Memsic AHRS380ZA User manual

UAV Flight Control

Uncertified Avionics

Power Sensing Solutions for a Better Life

AHRS380ZA

ATTITUDE HEADING REFERENCE SYSTEM

The MEMSIC AHRS380ZA is a miniature fully-

calibrated Attitude & Heading Reference System

designed for demanding embedded applications that

require a complete dynamic measurement solution in

a robust low-profile package. The AHRS380ZA

provides a standard SPI bus for cost-effective board-

to-board communications.

Features



Complete 9DOF Inertial System



Roll/Pitch/Heading Outputs



SPI (or UART) Interface

Update Rate, 1Hz to 200Hz



1KHz Clock Synch Input



Miniature Package, 24 x 37 x 9.5 mm

Lightweight < 17 g

Low Power Consumption < 250 mW

Wide Temp Range, -40C to +85C

High Reliability, MTBF > 50k hours

The MEMSIC AHRS380ZA integrates highly-reliable

MEMS 6DOF inertial sensors and 3-axis magnetic sensors

with extended Kalman filtering in a miniature factory-

calibrated module to provide consistent performance

through the extreme operating environments in a wide

variety of dynamic control and navigation applications.

Applications



Unmanned Vehicle Control



Uncertified Avionics



Platform Stabilization

Robotics Control

Phone: 408.964.9700 Fax: 408.854.7702 E-mail: in[email protected]m www.memsic.com

Performance

AHRS380ZA-200

Heading

Range (º)

± 180

Accuracy (º)

< 3.0 3, < 1.0 4

Resolution (º)

< 0.02

Attitude

Range: Roll, Pitch (º)

± 180, ± 90

Accuracy (º)

< 1.0 3, < 0.2 4

Resolution (º)

< 0.02

Angular Rate

Range: Roll, Pitch, Yaw (º/sec)

± 200 (± 400 High Range Model)

Bias Instability (º/hr) 1,2

< 10

Bias Stability Over Temp (º/sec)

< 0.1

Resolution (º/sec)

< 0.02

Scale Factor Accuracy (%)

< 0.1

Non-Linearity (%FS)

< 0.1

Angle Random Walk (º/√hr) 2

< 0.75

Bandwidth (Hz)

5-50 (user-configurable)

Acceleration

Range: X, Y Z (g)

± 4 (± 8 High Range Model)

Bias Instability (mg) 1,2

< 0.02

Bias Stability Over Temp (mg)

< 5

Resolution (mg)

< 0.5

Scale Factor Accuracy (%)

< 0.1

Non-Linearity (%FS)

< 0.1

Velocity Random Walk (m/s/√hr) 2

< 0.05

Bandwidth (Hz)

5-50 (user-configurable)

Magnetic Field

Range: X, Y Z (Gauss)

± 4

Resolution (mGauss)

< 5

Noise Density (mGauss /√Hz)

< 1

Bandwidth (Hz)

Specifications

Environment

Operating Temperature (ºC)

-40 to +85

Non-Operating Temperature (ºC)

-55 to +105

Enclosure

Aluminum (Gold Anodized)

Electrical

Input Voltage (VDC)

3.0 to 5.5

Power Consumption (mW)

< 250

Digital Interface

SPI or UART (user-configurable)

Output Data Rate

1Hz to 200Hz (user-configurable)

Input Clock Sync

1kHz Sync Pulse

Physical

Size (mm)

24.15 x 37.7 x 9.5

Weight (gm)

< 17

Interface Connector

20-Pin (10 x 2) 1.0 mm pitch header

Ordering Information

Model

Description

AHRS380ZA-200

Attitude and Heading Reference System (Standard Range)

AHRS380ZA-400

Attitude and Heading Reference System (High Range)

AHRS380ZA

ATTITUDE HEADING REFERENCE SYSTEM

NAV-VIEW

Configuration and Display Software

NAV-VIEW provides an easy to use

graphical interface to display, record,

playback, and analyze all of the

AHRS380ZA Attitude & Heading

Reference System parameters.

