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ADMA User Manual - Micro Movements

1. Elaoma System Software 2 4 6 3 Configuration data from ADMA 5 oj xi File Configuration Data Acquisition Setup Hotkeys Info ADMA pitch angle GeneSys Elektronik Offsets In der Spock 10 Compensates a pitch angle Enter leverarms for mounting offset compensation misalignment D 77656 Offenburg E g to compensate for a positive pitch angle of 0 5 enter a negative value of Mounting offsets 0 5 Step 7 of 8 r Mounting offsets angle 7 Aye bye ADMA 0 000 0 000 deg Ext velocity 0 000 deg J guration Data Link E aie Ze Digtal 1 0 Ext velocity 0 0 0 0 em Ausiliary Systems GPS foo T 90 0 cm Parameters Data r Mounting offsets position Offsets m Virtual measurement point aye ae e Point of interest foo T 0 0 em Save Exit configuration Change view I Reset offset values Mounting offset compensation lt Back Next gt Help j DIN70000 definition Figure 24 Dialog Offsets Dokument revision 2 1 3 Page 39 of 44 March 2006 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 A A AA LWA GeneSys Elektronik GmbH
2. 5 3 1 Virtual measuring point point of interest If the ADMA isn t mounted in the virtual measurement point Point Of Interest then a lever arm exists between the reference point and the installation position of the ADMA This lever arm can be compensated by entering the lever arms of the virtual measurement point The entry should be made correspondent to the coordinate system DIN70000 in cm e X positive in travel direction e Y positive leftward with respect to direction of travel Z positive upward Please note This compensation is only valid if the assumption is met that the car turns around a virtually fixed axes and the movement of this axes in the horizontal plane is insignificant relative to the vehicle However this compensation is incorrect if the axis doesn t fulfil the above mentioned condition For example this could happen in driving situations like spinning or drifting In this cases the axis moves obviously 5 3 2 External speed measuring system The position vector for compensating speed data refers to the virtual measuring point and consists only of the components e X positive in travel direction e Y positive leftward with respect to direction of travel The Z component is not of significance to compensation The compensation of the external connected velocity to the reference point effects the calculation of the inverse path radius and the side slip angle if no GPS is connected 5 3 3
3. Elektronik GmbH 3 3 5 Auxiliary systems This dialog is used to specify parameters related to auxiliary systems such as speed measurement systems and GPS receivers For the function test it is necessary to deactivate all auxiliary systems as described below e Select the No GPS option from the GPS Model drop down menu in the field labelled GPS e Deactivate the x Signal active option in the field labelled Velocity EJ ADMA system Software 2 4 6 3 Configuration data from ADMA lol x File Configuration Data Acquisition Setup Hotkeys Info T GPS model GeneSys Elektronik Auxiliary Systems In der Spock 10 Only used with ADMA type without i i internal GPS D 77656 Offenburg Set settings for augmenting systems r Velocity Step 5 of 8 GPS Model no GPS z N I x signal active Load configuration gt 1 000 mi m s GPS Mode Data Link s i Std deviation ny offline N ee Ghiine DGPS Digital 1 0 7 Enter in km h jadio GSM based augmentatior Ausiliary Systems Delay 32 500 Parameters LESE Max time of outage 10 Offsets I Outage logic activated Save Exit configuration GeneSys Elektronik GmbH Figure 6 Dialog Auxiliary Systems Document revision 2 1 3 Page 14 of 44 March 2006 A DLA 3 3 6 Parameter A LA GeneSys Elektronik GmbH The dialog Parameter is used to specify the system behaviour For the function test only
4. and the course angle The height can be calculated accordingly but in this case using the pitch angle instead of the course angle However the pitch angle misalignment must be compensated for the height measurement to be acceptable 5 4 3 Compensation of ADMA s vertical axis misalignment The ADMA s Z axis misalignment with respect to its longitudinal axis cannot be ascertained as easily as the horizontal angles One alternative is to perform a setup test involving longitudinal acceleration produced in stop amp go travel The ADMA s z axis misalignment about its vertical axis causes the levelled acceleration acting along the X axis to produce a component along the Y axis as well This relationship can be used to compute an angle of misalignment on the basis of the measured data Similar to the horizontal angles the obtained value is entered in the Z field of the section labelled Mounting offset angles If not executed carefully this method can give rise to errors 5 4 4 Compensation of vertical axis misalignment of a 2 axis speed sensor If a 2 axis speed sensor for instance one made by Corrsys is employed its mounting can be rotated The corresponding misalignment can only be determined during a straight ahead run Similar to the misalignment in the case of the ADMA a misalignment causes the vehicle s X axis speed to produce a component along the sensor s Y axis This data can be used to calculate the angle of misalignment The obtain
5. the threshold yellow red tolerable from non acceptable errors Thus GPS outage situations where system performance degrades over time are easily detected and appropriate actions can be taken while being out on the test track etc Values for pos and tilt quality O Red 1 Yellow 2 Green This functionality is also advantageous while in the transient phase of the Ka manfilter at the beginning of a measurement After a set time the status is switched active changing from red to whatever the actual state is normally to yellow or green state This indication can be used to start data recording Dokument revision 2 1 3 Page 35 of 44 March 2006 GeneSys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 A LWA A LA Genesys Elektronik GmbH El apa system Software 2 4 6 3 Configuration data from ADMA File Configuration Data Acquisition Setup Hotkeys Info Load configuratior Data Link Data Digital 1 0 Ausiliary Systems m Threshold data Min velocity for GPS course Spin rate Max side slip angle 3 m s 30 deg s 45 deg r Standstill detection Max rate at standstill Max velocit
6. 3 4 Selection of data packets to be transmitted 22u4220 2an nenn nnanennnnnnnennnnnnnennn 13 3 3 8 External auxiliary systems 42424 44anan en nnnannnnanennanannnnan en nen nnn 14 3 3 6 PAV ANICTOL 2 es 2200 bess enden senden fake ee ehe nee rare nee near eaves ETELE AR REER 15 3 3 7 Transmitting modified settings tO ADMA 2 z242s ns0ran en namen nennen nanan nen an nennen 16 3 4 STARTING A MEASUREMENT u elek 17 3 5 STATIC TEST vie sia ann a a ee ee en obese 20 3 8 1 Transient condition of the Kalman filter z2us2sssn sen neuen nnnnnn nen nnnnnnnnn nennen 20 3 5 2 Check OF System Status en nennarnralakuse 20 3 5 3 Check of the displayed orientation 2424444Rnan ene n nent nana nennen namen nananennennn nen 22 3 5 4 Check of the displayed rotational SPDCOAS ccceccsccncencenecnenatenennenenatentnstnaenananenss 23 3 5 5 Check of the displayed accelerations 1 1 21 1cccc ec cccec eee ne ee enencee nn anennenannananennanan nenn 24 3 5 6 Ending INGASUICIMENL seiere arrita boas nad see ann ea 24 3 6 DY NAMIC TES E20 u a ee ne ee nee ae ana ee 25 3 6 1 Test procedure and data display z uusn44nannenan en nanannananennanannananennanen nennen 25 3 6 2 Check of displayed rotational speed 2z2442r n en namen nn anennanannanan en nennen 26 3 6 3 Check of displayed accelerations 244s4nennan en en en namen nennen nenannananen ne
7. National Instruments Revision Document revision 2 1 3 March 2006 Contact GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Phone 0049 781 969279 30 Fax 0049 781 969279 11 www genesys offenburg de Document revision 2 1 3 Page 2 of 44 March 2006 ZN A AA LWA GeneSys Elektronik GmbH TABLE OF CONTENTS 1 INTRODUCTION 43 4 2 23 4000 a a nn RT EI 5 2 SCOPE OF DELIVERY 2 402 E E seks dein came ae seas RER 5 2 1 ONLY ADMA aaa a ee ee Sex ea ee rah aver ate weeded 5 2 2 ADMA WITH INTERNAL EXTERNAL GPS RECEIVER cccccceeeeeee ents ee eeeea seat eats eeae ene nnnnennen nennen 6 2 3 ADMA WITH A GPS RECEIVER AND GPS BASE STATION ccceceeeeee eee eeeee seat eee eaeeae eaten nennen nennen 7 3 ADMA FUNCTION TEST ON A LABORATORY BENCH cccceceeeeceeeeceseeeeeeeeeseeeeeseeaeees 9 3 1 GENERAL INFORMATION cccccceseeccncene cnet eens eee e nee e eens eee e nate ene SAS On aE EO SEE SEE O RESO SEES EEO R EE EO SEES EE 9 3 2 SETUP AND CABLING as au rs nin aia ae RE een ee 9 3 3 MODIFYING ADMA S CONFIGURATION ccceee eee e eee ee ene eee teen Een nen nnn sen etna ees 10 3 3 1 Handling of the ADMA System Software Help u4 n ur0ran en anan namen nennen 70 3 3 2 Loading configuration from the ADMA 2z224242n n teen eur anan nen anennanan nennen nenn 77 3 3 3 Configuring measurement data transmission via the COM interface 12 3
