LORD MicroStain 3DM-GX5-45 User manual

LORD USER MANUAL
3DM-GX5-45
GNSS-Aided Inertial Navigation System (GNSS/INS)

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 © 2017 LORD Corporation
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Document 8500-0010 Revision B
Subject to change without notice.

3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
Table of Contents
1. System 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 14
3.4 Sensor Communication 15
3.5 GNSS Satellite Link 16
3.6 Sensor Settings 16
3.6.1 Saving Configurations 17
3.7 Data Monitoring and Recording 19
3.8 View Recorded Data 22
4. Sensor Measurements 23
4.1 Direct Sensor Measurements (IMU Outputs) 24
4.2 Computed Outputs 26
4.3 Sensor Reference Frames 29
4.3.1 Geodetic Frame 29
4.3.2 NorthEast Down (NED) Frame 30
4.3.3 Sensor Frame 31
4.3.4 Platform Frame 32
5. Performance Optimization 34
5.1 Gyroscope Bias 34

3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
5.2 Tare Mounting Pitch-Roll 35
5.3 Magnetometer Auto Calibration 36
5.3.1 Enable 36
5.3.2 Capture 37
5.4 Magnetometer Manual Calibration 38
5.5 Estimation Filter Aiding 41
5.6 Heading Aiding Settings 42
5.6.1 Bias Convergence 43
5.7 Adaptive Anomaly Rejection 43
5.7.1 Gravity Adaptive 43
5.7.2 Mag Adaptive 44
5.8 Angular Rate and Acceleration Limits 45
5.9 Communications Bandwidth 45
5.10 Platform Frame Transformation 45
5.11 Estimation Filter Operation 45
5.12 Estimation Filter Convergence 47
5.12.1 Initial Convergence 47
5.12.2 Output Uncertainty 48
5.13 Vibration Isolation 48
5.14 IMU Sensor Calibration 48
5.15 Temperature Compensation 48
5.16 Import and Export Settings 49
6. Sensor Installation 50
6.1 Sensor Mounting 50
7. OEMSystemIntegration 51
7.1 DataCommunications Protocol (DCP) 51
7.1.1 Packet Builder 52

3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
7.1.2 Sensor Direct Mode 53
7.2 Sensor Wiring 54
7.3 Sampling on Start-up 55
7.4 Connecting to a Datalogger 56
7.5 Using Wireless Adapters 56
8. Troubleshooting 57
8.1 Troubleshooting Guide 57
8.2 Repair and Calibration 61
8.3 Maintenance 61
8.4 Technical Support 62
9. Parts and Configurations 63
9.1 Standard Configurations 63
9.2 Accessories 65
9.3 Sales Support 66
10. Specifications 67
11. Safety Information 70
11.1 Disposal and Recycling 70
12. Addendum 71
12.1 Reference Diagrams 71
12.1.1 Sensor Dimensions and Origin 71
12.1.2 GNSS AntennaSpecifications 72
12.1.3 Power Supply Specifications (RS232 kits only) 73
12.1.4 Communication and Power Cables 74
12.2 Reference Documents 76
12.3 Glossary 77

