LORD MicroStain 3DM-GX5-45 User manual

LORD DATA COMMUNICATIONS PROTOCOL 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 © 2016 LORD Corporation
3DM®, 3DM-DH®, 3DM-DH3™, 3DM-GX1®, 3DM-GX2®, 3DM-GX3®, 3DM-GX4-15™, 3DM-GX4-25™, 3DM-GX4-45™,
3DM-GX4™, 3DM-GX5™3DM-RQ1™,3DM-GQ4™, AIFP®, Ask Us How™, Bolt-Link®, DEMOD-DC®, DVRT®, DVRT-Link™,
EH-Link®, EmbedSense®, ENV-Link™, FAS-A®, G-Link®, G-Link2™, HS-Link®, IEPE-Link™, Inertia-Link®, Little Sensors, Big
Ideas.®, Live Connect™, LXRS®, MathEngine®, MicroStrain®, MVEH™, MXRS®, Node Commander®, PVEH™, RHT-Link®,
RTD-Link™, SensorCloud™, SG-Link®, Shock-Link™, Strain Wizard®, TC-Link®, Torque-Link™, V-Link®, Watt-Link™, Wireless
Simplicity, Hardwired Reliability™, and WSDA®are trademarks of LORD Corporation.
Document 8500-0064 Revision C
Subject to change without notice.

3DM-GX5-45™GNSS-Aided Inertial Navigation System DCP Manual
Table of Contents
1. API Introduction 10
2. Basic Programming 11
2.1 MIP Packet Overview
11
2.2 Command Overview
13
2.2.1 Example “Ping” Command Packet 13
2.2.2 Example “Ping” Reply Packet 14
2.3 Data Overview
15
2.3.1 Example Data Packet: 15
2.4 Example Setup Sequence
16
2.4.1 Continuous Data Example Command Sequence 16
2.4.1.1 - Step 1: Put the Device in Idle Mode
16
2.4.1.2 - Step 2: Configure the IMU Data-stream Format
17
2.4.1.3 - Step 3: Configure the Estimation Filter Data-stream Format
18
2.4.1.4 - Step 4: Save the IMU and Estimation Filter MIP Message Format
19
2.4.1.5 - Step 5: Enable the IMU and Estimation Filter Data-streams
20
2.4.1.6 - Step 6:(Optional): Resume the Device
21
2.4.1.7 - Step 7: Initialize the Filter
22
2.4.2 Polling Data Example Sequence 23
2.4.2.1 - Step 1: Put the Device in Idle Mode (Disabling the IMU and Estimation Filter data-
streams)
23
2.4.2.2 - Step 2: Configure the IMU data-stream format
23
2.4.2.3 - Step 3: Configure the Estimation Filter data-stream format
23
2.4.2.4 - Step 4: Save the IMU and Estimation Filter MIP Message format
23
2.4.2.5 - Step 5: Resume the Device
23
2.4.2.6 - Step 6: Initialize the Filter
23
2.4.2.7 - Send Individual Data Polling Commands
23

3DM-GX5-45™GNSS-Aided Inertial Navigation System DCP Manual
2.5 Parsing Incoming Packets
25
2.6 Multiple Rate Data
26
2.7 Data Synchronicity
27
2.8 Communications Bandwidth Management
27
2.8.1 UART Bandwidth Calculation 28
2.8.2 USB vs. UART 29
3. Command and Data Summary 30
3.1 Commands
30
3.1.1 Base Command Set (0x01) 30
3.1.2 3DM Command Set (0x0C) 30
3.1.3 Estimation Filter Command Set (0x0D) 31
3.1.4 System Command Set (0x7F) 31
3.2 Data
32
3.2.1 IMU Data Set (0x08) 32
3.2.2 GNSS Data Set (0x81) 32
3.2.3 Estimation Filter Data Set (0x82) 32
4. Command Reference 34
4.1 Base Commands
34
4.1.1 Ping (0x01, 0x01) 34
4.1.2 Set To Idle (0x01, 0x02) 35
4.1.3 Get Device Information (0x01, 0x03) 36
4.1.4 Get Device Descriptor Sets (0x01, 0x04) 37
4.1.5 Device Built-In Test (0x01, 0x05) 38
4.1.6 Resume (0x01, 0x06) 40
4.1.7 Get Extended Device Descriptor Sets (0x01, 0x07) 40
4.1.8 GPS Time Update (0x01, 0x72) 41
4.1.9 Device Reset (0x01, 0x7E) 43
4.2 3DM Commands
44
4.2.1 Poll IMU Data (0x0C, 0x01) 44

3DM-GX5-45™GNSS-Aided Inertial Navigation System DCP Manual
4.2.2 Poll GNSS Data (0x0C, 0x02) 45
4.2.3 Poll Estimation Filter Data (0x0C, 0x03) 47
4.2.4 Get IMU Data Base Rate (0x0C, 0x06) 48
4.2.5 Get GNSS Data Base Rate (0x0C, 0x07) 49
4.2.6 Get Estimation Filter Data Base Rate (0x0C, 0x0B) 50
4.2.7 IIMU Message Format (0x0C, 0x08) 51
4.2.8 GNSS Message Format (0x0C, 0x09) 53
4.2.9 Estimation Filter Message Format (0x0C, 0x0A) 55
4.2.10 Enable/Disable Continuous Data Stream (0x0C, 0x11) 57
4.2.11 GNSS Constellation Settings (0x0C, 0x21) 59
4.2.12 GNSS SBAS Settings (0x0C, 0x22) 62
4.2.13 GNSS Assisted Fix Control (0x0C, 0x23) 64
4.2.14 GNSS Assist Time Update (0x0C, 0x24) 65
4.2.15 Device Startup Settings (0x0C, 0x30) 67
4.2.16 Accel Bias (0x0C, 0x37) 68
4.2.17 Gyro Bias (0x0C, 0x38) 69
4.2.18 Capture Gyro Bias (0x0C, 0x39) 70
4.2.19 Magnetometer Hard Iron Offset (0x0C, 0x3A) 71
4.2.20 Magnetometer Soft Iron Matrix (0x0C, 0x3B) 72
4.2.21 Coning and Sculling Enable (0x0C, 0x3E) 74
4.2.22 UART Baud Rate (0x0C, 0x40) 75
4.2.23 Advanced Low-Pass Filter Settings (0x0C, 0x50) 76
4.2.24 Complementary Filter Settings (0x0C, 0x51) 78
4.2.25 Device Status (0x0C, 0x64) 79
4.2.26 Raw RTCM 2.3 Message (0x0C, 0x20) 81
4.3 Estimation Filter Commands
83
4.3.1 Reset Filter (0x0D, 0x01) 83
4.3.2 Set Initial Attitude (0x0D, 0x02) 84
4.3.3 Set Initial Heading (0x0D, 0x03) 85