Gladiator SX Series Handbuch

SX Series

GPS-Aided Inertial Navigation System

(INS/GPS)

Technical User Guide

Technical Support

Gladiator Technologies

Attn: Technical Support

8020 Bracken Place SE

Snoqualmie, WA 98065 USA

Tel: 425-396-0829 x241

Fax: 425-396-1129

Email: support@gladiatortechnologies.com

Web: www.gladiatortechnologies.com

SX-Series INS/GPS User’s Guide Page 2 Rev. 11/28/2018

1TABLE OF CONTENTS

1TABLE OF CONTENTS..................................................................................................................2

2TABLE OF FIGURES .....................................................................................................................4

3SAFETY AND HANDLING INFORMATION......................................................................................5

4GETTING STARTED .....................................................................................................................6

4.1 RS-422/485 TO USB POWER SUPPLY AND CONVERTER CABLE...............................................................7

4.2 GLAMR INSTALLATION.......................................................................................................................8

4.2.1 Introduction ........................................................................................................................8

4.3 SELECT APPLICABLE BAUD RATE .......................................................................................................15

4.4 SELF-TEST IN GLAMR ......................................................................................................................17

4.5 SETTING THE DATA RATE.................................................................................................................18

4.6 SELECT APPLICABLE STOP BITS..........................................................................................................19

4.7 SENSOR DISPLAY OPTIONS...............................................................................................................20

4.7.1 Gyroscope Unit Selection ..................................................................................................20

Accelerometer Unit Selection............................................................................................21

4.7.2 21

4.8 PROGRAMMING COEFFICIENTS .........................................................................................................22

4.8.1 AHRS Parameters..............................................................................................................23

4.8.2 GPS Parameters ................................................................................................................24

4.8.3 INS Parameters .................................................................................................................25

4.9 DATA RECORD FEATURE..................................................................................................................26

4.10 TROUBLESHOOTING WITH MESSAGES ................................................................................................28

4.11 ALIGNMENT INITIALIZATION OF THE INS/GPS.....................................................................................29

4.12 TROUBLE-SHOOTING COMMON SETUP ERRORS...................................................................................30

5PATENT AND TRADEMARK INFORMATION................................................................................31

6APPLICABLE EXPORT CONTROLS...............................................................................................31

7USER LICENSE...........................................................................................................................31

8STANDARD LIMITED WARRANTY ..............................................................................................31

9QUALITY MANAGEMENT SYSTEM.............................................................................................31

10 THEORY OF OPERATION ...........................................................................................................32

11 LandMark INS/GPS PRODUCT DESCRIPTION..............................................................................34

11.1 OUTLINE AND 3D SOLID MODELS .....................................................................................................34

11.2 CENTER OF GRAVITY .......................................................................................................................34

11.3 SENSOR BANDWIDTH......................................................................................................................35

11.4 INS/GPS BLOCK DIAGRAM .............................................................................................................36

12 INS/GPS MESSAGE PROTOCOL..................................................................................................37

SX-Series INS/GPS User’s Guide Page 3 Rev. 11/28/2018

12.1 SERIAL COMMUNICATION SETTINGS ..................................................................................................37

12.2 INS/GPS MESSAGE PACKET FORMAT ...............................................................................................37

12.3 SAMPLE DATA FORMAT...................................................................................................................38

12.3.1 Interfacing without Glamr ................................................................................................39

13 Mounting.................................................................................................................................40

14 Operation and Troubleshooting................................................................................................41

14.1 TECHNICAL ASSISTANCE...................................................................................................................41

14.2 AUTHORIZED DISTRIBUTORS AND TECHNICAL SALES REPRESENTATIVES ...................................................41

14.3 TECHNICAL SUPPORT WEBSITE .........................................................................................................41

SX-Series INS/GPS User’s Guide Page 4 Rev. 11/28/2018

2TABLE OF FIGURES

Figure 1 Example SDK box with SDK to PC USB cabling, GPS antenna, and CD-ROM................................... 6

Figure 2 Typical INS/GPS connectors include: 9-pin (L) or 15-pin (R) Glenair connector.............................. 7

Figure 3 SDK Installation CD-ROM ................................................................................................................ 8

Figure 4 Glamr setup location on SDK CD-ROM............................................................................................ 9

Figure 5 Glamr prerequisite installations...................................................................................................... 9

Figure 6 Glamr shortcut locations............................................................................................................... 10

Figure 7 Glamr screen before selecting correct COM port settings............................................................ 11

Figure 8 Confirmed correct LINX port with message "success." .................................................................12

Figure 9 Device Manager LINX-SDM-USB-QS-S port Properties .................................................................13

Figure 10 Advanced Settings for COM port Latency Timer......................................................................... 14

Figure 11 Baud Rate menu.......................................................................................................................... 15

Figure 12 INS/GPS data in Run Mode at 100 Hz data rate .........................................................................16

Figure 13 Self-Test, Power, and Run/Program............................................................................................ 17

Figure 14 Self-Test display when activated................................................................................................. 17

Figure 15 Mode selection/data rate in “PROGRAM” mode........................................................................ 18

Figure 16 Stop Bit selection menu in “PROGRAM” mode ..........................................................................19

Figure 17 Gyroscope units of measure selection options............................................................................ 20

