Moog-crossbow GNAV540 Instrukcja Użytkownika

www.moog‐crossbow.com1Moog,Inc.,1421McCarthyBlvd.,Milpitas,CA95035GNAV540UserManualInstallationConfigurationReference

 Page10 GNAV540UserManual7430‐0808‐01Rev.BTable71RFResponse ...

 Page100GNAV540UserManual7430‐0808‐01Rev.BStatusByteField DefaultValueshardwa(bit9)reStatus• AHRS:disabled• IMU:disabled•

 UserManual7430‐0808‐01Rev.BPage101GNAV540StatusByteField Default ValuessensorSt(bit12)atus• :0 = nomin lAHRS a 1 = Sens

 Page102GNAV540UserManual7430‐0808‐01Rev.BhardwarePowerBITField Bit Values CategorythreeVolt 4 0=normal,1=outofbounds Soft

 rManual7430‐0808‐01Rev.BPage103GNAV540UsecomSerialABITFieldThecomSerialABITfieldcontainsflagsthatindicatelowlevelerrorswith

 Page104GNAV540UserManual7430‐0808‐01Rev.BsoftwareBITFieldThesoftwareBITfieldcontainsflagsthatindicatevarioustypesofsoftware

 GNAV540UserManual7430‐0808‐01Rev.BPage105hardwareStatusFieldThehardwareStatusfieldcontainsflagsthatindicatevariousinternalhar

 Page106GNAV540UserManual7430‐0808‐01Rev.BsoftwareStatusField Bits ValuesturnSwitch 30=off,1=yawrategreaterthanturnSwitchh

 GNAV540UserManual7430‐0808‐01Rev.BPage107comStatusEnableFieldThisfieldisabitmaskofthecomStatusfield(refertoBITStatusFie

 age108GNAV540UserManual7430‐0808‐01Rev.BFigure28BITErrorandStatusHierarchyP

 NAV540UserManual0808‐01Rev.BPage109G7430‐

 NAV540UserManual0808‐01Rev.BPage11G7430‐Figure3GNAV540Functions...

 l7430‐0808‐01Rev.BPage110 GNAV540UserManuaAppendixA. ApplicationExamplesThissectionprovidesrecommendedadvancedsettingsfortailo

 GNAV540UserManual7430‐0808‐01Rev.BPage111Table95RecommendedAdvancedSettingsforRotorcraftDynamic ConditionRecommended SettingsNor

 GNAV540UserManual7430‐0808‐01Rev.BPage112Surfaced SubmergedUseMags ON2ON3UseGPS ON OFFFreeIntegrate OFF OFFStationaryYawLock OFF OFFR

 GNAV540UserManual7430‐0808‐01Rev.BPage113Figure29FlightProfiles:FixedWingAircraftCorrespondingSettings

 Page114 GNAV540UserManual7430‐0808‐01Rev.BAppendixB. SamplePacket—ParserCodeOverviewThissectionincludesanexampleofcodewritte

 GNAV540UserManual7430‐0808‐01Rev.BPage115usertoensurecircular‐queueintegritybyusingsomesortofmutualexclusionmechanismwithin

 Page116GNAV540UserManual7430‐0808‐01Rev.B Pop(queue_ptr, numToPop); if(Size(queue_ptr) <= 0) { /* header was not found */ r

 GNAV540UserManual7430‐0808‐01Rev.BPage117 * ARGUMENTS: queue_ptr is pointer to queue holding area to be CRCed * startIndex i

 Page118GNAV540UserManual7430‐0808‐01Rev.B /******************************************************************************* * FUNCTION:

 GNAV540UserManual7430‐0808‐01Rev.BPage119 secondIndex = (queue_ptr->front + index + 1) % MAXQUEUE; word = (queue_ptr->entry(fir

 Page12GNAV540UserManual7430‐0808‐01Rev.B

 Page120GNAV540UserManual7430‐0808‐01Rev.BAppendixC. SamplePacketDecoding5555 5331 18 0000fffef332 fff300

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 age122 GNAV540UserManual7430‐0808‐01Rev.BPCRC (invalid) 001bffdf3a5b fffe0000ffea fff8fff7f337 0015fda9fd4f