8. THE VEHICLE cccccecccccceeeeeeeeeeeeeeeeeeeeeeeseeeeseeeeeeseaeeseaeeseneanegs 34 5 1 MODIFY THRESHOLD FOR STANDSTILL DETECTION enennenenensenennnnnnensnnennnnnnn nennen nennen rnrn rnrn nrnna 34 5 1 1 Max rate at standstill occ ccc cccccccccccccucecusecnseent eens ee eeeeee eet eee ene eenaeneatnnatnnaennnsnnnsnags 34 5 1 2 Max Velocity at standstill sisccccsssccsnstcezssesaavaningeean ice veaedangeueseecnieurepsnounisteves antennae 35 5 2 MODIFY THRESHOLDS FOR QUALITY nnenennenennennnennnnennennnnnnenennnnnnensnnennnnnnensensnnnnnnen sn nents 35 5 2 1 Threshold for position quality zu4ur rHnrnnannnnannnnnnnnnnnenennanennenennnnan nennen nennen 36 5 2 2 Threshold for Tiltguali Yrren aaea van oes eee ee kuiiiane 37 58 2 3 Enter geo latitude and geo longitude 4444240n nennen en nan nn an en namen nennen nennen 37 5 3 COMPENSATING THE INSTALLATION POSITION zeusenennsnenennunennnnnnennnnennnnnnnnnnennnnnnn sen nnnnnnnenen 38 5 3 7 Virtual measuring point point of interest 424 nanrar nenn ana nenn nan nennen 40 5 3 2 External speed measuring system 2 ciccccec ncn e nent ener t nent nnn enced e dene ented eden een nennen 40 5 3 3 GPS antenna 2 222 kennen 40 5 4 COMPENSATION OF INCORRECT INSTALLATION POSITION seaensnnenenennennnnennnennnnennennnnn anne nnnnn nenn 41 5 4 7 Incorrect ADMA installation position 11 1 ccccceccecne cece Hann en ann nn ennanen namen nennen nen
9. be set closely With the GPS re entering after a GPS outage the position quality will increase again This leads to smaller standard deviations of the ADMA position and thus effecting the position standard deviation Please note The position error can be reduced to a linear error behavior by using of an external velocity signal Associated with this is a better expected position quality over the time Document revision 2 1 3 Page 36 of 44 March 2006 A A LWA AA Elektronik GmbH 5 2 2 Threshold for Tilt quality In contrary to the position quality the tilt quality is of interest to most operation modes It is advantageous that the tilt error only increases linear over the time In cases of a D GPS outage a better error behavior can be expected in compared to those of the position 5 2 3 Enter geo latitude and geo longitude To operate the ADMA without D GPS the actual position can be defined in the configuration With the correct entry of the geo latitude the earth rate and the earth gravitational vector length can be calculated correctly If the ADMA is using D GPS the entered position can be used as the origin for the relative position grid local tangent plane To allow this option activate the checkbox Accept position as origin for further information see the Technical documentation The relative position data output from the ADMA is referenced to this point This is very suitable for repetitive tests where recorded d
10. system The first part of the manual describes a routine for testing whether the ADMA gyro system s inertial sensors are operating without error This function test is also a good way to become familiar with ADMA and to gain experience in setting up the ADMA The second part of the manual describes a typical configuration of a test vehicle including auxiliary sensors such as an external speed measurement system or a GPS 2 Scope of delivery 2 1 Only ADMA e The ADMA module e A supply cable designated ADMA Power colour code red e A communication cable designated ADMA COM colour code blue e Acommunication cable designated ADMA CAN colour code green e The configuration tool designated ADMA System Software e Documentation User manual Technical Documentation and ADMA System Software e Transport case Optional items e Event In 1 cable colour code orange e Event In 2 cable colour code orange e Sync Out cable colour code yellow e Error Out cable colour code black e Aux Out cable colour code black e ADMA Speed cable colour code grey e ADMA Download cable colour code white e Rescue case with replacement cable and download software Dokument revision 2 1 3 Page 5 of 44 March 2006 mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 ATA mail genesys offenburg de www genesys offenburg de GeneSy
11. the parameter Prealignment seconds Elaoma System Software 2 4 6 3 Configuration data from ADMA E File Configuration Data Acquisition Setup Hotkeys Info GeneSys Elektronik In der Spock 10 D 77656 Offenburg Step 6 of 8 nfiguration Data Link Data Digital 1 0 Ausiliary Systems Parameters Offsets Save Exit configuration Parameters Specify system behaviour r Threshold data Min velocity for GPS course Spin rate Max side slip angle Bs m s 90 deg s 45 deg r Standstill detection Max rate at standstill Max velocity at standstill fe M deg s zo 0 01 m s r Position quality Threshold yellow to red Threshold green to yellow fo 001 m E 0 01 m r Tilt quality Threshold yellow to red Threshold green to yellow so 00 deg 10 0 01 deg lt Back Next gt Figure 7 Dialog Parameters Dokument revision 2 1 3 m Misc I Accept position as origin Geo latitude 48 6000000000 deg Geo longitude 7 9000000000 deg r Prealignment IV Enable Duration 10 sec N Page 15 of 44 is important Please enable prealignment and specify a duration of 10 ziji Prealignment duration Increasing prealignment time leads to more precise estimates 0O0 Good results can be expected within a range of 5 20 sec V GeneSys Elektronik GmbH March 2006 mail genes
12. AA Document revision 2 1 3 User manual ADMA Version 2 1 3 Hardware V 2 1 Firmware V 2 4 4 GeneSys Elektronik GmbH Offenburg Date March 2006 A LWA GeneSys Elektronik GmbH March 2006 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 A N LA LWA GeneSys Elektronik GmbH Note GENESYS ELEKTRONIK strives to maximize the accuracy of all its data and specifications but cannot rule out the possibility of errors and reserves the right to future modifications without any prior notice GENESYS ELEKTRONIK is not obliged to maintain secrecy over any received material or other information in the absence of any corresponding agreements made with GENESYS prior to submission of such information GENESYS will gladly respond to enquiries and provide product details Copyright Copyright 2006 GENESYS ELEKTRONIK GmbH All rights reserved This entire user manual or excerpts thereof must not be reproduced stored or transmitted in any manner electronically mechanically or otherwise without the prior approval of GENESYS ELEKTRONIK GmbH Windows is a registered trademark of Microsoft Corporation DlAdem is a registered trademark of
13. DMA detects negative as well as positive accelerations along the three measurement axes GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A A LWA LWA GeneSys Elektronik GmbH 4 Installation and cabling inside the vehicle 4 1 Operational configurations Any of three operational configurations is available in accordance with the involved vehicle test and required accuracy of data Stand alone ADMA with external speed signal and ADMA with D GPS The diagram below depicts these three configurations GPS antenna Radio data link Radio data link oo fl GPS antenna External speed Figure 17 Configuration facilites ADMA G with internal GPS Rover Most advanced configuration ADMA with an external speed measurement system and external D GPS GPS antenna GPS antenna GPS Base Radio data link Figure 18 Configuration facilities ADMA G with external GPS Rover GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A ATA LWA GeneSys Elektronik GmbH Note that although the operational configuration involving ADMA with a D GPS does not necessarily require an external speed signal such a signal proves especially useful in situations susceptible to GPS failure GeneSys Elek
