Polhemus PATRIOT User manual

USER MANUAL
URM03PH170 Rev. B
NOVEMBER 2004

USER MANUAL
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USER MANUAL
Copyright © 2004 by Alken, Inc., dba Polhemus
Colchester, Vermont, U.S.A.
All rights reserved. No part of this publication may be reproduced, stored in a retrieval
system, or transmitted, in any form or by any means, mechanical, photocopying,
recording or otherwise, without the prior written permission of Polhemus. No patent
liability is assumed with respect to the use of the information contained herein. While
every precaution has been taken in the preparation of this manual, Polhemus assumes no
responsibility for errors or omissions. Neither is any liability assumed for damages
resulting from use of the information contained herein.
3SPACE®is a registered trademark of Polhemus; PATRIOT™ and LIBERTY™ are
trademarks of Polhemus.
FCC Statement
This equipment has been tested and found to comply with the limits for a Class A digital device,
pursuant to part 15 of the FCC Rules. These limits are designated to provide reasonable
protection against interference when the equipment is operated in a commercial environment.
This equipment generates, uses, and can radiate radio frequency energy and, if not installed and
used in accordance with the instruction manual, may cause interference to radio communications.
Operation of this equipment in a residential area is likely to cause interference in which case the
user will be required to correct the interference at the user’s own expense.
EC – Declaration of Incorporation
This Product Complies with the following European Community Directives:
89/336/EEC as amended by 92/31/EEC
73/23/EEC Low Voltage as amended by 93/68/EEC
The following standards were used to verify compliance with the directives:
EMC: IEC 61326-1:1997+A1:1998 / EN 61326-1:1997+A1:1998
CCISPR 11:1990 / EN 55011:1991-Group 1 Class A
IEC 6100-4-2:1995+A1:1998 / EN 61000-4-2:1995 (ESD 4kV CD, 8kV AD)
IEC 6100-4-3:1995 / EN 61000-4-3:1995 (3V/m 80% AM)
IEC 6100-4-4:1995 / EN 61000-4-4:1995 (0.5kV line-line, 1kV line-earth)
IEC 6100-4-6:1995 / EN 61000-4-6:1995 (3V 80% AM, power line)
Australia/New Zealand: AS/NZS 2064.1
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USER MANUAL
Safety Notices
i. Warnings
•This instrument contains no user serviceable parts. Do not attempt to service unit.
Return to Polhemus for repair.
•Do not perform any unauthorized modification to the instrument.
•Do not operate the instrument in the presence of flammable gas or fumes. Operation
of any electrical instrument in such an environment constitutes a definite safety
hazard.
•Do not use the instrument in a manner not specified by the manufacturer.
ii. To clean the instrument
If the instrument requires cleaning:
1. Remove power from the instrument.
2. Clean the external surfaces of the instrument with a soft cloth dampened with a
mixture of mild detergent and water.
3. Make sure that the instrument is completely dry before reconnecting it to a power
source.
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TABLE OF CONTENTS
SAFETY NOTICES.........................................................................................................II
I.WARNINGS........................................................................................................................................ II
II.TO CLEAN THE INSTRUMENT ............................................................................................................. II
TABLE OF FIGURES...................................................................................................................................................... v
LIST OF TABLES........................................................................................................................................................... vi
1. GETTING STARTED............................................................................................. 1
1.1 SET UP THE PATRIOT ..................................................................................................................... 1
1.2 INSTALL THE HOST SOFTWARE ......................................................................................................... 6
1.2.1 USB Driver Installation............................................................................................................ 6
1.3 USE THE POLHEMUS PIMGR GUI...................................................................................................... 6
1.4 EXPERIMENT WITH PATRIOT DATA ................................................................................................ 9
1.5 TERMS/ACRONYMS......................................................................................................................... 10
2. PATRIOT SYSTEM COMMANDS .................................................................... 18
2.1 OVERVIEW...................................................................................................................................... 18
2.2 COMMAND SYNTAX........................................................................................................................ 18
2.2.1 Notation .................................................................................................................................. 18
2.2.2 Command Format Notes......................................................................................................... 19
Station Wildcard.................................................................................................................................. 19
Default Parameters.............................................................................................................................. 19
2.2.3 Response Format Notes .......................................................................................................... 20
ASCII.................................................................................................................................................. 20
Binary.................................................................................................................................................. 20
Error Responses .................................................................................................................................. 21
