Aceinna INS401 User manual

RE
ACEINNA, Inc.
email: [email protected], website: www.aceinna.com
INS401 USER MANUAL
(Preliminary)
Document Part Number: 7430-4006-02

Date
Document
Revision
Firmware
Applicability
Description
Author
Aug 19, 2021
-D1
28.00.01
Preliminary Release
JN/DW/BL/
CL
Oct 01, 2021
-D2
28.00.02
(maybe
28.01.00)
Update figures to the final
product look and update
content to 28.00.02
CT/KL/DW/
CL
Nov 05, 2021
-D3
28.01
Update contents to reflect FW
28.01
DW
Dec 29, 2021
-D4
28.02
Mounting instructions updated
to reflect FW 28.02
Add more contents for
Firmware Upgrade
AB
Apr 11, 2022
-D5
28.04
Various updates
See Appendix D for full
revision details
AB
WARNING
Aceinna has developed this product exclusively for commercial applications. It has not been tested
for, and Aceinna 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 Aceinna and without obtaining appropriate, US export license(s) when required
by US law. Diversion contrary to U.S. law is prohibited.
©2020 Aceinna, Inc. All rights reserved. Information in this document is subject to change
without notice.
Aceinna is a registered trademark of Aceinna Inc. Other product and trade names are trademarks
or registered trademarks of their respective holders.

INS401 User’s Manual
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Table of Contents
Introduction ...........................................................................................................................................4
INS401 Overview...........................................................................................................................4
INS401 Hardware..................................................................................................................................5
Housing and Dimensions................................................................................................................5
Mechanical Interface......................................................................................................................6
RF Connector..........................................................................................................................6
Main Connector and Pin Description......................................................................................7
INS401 SW Architecture.......................................................................................................................8
INS401 Installation................................................................................................................................8
Mounting Instructions ....................................................................................................................8
Antenna Selection and Connection ................................................................................................9
Power Requirement......................................................................................................................10
INS401 Operation................................................................................................................................11
Setting Up Communications.........................................................................................................11
System Operation and Data Logging ...........................................................................................11
RTK Corrections ..........................................................................................................................14
Odometer......................................................................................................................................14
Diagnostic Capabilities........................................................................................................................16
Ethernet Port and Messages.................................................................................................................17
Ethernet Data Frame Definition ...................................................................................................17
Aceinna Binary Packet Format.....................................................................................................17
Output Binary Packets..................................................................................................................18
GNSS Solution Packet ..........................................................................................................18
INS navigation solution.........................................................................................................18
Diagnostic Message ..............................................................................................................20
Raw IMU Data......................................................................................................................22
RTCM Data...........................................................................................................................22
Output ASCII Messages...............................................................................................................22
Input Binary Packets.....................................................................................................................23
User Commands...........................................................................................................................25
Table 9 Get the Product Information.....................................................................................25
Table 10 Get User Configuration..........................................................................................25

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Table 11 Set User Configuration...........................................................................................26
Table 12 Save User Configuration........................................................................................26
Table 13 User Configuration Parameters..............................................................................27
Table 15 User sends system reset command.........................................................................27
Table 16 User gets ins save buffer of fixed position of ins power on...................................27
Firmware Upgrade...............................................................................................................................29
FW Upgrade with AceNav...........................................................................................................29
BootLoader Design.......................................................................................................................29
INS401 APP Upgrade ...........................................................................................................31
INS401 IMU FW Upgrade....................................................................................................34
INS401 STA9100 FW Upgrade............................................................................................36
Appendix A: 16-bit CRC Implementation Sample Code............................................................................38
Appendix B: AceNav CLI Software Usage................................................................................................38
System requirement.................................................................................................................................38
GNSS/INS operation user settings ..........................................................................................................38
Commands...............................................................................................................................................39
Appendix C: Firmware 28.01 and Earlier IMU Axis Definition................................................................40
Appendix D: Detailed Revision History.....................................................................................................40

INS401 User’s Manual
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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
1.1.1.1 Heading 4
Normal

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Introduction
INS401 Overview
The Aceinna INS401 is an Inertial Navigation System (INS) with RTK-enabled GNSS
positioning engine and triple-redundant IMU sensors. It is powered by RTK330LA –an ASIL B
certified product of Aceinna. It is designed to work with odometer and RTK corrections for
optimal performance. It is a lightweight and compact enclosure that consists of only two
interfaces –the RF interface, and the power and data communication interface. It is a single-box
solution developed for easy evaluation and flexible deployment for various applications,
including automotive applications and ADAS systems.
The Aceinna INS401 supports multiple constellations –GPS, GLONASS, Galileo, Beidou and
QZSS. It tracks the following satellite signals shown in Table 1.
Table 1. INS401 Frequency Plan
Constellation
Satellite Signals
GPS
L1 C/A + L2C
GLONASS
G1
BeiDou
B1I + B2I
Galileo
E1 + E5b
QZSS
L1C/A + L2C
The INS401 provides the following features:
•Position, velocity, heading and attitude solution at 100Hz
•Multi-constellation and multi-frequency RTK algorithm support for centimeter accurate
positioning
•Integrated and calibrated triple-redundant MEMS IMU with range of ±8 g and 250 °/s
•Automotive ethernet interface
•1 PPS output
•Includes functionality for saving navigation data prior to shutdown to allow faster
initialization

