Embedded Navigation Solutions VN-100 User Manual

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Embedded Navigation SolutionsVN-100 User ManualFirmware v2.0.0.0Document Revision 2.02VectorNav Technologies10501 Markison RoadDallas, Texas 75238United States of AmericaContact InfoPhone 1 512 772 3615Emailsupport@vectornav.comWebsite www.vectornav.com

VN-100 User ManualUM001Document InformationTitleSubtitleDocument TypeDocument NumberDocument StatusVN-100 User ManualInertial Navigation ModulesUser ManualUM001 v2.02ReleasedVectorNav Technical DocumentationIn addition to our product-specific technical data sheets, the following manuals are available to assistVectorNav customers in product design and development. VN-100 User Manual: The user manual provides a high-level overview of product specificinformation for each of our inertial sensors. Further detailed information regarding hardwareintegration and application specific use can be found in the separate documentation listedbelow.Hardware Integration Manual: This manual provides hardware design instructions andrecommendations on how to integrate our inertial sensors into your product.Application Notes: This set of documents provides a more detailed overview of how to utilizemany different features and capabilities offered by our products, designed to enhanceperformance and usability in a wide range of application-specific scenarios.Document SymbolsThe following symbols are used to highlight important information within the manual:The information symbol points to important information within the manual.The warning symbol points to crucial information or actions that should be followed to avoidreduced performance or damage to the navigation module.Technical SupportOur website provides a large repository of technical information regarding our navigation sensors. A listof the available documents can be found at the following address:http://www.vectornav.com/supportIf you have technical problems or cannot find the information that you need in the provided documents,please contact our support team by email or phone. Our engineering team is committed to providingthe required support necessary to ensure that you are successful with the design, integration, andoperation of our embedded navigation sensors.Technical Support Contact InfoEmail: support@vectornav.comPhone: 1.512.772.3615VN-100 User Manual2/129

VN-100 User ManualUM001Table of Contents1 Introduction51.1 PRODUCT DESCRIPTION51.2 FACTORY CALIBRATION51.3 OPERATION OVERVIEW51.4 PACKAGING OPTIONS71.5 VN-100 PRODUCT CODES82 Specifications92.1 VN-100 SURFACE-MOUNT DEVICE (SMD) ELECTRICAL92.2 VN-100 RUGGED ELECTRICAL122.3 VN-100 SURFACE-MOUNT DEVICE (SMD) DIMENSIONS142.4 VN-100 RUGGED DIMENSIONS152.5 ABSOLUTE MAXIMUM RATINGS152.6 SENSOR COORDINATE SYSTEM163 VN-100 Software Architecture173.1 IMU SUBSYSTEM173.2 NAVSTATE SUBSYSTEM193.3 NAVFILTER SUBSYSTEM203.4 VECTOR PROCESSING ENGINE203.5 COMMUNICATION INTERFACE263.6 COMMUNICATION PROTOCOL274 Basic Communication284.1 SERIAL INTERFACE284.2 SPI INTERFACE284.3 SYSTEM ERROR CODES324.4 CHECKSUM / CRC335 User Configurable Binary Output Messages355.1 AVAILABLE OUTPUT TYPES355.2 CONFIGURING THE OUTPUT TYPES355.3 BINARY OUTPUT MESSAGE FORMAT405.4 BINARY GROUP 1 – COMMON OUTPUTS445.5 BINARY GROUP 3 – IMU OUTPUTS485.6 BINARY GROUP 5 – ATTITUDE OUTPUTS52VN-100 User Manual3/129

VN-100 User ManualUM0016 System Module566.1 COMMANDS566.2 CONFIGURATION REGISTERS606.3 STATUS REGISTERS776.4 FACTORY DEFAULTS786.5 COMMAND PROMPT797 IMU Subsystem817.1 IMU MEASUREMENT REGISTERS817.2 IMU CONFIGURATION REGISTERS837.3 FACTORY DEFAULTS907.4 COMMAND PROMPT918 Attitude Subsystem938.1 COMMANDS938.2 MEASUREMENT REGISTERS958.3 CONFIGURATION REGISTERS1058.4 FACTORY DEFAULTS1089 Hard/Soft Iron Estimator Subsystem1099.1 CONFIGURATION REGISTERS1099.2 STATUS REGISTERS1109.3 FACTORY DEFAULTS1119.4 COMMAND PROMPT11210 Velocity Aiding11610.1 OVERVIEW11610.2 CONFIGURATION REGISTERS12010.3 STATUS REGISTERS12110.4 INPUT MEASUREMENTS12210.5 FACTORY DEFAULTS12311 World Magnetic & Gravity Module12411.1 CONFIGURATION REGISTERS12411.2 FACTORY DEFAULTS12611.3 COMMAND PROMPT127VN-100 User Manual4/129

