User Manual for INELSO models including: BS-IC24G-M-D6EC, BS-IC24G-M-D6EC Inertial Navigation System with GPS, BS-IC24G-M-D6EC, Inertial Navigation System with GPS, Navigation System with GPS, System with GPS
Навигационная система BLITZSensor bs-ic24g-m-d6ec — купить в СПб | ИНЕЛСО
Inertial Navigation System with GPS BS-IC24G-M-D6EC User Manual 1. Product introduction: Inertial navigation system BS-IC24G-M-D6EC is a domestic inertial measurement device with high performance, small size and high overload resistance. The gyro bias stability is 1.2 °/H (Allan), and the accelerometer bias stability is 50 µg (Allan). It can be used for precise navigation, control and dynamic measurement of weapons. This series of products adopt high-precision MEMS inertial devices, which have high reliability and high robustness, and can accurately measure the angular velocity and acceleration information of moving carriers in harsh environments. Inertial navigation system BS-IC24G-M-D6EC has a built-in GPS/BD single-frequency dual-mode satellite receiver, a three-axis magnetic sensor, and an integrated barometric sensor, which can realize altitude measurement. The working mode can be switched flexibly in the state of integrated navigation, AHRS, vertical gyroscope, etc. Can meet the application requirements of various combined navigation, and is particularly suitable for the navigation and control of various moving objects such as unmanned aerial vehicles, vehicle-mounted navigation, water surface vehicles and the like. This product is equipped with a new integrated navigation fusion algorithm with independent intellectual property rights, which can achieve high-sensitivity tracking, accurate positioning in open space, and also meet the navigation applications of cities, deep forests, canyons and other terrains. The system has been carefully designed to reduce the size of the system with excellent integrated navigation performance to an unprecedented compact size and achieve mass minimization. 2. Composition and function Inertial navigation system BS-IC24G-M-D6EC with built-in three-axis gyroscope and three-axis accelerometer is used to measure the three-axis angular rate and three-axis acceleration of the carrier. And output that gyro and table adding data subject to error compensation (including temperature compensation, installation misalignment angle compensation, nonlinear compensation and the like) through a serial port according to an agreed communication protocol. The Inertial navigation system BS-IC24G-M-D6EC is based on inertial measurement unit, three-axis magnetic sensor, atmospheric pressure sensor, satellite receiver, and built-in integrated navigation fusion algorithm. The fused attitude, heading, speed, altitude, position, clock and other information are output. 3. Product features: High Precision MEMS Inertial Navigation GPS/BD Dual Mode Integrated navigation, AHRS, vertical gyro and other working modes Support dynamic fast alignment High bandwidth, 400Hz data update rate External interface: 1-channel SPI and 1-channel UART Support multiple external sensor combinations (odometer/DVL) Small size, light weight Strong and reliable Fully compatible with a foreign 10-Dof inertial navigation system 4. Field of application: Space-based domain / Unmanned aerial vehicle / Aerial photography / Photoelectric detection is stable / Land-based domain / Car navigation / Vehicle-mounted satellite communication / Track inspection of high-speed railway / Sea-based field / Channel detection / Shipborne positioning communication / Unmanned surface vehicle 5. Main technical indicators 6. definition of coordinate system 6.1 IMU polarity definition 3 gyros ( gx gy gz ) and 3 accelerometers ( ax ay az ) is defined as shown in the figure below, and the direction of the arrow is positive. BS-IC24G-M-D6EC Definition of 6.2 course angle, pitch angle and roll angle Definition of course angle: Z axis is taken as the rotation axis, anticlockwise is positive, north is zero, and the range is [-180º, 180º]; Definition of pitch angle: with X axis as the rotation axis, anticlockwise is positive, horizontal is zero, and the range is [-90º, 90º]; Definition of roll angle: Y axis is the rotation axis, anticlockwise is positive, horizontal is zero, and the range is [-180º, 180º]. 7. Communication protocol Special attention: 1. In order to achieve better performance, it is recommended that users first warm up for 15 minutes, then power off, and then power on again for two minutes. In use, it is necessary to ensure that the carrier does not vibrate when it is powered on again. 2. The user performs a magnetic field calibration after each installation of the product and after the magnetic field environment has changed. User communication protocol: 7.1 Debug Version Protocol The baud rate is 460800 bps, the data bit is 8 bits, the stop bit is 1 bit, there is no check bit, the high byte is in the front and the low byte is in the back. Course definition: positive to the east of north and negative to the west, ranging from -180 to 180 degrees. Coordinate system definition: right front top (northeast sky). The contents of the reserved words of the system are as follows, mainly GPS data, which are sent through 14 Parameter setting: When the product is powered on, it is in the default state of "number of consecutive transmissions". To set the parameters, the command of "stop output" must be sent first. Note: After the following command is used, the user must be powered on and restarted to automatically switch to the state of continuous number of rounds. Default setting: Baud rate: 460800bps, output frequency: 400hz, working scene: vehicle- mounted, magnetic enable on, magnetic declination: 0-degree, customer magnetic field calibration parameters are cleared 8. Caution: 1)The navigation system is a precision electronic product. When using it, pay attention to dustproof, moisture-proof and mildew-proof. Handle it with care to avoid strong impact and vibration. 2)Although the metal shell is used, the module is not waterproof, so it must be avoided to use or soak in the rain. 3)Please check the connector before use to avoid loosening; Data power cables should be checked regularly to prevent kinking. After all cables of the equipment are connected, the equipment can be powered on and started, and it is strictly prohibited to plug and unplug the interface equipment with electricity; 4)Navigation module input voltage normal range (10 ~ 32 VDC), avoid overvoltage operation; 5)Note that the working environment of the receiver should be far away from high-power electromagnetic transmitting equipment and microwave transmitting equipment in the frequency band of 1.5 G that will interfere with the operation of GNSS; 6)The factory test pins are strictly prohibited for customer use. 9. Transportation and storage: 1)During transportation, the product shall be protected from direct rain and snow, prolonged exposure to the sun, contact with corrosive gases and mechanical damage. The product shall be handled with care during handling. 2)Dampness, impact and collision shall be avoided during transportation and storage to prevent human and mechanical damage during transportation. During transportation and storage, the outer packing box shall be kept dry, clean and pollution-free; 3)The ambient temperature of the warehouse for long-term storage of products is 20 ± 10 , and the relative humidity is not more than 80%. The warehouse shall be free of acid, alkali and corrosive gas, and free of strong mechanical vibration, impact and strong magnetic field.Microsoft Word 2021