Gladiator SX Series Manual

SX Series
GPS-Aided Inertial Navigation System
(INS/GPS)
Technical User Guide
Technical Support
Gladiator Technologies
Attn: Technical Support
8020 Bracken Place SE
Snoqualmie, WA 98065 USA
Tel: [phone] x241
Fax: [phone]
Email: [e-mail]
Web: www.gladiatortechnologies.com

SX-Series INS/GPS User’s Guide Page 2 Rev. 11/28/2018
Copyright © 2018 Gladiator Technologies
1TABLE OF CONTENTS
1TABLE OF CONTENTS..................................................................................................................2
2TABLE OF FIGURES .....................................................................................................................4
3SAFETY AND HANDLING INFORMATION......................................................................................5
4GETTING STARTED .....................................................................................................................6
4.1 RS-422/485 TO USB POWER SUPPLY AND CONVERTER CABLE...............................................................7
4.2 GLAMR INSTALLATION.......................................................................................................................8
4.2.1 Introduction ........................................................................................................................8
4.3 SELECT APPLICABLE BAUD RATE .......................................................................................................15
4.4 SELF-TEST IN GLAMR ......................................................................................................................17
4.5 SETTING THE DATA RATE.................................................................................................................18
4.6 SELECT APPLICABLE STOP BITS..........................................................................................................19
4.7 SENSOR DISPLAY OPTIONS...............................................................................................................20
4.7.1 Gyroscope Unit Selection ..................................................................................................20
Accelerometer Unit Selection............................................................................................21
4.7.2 21
4.8 PROGRAMMING COEFFICIENTS .........................................................................................................22
4.8.1 AHRS Parameters..............................................................................................................23
4.8.2 GPS Parameters ................................................................................................................24
4.8.3 INS Parameters .................................................................................................................25
4.9 DATA RECORD FEATURE..................................................................................................................26
4.10 TROUBLESHOOTING WITH MESSAGES ................................................................................................28
4.11 ALIGNMENT INITIALIZATION OF THE INS/GPS.....................................................................................29
4.12 TROUBLE-SHOOTING COMMON SETUP ERRORS...................................................................................30
5PATENT AND TRADEMARK INFORMATION................................................................................31
6APPLICABLE EXPORT CONTROLS...............................................................................................31
7USER LICENSE...........................................................................................................................31
8STANDARD LIMITED WARRANTY ..............................................................................................31
9QUALITY MANAGEMENT SYSTEM.............................................................................................31
10 THEORY OF OPERATION ...........................................................................................................32
11 LandMark INS/GPS PRODUCT DESCRIPTION..............................................................................34
11.1 OUTLINE AND 3D SOLID MODELS .....................................................................................................34
11.2 CENTER OF GRAVITY .......................................................................................................................34
11.3 SENSOR BANDWIDTH......................................................................................................................35
11.4 INS/GPS BLOCK DIAGRAM .............................................................................................................36
12 INS/GPS MESSAGE PROTOCOL..................................................................................................37

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12.1 SERIAL COMMUNICATION SETTINGS ..................................................................................................37
12.2 INS/GPS MESSAGE PACKET FORMAT ...............................................................................................37
12.3 SAMPLE DATA FORMAT...................................................................................................................38
12.3.1 Interfacing without Glamr ................................................................................................39
13 Mounting.................................................................................................................................40
14 Operation and Troubleshooting................................................................................................41
14.1 TECHNICAL ASSISTANCE...................................................................................................................41
14.2 AUTHORIZED DISTRIBUTORS AND TECHNICAL SALES REPRESENTATIVES ...................................................41
14.3 TECHNICAL SUPPORT WEBSITE .........................................................................................................41

