LORD 3DM-CV5-25 User manual

LORD User Manual
3DM®-CV5-25
Attitude and Heading Reference System (AHRS)

MicroStrain®Sensing Systems
459 Hurricane Lane
Suite 102
Williston, VT 05495
United States of America
Phone: [phone]
www.microstrain.com
[e-mail]
[e-mail]
Copyright © 2018 LORD Corporation
3DM®, 3DM-DH®, 3DM-DH3®, 3DM-GX2®, Ask Us How™, DEMOD-DC®, DVRT®, EmbedSense®, FAS-A®, G-Link®,
Little Sensors, Big Ideas.®, LORD Microstrain®, Live Connect™, LXRS®, MathEngine®, MicroStrain®, MIP™, MXRS®, Node
Commander®, SensorCloud™, SensorConnect™, SG-Link®, Strain Wizard®, TC-Link®, V-Link®, Wireless Simplicity,
Hardwired Reliability™, and WSDA®are trademarks of LORD Corporation.
Document 8500-0076 Revision B
Subject to change without notice.

3DM®-CV5-25 User Manual
Table of Contents
1. System Family Overview 6
2. Sensor Overview 7
2.1 Components 8
2.2 Interface and Indicators 9
3. Basic Setup and Operations 10
3.1 Software Installation 11
3.2 System Connections 12
3.3 Software Interface 13
3.3.1 Interactive Help Menu 13
3.4 Sensor Communication 14
3.5 Sensor Settings 16
3.5.1 Saving Configurations 17
3.6 Data Monitoring and Recording 18
3.7 View Recorded Data 20
4. Sensor Measurements 22
4.1 Direct Sensor Measurements (IMU Outputs) 23
4.2 Computed Outputs (Estimation Filter) 25
4.3 Sensor Reference Frames 27
4.3.1 Geodetic Frame 27
4.3.2 NorthEast Down (NED) Frame 28
4.3.3 Sensor Frame 29
4.3.4 Platform Frame 30
5. Performance Optimization 32
5.1 Gyroscope Bias 32
5.2 Tare Mounting Pitch-Roll 33

3DM®-CV5-25 User Manual
5.3 Magnetometer Auto Calibration 34
5.3.1 Enable 34
5.3.2 Capture 35
5.4 Magnetometer Manual Calibration 36
5.5 Estimation Filter Aiding 39
5.6 Heading Aiding Settings 40
5.6.1 Bias Convergence 41
5.7 Adaptive Anomaly Rejection 41
5.7.1 Gravity Adaptive 41
5.7.2 Mag Adaptive 42
5.8 Angular Rate and Acceleration Limits 43
5.9 Communications Bandwidth 43
5.10 Platform Frame Transformation 43
5.11 Estimation Filter Operation 43
5.12 Estimation Filter Convergence 44
5.12.1 Initial Convergence 44
5.12.2 Output Uncertainty 44
5.13 Vibration Isolation 44
5.14 IMU Sensor Calibration 44
5.15 Temperature Compensation 45
5.16 Import and Export Settings 45
6. Sensor Installation 46
6.1 Sensor Mounting 46
7. SystemIntegration 47
7.1 DataCommunications Protocol (DCP) 47
7.1.1 Packet Builder 48
7.1.2 Sensor Direct Mode 48

3DM®-CV5-25 User Manual
7.2 Sensor Wiring 50
7.3 Sampling on Start-up 51
7.4 Connecting to a Datalogger 52
7.5 Using Wireless Adapters 52
8. Troubleshooting 53
8.1 Troubleshooting Guide 53
8.2 Repair and Calibration 56
8.3 Maintenance 56
8.4 Technical Support 57
9. Parts and Configurations 58
9.1 Standard Configurations 58
9.2 Accessories 60
9.3 Sales Support 60
10. Specifications 61
11. Reference Diagrams 63
11.1 3DM-CV5 Development Kit 63
12.1 Reference Documents 64
13. Glossary 65

3DM®-CV5-25 User Manual
1. System Family Overview
The LORD Sensing 3DM-CV5 family of industrial-grade, board-level inertial sensors provides a wide
range of triaxial inertial measurements and computed attitude and navigation solutions.
