SBG Systems IG-500E Use and care manual

IG-500E IG Device Integration Manual
IG-500E
Remote IG-Device
Integration Manual
Document : IG500EIIDG.3
Revision : 3 - May 7, 2012
SBG Systems
3bis, chemin e la Jonchère
92500 Rueil Malmaison
FRANCE
Email : [email protected]
Phone : [phone]
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IG-500E IG Device Integration Manual
Revision history
Rev. Date Author Information
2 13. March 2012 Alexis GUINAMARD Up ate protocol specifications accor ing to firmware V2.0
1 25. Nov. 2010 Alexis GUINAMARD First version of this ocument
© 2007 – 2012, SBG Systems SAS. All rights reserve . Information in this ocument is subject to
change without notice. Copy or re istribution of this ocument is forbi en without express
authorization of SBG Systems.
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IG-500E IG Device Integration Manual
In ex
1. Intro uction................................................................................................................................ 4
2. Electrical connections requirements........................................................................................4
2.1. Serial protocol.......................................................................................................................4
2.2. Time pulse............................................................................................................................ 4
3. Protocol requirements...............................................................................................................5
3.1. General configuration............................................................................................................5
3.2. Triggere outputs .................................................................................................................6
3.3. Sync Out pin configuration....................................................................................................6
4. Ai ing Sensors flow chart.........................................................................................................7
5. IG-500E specific settings an behaviors with IG-Devices.......................................................8
5.1. Magnetometers management...............................................................................................8
5.2. GPS altitu e reference..........................................................................................................8
5.3. IG-Device orientation offset...................................................................................................8
6. Warranty an Support................................................................................................................ 9
7. Appen ix: Low level comman s efinitions..........................................................................10
7.1. Intro uction.........................................................................................................................10
7.1.1. Data format and endianness.........................................................................................................................10
7.1.2. Saving Settings to flash memory................................................................................................................... 10
7.1.3. IG-Device Ackno ledgment frame................................................................................................................10
7.2. Comman s..........................................................................................................................11
7.2.1. Orientation offset........................................................................................................................................... 11
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1. Intro uction
This manual covers the integration of IG-Devices such as IG-500N or IG-30G with the IG-500E. It
explains how a evice, that supports the IG-Devices serial protocol, will interface with the IG-500E
an how to configure both the IG-500E an the external evice. IG-Devices integration with
IG-500E is quite straightforwar an oes not require much configuration.
The IG-Protocol use here allows multiple sensors inputs to be connecte on the IG-500E. For
example, at the same time, a remote magnetometer, a GPS receiver an an accurate barometer
can provi e ai ing ata to the IG-500E.
With the IG-Devices protocol, you can also connect virtually any material to the IG-500E. For
example, you can connect a DVL, an USBL an a epth sensor to the IG-500E an fuse ata
between these three sensors an the IG-500E.
2. Electrical connections requirements
2.1. Serial protocol
This protocol is use either on a stan ar RS-232 or RS-422 format ( epen ing on evice
configuration). Remote IG-Device an IG-500E groun pins must be connecte together for proper
operation.
As the remote sensor can be configure by the IG-500E irectly, serial line must support
bi irectional communications. In other wor s, both Tx an Rx pins have to be connecte on the
IG-500E an on the external IG-Device. If it's not possible, please contact SBG Systems.
Transmission format:
•Default spee : 9 600 bps (max 921 600 bps; higher bau rate is better)
•8 bits ata
•1 stop bit
•No parity
•No flow control
2.2. Time pulse
If the IG-Device supports a synchronization output pin, then you shoul connect it to the IG-500E
Sync In or ODO In pins in or er to synchronize the IG-500E with the remote IG-Device ata.
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3. Protocol requirements
In or er to ease the IG-Device integration, the IG-500E shoul communicate irectly with a
pre-configure IG-Device. Before connecting an IG-Device to an IG-500E, you shoul first connect
the external IG-Device to a computer in or er to configure it correctly.