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INS401 Hardware
As described in the overview, the INS401 is a complete Inertial Navigation System contained in
a rugged aluminum housing, qualified for use in industrial and automotive applications. It
contains a dual-band RTK-capable GNSS receiver, a triple redundant IMU which is fully
calibrated for bias, scale factor, linearity, and misalignment, plus an ethernet interface for
external communication. The INS401 is powered directly from 12 V or 24 V battery systems (9
V ~ 32 V input range) and is designed and qualified to withstand the worst-case conditions in
terms of overvoltage, reverse voltage and other fault conditions experienced in these vehicles.
Housing and Dimensions
The INS401 housing is cast aluminum for ruggedness and low manufacturing cost as shown in
Figure 1. There are two connectors on the front panel, and they are permanently installed into the
INS401 housing:
•The small circular connector is the FAKRA-J C type connector for RF connection to the
GNSS antenna
•The large connector is the main electrical connector. It is an automotive grade MX23A
connector that contains the power, communication interfaces to connect with the vehicle
electronic control unit (ECU)
Figure 1 INS401 Housing
The overall dimensions are 130 x 115 x 34.5 mm, as shown in the 2D drawings in Figure 2.

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Figure 2 INS401 Hardware Dimensions
Mechanical Interface
RF Connector
An automotive grade FAKRA-J C type connector, manufactured by Molex, is used for the GNSS
antenna connection. Its manufacturing part number is 734035112. The mating connector has part
number 734036262. The center conductor carries the RF signal into the INS401 receiver and
delivers 5 V DC from the INS401 to the external active antenna.

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Main Connector and Pin Description
The main connector carries all the other power and I/O signals to and from the INS401 module.
This connector is also of automotive grade and is manufactured by JAE Electronics. The male
end which is installed in the INS401 housing has part number MX23A18NF1; the female end,
which is attached to the external wiring harness, has part number MX23A18SF1. Figure 3
illustrates the location of the 18 pins in the male part, as seen facing the connector from outside
the module.
Figure 3 Pin Diagram of the Male End
Table 2 shows the functional description of the 18 pins in the main connector.
Table 2. Pin Description of the Main Connector
Pin
Number
Type
Pin Name
Pin Function
1
Reserved
N/A
Reserved
2
Reserved
N/A
Reserved
3
I/O
ETH_TRX_N
Ethernet (negative)
4
I/O
ETH_TRX_P
Ethernet (positive)
5
Reserved
N/A
Reserved
6
Reserved
N/A
Reserved
7
Reserved
N/A
Reserved
8
Reserved
N/A
Reserved
9
Power
VCC_IN
9V ~ 32V DC power input
10
Reserved
N/A
Reserved
11
Reserved
N/A
Reserved
12
Reserved
N/A
Reserved
13
Reserved
N/A
Reserved
14
Power
GND
Negative power supply input
15
Power
GND
Negative power supply input
16
O
PPS
1 Pulse per Second output, synchronized to GNSS
17
Power
GND
Negative power supply input
18
Power
GND
Negative power supply input

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INS401 SW Architecture
Future Section
INS401 Installation
Mounting Instructions
Use four bolts of 1/4-20 UNC socket head cap screw (ASME B18.3) to fix the INS401 system on
a flat rigid panel on the vehicle, using the mechanical dimension measures shown in Figure 2.
The IMU navigation center and the IMU body frame default coordinate definition is shown in
Figure 4. Align the INS401 system x-axis with the forward driving direction of the vehicle.
By default, the IMU body frame orientation of INS401 is defined as in the figure below, with the
X-axis pointing to the opposite direction of the connectors, Z-axis pointing down, and Y-axis
completing a right-hand coordinate system. (Note in the firmware versions 28.01 and earlier, the
default IMU body frame orientation was different with the X-axis pointing to the same direction
as the connectors, Z-axis pointing down, and Y-axis completing a right-hand coordinate system).
To align with the vehicle frame definition, the INS401 should be mounted on the vehicle with
the connectors facing the tail of the vehicle, i.e., the X-axis of the IMU body frame points to the
forward driving direction of the vehicle.
The “Set User Configuration” command (see Table 11) should be used to re-align the coordinate
system so that X is facing forward, Y is right, and Z is down if the INS401 is mounted in a
different orientation.
Figure 4 IMU Axis Definition and Navigation Center Location