LN-200 IMU DATA INTERFACE/LOGGER USER GUIDE
Contents
1. requirement Pentium 700 MHz or equivalent 128 MB RAM Windows Note Be aware that due to the large quantity of data transferred from the Interface to the PC the file size may increase quickly So make sure to have sufficient available disk space GPS SERIAL connector pin designation P1 DB9 P Pint CD Pin2 RXD Pin3 TXD Pin 4 DTR Pin 5 GND Pin6 DSR Pin7 RTS Pin8 CTS Pin9 RI IMU ODOMETER connector pin designation P2 5 pin LEMO 1B Pint RX Pin2 RX Pin 3 CLK Pin4 CLK Pin5 not connected POWER SUPLLY connector pin designation P3 2 pin LEMO 1B Pin 1 VCC Pin 2 GND VNR Electronique SA 2003 VNR Electronique SA CH 1004 Lausanne2. LN 200 IMU DATA INTERFACE LOGGER USER GUIDE VNR Electronique SA Av De France 90 Tel 41 21 647 64 36 CH 1004 Lausanne Fax 41 21 647 64 61 www vnrsa ch info vnrsa ch LN 200 IMU DATA INTERFACE LOGGER 2 F vnr doc Interface IMUGPS User Manual doc SYSTEM OVERVIEW The LN 200 IMU Data Interface Logger provides an advanced interface between an Inertial Measurement Unit Lutton LN 200 and a GPS Receiver with 1PPS and NMEA ZDA output The LN 200 IMU Data Interface Logger precisely synchronizes the incoming IMU data with GPS time and sends them over the Ethernet port The high bandwidth of the communication ports easily handles up to 400Hz of IMU data that are logged on customer provided PC The precisely time tagged data can be used for real time or in post mission GPS INS integration LN 200 IMU INS LN 200 Data Interface Logger oe gt gt NME ZDA output gt 1PPS Nene Ethernet GPS RECEIVER ne e g JAVAD Y LEGACY GD PC Portable e J LN 200 IMU DATA INTERFACE LOGGER SETUP The LN 200 IMU Data Interface Logger has automated setup no user action is requested on the interface side after power up or after the reset button has been pressed See next section for details on automated start up sequence VNR Electronique SA 2003 VNR Electronique SA CH 1004 Lausanne LN 200 IMU DATA INTERFACE LOGGER 3 LN 200 IMU DATA INTERFACE L
3. OGGER AUTOMATED START UP SEQUENCE This section presents how the automated start up sequence works 1 The Interface try to establish a connection with the PC until it succeed 2 The interface try to read time furnished by the GPS Receiver until it succeed Note For the start up the Interface need a correct NMEA ZDA or GPS Time with Javad GPS Receiver and 1 second interval PPS outputted from the GPS Receiver If not the Interface will not be ready to receive data from the IMU After the start up the Interface only need the 1 second interval PPS If the GPS receiver fails to output correct PPS then the Interface will time stamp data with a time based on it oscillator In the mode the precision of time stamps may not be guaranteed for a long time 3 The Interface wait for incoming data from the IMU 4 The Interface timestamp packets and send them to the PC DATA LOGGER PROGRAM CONFIGURATION fe Interface GPS IMU Send a Ping Saving data Status Received 64 bytess from 192 168 1 34 File name Tie 0 Delay Ome FAVNASPAY diplomesD ataLoggervNASDataLogger Aelea IP Address W Save incoming data GPS Type Offset UTC GPS Time Fe JAVAD C NMEA ZDA 13 sec Ethernet s data Status Data erased in the status window 16 24 27 New file name F NRSP AA diplomet D atal ooge NP D atale Files open corectly 16 24 36 Start reading data o 16 24 36 Send 4 ping at address 192 166 1 34 16 24 50 Send 4 ping at addre
