Vectornav VN-200 User manual

UM004
User manual
VN-200 Beta
Rev 0.1.3 1/47
VN -200 User Manual
Firmware v0.1.7.x

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Table of Contents
1Introduction.................................................................................. 5
1.1 Product Description.....................................................................................5
1.2 Product Features .........................................................................................5
1.3 Surface-Mount Package...............................................................................6
1.4 Rugged Package...........................................................................................6
1.5 Surface-Mount Development Kit................................................................. 6
1.6 VN-200 Rugged GPS/INS Development Kit..................................................7
1.7 Sensor Coordinate System........................................................................... 7
2Specifications ................................................................................ 8
2.1 VN-200 Surface-Mount Sensor (SMD) Electrical ......................................... 8
2.1.1 VN-200 SMD Power Supply..................................................................................... 10
2.1.2 VN-200 SMD Serial (UART) Interface...................................................................... 10
2.1.3 VN-200 SMD Serial Peripheral Interface (SPI) ........................................................ 10
2.1.4 VN-200 SMD Reset, SyncIn/Out, and Other General I/O Pins................................ 10
2.2 VN-200 Rugged Electrical ..........................................................................11
2.2.1 VN-200 Rugged Power Supply ................................................................................ 12
2.2.2 VN-200 Rugged Serial UART Interface.................................................................... 12
2.2.3 VN-200 Rugged Reset, SyncIn/Out, and Other General I/O Pins ........................... 12
2.3 VN-200 Surface-Mount Sensor (SMD) Dimensions ...................................13
2.4 VN-200 Rugged Dimensions ......................................................................14
2.5 Absolute Maximum Ratings.......................................................................14
3Basic Communication.................................................................. 15
3.1 Serial Interface ..........................................................................................15
3.2 Checksum / CRC.........................................................................................15
3.2.1 8-bit Checksum ....................................................................................................... 15
3.2.2 16-bit CRC................................................................................................................ 15
3.3 SPI Interface...............................................................................................16
4Communication Protocol............................................................. 19

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4.1 Numeric Formats.......................................................................................19
4.2 Single Precision Floating Points .................................................................19
4.3 Fixed-Point Numbers .................................................................................19
4.4 System Commands ....................................................................................20
4.4.1 Read Register Command......................................................................................... 20
4.4.2 Write Register Command ....................................................................................... 20
4.4.3 Write Settings Command........................................................................................ 21
4.4.4 Restore Factory Settings Command ....................................................................... 21
4.4.5 Reset Command...................................................................................................... 22
4.5 System Error Codes ...................................................................................23
5System Registers ......................................................................... 24
5.1 User Tag Register.......................................................................................25
5.2 Model Number Register ............................................................................26
5.3 Hardware Revision Register.......................................................................27
5.4 Serial Number Register..............................................................................28
5.5 Firmware Version Register ........................................................................29
5.6 Serial Baud Rate Register...........................................................................30
5.7 Async Data Output Type Register..............................................................31
5.8 Async Data Output Frequency Register.....................................................32
5.9 Magnetic and Gravity Reference Vectors ..................................................33
5.10 Reference Frame Rotation .....................................................................34
5.11 Communication Protocol Control...........................................................35
5.11.1 SerialCount.............................................................................................................. 35
5.11.2 SerialStatus ............................................................................................................. 36
5.11.3 SPICount.................................................................................................................. 36
5.11.4 SPIStatus ................................................................................................................. 36
5.11.5 SerialChecksum....................................................................................................... 37
5.11.6 SPIChecksum ........................................................................................................... 37
5.11.7 ErrorMode............................................................................................................... 37
5.12 Synchronization Control .........................................................................38

