dbirdWakeUp description for more details pdevcfg _ SDBIRDDEVICECONFIG Pointer to the SDBIRDDEVICECONFIG 3D BIRD configuration structure Read Section 5 3 1 3D BIRD CONFIGURATION STRUCTURE for details on SDBIRDDEVICECONFIG This function returns TRUE if executed successfully otherwise it returns FALSE 28 Installation and Operation Guide Windows Driver 3dbirdShutDown void DLLEXPORT _3dbirdShutDown int This function shuts down the 3D BIRD Call function _3dbirdWakeUp to restart the 3D BIRD Parameter Parameter Type Parameter Parameter Description Name Value nGrouplD int m 3D BIRD ID number that was passed to SdbirdWakeUp Read _3dbirdWakeUp description for more details This is a void function it does not return any value 29 Installation and Operation Guide Windows Driver 3dbirdStartStream BOOL DLLEXPORT 3abirdStartStream int nGrouplD This function initiates a data stream from the 3D BIRD Parameter Parameter Type Parameter Parameter Description Name Value nGrouplD int a 3D BIRD ID number that was passed
6. appareil numerique n emet pas de bruits radioelectriques depassant les limites applicables aux appareils numeriques de la class A prescrites dans le Reglement sur le brouillage radioelectrique edicte par le ministere des Communications du Canada 37 Installation and Operation Guide Appendix II Application Notes APPENDIX IV EC DECLARATION OF CONFORMITY EC Declaration of Conformity Issued by Ascension Technology Corporation PO Box 527 Burlington VT 05402 USA 802 893 6657 Equipment Description 3D BIRD Model 3D BIRD Tracking System 5V 100 mA No 5V or 12V or 12V Tested With The 3D BIRD passed all CE directives when using a 490CDT Canon Laptop PC S N6101208118 Year of Manufacture 2000 Applicable Directives 73 23 EEC Low Voltage Directive 89 336 EEC EMC Directive Applicable Standards EN 61010 1 1995 Safety Requirements for Electrical Equipment for Measurement Control and Laboratory Use General Requirements EN 61326 1 1998 Electromagnetic Compatibility Generic Emission Standard Residential Commercial and Light Industry Authorized by Date Jay Monahan Chief Operations Officer Ascension Technology Corporation 38 Installation and Operation Guide Appendix V CE Specifications APPENDIX V CE SPECIFICATIONS CE Specifications There are no fuse or user serviceable parts on the 3D BIRD 0 Modification or use of the equipment in any way that is not specified by Ascension Technology may imp
7. noise and ensure accurate performance within specification If you add an extension without our knowledge or approval you may compromise the performance and or negate certain regulatory certifications You will also void your warranty If you need to extend your cable lengths please contact our tech support team first Phone 1 802 893 6657 Fax 1 802 893 6659 Email techsupport ascension tech com Installation and Operation Guide Introduction 1 2 WARM UP PERIOD A minimum warm up period of fifteen minutes is required to allow electronic circuitry time to equilibrate to temperature changes in order to achieve the highest degree of accuracy from the tracker Installation and Operation Guide Installation 2 0 INSTALLATION The 3D BIRD is shipped to you in one box containing the following 8 One senor unit with RS232 power cable attached to it 8 100 240 VAC 1 0A 47 63Hz regulated power supply with power cord One 21 DOS formatted diskette of 3D BIRD drivers and user software One Installation and Operation Guide this document If there are any discrepancies or your shipment is damaged call Ascension Technology at 802 893 6657 between the hours of 9 AM and 5 PM Eastern Standard Time or fax us at 802 893 6659 You can also e mail us at techsupport ascension tech com Sensor assembly for 3D BIRD sensor connects directly to the mounting on head or object RS 232 serial port of your host computer to be trac
