440 Series User Manual Installation Configuration Reference www.moog‐crossbow.com1 Moog, Inc., 1421 McCarthy Blvd.
WARNING: This product has been developed by Moog Crossbow exclusively for commercial applications. It has not been tested for, and Moog Crossbow makes no representation or warranty as to conformance with, any military specifications or that the product is appropriate for any military application or end‐use.
Table of Contents Preface................................................................................................................................................................................ 13 Intended Audience.................................................................................................................................................................................................13 Contents......................................................................................
Hardware BIT Error Output .........................................................................................................................................................................37 1 PPS Input Interface .......................................................................................................................................................................................38 1 PPS Output Interface ...................................................................................
Alignment Instructions ...................................................................................................................................................................................56 Chapter 8. Programming Guide .......................................................................................................................... 59 General Settings ....................................................................................................................................
Angle Data Packet 0..........................................................................................................................................................................................74 Angle Data Packet 1 (Default AHRS Data) ..............................................................................................................................................75 Angle Data Packet 2 (Default VG Data) .................................................................................
softwareDataBIT Field .........................................................................................................................................................................................97 hardwareStatus Field ...........................................................................................................................................................................................98 comStatus Field ...........................................................................
Packing Item for Return ..............................................................................................................................................................................125 Return Address................................................................................................................................................................................................126 Source Code License.................................................................................
Table 29 Calibrate Completed ...............................................................................................................................................................................68 Table 30 CC Payload...................................................................................................................................................................................................69 Table 31 Error Response ................................................................
Table 64 Heading Track Offset .............................................................................................................................................................................87 Table 65 Write Fields ...............................................................................................................................................................................................87 Table 66 Write Fields Contents............................................................
Table 99 Recommended Settings for Fixed Wing Aircraft.....................................................................................................................105 Table 100 Recommended Advanced Settings for Rotorcraft ..............................................................................................................106 Table 101 Recommended Advanced Settings for Land Vehicle .........................................................................................................
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Preface This document provides information about the 440 Series Inertial Systems, including operational functions and configuration options. Intended Audience This document is intended for those who install, configure, extract data and use inertial systems. It is assumed the reader is familiar with the technology of navigation. For advanced use of the 440 Series , knowledge of C programming is required. Contents Table 1 Chapter Summaries Chapter / Appendix Summary Chapter 1.
Text Conventions Table 2 Text Conventions Convention Definition Italics Emphasizes important information, or indicates the title of a document. Bold Stronger emphasis of important information. System items Indicates a sample of screen output, a command in the body of the document or an example of a command to enter. Command A software command that must be entered as shown. NOTE: Additional information. CAUTION: The information provided should be followed to prevent damage to the equipment.
Term Definition MTBF Mean Time Between Failure PPS Precise Positioning Service QTP Qualification Test Plan SAASM Selective Availability / Anti‐Spoofing Module SDGPS Satellite Differential GPS Soft error Persistent error, repeated many times within a period of time Soft iron Magnetism is not retained; magnetism only occurs while the material exposed to a magnetic field VDC Voltage Direct Current VG Vertical Gyroscope WAGE Wide Area GPS Enhancement NAV440 User Manual 7430‐0131‐01 Rev.
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Chapter 1. 440 Series Overview This chapter provides a high level summary of the 440 Series : • Software Compatibility, page 17 • 440 Series Inertial System Functions, page 17 • Summary of Major Changes from the 300/400 Series and the 420 Series, page 18 Software Compatibility Moog Crossbow ’s 440 Series Inertial Systems are not software compatible with any previous Moog Crossbow products. The 440 Series units utilize a new extensible communication protocol which is documented in Chapter 9.
• Coupled to the 6‐DOF MEMS inertial sensor cluster is a high performance Digital Signal Processor (DSP) that utilizes the inertial sensor measurements to accurately compute navigation information including attitude, heading, and linear velocity thru dynamic maneuvers (actual measurements are a function of the 440 Series unit as shown in Table 2).
Chapter 2. 440 Series Functions This chapter provides an overview of the hardware and software systems of the 440 Series unit, and the functions provided. • 440 Series System, page 19 • Software Structure, page 20 • 440 Series Default Coordinate System, page 22 • IMU440 , page 23 • VG440 (Vertical Gyroscope) , page 25 • AHRS440 Function, page 27 • NAV440 Function, page 30 440 Series System The 440 Series is a compact MEMS based GPS/inertial navigation system.
Figure 1 440 Series Hardware Block Diagram System Digital Outputs and Inputs X/Y/Z XY / Z High-Speed Gyros Programmable Sampling & DSP X/Y/Z XYZ Accelerometers Programmable 16-BIT (Pins 1,2) RS-232 (A Port) + X / Y / Z Acceleration Sensor Roll / Pitch / Yaw Rate X / Y / Z Magnetic Fields (NAV/AHRS only) Compensation A/D Roll / Pitch / Yaw Angle + Sensor Temperatures Moog Crossbow Serial Protocol Navigation & Attitude RS-232 (B Port) Position / Velocity (NAV only) Optional use port (Pi
Figure 2 440 Series Software Block Diagram Measurement Data Available to User (Fixed Rate or Polled) IMU - Scaled Packets (S0,S1,S2) All Units NAV/AHRS/VG/IMU VG/AHRS – Angle Packets (A0,A1,A2) NAV/AHRS/VG NAV - Nav Packets (N0,N1) NAV/AHRS/VG 6-DOF Sensor Cluster X / Y / Z Body Rates X / Y / Z Body Accelerometers Unit Settings & Profile* 100Hz Signal Proc.