NAV-VIEW can also be used to set a

wide range of user-configurable fields

in the AHRS380ZA to optimize the

system performance for highly

dynamic applications.

NAV-VIEW software is available for

download from MEMSIC’s website at:

www.memsic.com/support

This product has been developed exclusively for commercial applications. It has not been tested

for, and makes no representation or warranty as to conformance with, any military specifications

or its suitability for any military application or end-use. Additionally, any use of this product for

nuclear, chemical or biological weapons, or weapons research, or for any use in missiles,

rockets, and/or UAV’s of 300km or greater range, or any other activity prohibited by the Export

Administration Regulations, is expressly prohibited without the written consent and without

obtaining appropriate US export license(s) when required by US law. Diversion contrary to U.S.

law is prohibited. Specifications are subject to change without notice.

1Allan Variance Curve, constant temperature. 21-sigma error. 3 RMS error under all dynamics.

4 RMS error under static conditions over full temperature range.

Other Components

The AHRS380ZA can be evaluated

using the EVAL-KIT DMU380ZA-200 or

-400 kit (depending on range

purchased), allowing direct connection

to a PC for use with NAV-VIEW display

and configuration software.

Support

For more detailed information

please refer to the DMU380ZA-

Series User’s Manual available

online at:

www.memsic.com/support

Phone: 408.964.9700 Fax: 408.854.7702 E-mail: in[email protected] www.memsic.com

Document P/N: 6020-3814-01

DMU380ZA Series

USER MANUAL

Document Part Number: 7430-3810-02

MEMSIC, Inc., 1759 McCarthy Blvd, Milpitas, CA 95035

Tel: 408-964-9700, Fax: 408-854-7702

email: [email protected], website: www.memsic.com

WARNING

This product has been developed by MEMSIC exclusively for commercial applications. It

has not been tested for, and MEMSIC 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. Additionally, any use of this product for nuclear,

chemical, biological weapons, or weapons research, or for any use in missiles, rockets,

and/or UAV's of 300km or greater range, or any other activity prohibited by the Export

Administration Regulations, is expressly prohibited without the written consent of

MEMSIC and without obtaining appropriate US export license(s) when required by US

law. Diversion contrary to U.S. law is prohibited.

change without notice.

MEMSIC, SoftSensor, INS380ZA, AHRS380ZA, VG380ZA, and IMU380ZA are

registered trademarks of MEMSIC, Inc. Other product and trade names are trademarks or

registered trademarks of their respective holders.

DMU380ZA Series User’s Manual

Doc# 7430-3810 Rev. 02

Page i

Table of Contents

1Introduction..................................................................................................................1

Manual Overview .................................................................................................11.1

Overview of the DMU380ZA Series Inertial Systems .........................................21.2

2Interface .......................................................................................................................4

Electrical Interface................................................................................................42.1

2.1.1 Connector and Mating Connector..................................................................4

2.1.2 Power Input and Power Input Ground...........................................................5

2.1.3 Serial Data Interface......................................................................................5

2.1.4 External GPS Aiding (VG380ZA, AHRS380ZA and INS380ZA)...............5

2.1.5 Reserved –Factory Use Only........................................................................6

Mechanical Interface.............................................................................................62.2

3Theory of Operation.....................................................................................................7

DMU380ZA Series Default Coordinate System.................................................113.1

3.1.1 Advanced Settings.......................................................................................12

IMU380ZA Theory of Operation........................................................................123.2

3.2.1 IMU380ZA Advanced Settings...................................................................13

3.2.2 IMU380ZA Built-In Test.............................................................................14

VG380ZA Theory of Operation..........................................................................143.3

3.3.1 VG380ZA Advanced Settings.....................................................................16

4.3.2 VG380ZA Built-In Test..............................................................................17

AHRS380ZA Theory of Operation.....................................................................183.4

3.4.1 AHRS380ZA Magnetometer Calibration and Alignment...........................19

3.4.2 AHRS380ZA Advanced Settings................................................................21

3.4.3 AHRS380ZA Built-In Test..........................................................................22

INS380ZA Theory of Operation.........................................................................233.5

