Moog-crossbow NAV440 Series Manual do Utilizador

www.moog‐crossbow.com1Moog,Inc.,1421McCarthyBlvd.,Milpitas,CA95035440SeriesUserManualInstallationConfigurationReference

 7430‐0131‐01Rev.FPage10 NAV440UserManualTable64HeadingTrackOffset...

 Page100NAV440UserManual7430‐0131‐01Rev.FhardwareStatusEnableFieldThisfieldisabitmaskofthehardwareStatusfield(referto on

 NAV440UserManual7430‐0131‐01Rev.FPage101Figure23BITErrorandStatusHierarchy

 Page102NAV440UserManual7430‐0131‐01Rev.F

 nua7430‐0131‐01Rev.FPage103NAV440UserMa lAppendixA. NMEAMessageFormatTheGPSreceiveroutputsdata(froma440unit)inNMEA‐0183

 Page104NAV440UserManual7430‐0131‐01Rev.FASCIIStringNameFormat ExampleDescriptionAltref blank 48.0 GeoidSeparation(m)m

 7430‐0131‐01Rev.FNAV440UserManual Page105AppendixB. ApplicationExamplesThissectionprovidesrecommendedadvancedsettingsfortail

 NAV440UserManual7430‐0131‐01Rev.FPage106Table100RecommendedAdvancedSettingsforRotorcraftDynamic ConditionRecommended SettingsN

 7430‐0131‐01Rev.FPage107NAV440UserManualWaterVehicleatervehicleisacraftorvesseldesignedtofloatonorsubmergeandprovidetr

 Page108NAV440UserManual7430‐0131‐01Rev.FPhase DescriptionThephaseofflightinwhichanaircraftaccelerates,decelerates,andturns

 NAV440UserManual7430‐0131‐01Rev.FPage109AppendixC. SamplePacket—ParserCodeOverviewThissectionincludesanexampleofcodewritte

 7430‐0131‐01Rev.FNAV440UserManual Page11Table99RecommendedSettingsforFixedWingAircraft...

 Page110NAV440UserManual7430‐0131‐01Rev.Fusertoensurecircular‐queueintegritybyusingsomesortofmutualexclusionmechanismwithin

 NAV440UserManual7430‐0131‐01Rev.FPage111 } Pop(queue_ptr, numToPop); if(Size(queue_ptr) <= 0) { /* header was not found

 Page112NAV440UserManual7430‐0131‐01Rev.F * CRC-CCITT 16-bit standard maintained by the ITU * (International Telecommu

 NAV440UserManual7430‐0131‐01Rev.FPage113 retval = 1; } return retval; } /**********************************************************

 Page114NAV440UserManual7430‐0131‐01Rev.Funsigned short peekWord(QUEUE_TYPE *queue_ptr, unsigned int index) { unsigned short word, fir

 NAV440UserManual7430‐0131‐01Rev.FPage115 * ARGUMENTS: queue_ptr is pointer to the queue * RETURNS: return 1 if full, 0 if not full

 Page116NAV440UserManual7430‐0131‐01Rev.F

 7430‐0131‐01Rev.FPage117AppendixD. SamplePack etDecodingExamplepayloadfromAngleDataPacket2(A2) 5555 4132 1e

 Page118NAV440UserManual7430‐0131‐01Rev.F5555 5331 18 0000fffef332 fff30001fff8 23b9242624ca2aff

 NAV440UserManual7430‐0131‐01Rev.FPage119001bffdf3a5bfffe0000ffeafff8fff7f3370015fda9fd4f000000000000000000002d1900288a3e 0300 Angles H

 Page12NAV440UserManual7430‐0131‐01Rev.F

 age120NAV440UserManual7430‐0131‐01Rev.FP

 NAV440UserManual7430‐0131‐01Rev.FPage121AppendixE. MechanicalSpecificationsFootprint3.00"x3.75"SpecificationsEnviro

 age122NAV440UserManual7430‐0131‐01Rev.FMechanicalDrawingsFigure25440Outline:IMU,VGP