8. user reads _ 3DBIRDDEVICECONF IG the ERROR bit is reset to a and the error code in byError byte is also reset to All the error codes have the most significant bit set The table below provides details of the 3D BIRD errors Corrective actions with an indicate that the user should not attempt this fix instead Ascension Technology should be contacted For technical assistance call Ascension Technology at 802 893 6657 between the hours of 9 AM and 5 PM United States Eastern Standard Time or fax us at 802 893 6659 You can also e mail us at techsupport ascension tech com 0x83 3D BIRD The driver was not Calibrate the 3D Configuration Data able to read the 3D BIRD and set the Corrupt BIRD Calibration Initialized Code in Data Structure the calibration data structure 32 Installation and Operation Guide Troubleshooting 7 0 TROUBLESHOOTING If you are experiencing trouble with the 3D BIRD try the following IF YOU CANNOT TALK TO THE 3D BIRD 5 5 Make sure the power supply is plugged to the external power means before your application tries to communicate to the 3D BIRD Make sure the 3D BIRD is plugged into the COM port that your application is using Make sure you don t have multiple applications trying to use the same COM port IF YOU CAN COMMUNICATE WITH THE 3D BIRD BUT THE DATA IS BAD Make sure the 3D BIRD is not placed directly on top of metal during operation Yo
9. 11 Installation and Operation Guide 3D BIRD Coordinate System Y ref X ref ref Figure 5 Auto Alignment 12 Installation and Operation Guide Windows Driver 5 0 WINDOWS DRIVER 3D BIRD uses your computer to process its computation If your computer is running under Windows operating system you can use the 3D BIRD windows driver provided with the 3D BIRD see Section 3 0 INCLUDED SOFTWARE to collect and process 3D BIRD data The driver is described in this section To use the 3D BIRD driver include 3dbird h file in your source code link with the library module 3dbird lib and put the dynamic link libraries Sdbird dll and 3dbalg dll anywhere the DLL search path The latest version of the driver can be downloaded directly from our ftp site ftp ftp ascension tech com If your computer is using a different operating system or you want to develop your own driver please contact our tech support team Phone 1 802 893 6657 Fax 1 802 893 6659 Email techsupport ascension tech com 5 1 INTERFACE BETWEEN DRIVER AND 3D BIRD 3D BIRD uses a serial interface to send data to your computer The windows driver initializes the serial port of your computer to communicate to the 3D BIRD Once initialized and running 3D BIRD is streaming 160 data records per second at a rate of 38 400 Baud Each data record is 20 bytes long Once a complete data record arrives at the computer it is proc
10. 35 Converting the 3D BIRD Outputs to a Graphics Modeling Matrix 35 APPENDIX FCC REGULATION AND CANADIAN REGULATIONS APPENDIX IV EC DECLARATION OF CONFORMITY APPENDIX V CE SPECIFICATIONS USER MANUAL REVISIONS Manual Date Rev Changes January 15 2001 A Initial release Installation and Operation Guide Introduction 1 0 INTRODUCTION The 3D BIRD is a three degrees of freedom measuring device that measures the orientation of a small sensor in real time allowing you to track the orientation of any object to which is attached The 3D BIRD determines orientation by measuring outputs from solid state inertial and non inertial sensors Since there is no signal transmitter needed to perform measurements the motion area of the 3D BIRD is virtually unlimited The tracker consists of a small sensor unit Sensor with an RS 232 Power cable It can be plugged directly into a serial port on your host computer There is no intermediate electronic unit which simplifies the system setup The sensor unit includes all the sensors as well as the microprocessor that controls sensor data acquisition and communication between the 3D BIRD and the host computer Up to four 3D BIRDs can be connected to a single computer one 3D BIRD per serial port In addition to this manual you can now receive on line assistance at Ascension s web site http Awww ascension tech com support trouble