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2TABLE OF FIGURES
Figure 1 Example SDK box with SDK to PC USB cabling, GPS antenna, and CD-ROM................................... 6
Figure 2 Typical INS/GPS connectors include: 9-pin (L) or 15-pin (R) Glenair connector.............................. 7
Figure 3 SDK Installation CD-ROM ................................................................................................................ 8
Figure 4 Glamr setup location on SDK CD-ROM............................................................................................ 9
Figure 5 Glamr prerequisite installations...................................................................................................... 9
Figure 6 Glamr shortcut locations............................................................................................................... 10
Figure 7 Glamr screen before selecting correct COM port settings............................................................ 11
Figure 8 Confirmed correct LINX port with message "success." .................................................................12
Figure 9 Device Manager LINX-SDM-USB-QS-S port Properties .................................................................13
Figure 10 Advanced Settings for COM port Latency Timer......................................................................... 14
Figure 11 Baud Rate menu.......................................................................................................................... 15
Figure 12 INS/GPS data in Run Mode at 100 Hz data rate .........................................................................16
Figure 13 Self-Test, Power, and Run/Program............................................................................................ 17
Figure 14 Self-Test display when activated................................................................................................. 17
Figure 15 Mode selection/data rate in “PROGRAM” mode........................................................................ 18
Figure 16 Stop Bit selection menu in “PROGRAM” mode ..........................................................................19
Figure 17 Gyroscope units of measure selection options............................................................................ 20
Figure 18 Accelerometer units of measure selection options..................................................................... 21
Figure 19 Accessing the coefficient dialog in “PROGRAM” mode............................................................... 22
Figure 20 AHRS coefficient parameters ...................................................................................................... 23
Figure 21 GPS coefficient parameters......................................................................................................... 24
Figure 22 INS coefficient parameters.......................................................................................................... 25
Figure 23 Data Recording button................................................................................................................ 26
Figure 24 Saving recorded data files...........................................................................................................27
Figure 25 Message options for troubleshooting (View menu).................................................................... 28
Figure 26 Typical gyroscope bandwidth (250 Hz) of LMRK005 INS/GPS .................................................... 35
Figure 27 Typical accelerometer bandwidth (1100 Hz) LMRK005 INS/GPS................................................ 35
Figure 28 INS/GPS block diagram ............................................................................................................... 36
Figure 29 Serial communication settings values......................................................................................... 37
Figure 30 Sample INS/GPS data..................................................................................................................38

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3SAFETY AND HANDLING INFORMATION
•Always use caution when using the Gladiator ISN/GPS!
•Please refer to your specific product datasheet to determine which appropriate input
voltage to use.
•INS/GPS devices/units are sensitive scientific instruments containing shock and vibration
sensitive sensors. Excessive shock and/or vibration can damage these sensors and can
adversely affect sensor performance and unit output.
•Avoid exposure to electrostatic discharge (ESD). Observe proper grounding whenever
handling the INS/GPS.
•Properly attach the connector and ensure that it has been wired correctly before applying
power to the INS/GPS.
•Units are shipped from factory in the following default settings, unless otherwise required
for customer application:
o100 Hz FULL Mode
o921,000 Baud Rate
o1 Stop Bit

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4GETTING STARTED
This section contains directions and references for a quick start to using the INS/GPS.
For additional support, please contact the distributor representing your location. If there isn’t a local
representative for your location, please contact our Headquarters for assistance and someone from our
Sales Team will assist you.
The INS/GPS Software Development Kit (SDK) is an optional product to assist first time users of a Gladiator
INS/GPS. This kit provides the user everything they need to facilitate a rapid setup and test of the unit.
The SDK includes display software with user-defined options including the following components and is
seen in Figure 1:
•Turn-Key Solution for INS/GPS on User PC (all cabling/connectors/software included)
•Easy Integration of Direct INS/GPS RS-422/485 to PC USB Port
•Includes PC Display Software for INS/GPS
•Data Recording Capability
•Multiple User-Selected Field Options for Programming and Initializing the Unit
•Self-Test Button
•Power, Program/Run mode switches
•Antenna
Figure 1 Example SDK box with SDK to PC USB cabling, GPS antenna, and CD-ROM
If multiple units are purchased, the respective test data for each unit is placed on this CD for reference.

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4.1 RS-422/485 to USB Power Supply and Converter Cable
Contained in the Software Development Kit is a complete RS-422/485 to USB Converter cable, including
power supply and Self-Test button (Figure 2). The power supply uses USB power.
An RS-422/485 to USB converter (requires additional drivers that are included in a CD-ROM) is also
included.
The SDK enables the user to quickly connect the INS/GPS to their PC to ease integration and testing.
Connect the RS485 (9 or 15-pin) cable to the unit and the USB cable to the PC. The user should not turn
on the power switch until all the software is installed.
Figure 2 Typical INS/GPS connectors include: 9-pin (L) or 15-pin (R) Glenair connector

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4.2 Glamr Installation
4.2.1 Introduction
The LINX SDM-USB-QS-S module requires that device drivers be installed
on the host PC before they can interact. The drivers tell the PC how to talk
to the module. These drivers are for Windows 7, 8, and 10. The set for
Windows are the direct drivers, which offer program functions that allow
a custom application to directly control the module through the USB port.
Figure 3 SDK Installation CD-ROM

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To install the Glamr SDK application, run the Glamr setup executable found on the CD-ROM sent with your
INS/GPS (Figure 4). SIMPLE
Figure 4 Glamr setup location on SDK CD-ROM
Figure 5 Glamr prerequisite installations

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ATTENTION: Do NOT use the FTDI device driver that Windows 10 provides. It does not work with the
LINX product even though they are using the FTDI parts. The PID was changed so it is unique.
Installing Glamr will place a shortcut to the application on the desktop and in the Start Menu.
Figure 6 Glamr shortcut locations
The default Glamr installation directory is:
C:\Program Files (x86)\Gladiator Technologies
In addition to these shortcuts, the installation will also place a Glamr.ini file into:
C:\Users\”username”\AppData\Roaming\Gladiator Technologies\
NOTE: Plug the connector cable into the USB port before you turn the device power on to avoid
Windows loading as a mouse driver.

