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1. F MIP Monitor View Window Advanced Help ole a GPS Direct Mode nG elz Model Name Serial Number FWver Model Number Options Figure 35 GPS Direct Mode W4 LORD MicroStrain d SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual OEM System Integration 7 2 Sensor Wiring Only use power supplies within the operating range of the sensor or permanent sensor damage or personal injury could result There are two input power pins available each with different voltage ranges Connect only one at a time Observe connection polarity Sensor power and serial communications cables are available from LORD MicroStrain and come with the sensor starter kits These cables will have the seven pin circular connector on one end to connect to the sensor and a standard DB9 on the other end For the cable diagram see Heference Diagrams on page 73 The connector interface includes connections for the RS422 communications and sensor power communication power connector pin number signal Dos Tl ww NA aex Ca sie Ca trotuses s sro Ce Rem Figure 36 Connector Wiring W4 LORD MicroStrain gt SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual OEM System Integration 7 3 Alternate GPS Equipment Other external GPS receivers antennas and or cables can be used with the 3DM RQ1 45 Whe
2. l l Communication between the GPS receiver and GPS satellites is initiated when the 3DM RQ1 45 is first powered on The receiver will continuously search for satellites until a link is established When the link is established the GPS Monitor window in the MIP Monitor software will display the satellite and link statistics see Global Positioning System GPS Outputs on page 26 Communication with the satellites is required for proper sensor operation although some measurement outputs will be available without it W4 LORD MicroStrain 1 SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Basic Setup and Operations 3 6 Sensor Settings Device settings are stored in the sensor memory Only the configuration options that are available for the type of sensor being used will be available in the configuration menus 1 Toenter the settings menu right click on the sensor name and select Device Settings a Main menu tabs The main tabs break up the setting into broad functional groups for the types of measurement available For the 3DM RQ1 45 these include calculated meas urements Estimation Filter GPS metrics GPS and direct inertial sensor meas urements IMU AHRS b Message Format first sub menu tab Under each main menu tab there are additional sub menu tabs including the Message Format tab The Message Format tab allows the user to select the measurement type to be displayed and r
3. Readings and information are available directly from the GPS receiver Table 4 GPS Outputs describes the available outputs GPS reporting and recording can be enabled in the MIP Monitor software at Settings gt Device gt GPS Figure 17 GPS Settings To view and record GPS outputs see Basic Setup and Operations on page 1 1 FA Device Setup Estimation Filt r GPS UI Message Format Position LLH T 2 vi Hz Velocity NED v 4 vi Figure 17 GPS Settings W4 LORD MicroStrain En SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Measurement degrees latitude longitude meters height accuracy Position LLH GPS Time Position ECEF meters second velocity accuracy weeks 8 seconds meters meters second Velocity ECEF velocity accuracy meters second Speed speed accuracy DOP Data UTC Data time and date seconds Clock Information GPS Fix Information Space Vehicle Information SVI N A Hardware Status DGPS Information DGPS Channel Status Heading NED degrees Sensor Measurements Description position reported by GPS module only expressed in latitude longitude and height LLH with accuracy estimation Height is elevation or altitude relative to average sea level MSL reading or height relative to WSG 84 Ellipsoid AE reading velocity measurement reported by GPS module only with reference to the
4. een 58 8 Troubleshooting esse se se se sess ree e lee se se seines 59 8 1 Troubleshooting Guide ecce es Das e bere eer eas SERE ceo ee Mop oce Sabe bis gag na pad 59 8 2 Repair and Calibration sa coss cioe eoo Eee GALA GANG PD Dog ales pta ge Ud cre LAUDE soe ddce 63 8 3 Technical Support 2 eee 64 9 Maintenance AA uate 65 10 Parts and Configurations se esses selle llle lel 66 10 1 Standard Configurations sese ese esee e sess 12a 66 10 2 Accessories ms c cea I M LN eee CIS D LOC CDI Lina D IE 68 10 3 Sales Support eee ns aoo deese ot a ad ins Seated dte do de sete iden a SE 69 11 Specifications M E 70 12 Safety Information eee 72 12 1 Disposal and Recycling eee 72 ONE GA 73 13 1 Reference Diagrams ese e eese seme se esses reset lessen 73 13 1 1 Sensor Dimensions and Origin esse esses sese e sese 73 13 1 2 GPS Antenna Specifications sse esse esses essen 74 13 1 3 Power Supply Specifications eene ennemis e eee 75 13 1 4 Communication and Power Cables sese e eee 76 W4 LORD MicroStrain SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual 13 2 Reference Documents 2 0 00 cece ellllfllllzilllllll2 222222222 77 Nove Co I 222392 nc EUER ERR AE URI ODE EDDA RR RD SR ERR Geen 78 W4 LORD MicroStrain SENSING SYST
5. i 44 6 mm 1 76 in 76 2mm 70 1 mm 3 00 in 2 76 in ria a i Ko SO On A i 7 V SENSOR ORIGIN 44 9 mm 1 77 in T 10 3 mm A 40 in WP d 22 2 mm 4 UM Hu l 88 in 7 L 5 1 mm SENSOR ORIGIN 20 in Figure 41 3DM RQ1 Sensor Origin W4 LORD MicroStrain 79 SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Addendum 13 1 2 GPS Antenna Specifications These specifications describe the GPS antenna included in the 3DM RQ1 starter kit 15 0 mm 59 in iy 1 al T I ta 58 5 mm 2 30 in o a J s 48 0 m PT 1 1 89 m o pa Na 3 0m 121 87 in Standard mounting Cable pulling strength SMA straight 180 male Center Frequency Noise figure VSWR Output impedance Operating temperature Storage temperature 50 C to 90 C Relative humidity 95 non condensing Supply voltage 10 3 MA 1 mA 2 2 to 2 9 V dc 11 5mA 1mA O 5 V dc Current consumption W4 LORD MicroStrain e SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Addendum 13 1 3 Power Supply Specifications These specifications describe the power supply included in the 3D M RQ1 starter kit AC input voltage range AC input frequency range 0 8 A RMS maximum 120 V ac 0 5 A RMS maxi
6. LORD USER MANUAL 3DM ROQ1 45 Ruggedized Tactical Grade GPS Aided Inertial Navigation System GPS INS W4 LORD MicroStrain SENSING SYSTEMS W4 LORD MicroStrain SENSING SYSTEMS MicroStrain Sensing Systems 459 Hurricane Lane Suite 102 Williston VT 05495 United States of America Phone 802 862 6629 Fax 802 863 4093 http www microstrain com sensing support LORD com sensing sales LORD com Copyright O 2015 LORD Corporation 3DM 3DM DH 3DM DH3 3DM GX19 3DM GX2 3DM GX3 3DM GX4 15 3DM GX4 25 3DM GX4 45 3DM GX4 3DM RQ1 3DM GQ4 AIFP Ask Us How Bolt Link DEMOD DC DVRT DVRT Link EH Link EmbedSense ENV Link FAS A G Link G Link2 HS Link IEPE Link Inertia Link Little Sensors Big Ideas Live Connect LXRS MathEngine MicroStrain MVEH MXRS Node Commander PVEH RHT Link RTD Link SensorCloud SG Link Shock Link Strain Wizard TC Link Torque Link V Link Watt Link Wireless Simplicity Hardwired Reliability and WSDA are trademarks of LORD Corporation Document 8500 0051 Revision B Subject to change without notice 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Table of Contents 1 System Overview arara 7 2 Sensor Overview ua 8 2 1 Components AA 9 2 2 Interface and Indicators aaa 10 3 Basic Setup and Operations lese
7. C to 80 C and includes magnetometers and a low temperature model that can be used in environments as cold as 55 C but does not include magnetometers see Parts and Configurations on page 66 The 3DM RQ1 45 utilizes the strengths of integrated multi axis gyroscopes accelerometers and magnetometers as applicable in combination with GPS and temperature readings to provide highly accurate attitude and inertial measurements Each of the integrated sensors is especially good at certain tasks and it is the weighted combination of their outputs that provides the best estimations for position velocity and attitude All sensor measurements are temperature compensated and are mathematically aligned to an orthogonal coordinate system The combination of sensors environmental compensation and dual on board processing with an Extended Kalman Filter EKF allows the 3DM RQ1 45 to perform well in a wide variety of applications that require low noise drift gain and offset errors Uncertainty monitoring scale factor estimation and bias estimation outputs are available and settings for sensor filtering sensor noise sensor bias and more offer many adjustments for specific application needs The 3DM RQ1 45 communicates through a serial connection and is monitored by a host computer Sensor measurements and computed outputs can be viewed and recorded with the LORD MicroStrain MIP Monitor software that is provided with system starter kits
8. Choose a log file type Binary MIP Packet bin ng Log File Format Choose a log file type y Binary MIP Packet bin Spreadsheet File csv log file format 11750 11800 11850 11900 11950 12000 12050 12100 12150 12200 12250 12286 Figure 13 Data Recording 5 To end recording press the Arm Recording button again and select OK in the confirmation prompt window 6 Selectthe Stop Streaming icon to end sampling 7 Usethe red X in the upper right of the sensor monitoring window to exit monitoring mode W4 LORD MicroStrain ei SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Basic Setup and Operations 3 8 Viewing Data Acquired data is stored in either Binary bin or Comma Separated Values CSV format depending on what was selected at the initiation of data recording The files can be found in the directory specified at that time or in the default directory on the host computer desktop CSV files can be viewed with Microsoft Excel Quattro Pro Open Office or other CSV editors and spreadsheet programs Data recorded in Binary format requires a translation program utilizing the LORD MicroStrain MIP Data Communications Protocol to make it user readable File Edit View Toots Help Organize v f Open Print E mail Burn New folder z e Fr Favorites Name Size Item type EE Desktop wl 3DM GX4 45 6236 39291 Data Log 2 9 2015 1 1646 PM bin UB Downloads
9. Geographic Survey website This site and similar sites generate Local Magnitude F and Local Inclination values based on latitude and longitude entries In the calculator solution these values will be found in row MF column F and row MF column respectively peas in Model Name Serial Number FW Ver Model Number z refresh button 5 6223 3366 2006 6223 422 _ sensor list Performance Optimization COLLECT DATA edo VERIFY CALIBRATION OIO LIT nn 36 R Soft Iron Matrix oe Offset Figure 24 Sensor Menu local field co ordinates W4 LORD MicroStrain SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Performance Optimization 3 The sensor should automatically appear in the sensor list Figure 24 Sensor Menu If not use the Refresh button to query it and then select the sensor 4 Selectthe Arm Recording button next to Collect Data Figure 25 Collect Calibration Data The software will begin taking readings as indicated by the points counter in the graphing window The maximum number of points is 1000 however 100 is usually adequate As the readings are taken rotate the sensor or sensor platform in all possible directions to get a complete profile of the baseline magnetic influences throughout the sensor frame Data points will appear on the graph in red For mobile sensor platforms such as ground v
10. Gi 3DM GX4 45 6236 39291 Data Log 2 9 2015 11 33 04 AM csv Recent Places sy Libraries HE Computer amp Local Disk C Figure 14 Exploring Data Data in the data files is displayed in time sequence If measurements are set to different data rates not all time intervals will include a reading from each output that is being recorded W4 LORD MicroStrain SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Sensor Measurements 4 Sensor Measurements The 3DM RQ1 45 block diagram Figure 15 3DM RQ1 457 Block Diagram describes its primary hardware components and internal configuration Integrated Micro Electro Mechanical System MEMS sensors within the 3DM RQ1 45 are collectively known as the Inertial Measurement Unit IMU and include tri axial gyroscopes gyros tri axial accelerometers tri axial magnetometers and a pressure altimeter This technology provides direct measurements of acceleration angular rate magnetic field pressure delta Theta change in acceleration and delta v change in velocity Temperature and pressure sensors provide environmental information for measurement compensation and altitude estimations GPS information can be read directly and is also used in the computed navigation estimations Computed estimations for position velocity and attitude PVA are available outputs on the 3DM RQ1 45 To achieve these estimations the MEMS sensors and GPS
11. Indications of internal sensor damage may be seen as measurement offsets or drift when the sensor is in a neutral motionless position 5 14 Temperature Compensation All sensor conversion and calibration formulas include temperature compensation All computed outputs and IMU sensor outputs are automatically adjusted for local temperature see Direct Sensor Measurements IMU Outputs on page 24 W4 LORD MicroStrain a SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Sensor Installation 6 Sensor Installation 6 1 Sensor Mounting The 3DM RQ1 45 sensor housing is rated for indoor use only unless used inside a protective enclosure When using the internal GPS receiver the GPS antenna connector on the side of the sensor must be accessible The sensor has two mounting tabs with holes for fastening There are two additional holes used for precise alignment with 2mm dowel pins One of the holes is slotted to allow for relaxed pin positioning accuracy The sensor can be mounted in any orientation as required for the application see Sensor Reference Frames on page 31 The axes are labeled on the face of the sensor for reference and the sensor measurement origin is shown in the sensor dimensional drawing see Reference Diagrams on page 73 3 188 013mm 1255 0005 in 2X 3 28mm 129 in 76 2 mm 68 6 mm 70 1 mm 3 00 in 2 70 in 2 76 in 68 6 mm 2 70 in ALIGNMENT PIN ACTUAL DIMENS