11. D B IRD ORIENTATION MEASUREMENT DEVICE INSTALLATION AND OPERATION GUIDE 910120 A Rev A January 15 2001 Copyright 2001 Ascension Technology Corporation PO Box 527 Burlington Vermont 05402 USA 802 893 6657 http www ascension tech com D B IRD ORIENTATION MEASUREMENT DEVICE INSTALLATION AND OPERATION GUIDE 910120 A Rev A January 15 2001 Copyright 2001 Ascension Technology Corporation PO Box 527 Burlington Vermont 05402 USA 802 893 6657 http www ascension tech com TABLE OF CONTENTS 1 0 INTRODUCTION 3 22222 ciueereevieagi Gere eet NUES 1 IT PRODUCT ADVISORY aos aet aes ua ei ates e rend acsi 2 1 2 WARM UP PERIOD zoe eres tme e euren ced d nente tin ards aede cete e 3 2 0 INSTALLATION itus icc ereu ad e ERA I erae we wea eee ae si 4 2 1 SENSOR LOCATION Shot rea ecd px a repa p a apa Ro oat 5 2 2 CONNECTING SO BIRD 82 ase hM Ies dese nde 5 3 0 INCLUDED SOFTWARE i R MR RR RR Ux eee eee RR 6 3 1 USING THE 3D BIRD Test era oorr CR S De bc veu inus 6 4 0 3D BIRD COORDINATE SYSTEM 8 4 1 SENSOR ALIGNMENT d x AT E RR E RES 8 4 2 USER DEFINED REFERENCE FRAME 9 4 3 3D BIRD AUTO ALIGNMENT 10 5 0 WINDOWS DRIVER nce 0 28 la soe eee bI RESO e 13 5 1 INT
12. ERFACE BETWEEN DRIVER AND 3D BIRD 13 5 2 INTERFACE BETWEEN APPLICATION AND DRIVER 13 5 3 INTERFACE DETAILED DESCRIPTION 14 5 3 1 3D BIRD CONFIGURATION STRUCTURE 14 5 3 2 SD BIRD DATAKEORMA IS cei te 18 EYLER ANGEES 4 eris bcd ua Ane OE Caf e Rate ka ee cR tad 19 MATRIX Ce 3 a i ioe sre M 20 QUATERNION hae al a 21 5 3 8 DRIVER FUNCTIONS DETAILS 22 3dbirdGetDeviceConfig ee 23 3dbirdGetMostRecentReading 24 _8dbirdGetReading cil aos 6 ape arb guck need quce us 25 _8dbirdReadingReady uon dd n pac ad sect na 26 3dbirdResetOrientation 27 ee 28 3dbirdSetDeviceConfig 36101161 11110000 eee EEG ee ee ee 29 _SdbirdStartStream ow eee 30 _sdbirdWakeUp EQ ARRA 31 6 0 ERROR MESSAGES ATE 32 7 0 TROUBLESHOOTING Leone eV pe pu eese st 33 APPENDIX I 3D BIRD SPECIFICATIONS 34 APPENDIX Il APPLICATION NOTES
13. Guide Windows Driver 3dbirdGetMostRecentReading BOOL DLLEXPORT _3dbirdGetMostRecentReading int SDBIRDREADING preading This function returns the latest orientation data frame from the 3D BIRD Use _ 8dbirdGetReading function if your application requires all the data frames in the order they were computed rather than just the latest data frame Parameter Parameter p Paani Parameter Parameter Description Name Value nGrouplD 3D BIRD ID number that was passed to 3dbirdWakeUp Read _3dbirdWakeUp description for more details pdevcfg _ SDBIRDREADING Pointer to the 3DBIRDREADING orientation data structure Read Section 5 3 2 3D BIRD DATA FORMATS for details on _3DBIRDREADING This function returns TRUE if executed successfully otherwise it returns FALSE 24 Installation and Operation Guide Windows Driver _3dbirdGetReading BOOL DLLEXPORT _ 3dbirdGetReading int _3DBIRDREADING preading This function returns the next available orientation data frame from the 3D BIRD Use _ SdbirdGetMostRecentReading function if your application requires the latest data frame rather than all the data frames in the order they were computed Parameter Parameter Parameter Description Name Value nGrouplD ve 3D BIRD ID number that was passed to 3dbirdWakeUp Read _3dbirdWakeUp description for more details pdevcfg _ SDBIRDREADING Pointer to the 3DBIRD
14. READING orientation data structure Read Section 5 3 2 3D BIRD DATA FORMATS for details on _3DBIRDREADING This function returns TRUE if executed successfully otherwise it returns FALSE 25 Installation and Operation Guide Windows Driver _3dbirdReadingReady BOOL DLLEXPORT 3dbirdReadingReady int nGroupID This function determines if the 3D BIRD has new orientation data frame available Parameter Parameter Type Parameter Parameter Description Name Value nGrouplD int a 3D BIRD ID number that was passed to 3dbirdWakeUp Read _ 3dbirdWakeUp description for more details This function returns TRUE if new orientation data is available otherwise it returns FALSE 26 Installation and Operation Guide Windows Driver _3dbirdResetOrientation BOOL DLLEXPORT _ 3dbirdResetOrientation int nGrouplD If AUTO ALIGN mode is enabled 3D BIRD executes Auto Align procedure described in 3D BIRD AUTO ALIGNMENT Section 4 3 If AUTO ALIGN mode is disabled then 3D BIRD resets any accumulated error Description of bySetup in 3D BIRD CONFIGURATION STRUCTURE Section 5 3 1 explains how to enable or disable the AUTO ALIGN mode Parameter Parameter Type Parameter Parameter Description Name Value nGrouplD int dk 3D BIRD ID number that was passed to 3dbirdWakeUp Read _3dbirdWakeUp description for more details This function returns TRUE if executed successfully otherwise it returns FALSE 27 Installation