Figure 3 440 Series Functions NAV Function AHRS Function Attitude and velocity propagation 100 Hz accels, rates, MAGS, attitude, , velocity, GPS position ∑ Attitude propagation 100 Hz accels, rates, mags, attitude, ∑ Correction algorithm Correction algorithm Roll/pitch heading velocity Roll/pitch heading velocity Accelerometer tilt Magnetometer heading GPS velocity VG Function with External GPS Attitude and velocity propagation 100 Hz ∑ ? Accelerometer tilt , Magnetometer heading VG Fun
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 440Series unit sitting on a level table, it will measure zero g along the x and y‐axes and ‐1 g along the z‐axis. Normal Force acceleration is directed upward, which would be defined as negative for the 440 Series z‐axis. The angular rate sensors are aligned with the same axes.
Digital IMU440 data is output over the RS‐422 at a selectable fixed rate (100, 50, 25, 20, 10, 5 or 2 Hz) or as requested using the GP (Get Packet) command. The digital IMU440 data is available in one of several measurement packet formats including Scaled Sensor Data (S1 Packet) and Delta‐Theta, Delta‐V (S2 Packet). In the Scaled Sensor Data (S1 Packet) data is output in scaled engineering units.
NOTE: If the coordinate system is configured to a non‐standard or custom configuration, apply the appropriate rotation and configure the filter settings accordingly. VG440 (Vertical Gyroscope)Function The VG440 provides dynamic roll and pitch measurements, as well as allIMU440 data functions. The dynamic roll and pitch measurements are stabilized by the using the accelerometers as a long‐term gravity reference.
In addition to the scaled sensor packets described in the IMU440 section, the VG440 has additional measurement output packets including the default A2 Angle Packet which outputs the roll angle, pitch angle, and digital IMU440 data. N0 and N1 packets are also available for use with an external GPS receiver. Refer to Chapter 9. Communicating with the 440and Chapter 10. Guidelines for full packet descriptions.
Setting Default Value Comments Restart On Over Range OFF This setting forces an algorithm reset when a sensor over range occurs i.e., a rotational rate on any of the three axes exceeds the maximum range. The default setting is OFF. Algorithm reset returns the unit to a high gain state, where the unit rapidly estimates the gyroscope bias and uses the accelerometer feedback heavily.
The first phase of operation is the high‐gain initialization phase. During the initialization phase, the unit is expected to be stationary or quasi‐static so the EKF weights the accelerometer gravity reference and Earth’s magnetic field reference heavily in order to rapidly estimate the X, Y, and Z rate sensor bias, and the initial attitude and heading of the unit.
Setting Default Value Comments Freely Integrate OFF The Freely Integrate setting allows a user to turn the unit into a free gyroscope. In free gyroscope mode, the roll, pitch and yaw are computed exclusively from angular rate with no Kalman filter based corrections of roll, pitch, or yaw. When turned on, there is no coupling of acceleration based signals into the roll and pitch or magnetometer based signals to the yaw. Due to sensor bias.
Setting Default Value Comments Restart On Over Range OFF This setting forces an algorithm reset when a sensor over range occurs i.e., a rotational rate on any of the three axes exceeds the maximum range. The default setting is OFF. Algorithm reset returns the unit to a high gain state, where the unit rapidly estimates the gyroscope bias and uses the accelerometer feedback heavily.
As shown in Figure 2 on page 21, the Integration to Orientation and the Integration to Velocity signal processing blocks receive drift corrections from the Extended Kalman Filter (EKF) drift correction module. The drift correction module uses data from the aiding sensors, when they are available, to correct the errors in the velocity, attitude, and heading outputs. Additionally, when aiding sensors are available corrections to the rate gyroscope and accelerometers are performed.
Setting Default Value Comments Orientation See Figure 4on page 22. To configure the axis orientation, select the desired measurement for each axis: NAV‐VIEW 2.2 will show the corresponding image of the unit, so it easy to visualize the mode of operation. Refer to Orientation Field on page 84 for the twenty four possible orientation settings. The default setting points the connector AFT. Freely Integrate OFF The Freely Integrate setting allows a user to turn the unit into a free gyroscope.
Setting Default Value Comments Restart On Over Range OFF This setting forces an algorithm reset when a sensor over range occurs i.e., a rotational rate on any of the three axes exceeds the maximum range. The default setting is OFF.. Algorithm reset returns the unit to a high gain state, where the unit rapidly estimates the gyroscope bias and uses the accelerometer feedback heavily.
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Chapter 3. Hardware Interface This chapter provides information about the power and signal interface connectors. I/O Connector NOTE: During the normal operation of the 440 Series , do not connect to the factory test pins: 6, 12 14, 15. These pins have internal pull‐up mechanisms and must have no connections for the 440 Series to operate properly. The 440 Series has a male DB‐15 connector. The signals are as shown in Table 3 below.
J2—GPS Antenna Connector The GPS receiver needs to receive signals from as many satellites as possible. A GPS receiver does not work properly in narrow streets and underground parking lots or if objects or human beings cover the antenna. Poor visibility may result in position drift or a prolonged Time‐To‐First‐Fix (TTFF). A good sky visibility is therefore a prerequisite. Even the best receiver cannot compensate for signal loss due to a poor antenna, in‐band jamming or a poor RF cable.