14. Eventi GPS Inv path radius slip angle Millisec Week ms a Size per step fi 0 Start Help 7 Save measurement data Close Figure 16 Dialog Measurement Check of displayed accels 3 5 6 Stoping a measurement Click on the Stop and Close buttons in succession Document revision 2 1 3 Page 24 of 44 March 2006 ZN A LWA LWA GeneSys Elektronik GmbH 3 6 Dynamic test 3 6 1 Test procedure and data display As part of the dynamic test the ADMA undergoes defined linear and rotary motion i e along or about the systems sensor axis The rotational speeds are checked first beginning with the X axis roll followed by the Y and Z axes followed by the acceleration check in the same sequence of axes For easier analysis the data can be saved and processed with an appropriate software tool If you want to save the data explicitly click on the Save measurement data option in the measurement mode window When starting a measurement with the Save measurement data activated a dialog will open asking a file name While a measurement is in progress the acquired data is saved in binary format On completion of the measurement with the Stop button the measurement data to be evaluated will be converted automatically to ASCII format Overall 3 files are created e Filename dat Data in binary format e Filename prn Data in ASCII format e Filename_PrnList txt Description of the individual columns of the file fi
15. GPS antenna The position vector for the GPS antenna consists of all three components and refers to the virtual measuring point Document revision 2 1 3 Page 40 of 44 March 2006 A N LA LWA Elektronik GmbH 5 4 Compensating an ADMA misalignment 5 4 1 ADMA misalignment As described earlier an exact alignment of the ADMA s measurement axes with the vehicle s axes is rarely achieved However it is possible to mathematically compensate for such alignment errors Compensation values can entered in the Offsets dialog in the ADMA System Software 5 4 2 Horizontal compensation of a ADMA misalignment Bring the vehicle into the desired reference orientation and start a measurement with ADMA The longer the selected pre alignment time the more precise the estimation of the roll and pitch offsets will be Once pre alignment is complete the displayed roll and pitch values indicate the angular discrepancies betwenn the ADMA s and the chosen reference orientation Enter these two values in the fields designated X roll axis and Y pitch axis in the section labelled Mounting offset angles Once these parameters have been successfully transmitted to ADMA horizontal angles are compensated accordingly during subsequent measurements Please note If the ADMA is operated only with an external velocity signal then the position calculation is made via dead reckoning methods The dead reckoning calculates the position with integrated velocity
16. Time m System data GPS Inertial Millisec Week Ta ms Temp C TimeSifs DSP m E m Triggers i r GPS Time Syneln Event Eventi GPS Milisec Week ms Size per step fi 0 7 Save measurement data Figure 12 Dialog Mesurement in prealignment mode Once pre alignment is complete the ADMA switches automatically to the measurement mode and starts to transmit current measurement data Important The Kalmanfilter will need some to settle Dokument revision 2 1 3 Page 19 of 44 March 2006 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A A LWA LWA GeneSys Elektronik GmbH 3 5 Static test 3 5 1 Transient condition of the Kalman filter The Kalman filter of the ADMA can be active without auxiliary systems like an external velocity or a D GPS in standstill it s possible to experience transient effects in the first few minutes lt 120 seconds After this transient phase stable values are shown This transient phenomenon in the beginning of a initiated measurement is inherent with the Kalman filter s design and can only be temporal compressed however not eliminated 3 5 2 Checking the system status The system status
17. a in almost all cases and therefore should be installed as high as possible on the vehicle s roof This does not apply to GSM modems which are capable of maintaining contact with the base station even under adverse conditions without a direct line of sight Document revision 2 1 3 Page 30 of 44 March 2006 A A LA LWA Elektronik GmbH 4 3 Cabling After mounting in on the vehicle is complete it is necessary to lay the ADMA cables required for operation Based on the minimal configuration the available operational variants are described below Additional information on connection possibilities and the ADMA sockets is provided in the technical description 4 3 1 ADMA in stand alone mode minimal configuration Connect the ADMA Power cable s red coded Lemo plug to the DC n ADMA socket and turn on the power supply Depending on system design the nominal supply is 12 24 or 42 VDC The DC In LED should come on as a result Afterward connect the ADMA COM communication cable s blue coded Lemo plug to the COM ADMA socket and the other end of the cable to the COM interface of your measurement data acquisition device If you want to perform measurements via the CAN bus connect the ADMA CAN communication cable s green coded Lemo plug to the CAN ADMA socket and the other end of the cable to the CAN interface of your measurement data recorder made by Vector or Softing for instance 4 3 2 ADMA in stand alone mode optional connectio
18. ata sets have to be compared path following tests or steering influence tests Please note Some test setups with DGPS might take more than a day or test campaigns might have to be run over a longer period of time but the users could find themselves in the situation to remove the base station at the end of the day In case of measurements in RTK DGPS mode up to 2cm the exact position of the base station antenna needs to be saved and marked to meet the requirements of comparability Additionally at the first day of a measuring campaign the exact position of the base station antenna should be determined if no known position is available also see GPS base documentation for saving measured GPS base positions Dokument revision 2 1 3 Page 37 of 44 March 2006 GeneSys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 A N AA LWA GeneSys Elektronik GmbH 5 3 Compensating the installation position Normally the ADMA the GPS antenna and external speed sensor can t be mounted at the same spot as we would like to but at different positions in or outside the vehicle The GPS antenna is usually mounted on the roof the ADMA in the vicinity of t
19. d to the roof by means of a magnetic base If the GPS receiver is to be operated in the DGPS mode a modem is needed to receive correction data A wireless or cellular modem is employed depending on the transmission paths involved The receiver is connected to the modem which is connected to its antenna Note that the GPS receiver as well as the optional modem need to be supplied with power In case of ADMA G with internal GPS receiver the GPS antenna has to be connected with the ADMA via a coaxial cable As a rule the GPS antenna is mounted on the roof with a magnetic base To use the DGPS mode of the GPS receiver a modem is required to receive correction data This can be either a wireless or a GSM modem Connect the ADMA modem output with the modem and the modem with it s modem antenna Please note that the ADMA supplies the modem with voltage RF modem O amp 2 c e w a Figure 19 ADMA G with internal GPS receiver In case of ADMA with external GPS receiver the GPS receiver has to be connected with the GPS antenna via a coaxial cable As a rule the GPS antenna is mounted on the roof with a magnetic base GPS antenna To use the DGPS mode of the GPS receiver a modem is required to receive correction data This can be either a wireless or a GSM modem Connect the ADMA modem output with the modem and the modem with it s modem antenna Please note that both the GPS receiver and the optio