2.3 PATRIOT USER COMMAND SET SUMMARY .................................................................................. 22
2.4 PATRIOT ERROR CODE SUMMARY ............................................................................................... 23
2.5 COMMAND REFERENCE................................................................................................................... 24
2.5.1 Configuration Commands....................................................................................................... 24
‘A’ – Alignment Reference Frame.................................................................................................. 25
‘B’ – Boresight................................................................................................................................ 28
‘F’ – Output Format ........................................................................................................................ 30
‘G’ – Source Mounting Frame ........................................................................................................ 32
‘H’ – Hemisphere of Operation....................................................................................................... 34
‘L’ – Stylus Button Function........................................................................................................... 37
‘N’ – Tip Offsets............................................................................................................................. 39
‘O’ – Output Data List..................................................................................................................... 41
‘U’ – Set Units ................................................................................................................................ 43
‘X’ – Position Filter Parameters...................................................................................................... 45
‘Y’ – Attitude Filter Parameters...................................................................................................... 48
‘^B’ – Un-Boresight........................................................................................................................ 51
‘^E’ – Set Echo Mode ..................................................................................................................... 52
‘^O’ – RS-232 Port Configuration .................................................................................................. 53
‘^R’ – Reset Alignment Frame........................................................................................................ 55
‘^U’ – Active Station State.............................................................................................................. 56
‘^X’ – Operational Configuration ID .............................................................................................. 59
2.5.2 Operational Commands.......................................................................................................... 61
‘C’ – Continuous Print Output ........................................................................................................ 62
‘P’ – Single Data Record Output..................................................................................................... 63
‘Q’ – Reset Counters....................................................................................................................... 65
‘^K’ – Save Operational Configuration........................................................................................... 66
‘^T’ – Read/Clear BIT Errors.......................................................................................................... 67
‘^V’ – WhoAmI .............................................................................................................................. 69
‘^W’ – Set Default Operational Configuration................................................................................ 71
‘^Y’ – Initialize System................................................................................................................... 72
‘^Z’ – Read Operational Configuration........................................................................................... 73
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3. COMPONENT DESCRIPTION .......................................................................... 77
3.1 SYSTEM ELECTRONICS UNIT (SEU)................................................................................................ 77
3.1.1 Source Port ............................................................................................................................. 77
Source Frequency................................................................................................................................77
3.1.2 Sensor Ports............................................................................................................................ 77
3.1.3 LED Indicator......................................................................................................................... 77
3.1.4 RS-232 I/O .............................................................................................................................. 78
Serial Connector.................................................................................................................................. 78
Hardware Switches.............................................................................................................................. 78
3.2 MAGNETIC SOURCE ........................................................................................................................ 79
3.3 SENSOR(S)...................................................................................................................................... 80
3.4 STYLUS ........................................................................................................................................... 80
4. SYSTEM OPERATION........................................................................................ 82
4.1 I/O CONSIDERATIONS ..................................................................................................................... 82
4.2 POWERING UP PATRIOT ............................................................................................................... 82
