SBG Systems IG-500A User manual
IG-500A sub-miniature AHRS User Manual
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SBG Systems 34
IG-500A sub-miniature AHRS User Manual
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1. Intro uction................................................................................................................................6
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1.3.1. Content of the development kit........................................................................................................................7
2. IG-500A Presentation.................................................................................................................8
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2.2.1. Purpose........................................................................................................................................................... 8
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2.3.1. General Purpose............................................................................................................................................. 9
2.3.2. Airplane......................................................................................................................................................... 10
2.3.3. Airplane – igh dynamics.............................................................................................................................. 10
2.3.4. elicopter....................................................................................................................................................... 11
2.3.5. Automotive..................................................................................................................................................... 11
2.3.6. Marine............................................................................................................................................................ 12
2.3.7. Underwater.................................................................................................................................................... 12
2.3.8. uman motion............................................................................................................................................... 13
2.3.9. IMU 500......................................................................................................................................................... 13
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2.5.1. Inertial and magnetic sensors sampling and filtering.....................................................................................14
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2.6.2. Synchronization Output................................................................................................................................. 17
2.6.3. Computation and transmission delays...........................................................................................................18
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2.7.1. Performance.................................................................................................................................................. 21
2.7.2. Internal sensors specifications......................................................................................................................22
2.7.3. Communication Interfaces.............................................................................................................................23
2.7.4. Electrical specifications................................................................................................................................. 24
2.7.5. Physical specifications................................................................................................................................... 24
3. Optimal installation gui elines an limitations......................................................................25
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3.1.1. Application specific considerations................................................................................................................ 25
3.1.2. eading considerations.................................................................................................................................25
3.1.3. Accelerations................................................................................................................................................. 26
3.1.4. Vibrations....................................................................................................................................................... 27
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SBG Systems 34
IG-500A sub-miniature AHRS User Manual
4. Quick an efficient evice operation......................................................................................28
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4.2.1. The sbgCenter............................................................................................................................................... 28
4.2.2. Communication with the device.....................................................................................................................29
4.2.3. Low level communication with the IG-500A..................................................................................................30
4.2.4. Matlab and Labview integration....................................................................................................................30
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5. IG-500A Outputs....................................................................................................................... 32
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6. Orientation representation......................................................................................................36
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6.1.1. Device coordinate system.............................................................................................................................36
6.1.2. Fixed coordinate system (North – East - Down)............................................................................................37
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6.2.1. Euler Angles.................................................................................................................................................. 38
6.2.2. Rotation matrix (Direction Cosine Matrix)......................................................................................................38
6.2.3. Quaternions................................................................................................................................................... 39
6.2.4. Other useful conversion formulas..................................................................................................................40
7. Configure your IG-500A...........................................................................................................41
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7.1.1. Serial communication versions......................................................................................................................41
7.1.2. CAN Bus Version........................................................................................................................................... 43
7.1.3. Common protocol settings.............................................................................................................................45
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7.2.1. User ID.......................................................................................................................................................... 46
7.2.2. User Buffer.................................................................................................................................................... 46
7.2.3. Synchronization............................................................................................................................................. 46
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7.3.1. Motion profiles............................................................................................................................................... 47
7.3.2. Select heading source................................................................................................................................... 48
7.3.3. Setting the local magnetic declination...........................................................................................................48
7.3.4. Setting the local gravity constant...................................................................................................................48
7.3.5. eave computation........................................................................................................................................ 48
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7.4.1. Pre-Rotations................................................................................................................................................. 49
7.4.2. Post Rotations...............................................................................................................................................50
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7.5.1. Magnetometers calibration............................................................................................................................ 51
7.5.2. Gyro bias calibration...................................................................................................................................... 51
SBG Systems 234
IG-500A sub-miniature AHRS User Manual
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7.6.1. Power modes................................................................................................................................................. 52
7.6.2. Miscellaneous................................................................................................................................................ 52
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8. Electrical an mechanical specifications...............................................................................54
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8.2.1. Mechanical outline......................................................................................................................................... 55
8.2.2. Device connectors......................................................................................................................................... 56
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8.3.1. Mechanical outline......................................................................................................................................... 57
8.3.2. Box device connector.................................................................................................................................... 58
9. Warranty an Support..............................................................................................................59
10. Appen ix: Accessories..........................................................................................................60
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10.2.1. UsbToCAN interface....................................................................................................................................61
10.2.2. CAN to USB2CAN cable............................................................................................................................. 61
10.2.3. Power Adapter.............................................................................................................................................61
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10.3.1. 4 ways cable................................................................................................................................................ 62
10.3.2. 7 ways cable................................................................................................................................................ 62
SBG Systems 34
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