12. Navigation System User Manual Maintenance 9 Maintenance There are no user serviceable parts on the 3DM RQ1 45 Removing the device cover or disassembling in any way voids the product warranty W4 LORD MicroStrain 92 SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Parts and Configurations 10 Parts and Configurations 10 1 Standard Configurations For the most current product information custom and OEM options not listed below refer to the LORD MicroStrain website or contact the LORD MicroStrain Sales Department Table 6 Model Numbers describes the standard models available at the time this manual was published Once a model is selected the part number is further defined by desired configuration and interface options The model determines the first four digits of the product part number the options are indicated in the last four digits Figure 40 Standard Part Numbers model number 3DM RQ1 xx sensor configuration 45 gyroscopes accelerometers magnetometer GPS EKF model number part number triaxial accelerometers triaxial gyroscope triaxial magnetometer internal GPS receiver altitude measurements Adaptive Kalman Filter Extended Kalman Filter Table 6 Model Numbers W4 LORD MicroStrain m SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Parts and Configurations The same options are available in each model and are indicated i
13. Streaming is an example of Sensor Data Monitoring which displays the selected IMU AHRS measurements In data monitoring windows no data will be displayed until data streaming is started and no data will be recorded even if it is being viewed until data recording is initiated armed In the example below the y axis of the graph indicates data points the x axis is the measurement units and there is a tab for each measurement 1 Right click on the device in the main window and select Sensor Data Monitoring 2 Press the Start Streaming icon to start sampling Figure 12 Data Streaming W4 LORD MicroStrain a SENSING SYSTEMS Basic Setup and Operations 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Basic Setup and Operations 3 To record data select the Arm Recording icon at any time 4 Select the type of data file to generate Binary or CSV The CSV file is the most common and can be viewed and processed by data editors such as Microsoft Excel 9 If the data is recorded in Binary format it will require a translation program that utilizes the LORD MicroStrain MIP Data Communications Protocol to make it user readable arm data recording Ca os x codes Device Status c Recording Data 3 s 0 O Radians Degrees daa Run Time 00 00 22 700 bila ag DONE URSS Acceleration Angular Rate Pressure Moose x EM Eus v EM Mosa z HN
14. Support see Technical Support on page 64 To use the packet builder select Advanced gt Packet Builder from the MIP Monitor main window Figure 33 Packet Builder The sensor must be in the Standard communications mode to use this feature Not Connected nun enter field descriptor and data sendto sensor Timeout 200 Sent Packet sensor reply pangan Timed Out umm Figure 33 Packet Builder W4 LORD MicroStrain SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual 52 7 1 2 Sensor Direct Mode The MIP Monitor software can be used to put the sensor in a mode that allows direct programmatic access to the internal Inertial Measurement Unit IMU The IMU has its own processor and protocol commands and native data outputs from the individual IMU sensors that may not be available in MIP Monitor When in Sensor Direct mode the device normal functionality is not available The protocol commands used to interface with the IMU are a subset of the standard LORD MicroStrain MIP Data Communications Protocol and are further described in the LORD MicroStrain MIP Data Communications Protocol manual For additional information contact LORD MicroStrain Technical Support see Technical Support on page 64 To enter this mode select Advanced Communications Sensor Direct from the MIP Monitor main window Once in this mode the device status message will indicate Sens
15. available Euler angles representation of Attitude orientation expressed as roll pitch and yaw Euler RPY RPY with one sigma uncertainly estim ation available transformation matrix that describes Attitude orientation with reference to the Earth Matrix Centered Earth Fixed ECEF coordinate system unit quaternions representation of orientation with one sigma uncertainly estimation available absolute or linear acceleration readings Acceleration with reference to either the sensor or Linear and meter second vehicle frame depending on settings with Compensated bias and scale readings and one sigma uncertainty estimations also available measured angular rate corrected using the Compensated estimated gyroscope scale factor and bias radians second Angular Rate with reference to either the sensor or vehicle frame depending on settings estimated WGS84 gravity vector with Gravity Vector meter second reference to either the sensor or vehicle frame depending on settings WSG 84 Local 2 Gravity Magnitude local WGS84 gravity vector magnitude heading used to update EF calculated from Heading Update the selected heading source magnetometer external etc with degrees position Position LLH meters height uncertainty Velocity NED Attitude Quaternion W4 LORD MicroStrain x SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Sensor Measurements Measurement Units Descript
16. button depending on the application Spherical Fitis often best for applications with calibration rotations restricted to a 2D plane for example a ground vehicle or a boat because it will not likely not be rotated on all three axis Ellipsoid Fit is generally a better correction when soft iron effects are present but only if enough data points can be collected in all quadrants If the range of motion is restricted in one dimension the Spherical Fit may be the best choice If there are enough points in all dimensions the Ellipsoid Fit may be better Generally if the Spherical and Ellipsoid Fits are close in the mean diameter then the Ellipsoid Fit will be the best choice 7 Click Write Spherical Fit or Write Ellipsoid Fit accordingly This will write the values to the sensor memory 8 Cycle power to the sensor when prompted and then use the Refresh button if needed to re establish communication with the sensor 9 Start a calibration verification by clicking the Start Streaming Data button next to Verify Calibration Figure 26 Verify Calibration Rotate the device in all orientations in the same way as during calibration When completed click the Stop Streaming Data button next to Verify Calibration The resulting data points should be on or near the spherical grid Hold the left mouse button and drag to rotate the image The mouse wheel can be used to zoom in and out If the fit is not close the sensor may require re calibration If
17. not subject to the integration errors inherent in an inertial only solution Refer to Table 5 Estimation Filter Outputs for a complete list of outputs In the MIP Monitor software there are user settable options for how the estimations are made These settings are available at Settings Device EF With the Help window open accessed with the Help button mousing over context sensitive settings provides a detailed explanation of the setting Figure 18 Estimation Filter Settings r Va Device Setup _ Estimation Filter GPS IMU AHRS Message Format EF Options EF Advanced Geographic Mounting Attitude Euler RPY n nac motas E Acceleration Linear Estimation Filter G IMU Context Hel 8 para se E m E p aa Message Format EFOptions EF Advanced Geographic Mounting 4p Heading Update Input Source Accel Bias Uncertainty fam mt a papag a q a c Select the source for heading updates to the Accel Scale Factor Vehicle Dynamics Mode Portable Y Estimation Filter If using the internal aaa magnetometer the magnetometer inclination GPS Update Source Internal GPS A angle dip angle is calculated and tested against the World Magnetic Model value When an error of Heading Update Input Source Internal Maanaometer A 30 degrees or more is detected the heading is marked as invalid and is not used by the filter To f Enab
18. solution are blended together in a loosely coupled Extended Kalman Filter on a dedicated filter processor Additional user settings such as measurement filtering biasing and tolerance values offer adjustments for specific applications V external antenna Ta GPS receiver 4Hz digital temperature triaxial gyroscope digital temperature triaxial accelerometer digital temperature triaxial digital magnetometer 32 Bit Cortex 32 Bit Cortex MOMEN IMU MCU 16Bit 10 kHz FA ADC Extended Kalman 500 output Filter Hz manager R 422 user Sle 500 digital Hz filters 7 Pin Circular Glenair Series 801 Input Output sculling integral calculation EEPROM user selectable parameters EEPROM factory calibration coefficients temperature g sensitivity and orthogonality compensation 1kHz coning and Complementary Filter digital atmospheric pressure altimeter 3DM RQ1 45 Figure 15 3DM RQ1 45 Block Diagram W4 LORD MicroStrain es SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Sensor Measurements 4 1 Direct Sensor Measurements IMU Outputs The sensors in an Inertial Navigation System INS from which measurements for navigation and orientation are obtained are collectively known as the Inertial Measure
19. 7SA Table 9 Sensor Mating Connector W4 LORD MicroStrain se SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Parts and Configurations 10 3 Sales Support Products can be ordered directly from the LORD MicroStrain9 website by navigating to the product page and using the Buy feature http www microstrain convinertial For further assistance our sales team is available to help with product selection ordering options and questions Sales Support sensing sales LORD com Phone 802 862 6629 Fax 802 863 4093 9 00 AM to 5 00 PM Eastern Time US amp Canada W4 LORD MicroStrain d SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Specifications 11 Specifications EE NES Triaxial accelerometer triaxial gyroscope triaxial Integr nsor ag relad censors magnetometer temperature sensors and GPS receiver Inertial Measurement Unit IMU outputs acceleration angular rate magnetic field ambient pressure deltaTheta deltaVelocity Computed outputs Extended Kalman Filter EKF LLH position NED velocity attitude estimates in Euler angles quaternion orientation Data outputs matrix bias compensated angular rate pressure altitude gravity free linear acceleration gyroscope and accelerometer bias scale factors and uncertainties gravity and magnetic models and more Global Positioning System outputs GPS LLH position E
20. CEF position and velocity NED velocity UTC time GPS time SV GPS protocol access mode available Inertial Measurement Unit IMU Sensor Outputs Accelerometer Gyroscope Magnetometer 300 sec standard 2 5 Measurement range 59 ps 4 na 4900 Gauss sec options Non linearity 10 03 fs 0 03 fs 10 4 o6 fs Scale factor stability Aajustabie bandwidth zsoHzimag isoH2mad O E Ro ces 0 06 s RMS g Vibration rectification error VRE 0 025 e ida PEE 4 stage filtering analog bandwidth filter to digital sigma delta wide band anti aliasing filter to user adjustable low pass filter coning and sculling integrals computed at 1 kHz Sampling rate 10kHz 10kHz IMU data output rate 1 Hz to 500 Hz Magnetometers are not available with the 3DM RQ1 low temperature option W4 LORD MicroStrain Q SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Specifications Computed data output 1Hz to 500 Hz rate Global Positioning System GPS Outputs 50 channel u Blox 6 engine GPS L1 frequency C A code SBAS WAAS EGNOS MSAS GPS data output rate 1Hzto4Hz A Cold start 36 sec aided start 36sec Time to first fix hot start lt 1 sec Sensitivit Tracking 159 dBm cold start 147 dBm SEN hot start 156 dBm Velocity accuracy Heading accuracy Horizontal position GPS 2 5 m CEP accuracy SBAS 2 0 m CEP Time pulse signal 30 nsec RMS accuracy 60 nsec 99 Comm
21. EMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual System Overview 1 System Overview The LORD MicroStrain family of industrial and tactical grade inertial sensors provide a wide range of triaxial orientation measurements and computed navigation solutions In all models the Inertial Measurement Unit IMU includes direct measurement of acceleration and angular rate and some also offer atmospheric pressure readings Sensor measurements are processed through an Extended or Adaptive Kalman Filter EKF AKF to produce highly accurate computed outputs The computed outputs vary between models and include pitch and roll in the 3BDM GX4 15 IMU VRU model the full attitude solution pitch roll and yaw in the 3DM GX4 25 AHRS model and the full PVA position velocity and attitude solution in the 3DM GX4 45 and 3DM RQ1 45 GPS INS and 3DM GQ4 45 GNSS INS models The Kalman filter provides EKF technologies to compensate for magnetic and linear acceleration anomalies as applicable to the model It also provides sensor bias tracking auto zero update options ZUPT and user adjustable sensor noise factors All sensors are fully temperature compensated and calibrated over the full operating temperature range The use of Micro Electro Mechanical System MEMS technology allows for small lightweight devices Sensors are integrated into customer systems using serial communication protocols such as RS422 RS232 and USB Th
22. ION SECONDARY ALIGNMENT SLOT FOR OPTIONAL USE WITH 125 DOWEL PIN 78 2 mm 3 08 in Figure 31 Mounting the Sensor W4 LORD MicroStrain a SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Sensor Installation 6 2 GPS Antenna Installation The GPS antenna cable is plugged into the non magnetic SMA to MMCX adapter cable supplied with the 3DM RQ1 45 The adapter cable is then plugged into the 3DM RQ1 45 housing see Interface and Indicators on page 10 The GPS antenna provided with the starter kit can be mounted installing two M3 screws into the base of the antenna Figure 32 GPS Antenna Mounting Alternate antenna and cables as well as external GPS receivers can be used with the 3DM RQ1 45 when appropriate for the application see Alternate GPS Equipment on page 55 The antenna must be mounted with an unobstructed line of sight to the sky in order to establish GPS satellite links This can be accomplished through a window or more optimally by placing the antenna outdoors Use the GPS Monitor in the MIP Monitor software to observe satellite link strength during installation to optimize placement see Global Positioning System GPS Outputs on page 26 For the most accurate GPS readings and EF outputs the antenna position with reference to the sensor should be carefully measured and entered as the Antenna Offset setting see GPS Antenna Offset on page 42 When using GPS antennas with