 GNAV540UserManual7430‐0808‐01Rev.BPage123

 Page124GNAV540UserManual7430‐0808‐01Rev.BAppendixD. MechanicalSpecificationsJ1ConnectorInterfaceJ1isa37 Recommendedplugandb

 NAV540UserManual7430‐0808‐01Rev.BPage125MechanicalDrawingsFigure30GNAV540CasingG

 Page126GNAV540UserManual7430‐0808‐01Rev.BInterfaceCable—AccessoryOTE:ThiscableisprovidedwhentheGNAV540ispurchasedwiththedevel

 GNAV540UserManual7430‐0808‐01Rev.BPage127

 Page12GNAV540UserManual7430‐0808‐01Rev.B8AppendixE. CrossbowSer vicePoliciesCustomerServiceMoogcu uctsupportservices:stomers

 NAV540UserManual0808‐01Rev.BPage129G7430‐• Attachatagtotheequipment,aswellastheshippingcontainer(s):onthetab,includethe

 NAV540UserManual7430‐0808‐01Rev.BPage13GPrefaceThisdocumentprovidesinformationaboutGNAV540,includingoperationalfunctionsandco

 Page130GNAV540UserManual7430‐0808‐01Rev.B

 NAV540UserManual7430‐0808‐01Rev.BPage131GAppendixF. RevisionHistoryTable100DocumentRevisionHistoryRevision Date Contributo

 Moog,Inc.andSensorsNavigation,Guidance.1421McCarthyBlvdMilpitas,CA95035Phone:408.965.3300Fax:408.324.4840Pa

 nual7430‐0808‐01Rev.BPage14 GNAV540UserMahapter/Appendix SummaryCBuiltInTest(BIT)AppendixA.Application

 GNAV540UserManual7430‐0808‐01Rev.BPage15/Appendix SummaryChapterPolicies processandcontactinformationAppendixF.RevisionHistor

 age16GNAV540UserManual7430‐0808‐01Rev.BPGlossaryTable4GlossaryTerm Definition6DOF SixDegreeofFreedomACL AccelerometerAHRS

 GNAV540UserManual7430‐0808‐01Rev.BPage17Chapter1. OverviewThischa hlevelsummaryoftheGNAV540:pterprovidesahig• Features,

 Page18GNAV540UserManual7430‐0808‐01Rev.BMeasurement AccuracyAttitudeRange:Roll,Pitch±180°,±90°Accuracy<0.4°AngularRate R

 NAV540UserManual7430‐0808‐01Rev.BPage19Gtemperatureandnon‐linearityeffectsduringCrossbow’smanufacturingandtestprocessusingaut

 Page2GNAV540UserManual7430‐0808‐01Rev.B©2011Moog,Inc.Allrightsreserved.Informationinthisdocumentissubjecttochangewithout

 Page20GNAV540UserManual7430‐0808‐01Rev.B

 GNAV540UserManual7430‐0808‐01Rev.BPage21Chapter2. GNfAV540FunctionsThischapterprovidesanoverviewofthehardwareandsoftwares

 Page22GNAV540UserManual7430‐0808‐01Rev.BFigure1GNAV540SystemSoftwareStructureFigure2belowshowsthesoftwareblockdiagram.The

 GNAV540UserManual7430‐0808‐01Rev.BPage23Figure2GNAV540SoftwareBlockDiagram.X / Y / Z BodyAccelerometers6-DOF Sensor Clust

 Page24rManual7430‐0808‐01Rev.BFigure3GNAV540FunctionsGNAV540UseNAVFunction AHRSFunctionMagnetometer heading accels, rates,

 7430‐0808‐01Rev.B25GNAV540UserManual Pagemeasurezerogalongthexandy‐axesand‐1galongthez‐axis.NormalForceaccelerationis

 GNAV540UserManual7430‐0808‐01Rev.BPage26NOTE:TheDelta‐Theta,Delta‐Vpacketisonlyrecommendedforuseincontinuousoutputmodeat5H

 GNAV540UserManual7430‐0808‐01Rev.BPage27VGFunctionadaptivelytunestheEKFfeedbackinordertobestbalancethebiasestimationanda

 Page28GNAV540UserManual7430‐0808‐01Rev.BSetting DefaultValue CommentsFreelyIntegrateOFFTheFreelyIntegratesettingallowsconfigu

 GNAV540UserManual7430‐0808‐01Rev.BPage29AHRSFunctionTheAttitudeHeadingReferenceSystem(AHRS)Functionutilizesa3‐axismagnetomet

 GNA743V540UserManual0‐0808‐01Rev.BPage3TableofContentsPr eface...