Signals External GPS Aiding (Port B, VG440 and AHRS440) NOTE: This feature only applies to VG440 and AHRS440. NOTE: The GPS serial communication port should be configured to 8 data bits, 1 start bit, 1 stop bit, no parity bit, and no flow control. The VG440/AHRS440 allows using an external GPS receiver. To do so, the following actions are required: • The external GPS receiver must be configured to output the GPS messages to be compatible with the 440 Series .
1 PPS Input Interface The 1PPS input signal allows the user of the 440 Series unit to force synchronization of sensor data collection to a 1Hz rising‐edge signal. The signal must maintain 0.0‐0.2 V zero logic and 3.0‐5.0 volts high logic and stay within 100ms of the internal system 1 second timing. Sending this signal to the system will align the sensor data collection and algorithm processing to its rising edge and 10ms boundaries thereafter.
Chapter 4. Magnetometer Calibration and Alignment Guidelines This chapter provides information for calibrating and aligning the magnetometer with the 440 Series unit. • Compensation for Magnetic Fields, page 39 • Magnetometer Alignment Using NAV‐VIEW 2.2, page 39 • Magnetometer Alignment Using Code, page 40 • Installation Guidelines, page 40 This section provides guidelines to calibrate and align the magnetometer.
in the horizontal plane. Using NAV‐VIEW 2.2, the hard and soft iron effects can be viewed by selecting the Misalignment option on the Configuration Menu, and viewing the magnetic circle during the calibration. For calibration instructions, refer to Aligning the Magnetometer on page 55. Magnetometer Alignment Using Code The unit provides a command interface for initiating the hard iron/soft iron calibration without using NAV‐VIEW 2.2.
Chapter 5. Installation Guidelines This chapter provides information to set up the 440 Series unit and NAV‐VIEW 2.2 software for laboratory test. NOTE: Directions to install a unit in a vehicle for field use is outside the scope of this document. • Overview, page41 • Installation Requirements, page 41 • 1. Install Software—NAV‐VIEW 2.2, page 42 • 2.Prepare the Communication Port, page 42 • 3. Connect the GPS Antenna, page 42 • 4.
1. InstallSoftware—NAV‐VIEW 2.2 Instructions a. Insert the CD 440 Series Inertial System in the CD‐ROM drive. b. On the CD, navigate to the NAV‐VIEW 2.2 folder and double click the setup.exe file. c. Follow the wizard instructions to install NAV‐VIEW 2.2 and .NET 4.0 framework. 2. Prepare the Communication Port • The 440 Series unit communicates directly to the computer or host via serial port: determine which communication port to use.
f. Start NAV‐VIEW 2.2—click the NAV‐VIEW 2.2 icon on the computer. NAV‐VIEW 2.2 should automatically detect the 440 Series unit. If NAV‐VIEW 2.2 does not show connection to the 440 Series unit, it may be necessary to set up the serial port. The instructions follow: a. Start NAV‐VIEW 2.2 on the computer: double‐click the NAV‐VIEW 2.2 icon on the desktop. a. On the menu bar click Setup and then select Port from the drop menu. b. The Configure Serial Port dialog window opens: c.
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Chapter 6. Viewing and Logging Data with NAV‐VIEW 2.2 NOTE: It is assumed that 440 Series and NAV‐VIEW 2.2 have been set up, connected and turned on. For instructions, refer to Chapter 5. Installation Guidelines on page 41. Figure 8on page 46shows the main page of NAV‐VIEW. The functions are available from the menu bar at the top of the page. The graphs are displayed in the main body of the page. • Multiple graphs can be selected for viewing.
Figure 8 Main Screen Communication Port NOTE: The 440 Series is accessed via serial port; the 440 Series does not support Ethernet connectivity. To select a port, click Setup and then select the desired port from the drop menu. A dialog window then opens, enabling configuration. Page 46 NAV440 User Manual 7430‐0131‐01 Rev.
Serial Port Figure 9 Configure Serial Port The Configure Serial Port dialog shows the current Port and Baud rate, which can both be configured. To do so: 1. Select the desired COM Port. Either manually select the desired Baud Rate or select Auto. To apply the configuration, click Apply. 2. To ensure the configuration is saved after rebooting the unit, click Save and Close. Record Data NAV‐VIEW 2.2can be used to log data to a text file (.txt).
4. In the Logging Rate section, the following options are available: • Fractional Rate • Sample Rates 5. In the Test Duration section, define the desired duration of the data logging in terms of Days, Hours, Minutes, and/or Seconds. The default setting is 10 seconds. 6. After setting all the options, click the OK button. The display will return to the main window. button at the top of the window, click File and then select To start the recording process, press the Start Logging from the drop menu.
Figure 11 Raw Data Console NAV440 User Manual 7430‐0131‐01 Rev.
Horizon and Compass Views NAV‐VIEW 2.2provides a compass and a simulated artificial horizon view. • To activate these views, click View at the menu bar, and then select Horizon View and/or Compass View from the drop down menu. Figure 12 Horizon and Compass Views Packet Statistics View To view packet statistics, click View at the menu bar and then select the Packet Statistics.