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5.12.1 SyncInMode ............................................................................................................ 38
5.12.2 SyncInEdge .............................................................................................................. 38
5.12.3 SyncInSkipFactor ..................................................................................................... 39
5.12.4 SyncOutMode ......................................................................................................... 39
5.12.5 SyncOutPolarity....................................................................................................... 39
5.12.6 SyncOutSkipFactor .................................................................................................. 39
5.12.7 SyncOutPulseWidth ................................................................................................ 40
5.13 Calibrated Sensor Measurements ..........................................................41
5.14 GPS Configuration ..................................................................................42
5.15 GPS Antenna Offset................................................................................43
5.16 GPS Solution ...........................................................................................44
5.17 INS Solution ............................................................................................45
6System Registers - Default Factory State ..................................... 46

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1Introduction
1.1 Product Description
The VN-200 is a miniature, surface-mount, high-performance Inertial Navigation System (INS).
Incorporating the latest solid-state MEMS sensor technology, the VN-200 combines 3-axis
accelerometers, 3-axis gyros, 3-axis magnetometer, a barometer, a 52-channel GPS receiver, and a 32-
bit processor into a miniature surface-mount module. Along with providing calibrated inertial sensor
measurements, the VN-200 also computes and outputs a real-time, high resolution 3D position, velocity
and drift-free orientation solution that is continuous over the complete 360 degrees of motion.
1.2 Product Features
The VN-200 is available in two different configurations, as a surface-mount sensor (VN-200 SMD), or as
an enclosed sensor (VN-200 Rugged). The VN-200 Rugged provides a robust, precision anodized
aluminum clamshell enclosure, ensuring precise alignment and calibration while still retaining the
smallest possible footprint.

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1.3 Surface-Mount Package
For embedded applications, the VN-200 is available in a
miniature surface-mount package.
Features
Small Size: 22 x 24 x 3 mm
Single Power Supply: 3.2 to 5.5 V
Communication Interface: Serial TTL & SPI
Low Power Requirement: < 330 mW @ 3.3V
1.4 Rugged Package
The VN-200 Rugged consists of the VN-200 sensor installed in a
robust precision aluminum enclosure.
Features
Precision aluminum enclosure
Locking 10-pin connector
Mounting tabs with alignment holes
Compact Size: 34 x 36 x 9 mm
Single Power Supply: 4.5 to 5.5 V
Communication Interface: Serial RS-232 & TTL
1.5 Surface-Mount Development Kit
The VN-200 Development Kit provides the VN-200 surface-
mount sensor installed onto a small PCB, providing easy access
to all of the features and pins on the VN-200. Communication
with the VN-200 is provided by either USB or RS-232 serial
communication ports. A 20-pin header provides easy access to
each of the critical pins. The VN-200 Development Kit also
includes all of the necessary cabling, documentation, and
support software.
Features
Pre-installed VN-200 Sensor
Onboard USB->Serial converter
Onboard TTL->RS-232 converter
30-pin 0.1” header for access to VN-200 pins
Power supply jack –5V (Can be powered from USB)
Board Size: 76 x 76 x 14 mm

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1.6 VN-200 Rugged GPS/INS Development Kit
The VN-200 Rugged Development Kit includes the VN-200
Rugged sensor along with all of the necessary cabling required
for operation. Two cables are provided in each Development
Kit: one for RS-232 communication and a second custom cable
with a built in USB converter. The Development Kit also
includes all of the relevant documentation and support
software.
Features
(1) VN-200 Rugged Sensor
(1) 10-foot RS-232 cable
(1) 6-foot USB connector cable
1.7 Sensor Coordinate System
The VN-200 uses a right-handed coordinate system: a positive yaw angle is defined as a positive right-
handed rotation around the Z-axis; a positive pitch angle is defined as a positive right-handed rotation
around the Y-axis; and a positive roll angle is defined as a positive right-handed rotation around the X-
axis. The axes direction with respect to the VN-200 module is shown in Figure 1.
Figure 1 - VN-200 Coordinate System

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2Specifications
2.1 VN-200 Surface-Mount Sensor (SMD) Electrical
Figure 2 –Pin assignments (top down view)