 Page30GNAV540UserManual7430‐0808‐01Rev.BSetting Defa ueultVal CommentsOrientationSeeFigure4onpage24.Toconfiguretheaxisorie

 GNAV540UserManual7430‐0808‐01Rev.BPage31Setting DefaultValue CommentsRestartOnOverRangeOFFThissettingforcesanalgorithmrese

 Page32GNAV540UserManual7430‐0808‐01Rev.Bmoduleusesdatafromtheaidingsensors,whentheyareavailable,tocorrecttheerrorsinthev

 GNAV540UserManual7430‐0808‐01Rev.BPage33Setting Def eaultValu CommentsOrientationSeeFigure4onpage24.Toconfiguretheaxisori

 Page34GNAV540UserManual7430‐0808‐01Rev.BSetting DefaultValue CommentsRestartOnOverRangeONThissettingforcesanalgorithmreset

 GNAV540UserManual7430‐0808‐01Rev.BPage35Chapter3. HardwareInterfaceThischapterprovidesinformationaboutthepowerandsignalint

 Page36GNAV540UserManual7430‐0808‐01Rev.BI/OPortInterfaceThefollowingportsareaccessiblethroughtheJ1connector.RefertoJ1—I/OC

 GNAV540UserManual7430‐0808‐01Rev.BPage371PPSOutputInterfaceThe1PPSoutputsignalisprovidedbytheinternalGPSreceiver(whenGPS

 Page38GNAV540UserManual7430‐0808‐01Rev.B

 7430‐0808‐01Rev.BGNAV540UserManual Page39Chapter4. MagnetometerCalibrationandAlignmentGuidelinesThischa ingandaligningamagn

 Page47430‐0808‐01Rev.BGNAV540UserManualCh apter4. MagnetometerCalibrationandAlignmentGuidelines ...

 Page40GNAV540UserManual7430‐0808‐01Rev.Binthehorizontalplane.UsingNAV‐V ironeffectsIEW2.2,thehardandsoft canbeviewedby

 NAV540UserManual7430‐0808‐01Rev.BPage41GSerialDataInterfaceTheGNA540receivesinformationthroughaserialinterfacethatisdedicat

 Page42GNAV540UserManual7430‐0808‐01Rev.B

 GNAV540UserManual7430‐0808‐01Rev.BPage43Chapter5. InstallationGuidelinesThisch boratorytest.apterprovidesinformationtosetu

 age44GNAV540UserManual7430‐0808‐01Rev.B1. InstallSoftware—NAV‐VIEW2.2Inst ctru ionsa. InserttheCDGNAV540InertialSystemintheCD

 GNAV540UserManual7430‐0808‐01Rev.BPage454. TurnontheGNAV540Inst ctru ionsa. Ensurethevoltagelevelofthepowersupplyisset

 Page46GNAV540UserManual7430‐0808‐01Rev.BTrouble‐ShootingTips• Iftheunitisconnectedbutnotworking,checkthefollowing:o Thepow

 GNAV540UserManual7430‐0808‐01Rev.BPage47Chapter6. ViewingandLoggingDatawithNAV‐VIEW2.2NOTE:ItisassumedthatGNAV540andNAV‐

 Figure8MainScreenCommunicationPortrnetport,whichisselectedintheSetupmenu.TheGNAV540canbeaccessedviaserialorEtheToselect

 GNAV540UserManual7430‐0808‐01Rev.BPage49Figure9ConfigureSerialPortSeriThealPortConfigureSerialPortdialogshowsthecurrentPo

 GNA743V540UserManual0‐0808‐01Rev.BPage5Ch apter8. DataPacketStructure ...

