Vectornav VN-200 manuals

Vectornav VN-200 User Manual (141 pages)

Brand: Vectornav | Category: Car navigation systems | Size: 3.55 MB |

English

Table of contents

VN-200 User Manual

1

Table of Contents

3

1 Introduction

6

Packaging Options 1.4

7

Rugged Package

8

VN-200 Product Codes 1.5

9

2 Specifications

10

VN-200 SMD Power Supply

12

VN-200 Rugged Electrical

13

VN-200 Rugged Power Supply

14

VN-200 Rugged Dimensions

16

Sensor Coordinate System

17

North-East-Down Frame 2.6.4

18

IMU Subsystem

19

User Calibration 3.1.6

21

NavState Subsystem

22

NavFilter Subsystem 3.3

22

AHRS Kalman Filter 3.3.3

23

Communication Interface 3.4

24

Communication Protocol

25

4 Basic Communication

26

Software Requirements 4.2.2

27

SPI Example Commands 4.2.3

27

SPI Write Register Example

28

System Error Codes

30

Checksum / CRC

31

16-bit CRC

32

Available Output Types 5.1

33

OutputGroup

34

OutputFields 5.2.2

34

Sync Byte 5.3.1

38

Groups 5.3.2

38

Group Fields 5.3.3

38

Payload 5.3.4

38

Payload Length 5.3.6

39

Example Cases 5.3.7

40

Example Case 2

41

Time Startup 5.4.1

42

TimeGps

42

MagPres

45

DeltaThetaVel 5.4.12

45

InsStatus

46

SyncInCnt 5.4.14

46

TimeGpsPps 5.4.15

46

TimeStartup 5.5.1

47

TimeGps 5.5.2

47

GpsTow 5.5.3

47

GpsWeek

47

TimeSyncIn

48

TimeGpsPps 5.5.6

48

TimeUtc 5.5.7

48

SyncInCnt 5.5.8

48

ImuStatus 5.6.1

49

UncompMag 5.6.2

49

UncompAccel 5.6.3

49

SensSat

52

UTC 5.7.1

53

Tow 5.7.2

53

Week 5.7.3

53

VpeStatus 5.8.1

56

YawPitchRoll 5.8.2

57

Quaternion 5.8.3

57

DCM 5.8.4

57

MagNed

58

AccelNed 5.8.6

58

LinearAccelBody 5.8.7

58

LinearAccelNed

59

AngularRate 5.8.9

59

YprU 5.8.10

59

InsStatus 5.9.1

60

AccelEcef 5.9.8

62

LinearAccelEcef 5.9.9

62

PosU 5.9.10

62

VelU 5.9.11

62

6 System Module

63

Write Settings Command

64

Reset Command

65

Model Number Register

68

Hardware Revision Register

69

Serial Number Register

70

Firmware Version Register

71

Serial Baud Rate Register

72

Synchronization Control

76

Serial Count

79

SerialStatus

79

ErrorMode

81

Example Async Messages

81

Binary Output Register 1

82

Binary Output Register 2

83

Binary Output Register 3

84

System Errors 6.5.4

88

System Reset 6.5.5

88

System Save 6.5.6

88

7 IMU Subsystem

89

Acceleration Compensation

92

Gyro Compensation

93

Reference Frame Rotation

94

WindowSize

95

FilterMode

95

AccelCompensation

97

IMU Meas

100

8 GPS Subsystem

101

GPS Solution - ECEF

102

Configuration Registers

103

GPS Antenna Offset

104

Factory Defaults

105

Command Prompt

106

9 Attitude Subsystem

107

Attitude Quaternion

108

UM004

109

Magnetic Measurements

111

Acceleration Measurements

112

Angular Rate Measurements

113

10 INS Subsystem

121

Measurement Registers

122

INS Solution – LLA 10.2.1

122

INS Solution - ECEF

123

INS State - LLA

124

INS State - ECEF

125

Status Registers

130

PlotInput

134

PlotOutput

135

Vectornav VN-200 User Manual (23 pages)

Brand: Vectornav | Category: Car navigation systems | Size: 0.48 MB |

English

Table of contents

Pengqi Cheng

1

May 17, 2013

1

Masters Project Paper

3

Avoidance Robot

3

1 Abstract

4

2 Introduction

5

3 Literature Review

7

3.2 Stanford’s Junior

8

3.4 Other Implementations

9

3.5 Our Solution

9

3.6 Conclusion

10

4 Methodology

11

4.2 GPS Driver Implementation

13

5 Discussion

15

5.2 Motor Encoder Driver

17

5.3 Evaluation

18

6 Conclusion

20

References

21

Vectornav devices

Car navigation systems