LandMark 60 IMU (Inertial Measurement Unit) Technical User s Guide

Transcription

1 LandMark 60 IMU (Inertial Measurement Unit) Technical User s Guide Technical Support Gladiator Technologies Attn: Technical Support 8020 Bracken Place SE Snoqualmie, WA USA Tel: x222 Fax: support@gladiatortechnologies.com Web:

2 1 TABLE OF CONTENTS 1 TABLE OF CONTENTS... i 2 TABLE OF FIGURES... iv 3 SAFETY AND HANDLING INFORMATION GETTING STARTED RS422/RS485 TO USB POWER SUPPLY & CONVERTER CABLE LANDMARK 60 IMU MATING CONNECTOR STOP! READ THIS FIRST INSTALLING THE LINX SDM-USB-QS-S DRIVERS MADE SIMPLE Introduction Installing the Direct Drivers GLAMR SOFTWARE INSTALLATION SELECT APPLICABLE BAUD RATE SELECT APPLICABLE STOP BITS SELF-TEST IN GLAMR SETTING THE MODE AND DATA RATE Set IMU Mode 500 Hz Data Rate UNIT DISPLAY OPTIONS DATA RECORD FEATURE BANDWIDTH FILTERING CAPABILITY CANBUS DBC FILE PATENT AND TRADEMARK INFORMATION APPLICABLE EXPORT CONTROLS USER LICENSE STANDARD LIMITED WARRANTY QUALITY MANAGEMENT SYSTEM THEORY OF OPERATION LandMark 60 IMU PRODUCT DESCRIPTION OUTLINE DRAWING AND 3D SOLID MODELS D Solid Model Outline Drawing OUTLINE EXPLODED VIEW & AXIS ORIENTATION CENTER OF GRAVITY IMU BLOCK DIAGRAM LandMark 60 IMU User s Guide Page i Rev. 09/13/2017

3 11.5 LANDMARK 60 IMU PART NAMING CONVENTION & PART NUMBERS LANDMARK 60 IMU PIN ASSIGNMENTS LANDMARK 60 IMU PERFORMANCE SPECIFICATION LandMark 60 IMU MESSAGE PROTOCOL (V72) SERIAL COMMUNICATION SETTINGS IMU MESSAGE PACKET FORMAT Important Messaging Protocol Notes Message Counter set to 2 246, Bit 6 = Message Counter set to 2 246, Bit 6 = Message Counter set to 0 or Message Counter set to 247 (AHRS) Message Counter Set to Board Number Encoding Serial Number when Message Counter set to SAMPLE DATA FORMAT CAN Output Messages SYNC INPUT (5 KHZ) Specification Status Bit Timing Diagram Bit Values for External Sync Input BANDWIDTH VS. NOISE SAMPLE TEST DATA & TEST METHODS GLADIATOR ATP EXPLANATION Rate Spin Test Accelerometer Tumble Test ANGLE RANDOM WALK VELOCITY RANDOM WALK BIAS IN-RUN BIAS AND SCALE FACTOR OVER TEMPERATURE Gyro Bias over Temperature Gyro Scale Factor over Temperature Accelerometer Bias over Temperature Accelerometer Scale Factor over Temperature BIAS TURN-ON (FROM A COLD START) RANDOM VIBRATION Random Vibration Sine Vibration Test Gyro Sine Vibration Response Accelerometer Sine Vibration Response MOUNTING LandMark 60 IMU User s Guide Page ii Rev. 09/13/2017

4 15 OPERATION & TROUBLESHOOTING TECHNICAL ASSISTANCE AUTHORIZED DISTRIBUTORS AND TECHNICAL SALES REPRESENTATIVES TECHNICAL SUPPORT WEBSITE GLOSSARY OF TERMS ABBREVIATIONS AND ACRONYMS DEFINITIONS OF TERMS LandMark 60 IMU User s Guide Page iii Rev. 09/13/2017

5 2 TABLE OF FIGURES Figure 1 SDK to PC cabling with CAN bus, SDK Power Control/Self-Test, 9 V Battery Connector. 2 Figure 2 Unit Connector... 3 Figure 3 Read Me First Installation Guide... 4 Figure 4 SDK Installation CD... 4 Figure 5 Files on Installation Disk... 5 Figure 6 Driver Setup Wizard... 6 Figure 7 License Agreement Prompt... 7 Figure 8 Installation Folder Prompt... 7 Figure 9 Driver Package Information Prompt... 8 Figure 10 Driver Installation Status... 8 Figure 11 Glamr Location on SDK CD-ROM... 9 Figure 12 Glamr Software Shortcut Icon... 9 Figure 13 Glamr Screen before Selecting Correct COM Port Settings Figure 14 Confirmed Correct LINX Port with Message "Success" Figure 15 Baud Rate Selection for 1000 Hz Data Rate Figure 16 IMU Data in Full Mode at 1000 Hz Data Rate Figure 17 Stop Bit Selection for COM Port Figure 18 Power and Self-Test Momentary Switch Figure 19 Self-Test Display When Activated Figure 20 Mode Selection / Data Rate Figure 21 IMU Mode at 500 Hz Data Rate Figure 22 Gyro Units of Measure Selection Options Figure 23 Accelerometer Units of Measure Selection Options Figure 24 Data Record Capability Figure 25 Start Record File Path LandMark 60 IMU User s Guide Page iv Rev. 09/13/2017

6 Figure 26 Saving Data Record Time Figure 27 Select Desired Bandwidth Filter from Drop-Down Menu Figure 28 Message Options for Troubleshooting Figure 29 CANBUS DBC File Generation Figure 30 LandMark 60 IMU with Mating Connector vs. 2 Euro Coin & US Quarter Figure 31 LandMark 60 IMU vs. 2 Euro Coin Figure 32 LandMark 60 IMU 3D Model Figure 33 LandMark 60 Outline Drawing Figure 34 LandMark 60 IMU Exploded Outline Drawing (metric in [mm]) Figure 35 LandMark 60 IMU Block Diagram Figure 36 Gladiator Technologies Part Naming Convention Figure 37 LandMark 60 IMU Part Number Configurations Figure 38 LandMark 60 IMU Pin Assignments and Outputs Figure 39 Serial Communication Settings Figure 40 IMU Message Packet Format Figure 41 Status Byte Decode when Bit 6 is Figure 42 Status Byte Decode when Bit 6 set to 1 (every other message) Figure 43 IMU Status Byte Decode when Message Count set to 0 or Figure 44 Status Byte Decode when Message Count set to Figure 45 Status Byte Decode when Message Count set to 248 through Figure 46 Board Number Encoding (32-bit to 6-bit) Figure 47 Status Byte Decode when Message Count set to 252 through Figure 48 Gyro LSB Scale Factor Figure 49 Accel LSB Scale Factor Figure 50 Screenshot of LandMark 60 IMU Sample Data Figure 51 IMU CAN Output Figure khz Timing Diagram LandMark 60 IMU User s Guide Page v Rev. 09/13/2017