 Page50GNAV540UserManual7430‐0808‐01Rev.B1. Locatetheiconatthetopofthepage,orclickFileandthenselectLogtoFilefromtheFig

 GNAV540UserManual7430‐0808‐01Rev.BPage512. p,orpauseOncethefileisselected,userscanutilizetheVCRstylecontrolsatthetopof

 Page52GNAV540UserManual7430‐0808‐01Rev.BHorizonandCompassViewsNAV‐VIE dasiW2.2providesacompassan mulatedartificialhorizonview

 GNAV540UserManual7430‐0808‐01Rev.BPage53Chapter7. ConfiguringGNAV540withNAV‐VIEW2.2ItisassumedtheGNAV540unitandNAV‐VIEW2.

 Page54GNAV540UserManual7430‐0808‐01Rev.BMethod2:1. Atthemainscreen,selectUnitConfigurationfromthemenubar,thenConfiguration

 GNAV540UserManual7430‐0808‐01Rev.BPage55Figure17UnitConfigurationViewingCurrentConfigurationToviewthecurrentconfiguration,cl

 Page56GNAV540UserManual7430‐0808‐01Rev.BAdvTheancedAdvancedtabprovidesaccesstomorecomplexconfigurations,suchasuserbehaviorse

 7Figure20BITConfigurationViewingCurrentConfigurationToviewthecurrentconfiguration,clicktheGetAllValuesbutton.Thecurrentsett

 greaterthanthevaluesspecifiedonthedatasheetorfluctuatingheadingperformancemayindicatemagneticfielddisturbancesneartheunit.NO

 GNAV540UserManual7430‐0808‐01Rev.BPage59Aftercompletingtherotation,datawillbedisplayedwiththecalibrationvalues.TheXandYo

 Page6 GNAV540UserManual7430‐0808‐01Rev.BNavDataPacket3(defaultpacket) ...

 age60GNAV540UserManual7430‐0808‐01Rev.BRotationalAlignment1. Ensuretheunitisconfiguredtousetheexternalmagnetometer.RefertoAdv

 GNAV540UserManual7430‐0808‐01Rev.BPage61Chapter8. DataPacketStructureNOTE:Thissectionofthemanualassumesthereaderisfamil

 Page62GNAV540UserManual7430‐0808‐01Rev.BDescriptor Description Size(bytes) Comment RangeF4 FloatingPoint 4IEEE754SingleionPr

 540User0808‐01Rev.BPage63GNAV7430‐ManualPayloadLengthThepayloadlengthisalwaysaonebyteunsignedcharacterwitharangeof0‐255.

 Page64GNAV540UserManual7430‐0808‐01Rev.BASCIImonicMne<2‐bytepacket)>type(U2<payloadbyte‐length1)>(UDescription Type

 GNAV540UserManual7430‐0808‐01Rev.BPage65ASCIIemonicMn<2‐bytepacket)>type(U2<payloadbyte‐length(U1)>Description Typ

 Page66GNAV540UserManual7430‐0808‐01Rev.B

 GNAV540UserManual7430‐0808‐01Rev.BPage67Chapter9. CommunicatingwiththeGNAV540Communicationcommandsareusedtoverifyaunitisp

 PGNAV540UserManual7430‐0808‐01Rev.Bage68InteractiveCommandsInteractivecommandsareusedtointeractivelyrequestdatafromtheGNAV540

 GNAV540UserManual7430‐0808‐01Rev.BPage69ThiscommandperformsacoreCPUreset,functionallyequivalenttoapowercycle.Alldefaultpo

 GNAV540UserManual7430‐0808‐01Rev.BPage7hardwareStatusEnableField ...

 age70GNAV540UserManual7430‐0808‐01Rev.BPcalibrationRequest Descriptioncalibrationcommand.0x000EWritemagneticcalibration.Theun

 GNAV540UserManual7430‐0808‐01Rev.BPage71ErrorResponseTable31ErrorResponseErrorResponse(ASCIINAK,NAK=0x1515)Preamble Packe

 PV540UserManual7430‐0808‐01Rev.Bage72 GNAThispacketcontainsfirmwareversioninformation.majorVersionchangesmayintroduceseriousi

 GNAV540UserManual7430‐0808‐01Rev.BPage73T2PayloadContentsByteOffsetName Format Scaling Units DescriptionBITField14 comSeria

 Page74GNAV540UserManual7430‐0808‐01Rev.BS0PayloadContentsByteffsetOName Format Scaling Units Description8 yRate I2 7*pi/2^16

 V540U0808‐0Page75GNA7430‐serManual1Rev.BS1PayloadContentsByteOffset Name Format Scaling Units Description10 zRate I2 7*pi/2

