Owner's manual
Page20
NAV440UserManual
7430‐0131‐01Rev.F
Figure1440SeriesHardwareBlockDiagram
6-DOF Sensor
Cluster
X / Y / Z
Gyros
X / Y / Z
Accelerometers
16-BIT
A/D
High-Speed
Sampling &
DSP
+
Sensor
Compensation
+
Navigation &
Attitude
RS-232
(A Port)
System Digital Outputs and Inputs
(Pins 1,2)
Moog Crossbow Serial Protocol
X / Y / Z Acceleration
Roll / Pitch / Yaw Rate
X / Y / Z Magnetic Fields (NAV/AHRS only)
Roll / Pitch / Yaw Angle
Position / Velocity (NAV only)
Sensor
Temperatures
XY / Z
Programmable
XYZ
Programmable
X / Y / Z
Magnetometers
GPS Receiver
(WAAS)
NAV only
GPS Antenna
NAV only
RS-232
(B Port)
Optional use port (Pins 7,8)
External GPS Input (VG/AHRS)
RS-232
(B Port)
Internal GPS Output
(NAV)
SoftwareStructure
Figure2belowshowsthesoftwareblockdiagram.The6‐DOFinertialsensorclusterdataisfedintoahighspeed
100Hzsignalprocessingchain.These6‐DOFsignalspassthroughoneormoreoftheprocessingblocksandthese
signalsareconvertedintooutputmeasurementdataasshown.Measurementdatapacketsareavailableatfixed
continuousoutputratesoronapolledbasis.Thetypeofmeasurementdatapacketsavailabledependsontheunit
typeaccordingtothesoftwareblockdiagramand.AidingsensordataisusedbyanExtendedKalmanFilter(EKF)
fordriftcorrection.Built‐In‐TestandStatusdataisavailableinthemeasurementpacketorviathespecialStatus
PacketT0.
Asshownin
Figure2,the440Serieshasaunitsettingandprofileblockwhichconfiguresthealgorithmtouserand
applicationspecificneeds.Thisfeatureisoneofthemorepowerfulfeaturesinthe440Seriesarchitectureasit
allowsthe440Seriestoworkinawiderangeofcommercialapplicationsbysettingspecificfunctionsofthe440
Series.