 AV440UserManual430‐0131‐01Rev.FPage123Figure26440Outline:AHRS,NAVN7

 Page124NAV440UserManual7430‐0131‐01Rev.FFigure27EvaluationKit440SeriesCable

 NAV440 ual7430‐0131‐01Rev.FPage125UserManAppendixF. MoogCrossbowServicePoliciesCustomerServiceMoogCr esstoproductsupports

 Page126NAV440UserManual7430‐0131‐01Rev.F• Attachatagtotheequipment,aswellastheshippingcontainer(s):onthetab,includethe

 NAV440UserManual7430‐0131‐01Rev.FPage127AppendixG. RevisionHistoryTable105DocumentRevisionHistoryRevision Date Contributor

 age128NAV440UserManual7430‐0131‐01Rev.F MoogCrossbowd.1421McCarthyBlvMilpitas,CA95035Phone:408.965.3300F

 AV440UserManual0131‐01Rev.FPage13N7430‐PrefaceThisdocumentprovidesinformationaboutthe440SeriesInertialSystems,includingope

 NAV440UserManual7430‐0131‐01Rev.FPage14TextConventionsTable2TextConventionsConvention DefinitionItalics Emphasizesimportanti

 NAV440UserManual7430‐0131‐01Rev.FPage15Term DefinitionMTBF MeanTimeBetweenFailurePPS PrecisePositioningServiceQTP Qualifica

 Page16NAV440UserManual7430‐0131‐01Rev.F

 NAV440UserManual7430‐0131‐01Rev.FPage17Chapter1. 440SeriesOverviewThischa ryofthe440Series:pterprovidesahighlevels

 Page18NAV440UserManual7430‐0131‐01Rev.F• Coupledtothe6‐DOFMEMSinertialsensorclusterisahighperformanceDigitalSignalProces

 AV440UserManual0131‐01Rev.FPage19N7430‐Chapter2. 440SeriesFunctionsThischapterprovidesanoverviewofthehardwareandsoftware

 Page2NAV440UserManual7430‐0131‐01Rev.FWARNING:ThisproducthasbeendevelopedbyMoogCrossbowexclusivelyforcommercialapplications

 Page20NAV440UserManual7430‐0131‐01Rev.FFigure1440SeriesHardwareBlockDiagram6-DOF Sensor ClusterX / Y / Z Gyros X / Y / Z

 NAV440UserManual7430‐0131‐01Rev.FPage21Figure2440SeriesSoftwareBlockDiagramX / Y / Z BodyAccelerometers6-DOF Sensor ClusterSe

 Page22NAV440UserManual7430‐0131‐01Rev.FFigure3440SeriesFunctionsNAVFunctionAHRSFunctionMagnetometer heading accels, rates

 7430‐0131‐01Rev.FNAV440UserManual Page23TheaxesformanorthogonalSAEright‐handedcoordinatesystem.Accelerationispositivewhe

 NAV440UserManual7430‐0131‐01Rev.FPage24DigitalIMU440dataisoutputovertheRS‐422ataselectablefixedrate(100,50,25,20,10,5

 UserManual7430‐0131‐01Rev.FPage25NAV440NOTE:Ifthecoordinatesystemisconfiguredtoanon‐standardorcustomconfiguration,applyth

 Page26NAV440UserManual7430‐0131‐01Rev.FInadditiontothescaledsensorpacketsdescribedintheIMU440section,theVG440hasaddition

 7430‐0131‐01Rev.FPage27NAV440UserManualSetting DefaultValue CommentsRestartOnOverRangeOFFThissettingforcesanalgorithmrese

 Page28NAV440UserManual7430‐0131‐01Rev.FThefirstphaseofoperationisthehigh‐gaininitializationphase.Duringtheinitializationp

 NAV440UserManual7430‐0131‐01Rev.FPage29Setting DefaultValue CommentsFreelyIntegrateOFFTheFreelyIntegratesettingallowsauser

 NAV743440UserManual0‐0131‐01Rev.FPage3TableofContentsPr eface...

 ual7430‐0131‐01Rev.FPage30NAV440UserManSetting DefaultValue CommentsRestartOnOverRangeOFFThissettingforcesanalgorithmrese