4. necessary with the Javad Legacy because the Interface directly uses the GPS time Offset UTC gt GPS Time 13 Sec Displaying Status Every important operation made either by the Interface or the PC Program is stored in a log file with the same name as the imu The check box Show status permits to display or not status Note Status are always stored The Erase will simply erase the Status screen but not the log file Status Data erased in the status window Gi 16 24 27 Ps New file name EVER PE diplome D ataLogger NASD atale Files open corectie i 16 24 36 Start reading data 16 24 36 Send ping at address 192 168 1 34 0 16 24 50 Send a ping at address 1441681534 16 24 51 a M Show status Erase VNR Electronique SA 2003 VNR Electronique SA CH 1004 Lausanne LN 200 IMU DATA INTERFACE LOGGER e Displaying Ethernet Data It is possible to display the number of incoming packets It permits to check whether or not data are sent from the Interface It is also possible not to display the packet number by clicking the Show incoming data check box Ethernet s data M Show incoming data Erase 1 Sending a Ping It is possible to ping the Interface to check the Ethernet connexion Send a Ping Status hecelved 64 bytess from 192 168 1734 Try 0 Delar Ome iP Adchese Eo ee 2 PC CONFIGURATION Setting IP Address The IP Address of the computer must be set t
5. o 192 168 1 200 And the subnet mask must be set to e 255 255 255 0 VNR Electronique SA 2003 VNR Electronique SA CH 1004 Lausanne LN 200 IMU DATA INTERFACE LOGGER 6 RECOMMENDED PROCEDURES Start Up Check connexions set PC IP Address to 192 168 1 200 set PC Subnet mask to 255 255 255 0 Switch on the Interface Switch on the IMU Open Data Logger program Select a file name Select a GPS receiver type Check UTC lt gt GPS time offset if necessary 0 Press on Start button 1 Check that data are received this might take a while aa Ss eT Restart 1 Press on Stop button 2 Press the Reset button on the Interface or switch off and switch on the Interface 3 Follow procedure Start Up from point 4 Power Off 1 Press on Stop button in the Data Logger program 2 Close the program 3 Switch off the Interface Troubleshooting 1 Check connexion Is the Interface connected to the PC via a cross cable or through a hub 2 Is pulse and the NMEA ZDA interval is set to 1 second and that the baudrate is set to 115200 bauds 3 Does the GPS receiver send PPS without a GPS coverage 4 Is the IMU powered up VNR Electronique SA 2003 VNR Electronique SA CH 1004 Lausanne LN 200 IMU DATA INTERFACE LOGGER 7 TECHNICAL DATA Size 170mm x 110mm x 35 mm Weight 540g Power consumption 1W Ports Serial Port RS232 Ethernet 10 100 HDLC Pulse Capture Input Input Voltage DC 7V 30V PC
6. ss 192 166 1 34 16 24 51 w W Show incoming data Erase M Show status Erase Start Stop Quit Saving data e Enter the file name or click on to browse e The check box Save incoming data permits to select whether or not to save incoming data This functionality is useful when you want to acquire position in a location with a potential poor GPS coverage In fact you can synchronise the Interface in a location where you are sure to get sufficient GPS coverage and then move to another location without saving unneeded data but in keeping synchronisation or in using the Interface clock to extrapolate time Saving data File name FAWNA PAW diplomes D ataLogger N AAD ataLogger R elea 7 M Save incoming data VNR Electronique SA 2003 VNR Electronique SA CH 1004 Lausanne LN 200 IMU DATA INTERFACE LOGGER 4 Selecting GPS Receiver type Two GPS Receiver type are available 1 Javad Legacy in this case configuration is automatically made by the interface 2 Any GPS with a NMEA ZDA and 1PPS In this case make sure that the pulse and the NMEA ZDA interval is set to 1 second and that the baudrate is set to 115200 bauds GPS Type f JAVAD CO NMEA ZDA Changing the offset between UTC and GPS time At this time the offset between UTC and GPS is 13 seconds but in the future this offset will change so you have to give a correct offset so that the Interface can convert UTC time into GPS time Note This offset is not
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