Owner's manual

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AV440UserManual
0131‐01Rev.F
Page19
N
7430‐
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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
• tCoordinateSystem
440SeriesDefaul
•
,page22
IMU440,page23
• ,page
VG440(VerticalGyroscope) 25
•
AHRS440Function,page27
•
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NAV440Function,page30
440SeriesSystem
The440SeriesisacompactMEMSbasedGPS/inertialnavigationsystem.ItdeliverscontinuousGPSposition,true
headingandvehicleattitudetrackinginformationforgroundtacticalvehicles.Thesystemintegratesadvanced
MEMSinertialgyrosandaccelerometers,embeddedoroptionalremote3‐axismagnetometer,aSAASMorC/Acode
GPSrece r
homelan
iver,and10/100Ethernetinterfaceinafullysealedenclosurefortacticalvehicleoperatingincombato
dsecurityenvironments.
Figure1belowshowsthe440Serieshardwareblockdiagram.Atthecoreofthe440Seriesisarugged6‐DOF
(DegreesofFreedom)MEMSinertialsensorclusterthatiscommonacrossallmembersofthe440Series.The6‐
DOFMEMSinertialsensorclusterincludesthreeaxesofMEMSangularratesensingandthreeaxesofMEMSlinear
accelerationsensing.Thesesensorsarebasedonrugged,fieldprovensiliconbulkmicromachiningtechnology.
EachsensorwithintheclusterisindividuallyfactorycalibratedusingMoogCrossbow’sautomatedmanufacturing
rocess.
p
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ConfiguringGNAV540Functions
Base ond theUserBehaviorsettings,theSeries440unitcanbeconfiguredtofulfillvariousfunctions.
1. Usingonlythecalibratedsensordata,theSeries440unitfunctionsasanInertialMeasurementUnit(IMU)
tooutputangularratesandaccelerations.
2. IncorporatingthegyroscopeandaccelerometerdatawiththeEKF,theSeries440unitcanoutputrolland
pitchattitudeinformation,functioningasaVerticalGyroscope(VG)unit.
3. BuildingontheVGfunctionandcombiningmagneticfieldmeasurement,theGNAV540canfunctionasan
AttitudeHeadingReferenceSystem(AHRS):provideaheadingangleestimateinadditiontothe(VG)roll
andpitch.TheSeries440unitisprovidedwithaninternalmagnetometer;anexternalmagnetometercanbe
integratedwiththeunitandconfiguredtooverridetheinternalmagnetometer.
4. CombiningGPSsensordataintotheEKF,theSeries440unitcanprovideacompleteattitudesystem,aswell
asoutputting3Dvelocityandpositionmeasurements,therebyfunctioningasaNavigationunit(NAV).An
internalC/AcodeGPSreceiverisprovided;anexternalWAASGPSreceivercanbeintegratedwiththeunit
andconfiguredtooverridetheinternalreceiver.
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