7 Figure 53 Bit Values for External Sync Input Figure 54 Bandwidth Frequency and Output Data Rate Figure 55 Gyro Bandwidth vs. Peak-to-Peak Noise 100 Hz Figure 56 Gyro Bandwidth vs. Peak-to-Peak Noise 1 khz Figure 57 Rate Spin Test Figure 58 Accelerometer Tumble Test Data Figure 59 Angle Random Walk (ARW) Figure 60 Velocity Random walk Figure 61 X Gyro Bias In-Run Figure 62 Y Gyro Bias In-Run Figure 63 Z Gyro Bias In-Run Figure 64 X Accelerometer Bias In-Run Figure 65 Y Accelerometer Bias In-Run Figure 66 Z Accelerometer In-Run Bias Figure 67 X Gyro Bias over Temperature Figure 68 Y Gyro Bias over Temperature Figure 69 Z Gyro Bias over Temperature Figure 70 X Gyro Scale Factor over Temperature Figure 71 Y Gyro Scale Factor over Temperature Figure 72 Z Gyro Scale Factor over Temperature Figure 73 X Accelerometer Bias over Temperature Figure 74 Y Accelerometer Bias over Temperature Figure 75 Z Accelerometer Bias over Temperature Figure 76 X Scale Factor over Temperature Figure 77 Y Scale Factor over Temperature Figure 78 Z Accelerometer Scale Factor over Temperature Figure 79 X Gyro Bias Turn-On LandMark 60 IMU User s Guide Page vi Rev. 09/13/2017

8 Figure 80 Y Gyro Bias Turn-On Figure 81 Z Gyro Bias Turn-On Figure 82 X Accelerometer Bias Turn-On Figure 83 Y Accelerometer Bias Turn-On Figure 84 Z Accelerometer Bias Turn-On Figure 85 Random Vibration Test Data Figure 86 X Gyro Sine Vibration Response Figure 87 Y Gyro Sine Vibration Response Figure 88 Z Gyro Sine Vibration Response Figure 89 X Accelerometer Sine Vibration Response Figure 90 Y Accelerometer Sine Vibration Response Figure 91 Z Accelerometer Sine Vibration Response Figure 92 Website Select Product Category Figure 93 LandMark 60 IMU Product Main Webpage Figure 94 LandMark 60 IMU Product Documentation Downloads Figure 95 Remote Desktop Support Web Page Figure 96 Web Conferencing Web Page LandMark 60 IMU User s Guide Page vii Rev. 09/13/2017

9 3 SAFETY AND HANDLING INFORMATION Always use caution when using the LandMark 60 IMU! Supplying too high an input voltage could permanently damage the unit. Input Power is specified at +7.0 V to +36 V Maximum. The unit can withstand input power up to +60 V without damaging the unit, but may not perform within specification. The LandMark 60 IMU is a sensitive scientific instrument containing shock and vibration sensitive inertial and other 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 LandMark 60 IMU. Properly attach connector and ensure that it has been wired correctly before applying power to the LandMark 60 IMU. 4 GETTING STARTED This section contains directions and references for a quick start to using the LandMark 60. For additional support, please contact the distributor representing your location. If there isn't a local representative for your location, please contact our Headquarter office for assistance and someone from our Sales Team will assist you. The LandMark 60 IMU Software Development Kit (SDK) is an optional product to assist first-time users of the LandMark 60 IMU. This kit provides the user everything they need to facilitate a rapid setup and test of the unit. The SDK (P/N SDK-IMU-CANBUS-1) includes display software with user defined options including the following components and is seen in Figure 1: Turn-Key Solution for LandMark 60 IMU on User PC All Cabling, Interface Connectors and Software Included and Ready for Use Easy Integration of Direct IMU RS422/RS485 to PC s USB Port Includes PC Display Software for IMU Data Record Capability Multiple User Selected Field Options for Programming and Initializing the Unit User Defined Bandwidth Settings and Data Output Rate on IMU Battery-Powered Power Supply (9V, 1.5 Hours Typical) Self-Test Switch LandMark 60 IMU User s Guide Page 1 Rev. 09/13/2017

10 Figure 1 SDK to PC cabling with CAN bus, SDK Power Control/Self-Test, 9 V Battery Connector The following steps will allow the user to quickly set up a LandMark 60 IMU and interface it with its SDK. 1. Connect all units together per the User Guide under this section (Getting Started) to the PC. Do not turn on the power yet. Follow all steps in Section 4 carefully. 2. Follow the instructions from the enclosed disc under Linx SW labeled STOP! Read This First - Installation Guide to load the VCP drivers for the USB interface. 3. Copy the Glamr.msi software and setup.exe applications to the PC hard drive from the header file on the disc. 4. Run the Glamr.msi to install the Glamr and select the com port to LINX if not selected. 5. Apply power to the unit to see data on the screen. Turn the self-test switch to ON to see a change in the sensor data that ensures the unit is functioning. Then switch OFF. 6. Follow the instructions in the following sections of the User Guide Glamr Software Installation (Section 4.5) to change any factory settings for your application. 4.1 RS422/RS485 to USB Power Supply & Converter Cable Contained in the Software Development Kit (SDK) is a complete RS422/RS485 to USB Converter cable including battery powered power supply and self-test switch (Fig. 1). The power supply uses a 9 V battery (included with shipment). Typically when using new batteries, the battery pack will provide the user with approximately one hour of usage before needing to be replaced. LandMark 60 IMU User s Guide Page 2 Rev. 09/13/2017

11 CAUTION: As the battery life declines, the user can experience a voltage drop below the minimum +6 V required. If this occurs, the user can then start to get CHECKSUM errors in the data. It is highly recommended to replace the batteries in the SDK before each field test. An RS422/RS485 to USB converter (it requires additional drivers that are included in a CD-ROM) is also included. This power supply converter cable and self-test switch enables the user to quickly connect the LandMark 60 IMU to their PC to ease integration and testing. Connect the cables to the unit and the converter board to the PC with the USB cable. You do not need to turn on the power switch yet until the rest of the software is installed. Figure 2 Unit Connector 4.2 LandMark 60 IMU Mating Connector The LandMark 60 IMU mating connector and mating pins are contained in a separate package to enable customer-specific wiring options. If the SDK was purchased, then the customer also has an RS422/RS485 Converter board, USB connector, and mating pins. LandMark 60 IMU User s Guide Page 3 Rev. 09/13/2017

12 4.3 STOP! Read This First You must first install the USB drivers from the enclosed USB Driver CD ROM before using Glamr to read the unit. Look on the CD-ROM under Linx SW and perform the instructions in the PDF Read Me First - Installation Guide (see Figure 6) Note: This driver is designed for Windows programs only. Figure 3 Read Me First Installation Guide 4.4 Installing the LINX SDM-USB-QS-S Drivers MADE SIMPLE 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 98, XP, NT, Windows 7, and Windows 8. For Windows 10 installation, please see the note. 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 4 SDK Installation CD LandMark 60 IMU User s Guide Page 4 Rev. 09/13/2017

13 NOTE: This is for the installation on machines running the Windows 10 Operating System. 1. Install LINX driver first. This is updated for Windows 10 and is found here: 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. 2. When installing Glamr, there will be an error message saying Combined.OCX could not be registered. This is due to missing some DLLs. To get these dependencies, you need to install a Microsoft Redistribution package. This package (language dependent for our foreign customers) can be found at: Figure 5 shows which files will be available to the user via the SDK Installation Disc. Test data and a User Guide for the unit are also included. If multiple units are purchased, the respective User Guides for each different product will be located on the disc, as well. Figure 5 Files on Installation Disk LandMark 60 IMU User s Guide Page 5 Rev. 09/13/2017

14 4.4.2 Installing the Direct Drivers The drivers are included and should be saved onto the hard drive of a PC or onto a flash drive. Click on the QS_Driver_Installer.msi for the Setup Wizard. Click Next Figure 6 Driver Setup Wizard LandMark 60 IMU User s Guide Page 6 Rev. 09/13/2017

