Vectornav VN-200 User Manual - Gps Solution

Manual is about: high-performance Inertial Navigation System

Summary of VN-200

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    Um004 user manual vn-200 beta rev 0.1.3 1/47 vn -200 user manual firmware v0.1.7.X.

  • Page 2: Table of Contents

    Vn-200 user manual um004 www.Vectornav.Com 2/47 table of contents 1 introduction .................................................................................. 5 1.1 product description ..................................................................................... 5 1.2 product features ....

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    Vn-200 user manual um004 www.Vectornav.Com 3/47 4.1 numeric formats ....................................................................................... 19 4.2 single precision floating points ................................................................. 19 4.3 fixed-point numbers ..............

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    Vn-200 user manual um004 www.Vectornav.Com 4/47 5.12.1 syncinmode ............................................................................................................ 38 5.12.2 syncinedge ...........................................................................................................

  • Page 5: Introduction

    Vn-200 user manual um004 www.Vectornav.Com 5/47 1 introduction 1.1 product description the vn-200 is a miniature, surface-mount, high-performance inertial navigation system (ins). Incorporating the latest solid-state mems sensor technology, the vn-200 combines 3-axis accelerometers, 3-axis gyros, 3-...

  • Page 6: Surface-Mount Package

    Vn-200 user manual um004 www.Vectornav.Com 6/47 1.3 surface-mount package for embedded applications, the vn-200 is available in a miniature surface-mount package. Features small size: 22 x 24 x 3 mm single power supply: 3.2 to 5.5 v communication interface: serial ttl & spi low power requirement: 1....

  • Page 7: Sensor Coordinate System

    Vn-200 user manual um004 www.Vectornav.Com 7/47 1.6 vn-200 rugged gps/ins development kit the vn-200 rugged development kit includes the vn-200 rugged sensor along with all of the necessary cabling required for operation. Two cables are provided in each development kit: one for rs-232 communication ...

  • Page 8: Specifications

    Vn-200 user manual um004 www.Vectornav.Com 8/47 2 specifications 2.1 vn-200 surface-mount sensor (smd) electrical figure 2 – pin assignments (top down view).

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    Vn-200 user manual um004 www.Vectornav.Com 9/47 table 1 – vn-200 smd pin assignments pin # pin name description 1 gnd ground. 2 gnd ground. 3 gnd ground. 4 gnd ground. 5 tx2 serial uart #2 data output. (sensor) 6 rx2 serial uart #2 data input. (sensor) 7 tare/restore normally used to zero (tare) the...

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    Vn-200 user manual um004 www.Vectornav.Com 10/47 2.1.1 vn-200 smd power supply the minimum operating supply voltage is 3.2 v and the absolute maximum is 5.5 v. 2.1.2 vn-200 smd serial (uart) interface the serial interface on the vn-200 operates with 3 v ttl logic. Table 2 - serial i/o specifications...

  • Page 11: Vn-200 Rugged Electrical

    Vn-200 user manual um004 www.Vectornav.Com 11/47 output frequency 1 hz 200 hz 2.2 vn-200 rugged electrical table 7 – vn-200 rugged pin assignments pin # pin name description 1 vcc +5v (±0.5v) 2 tx1 rs-232 voltage levels data output from the sensor. (serial uart #1) 3 rx1 rs-232 voltage levels data i...

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    Vn-200 user manual um004 www.Vectornav.Com 12/47 2.2.1 vn-200 rugged power supply the nominal power supply for the vn-200 rugged is 5 v dc. The vn-200 rugged internally has overvoltage protection set at a fixed voltage of 5.8 v. Upon an overvoltage event the protection circuitry will disable power t...

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    Vn-200 user manual um004 www.Vectornav.Com 13/47 2.3 vn-200 surface-mount sensor (smd) dimensions figure 4 – vn-200 pcb footprint* * measurements are in inches.

  • Page 14: Vn-200 Rugged Dimensions

    Vn-200 user manual um004 www.Vectornav.Com 14/47 2.4 vn-200 rugged dimensions figure 5 – vn-200 rugged dimensions * measurements are in inches 2.5 absolute maximum ratings table 12 - absolute maximum ratings specification min max input voltage -0.3 v 5.5 v operating temperature -40 c 85 c storage te...

  • Page 15: Basic Communication

    Vn-200 user manual um004 www.Vectornav.Com 15/47 3 basic communication the vn-200 module supports two communication interfaces: serial and spi. On the serial interface, the module communicates over a universal asynchronous receiver/transmitter (uart) and uses ascii text for its command and data form...

  • Page 16: Spi Interface

    Vn-200 user manual um004 www.Vectornav.Com 16/47 3.3 spi interface the spi interface uses a lightweight binary message format. The start of a command is signaled by pulling the vn-200’s slave select pin (pin 23) low. Both the slave select line and clock are active low. The first byte transmitted to ...