3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
1. System Overview
The LORD Sensing 3DM-GX5 family of industrial grade 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. Sensor measurements are processed
through an Extended Kalman Filter (EKF) to produce highly accurate computed outputs. The 3DM-GX5
features include extremely stable and low-noise gyros, a new accelerometer with noise densities as low as
25 µg/√Hz, and a multi-constellation GNSS receiver. 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 RS422,
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 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-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
2. Sensor Overview
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 an integrated multi-axis gyroscope, accelerometer, and
magnetometer in combination with GNSS, temperature, and pressure readings to provide highly accurate
position, velocity, attitude (including heading), and inertial measurements. Each of the integrated sensors
is especially good at certain tasks, and it is the weighted combination of their outputs that provides the best
estimationsfor position, velocity, and attitude. 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-GX5-45 to perform well in a wide variety of applications that require low
noise, drift, gain, and offset errors. Uncertainty monitoring, scale factor estimation, and bias estimation
outputs are available. Settings for sensor filtering, sensor noise, and sensor bias, offer many adjustments
for specific application needs.
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
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-GX5-45 Sensor
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3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
2.1 Components
The 3DM-GX5-45 Inertial Sensor can be purchased by itself or with a Connectivity 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 63 .
Item Description Quantity Model
LORD
Sensing
Part Number
Included with Sensor Purchase
A
3DM-GX5-45 Inertial Sensor
GNSS Non-Magnetic Antenna Adapter Cable
1GNSS/INS 8G,
300 DPS* 6251-4220
MIPMonitor Software Suite http://www.microstrain.com/software
* For additional options available, See Specifications on page 67
USB Connectivity Kit
BGNSS Antenna with Attached Cable (3m SMA) 1 -- 6212-3002
USB Communication Cable 1
RS232 Connectivity Kit
C
GNSS Antenna with Attached Cable (3m SMA) 1
-- 6212-3000
RS232 Communication Cable 1
RS232 Power Supply and Plug Adapters 1
Table 1 - 3DM-GX5-45 Components
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3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
2.2 Interface and Indicators
The 3DM-GX5-45 sensor interface includes a communications and power input connectorand a
andanGNSS antenna port. The sensor is installed using the mounting and alignment holes as needed
( see Sensor Mounting on page 50 ).
The indicators on the 3DM-GX5-45 include a device status indicator and the device information label.
Table 2 - 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 ( see Sensor Frame on page 31 ).
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 2 - Indicator Behaviors
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3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
3. Basic Setup and Operations
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.
To acquire sensor measurements and computed outputs, the 3DM-GX5-45 uses a host computer, a
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 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
OEMSystemIntegration on page 51 .
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-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
3.1 Software Installation
NOTE
The MIPMonitor Software Suite includes hardware drivers required for 3DM-GX5-45 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. 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 4 - Software Installation Menu
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3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
3.2 System Connections
Power is applied to the sensor through an external power
supply, such as the one provided in the connectivity 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 67 ).
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 5 - System Connections
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3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
3.3 Software Interface
The MIPMonitor software includes a main window with system information and menus, a device
settings window ( see Sensor Settings on page 16 ), and several data monitoring windows ( see Data
Monitoring and Recording on page 19 ).
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 ( Figure 6 - Main Window ). 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 ( see Data Monitoring and Recording on page 19 ).
Figure 6 - Main Window
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3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
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.
Figure 7 - Context Sensitive Help Menu
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3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
3.4 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 8 - Sensor Communication
NOTE
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-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
3.5 GNSS Satellite Link
NOTE
The GNSS antenna requires unobstructed line of sight with the sky in order 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 ( see Global Positioning System (GPS) Outputs on page 1 ).
Communication with the satellites is required for proper sensor operation, although some
measurement outputs will be available without it.
3.6 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.
To enter the settings menu, right-click on the sensor name, and select Device Settings:
a. Main menu tabs: The main tabs break up the setting into broad functional groups for the types of meas-
urement available. For the 3DM-GX5-45 these include
b. Message Format (first sub-menu tab): Under each main menu tab there are additional sub-menu tabs,
including the Message Format tab. The Message Format tab allows the user to select the measurement
type to be displayed and recorded (b1) and the data rate (rate at which data is sent to the host computer)
in samples/second (b2).
c. Measurement parameters (other sub-menu tabs): Available sub-menu tabs besides the Message
Format tab depend on the selected main menu tab. These tabs include the configurable settings for each
measurement. GNSS
d. Scrolling: used to navigate to additional sub-menus
e. Help button: Enable the context-sensitive help menu for explanations of specific settings ( see Interactive
Help Menu on page 14 ).
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3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
Figure 9 - Device Settings Menu
3.6.1 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 setting 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.
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3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
Figure 10 - Save Sensor Settings
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3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
3.7 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.
Icon Command
Run: start data streaming
Stop: end data streaming
Step: sample single set of data
Record: start and stop data recording
Figure 11 - Sampling and Recording 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- GX5 - 45 includes Sensor Data Monitoring for the IMU/AHRS
measurements, GNSS Monitoring for the GNSS metrics, and EFMonitoring for the Estimation Filter
outputs. During viewing and recording only the outputs that are selected in the Message Format tab of
the Device Settings menu 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
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3DM-GX5-45 GNSS-Aided Inertial Navigation System (GNSS/INS) User Manual
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
Monitoring.
2. Press the blue Start Streaming icon to start sampling.
Figure 12 - Data Streaming
3. To record data, select the Arm Recording icon at any time.
4. 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 ®.
5. 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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