In all models, the Inertial Measurement Unit (IMU) includes direct measurement of acceleration and
angular rate, and some also offer atmospheric pressure readings. In models that include a Kalman Filter,
sensor measurements are processed through an Extended Kalman Filter (EKF) to produce highly
accurate computed outputs. The 3DM- CV5 features include a very stable gyro and low noise
accelerometers. The M7 and M4 dual Cortex processors run a new Auto-Adaptive EKF.The Kalman filter
enables compensation for magnetic and linear acceleration anomalies as applicable to the model. It also
provides sensor bias tracking, auto-zero update options (ZUPT), and user adjustable sensor noise
factors. All sensors are fully temperature-compensated and calibrated over the full operating temperature
range.
The use of Micro-Electro-Mechanical System (MEMS) technology allows for small, lightweight devices.
Sensors are integrated into customer systems using serial communication protocols such as RS232 and
USB. The LORD Sensing MIPMonitor software can be used for device configuration, real time
measurement monitoring, and data recording. The LORD Sensing MIPData Communications Protocol
(DCP) that is used to communicate with LORD Sensing inertial sensors is also available for users who
want to develop customized software solutions. Because of the unified set of commands across the
sensor family, it is easy to migrate code from one inertial sensor to another.
Common applications of LORD Sensing inertial sensor products include vehicle health monitoring,
platform stabilization, down- hole and drilling operations, and inertial navigation systems such as
unmanned air and ground vehicles and personal navigation systems.
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3DM®-CV5-25 User Manual
2. Sensor Overview
The 3DM-CV5-25 is an industrial-grade, board-level Attitude and Heading Reference System (AHRS)
that utilizes micro inertial sensors for use in a wide range of industrial- grade applications, such as
unmanned vehicle navigation, platform stabilization, and vehicle health monitoring.
The 3DM-CV5-25 combines the strengths of an integrated multi-axis gyroscope, accelerometer, and
magnetometer, in combination with temperature and pressure readings to provide highly accurateattitude
(including heading),and inertial measurements. All sensor measurements are temperature-compensated
and are mathematically aligned to an orthogonal coordinate system. The combination of sensors,
environmental compensation, and dual on-board processing with an Auto-AdaptiveExtended Kalman
Filter (EKF) allows the 3DM-CV5-25 to perform well in a wide variety of applications that require low
noise, drift, gain, and offset errors. and bias estimation outputs are available. Settings for sensor filtering,
sensor noise, and sensor bias, offer many adjustments for specific application needs.
The 3DM-CV5-25 communicates through a serial connection and is monitored by a host computer.
Sensor measurements and computed outputs can be viewed and recorded with the LORD Sensing
MIPMonitor software that is available as a free download from the LORD Sensing website. Alternatively,
users can write custom software with the LORD Sensing open source data communication protocol. The
data is time-aligned and available by either polling or continuous stream.
Figure 1 -3DM-CV5-25 Sensor
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3DM®-CV5-25 User Manual
2.1 Components
The 3DM-CV5-25 Inertial Sensor can be purchased by itself or as part of a Development Kit. All
software, drivers, and links to detailed documentation are included with the sensor purchase. For a
complete list of available configurations, accessories, additional system products, and ordering
information, see Parts and Configurations on page 58 .
Item Description Model Part Number
A3DM-CV5-25 Inertial Sensor AHRS 8G, 500
DPS, OEM 6257-4260
MIPMonitor Software Suite http://www.microstrain.com/software
* For additional options available see Specifications on page 61
USB Development Kit
B
USB Communication Cable
-- 6212-3009C-Series Connectivity Board
Ribbon Cable
RS232 Development Kit
C
RS232 Communication Cable
-- 6212-3010
RS232 Power Supply and Plug
Adapters
C-Series Connectivity Board
Ribbon Cable
Table 1 - 3DM-CV5-25 Components
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3DM®-CV5-25 User Manual
2.2 Interface and Indicators
The 3DM-CV5-25 sensor interface includes a communications and power input connector. The sensor
is installed using the mounting and alignment holes as needed ( see Sensor Mounting on page 46 ).
The indicators on the 3DM-CV5-25 include a device status indicator and the device information label.
The table below describes the basic status indicator behavior. The device information label includes the
sensor frame diagram (axis orientation), which will be critical during device installation ( see Sensor
Frame on page 29 ).