Chapter 7. Configuring the 440 Series with NAV‐VIEW 2.2 It is assumed the 440 Series unit and NAV‐VIEW 2.2 have been set up. For instructions to do so, refer to Chapter 5. Installation Guidelines. This section provides instructions to configure the unit via NAV‐VIEW 2.2, a GUI application. For information about configuring the unit via programming code, refer to Chapter 10. Programming Guidelines.
Method 2: 1. Figure 15 View Current Configuration At the main screen, select Unit Configuration from the menu bar, then select Configuration from the drop menu. The dialog window opens (Figure 15). 2. Click Get All Values at the bottom of the screen. The current configuration values will be displayed. This applies to all tabs. Configuring the Unit The Unit Configuration window enables viewing and configuring the system configurations.
Viewing Current Configuration Figure 16 Unit Configuration To view the current configuration, click the Get All Values button. The current settings will be displayed in the text fields. Under Current Value, a box filled with blue color indicates the status field is enabled. Refer to Figure 16. Changing Configurations To change a configuration setting: 1. Checkmark the desired item(s) in the left Colum 2. Using the drop menus in the right column, select the new values. 3.
Viewing Current Configuration Figure 17 Advanced Settings To view the current configuration, click the Get All Values button. The current settings will be displayed in the text fields. Under Current Value, a box filled with blue color indicates the status field is enabled. Refer to Figure 17. Changing Configurations 1. To enable a switch a. Checkmark the desired item under Value to Set. 2. To set a value, under Value to Set: a. checkmark the box of the desired item(s).
Viewing Current Configuration Figure 18 BIT Configuration To view the current configuration, click the Get All Values button. The current settings will be displayed in the text fields. Under Current Value, a box filled with blue color indicates the status field is enabled. Refer to Figure 18. Changing Configurations To view the current settings, click the Get All Values button. To modify Status Field(s): 1. Checkmark the desired item(s) under Modify. 2.
After completing the alignment procedure, the heading accuracy should be verified with all third party systems actively using a known reference such as a compass rose, GPS track or a calibrated compass. Heading inaccuracies greater than the values specified on the data sheet or fluctuating heading performance may indicate magnetic field disturbances near the unit. NOTE: An acceptable calibration will provide X and Y Hard Iron Offset Values of <0.1 and a Soft Iron Ratio >0.95.
After completing the rotation, data will be displayed with the calibration accuracy. The X and Y offset values indicate how far the magnetic field has been offset due to hard iron affects from components surrounding the unit. Figure 20 Magnetometer Alignment The soft iron ratio will also be displayed, which is the effect of soft iron on the unit. 6. The save the offset values, click the Apply button. NAV440 User Manual 7430‐0131‐01 Rev.
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Chapter 8. Programming Guide NOTE: This section of the manual assumes that the user is familiar with ANSI C programming language and data type conventions. The 440 Series support a common packet structure that includes both command or input data packets, and measurement output or response packet formats. This section of the manual explains these packet formats as well as the supported commands. NAV‐VIEW 2.
Descriptor Description Size (bytes) Comment Range F4 Floating Point 4 IEEE754 Single Precision ‐1*2^127 to 2^127 SN String N ASCII Packet Format All of the Input and Output packets, except the Ping command, conform to the following structure: 0x5555 <2‐byte packet type (U2)> <2‐byte CRC (U2)> The Ping Command does not require a CRC, so a 440Series unit can be pinged from a terminal emulator.
Payload Length The payload length is always a one byte unsigned character with a range of 0‐255. The payload length byte is the length (in bytes) of the portion of the packet ONLY, and does not include the CRC. Payload The payload is of variable length based on the packet type. 16‐Bit CRC‐CCITT Packets end with a 16‐bit CRC‐CCITT calculated on the entire packet excluding the 0x5555 header and the CRC field itself.
ASCII Mnemonic <2‐byte packet type (U2)> Description Type Available Functions SR 0x5352 0 Software Reset Input/Reply Message ALL NAK 0x1515 2 Error Response Reply Message ALL WC 0x5743 2 Calibrate Command and Response Input/Reply Message AHRS, NAV CC 0x4343 8 Calibration Completed Reply Message AHRS, NAV Output Messages: Status and Other, (Polled Only) ID 0x4944 5+N Identification Data Output Message ALL VR 0x5652 5 Version Data Output Messa
ASCII Mnemonic <2‐byte packet type (U2)> SF 0x5346 RF Available Functions Description Type numFields*2+1 Set Fields Response Reply Message ALL 0x5246 numFields*2+1 Read Fields Request Input Message ALL RF 0x5246 numFields*4+1 Read Fields Response Reply Message ALL GF 0x4746 numFields*2+1 Get Fields Request Input Message ALL GF 0x4746 numFields*4+1 Get Fields Response Reply Message ALL NAV440 User Manual 7430‐0131‐01 Rev.
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Chapter 9. Communicating with the 440Series Units CommunicationCommands Communication commands are used to verify a unit is present and alive. Ping Command Table 14 Ping Command Ping (‘PK’ = 0x504B) Preamble Packet Type Length Termination 0x5555 ‐ 0x504B ‐ The ping command has no payload. Sending the ping command will cause the unit to send a ping response. To facilitate human input from a terminal, the length and CRC fields are not required.