15. air the protection and accuracy provided by the equipment The exclamation point within an equilateral triangle is intended to alert the user to important operating and maintenance servicing instructions in the appliance literature Equipment Maintenance Do not expose the 3D BIRD to rain or condensing moisture C Keep the equipment away from extreme sources of heat C Do not let the sensor impact with a hard object 39 Installation and Operation Guide Appendix VI Ascension Technology Corporation Ascension Technology Corporation PO Box 527 Burlington VT 05402 USA 802 893 6657 http www ascension tech com 40
16. ame use anglesReferenceFrame structure described in 3D BIRD Installation and Operation Guide 3D BIRD Coordinate System CONFIGURATION STRUCTURE Section 5 3 1 Once the Reference Frame procedure is executed orientations will be computed with respect to the new reference frame Y Yref magnetic north 2 TX refy n Z ref down Z Figure 3 Reference Frame 4 3 3D BIRD AUTO ALIGNMENT 3D BIRD Auto Alignment procedure allows you to simplify and combine Sensor Alignment and Reference Frame procedures To be able to use the Auto Alignment procedure the sensor needs to be mounted on the tracked object in such a way that it is not cocked in the azimuth 10 Installation and Operation Guide 3D BIRD Coordinate System direction and is cocked by less than 90En the elevation and roll directions Figure 4 shows the sensor cocked by Azim OE Elev 45E and Roll 60E with respect to the helmet coordinate frame Xh Yh Zh 1 Zh Figure 4 Sensor Mounting for Auto Alignment The object must be leveled before you execute Auto Alignment procedure Auto Alignment mathematically aligns the sensor s x y and z axes with the coordinate frame of the object and defines a new reference frame based on its current orientation Figure 5 shows Xref Yref and Zref axes of the new reference frame are aligned with current directions of the helmet Xh Yh and Zh axes and current orientation of the helmet is a new zero orientation
17. axes to an orientation which differs from that of the actual sensor and align them with the coordinate frame of the object being tracked For example Suppose that during installation on the helmet you find it necessary due to physical requirements to cock the sensor by Azim 90E Elev and Roll 30E with respect to your Installation and Operation Guide 3D BIRD Coordinate System helmet coordinate frame Xh Yh Zh as shown in Figure 2 a To compensate use anglesAngleAlign structure described in 3D BIRD CONFIGURATION STRUCTURE Section 5 3 1 Once the Sensor Alignment procedure is executed orientations will be computed as if the sensor were aligned with the helmet as shown in Figure 2 b 1 Zh a Cocked Sensor b Aligned Sensor Figure 2 Angle Align 4 2 USER DEFINED REFERENCE FRAME In some applications it may be desirable to have the orientation measured with respect to a reference frame other than the frame defined by directions of earth magnetic and gravity field described in 3D BIRD COORDINATE SYSTEM Section 4 0 above For example Suppose that you have your sensor leveled and its angle outputs are Azim 45E Elev OE and Roll OE Suppose that you want this orientation of the sensor to become a new reference frame meaning that current directions of x y and z axes of the sensor become directions of the Xref Yref and Zref axes of the new reference frame as shown in Figure 3 To define the new reference fr
