Honeywell HG4930 Bedienungsanleitung

HG4930 INERTIAL

MEASUREMENT UNIT (IMU)

Installation and Interface Manual

HG4930 Installation and Interface Manual

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Honeywell Industrial Inertial Measurement Units

Electrical Interface

Asynchronous Protocol

General Description

Rotation Correction

Data Synchronization Signal

Normal Operation Mode Description

Mechanical Drawing and Installation

Export Guidance

Table of Contents

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Table 1. Connector Pin Description

Table 2. Input Power Speciﬁcations

Table 3. Asynchronous Control Message (0x01 Format)

Table 4. Asynchronous Control Message Field Status Word 1

Table 5. Asynchronous Control Message Field Status Word 2A

Table 6. Asynchronous Control Message Field Status Word 2B

Table 7. Asynchronous Inertial Message (0x02 Format)

Table of Tables

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Figure 1. Figure 1. Typical Cold (Left Figure)

and Hot Voltage/In-Rush Plots

Figure 2. Data Synchronization Signal Timing

Figure 3. Power Up Sequence

Figure 4. Accelerometer and Gyro Senor Mounting

Figure 5. Installation Drawing

Table of Figures

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Honeywell Industrial Inertial

Measurement Units

Honeywell produces no license required (NLR) Inertial Measurement Units (IMU) for industrial

applications including agricultural vehicles, robotics, survey, mapping, and stabilized systems.

These IMUs are designed for industrial application and can be used on air, land, and sea.

Honeywell began producing gyros in the 1940’s for the Honeywell C-1 autopilot and specically

began producing MEMS gyros and accelerometers in the early 2000’s. Honeywell’s IMUs

utilize proprietary Honeywell technology and leverage existing production and engineering

infrastructure. Honeywell has deep and long lasting relations with many commercial customers

and is carrying that philosophy and product pedigree into our NLR IMU line. Honeywell’s forward

looking product strategies will ensure that our NLR IMU’s will t your current and future needs.

The HG4930 IMU is a device which measures angular rates and linear accelerations in a body

mounted strapdown conguration. It will provide compensated incremental angle and velocity

data for navigation as wellas angular rates and linear accelerations for control. The data is reported

through a digital serial interface bus. The unit contains MEMS gyroscopes and accelerometers

as well as the electronics and software necessary to deliver precision control and navigation

information. The input axes form a right handed frame aligned with the IMU mounting frame.

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Table 1. Connector Pin Description

Electrical Interface

The pin assignments of the external system connector are shown below. Logic 0 corresponds

to the CMOS “low” logic state. Logic 1 corresponds to the CMOS “high” logic state.

PIN # SIGNAL NAME INPUT/OUTPUT & SIGNAL TYPE SIGNAL FUNCTION

1DGND Ground Digital Power and Signal Return

2+5VDC Input + 5 VDC Power – See Table 2

3No Connect

4No Connect

5No Connect

6RESET Input

CMOS Compatible Logic

Logic 1 applied for 7 milli-seconds will stop all

processing. Upon logic 0, the IMU will restart as if

power had been removed. No connection is required

(active pull down to logic 0).

7No Connect

8No Connect

9SER_DATA_OUT_H Output RS-422 Asynchronous High

10 SER_DATA_OUT_L Output RS-422 Asynchronous Low

11 DATA_SYNC_OUT_H Output RS-422 Data Sync High

12 DATA_SYNC_OUT_L Output RS-422 Data Sync Low

13 No Connect

14 No Connect

Table 2. Input Power Speciﬁcations

VOLTAGE

(VDC)

TOLERANCE MAX RIPPLE

(MV PP)

MAX RUN CURRENT

(AMP)

MAX CURRENT

(MA)

+5 ±5% 50 1.0 700

The 5V power application to the IMU must monotonically increase from 1 to 5 volts for proper IMU

start-up. The maximum current shown in Table 2 does not include in-rush current.

Figure 1 provides representative voltage and current plots at hot and cold for a ~ 2ms start time.

Worse case steady state current shown is ~500 mA (cold) and peak current shown is ~800 mA.

