Download Inertial Unit: Watson

IMU-E604 Manual, Revision G, October 22, 2000
Inertial Measurement Unit Manual
Table Of Contents
1.0 Introduction..........................................................................1
1.1
1.2
1.3
Production Description.................................................1
Installation...............................................................1
Microprocessor EEPROM.............................................2
2.0 Theory of Operation.................................................................2
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
2.10
Gyros and Angle Outputs..............................................2
Coordinate Transformations...........................................3
Error Limits and Extended Time Constants..........................5
Accelerometers..........................................................6
Magnetometers..........................................................8
Reference Outputs ......................................................10
Initialization..............................................................10
Coast Mode..............................................................10
Velocity Corrections....................................................11
Unslaved Heading......................................................11
3.0 Sensor Specifications...............................................................12
3.1
3.2
3.3
3.4
3.5
Angular Rate.............................................................12
Acceleration..............................................................12
Roll and Pitch ...........................................................12
Heading..................................................................13
Other Specifications ....................................................13
4.0 Output and Interface.................................................................13
4.1
4.2
4.3
4.4
Appendix A
Appendix B
Appendix C
Appendix D
Appendix E
Appendix F
Appendix G
Analog Outputs..........................................................13
Analog Inputs ...........................................................14
RS-232 Output Format.................................................15
RS-232 Input Commands..............................................17
Serial Command Summary..........................................19
Service Agreement and Warranty...................................23
Heading Calibration Program.......................................24
Data Recorder Program..............................................26
Velocity Calibration Program .......................................29
Binary Format.........................................................31
Outline and Pinout....................................................32
Watson Industries prides itself in solving customer problems and serving their needs in a timely
fashion. This manual facilitates this goal and provides written information about your product. We
ask that you carefully read this manual. Becoming familiar with the manual will help you understand
the product’s capabilities and limitations, and provide you with a basic understanding of its operation.
If, after reading the manual, you require further assistance, do not hesitate to call Watson Industries.
Phone: (715) 839-0628
Fax: (715) 839-8248
EMail: Watson-Gyro.Com