Indicator Behavior Device Status
device status
indicator
OFF no power applied
rapid flash streaming data
slow pulse idle mode, awaiting
commands
Figure 2 -Senor Indicator Behaviors
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3DM®-CV5-25 User Manual
3. Basic Setup and Operations
Do not put the 3DM-CV5-25 in contact with, or in close proximity to,
magnets. Magnets may disrupt operation and cause magnetization of internal components, which can affect
magnetometer performance. If magnetization is suspected, use a degaussing tool to demagnetize.
To acquire sensor measurements and computed outputs, the 3DM-CV5-25 uses a host computer,an
RS232 or USBcommunications port, and applicable software. The LORD Sensing MIPMonitor software
is provided with the system and includes all functions needed for sensor configuration and data
acquisition. Users may also utilize the LORD Sensing MIPData Communications Protocol (DCP) to write
custom software applications with expanded or specific feature sets needed for the application.
MIPMonitor includes a message building tool that can be used to streamline this process. For more
information, see SystemIntegration on page 47 .
In this section, hardware and software setup is described, including an overview of the MIPMonitor
software menus required to configure a sensor and begin data acquisition. This is not a complete
demonstration of all system or software features and capabilities.
Figure 3 -Viewing Sensor Data with MIP Monitor
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3DM®-CV5-25 User Manual
3.1 Software Installation
NOTE
The MIPMonitor Software Suite includes hardware drivers required for 3DM-CV5-25 sensor
operation. Sensors will not be recognized without these drivers installed.
To Install the MIPMonitor software on the host computer, complete the following steps:
1. Launch the MIPMonitor software installation menu at:
https://www.microstrain.com/software.
2. Download and open the MIPMonitor .zip file.
3. Run the setup.exe file, and follow the on-screen prompts to completion.
4. Download and open the Inertial Drivers zip folder to install the hardware drivers required
for operating the sensor.
5. Run the .msi file, and follow the on-screen prompts to completion.
6. Download and open the Iron Calibration .zip file to facilitate magnetometer field
calibration.
7. Run the setup.exe file, and follow the on-screen prompts to completion. If prompted,
reboot the computer when complete.
Figure 4 -Software Installation Menu
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3DM®-CV5-25 User Manual
3.2 System Connections
Power is applied to the sensor either through a host computer
USB port or an external power supply, such as the one
provided in the RS232 development kit. Use only power
supplies within the operating range of the sensor, or damage
or injury could result. Once power is applied the sensor is on
and active ( see Specifications on page 61 ).
To acquire sensor data the following components are needed: 3DM-CV5-25 sensor, communication
cable, power cable (as applicable for RS232 communications) , connectivity board, and a host
computer with LORD Sensing MIPMonitor installed.
Figure 5 -System Connections
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3DM®-CV5-25 User Manual
3.3 Software Interface
The MIPMonitor software includes a main window with system information and menus, a device
settings window, and several data monitoring windows.
The main window provides an overview of connected devices. Devices are selected by clicking on
them. A device menu is available by right-clicking on the device name and includes the most used items
from the header row menus. The header row menu includes selections for data sampling, recording,
device settings, opening windows, selecting which open window to view, and advanced features such
as selecting the communications mode. The icon toolbar includes buttons for Help Menu access,
where all related documentation is available in Web Resources, device refresh, and data sampling and
recording.
Figure 6 - Main Window Display
3.3.1 Interactive Help Menu
MIPMonitor also includes a mouse-over feature that provides explanations of the information and
settings. This feature is enabled by selecting the question mark icon or Help button in any window.
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3DM®-CV5-25 User Manual
Figure 7 - Context Sensitive Help Menu
3.4 Sensor Communication
Once power has been applied to the sensor, it is functional. If the hardware drivers have been installed,
communication can be established using the MIPMonitor software interface.
1. Verify the sensor device status indicator is on.
2. Open the MIPMonitor software.
3. The sensor should appear in the device list automatically when the software is running.
The list includes the device information and communication port assignment. If the
sensor is not automatically discovered, use the refresh button.
Figure 8 -Sensor Communication
NOTE
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3DM®-CV5-25 User Manual
If data is not actively being exchanged between the sensor and host computer, the status
message may display Not Connected. This indicates the port status, not the sensor
availability. When commands are sent to the sensor, the software will automatically connect
to it before sending the message.