Figure 18 Accelerometer units of measure selection options..................................................................... 21

Figure 19 Accessing the coefficient dialog in “PROGRAM” mode............................................................... 22

Figure 20 AHRS coefficient parameters ...................................................................................................... 23

Figure 21 GPS coefficient parameters......................................................................................................... 24

Figure 22 INS coefficient parameters.......................................................................................................... 25

Figure 23 Data Recording button................................................................................................................ 26

Figure 24 Saving recorded data files...........................................................................................................27

Figure 25 Message options for troubleshooting (View menu).................................................................... 28

Figure 26 Typical gyroscope bandwidth (250 Hz) of LMRK005 INS/GPS .................................................... 35

Figure 27 Typical accelerometer bandwidth (1100 Hz) LMRK005 INS/GPS................................................ 35

Figure 28 INS/GPS block diagram ............................................................................................................... 36

Figure 29 Serial communication settings values......................................................................................... 37

Figure 30 Sample INS/GPS data..................................................................................................................38

SX-Series INS/GPS User’s Guide Page 5 Rev. 11/28/2018

3SAFETY AND HANDLING INFORMATION

•Always use caution when using the Gladiator ISN/GPS!

•Please refer to your specific product datasheet to determine which appropriate input

voltage to use.

•INS/GPS devices/units are sensitive scientific instruments containing shock and vibration

sensitive sensors. Excessive shock and/or vibration can damage these sensors and can

adversely affect sensor performance and unit output.

•Avoid exposure to electrostatic discharge (ESD). Observe proper grounding whenever

handling the INS/GPS.

•Properly attach the connector and ensure that it has been wired correctly before applying

power to the INS/GPS.

•Units are shipped from factory in the following default settings, unless otherwise required

for customer application:

o100 Hz FULL Mode

o921,000 Baud Rate

o1 Stop Bit

SX-Series INS/GPS User’s Guide Page 6 Rev. 11/28/2018

4GETTING STARTED

This section contains directions and references for a quick start to using the INS/GPS.

For additional support, please contact the distributor representing your location. If there isn’t a local

representative for your location, please contact our Headquarters for assistance and someone from our

Sales Team will assist you.

The INS/GPS Software Development Kit (SDK) is an optional product to assist first time users of a Gladiator

INS/GPS. This kit provides the user everything they need to facilitate a rapid setup and test of the unit.

The SDK includes display software with user-defined options including the following components and is

seen in Figure 1:

•Turn-Key Solution for INS/GPS on User PC (all cabling/connectors/software included)

•Easy Integration of Direct INS/GPS RS-422/485 to PC USB Port

•Includes PC Display Software for INS/GPS

•Data Recording Capability

•Multiple User-Selected Field Options for Programming and Initializing the Unit

•Self-Test Button

•Power, Program/Run mode switches

•Antenna

Figure 1 Example SDK box with SDK to PC USB cabling, GPS antenna, and CD-ROM

If multiple units are purchased, the respective test data for each unit is placed on this CD for reference.

SX-Series INS/GPS User’s Guide Page 7 Rev. 11/28/2018

4.1 RS-422/485 to USB Power Supply and Converter Cable

Contained in the Software Development Kit is a complete RS-422/485 to USB Converter cable, including

power supply and Self-Test button (Figure 2). The power supply uses USB power.

An RS-422/485 to USB converter (requires additional drivers that are included in a CD-ROM) is also

included.

The SDK enables the user to quickly connect the INS/GPS to their PC to ease integration and testing.

Connect the RS485 (9 or 15-pin) cable to the unit and the USB cable to the PC. The user should not turn

on the power switch until all the software is installed.

Figure 2 Typical INS/GPS connectors include: 9-pin (L) or 15-pin (R) Glenair connector

SX-Series INS/GPS User’s Guide Page 8 Rev. 11/28/2018

4.2 Glamr Installation

4.2.1 Introduction

The LINX SDM-USB-QS-S module requires that device drivers be installed

on the host PC before they can interact. The drivers tell the PC how to talk

to the module. These drivers are for Windows 7, 8, and 10. The set for

Windows are the direct drivers, which offer program functions that allow

a custom application to directly control the module through the USB port.

Figure 3 SDK Installation CD-ROM

SX-Series INS/GPS User’s Guide Page 9 Rev. 11/28/2018

To install the Glamr SDK application, run the Glamr setup executable found on the CD-ROM sent with your

INS/GPS (Figure 4). SIMPLE

Figure 4 Glamr setup location on SDK CD-ROM

Figure 5 Glamr prerequisite installations

SX-Series INS/GPS User’s Guide Page 10 Rev. 11/28/2018

ATTENTION: Do NOT use the FTDI device driver that Windows 10 provides. It does not work with the

LINX product even though they are using the FTDI parts. The PID was changed so it is unique.

Installing Glamr will place a shortcut to the application on the desktop and in the Start Menu.

Figure 6 Glamr shortcut locations

The default Glamr installation directory is:

C:\Program Files (x86)\Gladiator Technologies

In addition to these shortcuts, the installation will also place a Glamr.ini file into:

C:\Users\”username”\AppData\Roaming\Gladiator Technologies\

NOTE: Plug the connector cable into the USB port before you turn the device power on to avoid

Windows loading as a mouse driver.

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