Pni SeaTRAX Manual de usuario

User Manual SeaTRAX High-Accuracy Heading Sensor

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 5 Table 3-5: Environmental Requirements Parameter Value Operating Temperature1 -40

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 6 3.2 Mechanical Drawings The SeaTRAX with the shield is PNI pn 13457, while wi

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 7 4 Set-Up This section describes how to configure the SeaTRAX in your h

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 8 4.2.1 Operate within the SeaTRAX’s dynamic range The SeaTRAX can be user calibra

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 9 4.3 Mechanical Mounting For the SeaTRAX, the full-radius cut-outs along the long

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 10 4.3.2 Mounting Orientation The SeaTRAX can be mounted in various orient

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 11 5 User Calibration The magnetic sensor in the SeaTRAX is calibrated at PNI’s fa

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 12 5.1 Magnetic Calibration Two fundamental types of magnetic distortion exi

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 13 Other Considerations The SeaTRAX measures the total magnetic field within

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 14 Before proceeding with a calibration, ensure the SeaTRAX is properly installed i

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page i Table of Contents 1 COPYRIGHT & WARRANTY INFORMATION ...

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 15 Table 5-2: 12 Point Full-Range Calibration Pattern Sample # Yaw1 Pitch Roll Fir

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 16 Table 5-3: 12 Point 2D Calibration Pattern Sample # Yaw Pitch1 Roll1 1 0° 0° 0°

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 17 Note that a similar and acceptable alternative pattern would be to f

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 18 gravitational vector, which in turn will result in an inaccurate headi

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 19 points, although it generally is more difficult to obtain a good calibration wi

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 20 6 Operation with SeaTRAX Studio SeaTRAX Studio puts an easy-to-use, graphical-u

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 21 6.2 Connection Tab 6.2.1 Initial Connection If using the PNI dual-connectoriz

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 22 6.2.3 Changing Modules Once a connection has been made, SeaTRAX Studio will r

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 23 Table 6-1: Mounting Orientations SeaTRAX Studio Description Figure 4-2 Descript

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 24 6.3.4 Output The SeaTRAX module can output heading, pitch, and roll in either d

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page ii 6.3.10 Default ...

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 25 Acquire Delay The Acquire Delay sets the time between samples taken by the modul

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 26 the <Take Sample> button will indicate to the module to take a

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 27 6.4 Calibration Tab Note: The default settings are recommended for the highes

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 28 6.4.2 Calibration Results Once a calibration is complete, the “Calibration Resu

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 29 6.4.3 Current Configuration These indicators mimic the pertinent selections mad

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 30 6.5 Test Tab 6.5.1 Current Reading Once the <Go> button is selected the

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 31 6.5.4 Sync Mode Sync Mode enables the module to stay in Sleep Mode until th

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 32 6.6 Log Data Tab SeaTRAX Studio can capture measurement data and then export i

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 33 6.7 Graph Tab The Graph Tab provides a 2-axis (X,Y) plot of the measured field

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 34 6.8 System Log Tab The System Log tab shows all communication between SeaTRAX

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page iii 7.3.24 kSetAcqParams (frame ID 24d) ...

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 35 7 Operation with PNI Binary Protocol The SeaTRAX utilizes a binary communicatio

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 36 7.2 Parameter Formats Note: Floating-point based parameters conform to ANSI/

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 37 Signed 16 Bit Integer (SInt16) SInt16-based parameters are signed 16 bit n

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 38 Unsigned 8 Bit Integer (UInt8) UInt8-based parameters are unsigned 8-bit numbers

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 39 17 kUserCalSampleCount Sent from the SeaTRAX after taking a calibration sample p

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 40 decoded to read “TCTA s901”, where “TCTA” indicates the device is the SeaTRAX, a

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 41 Component types are listed below. All are read-only values. kHeading, kPitch,

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 42 Example: If heading and pitch are set to be output per the kSetDataC

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 43 Table 7-4: Configuration Identifiers Settings Config. IDd Format Values / Range

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 44 kDeclination (Config. ID 1d) This sets the declination angle to determine True N

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page iv List of Tables Table 3-1: Performance Characteristics 3 Table 3-2: Absolute

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 45 last sample point. If the user wants to have maximum control over wh

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 46 After this second calibration, the coefficients values from the second calibrati

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 47 7.3.9 kSave (frame ID 9d) This frame commands the SeaTRAX to save internal conf

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 48 The CalOption values are given below, along with basic descriptions of the optio

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 49 Initiate a calibration using the kStartCal command. Note that this command re

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 50 would be in the filter. Once the taps are cleared, it is necessary to fully rep

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 51 20 05.8693165018301e-2 21 05.2436112653103e-2 22 04.5402682509802e-2 23

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 52 7.3.16 kSaveDone (frame ID 16d) This frame is the response to kSave frame. The

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 53 DistError: For a magnetic calibration, this score indicates if the distribution

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 54 7.3.23 kPowerUpDone (frame ID 23d) This frame confirms the SeaTRAX received a c

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 1 1 Copyright & Warranty Information © Copyright PNI Sensor Corporation 2012

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 55 The advantage of running with an AcquireDelay of 0 is the FIR filter can run wit

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 56 7.3.31 kTakeUserCalSample (frame ID 31d) This frame commands the SeaTRAX to tak

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 57 Example: With a baud rate of 38400, the minimum delay after sending FFh is: Min

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 58 7.4 Code Examples The following example files, CommProtocol.h, CommProtoc

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 59 kSetConfigDone, // 19 kSetFiltersDone, // 20 kStartContinuousMode, /

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 60 kCoeffCopySet = 18, // 18 - type UInt32 kAccelCoeffCopySet, // 19 - type U

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 61 7.4.2 CommProtocol.h File #pragma once #include "SystemSerPort.h" #

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 62 kPacketMinSize = 5 // min size of serial packet }; // SerPort is

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 63 7.4.3 CommProtocol.cpp File #include "CommProtocol.h" // import an

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 64 if(len > kBufferSize - kPacketMinSize) return; // Store the total len of t

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 2 2 Introduction Thank you for purchasing PNI Sensor Corporation’s SeaTRAX 3-axis,

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 65 crc ^= ((crc & 0xff) << 4) << 1; } return crc; } // //

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 66 // in CRC verification, don't include the CRC in the recalculation (-2)

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 67 7.4.4 SeaTRAX.h File #pragma once #include "Processes.h" #include &

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 68 7.4.5 SeaTRAX.cpp File #include "SeaTRAX.h" #include "TickGener

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 69 // Message is a function that displays a C formatted string // (similar to pri

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 70 case CommProtocol::kTemperature: { // Move(sour

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 71 { if(mComm) mComm->SendData(frameType, dataPtr, dataLen); // Ticks is a tim

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 72 { Message("No response from the module. Check connection and

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 3 3 Specifications 3.1 Characteristics & Requirements Table 3-1: Performance

PNI Sensor Corporation DOC#1018154 r02 SeaTRAX User Manual Page 4 Table 3-2: Absolute Maximum Ratings Parameter Minimum Maximum Units Supply Volta