The easiest way to o this is to use the provi e IG-30G configuration C example that use the
sbgCom library. By efault, you can fin it in the following irectory:
C:\Program Files\SBG-Systems\IG-500 SDK\Soft are Development\Examples
You will fin below the configuration nee e by the IG-Device to work correctly with the IG-500E.
3.1. General configuration
For best results, please make sure that the IG-Device is configure as escribe below. All other
settings shoul be reset to factory efault settings.
•Serial Bau rate set to highest possible value in or er to re uce latency (minimum 115 200
bps recommen e ).
•Output mo e set to Big En ian with floating point format.
•Continuous/trigger output ivi er set to 10.
•Attitu e computation isable (on IG-30G).
•Main loop filter frequency set to 100 Hz (on IG-30G)
•Magnetometers soft an har iron matrix set to i entity an offset to null.
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3.2. Triggered outputs
Triggere outputs (not continuous output) shoul be enable with the following configuration output
masks:
•Channel 1: triggere by the continuous ivi er trigger.
◦Time since reset output
◦Calibrate Magnetometer output
◦Raw magnetometer output (optional)
◦Calibrate Accelerometer output (only require uring automatic magnetometer
alignment)
◦UTC Time reference
◦Baro pressure output
•Channel 2: triggere by the new GPS Position, + new GPS velocity + new GPS course
◦Time since reset output
◦GPS position output
◦GPS Navigation output
◦GPS Accuracy output
◦GPS Info output
Note 1: Trigger channel 1 is only needed if remote magnetometersare used as heading source
or pressure sensor for altitude.
Note 2: Please refer to the IG-Devices Serial Protocol Specifications for more details.
Note 3: If you ould like to implement your o n IG-Devices Serial Protocol Specifications to
connect a hard are other than an IG-500N or IG-30G, please contact SBG Systems.
3.3. Sync Out pin configuration
If the remote IG-Device supports synchronization output signal, then a synchronization pulse
shoul be sent at the output ivi er frequency. This will allow the IG-500E to synchronize incoming
ata with its internal clock.
The falling e ge pulse mo e is preferable as it generates the smallest elay.
Note: If your are using an IG-500N or IG-30G that supports a SyncOut signal, don't forget to add
a pull-up resistor on the line as the SyncOut pin is open drain.
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4. Ai ing Sensors flow chart
The iagram below shows how the ai ing sensors of the remote IG-Device are sample an
realigne into the IG-500E coor inate frame. IG-Device remote magnetometer output is
temperature compensate , but not calibrate for har /soft iron effects. In a ition, an alignment
may be require to get IG-Device coor inate frame consistent with the IG-500E one.
As you can see, alignment parameters, as well as the Har an Soft Iron compensation ata are
store into IG-500E memory.
Note 1: If the calibration and orientation offset parameters are required to be stored in the
remote IG-Device, please contact factory for more information.
Note 2: For best results, please make sure that the IG-Device magnetometers soft iron matrix is
set to identity and that the hard iron offset is set to (0,0,0).
Note 3: GPS and barometer give direct data to the IG-500E, so no calibration parameter is
stored in one or another device.
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Figure 1: Sensor data flo diagram
IG-500E
Mx
My
Mz
Orientation
Offset
Har / Soft
Iron
Comp.
Remote
IG-Device
Magnetometer
Kalman
Filter
Pos
Vel
P
Internal
Mag.
Hea ing
Source
GPS
Barometer

IG-500E IG Device Integration Manual
5. IG-500E specific settings an behaviors with IG-Devices
When you configure the IG-500E to accept ai ing ata from an IG-Device, some specific settings,
only relate to IG-Devices, become available.
For more etails, please have a look at the Appen ix: Low level comman s efinitions.
.1. Magnetometers management
When the remote magnetometers are use as a hea ing source, all internal magnetometer outputs
are replace by remote magnetometer outputs.
This behavior affects all outputs linke to the magnetometers:
•Magnetometers Raw Data (if the remote evice oes not output magnetometers Raw ata,
this output is set to 0).
