Crossbow RGA300CA Manual
Contents
1. http www sensor ic com http www pc ps net http www sunstare com HTTP www rfoe net ZLwww icasic com ZLwww sunstars cn 1602 0755 83370250 83376489 83376549 83607652 83370251 82500323 0755 83376182 0 13902971329 MSN SUNS8888 hotmail com 518033 E mail szss20 163 com QQ 195847376 2583 0755 83665529 25059422 0755 83394033 13501568376 132 3097 TEL 010 81159046 82615020 13501189838 FAX 010 62543996 668 2B35 TEL 021 28311762 56703037 13701955389 FAX 021 567030372. 10 IC DOC DOM MCU DSP ARMVFPGA
3. 20 PY oF SPA 88 D23 5 TEL 029 81022619 13072977981 FAX 029 88789382 SUNSTAR O O http www sensor ic coni TEL 0755 83376489 FAX 0755 83376182 E MN L szss20G L63 con
4. D s a a an lt an ct CD 3 w SUSTARG DOODO Pttp ww sensor i c RGA RATE GYRO amp ACCELEROMETER PACKAGE v Single Axis MEMS Yaw Rate Gyro vw 3 Axis Accelerometer v Roll and Pitch in Static Conditions v EMI amp Vibration Resistant Applications v Land Vehicle Control w GPS Augmentation v Dead Reckoning Robotics lt roll pitch 3 00 in 7 62 cm Connector side View 3 75 in 9 53 cm diam 0 19 in 0 48 cm 0 19 in 0 48 cm RGA300CA The RGA300CA is a high performance MEMS gyro and triaxial accelerometer subsystem It is an ideal solution for land vehicles where the majority of the motion control occurs on the yaw rate axis The unit is compensated for static errors using an on board DSP proces sor Outputs are available in both analog and digital RS 232 formats Data is available in a polled mode or continuously at a fixed rate of over 100Hz No recalibration of the unit is required and it is designed for a long service free operating life The MEMS angular rate sensor is equiped with a Z sensitive axis also known as yaw rate In addition to the rate sensor a triaxial silicon MEMS ac celerometer is included in the RGA300CA system The triaxial accel erometer is a bulk micromachined capacitive accelerometer The acceler ometer outputs can be used in one of two ways In GPS augmentation appli cations the accelerometers can be used to estimate X an
5. bilized Data sec lt 1 Attitude Range Roll Pitch 180 90 Static Accuracy 1 5 Resolution lt 0 1 Angular Rate Range Yaw sec 100 Bias Yaw sec lt 2 0 Scale Factor Accuracy z Non Linearity FS lt 0 3 Resolution sec lt 0 025 Bandwidth Hz gt 25 Random Walk hr lt 2 25 Acceleration Input Range X Y Z g EZ Bias X Y Z mg lt 30 Scale Factor Accuracy lt 1 Non Linearity FS lt 1 Resolution mg lt 1 0 Bandwidth Hz gt 50 Random Walk m s hr lt 0 15 Environment Operating Temperature C 40 to 71 Non Operating Temperature C 55 to 85 Non Operating Vibration g rms 6 Non Operating Shock g 1000 Electrical Input Voltage VDC 9 to 30 Input Current mA lt 200 Power Consumption W lt 3 Digital Output Format RS 232 Analog Range VDC 4 096 Physical Size Weight Connector Notes All DAC analog outputs are fully buffered and are designed to interface directly to data O to 5 0 in 3 0 x 3 75 x 3 20 cm 7 62 x 9 53 x 8 13 Ibs lt 1 3 kg lt 0 59 acquisition equipment Specifications subject to change without notice Remarks Continuous Update Mode Static conditions 3 dB point Typical 3 dB point 20 Hz 2 KHz random 1 ms half sine wave at 12 VDC See Digital Data Format Pins 8 9 10 12 13 14 Pins 5 6 7 Includ mounting flanges Includ mounting flanges 15
6. d Y velocity by performing a single integration of the com TEL 0755 83376549 FAX 0755 83376182 E MN L szss20 63 con Cro outputs A second use for the accelera tion signals is an inclinometer The acceleration sensors have DC response and therefore can accurately measure the gravitational G force When the vehicle is static or quasi static the ac celerometers will indicate the roll and pitch of the vehicle The static roll and pitch data is calculated in the RGA300CA and output in analog and digital RS 232 formats Typical applications for the system in clude land vehicle guidance and control Example equipment includes construction vehicles and land robots Tall buildings trees and other obstruc tions make reliable GPS coverage challenging The yaw rate sensor of the RGA300CA allows the system en gineer to overcome GPS outages Each Inertial System comes with a User s Manual offering helpful hints on programming installation and product information In addition Crossbow s GYRO VIEW software is included to assist you in system development and evaluation and allows you to perform data acquisition Document Pakh RUA DEH dd20b6 5 o vwww sensor i c co TEL 0755 83376489 FAX 0755 83376182 E MN L szss20 L63 con crossbow technology inc v 41 daggett drive v san jose ca 95134 2109 Specifications RGA300CA Performance Update Rate Hz gt 100 Start up Time Valid Data sec lt 1 Fully Sta
7. pin sub miniature D male Ordering Information Crossbgw TEL 0755 83376549 FAX 0755 83376182 E MN L szss20GL63 con 15 Pin D Connector Male Pinout i5 Pin Signal 10 1 12 Notes 1 The accelerometer voltage outputs are taken directly from the accelerometers without compensation or scaling 2 The compensated accelerometer analog outputs are scaled to represent G Outputs are created by a D A converter 3 Roll and Pitch angle analog outputs are scaled to represent degrees Outputs are created by a D A converter 4 The angular rate analog output is scaled to represent degrees second The Output is created by D A converter Pin Diagram Roll and RS 232 Digital Pitch Angle CPU EERROM Output Calibration XYZ Algorithm Acceleration Yaw Angular Rate RGA Block Diagram Gyro sec Accel o RGA300CA 100 CALL FACTORY FOR OTHER CONFIGURATIONS Yaw Rate Gyro and Accelerometers 100 7 SUNBTAR O0 O http www sensor ic conh TEL 0755 83376489 FAX 0755 83376182 Fs Mh erezsseNdRBeEN 03 0036 01 inertial systems SUNSTAR 0D O OO http www sensor ic com TEL 0755 83376549 FAX 0755 83376182 E MN L szss20GL63 con SUNSTAR
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Crossbow RGA300CA Manual