18. essed by the driver and new orientation data becomes available resulting in a maximum measurement rate of 160 measurements per second 5 2 INTERFACE BETWEEN APPLICATION AND DRIVER This section summarizes the steps that must be performed by an application to initialize and run the 3D BIRD Please read the INTERFACE DETAILED DESCRIPTION Section 5 3 for further details The windows driver allows you to run up to four 3D BIRDs on a single computer one per serial port of the computer Each 3D BIRD is treated as a separate entity it is initialized operated and shut down independently from other units To initialize a 3D BIRD 3dbirdWakeUp The first parameter to this routine is an ID number chosen by the calling procedure which will be used to identify the 3D BIRD in all subsequent procedure calls 13 Installation and Operation Guide Windows Driver After waking up the 3D BIRD you will typically want to change its configuration This can be done by obtaining a copy of the current 3D BIRD configuration structure modifying the relevant fields and then sending the structure back to the 3D BIRD The routines that are used to do this are SabirdGetDeviceConfig and _ 3dbirdSetDeveiceConfig After the 3D BIRD has been configured you can call SdbirdStartStream to start a stream of data and collect the frames as they arrive If you want to collect all the data frames in order you should repeatedly _3dbirdGetReading to
19. et up and run the 3D BIRD and monitor its outputs Additionally this diskette contains complete commented source code of the 3dBird Test exe application that shows you how to use all the C functions you ll need for talking to the 3D BIRD from your own application Feel free to incorporate any of this software into your own application or product Also see the file 3dbird h for a description of these functions and additional programming notes To use the driver simply include the header file Sabird h in your application code link with the library module 3abird lib and put the dynamic link libraries Sabird dll and 3dbalg dll anywhere on the path 3 1 USING THE 3dBird Test Have your 3D BIRD attached to a serial port of your computer and powered up to start 3dBird Test exe test application Go to Configuration Comm Portto set COM port in use To change 3D BIRD configuration settings go to Configuration SD BIRD Read 3D BIRD CONFIGURATION STRUCTURE Section 5 3 1 for 3D BIRD configuration parameters details Note that 3dBird Test does not allow you to change COM port and 3D BIRD configuration settings while the 3D BIRD is streaming data You need to stop data stream change setting then stream again Select Run Start Streaming to run the 3D BIRD Please remember to keep the 3D BIRD still during the start to allow for self calibration When the 3D BIRD is running you can see test data on your screen in the f
20. get them one by one If you only want the most recently arrived data frame you should instead call _3dbirdGetMostRecentReading To find out if a new frame is waiting to be retrieved you can SdbirdReadingReady To shut down the 3D BIRD 3dbirdShutDown This stops all data transmission and disables all further communication with the 3D BIRD until another wake up command is issued 5 3 INTERFACE DETAILED DESCRIPTION This section provides details of the interface between applications and the 3D BIRD Windows driver describes 3D BIRD configuration parameters and describes available data formats 5 3 1 3D BIRD CONFIGURATION STRUCTURE Driver functions _ 3dbirdGetDeviceConfig 8dbirdSetDeviceConfig described in the section 5 3 3 DRIVER FUNCTIONS DETAILS allow you to get current configuration of the 3D BIRD and change certain parameters of the configuration Configuration of 3D BIRD is defined as a structure typedef struct tag3DBIRDDEVICECONFIG BYTE byStatus BYTE byID WORD wSoftwareRev BYTE byError BYTE bySetup BYTE byDataFormat BYTE byDCFilterParameter _ 3DBIRDANGLES anglesReferenceFrame _3DBIRDANGLES anglesAngleAlign _ 3DBIRDDEVICECONFIG See 3D BIRD DATA FORMATS Section 5 3 2 for 3DBIRDANGLES structure definition 14 Installation and Operation Guide Windows Driver The following table lists all the members of the structure Type Read Power Up Description Write value b