15 Read License, click I Agree, then Next Figure 7 License Agreement Prompt Click Next upon arrival at the installation folder prompt Figure 8 Installation Folder Prompt LandMark 60 IMU User s Guide Page 7 Rev. 09/13/2017

16 Click on Next at the driver package information prompt Windows 8 Figure 9 Driver Package Information Prompt NOTE: Plug the connector cable into the USB port before you turn the device power on to avoid Windows loading as a mouse driver. Allow driver installation to complete Figure 10 Driver Installation Status LandMark 60 IMU User s Guide Page 8 Rev. 09/13/2017

17 4.5 Glamr Software Installation Now install the Glamr application off of the CD-ROM. Open the Glamr file (see Figure 11) in the enclosed CD-ROM and install the application to the desired location on the hard drive. Figure 11 Glamr Location on SDK CD-ROM Once you installed the Glamr application then you need to create a shortcut on your desktop to the application. Right click on the Glamr Software icon on your hard drive file. Select create shortcut. Drag this shortcut file and drop on your desktop, as shown in Figure 12. Figure 12 Glamr Software Shortcut Icon LandMark 60 IMU User s Guide Page 9 Rev. 09/13/2017

18 Open the Glamr software and a window will appear as in Figure 13. Figure 13 Glamr Screen before Selecting Correct COM Port Settings The bottom of the Gladiator IMU Display may read IMU serial port (LINX SDM-USB, , 8E2) Error opening. LT=1 may also appear if the interface is not LINX. Only one copy of Glamr can be open at a time therefore make sure there is not another copy open on the task bar. If there are multiple copies of Glamr open, a message will appear at the bottom of the IMU Display window. LandMark 60 IMU User s Guide Page 10 Rev. 09/13/2017

19 Reconnect the USB plug to the SDK. The LINX port should have a checkmark next to it. The bottom of the window should now read IMU serial port (LINX SDM-USB, , 8E2) success, as shown in Figure 14. Figure 14 Confirmed Correct LINX Port with Message "Success" Turn on the power switch on the unit power supply and you should see data appear in the window as shown in Figure 15 (colored boxes). You should be able to move the IMU with your hand and see changes in rate and acceleration for each axis located within the IMU on-screen. To see rapid change, the record function will capture real time data without the filter effect on the screen. LandMark 60 IMU User s Guide Page 11 Rev. 09/13/2017

20 4.6 Select Applicable Baud Rate Data Rate Baud Rate M 3.0 M Bits/second 100 Yes Yes Yes Yes Yes Yes Yes Yes * Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes Note that the 500 Hz Data Mode is a special case. Please refer to Section for more details. Figure 15 Baud Rate Selection for 1000 Hz Data Rate LandMark 60 IMU User s Guide Page 12 Rev. 09/13/2017

21 Figure 16 IMU Data in Full Mode at 1000 Hz Data Rate The message shown in the lower left of Glamr as: IMU serial port (LINX SDM-USB, , 8E1, LT=1) success indicates that the Glamr program is reading the port (Fig. 14). The message Msg out-of-sequence: exp 0, act 96 indicates that the program saw a skip in the message count. This case will happen at start-up and can be ignored. The message Accel re-scale set to 0.5 indicates that the program detected a 10g range Accel and rescaled the LSB to take into account a 0.5mg LSB scaling to display and record the units in g s. LandMark 60 IMU User s Guide Page 13 Rev. 09/13/2017

22 4.7 Select Applicable Stop Bits When using the LMRK60, the number of stop bits is one. This must be reflected in Glamr by making sure the Stop Bits selection is 1. Figure 17 Stop Bit Selection for COM Port LandMark 60 IMU User s Guide Page 14 Rev. 09/13/2017

23 4.8 Self-Test in Glamr Glamr includes a self-test function. The user can initiate the self-test by the momentary switch (Fig. 18), contained within the Switch box that is included in the LandMark 60 IMU SDK. Press the switch button to activate self-test of the sensors. The Glamr display will now show SELF-TEST is activated while also showing the data outputs. You should see a delta change in the X, Y, and Z sensor outputs when you initiate self-test per the data sheet (Fig. 19). Figure 18 Power and Self-Test Momentary Switch Figure 19 Self-Test Display When Activated LandMark 60 IMU User s Guide Page 15 Rev. 09/13/2017

24 4.9 Setting the Mode and Data Rate The SDK software also has a data rate adjustment and data set selection. This feature is selected under Mode as shown. This allows a reduced data set in Spec mode Set IMU Mode 500 Hz Data Rate Figure 20 Mode Selection / Data Rate NOTE: To reset to another mode once in 500 Hz data rate mode, the unit requires a special procedure if at 115,200 baud rate. Reverting the unit back to any other mode requires a mode click to the desired rate. This will command the unit to wait for a power recycle as per the screen instructions. To set the unit to the new mode upon powering up, turn on power and the new data rate will be shown under the green bars in the upper right corner xxx msgs per sec. LandMark 60 IMU User s Guide Page 16 Rev. 09/13/2017

25 All LMRK IMUs can be put into a 500 Hz data rate mode. This is shown in the Figure 21. Figure 21 IMU Mode at 500 Hz Data Rate LandMark 60 IMU User s Guide Page 17 Rev. 09/13/2017

26 4.10 Unit Display Options The SDK software also can set the dimensional units of the display. This is selected under Units. Figure 22 shows the Rate unit selection. Figure 22 Gyro Units of Measure Selection Options LandMark 60 IMU User s Guide Page 18 Rev. 09/13/2017

27 Figure 23 shows the Accel unit selection. Figure 23 Accelerometer Units of Measure Selection Options LandMark 60 IMU User s Guide Page 19 Rev. 09/13/2017

28 4.11 Data Record Feature The SDK software also has a data record feature that captures data outputting from the IMU and puts it into.csv format. This enables the user to easily convert these data files to Excel or database format. The user should click the Start Recording button (Fig. 24) to initiate data record function. When they wish to stop recording, simply click the Stop Recording button. Figure 24 Data Record Capability LandMark 60 IMU User s Guide Page 20 Rev. 09/13/2017

29 Select Start Record and designate the file name and location before the recording begins. To begin Data Record function, click on Open as per Figure 25. After the designated file is established, click the desired length of time to record then click OK (Fig. 26). Click on Open Figure 25 Start Record File Path NOTE: Be sure to look at the Glamr message log to ensure file path is correct and file has successfully been opened for writing. LandMark 60 IMU User s Guide Page 21 Rev. 09/13/2017

30 Click OK to start recording 4.12 Bandwidth Filtering Capability Figure 26 Saving Data Record Time Bandwidth vs. Noise One thing to be aware is that our standard LandMark 60 IMU is optimized for high bandwidth, so the gyro bandwidth is set at 250 Hz. True bandwidth with the -3 db point is approximately 100 Hz when the 200 Hz sample system is included. These are the settings for the standard unit when shipped and the noise may not be optimized for an end-user s specific application. The high bandwidth is ideal for dynamic applications where the high bandwidth would be required to close control loops in flight control in a UAV, for example. However, in UAV navigation, a lower bandwidth would be possible and there would be an improvement in noise. Laboratory uses, automotive monitoring, or stabilization applications would likely prefer improved noise and could tolerate reduced bandwidth. LandMark 60 IMU User s Guide Page 22 Rev. 09/13/2017