20. e e Start a measurement via the main menu s item Remote Start in ADMA System Software e Start a measurement via the Autostart mode e Start a measurement via a user specific tool 6 2 1 Start measurement in the ADMA System Software In this case the ADMA measuring mode is started with the System software via the COM port Before starting a measurement please enter the start course and the prealignment in the displayed dialog The measurement will starts directly after this For further information about these 2 parameters have a look at the following chapters 6 2 5 and 6 2 6 The dialog ADMA measurement data appears and the parameters are displayed 6 2 2 Remote Start in ADMA the System Software Remote Start starts a measurement in which the data is output via the CAN port For this purpose select CAN port in dialog Parameter in configuration mode Before starting a measurement please enter the start course and prealignment in an displayed dialog For further information about these 2 parameters have a look at the following chapters 6 2 5 and 6 2 6 The dialog ADMA measurement data appears and the data are displayed 6 2 3 Autostart mode The setting Autostart can be enabled in configurations dialog Data If Autostart is activated the ADMA automatically starts data aquisition after power on Whether the data is transmitted viar CAN or COM interface depends on your choice in configurations dialog nterface In this case the 2 parameters s
21. e Documentation GPS receiver e Transport case for GPS RoverGPS base receiver by base station s all weather design integrated into a housing e GPS base supply cable by base station s all weather design e GPS base power supply unit 220V by basic design e GPS base communication cable e GPS base antenna and cable e Wireless GSM modem by base station s all weather design integrated into a housing e Wireless GSM modem antenna and antenna cable e Connection cable from GPS base to Wireless GSM modem by basic design e Wireless GSM modem power supply unit 220V by basic design e Tripods for GPS base antenna by base station s all weather design e Tripods for Wireless GSM modem antenna by base station s all weather design e e GPS configuration software designated GPS Monitor e Documentation on the GPS receiver and GPS monitor software e Transport case for GPS base Dokument revision 2 1 3 Page 7 of 44 March 2006 mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 AYA GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A LA GeneSys Elektronik GmbH Optional items Event In 1 cable colour code orange Event In 2 cable colour code orange Sync Out cable colour cod
22. e yellow Error Out cable colour code black Aux Out cable colour code black ADMA Speed cable colour code grey ADMA Download cable designated Prog colour code white with programming adapter Wireless GSM modem Wireless GSM modem antenna with magnetic base and antenna cable ADMA G modem connection cable colour code brown only by ADMA G with internal GPS GPS modem connection cable only by ADMA with external GPS Receiver enabling for WAAS Rescue case with replacement cable and download software A N IM LWA Elektronik GmbH 3 ADMA laboratory bench testing 3 1 General information The routine described below is intended to test the functionality of the gyro system s inertial sensors i e the accelerometers and gyroscopes This function test is also a good way to become familiar with the ADMA and to gain experience in setting up the ADMA 3 2 Setup and cabling The following components should be prepared for the function test e ADMA ADMA Power supply cable e ADMA COM communication cable e A PC laptop with the ADMA System Software Connect the ADMA Power cable s red coded Lemo plug to the DC n ADMA socket and turn on the power supply Depending on system design the nominal supply is 12 24 or 42 VDC The DC In LED should come on as a result Afterward connect the ADMA COM communication cable s blue coded Lemo plug to the COM ADMA socket and the other end of the cable to the COM interface of your measu
23. ed value is entered in the field Ext velocity in the section labelled Mounting offset angles Dokument revision 2 1 3 Page 41 of 44 March 2006 GeneSys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 A A AA LWA GeneSys Elektronik GmbH 6 Configuring ADMA s measurement mode 6 1 System settings Use the ADMA system software to configure the system as required for your tests The following items are parametrized here e Data interface and in the case of CAN advanced options e Sampling frequency prealignment time autostart etc e Additional digital inputs outputs e Existent auxiliary systems such as external speed measurement modules or GPS For further information about this settings use the interactive help described in chapter 3 3 1 In addition to these settings it is necessary to account for data volumes and resultant memory loading occurring during prolonged measurement runs Once all these steps have been taken measurements can be properly started 6 2 Starting a measurement Basically there are 4 possibilities to start a measurement e Start a measurement via the main menu s item Start measurement in ADMA System Softwar
24. er Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A A LA DLA GeneSys Elektronik GmbH 3 5 5 Checking the displayed accelerations The ADMA should be positioned on a laboratory bench or similar facility thus being placed on a close to horizontal surface The following body fixed accelerations should then be indicated e X axisz0g e Y axisz0g e Z axis 1g Pe Status Byte 3 Byte 2 Byte 1 ByteO 214 Error Byte 3 Byte 2 Byte 1 Byte 0 CF 00 20 11 00 0 oo 00 r GPS Pasition r Inertial position absolute Latitude Longitude absolute Lat Long relative Latitude Longitude relative Lat Long m p GES Velocity r Inertial velocity VISE WE VZF Latency s levelled VRH WH VZH m s n m s pe frame vE w VF EPE Lat Long Height m s EVE VE WE VZF m Inertial errors EPE Lat Long Height m GPS Aux Data No sat Log Del Ta Data Age s EVE VF WE VZF m s m s Tik Course ETE Roll Pitch Yaw corrected VXC W E Roll Pitch Yaw GPS Course mis 0 51 0 07 0 01 0 00 3 r Height pace p System data GPS Inertial Milisec Week Ta ms Temp C Time Sifs DSP m a Say m Triggers Misc r GPS Time Syneln EventO
25. ght Digital 170 kat I Extemal velocitiy 7 ADMA Time Men transmitted Total databyte Header Checksum Ausiliary Systems I Free 7 Inertial Position absolute F Free 7 Inertial Position relative I Mise 1 Inertial Velocity Horizontal Offsets I Triggers J Inertial Velocity Frame I System Data 7 Inertial EPE GPS Position absolute T Inertial EVE ETE Update frequency I GPS Position relative I Free Frequency Hz 5o 7 Parameters J Autostart Save Exit configuration 77 DIN 70000 lie coordinate output format Help Figure 5 Dialog Data With this dialog other settings can be changed such as the Data coordinate output format the Update frequency and the Autostart mode The following settings are needed for the function test e Deactivate the D N 70000 option in the field labelled Data coordinate output system e Set the Update frequency to 50 Hz upper limit for most PCs with COM data transfer e Please deactivate the Autostart option Dokument revision 2 1 3 Page 13 of 44 March 2006 GeneSys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 A A LA LWA GeneSys
26. guration can be saved for further tests on the hard disk For this purpose choose the option Save settings in ini file If you want to save the altered configuration both in the ADMA and in ini file please select the option Save settings in ADMA and in ini file After choosing an option and confirming with the button Save Exit configuration the configuration mode will be closed and the program will return to the main menu Document revision 2 1 3 Page 16 of 44 March 2006 A A LA LWA GeneSys Elektronik GmbH 3 4 Starting a measurement To start a measurement select Data Acquisition Start Measurement from the ADMA System Software s main menu Elapma System Software 2 4 6 3 b 4 oj x File Configuration Data Acquisition Setup Hotkeys Info Start fh nent Remote sthr Remote STOP Figure 9 Start Measurement item in main menu This invokes the window shown below ADMA Measurement data E ol x Status Byte 3 Byte 2 Byte 1 ByteO 0 Error Byte 3 Byte 2 Byte 1 Byte 0 r Rates r GPS Position r Inertial position body AXB RYB RZB absolute Latitude Longitude absolute Lat Long levelled RXH RYH RZH relative Latitude Longitude relative Lat Long m RE Ar Be