4.3 CONFIGURATION CHANGES............................................................................................................. 82
4.4 OUTPUT UPDATE RATE................................................................................................................... 82
4.5 OUTPUT CONSIDERATIONS.............................................................................................................. 83
4.6 USEFUL RANGE............................................................................................................................... 83
APPENDIX A. Alignment Reference Frame .............................................................................................................A-1
APPENDIX B. System Output Data Records ............................................................................................................ B-1
ASCII FORMAT.................................................................................................................................... B-1
BINARY FORMAT............................................................................................................................... B-2
APPENDIX C. Built In Test (BIT) ............................................................................................................................ C-1
INITIALIZATION RESULTS........................................................................................................................ C-1
RUNTIME RESULTS ................................................................................................................................. C-2
APPENDIX D. Limited Warranty and Limitation of Liability...................................................................................D-1
APPENDIX E. Specifications.....................................................................................................................................E-1
APPENDIX F. Customer Service ...............................................................................................................................F-1
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TABLE OF FIGURES
Figure 1-1 PATRIOT System----------------------------------------------------1
Figure 1-2 Source Connection ---------------------------------------------------2
Figure 1-3 Sensor Connection ---------------------------------------------------2
Figure 1-4 Sensor/Source Test Setup -------------------------------------------3
Figure 1-5 Power Connector -----------------------------------------------------3
Figure 1-6 USB Cable Connection----------------------------------------------4
Figure 1-7 RS-232 Cable Connection-------------------------------------------5
Figure 1-8 PiMgr Screen Display -----------------------------------------------7
Figure 1-9 RS-232 Configuration Settings-------------------------------------8
Figure 1-10 PATRIOT Data Record Display----------------------------------8
Figure 1-11 Euler Angles------------------------------------------------------- 15
Figure 3-1 Source Diagram ---------------------------------------------------- 79
Figure 3-2 Sensor---------------------------------------------------------------- 80
Figure 3-3 Stylus ---------------------------------------------------------------- 81
Figure 4-1 Alignment Reference Frame-------------------------------------A-1
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LIST OF TABLES
Table 2-1 ASCII Response Format---------------------------------------------------------------------20
Table 2-2 Binary Response Format---------------------------------------------------------------------21
Table 2-3 ‘A’ ASCII Response--------------------------------------------------------------------------26
Table 2-4 ‘A’ Binary Response -------------------------------------------------------------------------26
Table 2-5 ‘B’ ASCII Response--------------------------------------------------------------------------29
Table 2-6 ‘B’ Binary Response -------------------------------------------------------------------------29
Table 2-7 ‘F’ ASCII Response--------------------------------------------------------------------------31
Table 2-8 ‘F’ Binary Response--------------------------------------------------------------------------31
Table 2-9 ‘G’ ASCII Response--------------------------------------------------------------------------32
Table 2-10 ‘G’ Binary Response -------------------------------------------------------------------------32
Table 2-11 ‘H’ ASCII Response--------------------------------------------------------------------------35
Table 2-12 ‘H’ Binary Response -------------------------------------------------------------------------35
Table 2-13 ‘L’ ASCII Response--------------------------------------------------------------------------38
Table 2-14 ‘L’ Binary Response--------------------------------------------------------------------------38
Table 2-15 ‘N’ ASCII Response--------------------------------------------------------------------------40
Table 2-16 ‘N’ Binary Response -------------------------------------------------------------------------40
Table 2-17 Output Data Types----------------------------------------------------------------------------41
Table 2-18 ‘O’ ASCII Response--------------------------------------------------------------------------42
Table 2-19 ‘O’ Binary Response -------------------------------------------------------------------------42
Table 2-20 ‘U’ ASCII Response--------------------------------------------------------------------------43
Table 2-21 ‘U’ Binary Response -------------------------------------------------------------------------43
Table 2-22 ‘X’ ASCII Response--------------------------------------------------------------------------46
Table 2-23 ‘X’ Binary Response -------------------------------------------------------------------------47
Table 2-24 ‘Y’ ASCII Response--------------------------------------------------------------------------49
Table 2-25 ‘Y’ Binary Response -------------------------------------------------------------------------50
Table 2-26 ‘^E’ ASCII Response ------------------------------------------------------------------------52
Table 2-27 ‘^E’ Binary Response ------------------------------------------------------------------------52