31 Effective with LandMark 60 IMU SDK, Gladiator Technologies offers the end-user the capability to set bandwidth filtering in permanent memory that enables the end-user to set lower bandwidth levels than 100 Hz and benefit from the reduced noise of the sensors in the LandMark 60 IMU. To utilize this capability, select Load from the drop down menu (Fig. 27). Select desired bandwidth Figure 27 Select Desired Bandwidth Filter from Drop-Down Menu Now select the desired true bandwidth of the gyros with the software filter. The user can select from Maximum (standard units are shipped with this setting) or from the other bandwidth options all the way down to 1 Hz. Once this is set and the user takes and confirms data with this new setting the LandMark 60 IMU bandwidth filter setting will remain at the setting until the user changes it in the same manner as detailed in this section. LandMark 60 IMU User s Guide Page 23 Rev. 09/13/2017

32 To help with troubleshooting, users can change what is displayed in the message section of Glamr. This is accessed through the View tab as shown in Figure 28. Message section Figure 28 Message Options for Troubleshooting LandMark 60 IMU User s Guide Page 24 Rev. 09/13/2017

33 4.13 CANBUS DBC File The DBC file that describes the CANbus interface can be auto-generated by Glamr based on the current settings using the CANBUS menu item while the unit is connected and active with the device (Fig. 29). Figure 29 CANBUS DBC File Generation 5 PATENT AND TRADEMARK INFORMATION The LandMark 60 IMU is a newly developed unit containing significant intellectual property and it is expected to be protected by United States of America (USA) and other foreign patents pending. LandMark is an official and registered Trademark that identifies Gladiator Technologies brand name for our digital inertial and integrated GPS systems products. LandMark 60 IMU User s Guide Page 25 Rev. 09/13/2017

34 6 APPLICABLE EXPORT CONTROLS The LandMark 60 IMU has been self-classified by Gladiator Technologies with pending Commodity Classification by the U.S. Department of Commerce under the Export Administration Regulations (EAR), as ECCN7A994 and as such may be exported without a license using symbol NLR (No License Required) to destinations other than those identified in country group E of supplement 1 to Part 740 (commonly referred to as the T-5 countries) of the Export Administration Regulations. Items otherwise eligible for export under NLR may require a license if the exporter knows or is informed that the items will be used in prohibited chemical, biological, or nuclear weapons or missile activities as defined in Part 774 of the EAR. Copies of official U.S. Department of Commerce Commodity Classifications are available upon request. 7 USER LICENSE Gladiator Technologies grants purchasers and/or consignees of Gladiator s LandMark 60 IMU a no cost, royalty free license for use of the following software code for use with the LandMark 60 IMU. Companies or persons not meeting the criteria as a purchaser or consignee are strictly prohibited from use of this code. Users in this category wanting to use the code may contact the factory for other user licensing options. 8 STANDARD LIMITED WARRANTY Gladiator Technologies offers a standard one (1) year limited warranty with the factory s option to either repair or replace any units found to be defective during the warranty period. Opening the case, mishandling, or damaging the unit will void the warranty. Please see Gladiator Technologies Terms & Conditions of sale regarding specific warranty information. 9 QUALITY MANAGEMENT SYSTEM Gladiator Technologies Quality Management System (QMS) is certified to AS9100 Rev. C and ISO9001:2008. UL-DQS is the company s registrar and our certification number is ASH09. Please visit our website at to view our current certificates. LandMark 60 IMU User s Guide Page 26 Rev. 09/13/2017

35 10 THEORY OF OPERATION The LandMark 60 IMU is a digital 6 Degree of Freedom MEMS (Micro Electro-Mechanical System) IMU that outputs x-, y-, and z-axis angular rates, x-, y-, and z-axis linear acceleration data, as well as temperature. Utilizing Gladiator's proprietary thermal modeling process, this unit is fully temperature compensated, with temperature-corrected bias and scale factor, plus corrected misalignment and g- sensitivity. The unit features: The RS422/RS485 digital interface provides serial data outputs enabling the user to monitor the outputs during use. Internal sampling is done at 10 khz. Oversampling is done on the IMU output rate (4X) when set at 2.5 khz and then averaged to improve the noise of the MEMS sensors. The nominal output rate in the LandMark 60 IMU is 1 khz ± 5%. An RS422/RS485 to USB converter is available in Gladiator's LandMark 60 IMU Software Development Kit (SDK) to enable a quick IMU to PC integration and ease of use. Three MEMS gyro signals with active filtering and 4X oversampled when set at 2.5 khz with a 16- bit A/D converter. The gyros are available in standard ranges of ± 250 /sec or ± 490 /sec. Three MEMS accelerometer signals with analog buffering and 4X oversampled when set at 2.5 khz with a 16-bit A/D converter. The accelerometers are available in standard ranges of ± 6 g s or ± 10 g s. Higher g ranges are available upon request. Please contact the factory for further information. Six internal temperature sensors outputs are 4X over sampled when set at 2.5 khz with a 16-bit converter. These temperature measurements are co-located with each x-, y-, and z-axis gyro and each x-, y-, and z-axis accelerometer to enable accurate temperature compensation of the gyro and accelerometer outputs. The calibration process measures temperature at a minimum of five set points from -40 C to +85 C and a nine-point correction table is generated that identifies temperature based offsets for each of the gyro and accelerometer data sets. Depending upon the variable, up to a 4 th order thermal model is used to create a correction model. Though a precision orthogonal mounting block is used in testing the LandMark 60 IMU, misalignment error correction is also essential in enabling high performance navigation from a MEMS inertial sensor assembly. The calibration process also corrects and compensates for internal misalignment errors for all sensors in all three axes. In addition "g-sensitivity" errors associated with the gyros are also modeled and calibrated to correct these performance errors associated with acceleration inputs in all three gyro axes. All of the calibration data is then loaded into an internal memory EEPROM enabling a look-up table for thermal modeling correction of the outputs during use. LandMark 60 IMU User s Guide Page 27 Rev. 09/13/2017

36 The LandMark 60 IMU data sheet is available to our customers via download on our website. For more information please see Gladiator Technologies website at Copies of the User s Guides are available upon request at support@gladiatortechnologies.com. Additionally, the LandMark 60 IMU SDK software design enables updates to the IMU interface. As these software enhancements and upgrades become available, Gladiator Technologies will make these available to our IMU customers. Figure 30 LandMark 60 IMU with Mating Connector vs. 2 Euro Coin & US Quarter LandMark 60 IMU User s Guide Page 28 Rev. 09/13/2017

37 11 LandMark 60 IMU PRODUCT DESCRIPTION The LandMark 60 IMU is our premium performance model featuring both our lowest noise MEMS gyros and accelerometers that also offer outstanding bias in-run and bias over temperature. This high performance MEMS Inertial Measurement Unit (IMU) provides internally temperature-compensated RS422/RS485 output of delta velocity and delta theta. Designed for commercial stabilization and aircraft applications, the LandMark 60 IMU is ideal for commercial applications requiring high inertial performance approaching small RLG or open loop FOG- Class, yet available at much lower cost. Other key advantages include low power consumption, small size, light weight, and no inherent wear out modes for long life. The signature features of the LandMark 60 IMU are the exceptionally low noise and bias performance. NON-ITAR MEMS IMU Upgrade for LandMark 10/20/40 IMUs Ultra-Low Gyro Noise /sec/Hz Low Accel Noise 0.05 mg/hz Wide Sensor Bandwidth 250 Hz Gyro Bias In-Run 3 /hour 1σ Bias Over Temperature 45 /hour 1σ Compensated Misalignment 0.5 mrad G-Sensitivity < /sec/g 1σ Full Temperature Calibration (Bias and SF) Vibration 8g rms Shock Resistant 600g Light Weight 115 grams Low Power < 500 mw typical RS422/428 Data Rate up to 3 khz (selectable) CAN bus 2.0B 1 MHz Figure 31 LandMark 60 IMU vs. 2 Euro Coin The LandMark 60 IMU s ultra-low noise and low bias MEMS gyros and accelerometers enable precision measurement including excellent in-run bias and bias over temperature. The IMU s performance is optimized with fully temperature compensated bias and scale factor, as well as compensated misalignment and g-sensitivity. The unit is environmentally sealed in a rugged enclosure and MIL-SPEC connector in order to withstand environmental vibration and shock typically associated with commercial aircraft requirements. The LandMark 60 IMU is well suited for demanding commercial applications including: rail track telemetry, navigation, flight control, precision imaging, platform and antenna stabilization, flight testing, and laboratory use. Other standard custom ranges are available. LandMark 60 IMU User s Guide Page 29 Rev. 09/13/2017