27. he centre console or in the boot and the speed sensor on the vehicle s side front or rear Radar sensors are sometimes also mounted underneath the vehicle The distance between the individual components is termed lever arm As a consequence the position measured by the GPS antenna does not correspond to the virtual measuring point reference point Point Of Interest An uncompensated lever arm also causes roll pitch and course changes to be registered as errors in the form of position discrepancies Furthermore the speed measured at the installation position of the external speed sensor is not equal to the speed at the virtual measuring point While the vehicle is travelling through a corner or in a circle the speed measured by a sensor mounted on the vehicle s outer side is higher than the speed measured in the middle of the vehicle or on the inside of the vehicle Installation positions are compensated by specifying a position vector GPS antenna and external speed sensor relative to virtual measuring point This vector is entered and edited under the Offsets dialog in the ADMA System Software For determination of the installation position a folding rule or reference tape is completely adequate Please note The vector is based on the coordinate system defined by DIN 70000 Additional details are provided in ADMA s technical description Document revision 2 1 3 Page 38 of 44 March 2006 A A LWA LWA GeneSys Elektronik GmbH
28. ile Configuration Data Acquisition Setup Hotkeys Info r Load settings C Load Settings from ini File Load settings from ADMA C Generate new settings Load Generate settings Cancel GeneSys Elektronik GmbH Figure 3 Dialog Load configuration The ADMA system software then starts to read out the ADMA s configuration data Once this process is complete the loaded data is displayed Dokument revision 2 1 3 Page 11 of 44 March 2006 GeneSys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 ATA mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 A A AA GeneSys Elektronik GmbH 3 3 3 Configuring measurement data transmission via the COM interface The dialog Data Link appears For testing please click on the COM option This sets up the ADMA to transmit the data via the COM port The ADMA System Software is capable of receiving the data via the COM port where the data will be displayed and if required stored Elapma System Software 2 4 6 3 Configuration data from ADMA File Configuration Data Acquisition Setup Hotkeys Info Petr E Data Link GeneSys Elektronik Data Link In der Sp ck 10 For further information right click on a control eleme
29. indicates the system s states as well as elementary errors During correct measurement this status should indicate AHRS mode status byte 1 bit 5 0x20 Furthermore the Count status variable is incremented by one each time a new data record is transmitted status byte 3 Once the maximum displayable figure of 255 has been reached the transmission count is resumed from O Pe eee 214 Error Byte 3 Byte 2 Byte 1 Byte 0 00 a1 00 00 r Rates r GPS Pasition r Inertial position absolute Latitude Longitude absolute Lat Long levelled RXH relative Latitude Longitude relative Lat Long 0 06 0 01 0 06 m m frame RXF RYF RZF GPS Velocity TETE m Inertial velocity ete VE VYF VZF Latency s Ed H WH VZH r Acceleration mis m s body AXB AYB AZB GPS Errors z frame VXE WE YZF c 0001 D 1 0 000 0 0096 1 0039 EPE GE Height levelled XH AYH AZH 0 0012 0 0007 1 0008 Ze FE ee frame AXE AVF AZF m s EPE Lat Long Height m GPS Aux Data u r External Velocity No sat Log Del Ta Data Age s EVE VF VYF VZF raw VX W m s ibe ST ETE Roll Pitch Yaw corrected VXC W E Roll Pitch Yaw GPS Course 0 51 0 07 0 01 0 00 en ADMA Time m System data GPS Inertial Millisec Week Ta ms Temp C Ti
30. lename prn Dokument revision 2 1 3 Page 25 of 44 March 2006 mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A A LA LOA GeneSys Elektronik GmbH 3 6 2 Checking the rotational speeds Start a measurement with the storage option activated as described above After prealignment the system is rotated about the individual measurement axes in the sequence X Y and Z The plotted data could look like this k tperfeste Drehraten 300 200 100 Drebraten in s o 100 200 Drehrate in X Drehrate in Drehrate in Z Diagram 1 Plot rates This data plot shows that ADMA detects negative as well as positive rotational speeds about all three measurement axes A A LWA LWA GeneSys Elektronik GmbH 3 6 3 Checking accelerations Start another measurement with the storage option activated as described above After prealignment the system is moved linearly along the individual axes in the sequence X Y and Z The plotted data could appear as follows k rperfeste Beschleunigen Beschleunigung in X Beschleunigung in Y Beschleunigung inZ Diagram 2 Plot Accelerations This data plot shows that A
31. lute Latitude Longitude absolute Lat Long levelled relative Latitude Longitude relative Lat Long 0 06 0 01 0 06 m frame RXF RYF RZF GPS Velocity eee r Inertial velocity rae VXF VYF VZF Latency s leveled WH WH VZH m Acceleration m s om body AXB AYB AZB GPS Emors frame VRE WE YZF 0 0001 0 0096 1 0039 EPE m a Height levelled AXH AYH amp ZH m 0 0012 0 0007 1 0008 Er ee frame AXF AYF AZF EPE Lat Long Height a GPS Aux Data W p External Velocity No sat Log Del Ta Data Age s EVE VXF WE ZF raw Vx VY m s m s ETE Roll Pitch Yaw corrected VXC WY C Roll GPS Course mis 0 51 0 00 7 r Height ge GPS Inertial Millisec Week m je r Triggers r GPS Time Syneln Event Event Millisec Week ms je Size per step 10 Start Help 7 Save measurement data Close Figure 14 Dialog Measurement Check of displayed orientation GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de Document revision 2 1 3 Page 22 of 44 March 2006 A A ZA LWA GeneSys Elektronik GmbH 3 5 4 Checking displayed rotational speeds In a static state
32. me Si s DSP m je m Triggers Misc r GPS Time Syneln EventO Eventi GPS Inv path radius _slip angle distance Millisec Week m ee Size per step fe Start Help Save measurement data lose Figure 13 Dialog Measurement Check of system status Document revision 2 1 3 Page 20 of 44 March 2006 A ATA LWA GeneSys Elektronik GmbH If an error bit is set error bytes O and 1 measurements are no longer valid In this case please contact our service department AHRS Attitude and Heading Reference System AHRS mode Only solid angles are indicated no position or speed GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A A LA LWA GeneSys Elektronik GmbH 3 5 3 Checking displayed orientation When the system is at rest and nearly horizontal the following 7i t Course data should be indicated e Roll 0 e Pitch 0 e Course O or 360 ADMA Measurement data m iol xi Status Byte 3 Byte 2 Byte 1 ByteO 214 Error Byte 3 Byte 2 Byte 1 Byte 0 CF 00 20 11 00 o 00 00 m Rates r GPS Position r Inertial position abso
33. nal modem need to be supplied RF modem GPS Rover Figure 20 ADMA with external GPS receiver Document revision 2 1 3 Page 32 of 44 March 2006 A A LWA LWA GeneSys Elektronik GmbH 4 3 5 ADMA and DGPS with a separate base station The separate base station is set up similar to the installation of an external GPS receiver in the vehicle except that in the case of a mobile station a PC or laptop communicates with the base There are two different GPS base models available Besides a standard GPS base GeneSys also offers an all weather housing for accommodating all the essential components of a base station In this case just simply connect the housing s integrated sockets to the GPS antenna modem antenna communication cable for setup and power supply cable The standard base setup is displayed below GPS antenna RF modem RF modem 2 m dp oO oO GPS antenna Figure 21 GPS base station Pin assignment of the basic design Dokument revision 2 1 3 Page 33 of 44 March 2006 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de ATA mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 ES 5 Setting up the ADMA in the vehicle 5 1 Modify threshold for standstill detec
34. nen 41 5 4 2 Horizontal compensation of incorrect ADMA installation position 22s20r20 1 41 5 4 3 Compensation of ADMA s vertical axis twiSt aennsssnssnnsnnnennonsnnennnnnnonnanenenennnnnn 41 5 4 4 Compensation of vertical axis twist of a 2 axis speed sensor z 4242u4044n rn 41 6 CONFIGURING ADMA S MEASUREMENT MODE 2z22220200200nonnnnnn non nn ann nn nn nn an en nn 42 6 1 SYSTEM SEITINGS zn 42 6 2 STARTING A MEASUREMENT ccceccee erent eee enn enn EEE EEE ERE EE ened 42 6 2 1 Start a measurement above the main menu s item Start measurement in ADMA SYSTEM SOMWAre un santas ieee sa A T E O E E a a ner oes a AA 42 6 2 2 Start a measurement above the main menu s item Remote Start in ADMA System Software 42 6 2 3 Start a measurement above the Autostart MOC ccccecsccsnecceenennentensennennennenanass 42 6 2 4 Start a measurement above a user specific COOL cccsecccsencnnecceenennenteneennenneunenanass 43 6 2 5 Start COUfSse un anna 43 6 2 6 Prealignment n nennen en aklaehn 43 6 2 7 Transient phase of the Kalman filter z2424404R4 cece ene e ene en nnnannnanennanan nennen nenn 43 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 Document revision 2 1 3 Page 4 of 44 March 2006 ZN A AA LWA GeneSys Elektronik GmbH 1 Introduction This user manual serves as an aid in commissioning the ADMA gyro