Echo Payload Contents Byte Offset Name Format Scaling Units N‐2 echoData... N‐1 echoData… Description U1 — — Second to last byte of echo data U1 — — Last byte of echo data Interactive Commands Interactive commands are used to interactively request data from the 440 Series unit, and to calibrate or reset the unit.
Preamble Packet Type Length Termination 0x5555 0x00 0x4152 The unit will send this packet in response to an algorithm reset command. Software Reset Command Table 22 Software Reset Command Software Reset (‘SR’ = 0x5352) Preamble Packet Type Length Payload Termination 0x5555 0x00 — 0x5352 This command performs a core CPU reset, functionally equivalent to a power cycle. All default power‐up field settings will apply.
Table 26 Calibration Request calibrationRequest Description 0x0009 Begin magnetic alignment without automatic termination. Rotate vehicle through >360 degrees yaw and then send 0x000B calibration request for termination. 0x000B Terminate magnetic alignment. The unit will send a CC response containing the hard‐iron and soft‐iron values. To accept the parameters, store them using the write magnetic calibration command. 0x000C Begin magnetic calibration with automatic termination.
The unit sends this packet after a calibration has been completed. Currently, there is only one message of this type sent after a magnetic calibration has been completed (with or without automatic termination) and the parameters have been calculated. The calibrationRequest field will be 0x000B or 0x000C.
This packet contains the unit serialNumber and modelString. The model string is terminated with 0x00. The model string contains the programmed versionString (8‐bit Ascii values) followed by the firmware part number string delimited by a whitespace.
Test 0 (Detailed BIT and Status) Packet Table 37 Test 0 Packet Test (‘T0’ = 0x5430) Preamble Packet Type Length Payload Termination 03.3x5555 0x5430 0x1C This packet contains detailed BIT and status information. Full BIT Status details is described in Chapter 11. Built In Test (BIT).
Preamble Packet Type Length Payload Termination 0x5555 0x1E 0x5330 This packet contains scaled sensor data. The scaled sensor data is fixed point, 2 bytes per sensor, MSB first, for 13 sensors in the following order: accels(x,y,z); gyros(x,y,z); mags(x,y,z); temps(x,y,z,board). Data involving angular measurements include the factor pi in the scaling and can be interpreted in either radians or degrees. • Angular rates: scaled to range of 3.
Scaled Sensor Data (‘S1’ = 0x5331) Preamble Packet Type Length Payload Termination 0x5555 0x18 0x5331 This packet contains scaled sensor data. Data involving angular measurements include the factor pi in the scaling and can be interpreted in either radians or degrees. • Angular rates: scaled to range of 3.
between successive packets as determined by the packet rate. Polled requests for this packet will produce values accumulated since the last poll request, and thus, are subject to overflow (data type wrap around). • Data involving angular measurements include the factor pi in the scaling and can be interpreted in either radians or degrees. • Delta Angle: scaled to range of 3.5* (‐pi, +pi) Δ radians or (‐630, +630) Δ degrees. • Delta Velocity: scaled to a range of (‐100, +100) Δ m/s.
Table 46 A0 Payload A0 Payload Contents Byte Offset Name Format Scaling Units Description 0 rollAngle I2 2*pi/2^16 (360°/2^16) Radians (°) Roll angle 2 pitchAngle I2 2*pi/2^16 (360°/2^16) Radians (°) Pitch angle 4 yawAngleMag I2 2*pi/2^16 (360°/2^16) Radians (°) Yaw angle (magnetic north) 6 xRateCorrected I2 7*pi/2^16 (1260°/2^16) rad/s (°/sec) X angular RateCorrected 8 yRateCorrected I2 7*pi/2^16 (1260°/2^16) rad/s (°/sec) Y angular RateCorrected 10 zRateCorrected I2
• Magnetometers: scaled to a range of (‐1,+1) Gauss • Temperature: scaled to a range of (‐100, +100) °C Table 48 A1 Payload A1 Payload Contents Byte Offset Name Format Scaling Units Description 0 rollAngle I2 2*pi/2^16 (360°/2^16) Radians (°) Roll angle 2 pitchAngle I2 2*pi/2^16 (360°/2^16) Radians (°) Pitch angle 4 yawAngleMag I2 2*pi/2^16 (360°/2^16) Radians (°) Yaw angle (magnetic north) 6 xRateCorrected I2 7*pi/2^16 (1260°/2^16) rad/s (°/sec) X angular rate Corrected 8
This packet contains angle data and selected sensor data scaled in most cases to a signed 2^16 2’s complement number. Data involving angular measurements include the factor pi in the scaling and can be interpreted in either radians or degrees. • Angles: scaled to a range of (‐pi, +pi) or (‐180 deg to +180 deg). • Angular rates: scaled to range of 3.
This packet contains navigation data and selected sensor data scaled in most cases to a signed 2^16 2’s complement number. Data involving angular measurements include the factor pi in the scaling and can be interpreted in either radians or degrees. • Angles: scaled to a range of (‐pi, +pi) or (‐180 deg to +180 deg). • Angular rates: scaled to range of 3.
Nav Data Packet 1 (Default NAV) Table 52 Nav Data Packet 1 Nav Data (‘N1’ = 0x4E31) Preamble Packet Type Length Payload Termination 0x5555 0x2A 0x4E31 This packet contains navigation data and selected sensor data scaled in most cases to a signed 2^16 2’s complement number. Data involving angular measurements include the factor pi in the scaling and can be interpreted in either radians or degrees. • Angles: scaled to a range of (‐pi, +pi) or (‐180 deg to +180 deg).