38 11.1 Outline Drawing and 3D Solid Models Please go to the applicable product of interest on our website at and a user can download the 3D Solid Model, 2D outline drawing, and other product information D Solid Model Figure 32 shows the LandMark 60 IMU in a 3D environment. Figure 32 LandMark 60 IMU 3D Model LandMark 60 IMU User s Guide Page 30 Rev. 09/13/2017

39 Outline Drawing Figure 33 LandMark 60 Outline Drawing LandMark 60 IMU User s Guide Page 31 Rev. 09/13/2017

40 11.2 Outline Exploded View & Axis Orientation IMU Axis Orientation Figure 34 LandMark 60 IMU Exploded Outline Drawing (metric in [mm]) LandMark 60 IMU User s Guide Page 32 Rev. 09/13/2017

41 11.3 Center of Gravity Some applications need to know where the navigation (NAV) point of the accelerometers is located. The navigation (NAV) point at which all three accelerometers sensing axes pass through is located along the centerline of the package at a distance from the base plate of 0.45 inches (11.43 mm). From this point there are three size effect distances from this NAV point as follows: X Accel offset = inches (along the x-axis direction) (15.6mm) Y Accel offset = inches (along the y-axis direction) (18.3 mm) Z Accel offset = inches (along the z-axis direction down from the NAV point) (4.23 mm) Note that the Z Accel NAV point can also be expressed as inches (5.64mm) up from the base plate. Some applications need to know the CG or center of gravity of the package which is just the mass center. The CG is also along the center line of the package at the midpoint along the z-axis. This is 0.70 inches or 17.7 mm above the base plate. LandMark 60 IMU User s Guide Page 33 Rev. 09/13/2017

42 11.4 IMU Block Diagram Figure 35 LandMark 60 IMU Block Diagram LandMark 60 IMU User s Guide Page 34 Rev. 09/13/2017

43 11.5 LandMark 60 IMU Part Naming Convention & Part Numbers LMRK60 IMU LMRK 60 IMU Product Make LMRK = LandMark Product Model 60 Product Type Inertial Measurement Unit Gyro Rate Range 490 /sec Accelerometer linear range 10g s Specific Unit Configuration 100 Figure 36 Gladiator Technologies Part Naming Convention LandMark 60 IMU LMRK60IMU or -10 LMRK60IMU or -10 Figure 37 LandMark 60 IMU Part Number Configurations LandMark 60 IMU User s Guide Page 35 Rev. 09/13/2017

44 11.6 LandMark 60 IMU Pin Assignments The LandMark 60 IMU has a 15 pin MIL-SPEC connector interface which provides the electrical interface to the host application. The signal pin-out is as follows: Pin No. Assignment 1 RS-485 A (+) (Twisted Pair) 2 RS-485 B (-) (Twisted Pair) 3 Power Ground 4 Analog/Digital Input (0 V to 5 V) 5 +7 V to +36 V Input Power 6 External Sync Input (up to 3 khz) 7 +5 V Regulated Output 8 Signal Ground 9 Self Test 10 CAN High 11 CAN Low 12 CAN Gnd 13 N C 14 N C 15 Case Note: Any unused inputs (Pins 4, 6, 9) must be connected to signal ground (Pin 8). Outputs Serial Sequence 1 Roll Gyro (X) 2 Pitch Gyro (Y) 3 Yaw Gyro (Z) 4 X Accelerometer 5 Y Accelerometer 6 Z Accelerometer 7 Temperature ± 0.5 C typical Figure 38 LandMark 60 IMU Pin Assignments and Outputs NOTE: If the input pins have long wires with no termination, they can pick up noise in a high EMI environment and upset the proper operation of the IMU. Pin 6 is particularly vulnerable to noise pickup and can cause data drops. For an IMU, Pin 4 is not used and should be grounded. Pin 9 is Self-Test and is OK if connected to a logic level signal source, otherwise connect to Pin 8. LandMark 60 IMU User s Guide Page 36 Rev. 09/13/2017

45 11.7 LandMark 60 IMU Performance Specification See applicable current revision data sheet available on our website at NOTE: Other standard gyro ranges may be available and standard accelerometer ranges of 16g, 30g, 50g, and 70g. Be aware that any selection of these higher ranges will likely result in export categorization of the product as ECCN7A003 and require a U.S. Department of Commerce Export License for some foreign destinations and/or end-use applications. Please see applicable datasheet for other product models and serial number effectivity. 12 LandMark 60 IMU MESSAGE PROTOCOL (V72) 12.1 Serial Communication Settings Parameter Value Bits/second: , , 1.5 Mbit, 3.0 Mbit Data bits: 8 Parity: E Stop bits: 1 Note: Glamr Setting 12.2 IMU Message Packet Format Figure 39 Serial Communication Settings At power-up, the IMU enters operational mode using the last commanded mode setting. Description Number of bytes Value LSB weight Start of message 1 0x2A N/A Message counter 1 Mod 256 counter N/A Gyro X axis 2 Signed 16-bit integer 0.01 deg/sec Note 6 Gyro Y axis 2 Signed 16-bit integer 0.01 deg/sec Note 6 Gyro Z axis 2 Signed 16-bit integer 0.01 deg/sec Note 6 Accel X axis 2 Signed 16-bit integer See Accel LSB Note 7 Accel Y axis 2 Signed 16-bit integer See Accel LSB Note 7 Accel Z axis 2 Signed 16-bit integer See Accel LSB Note 7 Temperature 2 Signed 16-bit integer 0.01 deg C Test/Status indicator 1 Normal=0x00 (note 4) N/A Checksum 1 Two s complement sum N/A Total size 18 Figure 40 IMU Message Packet Format LandMark 60 IMU User s Guide Page 37 Rev. 09/13/2017

46 Important Messaging Protocol Notes Note 1 - Checksum The checksum is computed by taking the two s complement of the sum of the first 17 bytes of the message. Thus, performing a byte-wide sum of all 18 bytes in the message always equals zero Note 2 Little-Endian Format All 16-bit data are transferred in little-endian format. Thus, the LSB is received first Note 3 Transport Time per Message Packet Total transport time per message packet: (18 bytes *11 bits/byte)/115.2 kbits/sec = 1.72 ms (18 bytes *11 bits/byte)/921.6 kbits/sec = ms (18 bytes *11 bits/byte)/1.5 Mbits/sec = ms (18 bytes *11 bits/byte)/3.0 Mbits/sec = ms Note 4 IMU Status Byte Decoding Individual bit representation in the test/status byte can be seen in Figure Message Counter set to 2 246, Bit 6 = 0 Bit Name Value 0 Cal/Test mode indicator 1=Test mode, 0=Cal or Norm 1 Sync 1=external sync, 0=internal sync 2 Interface error 1=internal interface fail message count even = I2C device message count odd = SPI device 3 Flash checksum error 1=Flash coefficient checksum fail 4 Software error 1=internal software fail 5 Software timing error 1=software missed real-time 6 Status byte select 0 (bits 2-5, bit 7 are status) 7 Self-test 1=self-test active Figure 41 Status Byte Decode when Bit 6 is 0 LandMark 60 IMU User s Guide Page 38 Rev. 09/13/2017