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    Vn-200 user manual um004 www.Vectornav.Com 17/47 figure 7 - spi data diagram a response for a given spi command will be sent over the miso line on the next spi transaction. Thus the data received by the master on the miso line will always be the response to the previous transaction. For example, if ...

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    Vn-200 user manual um004 www.Vectornav.Com 18/47 error codes are listed in table 20 in section 4.5. The remaining three 4-byte words are the yaw, pitch, and roll respectively given as single-precision floating-point numbers. The floating-point numbers are consistent with the ieee 754 standard. On th...

  • Page 19: Communication Protocol

    Vn-200 user manual um004 www.Vectornav.Com 19/47 4 communication protocol the following sections describe the serial and spi data protocol used by the vn-200. 4.1 numeric formats floating-point numbers displayed as ascii text are presented in two formats: single/double precision floating-point and s...

  • Page 20: System Commands

    Vn-200 user manual um004 www.Vectornav.Com 20/47 4.4 system commands this section describes the list of commands available on the vn-200 module. All commands are available in both ascii text (uart) and binary (spi) command formats. The table below lists the commands available along with some quick i...

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    Vn-200 user manual um004 www.Vectornav.Com 21/47 table 16 - example write register command example command message uart command $vnwrg,5,9600*60 uart response $vnwrg,5,9600*60 spi command (8 bytes) 02 05 00 00 80 25 00 00 (shown as hex) spi response (8 bytes) 00 02 05 00 80 25 00 00 (shown as hex) 4...

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    Vn-200 user manual um004 www.Vectornav.Com 22/47 4.4.5 reset command this command will reset the module. There are no parameters required for this command. The module will first respond to the command and will then perform a reset. Upon a reset all registers will be reloaded with the values saved in...

  • Page 23: System Error Codes

    Vn-200 user manual um004 www.Vectornav.Com 23/47 4.5 system error codes in the event of an error, the vn-200 will output $vnerr, followed by an error code. The possible error codes are listed in the table below with a description of the error. Table 20 – error codes error name code description hard ...

  • Page 24: System Registers

    Vn-200 user manual um004 www.Vectornav.Com 24/47 5 system registers the vn-200 module contains a collection of registers used for configuring the module and accessing the data it produces. These registers may be read or written to using the read register and write register commands (sections 4.4.1 a...

  • Page 25: User Tag Register

    Vn-200 user manual um004 www.Vectornav.Com 25/47 5.1 user tag register user tag register id : 0 firmware : v0.1 and up access : read / write comment : user assigned tag register. Any values can be assigned to this register. They will be stored to flash upon issuing a write settings command. Size (by...

  • Page 26: Model Number Register

    Vn-200 user manual um004 www.Vectornav.Com 26/47 5.2 model number register model number register id : 1 firmware : v0.1 and up access : read only comment : model number size (bytes): 24 example serial read register response: $vnrrg,01,vn-200t-dev*77 byte offset name number format unit description 0 ...

  • Page 27: Hardware Revision Register

    Vn-200 user manual um004 www.Vectornav.Com 27/47 5.3 hardware revision register hardware revision register register id : 2 firmware : v0.1 and up access : read only comment : hardware revision. Size (bytes): 4 example serial read register response: $vnrrg,02,6*6b byte offset name number format unit ...

  • Page 28: Serial Number Register

    Vn-200 user manual um004 www.Vectornav.Com 28/47 5.4 serial number register serial number register id : 3 firmware : v0.1 and up access : read only comment : serial number size (bytes): 12 example serial read register response: $vnrrg,03,0100011981*5d byte offset name number format unit description ...

  • Page 29: Firmware Version Register

    Vn-200 user manual um004 www.Vectornav.Com 29/47 5.5 firmware version register firmware version register register id : 4 firmware : v0.1 and up access : read only comment : firmware version. Size (bytes): 4 example serial read register response: $vnrrg,04,0.1.7.0*73 byte offset name number format un...

  • Page 30: Serial Baud Rate Register

    Vn-200 user manual um004 www.Vectornav.Com 30/47 5.6 serial baud rate register serial baud rate register id : 5 firmware : v0.1 and up access : read / write comment : serial baud rate. Size (bytes): 4 example serial read register response: $vnrrg,05,115200*5d byte offset name number format unit desc...

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    Vn-200 user manual um004 www.Vectornav.Com 31/47 5.7 async data output type register asynchronous data output type register id : 6 firmware : v0.1 and up access : read / write comment : asynchronous data output type. Size (bytes): 4 example serial read register response: $vnrrg,06,0*69 byte offset n...