21. he application can control the format that orientation is reported in Read description of byDataFormat and bySetup in the section 5 3 1 3D BIRD CONFIGURATION STRUCTURE on how to select Euler Angles Rotation Matrix or Quaternions and how to switch between integer and floating point data formats 3D BIRD orientation data is a union typedef union tag3DBIRDREADING SDBIRDANGLES angles SDBIRDMATRIX matrix _3DBIRDQUATERNION quaternion SDBIRDANGLESFLOAT fangles SDBIRDMATRIXFLOAT fmatrix _3DBIRDQUATERNIONFLOAT fquaternion _3DBIRDREADING Application can only read data in the format specified in the configuration structure For example if 3D BIRD configuration structure specifies data output in Euler Angles floating point format then only _3DB RDREADING fangles structure contains good data To read data a different format the application needs to change 3D BIRD configuration settings 18 Installation and Operation Guide Windows Driver EULER ANGLES In EULER ANGLES mode the 3D BIRD returns the Euler angles in radians of the sensor with respect to the reference coordinate frame The Euler angles are defined as rotations about the Z Y and X axes of the sensor These angles are called Azimuth Elevation and Roll Azimuth takes on values between 6 Elevation takes on values between 6 2 and Roll takes on values between 6 As elevation approaches 6 2 the Azimuth and Roll become very noisy and exhibit large errors
22. ked Sensor data is processed by the 3D BIRD driver residing in your computer Installation and Operation Guide Installation 2 1 SENSOR LOCATION The sensor should be mounted on a non metallic surface such as wood or plastic using non metallic bolts or 300 series stainless steel bolts It should not be located near power cords power supplies or other low frequency current generating devices Their emanations will be picked up by the sensor and converted into noise on the output orientation measurements The sensor will pick up noise when it is operated near a CRT type display The amount of noise will vary depending on the operating frequency of the CRT and the amount of shielding built into the CRT 2 2 CONNECTING 3D BIRD To connect the 3D BIRD to your computer you need to do the following C Shut the computer s power off C Attach the DB9 connector of the 3D BIRD RS232 power cable to the serial port connector of your computer Screw in this connector C Plug the power supply into the electric outlet C You can attach up to four 3D BIRDs into your computer one 3D BIRD per computer serial port Power can then be turned on and commands sent to the 3D BIRDs Installation and Operation Guide Included Software 3 0 INCLUDED SOFTWARE One high density 3 5 inch DOS formatted diskette is included with your tracker This diskette contains a Windows driver for the 3D BIRD and an application called 3dBird Test exe that allows you to s
23. n of azimuth error Installation and Operation Guide Windows Driver Type Read Power Up Description Write value byDataFormat BYTE read 1 write byDCFilterParameter BYTE read 10 This parameter controls write amount of filtering applied to the output data Valid range is 0 10 turn the filter off 10 apply maximum filtering Output orientation data format 1 Euler Angles 2 Rotation Matrix 3 Quaternions Read 3D BIRD DATA FORMAT Section 5 3 2 for details on data formats Angles to specify user defined reference frame Read USER DEFINED REFERENCE FRAME Section 4 2 for more details Angles values are in integer format described in 3D BIRD DATA FORMAT Section 5 3 2 These values are ignored in Auto Align mode set by bySetup in this structure anglesReferenceFrame BIRDANGLE read 5 write 17 Installation and Operation Guide Windows Driver Type Read Power Up Description Write value anglesAngleAlign BIRDANGLE read Angles to specify sensor 5 write alignment Read SENSOR ALIGNMENT Section 4 1 for more details Angles values are in integer format described in 3D BIRD DATA FORMAT Section 5 3 2 These values are ignored in Auto Align mode set by bySetup in this structure 5 3 2 3D BIRD DATA FORMATS Driver functions _3dbirdGetMostRecentReaaing _ 8dbirdGetReading described in the section 5 3 3 DRIVER FUNCTIONS DETAILS allow your application to get 3D BIRD orientation data T