23. MIP Data Communications Protocol to write custom software applications with expanded or specific feature sets needed for the application MIP Monitor includes a message building tool that can be used to streamline this process For more information see OEM System Integration on page 50 In this section hardware and software setup is described including an overview of the MIP Monitor software menus required to configure a sensor and begin data acquisition This is intended as a quick start guide and is not a complete demonstration of all system or software features and capabilities Pa 30M Gx4 25 6234 0043 Sensor Data A oO EN GOD device status Streaming Data o Cear ME o Rodians Degrees E gt Gun Time 00 00 56 450 Acceleration AngularRate Pressure Figure 3 Acquiring Sensor Data with MIP Monitor W4 LORD MicroStrain n SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Basic Setup and Operations 3 1 Software Installation RQ1 sensor operation Sensors will not be recognized without these drivers l l l The MIP Monitor Software Suite includes hardware drivers required for 3DM installed l To install the MIP Monitor Software Suite on the host computer complete the following steps 1 Launch the software installation menu by inserting the software CD or thumb drive into the host computer or by running the Autorun exe file from the software dire
24. North East Down coordinate system and with accuracy estimation time acquired from the satellites position reported by GPS module only with reference to the Earth Centered Earth Fixed ECEF Cartesian coordinate system velocity reported by GPS module only with reference to the Earth Centered Earth Fixed ECEF Cartesian coordinate system space as reported by GPS module only Dilution of Precision DOP ratings for accuracy of GPS readings Coordinated Universal Time UTC to frac tional seconds with leap year seconds adjustment and confidence indicator Also week number month date and year ity of the satellite connections number and signal strength antenna individual satellite signal strength indicator future use heading reported by GPS module only with reference to the North East Down coordinate system and with accuracy estimation Table 4 GPS Outputs 27 W4 LORD MicroStrain SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Sensor Measurements 4 3 Computed Outputs Estimation Filter The computed outputs are measurements from the 3DM RQ1 45 IMU sensors and GPS receiver that are blended through an Extended Kalman Filter EKF algorithm The Kalman Filter produces a better estimation of position velocity and attitude PVA outputs than can be achieved by the inertial sensors or the GPS individually This estimate is output at a higher data rate than GPS and is
25. WG BLU n Ei m 4 26 AWS LOK 8 6 422 Z DO SL 26AWG BLK j JE 24 ab TN 26 AWG RED AS T q NG sam dd S DETAIL B 2 sleeve 1 pin Figure 42 Communications and power cable PN 4005 0009 W4 LORD MicroStrain s SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Addendum 13 2 Reference Documents Many references are available on the LORD MicroStrain9 website including product user manuals technical notes and quick start guides These documents are continuously updated and may provide more accurate information than printed or file copies Document Where to find it 3DM RQ1 45 Software Developers Kit http www microstrain com software development kits sdks 3DM RQ1 45 MIP DCP Manual http www microstrain com support docs Product Technical Notes http www microstrain com support docs Product Application Notes http www microstrain com applications Product Datasheets http www microstrain com lord microstrain inertial sensors all products NIST Calibration Procedures http www nist gov calibrations ASTM Testing Procedures http www astm org Standard standards and publications html Table 10 Document Resources W4 LORD MicroStrain e SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Addendum 13 3 Glossary A AID Value The digital representation of analog voltages in an analog to digital A D conve
26. and also available as a free download from the LORD MicroStrain website Alternatively users can write custom software with the LORD MicroStrain open source data communication protocol The data is time aligned and available by either polling or continuous stream Figure 1 3DM RQ1 45 Sensor W4 LORD MicroStrain SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Sensor Overview 2 1 Components The 3DM RQ1 45 can be purchased by itself or in a starter kit that includes everything needed to begin using it The starter kits include the 3DM RQ1 45 inertial sensor a serial communication adapter RS422 to USB USB cable sensor interface cable a power supply with international plug adapters an external GPS antenna with a three meter cable and all software drivers and documentation This manual covers all items included in the starter kits For a complete list of available configurations accessories additional system products and ordering information see Parts and Configurations on page 66see Parts and Configurations on page 66 Description Quantity 3DM RQ1 45 Inertial Sensor User Documentation and Calibration Certificate Table 1 Starter Kit Components List W4 LORD MicroStrain P SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Sensor Overview 2 2 Interface and Indicators The 3DM RQ1 45 sensor interfaces include a communications and po
27. applying a cor rection or calibration factor Complementary Filter CF A term commonly used for an algorithm that combines the readings from multiple sensors to produce a solution These filters typically contain simple filtering elements to smooth out the effects of sensor over ranging or anomalies in the magnetic field Configuration A general term applied to the sensor indicating how it is set up for data acquisition It includes settings such as sampling rate active measurements measurement settings offsets biases and calibration values Convergance when mathematical computations approach a limit or a solution that is stable and optimal W4 LORD MicroStrain ii SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Addendum D Data Acquisition the process of collecting data from sensors and other devices Data Logging the process of saving acquired data to the system memory either locally on the device or remotely on the host computer Data rate the rate at which sampled data is transmitted to the host Delta Theta the time integral of angular rate expressed with refernce to the device local coordinate system in units of radians Delta velocity the time integral of velocity expressed with refernce to the device local coordinate system in units of g second where g is the standard gravitational constant E ECEF Earth Centered Earth Fixed a reference frame that is fixed to the earth a
28. at Device Settings EF settings Geographic Refer to the 3DM RQ1 45 dimensional diagram for the location of the measurement origin see Reference Diagrams on page 73 sensor frame VALORD MicroStrain 3DM RQ1 45 4 GPS Aided inertial Navigaffon Systen 6239 4270 20038 CE nsaz paw 0 rotation Euler angles North with device level and in orientation shown Figure 21 Sensor Frame W4 LORD MicroStrain ind SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Sensor Measurements 4 4 4 Platform Frame The 3DM RQ1 45 includes the option to define an orientation transformation and offset distance from the sensor frame to a user definable platform frame This is useful when the sensor cannot be mounted in the same location or orientation as the desired reference point on the platform frame The transformation from sensor to platform frame is defined with Euler angles and is expressed as a rotation from the sensor frame to the platform frame The offset is the location of the origin of the platform reference frame with respect to the origin of the sensor frame expressed in the sensor frame In the following example Figure 22 Platform Frame Transformation the user has defined the desired reference point on the platform frame to be located at the front bumper of the vehicle In accordance with aircraft co ordinate systems the platform frame is oriented with the x axis pointed in the forwa
29. at contains a set of status flags These flags pertain to high covariance values for position velocity attitude and inertial sensor parameters These flags should be monitored and cross checked against the corresponding uncertainty fields when they appear This can assist in determining how trustworthy the solution generated by the Kalman filter is When the filter is first initialized it is likely that some of these values will be beyond limits and the flags may be asserted This fact should be taken into account when developing automated monitoring systems 5 12 Vibration Isolation The 3DM RQ1 45 should be isolated from strong vibrations a much as possible Strong continuous vibrations appear as unaccounted noise to the estimation filter degrading its performance 46 W4 LORD MicroStrain SENSING SYSTEMS Performance Optimization 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Performance Optimization 5 13 IMU Sensor Calibration All of the internal sensors in the 3DM RQ1 45 are calibrated when the device is manufactured and the calibration values are saved in the device memory With the exception of the magnetometer field calibration see Magnetometer Calibration on page 36 recalibration is not required unless the device has been under conditions that exceed the operating specifications For example if the sensor has been exposed to excessive shock beyond the rated g force performance may be compromised
30. ations where a non immediate or potential hazard presents a lesser threat of injury that could result in minor or moderate injury to workers and or the general public Situations where a non immediate or potential hazard N O TI C E presents a risk to damage of property and equipment May be used to indicate important operational conditions 12 1 Disposal and Recycling ACAUTION MA The 3DM RQ1 contains internal printed circuit boards and electronic components These items are known to contain toxic chemicals and heavy metals that are harmful to humans health and the environment Disposal is subject to federal and local laws Do not discard the device in the trash Follow proper electronic waste disposal protocol as dictated by federal and local authorities Some states also have programs for extracting reusable parts for recycling f i W4 LORD MicroStrain fe SENSING SYSTEMS Addendum 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual 13 Addendum 13 1 Reference Diagrams The diagrams in this section are to intended to aid in product installation and troubleshooting For more information contact LORD MicroStrain Technical Support see Technical Support on page 64 13 1 1 Sensor Dimensions and Origin This diagram describes the sensor physical specification including the measurement point of origin 88 3 mm pi 3 48 in 78 2 mm e 3 08 in O 79
31. cessed by an onboard algorthim such as an Estimation Filter to produce a standardized output of attitude and heading Algorithm In math and science an algorithm is a step by step process used for calculations Altitude the distance an object is above the sea level Angular rate The rate of speed of which an object is rotating Also know as angular frequency angular speed or radial frequency It is typically measured in radians second W4 LORD MicroStrain s SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Addendum API Applications Programming Interface A library and or template for a computer program that specifies how components will work together to form a user application for example how hardware will be accessed and what data structures and variables will be used ASTM Association of Standards and Testing a nationally accepted organization for the testing and calibration of technological devices Attitude the orientaion of an object in space with reference to a defined frame such as the North East Down NED frame Azimuth A horizontal arc measured between a fixed point such as true north and the vertical circle passing through the center of an object Bias A non zero output signal of a sensor when no load is applied to it typically due to sensor imper fections It is also called offset C Calibration to standardize a measurement by determining the deviation standard and
32. ctory in Windows Explorer 2 In the software installation Figure 4 Software Installation Menu menu select Install MIP Monitor Software and follow the on screen prompts to completion 3 If the sensor has internal magnetometers select Install MIP Hard and Soft Iron Calibration Software and follow the on screen prompts to completion This is used for magnetometer field calibration 4 Select Install Inertial Drivers to install the hardware drivers required for operating the sensors and follow the on screen prompts to completion 5 Select Install Inertial Manuals if desired and exit the menu 6 Plug the communications adapter into the host computer and the drivers will install automatically Reboot the computer when complete LORD MicroStrain i SENSING SYSTEMS Inertial Software Install MIP Monitor Software Install MIP Hard and Soft Iron Calibration Software Install Inertial Drivers Install Inertial Manuals Copyright 2015 LORD MicroStrain Figure 4 Software Installation Menu W4 LORD MicroStrain de SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Basic Setup and Operations 3 2 System Connections Power is applied to the sensor through an external power supply such as the one provided in the starter kit Use only power supplies within the operating range of the sensor or damage or injury could result Once power is applied the sensor is on a