N1 Payload Contents Byte Offset Name Format Scaling Units Description 24 longitudeGPS I4 2*pi/2^32 (360°/2^32) Radians (°) GPS Longitude 28 latitudeGPS I4 2*pi/2^32 (360°/2^32) Radians (°) GPS Latitude 32 altitudeGPS I2* 2^14/2^16 m GPS altitude (‐100,16284) 34 xRateTemp I2 200/2^16 deg C X rate sensor temperature 36 timeITOW U4 1 ms DMU ITOW (sync to GPS) 40 BITstatus U2 — — Master BIT and Status Angle Data Packet B1 (Custom VG Data) Table 54 Angle Data Packet B1
Angle Data Packet B2 (Custom VG Data) Table 56 Angle Data Packet B2 Angle Data (‘B2’ = 0x4232) Preamble Packet Type Length Payload Termination 0x5555 0x0A 0x4232 This packet contains selected angle and sensor data.
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Chapter 10. Programming Guidelines The advanced commands allow users to programmatically change the 440 Series unit settings. This section of the manual documents all of the settings and options contained under the Unit Configuration tab within NAV‐VIEW 2.2. Using these advanced commands, the settings of a unit can be modified without NAV‐VIEW 2.2. Configuration Fields Configuration fields determine various behaviors of the unit that can be modified by the user.
Continuous Packet Type Field This is the packet type that is being continually output. The supported packet depends on the model number. Please refer to Output Packets (Polled or Continuous) on page 71 for a complete list of the available packet types. Analog Filter Clocks 1,2,3 These three fields set hardware low pass filter cutoff frequencies. Each sensor listed is defined in the default factory orientation. Users must consider any additional rotation to their intended orientation.
Axis Bits Values Z Axis Sign 6 0 = positive, 1 = negative Z Axis 7:8 0 = Uz, 1 = Ux, 2 = Uy, 3 = N/A Reserved 9:15 N/A There are 24 possible orientation configurations. Setting/Writing the field to anything else generates a NAK and has no effect.
Figure 22 Orientation Fields User Behavior Switches This field allows on the fly user interaction with aspects of the algorithm.
Hard and Soft Iron Values These fields allow access to hard iron bias and soft iron scale ratio values for magnetometer alignment.
Table 66 Write Fields Contents WF Payload Contents Byte Offset Name Format Scaling Units Description 0 numFields U1 — — The number of fields to write 1 field0 U2 — — The first field ID to write 3 field0Data U2 — — The first field ID’s data to write 5 field1 U2 — — The second field ID to write 7 field1Data U2 — — The second field ID’s data … … U2 — — … numFields*4 ‐3 field… U2 — — The last field ID to write numFields*4 ‐1 field…Data U2 — — The last field
This command allows the user to set the unit’s current configuration (SF) fields immediately which will then be lost on power down. NumFields is the number of words to be set. The field0, field1, etc. are the field IDs that will be written with the field0Data, field1Data, etc., respectively. This command can be used to set configuration fields. The unit will not set calibration or algorithm fields.
Read Fields Command Table 73 Read Fields Read Fields (‘RF’ = 0x5246) Preamble Packet Type Length Payload Termination 0x5555 1+numFields*2 0x5246 This command allows the user to read the default power‐up configuration fields from the EEPROM. NumFields is the number of fields to read. The field0, field1, etc. are the field IDs to read. RF may be used to read configuration and calibration fields from the EEPROM.
RF Payload Contents Byte Offset Name Format Scaling Units Description 7 field1Data U2 — — The second field ID’s data read … … U2 — — … numFields*4 ‐3 field… U2 — — The last field ID read numFields*4 ‐1 field…Data U2 — — The last field ID’s data read Get Fields Command Table 77 Get Fields Get Fields (‘GF’ = 0x4746) Preamble Packet Type Length Payload Termination 0x5555 1+numFields*2 0x4746 This command allows the user to get the unit’s current conf
Table 80 Get Fields Payload Contents GF Payload Contents Byte Offset Name Format Scaling Units Description 0 numFields U1 — — The number of fields retrieved 1 field0 U2 — — The first field ID retrieved 3 field0Data U2 — — The first field ID’s data retrieved 5 field1 U2 — — The second field ID retrieved 7 field1Data U2 — — The second field ID’s data … … U2 — — … numFields*4 ‐3 field… U2 — — The last field ID retrieved numFields*4 ‐1 field…Data U2 — — The
Chapter 11. Built In Test(BIT) The Built‐In Test capability allows users to monitor health, diagnostic, and system status information of the unit in real‐time. Built‐In Test information is transmitted in each measurement packet. NOTE: A diagnostic test packet (T0) can be requested via GP. To contains a complete set of status for each hardware and software subsystem. For more information, refer to Chapter 10.