•Calibrate magnetometer values
•Mag Calib. Data. : These ata are use for magnetometers calibration.
Therefore, when you run a har an soft iron calibration, the result store in the IG-500E
correspon s to the remote magnetometer calibration.
Note: When the magnetic source is changed, the magnetic calibration present in IG-500E
memory becomes inconsistent ith the actual magnetometer used and must be performed again
for proper operation.
.2. GPS altitude reference
The IG-Device integration oes not allow you to configure irectly the GPS altitu e reference
(height above ellipsoi or above mean sea level). Instea of that, user shoul configure the remote
IG-Device to output the esire altitu e format.
.3. IG-Device orientation offset
To work correctly, both the IG-500E an the attache IG-Device shoul use the same coor inate
frame.
When you know exactly the orientation offset between the IG-500E an the remote IG-Device,
then, you shoul use this feature.
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6. Warranty an Support
Support information
Our goal is to provi e the best experience to our customers. If you have any question, comment or
problem with the use of your IG-500E, we woul be gla to help you, so please feel free to contact
us. Please o not forget to mention your IG-500E Device ID (written on your IG-500E’s label).
You can contact us by:
•Email : [email protected]
•Phone : [phone]
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7. Appen ix: Low level comman s efinitions
7.1. Introduction
The remote IG-Device mo ule accepts the following specific comman s. These comman s are
encapsulate into the generic external mo ule configuration frames. See the IG-Devices Serial
Protocol Specifications or the IG-Devices CAN Protocol Specifications for more information about
this generic configuration frame.
The basic comman operation is erive from the IG-Devices Serial Protocol Specifications. The
comman s provi e access for rea /write to several remote IG-Devices specific settings.
7.1.1. Data format and endianness
The ata format an en ianness use in the following frames are the same as in the IG-Devices
Serial Protocol Specifications an IG-Devices CAN Protocol Specifications. Please refer to the
correspon ing ocumentation for more information about the ata types an units use as well as
the ata or er (matrix organization, floating point numbers).
7.1.2. Saving Settings to flash memory
As for any setting, the IG-Devices specific settings shoul be save with the protocol stan ar
settings save comman .
7.1.3. IG-Device Ackno ledgment frame
When a comman is passe to the IG-Device mo ule, it can sometimes answer by an
acknowle ge.
An acknowle ge is sent by the evice as a stan ar answer, when no specific response is nee e .
User is informe of how were execute the comman , with the use of an error co e.
All error co es are liste in the IG-Devices Serial Specifications an IG-Devices CAN
Specifications. If the error co e is SBG_NO_ERROR, the frame represents an acknowle ge
(ACK), if it's any other error co e, the frame is a negative acknowle ge (NACK).
This acknowle ge has the following form:
Fiel CMD DATA
Value SBG_EXT_CMD_IG_ACK (0x00) Error co e
(uint8)
Size (bytes) 1 1
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7.2. Commands
7.2.1. Orientation offset
7.2.1.1. Manual orientation offset
Those lower level comman s are use to rea or write the full orientation offset matrix to the
IG-500E.
SBG_EXT_CMD_IG_SET_MATRIX_OFFSET (0x02)
Fiel CMD DATA
Value SBG_EXT_CMD_IG_SET_
MATRIX_OFFSET (0x02)
Reserve . Leave to 0
(uint8)
Matrix offset
9 x (real32)
Size (bytes) 1 1 36
An acknowle ge is returne after the transaction.
SBG_EXT_CMD_IG_GET_ MATRIX_OFFSET (0x03)
This comman is use to retrieve the orientation offset between the IG-500E an the remote
IG-Device. It has no parameter an its answer shoul be SBG_ EXT_CMD_IG_RET_
MATRIX_OFFSET (0x04):
Fiel CMD DATA
Value SBG_EXT_CMD_IG_RET_
MATRIX_OFFSET (0x04)
Matrix offset
9 x (real32)
Size (bytes) 1 36
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