IG-500A sub-miniature AHRS User Manual
4. Quick an efficient evice operation......................................................................................28
2!%9 !!&&!1
2/%%9 !!%&#!1
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
2-+!&&
5. IG-500A Outputs....................................................................................................................... 32
!&#!%+
;!!%!-!+
;$+2
6. Orientation representation......................................................................................................36
4%!.4
6.1.1. Device coordinate system.............................................................................................................................36
6.1.2. Fixed coordinate system (North – East - Down)............................................................................................37
4;!+!1
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
=/&9-!2
7.1.1. Serial communication versions......................................................................................................................41
7.1.2. CAN Bus Version........................................................................................................................................... 43
7.1.3. Common protocol settings.............................................................................................................................45
=!&++9-!24
7.2.1. User ID.......................................................................................................................................................... 46
7.2.2. User Buffer.................................................................................................................................................... 46
7.2.3. Synchronization............................................................................................................................................. 46
=?!&!9&9-!2=
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
=2%!9!!9!2)
7.4.1. Pre-Rotations................................................................................................................................................. 49
7.4.2. Post Rotations...............................................................................................................................................50
=!&#!+%
7.5.1. Magnetometers calibration............................................................................................................................ 51
7.5.2. Gyro bias calibration...................................................................................................................................... 51
SBG Systems 234