47 Message Counter set to 2 246, Bit 6 = 1 Bit Name Value 0 Gyro Range indicator 0= Norm, 1=Wide 1 Accel range bit 0 000b=default, 001b=3g, 2 Accel range bit 1 010b=2g,011b=6g, 100b=10g, 101b=16g, 3 Accel range bit 2 110=32g, 111b=65g 4 Gyro range LSB Norm- 11b=250 /s 5 Gyro range MSB Wide- 01b=490 /s 6 Status byte select 1 (bits 2-5, bit 7 are settings) 7 Digital board rev 9 1=rev9 (or greater), 0=rev 8 Figure 42 Status Byte Decode when Bit 6 set to 1 (every other message) Message Counter set to 0 or 1 Message Count Bit 7 Name Value (Bits 6:0) 0 0 IMU SW major revision number 0 to IMU SW product code 0 to IMU SW minor revision number 0 to IMU SW release level number 0 to 127 Figure 43 IMU Status Byte Decode when Message Count set to 0 or Message Counter set to 247 (AHRS) Message Count Name Value 247 Bandpass filter number 0 = unknown 1-99 = valid 100 = maximum > 100 = TBD Figure 44 Status Byte Decode when Message Count set to 247 LandMark 60 IMU User s Guide Page 39 Rev. 09/13/2017

48 Message Counter Set to Message Name Value Count 248 Board Number Byte 0 0 to Board Number Byte 1 0 to Board Number Byte 2 0 to Board Number Byte 3 0 to Board Number Encoding Figure 45 Status Byte Decode when Message Count set to 248 through 251 The board number is a 32-bit value that encodes five characters in a 6-bit format. Bit 31 Bit 30:25 Bit 24:18 Bit 17:12 Bit 11:6 Bit 5:0 0 Char 5 Char 4 Char 3 Char 2 Char 1 Figure 46 Board Number Encoding (32-bit to 6-bit) The encoding of a character is as follows: Value 0 space character Value 1 through 10 0 character through 9 character Value A character through Z character Value Undefined LandMark 60 IMU User s Guide Page 40 Rev. 09/13/2017

49 Serial Number when Message Counter set to IMU status byte decode when message counter set to 252 through 255. Message Count Name 8-Bit Value 32-bit Value 252 Serial Number Byte 0 0 to 255 Bits Serial Number Byte 1 0 to 255 Bits Serial Number Byte 2 0 to 255 Bits Serial Number Byte 3 0 to 255 Bits 0-7 Figure 47 Status Byte Decode when Message Count set to 252 through 255 After appending the four transmitted 8 bit words to a 32 bit binary, convert this to decimal. The 32-bit value stores 6 character values in a modulo 37 (% 37) format as follows: Character Value 6 = (32-bit value) % 37 Character Value 5 = (32-bit value / 37) % 37 This is the next character to the left of the one you just decoded. Repeat this again and again till you finish all 6 characters. Character Value 4 = (32- bit value / 37 / 37) % 37 Character Value 3 = (32-bit value / 37 / 37 / 37) % 37 Character Value 2 = (32-bit value / 37 / 37 / 37 / 37 ) % 37 Character Value 1 = (32-bit value / 37 / 37 / 37 / 37 / 37) % 37 The encoding of a character value allows for an alphanumeric serial number is as follows: Value 0 space character Value 1 through 10 0 character through 9 character Value 11 through 36 A character through Z character Serial Number Encoding Example: Frame Status 32 Bit Number = 0x0CBCE12F = (decimal) 252 0x0C char 6 = % 37 = xBC char 5 = ( / 37) % 37 = % 37 = xE1 char 4 = ( / 37) % 37 = % 37 = x2F char 3 = ( / 37) % 37 = 4219 % 37 = 1 char 2 = (4219 / 37) % 37 = 114 % 37 = 3 char 1 = (114 / 37) % 37 = 3 % 37 = 3 Then, using the encoding, we get SN = 220 LandMark 60 IMU User s Guide Page 41 Rev. 09/13/2017

50 Note 5 Accel LSB and Accel Over-Range The Accel LSB scaling depends on the g-range of the Accels in the selected IMU device. Please note that some accelerometers may have inherent over-range versus the range reflected on the datasheet. An example is the 16g part number. This accelerometer is designed to have over-range up to 20+ g s. As the LSB is set to an equal to or less than Accel Range, the user would want to use the next higher up Accel range LSB in order to use the inherent over-range of the applicable Accel. In this example they would instead use the 30g Accel Range and the associated LSB of g Note 6 Gyro LSB Scale Factor The Gyro LSB scale factor depends on the rate-range of the Gyros: Status Bits [5:4:0] Gyro Range Value LSB Scale Factor 000 Default (no value listed) 0.01 /s /s /s 111 N/A N/A Figure 48 Gyro LSB Scale Factor Note 7 Accelerometer LSB Scale Factor The Accel LSB scale factor depends on the g-range of the Accels. Status Bits [3:2:1] Accel Range Value LSB Scale Factor 001 3g g 010 2g g 011 6g g g g g g g g g g g g Figure 49 Accel LSB Scale Factor LandMark 60 IMU User s Guide Page 42 Rev. 09/13/2017

51 Important User Interface Comments The IMU messaging protocol is quite important and can be somewhat confusing for the user. Please note that the proper sequence of the output data is: Start Byte Message Count Gyro X Gyro Y Gyro Z Accel X Accel Y Accel Z IMU Temp Status Byte (based on Message Count) Checksum Also, the IMU s LSB should be 0.01 deg/sec for gyros and for 10g Accels and for 2g Accels as well as 0.01 degrees for temperature. So you divide the data by 100 for the gyros and temperature and divide by 2,000 for 10g or 10,000 for 2g accelerometers to get the corrected data without using the Software Development Kit. The Glamr software interface does the 10g or 2g accelerometer correction for the user internally. If you are not using the Software Development Kit, then you will need to do this divide function to get corrected data. LandMark 60 IMU User s Guide Page 43 Rev. 09/13/2017

52 12.3 Sample Data Format Figure 50 provides a sample IMU data output in Excel. The real output includes both the header information and data (see rows with MSGCOUNT) that contain actual output data. Also included are the multiplier information, averages, and units of measure for additional clarity. The IMU Software Development Kit also includes the actual Excel file as in Figure 50, so that the user can quickly identify the formulas to use in their system integration directly from the sample data file. Figure 50 Screenshot of LandMark 60 IMU Sample Data Please note that when the customer uses the Glamr interface it automatically rescales the accelerometers, so there is no divide by function required for the accelerometers. This is displayed in Figure 50, as well as the sample Excel file included in the LandMark 60 IMU Software Development Kit (SDK). However, if the user is not using Glamr and inputting directly into their system, then they should use the LSB s noted above (LSB 0.01 deg/sec for gyros and for 10g accels and for 2g accels, as well as 0.01 degrees for temperature). LandMark 60 IMU User s Guide Page 44 Rev. 09/13/2017