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With Glamr successfully installed, open the program and a window will appear as in Figure 7.
Figure 7 Glamr screen before selecting correct COM port settings.
The bottom of the Gladiator INS/GPS Display may read “IMU serial port (LINX SDM-USB, 115200, 8E1)
ERROR opening.”The installer defaults the baud rate to 921600 Mbps, so check the Baud Rate menu to
ensure this is the case.
Only one copy of Glamr can be open at a given time. Always make sure there is not another copy open on
the task bar. If there are multiple copies of Glamr open, a COM port error will appear when the user tries
to interact with the unit.

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Now reconnect the USB plug to the SDK. The “LINX” port should have a checkmark next to it. The bottom
of the window should now read “IMU serial port (LINX SDM-USB, 115200, 8E1) success.” If Glamr is open
and no unit is detected, Glamr will attempt to find it by cycling through different baud rates.
Figure 8 Confirmed correct LINX port with message "success."

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Next, open the Windows Device Manager and expand the Ports (COM & LPT) section. Right-click on the
device labeled “LINX SDM-USB-QS-S” and select “Properties.” Open the “Port Settings” tab and then click
the “Advanced” button.
Figure 9 Device Manager LINX-SDM-USB-QS-S port Properties

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Now change the Latency Timer drop-down setting to 1 msec (from the default 16 msec). Select OK and
apply all changes. This setting is necessary for the Windows PC to receive INS/GPS message data at higher
message rates without errors.
Figure 10 Advanced Settings for COM port Latency Timer
Turn on the power switch on the unit power supply and you should see data appear in the window as
shown in Figure 13 (colored boxes). You should be able to move the INS/GPS with your hand and see
changes in rate, acceleration, and Euler angles for each axis located on-screen. To see rapid change, the
record function will capture real time data without the filter effect of the Glamr display.

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4.3 Select Applicable Baud Rate
The baud rate needs to be at least 20% higher than the message rate times the number of bits permessage
so that INS/GPS may receive commands from the PC. Note that the serial port is half-duplex, so
communication between device and host can only go one way. Here is a guide of the relationship between
baud rates and message rates:
Serial Baud Rate →
Message
Data Rate
↓
115200
921600
Bits/second
100
Yes
Yes
19800
200
Yes
Yes
39600
600
No
Yes
118800
Note that 600 Hz Data Mode requires 921600 baud.
After power cycling the INS/GPS, the unit will resume normal functionality.
Figure 11 Baud Rate menu

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Figure 12 INS/GPS data in Run Mode at 100 Hz data rate
The message “Msg out-of-sequence: exp XX, act YY” indicates that the program saw a skip in the message
count, where XX and YY can be any integer value. This case can happen at start-up and can be ignored.

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4.4 Self-Test in Glamr
Glamr includes a self-test function. The user can initiate the Self-Test by the button (Fig. 13), found on the
switch box that is included in the INS/GPS SDK.
Press the button to activate a self-test of the sensors. The Glamr display will now show “Self-Test”is
activated while also showing the data outputs. This message is located just above the data rate status
bar. User should see a delta change in the X, Y, and Z sensor outputs per the data sheet (Fig. 14) when
Self-Test is initiated.
Note: If the simulated GPS ‘outage’ time is specified as ‘-1’ then self-test will function to cutout the GPS
signal when pressed, and will no longer affect the sensor outputs.
Refer to the INS/GPS datasheet to see typical activated sensor values.
Figure 13 Self-Test, Power, and Run/Program
Figure 14 Self-Test display when activated

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4.5 Setting the Data Rate
The SDK must be set to “PROGRAM” mode to enable changing this field. Glamr enables the user to quickly
adjust the data rate. This feature is found in the Mode menu as shown in Figure 15. Raising or lowering
the data rate determines how frequently data is sent from the unit to the host. Lower rates will benefit
from additional sample averaging.
Figure 15 Mode selection/data rate in “PROGRAM” mode

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4.6 Select Applicable Stop Bits
The SDK must be set to “PROGRAM” mode to enable changing this field. When using the INS/GPS, the
number of stop bits is one or two as selected by the user. This can be chosen in the Stop Bits drop-down
menu and selecting either 1 or 2 per Figure 16. The SX series default is a single Stop Bit.
Figure 16 Stop Bit selection menu in “PROGRAM” mode

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4.7 Sensor Display Options
The SDK software can also set the dimensional units of the display. This is selected under Units, as seen in
Figures 17-18.
Note: This is only a cosmetic feature. The dimensional units from the device cannot change.
4.7.1 Gyroscope Unit Selection
Figure 17 Gyroscope units of measure selection options