VN-100 User Manual1UM001Introduction1.1Product DescriptionThe VN-100 is a miniature surface mount high-performance Inertial Measurement Unit (IMU) andAttitude Heading Reference System (AHRS). Incorporating the latest solid-state MEMS sensortechnology, the VN-100 combines a set of 3-axis accelerometers, 3-axis gyroscopes, 3-axismagnetometers, a barometric pressure sensor and a 32-bit processor. The VN-100 is considered bothan IMU in that it can output acceleration, angular rate, and magnetic measurements along the X, Y, & Zaxes of the sensor as well as an AHRS in that it can output filtered attitude estimates of the sensor withrespect to a local coordinate frame.1.2Factory CalibrationMEMS inertial sensors are subject to several common sources of error: bias, scale factor, misalignments,temperature dependencies, and gyro g-sensitivity. All VN-100 sensors undergo a rigorous calibrationprocess at the VectorNav factory to minimize these error sources. Compensation parameters calculatedduring these calibrations are stored on each individual VN-100 and digitally applied to the real-timemeasurements. VN-100 sensors are available with two calibration options: 1.3Standard Calibration – single temperature point calibration at 25C, which typically holdsperformance specifications when operating in an environment with a temperature range of 15C to 35C.Thermal Calibration – this option extends the calibration process over multiple temperatures toensure performance specifications are met over the full operating temperature range of -40C to 85C.Operation OverviewThe VN-100 has a built-in microcontroller that runs a quaternion based Extended Kalman Filter (EKF),which provides estimates of both the attitude of the sensor as well as the real-time gyro biases.VectorNav uses a quaternion based attitude filter because it is continuous over a full 360 degree rangeof motion such that there are no limitations on the angles it can compute. However, the VN-100 alsohas a built-in capability to output yaw, pitch, and roll angles from the VN-100, in which the sensorautomatically converts from quaternions to the desired attitude parameter. Outputs from the VN-100include: Attitude:o Yaw, Pitch, & Rollo Quaternionso Direction Cosine MatrixAngular Rates:o Bias-Compensatedo Calibrated X, Y, & Z Gyro MeasurementsAcceleration:o Calibrated X, Y, & Z MeasurementsMagnetic:o Calibrated X, Y, & Z MeasurementsVN-100 User Manual5/129

VN-100 User Manual UM001Barometric PressureThe VN-100 EKF relies on comparing measurements from the onboard inertial sensors to two referencevectors in calculating the attitude estimates: gravity down and magnetic North. Measurements fromthe three-axis accelerometer are compared to the expected magnitude and direction of gravity indetermining the pitch and roll angles while measurements from the three-axis magnetometer arecompared to the expected magnitude and direction of Earth’s background magnetic field in determiningthe heading angle (i.e. yaw angle with respect to Magnetic North).The VN-100 Kalman Filter is based on the assumption that the accelerometer measurements shouldonly be measuring gravity down. If the sensor is subject to dynamic motion that induces accelerations,the pitch and roll estimates will be subject to increased errors. These measurements can be accountedand compensated for by using the VN-100 Velocity Aiding Feature (See Section 10 for moreinformation).The VN-100 filter relies on comparing the onboard magnetic measurements to Earth’s backgroundmagnetic field in determining its heading angle. Common objects such as batteries, electronics, cars,rebar in concrete, and other ferrous materials can bias and distort the background magnetic fieldleading to increased errors. These measurements can be accounted and compensated for by using theVN-100 Hard/Soft Iron Algorithms (See Section 9 for more information).VectorNav has developed a suite of tools called the Vector Processing Engine (VPE ), which are builtinto the VN-100 and minimize the effects of these disturbances; however, it is not possible to obtainabsolute heading accuracies better than 2 degrees over any extended period of time when relying onmagnetometer measurements.The VN-100 EKF also integrates measurements from the three-axis gyroscopes to provide faster andsmoother attitude estimates as well as angular rate measurements. Gyroscopes of all kinds are subjectto bias instabilities, in which the zero readings of the gyro will drift over time to due to inherent noiseproperties of the gyro itself. The VN-100 EKF uses the accelerometer and magnetometer measurementsto continuously estimate the gyro bias, such that the report angular rates are compensated for this drift.VN-100 User Manual6/129