Table 2-28 ASCII Baud Rate Values --------------------------------------------------------------------53
Table 2-29 ASCII Parity Values--------------------------------------------------------------------------53
Table 2-30 ‘^O’ ASCII Response ------------------------------------------------------------------------54
Table 2-31 ‘^O’ Binary Response------------------------------------------------------------------------54
Table 2-32 Binary RS-232 Codes ------------------------------------------------------------------------54
Table 2-33 ‘^U[station]’ ASCII Response--------------------------------------------------------------57
Table 2-34 ‘^U0’ ASCII Response-----------------------------------------------------------------------57
Table 2-35 ‘^U’ Binary Response------------------------------------------------------------------------57
Table 2-36 ‘^X’ ASCII Response ------------------------------------------------------------------------59
Table 2-37 ‘^X’ Binary Response------------------------------------------------------------------------60
Table 2-38 ‘P’ ASCII Response--------------------------------------------------------------------------63
Table 2-39 ‘P’ Binary Response--------------------------------------------------------------------------64
Table 2-40 ‘^T’ ASCII Response ------------------------------------------------------------------------68
Table 2-41 ‘^T’ Binary Response ------------------------------------------------------------------------68
Table 2-42 ‘^V’ ASCII Response ------------------------------------------------------------------------69
Table 2-43 ‘^V’ Binary Response------------------------------------------------------------------------70
Table 2-44 ‘^V[station] ASCII Response---------------------------------------------------------------70
Table 2-45 ‘^V[station]’ Binary Response--------------------------------------------------------------70
Table 2-46 ‘^Z’ ASCII Response Header---------------------------------------------------------------73
Table 2-47 ‘^Z’ ASCII Response ------------------------------------------------------------------------74
Table 2-48 ‘^Z’ Binary Response ------------------------------------------------------------------------75
Table 3-1 LED conditions -------------------------------------------------------------------------------78
Table 3-2 RS-232 Pin Outs ------------------------------------------------------------------------------78
Table 3-3 Switch Settings--------------------------------------------------------------------------------79
Table 4-1 BIT Results DWORDs---------------------------------------------------------------------C-1
Table 4-2 Source BIT Results-------------------------------------------------------------------------C-1
Table 4-3 Global Sensor BIT Results ----------------------------------------------------------------C-2
Table 4-4 Sensor Channel BIT Results -------------------------------------------------------------- C-2
Table 4-5 Runtime BIT Error Codes -----------------------------------------------------------------C-3
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USER MANUAL
1. Getting Started
Congratulations on buying the latest, most cost-effective 3D tracking system yet! This
section of the user manual has been provided to help get your project under way as
quickly as possible.
As with any new system, there are two ways to get started with your PATRIOT system:
you could “wing it,” which involves a great deal of assumptions based on previous
experience and/or visual inspection, and hope for the best. Alternatively, you could sit
down and read the whole manual, line-by-line, and then start. What we provide here is a
middle ground to cover the basics to get you going quickly. However, this approach does
not preclude using the manual as a precise guide, reference and final arbiter.
1.1 Set Up the PATRIOT
NOTE: This approach assumes the use of a single sensor, availability of a USB or COM
Port on a computer with either Windows 2000 or Windows XP, and that the Polhemus
PiMgr GUI is installed on the computer. See Install the Host Software on page 6 for
instructions.
1. Unpack the PATRIOT SEU, source, sensor(s), USB and RS-232 cables,
PATRIOT Host Software CD, power supply and cables. See Figure 1-1.
Figure 1-1 PATRIOT System
2. Set up the PATRIOT system close to your host computer and away from large
metal objects like file cabinets, metal desks, etc., and away from the floor and
walls.
3. Identify the source (the two-inch gray cube) and insert the source connector into
the source receptacle, being careful to firmly engage it. Using your fingers,
tighten the two retaining screws to secure the connector. See Figure 1-2.
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Figure 1-2 Source Connection
4. For getting started, use only one sensor. Identify the sensor and insert it into either
of the sensor receptacles as shown below. Firmly engage and lock the sensor
connector into place in the same manner as the source connector in step 3. See
Figure 1-3.
Figure 1-3 Sensor Connection
5. For testing purposes, it is convenient to mount both the source and the sensor on a
single block of wood (2x4 or equivalent) about 16 inches apart. Exact placement
of the source and sensor is not important for this test; just make sure the cables of
both devices are not routed tightly together and that they come off opposite
ends of the wooden block. See Figure 1-4.
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Figure 1-4 Sensor/Source Test Setup
6. Ensure the power switch is in the OFF position (logic “0”, DOWN). With the
separate power supply UNPLUGGED from the wall, connect the power input
cable to the PATRIOT. The power supply can now be plugged into a 110/220
VAC outlet. See Figure 1-5.
Figure 1-5 Power Connector
USB or RS-232 Communication
Only one I/O port (USB or RS-232) can be active at a time.
•For USB, continue with step 7.
•For RS-232, skip to step 11.
For USB Communication:
7. Identify the USB cable and insert it into the receptacle as shown in Figure 1-6.
Connect the other end of the USB cable to the host computer.
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Figure 1-6 USB Cable Connection
8. At this point, you may turn on the PATRIOT system using the power switch
located on the back panel of the SEU. A system status indicator located on the
front panel should flash red for 5 to 10 seconds indicating self-test and set-up.