24. o RS 232 port of your host computer 15 milliseconds at 360 second 1 41 inch x 1 08 inch x 0 92 inch 1 0 oz 15 feet extendable to 30 feet 5VDC 100 mA All specifications are valid at 30 C 10 in an environment void of large metal objects and electromagnetic frequencies other than the power line 34 Installation and Operation Guide Appendix II Application Notes APPENDIX APPLICATION NOTES Application Note 1 Converting the 3D BIRD Outputs to a Graphics Modeling Matrix Purpose Build the 12 elements of a standard computer graphics modeling matrix MMi j given the 9 matrix output elements from the 3D BIRD and the X Y Z position outputs Xpos Ypos and Zpos measured by some external means in 3D BIRD coordinate frame The standard computer graphics XYZ coordinate system is as follows positive X axis points to the right positive Y axis points up positive Z points towards you Standard Graphic Coordinate System The 3D BIRD s XYZ coordinate system as follows positive X axis points towards local magnetic North positive Y axis points to the left positive Z axis points down Y 2 3D BIRD Coordinate System To have the screen image follow the rotations of the 3D BIRD s sensor the following 35 Installation and Operation Guide Appendix Application Notes transformations from 3D BIRD coordinates to modeling matrix elements are required 36 MM 1 1 MB 2 2 MM 1 2
25. oat fQ2 float fQ3 3DBIRDQUATERNIONFLOAT Quaternions in integer format typedef struct tag3DBIRDQUATERNION int nQO int nQl int nQ2 int nQ3 SDBIRDQUATERNION 21 Installation and Operation Guide Windows Driver 5 3 3 DRIVER FUNCTIONS DETAILS All Windows driver functions are listed alphabetically in the following section Each function description explains those parameters that are passed to the function and what values are returned by the function All the functions are declared in Sabird h header file Include Sdbird h file in your source code link with the library module Sabird lib and put the dynamic link libraries Sabird dll and 3dbalg dll anywhere on the DLL search path 22 Installation and Operation Guide Windows Driver _3dbirdGetDeviceConfig BOOL DLLEXPORT _3dbirdGetDeviceConfig int nGrouplD _3DBIRDDEVICECONFIG pdevcfg This function gets the configuration of the 3D BIRD Parameter Parameter Type Parameter Parameter Description Name Value nGrouplD int is 3D BIRD ID number that was passed to _3dbirdWakeUp Read _3dbirdWakeUp description for more details pdevcfg SDBIRDDEVICECONFIG Pointer to the SDBIRDDEVICECONFIG 3D BIRD configuration structure Read Section 5 3 1 3D BIRD CONFIGURATION STRUCTURE for details on SDBIRDDEVICECONFIG This function returns TRUE if executed successfully otherwise it returns FALSE 23 Installation and Operation
26. ormat you selected as well as a 3 axis cross that tracks orientation of the 3D BIRD sensor When you rotate the sensor the cross on the screen will follow it To reset sensor orientation select Run Reset Orientation Please remember to keep the 3D BIRD still during reset to allow for self calibration Read the _3dbirdResetOrientation Section below for more details on reset Run Stop Streaming shuts the 3D BIRD down To run it again select Run Start Streaming 6 Installation and Operation Guide Included Software If you want to collect 3D BIRD data into a file go to File New to a specify the file name To start data logging into the file select File Data Logging To pause or stop data logging unselect File Data Logging Please note that the files are saved as tab delimited text files and get really large Installation and Operation Guide 3D BIRD Coordinate System 4 0 3D BIRD COORDINATE SYSTEM Orientation of the 3D BIRD sensor is measured with respect to the right handed reference frame that has its X axis pointing local magnetic north Y axis pointing east and Z axis pointing down along earth gravity field vector In Figure 1 the 3D BIRD sensor is shown in zero orientation with its x y and z axes aligned with X Y and Z axes of the reference frame X MAGNETIC NORTH Z DOWN Figure 1 Reference Frame 4 1 SENSOR ALIGNMENT In some applications you may want to mathematically change the sensor s x y and z