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3DM®-CV5-25 User Manual
3.5 Sensor Settings
To enter the settings menu, either right-click on the sensor name highlighted in the main window, and
then select Device Settings, or select Settings > Device from the main menu.
a. Main menu tabs: The main tabs divide the settings into functional groups for the available
measurements. For the 3DM-CV5-25 these include calculated measurements (Estimation Fil-
ter) and direct inertial sensor measurements (IMU/AHRS).
b. Message Format (first sub-menu tab): Under each main menu tab there are additional sub-
menu tabs, including the Message Format tab, which allows the user to select the meas-
urement type to be displayed and recorded (b1) and the data rate in samples/second(b2).
c. Measurement parameters: Available sub-menu tabs depend on the selected main menu tab.
They include the configurable settings for each measurement.
d. Scrolling: used to navigate to additional sub-menus
e. Help button: Enable the context-sensitive help menu for more information ( see Interactive
Help Menu on page 13 ).
Figure 9 -Device Settings Menu
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3DM®-CV5-25 User Manual
3.5.1 Saving Configurations
Sensor settings are saved temporarily by selecting the OK button in the Device Setup window after
configuration, but they are lost when the device is powered off. To save current settings, so they are
automatically restored the next time the device is powered on, select Settings > Save Current
Settings.
First adjust the sensor settings to the desired values. Next select Settings > Save Current Settings
from the main window ( Figure 10 - Save Sensor Settings ). The settings will now remain intact when
the sensor is powered off and then on again.
To recall the last saved settings select Settings > Load Startup Settings. To revert the settings back
to the factory defaults, select Settings > Load Default Settings.
Figure 10 -Save Sensor Settings
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3DM®-CV5-25 User Manual
3.6 Data Monitoring and Recording
Throughout the MIPMonitor views the same icons are used to control data streaming (sampling) and
recording. These icons can be found in the MIPMonitor main window icon toolbar and in each data
monitoring window. The same commands are also found in the main window Control menu.
Figure 11 -Main Window Controls
There are several data monitoring views available depending on what measurements are desired for
monitoring and recording. Each view corresponds to one of the main categories in the Device Settings
window. For example, the 3DM - CV5 - 25 includes Sensor Data Monitoring for the IMU/AHRS
measurements and EFMonitoring for the Estimation Filter output. During viewing and recording, only
the outputs that are selected in the Message Format tab are displayed and recorded ( see Sensor
Settings on page 16 ).
Data streaming must be started in order for data to be recorded, however it is not necessary to view it in
a data monitoring window. Data monitoring is used primarily to confirm the system is operating
correctly or to view the outputs in near real time. If sensor setup has already been confirmed, streaming
and recording can be initiated from the main window.
Figure 12 - Data Streaming is an example of Sensor Data Monitoring, which displays the selected
IMU/AHRS measurements. In data monitoring windows, no data will be displayed until data streaming
is started, and no data will be recorded (even if it is being viewed) until data recording is initiated
(armed). In the example below, the y-axis of the graph indicates data points, the x- axis is the
measurement units, and there is a tab for each measurement.
1. Right- click on the device in the MIPMonitor software main window, and select
SensorData Monitor.
2. Select the blue Start Streaming icon to start sampling.
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3DM®-CV5-25 User Manual
Figure 12 -Data Streaming
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3DM®-CV5-25 User Manual
3.7 View Recorded Data
Recorded data is stored in either Binary (.bin) or Comma Separated Values(.csv) format,
depending on what was selected at the initiation of data recording. The files can be found in the
directory specified at that time or in the default directory on the host computer desktop.
CSV files can be viewed with Microsoft Excel, Quattro Pro, Open Office, or other CSV editors
and spreadsheet programs.
Data recorded in Binary format requires a translation program utilizing the LORD Sensing
MIPData Communications Protocol (DCP) to make it user-readable.
1. To record data, select the Arm Recording icon at any time.
2. Select the type of data file to generate: Binary or CSV.The CSV file is the most common
and can be viewed and processed by data editors such as Microsoft Excel.
3. To save a settings file when creating a data file, check the box next to this option. This
settings file is the same as selecting Export Settings from the Settings menu.
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