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1775 IMU
KVH Industries 1775 IMU User Manual
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17
75 IMU
K
VH
®
1775
Iner
tial
Me
a
s
ur
em
en
t
Un
it
(
IMU)
Technical Manual
2
Table of Contents
Table of Contents
3
Default Chapter
5
Product Specifications
5
Storage and Handling
9
Maintenance
9
Output Orientation
10
Interface Connector
12
Interface Cable
13
Data Communications Equipment
13
Wiring the IMU
14
Digital Data Output
15
Data Output Signal Processing
15
Message Structure
16
Configuration Options
18
Resetting Parameters to Factory Defaults
20
User Commands
21
Time of Validity (TOV) Output
22
Master Sync (External Data Request)
24
TOV with Internal MSYNC Mode
25
TOV with External MSYNC Active
25
Hardware Restart
25
Mounting the IMU
26
Troubleshooting
27
Built-In Test (BIT)
28
Technical Support
30
Appendix A: Declaration of Conformity
32
Appendix B: Warranty Information
32
Appendix C: Electrical Signaling ICD
33
Table of Contents
35
Revision History
38
1 Scope
39
2 Abbreviations, Acronyms and Definitions
39
Table 2-1: List of Abbreviations and Acronyms Used
39
3 System Overview
40
Functional Overview
40
Electrical Interface Overview
41
Figure 3-1: 1775 Imu Interface Block Diagram
41
Figure 3-2: 1775 Imu Wiring Diagram
41
Operating Modes
43
Built-In Test
43
Table 3-1: Operating Modes
43
4 Data Communications and Unit Control
44
Interface Connector
44
Table 4-1: Electrical Interface Signals
44
Character Data Format
45
Table 4-2: Reserved Characters in Human-Readable Modes
45
5 Normal (Default) Mode Messages
46
Description
46
Normal Mode Data Output Formats
46
Table 5-1: Normal Operating Mode Message Format a
47
Table 5-2: Normal Operating Mode Data Format a
47
Table 5-3: Normal Operating Mode Message Format B
48
Table 5-4: Normal Operating Mode Data Format B
48
Table 5-5: Normal Operating Mode Message Format C
49
Table 5-6: Normal Operating Mode Data Format C
49
Table 5-7: Temperature and Magnetic Output Sequence (See Data Format C)
49
Table 5-8: Status Byte Format
50
Table 5-9: Crc Format
50
Table 5-10: Breakdown of Sample Output
51
Built-In Test and Extended Built-In Test
52
Table 5-11: Normal Mode Bit Output
52
Table 5-12: Test Results Byte 0
52
Table 5-13: Test Results Byte 1
52
Table 5-14: Test Results Byte 2
53
Table 5-15: Test Results Byte 3
53
Table 5-16: Test Results Byte 4
53
Table 5-17: Test Results Byte 5
53
Table 5-18: Test Results Byte 6 - ?Bit,2 Command Only
54
Table 5-19: Test Results Byte 7 - ?Bit,2 Command Only
54
Table 5-20: Validity Test Bits for each Sensor
54
Table 5-21: Breakdown of Sample Bit Output - ?Bit
55
Table 5-22: Breakdown of Sample Bit Output - ?Bit,2
55
6 User Configuration Mode
56
7 Commands and Queries
57
Command Definition Conventions
58
Command List
59
Table 7-1: Summary of Commands
59
8 Command Descriptions
61
Axes
61
Axes
63
Baud
63
Bit
64
Config
65
Echo
67
Fc20
68
Table 8-1: 1775 Imu Internal Sensor Sample Rates
69
Filten
71
Filttype
72
Table 8-2: Gstop Gains
74
Table 8-3: Filtype Commands and Responses
74
Table 8-4: 1775 Imu Command Behavior
75
Filttype
77
Help
77
Linfmt
78
Linunits
78
Logs
79
Msync
80
Outputfmt
80
Restart
81
Rotfmt
81
Rotfmt
82
Rotunits
82
Rstcfg
83
Temp
83
Tempunits
84
Testfilt
84
Volt
87
9 Configuration Options
88
Table 9-1: Configuration Options Summary
88
Figure 9-1: Axis Definitions Relative to the Unit
90
Configuration Limits
91
Table 9-2: Maximum Data Rates at Given Baud Rates
91
10 Control Signal Inputs
92
Config-RST-In (Configuration Reset) Input
92
EXT-RST (External Reset) Input
92
MSYNC (Master Synchronization) Input
93
Table 10-1: Msync Timing Parameters
93
Figure 10-1: Msync Signals
93
11 Time of Validity Output (TOV)
96
TOV Summary
96
TOV Timing
96
Figure 11-1: Tov Output Timing Relative to Serial Port Activity
96
TOV with Internal MSYNC Mode
97
TOV with External MSYNC Active
97
Table 11-1: Tov Timing Parameters
97
12 Data Output Signal-Processing
98
Signal-Processing Diagram and Key
98
Table 12-1: Signal-Processing Symbols
98
Figure 12-1: Icb Signal-Processing Diagram
99
Description of Processing Diagram
100
Table 12-2: Filtering and Downsampling
101
Default Final Output Filter Responses
108
Figure 12-2: Chebyshev Responses
108
Figure 12-3: Butterworth Responses
109
Figure 12-4: Uniform Averager Responses
110
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KVH Industries 1775 IMU Specifications
General
Brand
KVH Industries
Model
1775 IMU
Category
Measuring Instruments
Language
English
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