When these routines are completed, the indicator will reflect system status as
follows:
•Steady green System operational – passed startup testing.
•Flashing red Failed self-test and set-up.
9. The host should respond with a “Found New Hardware” message. Follow the
hardware wizard to install the required drivers from the PATRIOT Host Software
CD-ROM. For step-by-step instructions, refer to USB Driver Installation on page
6.
NOTE: Once the USB cable is connected to PATRIOT, it cannot return to RS-232 mode
without removing the USB connection and restarting (power OFF/ON).
10. You may now use the Polhemus PiMgr GUI to exercise the system. If you have
not yet installed the Host Software, continue to Install the Host Software on page
6. Otherwise, continue to Use the Polhemus PiMgr GUI on page 6 and
Experiment with PATRIOT Data on page 9.
For RS-232 Communication:
11. Locate the RS-232 cable and insert it into the receptacle as shown in Figure 1-7.
Most PC hosts have a 9 pin, male “D” type connector for COM1. If you are using
COM1, plug the remaining end of the cable into the COM1 port of the host PC,
engage, and lock as before.
If your host computer has a 25 pin “D” connector for the RS-232 port, you will
need a 9 to 25 pin “D” connector adapter with the proper genders. Note that this
adapter must not compromise the NULL MODEM sense of your cable.
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Figure 1-7 RS-232 Cable Connection
12. You may now exercise the system. To use the Polhemus PiMgr GUI, return to
step 10. With the RS-232 connection, you may also use PATRIOT’s ASCII
interface through the Windows HyperTerminal program.
To do this, first set PATRIOT’s “CONFIG” hardware switches to all DOWN as
shown in Figure 1-7. (RS-232 switch settings are described in detail in RS-232 I/O
on page 78.)
Next, start the HyperTerminal program and create a serial connection using these
switch settings. The steps are as follows:
•Navigate to HyperTerminal from the Windows Start menu. StartÖAll
ProgramsÖAccessoriesÖCommunicationsÖHyperTerminal.
•In HyperTerminal, enter a session name, choose an icon, and click OK
•In the “Connect using” field, select the desired COM port (COM1) and click OK.
•In the “Bits per second” field, select 115200.
•In the “Data bits” field, select 8 (default).
•In the “Parity” field, select None (default).
•In the “Stop bits” field, select 1 (default).
•In the “Flow control” field, select None and click OK.
13. You should now have a serial connection opened to PATRIOT. Turn PATRIOT
on. In 5 to 10 seconds, you will see “PATRIOT Ready!” in the HyperTerminal
screen.
14. Collect a single data record from PATRIOT by typing the ‘P’ – Single Data
Record Outputcommand (see page 63) in the HyperTerminal screen. PATRIOT
will respond with a single frame of position and orientation data. The data
displayed in the HyperTerminal screen consists of a station number and six
columns of data as follows (these values represent an arbitrary placement of the
sensor and source.):
1 2 3 4 5 6 7
01 16.082 -0.387 0.713 3.051 1.126 -0.674
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15. Continue experimenting with the position and orientation data. See Experiment
with PATRIOT Data on page 9. If the system fails to produce position and
orientation data, carefully go over the above procedure in a systematic fashion,
checking connections and switch settings especially. If you still need assistance,
refer to Customer Service on page F-1.
1.2 Install the Host Software
NOTE: PATRIOT Host Software is intended to be installed on a computer running
Windows 2000 or Windows XP only.
•Insert the PATRIOT Host Software CD-ROM into your computer’s CD-ROM drive.
•If the PATRIOT Host Software Installation Panel does not run automatically, then
navigate to the CD-ROM drive using Windows Explorer. Run “Setup.exe”. The Host
Software Installation Panel will appear. Click on “Install Host Software.” The
installation wizard will walk you through the installation.
•For simplicity, it is recommended that you use the default installation settings
suggested by the installation wizard.
•When the installation is complete, if you are planning to use your computer’s USB
port to connect to the PATRIOT System, leave the CD-ROM in the drive. It will be
needed when the initial USB connection is made.
•If you are not planning to use the USB port, you may remove the CD-ROM from the
drive now.
1.2.1 USB Driver Installation
•When PATRIOT is connected via USB to a Windows host for the first time, the host
will display a “Found New Hardware” message. The host will then launch the
“Found New Hardware Wizard” to locate and install the USB drivers for PATRIOT.