 NAV440UserManual7430‐0131‐01Rev.FPage31AsshowninFigure2onpage21,theIntegrationtoOrientationandtheIntegrationtoVelocity

 Page32NAV440UserManual7430‐0131‐01Rev.FSetting Def ueaultVal CommentsOrientationSeeFigure4onpage22.Toconfiguretheaxisorie

 AV440UserManual0131‐01Rev.FPage33N7430‐Setting DefaultValue CommentsRestartOnOverRangeOFFThissettingforcesanalgorithmrese

 Page34NAV440UserManual7430‐0131‐01Rev.F

 NAV440UserManual7430‐0131‐01Rev.FPage35Chapter3. HardwareInterfaceThischapterprovidesinformationaboutthepowerandsignalinter

 Page36NAV440UserManual7430‐0131‐01Rev.FJ2—GPSAntennaConnectorTheGPSreceiverneedstoreceivesignalsfromasmanysatellitesasp

 NAV440UserManual7430‐0131‐01Rev.FPage37SignalsExtern )alGPSAiding(PortB,VG440andAHRS440NOTE:ThisfeatureonlyappliestoVG44

 Page38NAV440UserManual7430‐0131‐01Rev.F1PPSInputInterfaceThe1PPSinputsignalallowstheuserofthe440Seriesunittoforcesynch

 NAV440UserManual7430‐0131‐01Rev.FPage39Chapter4. MagnetometerCalibrationandAlignmentGuidelinesThischa daligningthemagnetome

 Page4 NAV440UserManual7430‐0131‐01Rev.FHardwareBITErrorOutput ...

 Page40NAV440UserManual7430‐0131‐01Rev.Finthehorizontalplane.UsingNAV‐V ironeffectsIEW2.2,thehardandsoft canbeviewedby

 NAV440UserManual7430‐0131‐01Rev.FPage41Chapter5. InstallationGuidelinesThisch laboratorytest.apterprovidesinformationtoset

 Pag 2NAV440UserManual7430‐0131‐01Rev.Fe4 1. Install —NAV‐VIEW2.2SoftwareInst ctru ionsa. InserttheCD440SeriesInertialSystem

 NAV440UserManual7430‐0131‐01Rev.FPage43f. StartNAV‐VIEW2.2—clicktheNAV‐VIEW2.2icononthecomputer.NAV‐VIEW2.2shouldautomati

 Page44NAV440UserManual7430‐0131‐01Rev.F

 NAV440UserManual7430‐0131‐01Rev.FPage45Chapter6. ViewingandLoggingDatawithNAV‐VIEW2.2Itisassumedthat440SeriesandNAV‐VIE

 Page46NAV440UserManual7430‐0131‐01Rev.FFigure8MainScreenCommunicationPort40SeriesdoesnotsupportEthernetconnectivity.NOTE:

 NAV440UserManual7430‐0131‐01Rev.FPage47SeriThealPortConfigureSerialPortdialogshowsthecurrentPort nd anbothbeconfigured.Tod

 Page48NAV440UserManual7430‐0131‐01Rev.F4. IntheLo ion,thefollowingoptionsareavailable:ggingRatesect• eFractionalRatSample

 NAV440UserManual7430‐0131‐01Rev.FPage49Figure11RawDataConsole

 NAV7430‐0131‐01Rev.F440UserManual Page5AlignmentInstructions ...

 Page50NAV440UserManual7430‐0131‐01Rev.FHorizonandCompassViewsNAV‐VIE asimW2.2providesacompassand ulatedartificialhorizonview

 NAV440UserManual7430‐0131‐01Rev.FPage51Chapter7. Configuringthe440SerieswithNAV‐VIEW2.2Itisassumedthe440Seriesunitand

 Page52NAV440UserManual7430‐0131‐01Rev.FMethod2:1. Atthemainscreen,selectUnitConfigurationfromthemenubar,Configurationthens

 NAV440UserManual7430‐0131‐01Rev.FPage53ViewingCurrentConfigurationToviewthecurrentconfiguration,clicktheGetAllValues rrents