33. duct if returned to LORD MicroStrain within the warranty period This warranty does not extend to any LORD MicroStrain products that have been subject to misuse alteration neglect accident incorrect wiring mis programming or use in violation of operating instructions furnished by LORD MicroStrain It also does not extend to any units altered or repaired for warranty defect by anyone other than LORD MicroStrain Non Warranty Repairs All non warranty repairs replacements include a minimum charge If the repair replacement charge exceeds the minimum LORD MicroStrain will contact the customer for approval to proceed beyond the minimum with the repair replacement W4 LORD MicroStrain ee SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Troubleshooting 8 3 Technical Support There are many resources for product support found on the LORD MicroStrain9 website including technical notes FAQs and product manuals http www microstrain com support overview aspx For further assistance our technical support engineers are available to help with technical and applications questions Technical Support sensing support LORD com Phone 802 862 6629 Fax 802 863 4093 SKYPE microstrain orientation support Live Chat is available from the website during business hours 9 00 AM to 5 00 PM Eastern Time US amp Canada W4 LORD MicroStrain o SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial
34. e The model takes into account the oblateness of the Earth s surface A point P on or above the Earth in the WGS84 coordinate system is notated as latitude longitude A and height above the reference ellipsoid h Prime Meridian KEY P point of measurement h height above the Earth A longitude Equator q latitude Figure 19 World Geodetic System WGS84 Reference Ellipsoid W4 LORD MicroStrain A SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Sensor Measurements 4 4 2 North East Down NED Frame The North East Down NED frame is a local coordinate frame which is formed by a tangent plane located at a particular point current coordinates on the WGS84 reference elipse The NED frame is constructed with the true North vector along the line of longitude the East vector along the line of latitude and the Down vector normal to and towards the tangent plane Figure 20 North East Down Frame The assumption when using the NED frame is that the local surface can be reasonably approximated by a flat plane For most applications this assumption is valid and provides a more intuitive reference frame for expressing velocity and attitude information than a global frame The 3DM RQ1 45 reports velocity in this frame and attitude with respect to this frame KEY L fL tude A ME ia P point of measurement A longitude q latitude Line of Latitude q P L
35. e LORD MicroStrain MIP Monitor software can be used for device configuration real time measurement monitoring and data recording The LORD MicroStrain MIP Data Communications Protocol that is used to communicate with LORD MicroStrain inertial sensors is also available for users who want to develop customized software solutions Because of the unified set of commands across the sensor family it is easy to migrate code from one inertial sensor to another Common applications of LORD MicroStrain inertial sensor products include vehicle health monitoring platform stabilization down hole and drilling operations and inertial navigation Systems such as unmanned air and ground vehicles and personal navigation systems Position Velocity Attitude G Inclination N W4 LORD MicroStrain i SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Sensor Overview 2 Sensor Overview The 3DM RQ1 45 is a high performance ruggedized Inertial Aided GPS Navigation System GPS INS that combines micro inertial sensors and a high sensitivity embedded Global Positioning System GPS receiver for use in a wide range of tactical grade applications The 3DM RQ1 45 has been tested to meet the DO 160G Environmental Conditions and Test Procedures for Airborne Equipment making it suitable for outdoor and harsh environments There are two models available the standard model which has a temperature range of 40
36. e a navigation solution that incorporates the strengths of the individual systems while minimizing their weaknesses The GPS solution is bounded and typically very good but it is susceptible to several error sources Due to the geometry of the satellite constellation vertical position accuracy is typically less than horizontal position accuracy Additionally errors from atmospheric and multipath effects as well as clock error further degrade the accuracy of the solution Arguably the largest problem with a GPS only solution for navigation is that a single GPS receiver cannot give users the orientation of the platform unless the sensor coordinate frame is co aligned with the platform velocity vector For a lot of applications this assumption is too restrictive For example the pitch of an aircraft typically does not match the angle the velocity vector makes with the horizon This occurs because the aircraft s wings must be at an angle with the oncoming air to generate lift Making the assumption that the two values are the same and using the pitch angle as an input to an autopilot is a mistake In order to obtain the attitude of the vehicle something more is needed In a conventional Attitude and Heading Reference System AHRS several sources of error exist when making attitude estimates First the algorithm assumes the acceleration vector is dominated by Earth s gravity with only transient linear accelerations When long duration linear accel
37. e device memory for the future use the Save Current Settings feature First adjust the sensor settings to the desired values Next select Settings Save Current Settings from the main window Figure 10 Save Sensor Settings The setting will now remain intact when the sensor is powered off and then on again To recall the last saved settings select Settings Load Startup Settings To revert the settings back to the factory defaults select Settings gt Load Default Settings Jl te File Control ES View Window Advanced Help Device GOO system Not Connected els Model Nam Capture Gyro Bias FW ver Model Number Options Save Current Settings Load Startup Settings Load Default Settings Figure 10 Save Sensor Settings W4 LORD MicroStrain 18 SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Basic Setup and Operations 3 7 Data Monitoring and Recording Format tabs in the Device Setup menu are displayed and recorded see Sensor l l l During viewing and recording only the outputs that are selected in the Message l l l Settings on page 17 l Throughout the MIP Monitor menus the same icons are used to control data streaming sampling and recording Table 2 Sampling and Recording Controls These icons can be found in the MIP Monitor main window icon toolbar and in each data monitoring window The same commands are also found in the main
38. ecorded b1 and the data rate rate at which data is sent to the host computer in samples second b2 c Measurement parameters other sub menu tabs Available sub menu tabs besides the Message Format tab depend on the selected main menu tab These tabs include the configurable settings for each measurement d Scrolling used to navigate to additional sub menus e Help menu Enable the context sensitive help menu for explanations of specific settings see Interactive Help Menu on page 14 Estimation Filter e GPS EINE anns gt Message Format EF Options EF Advanced Geographic Mounting 4 og g b1 Figure 9 Device Settings Menu W4 LORD MicroStrain M SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Basic Setup and Operations When selecting sensor and estimation outputs to be recorded communications bandwidth considerations should be taken into account Lower baud rates equate to lower communications bandwidth which can be consumed quickly by selecting a large number of measurements at high sample rates Overrunning the communications bandwidth will result in dropped communications packets and lost data 3 6 4 Saving Configurations Sensor settings are saved temporarily by selecting the OK button in the Device Setup window after configuration but they are lost when the device is powered off To save current settings in th
39. ed by nearby objects MEMS Micro Electro Mechanical System The technology of miniaturized devices typically made using micro fabrication techniques such as nanotechnology The devices range in size from one micron to several millimeters and may include very complex electromechanical parts N NED North East Down A geographic reference system O OEM acronym for Original Equipment Manufacturer Offset A non zero output signal of a sensor when no load is applied to it typically due to sensor imper fections Also called bias Orientation The orientaion of an object in space with reference to a defined frame Also called attitude P Pitch In navigation pitch is what occurs when vertical force is applied at a distance forward or aft from the center of gravity of the platform causing itto move up or down with respect to the sensor or platform frame origin W4 LORD MicroStrain SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Addendum Position The spatial location of an object PVA acronym for Position Velocity Attitude Q Quaternion Mathematical notation for representing orientation and rotation of objects in three dimensions with respect to the fixed earth coordinate quaternion Quaternions convert the axis angle rep resentation of the object into four numbers and to apply the corresponding rotation to a position vector representing a point relative to the origin R Resolutio
40. ehicles move the platform as much as possible to simulate actual use without exposing it to excessive magnetic sources such as driving over railroad tracks or near steel pilings The intention is to get a baseline of the platform in a neutral environment that still accounts for the platform itself in all orientations For stationary platforms the baseline may include significant magnetic influences that will be present during operation KA MIP Hard amp Soft Iron Calibration E ES o GA bobak select sensor collect data LOCAL MAGNETIC FIELD PARAMETERS WMM on Web J rotate sensor throughout range Local Magnitude F 53630 nT Local Inclination E 694 qr ent E RR ng choose best fit a 7 Soft Iron Matrix Offset 1201 0000 0000 90004 0 000 1 401 0 000 0 011 0 000 0 000 1401 0 012 Write Spherical Fit write calibration to sensor PLOT CONTROL Clear Plots Re Plot Data Plot Local Field DATA FILE save Data fe save calibration Figure 25 Collect Calibration Data 5 When all possible rotations are completed select Stop Streaming next to Collect Data and then select Save Data to save the calibration data points on the host computer Figure 25 Collect Calibration Data W4 LORD MicroStrain PE SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Performance Optimization 6 Clickthe Spherical Fit or Ellipsoid Fit
41. em User Manual 5 11 Estimation Filter Convergence 5 11 1 Initial Convergence After a successful initialization a period of convergence for the Kalman filter states occurs Position velocity roll angle and pitch angle typically converge very quickly Heading accelerometer bias and gyro bias take more time to converge If the initial attitude estimate provided to the filter is well outside of the true attitude the filter may diverge and never recover This is most likely to occur for the heading estimate when a poor value is used for initialization and when the vibration environment is strong Should this occur it is recommended that the filter be reset and new attitude estimate provided Refer to the 3DM RQ1 45 MIP DCP Manual for the various ways of providing an initial attitude estimate through a user designed interface 5 11 2 Bias Convergence Accurate estimation of the biases can take several minutes to converge therefore after the filter is initialized the free inertial performance will continue to improve until the bias estimations settles The MEMS sensor manufacturers quote bias drift stability numbers which correspond to the expected drift in bias while the sensor is operating The filter attempts to track the changing biases over time and a user can expect these bias estimates will be non constant during a navigation run 5 11 3 Output Uncertainty The 3DM RQ1 45 estimation data set includes a filter status field th
42. em User Manual Performance Optimization problems but is susceptible to the errors described above A more accurate estimation of position velocity and attitude can be found by fusing the data from these two independent systems using a Kalman filter The 3DM RQ1 45 runs aloosely coupled Extended Kalman Filter In a loosely coupled filter the inertial sensors in the IMU are used to propagate the state estimation at a high rate 500 Hz whereas the GPS position and velocity measurements are used to periodically correct the state 4 Hz This form of Kalman filter is called a sensor fusion filter as it combines similar information from multiple sources in a complementary way This combination takes into account the statistical properties of the sensors used providing a better estimate of the true state than either system individually The 3DM RQ1 45 has a full state dynamics model The state propagation utilizes Newton s and Euler s equations of motion with the acceleration and angular rate treated as control inputs In addition to the GPS measurement the IMU magnetometer is available to correct heading mis alignments which occur during periods of low dynamics The magnetometer corrections can be disabled for applications where large non constant magnetic interference sources exist which would impair their use such as when mounting the 3DM RQ1 45 on a gimbal close to the frame of a ground vehicle The Kalman filter estimates the full sta