 PGNAV540UserManual7430‐0808‐01Rev.Bage76AngleDataPacket0Table43A0DataPacketAngleData(‘A0’=0x4130)Preamble PacketType L

 GNAV540Use nual7430‐0808‐01Rev.BPage77rMaA0PayloadContentsBytesetOffName Format Scaling  Units Description26 GPSITOW U2 tru

 ge78AV540UserManual7430‐0808‐01Rev.BPa GNA1PayloadContentsBytesetOffName Format Scaling  Units Description18 xMag I2 2/2^16

 NAV540UserManual7430‐0808‐01Rev.BPage79GN0PayloadContentsByteOffsetName Format Scaling Units Description(1260°/2^16) (°/sec)

 7430‐0808‐01Rev.BPage8 GNAV540UserManualTablesTable1ChapterSummaries ...

 Page80GNAV540UserManual7430‐0808‐01Rev.BTable50N1PayloadN1PayloadContentsBytefsetOfName Format Scaling Units Description0

 V540 Manual080 Rev.BPage81GNA7430‐User8‐01Thispacketcontainsnavigationdataandselectedsensordatascaledinmostcasestoasigned

 Page82GNAV540UserManual7430‐0808‐01Rev.BN3 Payload Contents BytesetOffName FormatScaling Units Description20 eVel I2 512/2^16

 GNAV540UserManual7430‐0808‐01Rev.BPage83Table54N4PayloadN4PayloadContentsBytefsetOfName Format Scaling Units Description0

 Page84GNAV540UserManual7430‐0808‐01Rev.B

 GNAV540Use7430‐0808‐01Rev.BrManual Page85Chapter10. ProgrammingGuidelinesTheadvancedcommandsallowuserstoprogrammaticallychan

 ual7430‐0808‐01Rev.BPage86 GNAV540UserManindex Configurationfields FieldID ValidValues Description17 comStatusEnable 0x0011 An

 GNAV540UserManual7430‐0808‐01Rev.BPage87pointinginthe–Uxdirectionandthebaseplatepointinginthe+Uzdirection.Theuseraxisset

 Page88V540UserManual7430‐0808‐01Rev.BGNAOrientationFieldValue XAxis YAxis ZAxis0x009B ‐Uy ‐Uz +Ux0x00C4 +Uz +Uy ‐Ux0x00C

 G nual7430‐0808‐01Rev.BPage89NAV540UserMaAlgorithmAspect Bits ValuesUseMags 10:Donotusemagstostabilizeheopenlooporbest

 GNAV540UserManual7430‐0808‐01Rev.BPage9Table34VersionDataPKT ...

 7430‐0808‐01Rev.BPage90GNAV540UserManualYHardIronBias 0x000A I2 2/2^16 GaussSoftIronScaleRatio 0x000B U2 2/2^16 ‐SoftIro

 GNAV540UserManual7430‐0808‐01Rev.BPage91• Ifatleastonefieldissuccessfullywritten,theunitwillrespondwithawritefieldrespo

 Page92GNAV540UserManual7430‐0808‐01Rev.BSetFieldsCommandTable66SFCommandsSetFields(‘SF’=0x5346)Preamble PacketType Length

 GNAV540UserManual7430‐0808‐01Rev.BPage93WFPayloadContentsByteOffset Name Format Scaling Units Description1 field0 U2 — —

 Page94GNAV540UserManual7430‐0808‐01Rev.BByteOffset Name Format Scaling Units Description0 numFields U1 — — Thenumberoffiel

 NAV540UserManual0808‐01Rev.BPage95G7430‐GetFields(‘GF’=0x4746)Preamble PacketType Length  Payload Termination0x5555 0x4746

 Page96GNAV540UserManual7430‐0808‐01Rev.B

 NAV540UserManual0808‐01Rev.BPage97G7430‐

 Page98GNAV540Use nual7430‐0808‐01Rev.BrMaChapter11. BuiltInTest(BIT)TheBuilt‐InTestcapabilityallowsuserstomonitorhealth,d

 GNAV540UserManual7430‐0808‐01Rev.BPage99BITstatusField Bits Value ConfigurableReserved 5:7 N/A NStatusByteFieldsmasterStatu