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Table 1 –VN-200 SMD Pin Assignments
Pin #
Pin Name
Description
1
GND
Ground.
2
GND
Ground.
3
GND
Ground.
4
GND
Ground.
5
TX2
Serial UART #2 data output. (sensor)
6
RX2
Serial UART #2 data input. (sensor)
7
TARE/RESTORE
Normally used to zero (tare) the attitude.
To tare, pulse high for at least 1 μs. During power on or device reset, holding
this pin high will cause the module to restore its default factory settings. As a
result, the pin cannot be used for tare until at least 5 ms after a
power on or reset. Internally held low with 10k resistor.
8
NC
Not used.
9
SYNC_OUT
Time synchronization output signal. See Section 5.12 for more details.
10
VIN
3.2 - 5.5 V input.
11
ENABLE
Leave high for normal operation. Pull low to enter sleep mode. Internally
pulled high with pull-up resistor.
12
TX1
Serial UART #1 data output. (sensor)
13
RX1
Serial UART #1 data input. (sensor)
14
RESV
Reserved for future use. Leave pin floating.
15
SYNC_IN_2
Reserved for future use. For backwards compatibility with older hardware
revisions this pin can be configured in software to operate as the time
synchronization input signal. For new designs it is recommended that
SYNC_IN (pin 22) is used instead. See Section 5.12 for more details.
16
SPI_SCK
SPI clock.
17
SPI_MOSI
SPI input.
18
GND
Ground.
19
SPI_MISO
SPI output.
20
REPRGM
Used to reprogram the module. Must be left floating or set to low for normal
operation. Pull high on startup to set the VN-200 in reprogram mode.
Internally held low with 10k resistor.
21
NRST
Microcontroller reset line. Pull low for > 20 μs to reset MCU. Internally
pulled high with 10k.
22
SYNC_IN
Time synchronization input signal. See Section 5.12 for more details.
23
SPI_CS
SPI slave select.
24
GPS_PPS
GPS time pulse. One pulse per second, synchronized at rising edge. Pulse
width is 100 ms.
25
VBAT
Optional GPS RTC battery backup. 1.4 V –3.6 V input.
26
RESV
Reserved for future use.
27
RESV
Reserved for future use.
28
GND
Ground.
29
GPS_RF
Optional GPS RF input for passive antenna. The surface-mount IPX (U.FL)
connector should be used with an active GPS antenna.
30
GND
Ground.

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2.1.1 VN-200 SMD Power Supply
The minimum operating supply voltage is 3.2 V and the absolute maximum is 5.5 V.
2.1.2 VN-200 SMD Serial (UART) Interface
The serial interface on the VN-200 operates with 3 V TTL logic.
Table 2 - Serial I/O Specifications
Specification
Min
Typical
Max
Input low level voltage
-0.5 V
0.8 V
Input high level voltage
2 V
5.5 V
Output low voltage
0 V
0.4 V
Output high voltage
2.4 V
3.0 V
2.1.3 VN-200 SMD Serial Peripheral Interface (SPI)
Table 3 - Serial I/O Specifications
Specification
Min
Typical
Max
Input low level voltage
-0.5 V
0.8 V
Input high level voltage
2 V
5.5 V
Output low voltage
0 V
0.4 V
Output high voltage
2.4 V
3.0 V
Clock Frequency
8 MHz
16 MHz
Close Rise/Fall Time
8 ns
2.1.4 VN-200 SMD Reset, SyncIn/Out, and Other General I/O Pins
Table 4 - NRST Specifications
Specification
Min
Typical
Max
Input low level voltage
-0.5 V
0.8 V
Input high level voltage
2 V
5.5 V
Weak pull-up equivalent resistor
30 kΩ
40 kΩ
50 kΩ
NRST pulse width
20 μs
Table 5 - SyncIn Specifications
Specification
Min
Typical
Max
Input low level voltage
-0.5 V
0.8 V
Input high level voltage
2 V
5.5 V
Input Frequency
200 Hz
200 Hz
1 kHz
Pulse Width
500 μs
Table 6 - SyncOut Specifications
Specification
Min
Typical
Max
Output low voltage
0 V
0.4 V
Output high voltage
2.4 V
3.0 V
Output high to low fall time
125 ns
Output low to high rise time
125 ns