VN-100 User ManualUM001Packaging Options1.4The VN-100 is available in two different configurations; a 30-pin surface mount device (VN-100 SMD)and an aluminum encased module (VN-100 Rugged). The VN-100 surface mount device is well suited forcustomers looking to integrate the VN-100 sensor at the electronics level while the VN-100 Ruggedprovides a precision enclosure with mounting tabs and alignment holes for a more off-the-shelf solution.1.4.1Surface-Mount PackageFor embedded applications, the VN-100 is available in aminiature surface-mount package.Features Small Size: 22 x 24 x 3 mmSingle Power Supply: 3.2 to 5.5 VCommunication Interface: Serial TTL & SPILow Power Requirement: 185 mW @ 3.3V1.4.2Rugged PackageThe VN-100 Rugged consists of the VN-100 sensor installedand calibrated in a robust precision aluminum enclosure.Features Precision aluminum enclosureLocking 10-pin connectorMounting tabs with alignment holesCompact Size: 36 x 33 x 9 mmSingle Power Supply: 4.5 to 5.5 VCommunication Interface: Serial RS-232 & TTL1.4.3Surface Mount Development KitThe VN-100 Development Kit provides the VN-100 surfacemount sensor installed onto a small PCB, providing easy accessto all of the features and pins on the VN-100. Communicationwith the VN-100 is provided by USB and RS-232 serialcommunication ports. A 30-pin header provides easy access toeach of the critical pins. The VN-100 Development Kit alsoincludes all of the necessary cabling, documentation, andsupport software.Features Pre-installed VN-100 SensorOnboard USB- Serial converterOnboard TTL- RS-232 converterVN-100 User Manual7/129

VN-100 User Manual UM00130-pin 0.1” header for access to VN-100 pinsPower supply jack – 5V (Can be powered from USB)Board Size: 76 x 76 x 14 mm1.4.4VN-100 Rugged Development KitThe VN-100 Rugged Development Kit includes the VN-100Rugged sensor along with all of the necessary cabling requiredfor operation. Two cables are provided in each DevelopmentKit: one custom cable for RS-232 communication and a secondcustom cable with a built in USB converter. The DevelopmentKit also includes all of the relevant documentation and supportsoftware.Features 1.5VN-100 Rugged Sensor10 ft RS-232 cable10 ft USB connector cableCable Connection ToolCD w/Software Development KitUser Manual, Quick Start Guide & DocumentationCarrying CaseVN-100 Product CodesTable 1 - VN-100 Product CodesVN-100 OptionsItem VN-C100-0410Sensor PackagingSurface Mount DeviceSurface Mount DeviceSurface Mount Development KitSurface Mount Development KitRugged ModuleRugged ModuleRugged Development KitRugged Development KitVN-100 Rugged USB Adapter CableVN-100 Rugged Serial Adapter CableCalibration OptionStandard at 25CThermal -40C to 85CStandard at 25CThermal -40C to 85CStandard at 25CThermal -40C to 85CStandard at 25CThermal -40C to 85CN/AN/AVN-100 User ManualProduct RSIMU/AHRSIMU/AHRSCableCable8/129

VN-100 User Manual22.1UM001SpecificationsVN-100 Surface-Mount Device (SMD) ElectricalFigure 1 – Pin assignments (top down view)VN-100 User Manual9/129