Unit typically draws < 400 mA in normal operation.

Figure 1. Typical Cold (Left Figure) and Hot Voltage/In-Rush Plots

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Asynchronous Protocol

General Description

The IMU supports the asynchronous RS-422 compatible protocol. Each Asynchronous output

frame will open with an IMU address byte that can be used as a synching byte.

The asynchronous 600/100 Hz data protocol is as speciﬁed in Table 3 – Control Message (0x01)

Format and Table 7 – Inertial Message (0x02) Format.

The start of sequential message transmissions is on the average 1/600 seconds ±0.01% apart,

with a repeating pattern of ﬁve control message transmissions followed by one inertial message

transmission.

The 600 Hz control data output consists of the angular rates, linear acceleration, and IMU status

words in message ID 0x01 and 0x02. The angular and linear data is ﬁltered and sampled at 1800 Hz.

The 1800 Hz ﬁltered angular and linear data is decimated for 600 Hz control data.

The 100 Hz navigation data output consists of incremental (or “delta”) angles and velocities in

message ID 0x02. The navigation data is unﬁltered 1800 Hz sensor data which is summed to the

navigation data rate (100 Hz). Accurate attitude and position calculations require that all messages

be received and used.

The order of transmission is Least Signiﬁcant (LS) bit ﬁrst; LS byte ﬁrst; LS 16 bit word ﬁrst. Only

gyro, accelerometer, and temperature data is signed.

The transmit baud rate will be 1Mbits/sec with 1 start bit, 8 data bits, 1 stop bit, and no parity.

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Rotation Correction

The IMU shall subtract the “rotation correction” from the inertial delta-velocity components of

message ID 0x02 to allow direct integration of the synchronously sampled body-axis delta-angle and

delta-velocity elements. The “rotation correction” consists of one half of the sampled delta-angle

vector cross the sampled delta-velocity vector.

 ΔΘAsynchronous =ΔΘ SAMPLE

ΔVAsynchronous = ΔVSAMPLE - 0.5 * [ ΔΘSAMPLE X ΔVSAMPLE]

As a result of the subtraction, proper integration of local-vertical navigation components will

require update of the body-to-local-vertical attitude reference, transformation of the body-axis

delta-velocity components to the local-vertical frame followed by update of the local-vertical

attitude components.

Data Synchronization Signal

The Data Synchronization Signal shall be an active low pulse with the following characteristics:

• Pulse start is within +/- 1 microsecond of the most recent data sample event in

the Control data frame.

• Pulse width is 300 microseconds +/- 1 microsecond

The signal timing is shown in Figure 3 - Data Synchronization Signal Timing.

Figure 2. Data Synchronization Signal Timing

0x01 - 20 bytes - 200 us

0x02 - 44 bytes - 440 us

Transmit data

1666.67 us (One Data Frame)Time of

Validity

Start of

Data Transmission

Processing

Start

300us

Transmit data

~1.75

±0.015ms

300us

End of Data

transmission

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Table 3. Asynchronous Control Message (0x01 Format)

POSITION PARAMETER LENGTH

(BYTES)

LSB WEIGHT UNITS OR CONTENTS

1 IMU Address 1 N/A Constant 0x0E

2 Message ID 1 N/A Constant 0x01

3 Angular Rate X 2 2-20 * 600 rad/sec/LSB

4 Angular Rate Y 2 2-20 * 600 rad/sec/LSB

5 Angular Rate Z 2 2-20 * 600 rad/sec/LSB

6 Linear Acceleration X 2 2-14 * 600 0.3048 meters/sec2/LSB

7 Linear Acceleration Y 2 2-14 * 600 0.3048 meters/sec2/LSB

8 Linear Acceleration Z 2 2-14 * 600 0.3048 meters/sec2/LSB

9 Status 1 2 N/A See Table 4

10 Status 2A or 2B 2 N/A See Table 5 and 6

11 Checksum

Sum of all message data (positions

1…10 of this table), taken as 16 bit

words, and summed without regard for

rollover.

