Instruction Manual

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Page24
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rManual
7430‐0808‐01Rev.B
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Figure3GNAV540Functions
GNAV540Use
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NAVFunction AHRSFunction
Magnetometer
heading
accels, rates,
mags, attitude,
, ,
A
cceleromete
r
Accelerometer tilt
Correction algorithm
Roll/pitch heading velocity
Attitude propagation
100 Hz
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∑
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Magnetomete
r
heading
accels, rates, MAGS, attitude,
velocity, GPS position
, ,
A
cceleromete
r
Accelerometer tilt
Correction algorithm
Roll/pitch heading velocity
Attitude and velocity
propagation 100 Hz

∑
GPS velocity


VGFunctionwithExternalGPS
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VGFunction 
GN
A
cceleromete
r
?
GPS velocity
A
cceleromete
r
tilt
Correction algorithm
Roll/pitch heading velocity

∑

accels, rates, attitude,
velocity, GPS position
A
ttitude and velocit
y
propagation 100 Hz

Correction algorithm
Roll/pitch heading velocity
A
cceleromete
r
AV540DefaultCoordinateSystem
TheGNAV540InertialSystemdefaultcoordinatesystemisshowninFigure4below.Thecoordinatesystemis
configurablewitheitherNAV‐VIEW2.2orbysendingtheappropriateserialcommands.Thissectionofthe
manualdescribesthedefaultcoordinatesystemsettingsoftheunitwhenitleavesthefactory.Forinformation
aboutconfiguringGNAV540,referto
Chapter7.ConfiguringGNAV540withNAVVIEW2.2Chapter6.Viewingand
LoggingDatawithNAVVIEW2.2
andChapter10.ProgrammingGuidelines.WiththeGNAV540connector
facingyouandthemountingplatedown,theaxesaredefinedasshownbelow:
Figure4GNAV540DefaultCoordinateSystem
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Xaxis:fromfacewithconnectorthroughtheunit
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Yaxis:alongthefacewithconnectorfromlefttoright
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Zaxis:alongthefacewiththeconnectorfromtoptobottom
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TheaxesformanorthogonalSAEright‐handedcoordinatesystem.Accelerationispositivewhenitisoriented
towardsthepositivesideofthecoordinateaxis.Forexample,withaGNAV540sittingonaleveltable,itwill
Accelerometer tilt
∑
A
ttitude propagation
100 Hz
accels, rates,
attitude,
(heading/yaw free