35. nnen 27 4 INSTALLATION AND CABLING INSIDE THE VEHICLE uu2222002020 000 ennnn nn nn nn nn nun an anne 28 4 1 OPERATIONAL CONFIGURATIONS seenensenennnennenennnnnnennenennnnnnennenennnnnnennensnnnennnnnensnnnn nennen 28 4 2 INSTALLATION POINT oiera naa neiaa iaae Bee eek a seraets ims 30 4 2 1 ADMA ua 30 4 2 2 External speed measuring SyYSteM ssessssssnsnssnnnnrnnnnrnnnnrnrrnrnrnnnnrrnnnrnnnnrnnnnnnnna 30 4 2 3 GPS antenna sorres cosets erneuten are T FERNER asia oases ENE E 30 4 2 4 Modem and modem ANTENNA ccc caccccccc ene n ene need nA dE AEE DEED H EAE EE EEDA EE EE EEE E EERE HEEB EEE EES 30 4 3 CABLING sera sa ee ee ER Dee ae 31 4 3 1 ADMA in stand alone mode minimal configuration 2s n40r nennen nenn 37 4 3 2 ADMA in stand alone mode optional CONNECTIONS z zu4242nan nern ene anan nennen 37 4 3 3 ADMA and external speed measurement ussssnnsnnnenennennnnnnnnnnnennnnnnnnnnnennnnnnnn 31 4 3 4 ADMA and GPS anna iedeses EE ENEE ATO EREE 32 4 3 5 ADMA and DGPS with a separate base station ssaassnnnnnnnnannrnnnnnnnnnrnnnnrnnnnns 33 Dokument revision 2 1 3 Page 3 of 44 March 2006 mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 A A AA LWA GeneSys mail genesys offenburg de www genesys offenburg de Elektronik GmbH 5 SETUP TASKS ON
36. nnnnnun eee eee eee nennen nun nn nenn 17 Figure 10 Dialog ADMA Measurement data rus4uHenannennn en eee eee eee eee eee nn nun nennen 17 Figure 11 Dialog Start parameter for Measurement z ss4r nHnnnnnnnnnnn nennen nn une nun nennen nenn 18 Figure 12 Dialog Mesurement in prealignment MOdEC ece cence eee eee ee en nun nn nun une nnn anne 19 Figure 13 Dialog Measurement Check of system status zu4usHunnnnnnn anne nn nn nennen nenn 20 Figure 14 Dialog Measurement Check of displayed orientation usrurHsnnnnn nenn nennen nn 22 Figure 15 Dialog Measurement Check of displayed rates zurssHsnnsnnnnnn ann nennen nennen 23 Figure 16 Dialog Measurement Check of displayed accels zurssssansnnnnnn ann anna nennen 24 Figure 17 Configuration facilites ADMA G with internal GPS Rover 22su4 sneran nennen nenn 28 Figure 18 Configuration facilities ADMA G with external GPS Rover sceeeeeee teens nn een 28 Figure 22 Dialog Parameters Standstill detection usrurunHnrannnnnnnn eee eee nun una nun nennen nn 34 Figure 23 Dialog Parameters Quality Pos and Tilt cceccee eee nn nn en nun nn nn nn ann nn nn nun nn nenn 36 Figure 24 Dialog Offsets a 2 22e sa ae a ev ede pe ds 39 TABLE OF DIAGRAMS Diagram 1 Pl t rates an ee a a aa 26 Diagram 2 Plot Accelerations 4 4 4000 eesti se a a eee eed eee ees 27 D
37. ns The minimal configuration for operating ADMA is supplemented by additional terminals which might prove useful for some other measurements These include the SyncOut output as well as the Event 7 and Event 2 inputs which are extremely suitable for establishing chronological references during a measurement Such references can comprise for example a lap index lane entrance or circular travel index A detailed description of the signals and associated cables is provided in the technical documentation 4 3 3 ADMA and external speed measurement ADMA can read in analog speed signals including 2 axis signals via the Speed terminal For this purpose connect ADMA to the speed sensor via the appropriate ADMA Speed cable Please do not forget the power supply for the speed sensor Dokument revision 2 1 3 Page 31 of 44 March 2006 GeneSys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 A N LA LWA GeneSys Elektronik GmbH 4 3 4 ADMA and GPS If the ADMA is to be operated with a GPS all the cables for the GPS receiver should be connected first Connect the receiver by means of a coaxial cable with the GPS antenna usually the receiver is attache
38. nt D 77656 Offenburg Choose the Interface and set parameters m Interface Step 2 0f8 C CAN COM N r GAN Identifiep T COM Baudrate kB Standard C Extended ad configuration 115 Base D 1100 dec O64 hex Data Link Data CAN Baudrate KB Digital 1 0 fo Prescaler BT SEG En Parameters TSEG2 Offsets CAN Baudrate ficco Save Exit configuration Auxiliary Systems GeneSys Elektronik GmbH Figure 4 Dialog Data Link Document revision 2 1 3 Page 12 of 44 March 2006 A A LA LA Elektronik GmbH 3 3 4 Selection of data packets to be transmitted The Data dialog is used to individually select the data packets to be transmitted by the ADMA Data packets which are not required can be deactivated in order to reduce the transmission data volume The following data packets need to be selected for the function test e Rates Body e Rates Horizontal e Acceleration Body e Acceleration Horizontal e Tilt Heading El apa system Software 2 4 6 3 Configuration data from ADMA E lol x File Configuration Data Acquisition Setup Hotkeys Info Z Status and Error I GPS EPE I Free IV Rates Body GPS Velocity T Free IV Rates ane T GPS EVE I Free Load configuration Rates Frame I GPS Time Data Link IV Acceleration Body I GPS Auxiliary Data IV Acceleration Horizontal IV Tilt Heading J Acceleration Frame I Hei
39. nternal GPS GPS modem connection cable only by ADMA with external GPS Receiver enabling for WAAS Rescue case with replacement cable and download software Document revision 2 1 3 Page 6 of 44 March 2006 ZN A AA LWA GeneSys Elektronik GmbH 2 3 ADMA with a GPS receiver and GPS base station In the base station s all weather design the GPS receiver wireless GSM modem and associated cables are integrated into a housing contrary to the basic GPS base design which is though for operation in dry conditions as in buildings In this case only the antenna communication and supply cables need to be plugged into the external connectors provided for this purpose e The ADMA or ADMA G module e A supply cable designated ADMA DC In colour code red e A communication cable designated ADMA COM colour code blue e A communication cable designated ADMA CAN colour code green e The configuration tool designated ADMA System Software e Documentation User manual Technical Documentation and ADMA System Software e Transport case for ADMA or ADMA G e GPS receiver only by ADMA with external GPS Receiver e GPS receiver enabling for RT2 e GPS supply cable only by ADMA with external GPS Receiver e GPS communication cable only by ADMA with external GPS Receiver colour code brown e GPS rover antenna with cable in case ADMA G with in case ADMA without colour code brown e Magnetic base for GPS rover antenna with assembly adapter
40. ocument revision 2 1 3 Page 44 of 44 March 2006
41. od detection of vehicle standstill as the measured rates of the vehicle are smaller in standstill the compared to those in dynamic operation However the thresholds have to be checked and adapted depending on the type of vehicle This can best be done with a test measurement followed by a data analysis Max turn rate at standstill The special mode of the Ka man filter update via Zero Velocity Update is available in all operation modes however in solo operation no external velocity no D GPS only the turn rates are used for standstill detection Document revision 2 1 3 Page 34 of 44 March 2006 A A LWA LY Elektronik GmbH 5 1 2 Max velocity at standstill If the ADMA is operated in a non solo mode then an additional check against the inertial velocity is performed for standstill detection In that case both criteria rate and velocity need to be valid for the ADMA to indicate standstill detection 5 2 Modify thresholds for quality The position and the tilt status are implemented to have an easy way to display the ADMA system performance The position and tilt status are based on the Kalman filter internal estimation of the state variable s quality standard deviation With 2 adjustable thresholds for each status it s possible to give a statement about the measurement s quality which can be displayed in form of a traffic light design The threshold green yellow seperates small from tolerable measurement errors