•If the CD-ROM is not already in the drive, load it now.
•When the Found New Hardware Wizard displays, select the “Install software
automatically” option and click “Next.”
•The wizard will install the PATRIOT Loader. When it has completed, click “Finish.”
•The same process will be launched again automatically to install the Polhemus
PATRIOT USB Driver. Repeat the same selections and the process will be complete.
1.3 Use the Polhemus PiMgr GUI
If you selected the default settings when you installed the PATRIOT Host Software on
your computer, you will find a shortcut to the PiMgr application on your Windows 2000
or XP desktop. It looks like this:
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USER MANUAL
Otherwise, navigate to the program through the windows Start menu:
StartÖAll ProgramsÖPolhemusÖPiMgr
The initial PiMgr screen will look like this:
Figure 1-8 PiMgr Screen Display
1. With no PATRIOT system connected, notice that the icon appears in the
lower right corner. Once connected, the icon will change to .
2. If the PATRIOT system is already powered up and connected to the computer, the
PiMgr will discover the connection immediately upon startup. If not, you will
need to manually create the connection once you have powered up PATRIOT. To
do this, first you must select the type of connection you wish to create.
3. If you want to create a USB connection, skip to step 4. PiMgr defaults to a USB
connection. If you want to create an RS-232 connection, first configure the serial
port settings by opening the Device Configuration dialog. Open this dialog off
the Device menu: DeviceÖDevice Configuration…, and select the Connection
tab. Select the RS-232 Connection Type on the left, and the appropriate RS-232
Properties on the right. Then Click OK.
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Figure 1-9 RS-232 Configuration Settings
4. To create a connection, click the Connect button on the PiMgr toolbar: .
When the connection has been established, the connection icon at the lower right
will change to .
5. To collect a single frame of motion data from the PATRIOT system, click the
Single button on the toolbar:
6. You can also do this by typing ‘p’ or ‘P’ anywhere on the PiMgr window. This
will cause PiMgr to request a single data frame from the PATRIOT system. The
contents of the frame will be displayed in the text window at the top of the PiMgr
display. The airplane image(s) in the graphics portion of the screen will move to
the retrieved position and orientation:
Figure 1-10 PATRIOT Data Record Display
The text portion of the screen will display the retrieved position and orientation:
Position in inches Euler Orientation in degrees
Station Number X Y Z Azimuth Elevation Roll
1 0.389 34.603 0.000 -1.000 0.000 88.000
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1.4 Experiment with PATRIOT Data
1. Take some initial samples of data using the ‘P’ – Single Data Record Output
command (see page 63). Because you have locked the sensor in one position
relative to the source (Set Up the PATRIOT, step 5), the data output will not
change regardless of the number of data samples you take.
2. Remove the sensor, move it approximately six inches toward the source, secure it
in place, and take another single data frame. The value of the X position data will
decrease by approximately six inches. The Y and Z values will remain roughly the
same as the original data. If you left the attitude of the sensor approximately the
same as it was when you started, then the attitude data also will be approximately
the same.
3. Again, remove the sensor and without moving its position, try twisting it in
azimuth (in the same plane as the wood support) approximately 45 degrees and
lock it down with tape. Now collect another data frame. The first four columns
will be approximately as they were in step 1, but the Azimuth data in column 5
will have changed by approximately 45 degrees.
4. Continue to experiment with the system as described in step 3 to demonstrate that
it measures the position and orientation (six-degree-of-freedom) of the sensor
with respect to the source.
5. For a more “hands-on” approach to communicating with PATRIOT, an RS-232
connection is available.
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1.5 Terms/Acronyms
Alignment Obtaining congruence between the axes of the PATRIOT system
and the axes of the application. The process whereby the
PATRIOT system coordinate reference is brought into
coincidence, either physically or mathematically, with other
coordinates of the environment. Alignment in an active system is
not the same as a boresight operation, which concerns only the
sensor; in passive systems, alignment and boresight can be
identical.
Alignment Frame The reference frame in which the position and orientation of the
sensor is measured. The default alignment frame is the source
frame.
API Application Programming Interface. Programming library used to
develop custom host software for driving the instrument.
Sometimes used interchangeably with “SDK.”
ASCII American national Standard Code for Information Interchange
defines a certain 8-bit code for display and control characters.