VN-100 User ManualUM001Table 2 – VN-100 SMD Pin AssignmentsPin1234567Pin SupplySupplyOutputInputInput891011RESVSYNC 21TX1RX1RESVRESVSPI SCKSPI MOSIGNDSPI tN/AInput222324252627282930SYNC INSPI und.Serial UART #2 data output. (sensor)Serial UART #2 data input. (sensor)Normally used to zero (tare) the attitude.To tare, pulse high for at least 1 μs. During power on or device reset, holding thispin high will cause the module to restore its default factory settings. As aresult, the pin cannot be used for tare until at least 5 ms after apower on or reset. Internally held low with 10k resistor.Reserved for internal use. Do not connect.Time synchronization output signal.3.2 - 5.5 V input.Leave high for normal operation. Pull low to enter sleep mode. Internally pulledhigh with pull-up resistor.Serial UART #1 data output. (sensor)Serial UART #1 data input. (sensor)Reserved for internal use. Do not connect.Reserved for internal use. Do not connect.SPI clock.SPI input.Ground.SPI output.Reserved for internal use. Do not connect.Microcontroller reset line. Pull low for 20 μs to reset MCU. Internally pulledhigh with 10k.Time synchronization input signal.SPI slave select.Reserved for internal use. Do not connect.Reserved for internal use. Do not connect.Reserved for internal use. Do not connect.Reserved for internal use. Do not connect.Ground.Reserved for internal use. Do not connect.Ground.VN-100 User Manual10/129

VN-100 User Manual2.1.1UM001VN-100 SMD Power SupplyThe minimum operating supply voltage is 3.2V and the absolute maximum is 5.5V.2.1.2VN-100 SMD Serial (UART) InterfaceThe serial interface on the VN-100 operates with 3V TTL logic.Table 3 - Serial I/O SpecificationsSpecificationInput low level voltageInput high level voltageOutput low voltageOutput high voltage2.1.3Min-0.5 V2V0V2.4 VTypicalMax0.8 V5.5 V0.4 V3.0 VVN-100 SMD Serial Peripheral Interface (SPI)Table 4 - Serial I/O SpecificationsSpecificationInput low level voltageInput high level voltageOutput low voltageOutput high voltageClock FrequencyClose Rise/Fall Time2.1.4Min-0.5 V2V0V2.4 VTypical8 MHzMax0.8 V5.5 V0.4 V3.0 V16 MHz8 nsVN-100 SMD Reset, SyncIn/Out, and Other General I/O PinsTable 5 - NRST SpecificationsSpecificationInput low level voltageInput high level voltageWeak pull-up equivalent resistorNRST pulse widthMin-0.5 V2V30 kΩ20 μsTypical40 kΩMax0.8 V5.5 V50 kΩTable 6 - SyncIn SpecificationsSpecificationInput low level voltageInput high level voltagePulse WidthMin-0.5 V2V100 nsTypicalMax0.8 V5.5 VTable 7 - SyncOut SpecificationsSpecificationOutput low voltageOutput high voltageOutput high to low fall timeOutput low to high rise timeOutput FrequencyMin0V2.4 V1 HzVN-100 User ManualTypicalMax0.4 V3.0 V125 ns125 ns1 kHz11/129

VN-100 User Manual2.2UM001VN-100 Rugged ElectricalTable 8 – VN-100 Rugged Pin AssignmentsPin1234Pin NameVCCTX1RX1SYNC OUT56GNDTARE/RESTORE7SYNC IN8910TX2 TTLRX2 TTLRESVDescription 3.5V to 5.7VRS-232 voltage levels data output from the sensor. (Serial UART #1)RS-232 voltage levels data input to the sensor. (Serial UART #1)Output signal used for synchronization purposes. Software configurableto pulse when ADC, IMU, or attitude measurements are available.GroundInput signal used to zero the attitude of the sensor. If high at reset, thedevice will restore to factory default state. Internally held low with 10kresistor.Input signal for synchronization purposes. Software configurable toeither synchronize the measurements or the output with an externaldevice.Serial UART #2 data output from the device at TTL voltage level (3V).Serial UART #2 data into the device at TTL voltage level (3V).This pin should be left unconnected.Figure 2 - VN-100 Rugged External ConnectorVN-100 User Manual12/129