42. of the status and selected reset data packets Prealignment is indicated in the system status field by a corresponding flag together with the Count variable which indicates the time remaining to the end of the pre alignment process Important do not move ADMA while prealignment is in progress GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A A LA LWA GeneSys Elektronik GmbH Pre alignment in progress is indicated as shown below ADMA Measurement data 5 loj xj Status Byte 3 Byte 2 Byte 1 ByteO Eror _Byte3 Byte 2 Byte 1 Byte 0 A 00 30 a o0 o0 00 00 r GPS Position r Inertial position absolute Latitude Longitude absolute Lat Long relative Latitude Longitude relative Lat Long m m m GPS Velocity m Inertial velocity eu VF VYF VZF Latency s Fe VH WH VZH m Acceleration m s Tze bod GPS R GESE frame VXF_ WF v EPE Lat Long Height m s EVE VXF WE YZF m Inertial errors m s EPE Lat Long Height m GPS Aux Data u No sat Log Del Ta Data Age s EVE VF WE VZF m s ETE Roll Pitch Yaw corrected VXC W E ue r Height 7 ADMA
43. onditions with accelerations The vehicle can be driven brisk in this case however spinning states should be avoided Dokument revision 2 1 3 Page 43 of 44 March 2006 GeneSys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 ATA mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 A A AA GeneSys Elektronik GmbH TABLE OF FIGURES Figure 1 Setup an Cabling 04 804 sun e ae a a ka aa aa iaei 9 Figure 2 Menu of the ADMA System Software uuuserensnnenannnnnnennnnnnnnnnnennnnnn nun nn nun nennen 11 Figure 3 Dialog Load configuration ssssssssssssssssrsssrrnnrrnnrrrnntrnntrnnnnrnnnnnnnnrnnnnnnnnnnnnnnnnnn nnn nnn 11 Figure 4 Dialog Data Linke 444 22000 22 00 Gase an an Aahe ni aa ah a nannte ende 12 Figure Dialog Data ach a nee re a 13 Figure 6 Dialog Auxiliary Systems 2usesensenenennnnnn nennen nummer une eee nun nn nun eee nenn nennen nenn 14 Figure 7 Dialog Parameters 44s44444HRHan nn nen nun an nn nen nun an nun nenn nenn an anne ne nee nenn nennen nenn 15 Figure 8 Dialog Save Exit configuration usssserennenenennnnannnnnnennunnnnnnnn eee eaten eee anne nn 16 Figure 9 Start Measurement item in main menu uanserensnsenannennnennnn
44. r p GPS Velocity r Inertial velocity Kae VxF VYF VZF Latency s leveled VRH WH vH m Acceleration m s rate bod AXB AYB AZB GPS ArSsiER frame VxE WE V EPE Lat Long Height levelled AXH AYH AZH Le EVE VF WE V Inertial errors frame AXF AYF AZF mis EPE Lat Long Height r GPS Aux Data u m Extemal Velocity No sat Log Del Ta Data Age s EVE VE WE VZF raw VX VY m s we Shiner ETE Roll Pitch Yaw corrected VXC W E Roll Pitch Yaw GPS Course Height m ADMA Time m System data GPS Inertial Millisec Week Ta ms Temp C Time Si s DSP m EZ m Triggers Misc r GPS Time Syneln Event Eventi GPS Inv path radius _ slip angle distance Millisec Week m je Size per step Sr Hep ep I Save measurement data Stop Close Figure 10 Dialog ADMA Measurement data Dokument revision 2 1 3 Page 17 of 44 March 2006 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de A A AA LWA GeneSys Elektronik GmbH After clicking the Start button the following dialog is displayed You can enter e Start course deg and e Prealignment sec Start parameter COM Figure 11 Dialog Start parameter for Measurement On requirement these two parameters can be changed After confirming the entries with OK the measurement starts Because prealignment has been activated the initial display consists
45. rement data acquisition device usually a PC or laptop These connections are also depicted in the diagram below PC Laptop ADMA COM Power Suppl BR ADMA Power Figure 1 Setup an cabling Dokument revision 2 1 3 Page 9 of 44 March 2006 GeneSys mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 A N AA LWA GeneSys Elektronik GmbH 3 3 Modifying the ADMA s configuration 3 3 1 Handling of the ADMA System Software Help For a better usability of the ADMA System Software an interactive help has been implemented With each parameter available in the configuration mode a hint will be displayed and if applicable an image to asure that the most important informations are available for the user To have the parameter hint displayed set the focus to the appropriate control element In case of pure keyboard editing you can tab shift tab through the control elements In case of option control elements simply use the arrow keys If you prefer working with a mouse or touchpad the focus can be set with a right button click This only displays the hint of an option control element or a checkbox thus having focus but not changing it s s
46. s Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 A AA GeneSys Elektronik GmbH 2 2 ADMA with internal external GPS receiver The ADMA or ADMA G module A supply cable designated ADMA DC In colour code red A communication cable designated ADMA COM colour code blue A communication cable designated ADMA CAN colour code green The configuration tool designated ADMA System Software Documentation User manual Technical Documentation and ADMA System Software Transport case for ADMA or ADMA G GPS receiver only by ADMA with external GPS Receiver GPS supply cable only by ADMA with external GPS Receiver GPS communication cable only by ADMA with external GPS Receiver colour code brown GPS rover antenna with cable in case ADMA G with in case ADMA without colour code brown Magnetic base for GPS rover antenna with assembly adapter Documentation GPS receiver Transport case for GPS Rover Optional items Event In 1 cable colour code orange Event In 2 cable colour code orange Sync Out cable colour code yellow Error Out cable colour code black Aux Out cable colour code black ADMA Speed cable colour code grey ADMA Download cable designated Prog colour code white with programming adapter Wireless GSM modem Wireless GSM modem antenna with magnetic base and antenna cable ADMA G modem connection cable colour code brown only by ADMA G with i
47. tart course and prealignment can t be modified The saved values of the configuration settings are used Document revision 2 1 3 Page 42 of 44 March 2006 A A LWA AA Elektronik GmbH 6 2 4 Start a measurement via a user specific tool Data acquisition can also be started via a user specific tool The interface protocol for the COM and CAN interface is available on request please contact us Please refer in this case to the contact address on page 2 6 2 5 Start course If the ADMA id operated without GPS this entry will asure that earth rate is compensated correctly which otherwise will lead errors If the ADMA is operating with D GPS the transient duration of the Kalman filter can be reduced by entering a correct start course but it s an option 6 2 6 Prealignment During prealignment the roll and pitch angles are calculated from accelerometer data while the vehicle is in standstill The duration of the prealignment determines the expected precision of the angle estimation Typical time periods are in the range of 5 30 seconds 6 2 7 Transient phase of the Kalman filter The transient phase of the Ka man filter can t be bypassed as described above in chapter 3 5 1 and tasks ca 120 seconds However the Transient condition can be supported by the user of the ADMA After prealignment the Ka man filter converges faster if the vehicle is moved in circles of 8 or is zigzaged down a straight Important are driving c
48. tate To activate or deactivate these control elements please use the left mouse button If the displayed information isn t sufficient you can obtain further information by clicking on the Help button on the very buttom of the window to open the Technical documentation Please note that a PDF reader has to be installed To make fast and efficient working with ADMA System Software possible the most important functions are available via Hotkeys An overview listing all preset hotkeys is given at the main menu s item Hotkeys Please note that the Hotkeys are not available all the time Document revision 2 1 3 Page 10 of 44 March 2006 A A LA LA Elektronik GmbH 3 3 2 Loading configuration from the ADMA Certain settings need to be performed in order to conduct the function test For this purpose it is necessary to check and possibly modify the configuration saved in the ADMA system To view and change these configuration parameters start the ADMA System Software and select the menu option Configuration Pe File Configuration Data Acquisition Setup Hotkeys Info Figure 2 Menu of the ADMA System Software The following dialog will open where you can choose the source to load the configuration data from For function testing the settings should be loaded from the ADMA Please choose the option Load settings from ADMA and confirm with the button Load Generate settings FJ ADMA system Software v2 4 6 3 k lol x F