27. shoot index htm Installation and Operation Guide Introduction 1 1 PRODUCT ADVISORY The 3D BIRD sensors along with its attached cables connectors are sensitive electronic components To obtain good tracking performance and maintain your warranty treat them carefully Most failures in the field occur because the cables attached to the sensors is mishandled Always remember that these components are not designed to withstand sever jolting contortions or high impact shocks When handling your cables please observe the following C Never flex pull or twist cables This is the most common cause of tracker failure Note that there is a strain relief where the sensor head attaches to its cable Its job is to protect the delicate connection between the cable conductors and the sensor assembly head Itis also the area in which sensors are attached to the object that is being tracked When attaching the sensor to the object that is to be tracked be sure you do not pull twist or repeatedly bend the cable here Consider adding a secondary strain relief if the cable is prone to contortions Never yank the sensor off its mounting bracket or holder by grabbing the cable and pulling Never carry throw or swing a sensor by its cable Never let the sensor impact with a hard object Never add your own extensions connectors to our sensor transmitter cables without our pre approval Our cables are precisely bundled and shielded to minimize
28. u should keep it at least two inches away from metal Check that your application is using correct values to define Sensor Alignment and Reference Frame or Auto Alignment mode is used correctly Read 3D BIRD COORDINATE SYSTEM Section 4 for more details If orientation data is continuously drifting make sure you keep the 3D BIRD still during calls to SdbirdStartStream and _ 3dbirdResetOrientation functions The 3D BIRD performs self calibration that takes about 0 5 sec and needs to stay still during this period of time There are no fuses or other user serviceable parts in the 3D BIRD sensor For technical assistance call Ascension Technology at 802 893 6657 between the hours of 9 AM and 5 PM Eastern Standard Time or fax us at 802 893 6659 You can also e mail us at techsupport ascension tech com 33 Installation and Operation Guide Appendix I 3D BIRD Specifications APPENDIX 3D BIRD SPECIFICATIONS Technical 9 Degrees of Freedom C Angular range C Angular Accuracy C Angular Resolution C Update Rate C Maximum of Sensors C Maximum Angular Speed C Computer Interface C Dynamic Lag Physical C Sensor Size L x W x H C Sensor Weight C Sensor Cable Electrical C Power Environment 3 Orientation All altitude 180 yaw 90 pitch 180 roll Static Accuracy 2 5 RMS Dynamic Accuracy 4 0 RMS 0 2 Up to 160 measurements second 1 per serial port 1000 second Connects t
29. yStatus BYTE read only byID BYTE read only wSoftwareRev WORD read only 3D BIRD ID number Most significant byte contains integer part of the software revision number Least significant byte contains fractional part of the software revision number Contains error code defined in the Error Messages Section The bit assignments are Not used Not used Not used Not used Not used Not used 1 if 3D BIRD is running 0 if SD BIRD is not running 1 ifan error has been detected Error code is available in the byError in this structure 0 if no error is detected byError BYTE read only 15 Installation and Operation Guide Windows Driver ERI Type Read Power Up Description Write value bySetup BYTE 16 read write Ox1F The bit assignments are 0 Not used 1 Not used 2 1 Auto Align mode is ON 0 Auto Align mode is OFF Read 3D BIRD AUTO ALIGNMENT Section 4 3 for more details on Auto Align mode Note 8 In Auto Align mode anglesReferenceFr ame and anglesAngleAlign are ignored 3 1 output orientation in floating point format 0 output orientation in integer format Read 3D BIRD DATA FORMAT Section 5 3 2 for details on data formats 4 1 azimuth drift compensation is ON 0 azimuth drift compensation is OFF Turning azimuth drift compensation OFF allows you to reduce tracking distortion due to metal objects in a tracking area but can result in a slow accumulatio
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