43. en completed Save Current Settings Load Startup Settings KZ MIP Monitor E SO File Control Settings View Window Goole ole Model Name IDI Gyro Bias capture complete Figure 27 Gyro Bias Capture W4 LORD MicroStrain id SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Performance Optimization 5 3 Heading Drift and Compensation There are four options for the heading reference source GPS velocity the magnetometer an external reference or none If the setting is an external reference the user has to provide a heading reference If the setting is none the estimated heading will drift when little or no changes in velocity are sensed e g when stationary or traveling in the same direction at a constant velocity To select between the heading sources in MIP Monitor select Settings gt Device gt Estimation Filter 5 EF Options EF settings Estimation Filter GPS IM R Message Format options v Advanced Geographic Mounting BILI Vehicle Dynamics Mode Portable y GPS Update Source Internal GPS v Heading Update Input Source Internal Magnetometer Enable Auto EF Initialization Enable EF Velocity ZUPT Enable Fast Convergence 0 0000 Theshold Enable Angular Rate ZUPT Figure 28 Heading Source Setting W4 LORD MicroStrain id SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Naviga
44. erations are experienced such as when an aircraft performs a sustained 2G turn the AHRS wvill report incorrect pitch and roll angles This error is the direct result of the assumption that the accelerometers are only sensing Earth s gravity A second source of error occurs when the device attempts to measure the Earth s magnetic field This field is very weak compared to the numerous magnetic anomalies typically found on platforms or naturally occurring close to the Earth s surface A third source of error occurs when attempting to navigate between geographic way points expressed in latitude and longitude This error is due to the difference between detecting magnetic north which is output by the AHRS sensor and true north which is used to define lines of longitude If the AHRS is always used in one geographical location the user can correct for this difference using a constant offset If the AHRS is used over a wide range of longitude the magnetic declination must be calculated from a magnetic model or obtained from GPS subsystem which outputs this data The greatest problem with an AHRS is that it is an attitude only device and requires a GPS for position and velocity As a first attempt at an improved navigation solution a user could get position and velocity from a GPS receiver and attitude from an AHRS This is an acceptable solution for many navigation W4 LORD MicroStrain i SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation Syst
45. erence to a co ordinate frame such as lattitude and lon gitude Host computer The host computer is the computer that orchestrates command and control of attached devices or networks IMU Inertial Measurement System Inclinometer device used to measure tilt or tilt and roll Inertial pertaining to systems that have inertia or are used to measure changes in inertia as in angular or linear accelerations INS Inertial Navigation System systems that use inertial measurements exclusively to determine position velocity and attitude given an initial reference K Kalman Filter alinear quadratic estimation algorithm that processes sensor data or other input data over time factoring in underlying noise profiles by linearizing the current mean and covariance to pro duces an estimate of a system s current state that is statistically more precise than what a single measurement could produce W4 LORD MicroStrain 9 SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Addendum L LOS Line of Sight Describes the ideal condition between transmitting and receiving devices in a wireless network As stated it means they are in view of each other with no obstructions Magnetometer A type of sensor that measures the strength and direction of the local magnetic field with refernce to the sensor frame The magnetic field measured will be a combination of the earth s magnetic field and any magnetic field creat
46. ernal magnetic influences in the device measurements are still subject to influence from external magnetic anomalies when the sensor is installed These anomalies are divided into two classes hard iron offsets and soft iron distortions Hard iron offsets are created by objects that produce a magnetic field Soft iron distortions are considered deflections or alterations in the existing magnetic field Ideally these influences are mitigated by installing the sensor away from magnetic sources such as coils magnets and ferrous metal structures and mounting hardware However often these sources are hard to avoid or hidden To mitigate this effect when using the 3DM RQ1 45 magnetometer to aid in heading estimations a field calibration of the magnetometer after final installation is highly recommended This can be accomplished using LORD MicroStrain MIP Hard and Soft Iron Calibration software This software is included with the MIP Monitor Software Suite see Software Installation on page 12 The following are instructions for field calibrating the magnetometers 1 Connect and power on the sensor as normal and open the MIP Hard and Soft Iron Calibration software 2 Enter the Local Magnetic Field information Figure 24 Sensor Menu for the sensor to account for magnetic influences inherent to the sensor s geographic location on the Earth As needed use the WMM on Web button to access a World Magnetic Model calculator on the British
47. ffset should be defined to the highest degree possible preferably down to at centimeter Inaccuracies become non negligible at 2 to 3 centimeters The user should strive to minimize this distance as large offsets tens of meters or more will result in position oscillation due to small orientation inaccuracies For example a 1 degree error in attitude with a 10 meter antenna offset would result in a position error of approximately 0 17 meters If the offset was only 1 meter the position error would be 1 7 cm EF settings Estimation Filter 4 GPS IMU AHRS SS Message Format EF Options EF Advanced Geographic Mounting 4 gt Attitude Euler RPY v s vi wil Hz Mounting settings Acceleration Linear wi 50 wi Hz Accel Bias wil 5 KA Device Setup x Accel Bias Uncertainty w 5 Estimation Filter GPS IMU AHRS L f Accel Scale Factor S15 EF Options EF Advanced Geographic Mounting bios Model Sen 4 Antenna Offset x 0 000 v 0 000 z 0 000 Mounting Offset x 0 000 v 0 000 Z 0 000 Mounting Orientation Roll 0 0000 Pitch 0 0000 Yaw 0 0000 FEE EEA E Figure 29 Antenna Offset W4 LORD MicroStrain bia SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Performance Optimization 5 9 Vehicle Dynamics Mode The vehicle dynamics mode setting adjusts the Kalman filter expectation of the vehicle s mot
48. ible user configurable data output format The commands and data are divided into four command sets and three data sets corresponding to the internal architecture of the device The protocol is packet based All commands replies and data are sent and received as fields in a message packet The packets have a descriptor type field based on their contents so it is easy to identify if a packet contains commands replies or data The MIP software developers kit SDK includes sample code and can be found on the LORD MicroStrain website Support page or by contacting Technical Support see Technical Support on page 64 The LORD MicroStrain MIP Data Communications Protocol describes each command description message syntax and message option It also provides examples and can also be found on the LORD MicroStrain website or through Technical Support W4 LORD MicroStrain 3o SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual OEM System Integration 7 1 1 Packet Builder To expedite program development a packet builder tool is included in the MIP Monitor software The packet builder allows users to send multiple packets to the 3DM RQ1 45 and view the resulting reply data Applicable protocol structure and design is described 3DM RQ1 45 MIP DCP Manual The manual can be found with software installation thumb drive on the LORD MicroStrain website Support page or by contacting Technical
49. in Magnetic Field Gauss G three axis magnetic field readings engineering units Angular Rate three axis rotational velocity reading from gyroscope in engineering units Delta Angle Theta adane time integral of angular rate with configurable time period Delta Velocity g seconds time integral of acceleration with configurable time period GPS Correlation weeks seconds and time metrics from the GPS receiver for Timestamp status indicators tracking IMU sensor data EDS air pressure reading from pressure sensor The 3DM RQ1 45 low temperature model does not include magnetometers and cannot measure magnetic field Table 3 IMU Measurements W4 LORD MicroStrain a SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Sensor Measurements 4 2 Global Positioning System GPS Outputs The Global Positioning System GPS receiver in the 3DM RQ1 45 uses its own GPS positioning engine to calculate a position velocity and time solution and it requires a minimum of four satellites Accuracy and reliability of the GPS readings are highly dependent on the quality of the satellite fix and information is provided to determine an appropriate confidence level External aiding systems such as Wide Area Augmentation System WAAS in the US help compensate for certain error sources that can affect GPS accuracy Position of the antenna is also an important consideration see GPS Antenna Installation on page 49
50. ion Do eneesigma uncertainty reading available WMM World Mag Ganes WMM local magnitude inclination and netic Model declination based on GPS coordinates Pressure Altitude meters altitude altitude estimate from barometric pressure meters altitude altitude as derived from the U S Standard pressure milli bars Atmospheric Model SAM using the temperature C sensed barometric pressure and air density kg m temperature Antenna Offset meters filter calculated error based on the user Error supplied GPS antenna offset Table 5 Estimation Filter Outputs W4 LORD MicroStrain m SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Sensor Measurements 4 4 Sensor Reference Frames 4 4 1 Geodetic Frame The World Geodetic System is the standard for cartography and navigation The latest revision WGS84 is the reference coordinate system for GPS and the 3DM RQ1 45 reports position using this coordinate frame It also calculates the magnitude of the local gravity vector using the WGS84 reference formulas The WGS coordinates are latitude q longitude A and height h above the reference ellipsoid Latitude ranges from 90 degrees at the South Pole to 90 degrees at the North Pole Longitude ranges from 180 to 180 degrees with O degrees being the prime meridian The 180 180 degree switchover occurs in the middle of the Pacific Ocean and includes a section of the International Date Lin
51. ion By doing this the filter is better able to account for the effects that different dynamic platforms have on changes in GPS satellite pseudo ranges Each platform setting portable automotive airborne and airborne high g force have different velocity and altitude limitations In the MIP Monitor software this setting is found at Settings gt Device gt Estimation Filter gt EF Options Vehicle Dynamics Mode Figure 30 Vehicle Dynamics Setting Refer to the 3DM RQ1 45 Data Communications Protocol DCP for more information about this setting EF settings 9 3DM c Pa Device Setup Y Estimation Filter 4 GPS IMU AHRS Message Format EF Options EF Advanced Geographic Mounting 4 m T o e o 5 o Estimation Filter GPS IM Message Forma EF isl Iz Advanced Geographic Mounting 4 5 Vehicle Dynamics Mode Portable v GPS Update Source Internal GPS y Heading Update Input Source Internal Magnetometer x1 Enable Auto EF Initialization Enable EF Velocity ZUPT Enable Fast Convergence 0 0000 T Figure 30 Vehicle Dynamics Setting W4 LORD MicroStrain m SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Performance Optimization 5 10 Estimation Filter Operation The 3DM RQ1 45 combines the information from a GPS receiver and the IMU sensors to calculat
52. ion Filter GPS IMU AHRS cm a j ma Context Help Y Y Low Pass Filterl Low Pass Filter 2 Coning amp Sculling Sensor Bias 1r 4 m Attitude Euler RPY gt Jie Gyro BW Selecting Auto will pin the filter bandwidth Accel Gyro A to half the data rate selected for this data No Filter x7 IR Filter quantity If you select 100Hz for the data rate then the 3db bandwidth for the F selected filter will be set to 50Hz Selecting Manual will allow you to TENAN manually set the bandwidth of the selected 0 250 500 filter e E La Figure 16 IMU Settings W4 LORD MicroStrain an SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Sensor Measurements l l T l Magnetometers are only available in standard model of the 3DM RQ1 They are not available in the low temperature model l l Table 3 IMU Measurements lists the IMU measurements available for the 3DM RQ1 45 Additional measurement units may be available in MIP Monitor for some outputs however they are converted values and do not represent the actual sensor outputs Only actual output units are listed To view and record IMU outputs see Basic and Operations on page 1 1 Measurement Units Description Ka axis acceleration readings in Acceleration gravitational force g engineering units one ngs
53. it is close as shown calibration and verification is complete Pa Mp Hard amp Soft Iron Cakibration NNE NN NR qo CNN c c Re RC FW Ver Model Number 2006 FER PRI Mode Name Serial 25 6223 5 LUC ae a i verify calibration couscr DATA SO A verir CALIBRATION GO Naga verify calibration Ed 9 fit LOCAL MAGNETIC FIELD PARAMETERS __WMM on Web Local Magnitude F 53630 nT Local Inclination E 694 CurrentCal Spherical Fit Ellipsoidal Fit Soft Iron Matrix Offset ES ES BS mens Reset to Default PLOT CONTROL Clear Plots Re Plot Data Plot Local Field DATA FILE Save Data Load Data Figure 26 Verify Calibration W4 LORD MicroStrain ae SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Performance Optimization 5 2 Gyroscope Bias Gyroscope biases offsets can be zeroed out to set a baseline value for the static home position and conditions in the application This should be done after sensor installation To set the gyroscope baseline place the sensor or sensor platform in the desired home position Allow 2 3 minutes for the sensor to warm up and for the temperature to stabilize for the best bias capture Select Settings Capture Gyro Bias Figure 27 Gyro Bias Capture The sensor must remain stationary for about twenty seconds while the outputs are being measured A status message will appear when the capture has be