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    Vn-200 user manual um004 www.Vectornav.Com 32/47 5.8 async data output frequency register asynchronous data output frequency register id : 7 firmware : v0.1 and up access : read / write comment : asynchronous data output frequency. Size (bytes): 4 example serial read register response: $vnrrg,07,40*...

  • Page 33

    Vn-200 user manual um004 www.Vectornav.Com 33/47 5.9 magnetic and gravity reference vectors magnetic and gravity reference vectors register id : 21 firmware : v0.1 and up access : read / write comment : magnetic and gravity reference vectors. Size (bytes): 24 example serial read register response: $...

  • Page 34: Reference Frame Rotation

    Vn-200 user manual um004 www.Vectornav.Com 34/47 5.10 reference frame rotation reference frame rotation register id : 26 firmware : v0.1 and up access : read / write comment : allows the measurements of the vn-200 to be rotated into a different reference frame. Size (bytes): 36 example serial read r...

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    Vn-200 user manual um004 www.Vectornav.Com 35/47 5.11 communication protocol control communication protocol control register id : 30 firmware : v0.1 and up access : read / write comment : contains parameters that control settings relating to the communication protocol used to communicate with the vn...

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    Vn-200 user manual um004 www.Vectornav.Com 36/47 5.11.2 serialstatus the serialstatus field provides a means of tracking real-time status information pertaining to the overall state of the sensor measurements and onboard filtering algorithm. This information is very useful in situations where action...

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    Vn-200 user manual um004 www.Vectornav.Com 37/47 5.11.5 serialchecksum this field controls the type of checksum used for the serial communications. Normally, the vn-200 uses an 8-bit checksum identical to the type used for normal gps nmea packets. This form of checksum however offers only a limited ...

  • Page 38: Synchronization Control

    Vn-200 user manual um004 www.Vectornav.Com 38/47 5.12 synchronization control synchronization control register id : 32 firmware : v0.1 and up access : read / write comment : contains parameters which allow the timing of the vn-200 to be synchronized with external devices. Size (bytes): 20 example se...

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    Vn-200 user manual um004 www.Vectornav.Com 39/47 5.12.2 syncinedge the syncinedge register controls the type of edge the signal is set to trigger on. The factory default state is to trigger on a rising edge. Table 33 – syncinedge mode value description 0 trigger on rising edge 1 trigger on falling e...

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    Vn-200 user manual um004 www.Vectornav.Com 40/47 5.12.7 syncoutpulsewidth the syncoutpulsewidth field controls the desired width of the syncout pulse..

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    Vn-200 user manual um004 www.Vectornav.Com 41/47 5.13 calibrated sensor measurements calibrated sensor measurements register id : 54 firmware : v0.1 and up access : read only comment : calibrated measurements from all onboard sensors. Size (bytes): 44 example serial read register response: $vnrrg,54...

  • Page 42: Gps Configuration

    Vn-200 user manual um004 www.Vectornav.Com 42/47 5.14 gps configuration gps configuration register id : 55 firmware : v0.1 and up access : read / write comment : size (bytes): 4 example serial read register response: $vnrrg,55,2,0,0,0*71 byte offset name number format unit description 0 mode u1 - gp...

  • Page 43: Gps Antenna Offset

    Vn-200 user manual um004 www.Vectornav.Com 43/47 5.15 gps antenna offset gps antenna offset register id : 57 firmware : v0.1 and up access : read only comment : configures the position offset of the gps antenna from the vn-200 in the vehicle reference frame. Size (bytes): 12 example serial read regi...

  • Page 44: Gps Solution

    Vn-200 user manual um004 www.Vectornav.Com 44/47 5.16 gps solution gps solution register id : 58 firmware : v0.1 and up access : read / write comment : available at 5 hz only. Size (bytes): 72 example serial read register response: $vnrrg,58,333733.000159,1694,3,05,+32.95622080,-096.71415970,+00169....

  • Page 45: Ins Solution

    Vn-200 user manual um004 www.Vectornav.Com 45/47 5.17 ins solution ins solution register id : 63 firmware : v0.1 and up access : read only comment : size (bytes): 72 example serial read register response: $vnrrg,63,333811.902862,1694,0004,+009.500,-004.754,-000.225,+32.95602815,- 096.71424297,+00171...

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    Vn-200 user manual um004 www.Vectornav.Com 46/47 6 system registers - default factory state the following table details the vn-200’s settings as it is delivered from the factory. These settings may be restored by issuing a restore factory settings command (section 0) or by using the restore factory ...

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    Vn-200 user manual um004 www.Vectornav.Com 47/47 please read carefully: information in this document is provided solely in connection with vectornav technologies, llc (“vectornav”) products. Vectornav reserves the right to make changes, corrections, modifications, or improvements to this document, a...