NMER GP5/GLONRSS/BEDOU 9 RXIS E-COMPRS5 INERTIRL MERSURMENT UNIT

SIRF/UBLOX NMEA commands . . . . . . . . . . . . . . . . . . . . . . . 21 Electrical connections . . . . . . . . . . . . . . . . . . . . . . . . . . . .

The 9 axis e-compass is a new generation IMU featuring a GPS/ GLONASS receiver coupled with a 9 axis AHRS unit providing 3D orientation by integrating gyroscopes and data fusing with accelerometers and magnetometers. Electrical characteristics: • Low power consumption, 450mW • Power supply : 5V-15.5V (Version 1), 5V-28V (Version 2), overvoltage and reverse polarity protected • Embedded firmware upgrade through proprietary NMEA messages • Runtime user calibration • 9 axis inertial measurement unit (IMU) magnetometers, accelerometers & gyroscopes data fusing with proprietary algorithm • Onboard...

Proprietary NMEA commands General header format is $PNOVA. All messages end/must end with carriage return “\r\n”. -compass Operating Manual

aaaa: rate selection 01Hz, 05Hz or 10Hz xx: checksum • Example: $PNOVA02,05Hz* Acknowledgement: $PNOVA02,RATE SET*xx note: the rate is saved into non volatile memory $PNOVA03: NMEA $GPGMS message rate selection Set the rate in second for the $GPGMS NMEA message Format: $PNOVA03,aa*xx aa: rate selection in seconds. 00 second disable permanently the GPGMS message. xx: checksum • Example: $PNOVA03,05* (GPGMS is sent every 5 seconds) Acknowledgement: $PNOVA03,RATE SET*xx note: the rate is saved into non volatile memory $PNOVA04: Enable/Disable standard NMEA message output Enable or disable the output...

$PNOVA05: NMEA GPHDM message rate selection Set the rate of the standard $GPHDM NMEA message Format: $PNOVA05,aaaa*xx aaaa: rate selection 01Hz, 05Hz or 10Hz xx: checksum • Example: $PNOVA05,05Hz* Acknowledgement: $PNOVA02,RATE SET*xx note: the rate is saved into non volatile memory $PNOVA06: NMEA GPHDG message rate selection Set the rate of the standard $GPHDG NMEA message Format: $PNOVA06,aaaa*xx aaaa: rate selection 01Hz, 05Hz or 10Hz xx: checksum • Example: $PNOVA06,05Hz* Acknowledgement: $PNOVA02,RATE SET*xx note: the rate is saved into non volatile memory $PNOVA10: Get magnetic declination,...

• c: W (West) or E (East) • dd.d: 00.0 to 90.0 degrees - e: ‘0’ fixed magnetic variation,‘1’ automatic computation of variation - xx: checksum Example: $PNOVA10,07.6,5,W12.3,0*xx for 7.6 knots and 5 seconds minimum threshold for auto computation parameters, 12.3 degrees west declination, fixed $PNOVA11: Set magnetic declination, minimum speed, time threshold computation parameters Format: $PNOVA11 ,aa.a,b,cdd.d,e*xx - aa.a minimum speed (knots) selection, 01.0, 01,1 ...19.9,20.0 - b: minimum time in sec, 1, 2...8, 9 - cdd.d: magnetic declination • c: W (West) or E (East) • dd.d: 00.0 to 90.0...

Acknowledgement: $PNOVA61 ,aaaaa,bbbbb,ccccc,ddddd,eeeee,fffff,ggggg,hhhhh,iiiiijjjjj,kkkkk,llllrx x aaaaa: magnetometer X axis zero bias (eg: 00200) bbbbb: magnetometer Y axis zero bias ccccc: magnetometer Z axis zero bias ddddd: accelerometer X axis zero bias (eg. -0010) eeeee: accelerometer Y axis zero bias fffff: accelerometer Z axis zero bias ggggg: gyroscope X axis zero bias (eg. -0080) hhhhh: gyroscope Y axis zero bias iiiii: gyroscope Z axis zero bias jjjjj: accelerometer X axis +1G bias (eg. 16235) kkkkk: accelerometer Y axis +1G bias MMl: accelerometer Z axis +1G bias xx : checksum Example:...

aaaaa: magnetometer X axis zero bias (eg: 00200) bbbbb: magnetometer Y axis zero bias ccccc: magnetometer Z axis zero bias ddddd: accelerometer X axis zero bias (eg. -0010) eeeee: accelerometer Y axis zero bias fffff: accelerometer Z axis zero bias ggggg: gyroscope X axis zero bias (eg. -0080) hhhhh: gyroscope Y axis zero bias iiiii: gyroscope Z axis zero bias jjjjj: accelerometer X axis +1G bias (eg. 16235) kkkkk: accelerometer Y axis +1G bias MMl: accelerometer Z axis +1G bias xx : checksum Example: $PNOVA71,00040,00237,-0322,00525,00189,-0056,16543,15970,16345*xx note: this acknowledgement...

Proprietary NMEA commands Vertical axis Horizontal plan Acknowledgement: - $PNOVA82,HORIZONTAL PLAN CALIBRATION STARTED* : the IMU is launching the calibration Information message during the calibration: - $PNOVA00,JITTER DETECTED* : the IMU is detecting too much jitter thus delaying the calibration - $PNOVA00,UNIT NOT IN HORIZONTAL POSITION* : the IMU is detecting that the IMU board is not placed in the horizontal plan - $PNOVA00,CALIBRATION OK* : the IMU has finished successfully the calibration process Note: The calibration values are stored into non volatile memory Operating Manual

Proprietary NMEA commands $PNOVA83: Runtime user calibration, 90 degrees roll This message will start the static 90 degrees roll calibration. During the calibration the E-Compass must remain in a fixed 90 degrees roll position so that the IMU captures the zero bias of the accelerometer Z axis and the 1G value of the X axis Format: $PNOVA83*xx Horizontal plan Acknowledgement: - $PNOVA83,90 DEGREES ROLL CALIBRATION STARTED* : the IMU is launching the calibration Information message during the calibration: - $PNOVA00,JITTER DETECTED* : the IMU is detecting too much jitter thus delaying the calibration...

Proprietary NMEA commands Note: The calibration values are stored into non volatile memory $PNOVA84: Runtime user calibration, 90 degrees pitch This message will start the static 90 degrees pitch calibration. During the calibration the E-Compass must remain in a fixed 90 degrees pitch position so that the IMU captures the 1G bias of the accelerometer X/Y axis and the zero bias of the Z axis Format: $PNOVA84*xx Vertical axis Horizontal plan Acknowledgement: - $PNOVA84,90 DEGREES PITCH CALIBRATION STARTED* : the IMU is launching the calibration Information message during the calibration: Operating...

Proprietary NMEA commands - $PNOVA00,JITTER DETECTED* : the IMU is detecting too much jitter delaying the calibration - $PNOVA00,UNIT NOT IN 90 DEGREES PITCH POSITION* : the IMU is detecting that the IMU board is not placed in the horizontal plan $PNOVA00,CALIBRATION OK* : the IMU has finished successfully the calibration process Note: The calibration values are stored into non volatile memory $PNOVA85: Runtime user calibration, dynamic magnetic horizontal plan This message will start the dynamic horizontal plan calibration. During the calibration the E-Compass must remain in the horizontal plan...