53 CAN Output Messages The following table summarizes the output data stream messages from the device for each of its various modes. The transmit sequence follows from top to bottom in the table, with the start of message byte transmitted first and the checksum transmitted last in all cases. At power-up, the device reads the operation mode (i.e. Full, Spec, etc.) from its Flash storage and begins to transmit data in that mode. Figure 51 is an example of CAN output. Figure 51 IMU CAN Output Refer to section entitled CANBUS DBC File for how to generate the associated CAN database file associated with the unit Sync Input (5 khz) The optional input to the IMU is a sync square wave to Pin 6. This allows the data stream to be synchronized to an external clock. For example, if the user wants to supply and sync an external GPS to the IMU the GPS typically generates a 2.5 khz square ware and this is sent to the IMU when the GPS signal is valid. However, any external 2.5 khz clock of logic level can be used to synchronize the data Specification Clock 2.5 khz ± 5% square wave (40-60 duty cycle not critical) Data sample starts on the rising edge only 3.3 V logic is suggested (-0.3 V < 0 < 0.8 V and 2.0 V < 1 < 5.3 V) Input has diode protection for levels below -0.7 V or above 5.5 V to 10.5 V to protect the CPU, but excessive levels may cause performance problems. LandMark 60 IMU User s Guide Page 45 Rev. 09/13/2017

54 Status Bit The IMU will operate on an internal 2.5 khz clock until an external clock is detected. Then the IMU will automatically switch over and set Status Bit 1 true. It should be noted that as the internal and external clocks are asynchronous, the first transition will take a few clock periods to align. The status bit will be set true for that period even if there is only one sample. However, the next 200 Hz data package will all be samples on the external clock. Refer to the timing diagram to see the relationship between external clock and data transmission (Figure 52). The time between the 5 th (last sample) and the start of the 200 Hz data transmission is 1.5 ± 0.05 msec. If the start of the external sync is delayed to between 2.5 msec and 3.5 msec from the start of the 200 Hz data package transmission, then all 5 of the next 1 khz samples will be on the external clock. If the delay is close to 3.5 msec, then the internal to external clock shift will have minimum impact on the data as this is the first sample clock. The IMU will revert to the internal clock if the external clock is removed and data will continue to be sent. In most cases the timing of the external sync application is not critical and the data can be used as is Timing Diagram Figure khz Timing Diagram LandMark 60 IMU User s Guide Page 46 Rev. 09/13/2017

55 Bit Values for External Sync Input Bit Name Value 0 Cal/Test mode indicator 1=Test mode, 0=Cal mode (Factory) 1 Sync transition 1=external/internal sync change 2 interface error 1=fail 3 Flash checksum error 1=Flash coefficient checksum fail 4 Software error 1=internal software fail 5 Output processing error 1=software missed real-time 6 AD processing error 1=software missed real-time 7 Self-test 1=self-test active 12.5 Bandwidth vs. Noise Figure 53 Bit Values for External Sync Input Note that our standard LandMark 60 IMU is optimized for high bandwidth, so the gyros are set at 250 Hz. True bandwidth includes the data sampling effects and has the -3 db point, which is approximately half of the sample frequency. These are the settings for the standard unit when shipped and the noise may not be optimized for an end-user s specific application. The high bandwidth is ideal for dynamic applications where the high bandwidth would be required to close control loops in flight control in a UAV, for example. However, in UAV navigation a lower bandwidth would be possible and the unit would output an improvement in peak-to-peak noise. Laboratory uses, automotive monitoring or stabilization applications would likely prefer improved (lower) noise and could tolerate reduced bandwidth. The LandMark 60 IMU Software Development Kit offers the end-user the capability to set bandwidth filtering in permanent memory. This enables the end-user to set lower bandwidth levels than the sensor bandwidth in order to benefit from the reduced peak-to peak noise of the sensors in the IMU. Figure 54 Bandwidth Frequency and Output Data Rate LandMark 60 IMU User s Guide Page 47 Rev. 09/13/2017

56 Figure 55 Gyro Bandwidth vs. Peak-to-Peak Noise 100 Hz Figure 56 Gyro Bandwidth vs. Peak-to-Peak Noise 1 khz LandMark 60 IMU User s Guide Page 48 Rev. 09/13/2017

57 13 SAMPLE TEST DATA & TEST METHODS 13.1 Gladiator ATP Explanation Rate Spin Test Data is captured at 100 Hz data rate. The unit is mounted on an orthogonal test fixture and spun at about half of the full scale rate range. The data comes across as a raw number with an LSB of 0.01 deg/sec. This means that all the data has to be divided by 100 to get into degrees per second units. The spin rate in the data below was 144 /sec. Each column is the data taken for the axis name at the top of the column during the test at the left. The final values printed in green fall within the passing values for the unit (note that all passed). Figure 57 Rate Spin Test LandMark 60 IMU User s Guide Page 49 Rev. 09/13/2017

58 Accelerometer Tumble Test Data is captured at 100 Hz data rate. The unit is mounted on an orthogonal test fixture and placed in ± 1g and ± 0g in this test. During this test the gyro and accelerometer biases are measured as well as the gyro g-sensitivity and the accelerometer misalignments are measured. The data comes across as a raw number with an LSB of 1 milli-g. Figure 58 Accelerometer Tumble Test Data LandMark 60 IMU User s Guide Page 50 Rev. 09/13/2017

59 13.2 Angle Random Walk The unit is mounted on an orthogonal fixture and is turned on with no input. Data is captured at 200 Hz data rate. The white noise due to angular rate is measured. ARW is typically expressed in our datasheets in degrees per second per square root hertz ( /sec/ Hz), which is standard for most MEMS gyros. However, our performances are now commensurate with higher performing small open loop FOGs and small RLG s, so we also denote ARW in degrees per square root hour [ / h]. Figure 59 Angle Random Walk (ARW) LandMark 60 IMU User s Guide Page 51 Rev. 09/13/2017

60 13.3 Velocity Random Walk The unit is mounted on an orthogonal test fixture and is turned on with no input. Data is captured at 200 Hz data rate. We measure the velocity errors that build up with time due to white noise in acceleration,. VRW is typically expressed in our datasheets in milli-g per square root hertz (mg/ Hz), which is standard for most MEMS accelerometers. However, our performances are now approaching higher performing quartz based servo accelerometers, so we also denote VRW in meters per second per square root hour [(m/s)/ h]. This from a 6g range accelerometer: Figure 60 Velocity Random walk LandMark 60 IMU User s Guide Page 52 Rev. 09/13/2017

61 13.4 Bias In-Run The unit is placed on an orthogonal test fixture. Data is captured at 100 Hz data rate. Then the bias of the accelerometers and gyros are measured at 1 Hz average. After a five minute warm-up period, the data is taken for five minutes at ambient temperature. The test conditions should be similar to what a user should likely have during initial setup approximately within five minutes after turn-on. Figure 61 X Gyro Bias In-Run LandMark 60 IMU User s Guide Page 53 Rev. 09/13/2017

62 Figure 62 Y Gyro Bias In-Run LandMark 60 IMU User s Guide Page 54 Rev. 09/13/2017

63 Figure 63 Z Gyro Bias In-Run LandMark 60 IMU User s Guide Page 55 Rev. 09/13/2017

64 Figure 64 X Accelerometer Bias In-Run LandMark 60 IMU User s Guide Page 56 Rev. 09/13/2017

65 Figure 65 Y Accelerometer Bias In-Run LandMark 60 IMU User s Guide Page 57 Rev. 09/13/2017

66 Figure 66 Z Accelerometer In-Run Bias LandMark 60 IMU User s Guide Page 58 Rev. 09/13/2017

67 13.5 Bias and Scale Factor over Temperature Data is captured at 100 Hz data rate. The temperature calibration process measures temperature at a minimum of five set points from -40 C to +85 C at a slew rate of approximately 1 /minute. A nine point correction table is generated that identifies temperature based offsets for each of the gyro and accelerometer data sets. Depending upon the variable, up to a 4 th order thermal model is used to create a correction model. The black line is the model fit to the blue diamond data points (Fig. 67) Gyro Bias over Temperature Figure 67 X Gyro Bias over Temperature LandMark 60 IMU User s Guide Page 59 Rev. 09/13/2017