2N/A // this pseudo code illustrates the checksum

algorithm

u16sum = 0;

for (i=0; i<9; i++) // (20-2)/2=9

{ u16sum += u16_msg_array[i]; }

Checksum = u16_msg_array[9];

if (Checksum != u16sum) {checksum error}

Total Length 20

BIT DEFINITION NOTES

Bit 0-1 2 Bit Counter 00 01 10 11...

Bit 2-3 2 bit BIT-mode indicator 0=Power-up BIT

1=Continuous BIT

2-3 = Reserved

Bit 4 IMU 0=OK, 1=Failed

These fault monitors are aggregate and latched (continue after the failure

has stopped) but will only latch after a lower level test has failed. The

latching logic may require multiple consecutive failures before setting.

These latched failures are cleared after power up or reset.

Bit 5 Gyro

Bit 6 Accelerometer

Bits 7-10 Gyro Sensor 0=OK, 1=Failed

Bit 7 checks sensor voltage levels.

Bits 8-10 check that Gyros X, Y, and Z are individually functioning.

Bit 11-14 Reserved N/A

Bit 15 IMU OK 0=OK, 1=Failed

Table 4. Asynchronous Control Message Field Status Word 1

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Table 6. Asynchronous Control Message Field Status Word 2B

BIT DEFINITION NOTES

Bit 0-7 Accelerometer X Temperature LSB=1°C, Not Calibrated

Bits 8-14 Identical to Field Status Word 2A See Table 5

Bit 15 Status Word 2X ﬂag 1=2B

Table 7. Asynchronous Inertial Message (0x02 Format)

POSITION PARAMETER LENGTH

(BYTES)

LSB WEIGHT UNITS OR CONTENTS

1 IMU Address 1 N/A Constant 0x0E

2 Message ID 1 N/A Constant 0x02

3-10 Control Data 16 N/A Contents same as Message 0x01

Positions 3-10.

11 Delta Angle X 4 2-33

radians/LSB

or equivalently,

radians/second/Hz/LSB

12 Delta Angle Y 4 2-33

13 Delta Angle Z 4 2-33

14 Delta Velocity X 4 2-27

0.3048 meters/sec/LSB

or equivalently,

0.3048 meters/sec2/Hz/LSB

15 Delta Velocity Y 4 2-27

16 Delta Velocity Z 4 2-27

17 Checksum

Sum of all message data (positions

1-16 of this table), taken as 16 bit

words, and summed without regard for

rollover.

2N/A // this pseudo code illustrates the

checksum algorithm

u16sum = 0;

for (i=0; i<21; i++) // (44-2)/2=21

{ u16sum += u16_msg_array[i]; }

Checksum = u16_msg_array[21];

if (Checksum != u16sum) {checksum

error}

Total Length 44

BIT DEFINITION NOTES

Bit 0-7 Software Version Number

Bit 8 Gyro Health 0=OK, 1=Failed

Bit 9 Start data ﬂag 0=sensor data, 1=0x5555 data transmitted for synchronization

Bit 10 Process Test 0=OK, 1=Failed

Bit 11 Memory Test 0=OK, 1=Failed

Bit 12 Electronics Test (ASIC) 0=OK, 1=Failed

Bit 13 Gyro Health 0=OK, 1=Failed

Bit 14 Accelerometer Health 0=OK, 1=Failed

Bit 15 Status Word 2X ﬂag 0=2A

Table 5. Asynchronous Control Message Field Status Word 2A

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Normal Operation Mode Description

The serial data interface is operational within 300 milliseconds after the last applied power form is

within the speciﬁed tolerances and the reset line is inactive.

The IMU transmits a ﬁxed pattern 0x5555 (Hex) in place of Control sensor data and 0x55555555

(Hex) in place of Inertial sensor data until the completion of Power Up BIT.

The IMU completes Power Up BIT and report the results within 400 milliseconds after power is

within speciﬁed tolerances and IMU Reset is inactive.

Figure 3. Power Up Sequence

Supervisor Reset or

External (IMU) Reset

Released

Power

Applied

<= 40ms

Serial Data

No Data Fixed Data Pattern

Normal

Serial Data

< 260 ms

<= 260 ms

<= 400 ms

<= 440 ms

Time

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