BITstatus Field Bits hardwareStatus 9 0: nominal 1: programmable alert(refer to Programmable Status below) Y comStatus 10 0: nominal 1: programmable alert (refer to Programmable Status Fields below) Y 0: nominal 1: programmable alert (refer to Programmable Status Fields below) Y 0: nominal 1: programmable alert (refer to ProgrammableStatus Fields below) Y N/A N softwareStatus sensorStatus Reserved 11 12 13:15 Value Configurable Programmable Status Fields The BIT status fields can be
Status Byte Field Default Values sensorStatus (bit 12) 0: normal 1: programmable alert For information about configuring this status field, refer to BIT Configurationon page 54 and sensorStatus Field on page 99 and Configuring masterStatus on page 99. hardwareBIT Field The hardwareBIT field contains flags that indicate various internal hardware errors. Each hardware error has an associated message with low level error signals.
hardwareEnvironmentalBIT Field The hardwareEnvironmentalBIT field contains flags that indicate low level hardware environmental errors. The environmentalError flag in the hardwareBIT field is the bit‐wise OR of the hardwareEnvironmentalBIT field.
Table 88 comSerialBBIT Field comSerialBBIT Field Bits Values Category transmitBufferOverflow 0 0 = normal, 1 = overflow Soft receiveBufferOverflow 1 0 = normal, 1 = overflow Soft framingError 2 0 = normal, 1 = error Soft breakDetect 3 0 = normal, 1 = error Soft parityError 4 0 = normal, 1 = error Soft Reserved 5:15 N/A softwareBIT Field The softwareBIT field contains flags that indicate various types of software errors.
Table 91 softwareDataBIT Field SoftwareDataBIT Field Bits Values Category calibrationCRCError 0 0 = normal, 1 = incorrect CRC on calibration EEPROM data or data has been compromised by a WE command. Hard magAlignOutOfBounds 1 0 = normal, 1 = hard and soft iron parameters are out of bounds Hard Reserved 2:15 N/A hardwareStatus Field The hardwareStatus field contains flags that indicate various internal hardware conditions and alerts that are not errors or problems.
softwareStatus Field The softwareStatus field contains flags that indicate various software conditions and alerts that are not errors or problems. The softwareStatus flag in the BITstatus field is the bit‐wise OR of the logical AND of the softwareStatus field and the softwareStatusEnable field. The softwareStatusEnable field is a bit mask that allows the user to select items of interest that will logically flow up to the masterStatus flag.
hardwareStatusEnable Field This field is a bit mask of the hardwareStatus field (refer to BIT Status Fields on page 93). This field allows the user to determine which low level hardwareStatus field signals will flag the hardwareStatus and masterStatus flags in the BITstatus field. Any asserted bits in this field imply that the corresponding hardwareStatus field signal, if asserted, will cause the hardwareStatus and masterStatus flags to be asserted in the BITstatus field.
Figure 23 BIT Error and Status Hierarchy NAV440 User Manual 7430‐0131‐01 Rev.
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Appendix A. NMEA Message Format The GPS receiver outputs data (from a 440 unit) in NMEA‐0183 format at 9600 Baud, 8 bits, no parity bit, and 1 stop bit.
Name ASCII String Description Format Example Altref blank 48.0 Geoid Separation (m) m blank M Units: Meters (fixed field) DiffAge numeric DiffStation numeric 0 Diff.
Appendix B. Application Examples This section provides recommended advanced settings for tailoring the 440 Series unit of inertial systems to different types of application and platform requirements. Fixed Wing Aircraft A fixed‐wing aircraft is a heavier‐than‐air craft where movement of the wings in relation to the aircraft is not used to generate lift. The term is used to distinguish from rotary‐wing aircraft, where the movement of the wing surfaces relative to the aircraft generates lift.
Table 100 Recommended Advanced Settings for Rotorcraft Dynamic Condition Recommended Settings Normal Dynamics High Dynamics (with uncoordinated tail motion) Use Mags ON ON Use GPS ON ON (< 4g) Freely Integrate OFF OFF (< 2g) Stationary Yaw Lock OFF OFF Restart Over Range OFF ON Dynamic Motion ON ON Turn Switch Threshold 1.0 deg/s § 30.
Water Vehicle Water vehicle is a craft or vessel designed to float on or submerge and provide transport over and under water. Table 102provides the recommended advanced settings for two applications.
Phase Description Maneuver The phase of flight in which an aircraft accelerates, decelerates, and turns. The aircraft is under non‐gravitational acceleration and/or deceleration. Descent The phase of flight in which an aircraft decreases altitude for an approach to landing. The aircraft is under vertical deceleration until it captures a glide slope. Landing The last part of a flight, where the aircraft returns to the ground.
Appendix C. Sample Packet—Parser Code Overview This section includes an example of code written in ANSI C for parsing packets from data sent by the 440 Series Inertial Systems. This example is for reading data directly from the 440 Series unit or from a log file. Sample Code The sample code contains the actual parser as well as several support functions for CRC calculation and circular queue access. Table 104 Code Functions Function Description process_xbow_packet Parse out packets from a queue.
user to ensure circular‐queue integrity by using some sort of mutual exclusion mechanism within the queue access functions. Code Listing#include
} Pop(queue_ptr, numToPop); if(Size(queue_ptr) <= 0) { /* header was not found */ return 0; } /* make sure we can read through minimum length packet */ if(Size(queue_ptr)<7) { return 0; } /* get data length (5th byte of packet) */ dataLength = peekByte(queue_ptr, 4); /* make sure we can read through entire packet */ if(Size(queue_ptr) < 7+dataLength) { return 0; } /* check CRC */ myCRC = calcCRC(queue_ptr, 2,dataLength+3); packetCRC = peekWord(queue_ptr, dataLength+5); if(myCRC != packetCRC) { /* bad CRC o
* CRC-CCITT 16-bit standard maintained by the ITU * (International Telecommunications Union).