68 Figure 68 Y Gyro Bias over Temperature LandMark 60 IMU User s Guide Page 60 Rev. 09/13/2017

69 Figure 69 Z Gyro Bias over Temperature LandMark 60 IMU User s Guide Page 61 Rev. 09/13/2017

70 Gyro Scale Factor over Temperature Figure 70 X Gyro Scale Factor over Temperature LandMark 60 IMU User s Guide Page 62 Rev. 09/13/2017

71 Figure 71 Y Gyro Scale Factor over Temperature LandMark 60 IMU User s Guide Page 63 Rev. 09/13/2017

72 Figure 72 Z Gyro Scale Factor over Temperature LandMark 60 IMU User s Guide Page 64 Rev. 09/13/2017

73 Accelerometer Bias over Temperature Figure 73 X Accelerometer Bias over Temperature LandMark 60 IMU User s Guide Page 65 Rev. 09/13/2017

74 Figure 74 Y Accelerometer Bias over Temperature LandMark 60 IMU User s Guide Page 66 Rev. 09/13/2017

75 Figure 75 Z Accelerometer Bias over Temperature LandMark 60 IMU User s Guide Page 67 Rev. 09/13/2017

76 Accelerometer Scale Factor over Temperature Figure 76 X Scale Factor over Temperature LandMark 60 IMU User s Guide Page 68 Rev. 09/13/2017

77 Figure 77 Y Scale Factor over Temperature LandMark 60 IMU User s Guide Page 69 Rev. 09/13/2017

78 Figure 78 Z Accelerometer Scale Factor over Temperature LandMark 60 IMU User s Guide Page 70 Rev. 09/13/2017

79 13.6 Bias Turn-On (from a Cold Start) The LandMark 60 IMU is NOT specified for this condition. This data is supplied for customer reference only. Data is captured at 100 Hz data rate for 25 minutes (one second average data can be seen in Figures 79-84). Test conditions assume a unit has been powered off for a minimum of at least five minutes and then data is taken at ambient temperature from initial power-on to determine sample turnon transient performance. It should be noted that most of the turn-on transient occurs during the initial two minutes after power-on and after that it performs near the specified Bias In-Run performance level. Figure 79 X Gyro Bias Turn-On LandMark 60 IMU User s Guide Page 71 Rev. 09/13/2017

80 Figure 80 Y Gyro Bias Turn-On LandMark 60 IMU User s Guide Page 72 Rev. 09/13/2017

81 Figure 81 Z Gyro Bias Turn-On LandMark 60 IMU User s Guide Page 73 Rev. 09/13/2017

82 Figure 82 X Accelerometer Bias Turn-On LandMark 60 IMU User s Guide Page 74 Rev. 09/13/2017

83 Figure 83 Y Accelerometer Bias Turn-On LandMark 60 IMU User s Guide Page 75 Rev. 09/13/2017

84 Figure 84 Z Accelerometer Bias Turn-On LandMark 60 IMU User s Guide Page 76 Rev. 09/13/2017

85 13.7 Random Vibration Random Vibration Data is captured at 200 Hz data rate on a factory shaker. The unit is subject to random frequencies with total energy contained in the vibration profile of 5.74g rms. The delta shift for each gyro and accelerometer is measured before and after the run. Also measured during vibe is the Vibration Rectification Coefficients (VRC) of the unit. Figure 85 Random Vibration Test Data LandMark 60 IMU User s Guide Page 77 Rev. 09/13/2017

86 Sine Vibration Test Data is captured at 200 Hz data rate on a factory shaker. The unit is subject to a sine sweep of various frequencies from 30 Hz to 3000 Hz and delta shifts are calculated before and after the run. Also measured during vibe is the Vibration Rectification Coefficients (VRC) of the unit from 200 Hz to 1 khz Gyro Sine Vibration Response Shaker Resonance GYRX ( /s) Shaker Shut Off GYRX ( /s) Figure 86 X Gyro Sine Vibration Response Shaker Resonance GYRY ( /s) Shaker Shut Off GYRY ( /s) Figure 87 Y Gyro Sine Vibration Response LandMark 60 IMU User s Guide Page 78 Rev. 09/13/2017

87 Shaker Resonance GYRZ ( /s) Shaker Shut Off GYRZ ( /s) Figure 88 Z Gyro Sine Vibration Response Accelerometer Sine Vibration Response 8000 ACCX (mg) Shaker Shut Off ACCX (mg) Figure 89 X Accelerometer Sine Vibration Response LandMark 60 IMU User s Guide Page 79 Rev. 09/13/2017

88 ACCY (mg) ACCY (mg) Figure 90 Y Accelerometer Sine Vibration Response 6000 ACCZ (mg) ACCZ (mg) Figure 91 Z Accelerometer Sine Vibration Response LandMark 60 IMU User s Guide Page 80 Rev. 09/13/2017

89 14 MOUNTING Mounting for the LandMark 60 IMU accommodates both metric and U.S. mounting screws. Mount the unit to a flat surface with 4ea or M4 screws. Be sure that the surface the unit is being mounted to is as clean and as level as possible in order to eliminate potential alignment errors. Adequate mounting to a surface should fall within a flatness of +/ or +/ mm. Failing to mount the unit in this fashion can result in unaccounted stress in the sensors and therefore may affect data output. Gladiator Technologies strongly encourages the user to mount the unit correctly in the described manner to ensure proper functioning. 15 OPERATION & TROUBLESHOOTING 15.1 Technical Assistance Please contact the factory or your local Gladiator Technologies sales representative's office for technical assistance. Technical Support - USA Gladiator Technologies Attn: Technical Support 8020 Bracken Place SE Snoqualmie, WA USA Tel: x222 Fax: techsupport@gladiatortechnologies.com Web: Authorized Distributors and Technical Sales Representatives If you need additional assistance please contact your local distributor and/or the factory for further technical support. LandMark 60 IMU User s Guide Page 81 Rev. 09/13/2017

90 15.3 Technical Support Website Our Technical support webpage has user training videos, the latest software downloads, as well as Remote Desktop Assistance. For direct assistance, Gladiator Technologies offers Remote Assistance (Fig. 95 and Web Conferencing (Fig. 96). If you need assistance and would like to set up a remote desktop session, please visit join.me.com. For assistance navigating the Gladiator Technologies website, see Figures Figure 92 Website Select Product Category LandMark 60 IMU User s Guide Page 82 Rev. 09/13/2017

91 Figure 93 LandMark 60 IMU Product Main Webpage The Technical support webpage has user training videos; the latest software downloads as well as Remote Desktop Assistance. Figure 94 LandMark 60 IMU Product Documentation Downloads LandMark 60 IMU User s Guide Page 83 Rev. 09/13/2017

92 Figure 95 Remote Desktop Support Web Page LandMark 60 IMU User s Guide Page 84 Rev. 09/13/2017

93 Figure 96 Web Conferencing Web Page LandMark 60 IMU User s Guide Page 85 Rev. 09/13/2017