Attitude Matrix A three-by-three matrix containing the direction cosines of the
sensor’s X axis in column one, the direction cosines of the sensor’s
Y axis in column two, and the direction cosines of the sensor’s Z
axis in column three. The order of the Euler angle rotation
sequence is azimuth, elevation, and roll.
X Direction Cosines Y Direction Cosines Z Direction Cosines
CA*CE
SA*CE
-SE
CA*SE*SR - SA*CR
CA*CR + SA*SE*SR
CE*SR
CA*SE*CR + SA*SR
SA*SE*CR – CA*SR
CE*CR
where: CA = Cos (azimuth)
CE = Cos (elevation)
CR = Cos (roll)
SA = Sin (azimuth)
SE = Sin (elevation)
SR = Sin (roll)
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Azimuth The coordinate of orientation tracking in the horizontal plane
where an increase in the angle is clockwise when viewed from
above. Azimuth is a rotation around the “Z” or vertical axis. The
term “yaw” is often substituted for azimuth, especially in the
context of flight.
Baud Rate The signaling rate on a serial line. For example, to convey an 8-bit
byte normally requires at least two additional bit times, a start bit
and a stop bit so that synchronization is possible without a separate
clocking line. For example, such an arrangement implies for a
9600 baud rate conveyance of data at a 9600*8/10 = 7680 bit rate.
Benign EnvironmentA tracking environment free of the need for special calibration or
compensation brought on by the unique features of a particular
installation and its environment (e.g. high light levels for optical
tracking, high sound levels for sonic tracking, high metallic
distortion for magnetic tracking). If not otherwise noted, all
measurements and statements pertaining to PATRIOT performance
shall be regarded as occurring in such a benign environment.
Binary Mathematical system based on two digits: 0 and 1.
BIT Built-In Test features monitoring the status and health of the
PATRIOT system, as well as flagging certain preset conditions
monitored by the PATRIOT system software. Not to be confused
with bit, a contraction of “binary digit.”
Boresight Any procedure that rotates the sensor frame so as to precisely align
the sensor to the designated reference frame.
In a PATRIOT system context, the term usually refers to the
system software routine that, on command, performs a coordinate
rotation, which effectively aligns the sensor frame to a predefined
boresight reference orientation.
The boresight routine accomplishes the boresight orientation of the
sensor regardless of the sensor’s physical orientation at the instant
of boresight initiation. For applications that require the orientation
tracking of the body (or body member) to which the sensor is
attached, a prerequisite to initiating the boresight function is a
physical orientation of the body to be tracked to the boresight
reference orientation.
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bps Bits per second. Not to be confused with the signaling, or baud
rate, which is always equal to or higher than the bit rate. (See baud
rate.)
Direction Cosines The cosines of the angles between the sensor’s x, y, z axes and the
X, Y, Z axes of the measurement reference (alignment) frame.
Elevation Coordinate of orientation tracking in the vertical plane where an
increase in the angle is upward from the horizontal. A term often
substituted for elevation, especially as it concerns flight, is “pitch.”
Factory Defaults The values assigned to certain system variables by the factory.
Stored in non-volatile memory, they are used to reinitialize the
variables if configuration information is lost.
Firmware Term used to describe the software programmed into PATRIOT
non-volatile memory.
Format The interchange coding used to present data. PATRIOT outputs
either ASCII or BINARY data, but accepts only ASCII inputs from
the host.
Hemisphere Because of the inversion symmetry of the magnetic fields
generated by the source, there are two possible mathematical
solutions for the X, Y, Z position coordinates for each set of sensor
data processed, and PATRIOT is unable to determine which
solution is the correct one without additional information. This
additional information is provided by the ‘H’ – Hemisphere of
Operation command on page 34, which defines the hemisphere in
which the sensors are operating. Therefore, only half of the total
spatial sphere surrounding the source can be utilized at any one
time for unambiguous position measurement.
The selected hemisphere is referred to as the “current hemisphere.”
It is defined by an LOS (line-of-sight) vector from the source
through a point at the zenith of the hemisphere, and is specified by
the direction cosines of the chosen LOS vector.
The orientation coordinates do not have a two-solution spherical
ambiguity and are therefore valid throughout the operating sphere
centered at the source.
Rev. B 12 November 2004