3.5.1 INS380ZA Magnetometer Calibration and Alignment ...............................25

3.5.2 INS380ZA Advanced Settings ....................................................................25

3.5.3 INS380ZA Built-In Test..............................................................................26

4Application Guide......................................................................................................28

Introduction.........................................................................................................284.1

Fixed Wing Aircraft............................................................................................284.2

Rotorcraft............................................................................................................294.3

Land Vehicle.......................................................................................................294.4

Water Vehicle.....................................................................................................304.5

5DMU380ZA SPI Port Interface Definition................................................................32

DMU380ZA Series User’s Manual

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Doc# 7430-3810 Rev. 02

DMU380ZA Register Map.................................................................................325.1

DMU380ZA SPI Register Read Methodology...................................................335.2

5.2.1 DMU380ZA SPI Port Polled-Mode Read...................................................34

5.2.2 DMU380ZA SPI Port Burst-Mode Read.....................................................35

Output Data Registers.........................................................................................375.3

System Registers.................................................................................................375.4

Diagnostic Status Register..................................................................................385.5

DMU380ZA SPI Register Write Methodology..................................................385.6

Configuration Registers......................................................................................405.7

5.7.1 Self-Test/Data-Ready ..................................................................................40

5.7.2 Output Data Rate/Clock Configuration.......................................................40

5.7.3 Rate-Sensor Scaling/Low-Pass Filter..........................................................41

5.7.4 Magnetic-Alignment....................................................................................42

Suggested Operation...........................................................................................435.8

6DMU380 UART Port Interface Definition................................................................46

General Settings..................................................................................................466.1

Number Formats.................................................................................................466.2

Packet Format.....................................................................................................476.3

6.3.1 Packet Header..............................................................................................47

6.3.2 Packet Type .................................................................................................47

6.3.3 Payload Length............................................................................................48

6.3.4 Payload........................................................................................................48

6.3.5 16-bit CRC-CCITT......................................................................................48

6.3.6 Messaging Overview...................................................................................48

7DMU380 Standard UART Port Commands and Messages.......................................51

Link Test.............................................................................................................517.1

7.1.1 Ping Command............................................................................................51

7.1.2 Ping Response..............................................................................................51

7.1.3 Echo Command ...........................................................................................51

7.1.4 Echo Response.............................................................................................51

Interactive Commands........................................................................................51

7.2

7.2.1 Get Packet Request......................................................................................51

7.2.2 Algorithm Reset Command.........................................................................52

7.2.3 Algorithm Reset Response ..........................................................................52

7.2.4 Calibrate Command.....................................................................................52

7.2.5 Calibrate Acknowledgement Response.......................................................53

7.2.6 Calibration Completed Parameters Response..............................................53

DMU380ZA Series User’s Manual

Doc# 7430-3810 Rev. 02

Page iii

7.2.9 Error Response ............................................................................................54

Output Packets (Polled) ......................................................................................54

7.3

7.3.1 Identification Data Packet ...........................................................................54

7.3.2 Version Data Packet ....................................................................................54

7.3.3 Test 0 (Detailed BIT and Status) Packet......................................................55

Output Packets (Polled or Continuous)...............................................................557.4

7.4.1 Scaled Sensor Data Packet 0 .......................................................................55

7.4.2 Scaled Sensor Data Packet 1 (Default IMU Data).......................................56

7.4.3 Angle Data Packet 1 (Default AHRS Data) ................................................57

7.4.4 Angle Data Packet 2 (Default VG Data) .....................................................58

7.4.5 Nav Data Packet 0 .......................................................................................59

7.4.6 Nav Data Packet 1 (Default INS Data)........................................................60

7.4.7 Angle Data Packet B1 (Custom VG Data)..................................................61

7.4.8 Angle Data Packet B2 (Custom VG Data)..................................................62

8DMU380ZA Advanced UART Port Commands .......................................................63

