LORD MicroStain 3DM-GX5-45 User manual

LORD QUICK START GUIDE
3DM-GX5-45
GNSS-Aided Inertial Navigation System (GNSS/INS)
The 3DM-GX5-45 is a high-performance, GNSS-Aided Inertial Navigation System
(GNSS/INS) that combines micro inertial sensors and a high- sensitivity
embedded Global Navigation Satellite System (GNSS) receiver for use in a wide
range of industrial grade applications, such as unmanned vehicle navigation,
robotic control, platform stabilization, motion tracking and analysis, vehicle health
monitoring, and device aiming.
The 3DM- GX5 -45 utilizes the strengths of integrated multi- axis gyroscopes ,
accelerometers , and magnetometers in combination with GNSS, temperature ,
and pressure readings to provide highly accurate position, velocity, attitude
(including heading), and inertial measurements.
The 3DM-GX5-45 communicates through a serial connection and is monitored by
a host computer. A detachable GNSS antenna is plugged into the sensor via a
non-magnetic adapter cable and connector and positioned with unobstructed line
of sight to the sky to obtain satellite links. Sensor measurements and computed
outputs can be viewed and recorded with the LORD Sensing MIPMonitor
software that is provided with system starter kits and is also available as a free
download from the LORD Sensing website. Alternatively, users can write custom
software with the open source data communication protocol. The data is time-
aligned and available by either polling or continuous stream.
Figure 1 - 3DM-GX5-45 Sensor
The 3DM- GX5- 45 Inertial Sensor can be purchased by itself or with a
Connectivity Kit.
Item Description Quantity
Included with Sensor Purchase
A3DM-GX5-45 Inertial Sensor 1
GNSS Non-Magnetic Antenna Adapter Cable 1
-- MIPMonitor Software Suite 1
-- Easy Start card and Calibration Certificate 1
USB Connectivity Kit
BGNSS Antenna with Attached Cable (3m SMA) 1
USB Communication Cable 1
RS232 Connectivity Kit
C
GNSS Antenna with Attached Cable (3m SMA) 1
RS232 Communication Cable 1
RS232 Power Supply and Plug Adapters 1
Best in Class Inertial Measurement

The 3DM-GX5-45 sensor interface includes a communications and power input
connector and a GNSS antenna port. The sensor is installed using the mounting
and alignment holes as needed.
The indicators on the 3DM-GX5 -45 include a device status indicator and the
device information label. Table 1 - Indicator Behaviors describes the basic status
indicator behavior. The device information label includes the sensor frame
diagram (axis orientation), which will be critical during device installation.
Figure 2 - Interface and Indicators
Indicator Behavior Device Status
device status
indicator
OFF no power applied
rapid flash streaming data with no GNSS lock
steady blink streaming data with GNSS lock
slow pulse idle mode, awaiting commands
Table 1 - Indicator Behaviors
Do not put the 3DM-GX5-45 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.
1. Install Software
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. If the sensor has internal magnetometers, 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 3 - Software Installation Menu
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3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) QUICK START GUIDE

2. Make System Connections
To acquire sensor data the following components are needed: 3DM- GX5 -45
sensor, communication cable, power cable (as applicable for RS232
communications), GNSS antenna, GNSS non-magnetic antenna adapter cable,
and a host computer with LORD Sensing MIPMonitor installed.
Figure 4 - System Connections
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.
Figure 5 - Main Window
4. Establish Sensor Communication
Once power has been applied to the sensor, it is functional. The sensor selects
the appropriate serial communication (USB or RS232) on power-up based on
which cable is connected. If the hardware drivers have been installed,
communication can be established using the MIPMonitor software interface.
GNSS lock is not required to establish sensor communication.
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 6 - Sensor Communication
5. Connect to GNSS Satellites
The GNSS antenna requires unobstructed line of sight with the sky to achieve
communication with the GNSS satellites. Communication between the GNSS
receiver and GNSS satellites is initiated when the 3DM-GX5-45 is first powered
on. The receiver will continuously search for satellites until a link is established.
When the link is established, the GNSS Monitor window in the MIPMonitor
software will display the satellite and link statistics.
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3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) QUICK START GUIDE

6. Select Sensor Settings
Device settings are stored in the sensor memory. Only the configuration options
that are available for the type of sensor being used will be available in the
configuration menus.
Figure 7 - Device Settings Menu
7. Save Sensor Configuration
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.
8. Start Data Streaming and Recording
Throughout the MIPMonitor menus the same icons are used to control data
streaming (sampling) and recording.
Figure 8 - Sampling and Recording Controls
1. Right-click on the device in the MIPMonitor software main window,
and select SensorData Monitoring.
2. Press the blue Start Streaming icon to start sampling.
Figure 9 - Data Streaming
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3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) QUICK START GUIDE

3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS)(Undefined variable: Variables.ManualType)
9. 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 to make it user-readable.
LORDCorporation
MicroStrain®Sensing Systems
459 Hurricane Lane , Suite 102
Williston, VT 05495 USA
ph: 802-862-6629
[e-mail]
[e-mail]
Copyright © 2016 LORD Corporation
Document 8501-0067 Revision A . Subject to change without notice. www.microstrain.com