54. lIlI 11 3 1 Software Installation RR RR NCI 12 3 2 System Connections La 13 3 3 Software Interab ooo e borea Eo CEU ba nb na 14 3 3 1 Interactive Help Menu e sss sse se sess sse se se sess reli 14 3 4 Sensor CornmunicallOnh ose eter de NG petiere ae BUG ALON GG nakaka UD orrera nrrainn 15 3 5 GPS Satellite AA 16 3 6 Sensor Settings a 17 3 6 1 Saving Configurations e ca wa Gaan emo EETSDECA LGE EDU QURE ILAN Dres aiaro araona 18 3 7 Data Monitoring and Recording 0 0 sess Rss ee se se sese 19 3 8 Viewing Data eee eee 22 4 Sensor Measurements selle Ill nl e eei li 23 4 1 Direct Sensor Measurements IMU Outputs eene 24 4 2 Global Positioning System GPS Outputs ee eee eee 26 4 3 Computed Outputs Estimation Filter 28 4 4 Sensor Reference Frames eee 31 CAMERA 31 4 4 2 North East Down NED Frame sese esse eese e reset reser eis 32 4 4 3 Sensor Frame RORIS 33 W4 LORD MicroStrain SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual 444 Platform Frame ag co aga aaa aa da aba Paa r EEA EOE PERE EEE See D Onion sda ide 34 5 Performance Optimization 0 eR esses lessen 36 5 1 Magnetometer Calibration RII Ree anodino rannan 36 SPMECUOs0 42 39 5 3 Heading Drift and Compensation ese esee eser neis 40 5 4 Angular Rate and Accelerati
55. le Auto EF Initialization Select Heading Update Source PT use the Internal GPS velocity vector for heading updates the target application must have no or minimal side slip this is true in most ground vehicle applications Enable Fast Convergence 0 0000 heshold Ca Cem ee YT Figure 18 Estimation Filter Settings All of the estimation filter outputs are available to view and record in MIP Monitor In addition to the standard position velocity attitude and time PVA amp T solution additional filter outputs such as uncertainties inertial sensor bias and scale factors filter status and physical models WGS84 WMM and SAM are available Table 5 Estimation Filter Outputs To view and record Estimation outputs see Basic Setup and Operations on page 11 W4 LORD MicroStrain a SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Sensor Measurements Measurement Description indicates the current state of the EF such as running or initializing GPS Time weeks Esscuade GPS time corresponding to the calculated filter solution estimated position based on combined sensors inputs and EF expressed in lat itude longitude and height LLH with uncertainly estimation available estimated velocity based on combined meters second sensor inputs and EF with reference to the velocity uncertainty North East Down coordinate system and with uncertainty estimation
56. magnetic bases take care to not bring the antenna in close proximity to the sensor either in handling or in permanent installation as it may disrupt the magnetometers within the 3DM RQ1 45 2X M3 TAPPED HOLES Figure 32 GPS Antenna Mounting W4 LORD MicroStrain to SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual OEM System Integration 7 OEM System Integration The 3DM RQ1 45 starter kit comes with everything that is needed for sensor configuration operation and data collection However many applications will require custom solutions because of physical or environmental constraints required sensor output processing or for integration into control systems that react to the sensor outputs For these applications the 3DM RQ1 45 is available as a stand alone component with optional interface connectors The communication protocol used for configuring and acquiring sensor data and estimations outputs is available for these applications as well 7 1 Data Communications Protocol DCP The LORD MicroStrain 9 MIP Data Communications Protocol includes all commands available for controlling and acquiring data from the 3DM RQ1 45 including many that are not available in the MIP Monitor software Programming is performed through a standard serial interface program The programming interface is comprised of setup and control commands and a very flex
57. ment Unit IMU These sensors are arranged on the three primary axes x y and z to sense angular rate acceleration and the local magnetic field standard model only The gyroscopes are used to adjust the current attitude estimate when an angular rate is sensed The accelerometers sense gravity as well as linear acceleration The magnetometers sense the Earth s magnetic field along with local magnetic anomalies All measurements are temperature compensated and are mathematically aligned to an orthogonal coordinate system The IMU sensors can be read directly to report stand alone inertial measurements or computed measurements Because the sensor system is digital the analog voltage readings from the sensors are converted into a digital equivalent value based on the volt to bit scale of the internal analog to digital voltage converter In the MIP Monitor software the conversion values are not configurable but there are user settable options for how the measurement is made These settings are available at Settings Device IMU tab With the Help window open accessed with the Help button mousing over context sensitive settings provides a detailed explanation of the setting Figure 16 IMU Settings r Wa Device Setup Estimation Filter GPS um 4 9 Message Format EF Options EF Advanced Geographic Mounting Position LLH so du CIC T HN E Velocity NED Estimat
58. mpling and recording see Data Monitoring and Recording on page 19 device status information KZ MIP Monitor Ss header row menus Dile Control Settings View Window Advanced Help icon toolbar NO Not Connected Ooo cl TN Serea Blz Model Name Serial Number FW ver Model Number Options com device list and menu Device Settings Sensor Data Monitor GPS Data Monitor EF Data Monitor Data Log Monitor fo Packet Monitor 3D Attitude Figure 6 Main Window 3 3 1 Interactive Help Menu MIP Monitor also includes a mouse over feature that provides explanations of the information and settings This feature is enabled by selecting the question mark icon or Help button in any window enable help menu KA MIP Monitor File Control Settings View Window Advanced Help Context Help E OTTE Not Connected Devices List Model Name This displays a list of available devices To display newly connected devices press the refresh button on the right Devices may be selected one at atime The icon in the left column indicates the status of the device Red indicates that recording to a log file has been enabled Serial Number FW ver Model Number Options List of available devices Figure 7 Context Sensitive Help Menu W4 LORD MicroStrain is SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Basic Setu
59. mum 240 V ac Leakage current 0 25 mA maximum Q 254 V ac Inrush current 60 A for 100 V ac maximum load cold start 25 C 100 A for 240 V ac 9 maximum load Input power saving 0 3 W maximum at no load DC voltage rating DC load capacity Ripple Regulation 5 line and load Circuit protection Safety approvals Operating temperature Storage temperature Humidity Emissions Dielectric withstanding hi pot test wig mo Kycon KLD 0202 A or equivalent AC input current primary to secondary 3000 V ac W4 LORD MicroStrain m SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Addendum 13 1 4 Communication and Power Cables This diagram describes the communications and power cable included in the 3DM RQ1 starter kits DETAIL B DETAIL A POWER JACK DETAIL C GLENAIR CONNECTOR 2 1mm X 5 5mm DB9 FEMALE VIEWED FROM CONNECTOR SIDE VIEWED FROM CONNECTOR SIDE VIEWED FROM CONNECTOR SIDE m CENTER E nim paga Jo outer 9 NG CONTACT GND 2 15m 8 22 ft Kr A N Bs f r F 4005 0009 rm002 ge e we Se A a Z Nc DETAIL A i i _ A N N TH 7 DETAIL B WIRING DIAGRAM BETA x DETAIL A a DETAIL C IA 26AWG WHT PIN SCIEN 2 26 AWG GRN 2 2 422 A RX sk 26 AWG YEL 3 3 422 B RX el 26 A
60. n In digital systems the resolution is the number of bits or values available to represent analog voltages or information For example a 12 bit system has 4096 bits of resolution and a 16 bit System has 65536 bits RMS acronym for Root Mean Squared Roll In navigation roll is what occurs when a horizontal force is applied at a distance right or left from the center of gravity of the platform causing itto move side to side with respect to the sensor or platform frame origin RPY acronym for Roll Pitch Yaw RS232 a serial data communications protocol RS422 a serial data communications protocol S Sampling the process of taking measurements from a sensor or device W4 LORD MicroStrain oe SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Addendum Sampling rate rate at which the sensors are sampled Sampling Rate the frequency of sampling Sensor a device that physically or chemically reacts to environmental forces and conditions and pro duces a predictable electrical signal as a result Sigma In statistics sigma is the standard deviation from the mean of a data set Space Vehicle Information refers to GPS satellites Streaming typically when a device is sending data at a specified data rate continuously without requiring a prompt from the host U USB Universal Serial Bus A serial data communications protocol UTC Coordinated Universal Time The primary time standard for w
61. n the last four digits of the product part number For a list of the starter kit contents see Components on page 9 part number 62XX XXXX model number 32 low temperature model no magnetometers 39 standard model accelerometer range 4 5g gyroscope range 0 150 second 1 75 second 2 300 second 7 900 second communication 7 RS422 kit type O sensor only 1 starter kit 9 custom Figure 40 Standard Part Numbers Description Part Number 3DM RQ1 45 sensor only standard 5g 300 sec 6239 4270 3DM RQ1 45 Starter Kit standard 59 300 sec 6239 4271 LORD MicroStrain 3DM RQ1 45 sensor only low temperature no magnetometers 6232 4270 59 300 sec 3DM RQ1 45 Starter Kit low temperature no magnetometers 6232 4271 5g 300 sec Table 7 Example Part Numbers W4 LORD MicroStrain of SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Parts and Configurations 102 Accessories The following parts are available for use with the 3DM RQ1 and some are included in sensor starter kits see Components on page 9 For the most current product information refer to the LORD MicroStrain website or contact the Sales Department See Sales Support on page 69 LORD MicroStrain Part Number Table 8 Sensor Accessories Description T Manufacturer Description part number Circular Mil spec Series 801 Mighty Mouse connector Glenair 801 007 16M6
62. n using third party antennas the antenna cable length antenna gain and antenna power must be considered For antennas with internal LNA Low Noise Amplifiers the power requirements should not have a minimum voltage below 3 volts and the current draw should not be over 20mA The longer the cable the lower the signal strength and including the antenna cable offset in GPS outputs is advised see GPS Antenna Offset on page 42 The loss of signal strength can only be empirically determined by trying out a particular installation and monitoring the number of satellite links and quality of data reception from those satellites This can be done with the MIP Monitor software see Global Positioning System GPS Outputs on page 26 When using a different GPS antenna always use the non magnetic MMC X to SMA adapter supplied with the 3DM RQ1 45 unless the magnetometer is not used in the end application 7 3 1 GPS External Receiver To use an external GPS receiver the internal receiver must be disabled and a serial link must be established between the receiver and the sensor through the host computer A program is then written using the LORD MicroStrain MIP Data Communications Protocol to port the data from the GPS input via the host to the sensor serial port and to translate the GPS receiver data into the message structure the sensor processor can interpret The data cannot be sent any faster than 20 Hz To set the GPS receiver to external o
63. nd active see Specifications on page 70 To acquire sensor data the following components are needed 3DM RQ1 45 sensor communication adapter and cable power cable GPS antenna GPS antenna adapter cable and a host computer with LORD MicroStrain MIP Monitor installed host computer USB adapter ommunication P CC gt s cable s M ONE sA 4 es t PA A e 7 ge Pg f sf z lt _ lt Z ZZ p v sensor pa ES power supply ud GPS antenna plugs into communication cable Figure 5 System Connections W4 LORD MicroStrain ka SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Basic Setup and Operations 3 3 Software Interface The MIP Monitor software includes a main window with system information and menus a device settings window see Sensor Settings on page 17 and several data monitoring windows see Data Monitoring and Recording on page 19 The main window provides an overview of connected devices Devices are selected by clicking on them A device menu is available by right clicking on the device name and includes the most used items from the header row menus Figure 6 Main Window The header row menu includes selections for data sampling recording device settings opening windows selecting which open window to view and advanced features such as selecting the communications mode The icon toolbar includes buttons for Help Menu access device refresh and data sa
64. ocal Tangent Plane at Reference point P p A 0 Figure 20 North East Down Frame W4 LORD MicroStrain BE SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Sensor Measurements 443 Sensor Frame The sensor frame is indicated on the top of the device and is oriented such that the x axis vector is parallel with the long side of the sensor and points toward the sensor connector the y axis is 90 to the right of the x axis and the z axis goes through the bottom of the sensor outward These axes were selected so that when the connector on the device is pointed north and the device is upright and level the sensor frame will match the NED frame exactly giving zero rotation The 3DM RQ1 45 reports acceleration angular rate delta Theta delta velocity inertial sensor biases and corrections and GPS antenna offset error in this frame when no sensor to platform frame transformation has been provided see Platform Frame on page 34 The orientation of the sensor frame with respect to the local NED frame can be viewed in the MIP Monitor software at View gt 3D Attitude menu This window displays the orientation of the sensor in relationship to north and shows measurement origination for acceleration and angular rate The view can be rotated for clicking holding and dragging the image Options for true north and magnetic north georeferences are available through the magnetic declination correction setting