Configuration Fields...........................................................................................638.1

Continuous Packet Type Field............................................................................638.2

Digital Filter Settings..........................................................................................648.3

Orientation Field.................................................................................................648.4

User Behavior Switches......................................................................................668.5

Hard and Soft Iron Values..................................................................................668.6

Heading Track Offset..........................................................................................668.7

Commands to Program Configuration................................................................678.8

8.8.1 Write Fields Command................................................................................67

8.8.2 Set Fields Command....................................................................................68

Read Fields Command........................................................................................698.9

Read Fields Response .....................................................................................698.10

Get Fields Command.......................................................................................698.11

Get Fields Response........................................................................................708.12

9DMU380ZA Advanced UART Port BIT...................................................................71

Built In Test (BIT) and Status Fields..................................................................719.1

Master BIT and Status (BITstatus) Field............................................................739.2

hardwareBIT Field..............................................................................................749.3

hardwarePowerBIT Field....................................................................................749.4

hardwareEnvironmentalBIT Field ......................................................................749.5

comBIT Field......................................................................................................749.6

DMU380ZA Series User’s Manual

Page iv

Doc# 7430-3810 Rev. 02

comSerialABIT Field..........................................................................................759.7

comSerialBBIT Field..........................................................................................759.8

softwareBIT Field...............................................................................................759.9

softwareAlgorithmBIT Field...........................................................................769.10

softwareDataBIT Field....................................................................................769.11

hardwareStatus Field.......................................................................................769.12

comStatus Field...............................................................................................779.13

softwareStatus Field........................................................................................779.14

sensorStatus Field............................................................................................779.15

Configuring the Master Status.........................................................................779.16

9.16.1 hardwareStatusEnable Field ........................................................................78

9.16.2 comStatusEnable Field................................................................................78

9.16.3 softwareStatusEnable Field .........................................................................78

9.16.4 sensorStatusEnable Field.............................................................................78

10 Warranty and Support Information ........................................................................79

10.3.1 Authorization...............................................................................................79

10.3.2 Identification and Protection .......................................................................79

10.3.3 Sealing the Container...................................................................................80

10.3.4 Marking .......................................................................................................80

10.3.5 Return Shipping Address.............................................................................80

Appendix A: Installation and Operation of NAV-VIEW..................................................81

NAV-VIEW Computer Requirements...........................................................................81

Install NAV-VIEW ....................................................................................................81

Connections ...................................................................................................................81

Setting up NAV-VIEW..................................................................................................82

Data Recording..............................................................................................................82

Data Playback................................................................................................................83

Raw Data Console .........................................................................................................83

Horizon and Compass View..........................................................................................84

Packet Statistics View....................................................................................................85

Unit Configuration.........................................................................................................85

Advanced Configuration................................................................................................86

Bit Configuration...........................................................................................................87

Mag Alignment Procedure.............................................................................................88

Hard Iron/Soft Iron Overview....................................................................................88

Mag Alignment Procedure Using NAV-VIEW.........................................................89

Read Unit Configuration................................................................................................91

DMU380ZA Series User’s Manual

Doc# 7430-3810 Rev. 02

Page v

Appendix B: NMEA Message Format..............................................................................93

GGA - GPS fix data.......................................................................................................93

Appendix C: Sample Packet-Parser Code.........................................................................95

Overview........................................................................................................................95

Code listing....................................................................................................................96

Appendix D: Sample Packet Decoding...........................................................................102

DMU380ZA Series User’s Manual

Page vi

Doc# 7430-3810 Rev. 02

About this Manual

The following annotations have been used to provide additional information.

NOTE

Note provides additional information about the topic.

EXAMPLE

Examples are given throughout the manual to help the reader understand the terminology.

IMPORTANT

This symbol defines items that have significant meaning to the user

WARNING

The user should pay particular attention to this symbol. It means there is a chance that

physical harm could happen to either the person or the equipment.

The following paragraph heading formatting is used in this manual:

1 Heading 1

1.1 Heading 2

1.1.1 Heading 3

Normal

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