49. the following rotational speeds should be indicated e X axis x 0 s e Y axis x 0 s e Z axis 0 s ADMA Measurement data m oI x Status Byte 3 Byte 2 Byte 1 ByteO 214 Error Byte 3 Byte 2 Byte 1 Byte 0 CF 00 20 11 00 0 00 00 r GPS Position r Inertial position absolute Latitude Longitude absolute Lat Long relative Latitude Longitude relative Lat Long p GES Velocity r Inertial velocity ae VXF VYF VZF Latency s levelled WH WH VZH m Acceleration m s mE body AXB AYB AZB GPS Errors frame VXE WE YZF c 0001 D 0 000 0 0096 1 0039 EPE F Height levelled AXH AYH AZH m 0 0012 0 0007 1 0008 SE SE DE Te ae frame AXF AYF AZF m s EPE Lat Long Height Z r GPS Aux Data u m Extemal Velocity No sat Log Del Ta Data Age s EVE VxF WE VZF 7 w IE m s Za ETE Roll Pitch Yaw corrected VXC W Roll Pitch Yaw GPS Course 0 51 0 07 0 01 0 00 Height m ADMA Time r System data GPS Inertial Millisec Week Ta ms Temp C Time Si s DSP X m a m Triggers r GPS Time Syncin Event0 Eventi GPS Inv path radius _slip angle distance Milisec Week m Size per step 10 Start Help 7 Save measurement data Close Figure 15 Dialog Measurement Check of displayed rates Dokument revision 2 1 3 Page 23 of 44 March 2006 GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In d
50. tion A LA Genesys Elektronik GmbH The following describes standstill detection thresholds and their correct entry which will increase the data integrity The parameters for the Standstill detection Max rate at standstill Max velocity at standstill are very important parameters as standstill allows a special form of augmentation for use with the Ka man filter the so called Zero Velocity Update This variant of the Ka man filter update increases the stability of the measurement mode in case of standstill Elapma System Software v2 4 6 3 Configuration data from ADMA File Configuration Data Acquisition Setup Hotkeys Info Load configuration Data Link Data Digital 1 0 Auxiliary Systems gt Threshold data Min velocity for GPS course 3 m s fsa deg s Spin rate Max side slip angle Max rate at standstill Max velocity at standstill r Position quality m Misc J7 Accept position as origin Geo latitude 48 6000000000 deg Geo longitude 7 9000000000 deg r Prealignment Enable Duration 5 sec oxi Threshold yellow to red Offsets Threshold green to yellow Save Exit configuration r Tilt quality Threshold yellow to red Threshold green to yellow GeneSys Elektronik GmbH lt Back Next gt Figure 22 Dialog Parameters Standstill detection 5 1 1 The measured ADMA turn rates allow a go
51. tronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 A A AA LWA GeneSys Elektronik GmbH 4 2 Point of installation 4 2 1 ADMA The ideal installation point for a gyro system inside a vehicle is at the theoretical centre of motion with the system s measuring axes parallel to those of the vehicle If installation at the centre of motion is not possible the ADMA system needs to be positioned at a point inside the vehicle more conducive to installation In this case the selected point should preferably lie on one of the axes or on a plane formed by two axes and containing the centre of motion for example in the boot on the vehicle s longitudinal axis passing through the centre of motion The ADMA s ideal position of installation in a vehicle is one in which the ADMA s measurement axes align with those of the vehicle i e where the X measurement axis is parallel to the vehicle s longitudinal axis It is difficult to actually achieve this ideal situation so that the resulting discrepancy in alignment needs to be compensated Section 5 3 cont describes how to compensate discrepancies in the ADMA s installation position and alignment 4 2 2 External speed measuring s
52. y at standstill je 01 deg s 20 0 01 m s m Misc T Accept position as origin Geo latitude 48 6000000000 deg Geo longitude 7 9000000000 deg r Prealignment I Enable Duration 5 sec Position g TkvEshold yellow to red 100 0 01 m 5 0 01 m Offsets Threshold green to yellow Save Exit configuration r Tilt quality fo 0 01 deg Threshold yellow to red hreshold green to yellow Figure 23 Dialog Parameters Quality Pos and Tilt 5 2 1 The position quality is particularly of interest when D GPS is used If the ADMA is operating with D GPS the position error is expected to be within an error band depending on the quality of the actual GPS position and the available GPS mode If GPS data isn t available for a certain amount of time e g due to GPS outage then the ADMA position quality decreases due to the gyro system s own error dynamic following a square function Threshold for position quality With decreasing quality the standard deviation of the signals will increase In case the threshold is reached this is shown accordingly yellow resp red Acceptable errors and thus their thresholds may vary with the application and can be within the a possible error range of 0 1 1 5 10 or even 20m As an example in case of crosswind influence tests the position measurement needs to be very exact and accordingly the limits must
53. ys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 mail genesys offenburg de www genesys offenburg de GeneSys Elektronik GmbH In der Sp ck 10 D 77656 Offenburg Tel 0781 969279 0 Fax 0781 969279 11 A A LA LWA GeneSys Elektronik GmbH 3 3 7 Transmitting modified settings to ADMA The altered settings now need to be transmitted to the ADMA For this purpose click in the left frame the Save Exit configuration button The following dialog Save configuration will open with different options to save the altered settings Please note that exiting the configuration modus without saving is possible too Please select the option Save settings in ADMA and confirm with the Save Exit configuration mode button This commences data transmission Elapma System Software 2 4 6 3 Configuration data from ADMA File Configuration Data Acquisition Setup Hotkeys Info Load configuration r Save Exit configuration mode Data Link o ER 033 Save settings in ADMA r ann Digital 1 0 Save settings in ini file C Save settings in ADMA and in ini file Auxiliary Systems Pi te B a 2 S Sromenels Exit configuration mode without saving data Offsets C Load new settings without saving Save Exit configuration mode l Figure 8 Dialog Save Exit configuration The modified confi
54. ystem Usually the external speed measuring system is attached to one side of the vehicle For slalom tests involving a higher risk of damage to the sensor a point at the front rear of the vehicle can be used 4 2 3 GPS antenna If the ADMA is operated together with a GPS receiver the GPS antenna must be mounted on the vehicle s roof to ensure a clear line of sight to GPS satellites The ideal position for the antenna is one offering a clear view of the entire sky from the zenith to the horizon If the installation point on the vehicle s roof can be freely selected it is advisable to select a point directly above the ADMA This is where the vector to the ADMA s installation point is at it s shortest and the effects of pitching and rolling at a minimum Compensation of the GPS antenna s installation point is described in Section 5 3 3 4 2 4 Modem and modem antenna If the ADMA is operated together with a GPS receiver in the RTK DGPS mode also termed local area DGPS it is also necessary to employ a wireless GSM modem for receiving correction data from the base station In most cases the modem s IPxx protection type is not sufficient for external mounting on the vehicle so that the modem unit needs to be mounted inside the vehicle while only the modem s antenna is fastened on the roof Please note Wireless modems which usually transmit over a 433 868 MHz band need a direct line of sight to the base station s radio antenn

ADMA User Manual - Micro Movements

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