65. on Limits liiis Rennen 41 5 5 Bandwidth ec ce ioco ices roeken L CUIDE IG SL LUC ALAS IL DL AUS CSS LL LA LALA DA SIR IO DI S0 bre ia 41 5 6 Platform Frame Transformation esee ee eren renan 41 5 7 MAE eo Up NA AR 41 5 8 GPS Antenna Offset RR CR 42 5 9 Vehicle Dynamics Mode 2 20 eee 43 5 10 Estimation Filter Operation eee 44 5 11 Estimation Filter Convergence eee 46 5 11 1 Initial Convergence eee 46 5 11 2 Bias Convergence iie ie ice teeedebcid esie ee cestaDcsa ie recep eds i ceci aaoi anan 46 5 11 3 AAP 46 a Cpl ARR AA AA 46 5 13 IMU Sensor Calibration eee esses e esr lniI 47 5 14 Temperature Compensation eese esse esses sies 47 Sensor Installation eee 48 a EN 48 6 2 GPS Antenna Installation 2ds asam bene tote TEE aree rr PER EE DIS Ere Usar dove ete a 49 OEM System Integration Ja 50 7 1 Data Communications Protocol DCP ee 50 DARENT 41 05 RR RO RR UA RR DN ER RIR dence ee 51 W4 LORD MicroStrain SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual 7 1 2 Sensor Direct Mode Pm 52 7 1 3 GPEDrecMode ctc ab NG ceu LABAG BULALO NGI YE DAL LLCLT LED NLANG pa Ana 53 AAP a idis 54 7 3 Alternate GPS Equipment 0 cece eee 55 7 3 1 GPS External Receivef aaa katy aaa Suk a Na ana baa na GA ER BIAG aga a abas bad 55 7 4 Sampling on Start up AA 57 7 5 Connecting to a Datalogger
66. on field will indicate Streaming If the sensor is not streaming data activate it in the software 3 3 heading data incorrect If the magnetometers have not been field calibrated erroneous heading data could result If the GPS antenna offset has not been entered or the GPS receiver or satellite link is not activated it could also skew heading information 3 4 sensor data not recorded Verify data recording has been activated In MIP Monitor the device status information field will indicate Recording Data If the sensor isn t recording activate in the software Verify specific measurements have been enabled for sampling and recording W4 LORD MicroStrain 9 SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Troubleshooting Problem Possible cause and recommended solution NOTE Data is recorded in time sequence If measurements are set to different sample rates not all time intervals will include a reading from each output that is being recorded 3 5 sensor data recorded in binary format When data recording is started the user can choose between CSV and Binary output formats If the data is recorded in Binary format it will require a translation program that utilizes the LORD MicroStrain MIP Data Communications Protocol to make it readable 3 6 sensor has been magnetized Contact or close proximity with magnets may disrupt the sensor operation and cause magnetization of internal component
67. or Direct Mode Figure 34 Sensor Direct Mode To exit Sensor Direct Mode select the Refresh button in the MIP Monitor at any time or use Advanced Communication menu to select the Standard operating mode B4 MIP Monitor File t View Window Advanced Help a E n N a e E a Model Name Serial Number FW ver Model Number Options COM Figure 34 Sensor Direct Mode W4 LORD MicroStrain SENSING SYSTEMS OEM System Integration 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual OEM System Integration 7 1 3 GPS Direct Mode The MIP Monitor software can be used to put the sensor in a mode wherein direct access to the internal GPS receiver is available In this mode the 3DM RQ1 45 normal functionality is not available and protocol commands cannot be used This mode is called GPS Direct mode and is used to allow communication with the receiver through an external utility program available from the GPS receiver manufacturer such as u blox or by contacting LORD MicroStrain Technical Support see Technical Support on page 64 Also refer to the Using u blox Software Technical Note for specific instructions see Reference Documents on page 77 To start communicating with the GPS receiver in GPS Direct mode select Advanced 5 Communication gt GPS Direct from the MIP Monitor main window Once in this mode the device status message will indicate GPS Direct Mode Figure 35 GPS Direct Mode
68. orld clocks and time It is similar to Greenwich Mean Time GMT V Vector a measurement with direction and magnitude with refernce from one point in space to another Velocity The rate of change of position with respect to time Also called speed W WAAS Wide Area Augmentation System An air navigation aid developed to allow aircraft to rely on GPS for all phases of flight including precision approaches to any airport W4 LORD MicroStrain di SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Addendum WGS World Geodetic System a protocol for geo referencing such as WGS 84 Y Yaw In navigation yaw is what occurs when rotational force is applied at a distance forward or aft from the center of gravity of the platform causing it to move around the center axis of a sensor or platform frame origin W4 LORD MicroStrain 99 SENSING SYSTEMS
69. p pj Estimation Filter GPS IMU AHRS L ee ey EF Options EF Advanced emm Mounting Jis Model Sen 4 Antenna Offset x 0 000 Y 0 000 z 0 000 Mounting Offset x 0 000 Y 0 000 Z 0 000 Mounting Orientation omm Ro 0 0000 Pitch 0 0000 Yaw 0 0000 OK Cancel Help Figure 23 Platform Frame Settings The orientation transformation affects the following EF outputs see Computed Outputs Estimation Filter on page 28 attitude position linear and compensated acceleration compensated angular rate and gravity vector It also affects the following IMU outputs acceleration angular rate magnetic field vector delta Theta and delta velocity The offset affects the following EF output position LLH Transformed acceleration is expressed at the location of the sensor but within the platform frame For example if the sensor is offset from the center of gravity CG and the platform is undergoing a rotation an acceleration in addition to any linear acceleration of the CG will be sensed in accordance with the following formula tangent acceleration angular rate distance from CG W4 LORD MicroStrain 99 SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual 5 Performance Optimization 5 1 Magnetometer Calibration Although the 3DM RQ1 45 magnetometers are calibrated at the factory to remove any int
70. p and Operations 3 4 Sensor Communication Once power has been applied to the sensor it is on If the hardware drivers have been installed communication can be established using the MIP Monitor software interface GPS lock is not required to establish sensor communication 1 Open the MIP Monitor software 2 The sensor should appear in the device list automatically when the software is running The list includes the device information and communication port assignment Figure 8 Sensor Communication If the sensor is not automatically discovered use the refresh button device list refresh device list i MIP Monitor File Control Settings View Window Advanced Help one Not Connected me Model Na RQ1 45 Serial Number FW ver Model Number Options COM gt Figure 8 Sensor Communication l l l i If data is not actively being exchanged between the sensor and host computer the status message may display Not Connected This indicates the port status not the sensor availability When commands are sent to the sensor the software will automatically connect to it before sending the message l l W4 LORD MicroStrain s SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Basic Setup and Operations 3 5 GPS Satellite Link l l l The GPS antenna requires unobstructed line of sight with the sky in order to achieve communication with the GPS satellites
71. pen the Device Settings menu in the MIP Monitor software by right clicking on the sensor name in the main window Figure 37 GPS Source Select Select the Estimation Filter tab and then EF Options Set the GPS Update Source to External GPS Test external GPS messaging using the Advanced GPS External Input interface This command will send a fixed external GPS message to the device and mimic a pulse per second clock input Figure 38 External GPS Data W4 LORD MicroStrain m SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual OEM System Integration GPS Update Source Heading Update Input Source magnetometers Enable Auto EF Initialization Enable EF Velocity ZUPT external GPS Enable Fast Convergence 0 0000 Theshold Enable Angular Rate ZUPT 0 0000 Theshold send GPS data to sensor Figure 38 External GPS Data W4 LORD MicroStrain Re SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual OEM System Integration 7 4 Sampling on Start up The Save Current Settings command can be used to instruct the sensor to start streaming data as soon as it powered on This can be useful in sensor integration applications in which immediate data acquisition is desired and connection to MIP Monitor for data logging is not required This functionality can also be embedded in user designed applications by using the corresponding LORD MicroS
72. rd direction of travel the z axis pointed down and the y axis pointed towards the passenger side The sensor has been mounted face down toward the rear of the vehicle two meters from vehicle reference location with no offset in the y axis and z axis directions The proper transformation in this example would be 180 degrees roll O degrees pitch and 0 degrees yaw with an offset of 2 0 0 meters listed as x y z KEY 4 4 axis direction outward pitch e axis direction inward aw platform frame PA assigned by user location sensor frame with reference to vehicle frame 180 roll 0 pitch 0 yaw 2m x axis offset 0 offset x axis amp y axis uA m ee OO 4 2meters si I yaw I sensor mounted face down under vehicle Figure 22 Platform Frame Transformation W4 LORD MicroStrain a SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Sensor Measurements In the MIP Monitor software the transformation and offset settings are entered at Settings Device 5 Estimation Filter 5 Mounting in the Mounting Orientation and Mounting Offset fields Figure 23 Platform Frame Settings EF settings Estimation Filter 4 GPS IMU AHRS Message Format EF Options EF Advanced Geographic Mounting 4 gt Position LLH viso wf Mounting settings Velocity NED wi 50 wi Hz Attitude Euler RPY TIS mg Device Setu
73. rsion The accuracy of the conversion is dependent on the resolution of the system electronics Higher res olution produces a more accurate conversion Acceleration In physics acceleration is the change in the rate of speed velocity of an object over time Accelerometer A sensor used to detect and measure magnitute and direction of an acceleration force g force in reference to its sensing frame For example at rest perpendicular to the Earth s surface an accelerometer will measure 9 8 meters second squared as a result of gravity If the device is tilted the acceleration force will change slightly indicating tilt of the device When the accel erometer is moving it will measure the dynamic force including gravity Adaptive Kalman Filter AKF A type of Extended Kalman Filter EKF that contains an optimization algorithm that adapts to dynamic conditions with a high dependency on adaptive technology Adaptive technology refers to the ability of a filter to selectively trust a given measurement more or less based on a trust threshold when compared to another measurement that is used as a reference Sensors that have estimation filters that rely on adaptive control elements to improve their estimations are refered to as an AKF AHRS Attitude and Heading Reference System A navigation device consisting of sensors on the three primary axes used to measure vehicle dir ection and orientation in space The sensor measurements are typically pro
74. s which can affect magnetometer performance If magnetization is suspected use a degaussing tool to demagnetize 3 7 sensor is damaged With the sensor in a static neutral position data look for baseline offset or drift on the IMU sensor outputs Sensor damage can occur as a result of excessive g force other conditions outside of its operating specifications W4 LORD MicroStrain o SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Troubleshooting 8 2 Repair and Calibration General Instructions In order to return any LORD MicroStrain9 product you must contact LORD MicroStrain Sales or Technical Support to obtain a Return Merchandise Authorization RMA number All returned merchandise must be in the original packaging including manuals accessories cables etc with the RMA number clearly printed on the outside of the package Removable batteries should be removed and packaged in separate protective wrapping Please include the LORD MicroStrain model number and serial number as well as your name organization shipping address telephone number and email Normal turn around for RMA items is seven days from receipt of item by LORD MicroStrain Warranty Repairs LORD MicroStrain warrants its products to be free from defective material and workmanship for a period ofone 1 year from the original date of purchase LORD MicroStrain will repair or replace at its discretion a defective pro
75. s with Inertial Sensors Technical Note on the LORD MicroStrain website or contact LORD MicroStrain Technical Support see Technical Support on page 64 W4 LORD MicroStrain 25 SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Troubleshooting 8 Troubleshooting 8 1 Troubleshooting Guide 59 1 POWER sensor does not power on dL dt no power is applied quo power source is off or miswired 1 3 power supply is the wrong voltage 1 4 sensor is in firmware update mode 1 5 sensor is damaged 2 COMMUNICATION no communication to sensor or GPS receiver 2f sensor not found in MIP Monitor 2 2 comm cable not connected or miswired 2 3 device drivers not installed 2 4 GPS receiver not communicating 2 5 sensor or cables are damaged 3 DATA ACQUISITION sensor data is missing or incorrect gii sampling settings are incorrect 3 2 streaming has not started 33 heading data incorrect 3 4 sensor data not recorded S5 sensor data recorded in binary format 3 6 sensor has been magnetized 37 sensor is damaged W4 LORD MicroStrain SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Troubleshooting Problem 1 POWER sensor does not power on 2 COMMUNICATION no communication to