 Page54NAV440UserManual7430‐0131‐01Rev.FViewingCurrentConfigurationToviewthecurrentconfiguration,clicktheGetAllValues rrents

 NAV440UserManual7430‐0131‐01Rev.FPage55ViewingCurrentConfigurationToviewthecurrentconfiguration,clicktheGetAllValues rrents

 Page56NAV440UserManual7430‐0131‐01Rev.FAftercompletingthealignmentprocedure,theheadingaccuracyshouldbeverifiedwithallthirdp

 NAV440UserManual7430‐0131‐01Rev.FPage57Aftercompletingtherotation,datawillbedisplayedwiththecalibrationaccuracy.TheXandY

 Page58NAV440UserManual7430‐0131‐01Rev.F

 V440UserMa7430‐0131‐01Rev.FPage59NA nualChapter8. ProgrammingGuideThissectionofthemanualassumesthattheuserisfamiliarwit

 Pa7430‐0131‐01Rev.Fge6 NAV440UserManualAngleDataPacket0...

 e60NAV440UserManual7430‐0131‐01Rev.FPagDescriptor Description Size(bytes) Comment RangeF4 FloatingPoint 4IEEE754SingleionP

 440UserM7430‐0131‐01Rev.FNAV anual Page61PayloadLengthThepayloadlengthisalwaysaonebyteunsignedcharacterwitharangeof0‐25

 e62NAV440UserManual7430‐0131‐01Rev.FPagASCIIemonicMn<2‐bytepacket)>type(U2<payloadbyte‐length1)>(UDescription Typ

 NAV440UserManual7430‐0131‐01Rev.FPage63ASCIIemonicMn<2‐bytepacket)>type(U2<payloadbyte‐length(U1)>Description Typ

 Page64NAV440UserManual7430‐0131‐01Rev.F

 N 440User ual7430‐0131‐01Rev.FPage65AV ManChapter9. Communicatingwiththe440SeriesUnitsCommunicationCommandsCommunicationcomma

 Page66NAV440UserManual7430‐0131‐01Rev.FEchoPayloadContentsByteetOffsName Format Scaling Units DescriptionN‐2 echoData... U1

 NAV440UserManual7430‐0131‐01Rev.FPage67Preamble PacketType Length Termination0x5555 0x4152 0x00 <CRC(U2)>Theunitwill

 Page68NAV440UserManual7430‐0131‐01Rev.FTable26CalibrationRequestcalibrationRequest Description0x0009 Beginmagneticalignmentw

 N ser7 1‐0Page69AV440U430‐013Manual1Rev.FTheunitsendsthispacketafteracalibrationhasbeencompleted.Currently,thereisonlyo

 N7430‐0131‐01Rev.FAV440UserManual Page7softwareDataBITField ...

 Page70NAV440UserManual7430‐0131‐01Rev.FThispacketcontainstheunitserialNumberandmodelString.Themodelstringisterminatedwith

 NAV440UserManual7430‐0131‐01Rev.FPage71Test0(DetailedBITandStatus)PacketTable37Test0PacketTest(‘T0’=0x5430)Preamble Pa

 Page72NAV440UserManual7430‐0131‐01Rev.FPreamble PacketType Length Payload Termination0x5555 0x5330 0x1E <S0payload> &l

 7430‐0131‐01Rev.Fage73NAV440UserManual PScaledSensorData(‘S1’=0x5331)Preamble ype hPacketT Lengt Payload Termination0x5555

 Page74NAV440UserManual7430‐0131‐01Rev.Fbetweensuccessivepacketsasdeterminedbythepacketrate.Polledrequestsforthispacketwi

 NAV4407430‐01Page75UserManual31‐01Rev.FTable46A0PayloadA0PayloadContentsByteffsetOName Format Scaling Units Description0

 Page76NAV440UserManual7430‐0131‐01Rev.F• Magnetometers:scaledtoarangeof(‐1,+1)Gauss• Temperature:scaledtoarangeof(‐100,

 N ser7430‐0131‐01Rev.FPage77AV440U ManualThispacketcontainsangledataandselectedsensordatascaledinmostcasestoasigned2^16

 Page78NAV440UserManual7430‐0131‐01Rev.FThispacketcontainsnavigationdataandselectedsensordatascaledinmostcasestoasigned2

 440 anual0‐013 Page79NAV743UserM1‐01Rev.FNavDataPacket1(DefaultNAV)Table52NavDataPacket1NavData(‘N1’=0x4E31)Preamble

 Page8 NAV440UserManual7430‐0131‐01Rev.FPackingItemforReturn ...