VN-100 User Manual2.2.1UM001VN-100 Rugged Power SupplyThe power supply input for the VN-100 Rugged is 4.5 to 5.5 V DC.2.2.2VN-100 Rugged Serial UART InterfaceTable 9 - Serial I/O SpecificationsSpecificationInput low level voltageInput high level voltageOutput low voltageOutput high voltageOutput resistanceData ratePulse slew2.2.3Min-25 VTypical-5.0 V5.0 V300 Ω-5.4 V5.5 V10 MΩMax25 V1 Mbps300 nsVN-100 Rugged Reset, SyncIn/Out, and Other General I/O PinsTable 10 - NRST SpecificationsSpecificationInput low level voltageInput high level voltageWeak pull-up equivalent resistorNRST pulse widthMin-0.5 V2V30 kΩ20 μsTypical40 kΩMax0.8 V5.5 V50 kΩTable 11 - SyncIn SpecificationsSpecificationInput low level voltageInput high level voltagePulse WidthMin-0.5V2V100 nsTypicalMax0.8V5.5VTable 12 - SyncOut SpecificationsSpecificationOutput low voltageOutput high voltageOutput high to low fall timeOutput low to high rise timeOutput FrequencyMin0V2.4 V1 HzVN-100 User ManualTypicalMax0.4 V3.0 V125 ns125 ns1 kHz13/129

VN-100 User Manual2.3UM001VN-100 Surface-Mount Device (SMD) DimensionsFigure 3 – VN-100 PCB Footprint* Measurements are in inchesVN-100 User Manual14/129

VN-100 User Manual2.4UM001VN-100 Rugged DimensionsFigure 4 - VN-100 Rugged Dimensions* Measurements are in inches2.4.1Rugged Connector TypeThe connector used on the VN-100 Rugged is a 10-pin Harwin M80-5001042. The mating connectorused on the cable assemblies provided by VectorNav for use with the VN-100 Rugged is a Harwin M804861005.2.5Absolute Maximum RatingsTable 13 – SMD Absolute Maximum RatingsSpecificationInput VoltageOperating TemperatureStorage TemperatureMin-0.3 V-40 C-40 CMax5.5 V85 C85 CTable 14 – Rugged Absolute Maximum RatingsSpecificationInput VoltageOperating TemperatureStorage TemperatureMin-0.3 V-40 C-40 CVN-100 User ManualMax5.5 V85 C85 C15/129

VN-100 User ManualUM001Sensor Coordinate System2.62.6.1Sensor Coordinate FrameThe VN-100 uses a right-handed coordinate system. A positive yaw angle is defined as a positive righthanded rotation around the Z-axis. A positive pitch angle is defined as a positive right-handed rotationaround the Y-axis. A positive roll angle is defined as a positive right-handed rotation around the X-axis.The axes direction with respect to the VN-100 module is shown in Figure 5.Figure 5 - VN-100 Coordinate System2.6.2North-East-Down FrameThe VN-100 velocity estimates can be output in the North-East-Down (NED) coordinate frame defined asfollows (NX, NY, NZ): Right-handed, Cartesian, non-inertial, geodetic frame with origin located at the surface ofEarth (WGS84 ellipsoid);Positive X-axis points towards North, tangent to WGS84 ellipsoid;Positive Y-axis points towards East, tangent to WGS84 ellipsoid;Positive Z-axis points down into the ground completing the right-handed system.VN-100 User Manual16/129

VN-100 User Manual3UM001VN-100 Software ArchitectureThe software architecture internal to the VN-100 includes four separate subsystems. These subsystemsare the IMU, the NavState, the NavFilter, and the Communication Interface. The high-level functionsperformed by these subsystems are outlined below. This chapter describes the functions performed bythese subsystems in more detail and describes which of the various measurement outputs originatefrom each of these corresponding subsystems.Figure 6 - VN-100 Software amplesIMU sensors to800 HzCalculatesorientation at400HzVectorProcessingEngineSerial ASCIIApplies FactoryCalibrationComputes deltaanglesAHRS KalmanFilterSerial BinaryApplies UserCalibrationComputes deltavelocityHard/Soft IronEstimatorSPIApplies UserReferenceFrame RotationWorld MagneticModelSerial CommandPromptApplies UserLow-PassFilteringWorld GravityModelApplies OnboardCalibrationTimestampsMeasurements3.1IMU SubsystemThe IMU subsystem runs at the highest system rate, described from this point forward as the “IMURate”

VN-100 User Manual Embedded Navigation Solutions . VN-100 User Manual UM001 VN-100 User Manual 2/129 Document Information Title VN-100 User Manual Subtitle Inertial Navigation Modules Document Type User Manual Document Number UM001 v2.02 Document Status Released VectorNav Technical Documentation In addition to our product-specific technical data sheets, the following manuals are available to .

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