retval = 1; } return retval; } /******************************************************************************* * FUNCTION: DeleteQeue - return an item from the queue * ARGUMENTS: item will hold item popped from queue * queue_ptr is pointer to the queue * RETURNS: returns 0 if queue is empty.
unsigned short peekWord(QUEUE_TYPE *queue_ptr, unsigned int index) { unsigned short word, firstIndex, secondIndex; firstIndex = (queue_ptr->front + index) % MAXQUEUE; secondIndex = (queue_ptr->front + index + 1) % MAXQUEUE; word = (queue_ptr->entry(firstIndex)<< 8) & 0xFF00; word |= (0x00FF & queue_ptr->entry(secondIndex)); return word; } /******************************************************************************* * FUNCTION: Pop - discard item(s) from queue * ARGUMENTS: queue_ptr is pointer to the queu
* ARGUMENTS: queue_ptr is pointer to the queue * RETURNS: return 1 if full, 0 if not full *******************************************************************************/ int Full(QUEUE_TYPE *queue_ptr) { return queue_ptr->count >= MAXQUEUE; } NAV440 User Manual 7430‐0131‐01 Rev.
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Appendix D. Sample Packet Decoding Example payload from Angle Data Packet 2 (A2) 5555 4132 1e preamble type 0006ffe4ed91 fff9fffdffed fff7fff9f331 2c642ce12d85 00010b1c 0300 length 0006ffe4ed91fff9fffdffed 6945 CRC (invalid) fff7fff9f3312c642ce12d8500010b1c 0300 timeITOW Angles Hex Data Value (s) 00010b1c 68380 Accelerometers Hex Data Value (deg) Hex Data Value (g) 0006 (roll) 0.033 FFF7 (x) -0.0027 FFE4 (pitch) -0.154 FFF9 (y) -0.0021 ED91 (yaw) -25.922 F331 (z) -1.
Example payload from Scaled Sensor 1 data packet (S1) 5555 5331 preamble type 18 0000fffef332 fff30001fff8 23b9242624ca2aff length 96810300 248a counter CRC (invalid) Accelerometers Angular Rates Temperature BIT status Field Hex Data Value (g) Hex Data Value (deg/s) Hex Data Value (deg. C) Field Value masterFail 0 0000 0 FFF3 -0.25 23B9 28.241 hardwareError 0 0001 0.02 28.741 0 -0.001 2426 comError FFFE softwareError 0 F332 -1 FFF8 -0.
Example payload from Nav Data Packet 1 (N1) 5555 4e31 2a 001bffdf3a5bfffe0000ffe . . . fff8fff70000002d1900288a3e0300 a3ad preamble type CRC (invalid) length 001bffdf3a5bfffe0000ffeafff8fff7f3370015fda9fd4f000000000000000000002d1900288a3e Angles Hex Data Value (deg) 001b 0.148 FFFD -0.181 3A5B 82.062 Accelerometers Temperature Hex Data Value (g) Hex Data Value (deg. C) FFF8 -0.0024 2D19 35.233 FFF7 -0.0027 F337 -0.
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Appendix E. Mechanical Specifications Footprint 3.00" x 3.75" Specifications Environment Operating Temperature ‐40° to +71°C Enclosure IP66 compliant Electrical Input Voltage 9 to 42 VDC Power Consumption < 4 W Digital Interface RS232 Physical Size 3.0”w x 3.75”l x 3.0”h Weight 1.3 lbs (0.59 kg) Interface Connector DB‐15 NAV440 User Manual 7430‐0131‐01 Rev.
Mechanical Drawings Figure 25 440 Outline: IMU, VG Page 122 NAV440 User Manual 7430‐0131‐01 Rev.
Figure 26 440 Outline: AHRS, NAV NAV440 User Manual 7430‐0131‐01 Rev.
Figure 27 Evaluation Kit 440 Series Cable Page 124 NAV440 User Manual 7430‐0131‐01 Rev.
Appendix F. Moog Crossbow Service Policies Customer Service Moog Crossbow customers have access to product support services: • Single‐point return service • Web‐based support service • Same day troubleshooting assistance • Worldwide Moog Crossbow representation • Onsite and factory training available • Preventative maintenance and repair programs • Installation assistance available Warranty The Moog Crossbow product warranty is one year from the date of shipment.
• Attach a tag to the equipment, as well as the shipping container(s): on the tab, include the RAM and the owner. • Include a description of the service or repair required, a description of the problems with the unit, and the conditions that the problems occurred, such what function was being used. • Place the equipment in the original shipping container(s), making sure there is adequate packing around all sides of the equipment.
Appendix G. Revision History Table 105 Document Revision History Revision Date Contributor(s) F 25 Sept 2011 R. C. Ayeras S. McGuigan Comments Update the format and organization of the contents, per ECO 2023 . NAV440 User Manual 7430‐0131‐01 Rev.
Moog Crossbow 1421 McCarthy Blvd. Milpitas, CA95035 Phone: 408.965.3300 Fax: 408.324.4840 Email: info@moog‐crossbow.com Website: www.moog‐crossbow.com Page 128 NAV440 User Manual 7430‐0131‐01 Rev.