 Page80NAV440UserManual7430‐0131‐01Rev.FN1PayloadContentsBytesetName Format Scaling UnitsOffDescription24 longitudeGPS I4 2

 NAV440UserManual7430‐0131‐01Rev.FPage81AngleDataPacketB2(CustomVGData)Table56AngleDataPacketB2AngleData(‘B2’=0x4232)

 Page82NAV440UserManual7430‐0131‐01Rev.F

 NAV440UserManual7430‐0131‐01Rev.FPage83Chapter10. ProgrammingGuidelinesTheadvancedcommandsallowuserstoprogrammaticallychange

 Page84NAV440UserManual7430‐0131‐01Rev.FContinuousPacketTypeFieldThisisthepackettypethatisbeingcontinuallyoutput.Thesuppor

 AV440UserManual7430‐0131‐01Rev.FPage85NtsAxis Bi ValuesZAxisSign 6 0=positive,1=negativeZAxis 7:8 0=Uz,1=Ux,2=U

 Page86NAV440UserManual7430‐0131‐01Rev.FFigure22OrientationFieldsUserBehaviorSwitc heshisfieldallowsontheflyuserinteractio

 NAV7430‐0131‐01Rev.FPage87440UserManualHardandSoftIronValuesThesefieldsallowaccesstohardironbiasandsoftironscaleratio

 PV440UserManual7430‐0131‐01Rev.Fage88 NATable66WriteFieldsContentsWFPayloadContentsByteOffset Name Format Scaling Units

 AV440UserManual430‐0131‐01Rev.FPage89N7Thiscommandallowstheusertosettheunit’scurrentconfiguration(SF)fieldsimmediatelywhi

 7430‐0131‐01Rev.FNAV440UserManual Page9Table29CalibrateCompleted ...

 Page90NAV440UserManual7430‐0131‐01Rev.FReadFieldsCommandTable73ReadFieldsReadFields(‘RF’=0x5246)Preamble PacketType Len

 ge91NAV440UserManual7430‐0131‐01Rev.FPaRFPayloadContentsByteOffset mat ling itsName For Sca Un Description7 field1Data U2

 Page92NAV440UserManual7430‐0131‐01Rev.FTable80GetFieldsPayloadContentsGFPayloadContentsByteOffset Name Format Scaling U

 NAV440UserManual7430‐0131‐01Rev.FPage93Chapter11. BuiltInTest(BIT)TheBuilt‐InTestcapabilityallowsuserstomonitorhealth,dia

 Page94NAV440UserManual7430‐0131‐01Rev.FBitsBITstatusField Value Config ableurhardwareStatus 9 0:nominalmablealert(referto1:

 NAV440UserManual7430‐0131‐01Rev.FPage95ieldStatusByteF DefaultValuessensorSt(bit12)atus 0:normal1:programmablealertForinf

 NAV440UserManual7430‐0131‐01Rev.FPage96hardwareEnvironmentalBITFieldThehardwareEnvironmentalBITfieldcontainsflagsthatindicatel

 7430‐0131‐01Rev.FPage97NAV440UserManualTable88comSerialBBITFieldtscomSerialBBITField Bi Values CategorytransmitBufferOverflow

 Page98NAV440UserManual7430‐0131‐01Rev.FTable91softwareDataBITFieldSoftwareDataBITField Bits Values CategorycalibrationCRCErro

 NAV440UserManual7430‐0131‐01Rev.FPage99softwareStatusFieldThesoftwareStatusfieldcontainsflagsthatindicatevarioussoftwarecond