76. sed in the 3DM RQ1 45 has a speed limitation of 500 meters second in accordance with the United States International Treaty in Arms Regulation ITAR restrictions To use the 3DM RQ1 45 GPS receiver the external antenna must be connected and positioned with unobstructed line of sight to the sky in order to achieve satellite lock Operating environment can also effect GPS operation and the device must be operated within specifications GPS outages should be kept to a minimum As an outage period progresses the errors in the integration of the inertial sensors compound causing the solution to quickly diverge Position errors grow exponentially and velocity grows linearly with measured acceleration error and W4 LORD MicroStrain m SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Performance Optimization attitude errors will grow linearly with estimated bias error Monitoring uncertainty metrics during GPS outage conditions will provide an indication of the estimation accuracy 5 8 GPS Antenna Offset GPS antenna offset is the distance of the antenna from the GPS receiver in the 3DM RQ1 45 Errors in this offset affects the accuracy of the EKF position velocity and attitude solutions The MIP Monitor allows entry of the offset in the Settings gt Device gt Estimation Filter gt Mounting gt Antenna Offset Figure 29 Antenna Offset For the best possible filter solution the GPS antenna o
77. sensor or GPS receiver 60 Possible cause and recommended solution 1 1 no power is applied Make sure the sensor is connected to a power source 1 2 power source is off or miswired Verify the device power source is connected correctly 1 3 power supply is the wrong voltage Using a power supply other than the one provided with the device or a supply that is outside of the device operating range could result in permanent damage or cause it to not work properly 1 4 sensor is in firmware update mode Firmware update mode is used when updating firmware on the device If the firmware updater fails it is possible that the device can get stuck in the firmware update mode and the sensor will be non responsive Contact LORD MicroStrain 9 Technical Support See Technical Support on page 64 1 5 sensor is damaged If all power settings and connections have been verified and the sensor is still unresponsive contact LORD MicroStrain 8 Technical Support See Technical Support on page 64 2 1 sensor not found in MIP Monitor In MIP Monitor use the Refresh button to look for the sensor again If the sensor is still not found try cycling power to the sensor and refreshing 2 2 communication cable not connected or miswired Check remove and reconnect communications and power cables as applicable Replace or rewire as needed 2 3 device drivers not installed Verify the drivers included with MIP Monitor Software Suite are in
78. stalled on the computer and that the software has had sufficient time to detect it See Software Installation on page 12 2 4 GPS receiver is not communicating W4 LORD MicroStrain SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Troubleshooting Problem Possible cause and recommended solution The GPS antenna requires unobstructed line of sight to the sky in order to link with the GPS satellites Also verify the GPS antenna is plugged into the sensor and the cable is intact Verify the GPS source setting is set for an internal or external device as applicable When using an external receiver a receiver to serial translation program that utilizes the LORD MicroStrain MIP Data Communications Protocol is required to provide the GPS data to the sensor 2 5 sensor or cables are damaged Verify all connections power and settings If available try installing an alternate cable or sensor one at atime to see if the faulty device can be identified If no conclusion can be determined or to send a device in for repair contact LORD MicroStrain Technical Support See Technical Support on page 64 3 1 sampling settings are incorrect 3 DATA ACQUISITION If unexpected measurements or sampling rates are displayed or recorded enter the Device Settings menu and verify the sampling settings sensor data is missing or incorrect 3 2 streaming has not started In MIP Monitor the device status informati
79. t the center of the earth and turning about earth s axis in the same way as the earth Estimation Filter A mathematical algorithm that produces a statistically optimum solution using measurements and references from multiple sources Best known estimation filters are the Kalman Filter Adaptive Kalman Filter and Extended Kalman Filter Euler angles Euler angles are three angles use to describe the orientation of an object in space such as the x y and z or pitch roll and yaw Euler angles can also represent a sequence of three elemental rotations around the axes of a coordinate system Extended Kalman Filter EKF Used generically to describe any estimation filter based on the Kalman Filter model that can handle non linear elements Almost all inertial estimation filters are fundamentally EKFs G GNSS Global Navigation Statellite System a global network of space based statellites GPS GLONASS BeiDou Galileo and others W4 LORD MicroStrain ao SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Addendum used to triangulate position co ordinates and provide time information for navigational purposes GPS Global Positioning System a U S based network of space based statellites used to triangulate position co ordinates and provide time information for navigational purposes Gyroscope a device used to sense angular movements such as rotation H Heading an object s direction of travel with ref
80. tes of position velocity attitude and sensor parameters for a total of 25 states 3 position 3 velocity 4 attitude quaternion 3 accel bias 3 gyro bias 3 accel scale factor 3 gyro scale factor and 3 GPS antenna offset error states The bias states are estimated in order to compensate for the time varying biases inherent in MEMS inertial sensors which are the largest error sources for these devices The bias states are subtracted from the gyroscope and accelerometer inputs thus providing more accurate inertial data to the propagation stage of the filter This enhances overall accuracy and is especially useful during GPS outage conditions The Kalman filter also provides statistical information about the quality of the estimated states described in a covariance matrix The diagonal terms of the matrix are the variance of each state thus the square root of these values are 1 sigma standard deviations These values give the filter s estimation of how well it knows the individual states given what it knows about the statistical properties of the noise sources of the various sensors and also provide feedback to the user as uncertainty values The GPS position and velocity noise are not white but are treated as such in a loosely coupled filter This approximation results are not optimal but the advantages of this type of filter outweigh that disadvantage W4 LORD MicroStrain a SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation Syst
81. tion System User Manual Performance Optimization 5 4 Angular Rate and Acceleration Limits The 3DM RQ1 45 angular rate and acceleration range depend on the sensors installed in the device Exceeding the specified range for either sensor will result in estimated state errors and elevated uncertainties until the over range event is corrected and the filter can resolve the errors 5 5 Bandwidth When selecting sensor and estimation outputs to be recorded communication bandwidth considerations should be taken into account especially when using RS422 serial communications Lower baud rates equate to lower communication bandwidth which can be consumed quickly by selecting a large number of measurements at high sample rates Severely overrunning the communication bandwidth can have adverse effects on the sensor performance due to excessive processor usage The 3DM RQ1 45 is capable of running at 460 800 baud 5 6 Platform Frame Transformation The transformation from the sensor frame to the platform frame see Platform Frame on page 34 should be defined to the highest angular accuracy possible The easiest way to accomplish this is to co align the frames If this is not possible using a simple transformation such as 90 or 180 degree rotations on a single axis is preferred For complex transformations between the frames a calibration should be performed or analysis from a model should be conducted 5 7 GPS Parameters The GPS receiver u
82. train MIP Data Communications Protocol command see Data Communications Protocol DCP on page 50 for more information l l l i When setting the sensor to begin sampling on start up verify that the sensor is sampling by viewing the serial data stream from the host computer If communication with MIP Monitor is established the sampling will stop to facilitate device configuration l l To save the current sensor configuration first adjust the sensor settings to the desired values and then start streaming Next select Settings gt Save Current Settings from the main window Figure 39 Save Sensor Settings The setting will remain intact when the sensor is powered off and then on again To recall the last saved settings select Settings gt Load Startup Settings n MIP Monitor File Control View Window Advanced Help m Device System Not Connected oA FW ver Model Number Options Model indi Capture Gyro Bias Save Current Settings Load Startup Settings Load Default Settings Figure 39 Save Sensor Settings W4 LORD MicroStrain Bl SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual OEM System Integration 7 5 Connecting to a Datalogger Many inertial applications incorporate dataloggers of all different types to collect and distribute sensor outputs For more information and examples refer to the Using Datalogger
83. unication RS422 9600 bps to 460 800 bps default 115 200 Receiver type Power source 10to 28 V dc standard model 2 5 W typ low temperature model 2 5 W typ at 0 C to 80 C up to 6 W continuous and 25 W occasional at 55 C to 0 C for internal heater 40 C to 80 C 55 C to 80 C low temperature model available Vibration Tit Dimensions 88 3 mm x 76 2 mm x 22 2 mm Environmental rating Regulatory compliance Pear m T circular Glenair series 801 MIP Monitor MIP Hard and Soft Iron Calibration Windows sofware o XP Vista 7 8 compatible Protocol compatibility with 3DM GX3 and 3DM GX4 sensor families MIP data communications protocol with sample code SDK available OS and computing platform independent Power consumption Operating temperature W4 LORD MicroStrain e SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Safety Information 12 Safety Information This section provides a summary of general safety precautions that must be understood and applied during operation and maintenance of components in the LORD MicroStrain Inertial Sensor Products Throughout the manual ANSI Z535 standard safety symbols are used to indicate a process or component that requires cautionary measures Situations in which potentially hazardous conditions exist that could result in death or serious injury of workers and or the general public if not avoided Situ
84. wer input connector and a GPS antenna port The sensor is mounted using the mounting and alignment holes as needed see Sensor Mounting on page 48 The housing of the 3DM RQ1 45 also features a watertight air vent The vent is not user serviceable A device information label is printed on top of the 3DM RQ1 that includes the sensor frame diagram axis orientation which will be critical during device installation see Sensor Frame on page 33 device information label 7 GPS antenna port mounting hole alignment hole air vent communication lignment hole mounting hole and power port Figure 2 Interface and Indicators W4 LORD MicroStrain 0 SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual Basic Setup and Operations 3 Basic Setup and Operations Do not put the 3DM RQ1 in contact with or in close proximity to magnets Magnets may disrupt operation and cause N 0 TICE magnetization of internal components which can affect magnetometer performance If magnetization is suspected use a degaussing tool to demagnetize To acquire sensor measurements and computed outputs the 3DM RQ1 45 uses a host computer a RS 422 or USB communications port and applicable software The LORD MicroStrain MIP Monitor software is provided with the system and includes all functions needed for sensor configuration and data acquisition Users may also utilize the LORD MicroStrain
85. window Control menu sampling and recording controls main window Ka MiP Mijftor em File Control Settings View Window Advanced Help orz Model Name Serial Number FW ver Model Number Options COM 40 3DM RQ 5506 2001 6506 0001 59 150dp 12 Figure 11 Main Window Controls Icon Command Run start data streaming Table 2 Sampling and Recording Controls There are several data monitoring views available depending on what measurements are desired for monitoring and recording Each view corresponds to one of the main categories in W4 LORD MicroStrain a SENSING SYSTEMS 3DM RQ1 45 Ruggedized Inertial Navigation System User Manual the Device Settings window For example the 3DM RQ1 45 includes Sensor Data Monitoring for the IMU AHRS measurements GPS Monitoring for the GPS metrics and EF Monitoring for the Estimation Filter outputs Figure 12 Data Streaming During viewing and recording only the outputs that are selected in the Message Format tab of the Device Settings menu are displayed and recorded see Sensor Settings on page 17 Data streaming must be started before data can be recorded however it is not necessary to view it in a data monitoring window Data monitoring is used primarily to confirm the system is operating correctly or to view the outputs in near real time If sensor setup has already been confirmed streaming and recording can be initiated from the main window Figure 12 Data

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