Security classification: Internal

User Manual

Product Name: Attitude and Azimuth Integrated Navigation System

Model: AAI-20

Version: V1.0

Table of Content 1. Scope ....................................................................................................................... 4

1.1 Marks ................................................................................................................ 4

1.2 System summary ............................................................................................... 4

1.4 Application ........................................................................................................ 5

1.5 System features ................................................................................................. 5

2. Product Configuration ............................................................................................. 6

3. Technical Specifications & Characteristics ............................................................ 7

3.1 Technical specification ...................................................................................... 7

3.2 Environmental Test ....................................................................................... 8

3.3 EMC ............................................................................................................. 9

4.1 Product Composition ...................................................................................... 10

4.2 System workflow ............................................................................................ 12

5.1 Connector definition ....................................................................................... 13

5.2 Inertial navigation output data protocol (PORTB) ..................................... 15

6.1 Installation....................................................................................................... 16

6.2 Data record ...................................................................................................... 18

7.1 Software Operation ......................................................................................... 19

7.2 Software Interface Introduction ...................................................................... 20

7.3 Altitude Heading Compass ............................................................................. 21

7.4 Moving Trajectory Display ............................................................................. 22

7.5 Time, Altitude, Velocity Display ..................................................................... 23

7.6 Main-station and Sub-main Satellite Distribution .......................................... 23

7.7 System Detailed Information Display ............................................................. 24

7.7.1 GPFPD Information .............................................................................. 24

7.7.2 GTIMU Information ............................................................................. 25

7.8 Software Setup ................................................................................................ 26

7.8.1 Serial Port Setup ................................................................................... 26

7.8.2 Serial Port Transmission Rate Setup ..................................................... 26

7.8.3 Data Storage .......................................................................................... 27

7.8.4 Display Setup ........................................................................................ 27

7.8.5 Data Playback ....................................................................................... 28

7.9 System Setup ................................................................................................... 28

7.9.1 Baseline length ...................................................................................... 28

7.9.2 Satellite System ............................................................................................ 30

7.10 Port Setup ...................................................................................................... 31

7.10.1 Protocol 1 Port Setup ................................................................................. 32

7.10.2 Serial Port A, B Setup ................................................................................ 33

7.10.3 Pulse Port Setup ......................................................................................... 34

7.11 Software Operation Cautions ........................................................................ 34

8. Mechanical Drawing ................................................................................................ 35

9. Maintenance .......................................................................................................... 36

10. Transportation & Storage ............................................................................... 37

10.1 Transportation ............................................................................................... 37

10.2 Storage .......................................................................................................... 37

CAUTIONS

! Copyright

This manual must not, in whole or part, be copied, photocopied, reproduced,

translated or transmitted to any electronic medium or machine readable form without

our company’s written authorization.

! Product warranty

Warranty period: 1 year from ex-factory date

Warranty scope: exclude use wrongly, accident, incorrect installation, maintenance

and application.

Do not open the camera body for any reason. Disassembly of the camera (including

removal of the cover) can cause permanent damage and will void the warranty.

1. Scope

1.1 Marks

This manual is used for AAI-20 Attitude and Azimuth Integrated Navigation

System.

This manual specifies operation and maintenance of AAI-20 Attitude and

Azimuth Integrated Navigation System.

Version No. is V1.0.

1.2 System summary

Featured with independent of outside information, excellent concealment, strong

anti-interference, all weather operations, inertial navigation system is a complete

autonomic navigation system which could provide diverse navigation parameters.

However, its output error is accumulated along with time. Global position satellite

(GPS) has higher navigation accuracy, but it is easy to be interfered, suffered from

discontinuous output and incomplete output information etc. In order to integrate the

advantages of these two navigation methods and effectively improve product

performance, as well as strength product’s reliability, availability, environment

adaptability and dynamics, we utilizing multi-sensor data fusion technology to

combine satellite positioning, orientation and inertial measurement, and release new

attitude and position integration navigation system.

Employing high accuracy FOG, Q-flex accelerometers, dual-frequency GPS

position & orientation system, barometric altimeter and advanced integration

navigation and attitude measurement algorithm, the performance of AAI-20 has been

dramatically improved.

Combining built-in high accuracy IMU (inertial measurement unit) with satellite,

it could output high accuracy position, speed, attitude, angular speed and acceleration

information. While the satellite signal is completely covered, system would enter into

pure inertial mode. By use of high accuracy FOG, it could still keep good attitude

measurement accuracy in certain time. Integrated with barometric altimeter, it could

make correction and get higher accuracy height information.

1.4 Application

Aircraft flight control and navigation

Radar and weapon launcher

Ship-borne & vehicle-borne navigation system

Inertial stability control system

E-traffic measurement system

Industrial & agricultural measurement and application

1.5 System features

High accuracy, no accumulated error, short starting time;

Keep higher attitude heading accuracy while satellite signal suffered from

jamming;

Able to be used as RTK mobile station, location accuracy improved up to 2cm.

Able to make post-processing differentiation, output IMU raw data, satellite raw

data, compatible with IE software.

2. Product Configuration

No. Item Quantity

1 Attitude and Azimuth Integrated Navigation Gyro AAI-20 1

2 Data power connector 1

4 Dual-frequency measurement antenna 2

5 Demo Software 1

6 User manual 1

7 Safety packing case 1

8 Packing list 1

3. Technical Specifications & Characteristics

3.1 Technical specification

Range

Heading 0~360°,

Pitch angle ±90°

Roll angle ±180°

Angular rate ±300°/s

Acceleration ±10g

Positioning & orientation accuracy

Heading accuracy (GPS valid) 0.1° (length of baseline 2m, 1σ)

Attitude (GPS valid) 0.05° (1σ)

Position accuracy (GPS valid) 3m (CEP) , 2cm+1ppm(CEP)

(post-differentiation)

Velocity accuracy (GPS valid) 0.1m/s (rms), (1σ)

Preparation time

Start time ≤10s

Stable time

System working normally after GPS and

heading valid (specified time depends on

surrounding environment, open field

2min)

Power supply

Power supply DC12~32V, 24V±10% (rating)

Power consumption ≤25W

Reliability

MTBF 2000h

Continuous working time ≥12h

Physical parameters

System weight ≤3.6kg (excluding antenna and feeder

line)

Physical dimension 191mm×166mm×131.5mm (X, Y, Z)

3.2 Environmental Test

Environmental test including: high temperature, low temperature, damp-heat, shock,

vibration, test on car etc.

3.2.1 High operation temperature: 70℃

3.2.2 High storage temperature: 75℃

3.2.3 Low operation temperature: -40℃

3.2.4 Low storage temperature: -45℃

3.2.5 Damp-heat: <95％（+30℃）

3.2.6 Vibration: broad-band random vibration

4.

3.2.7 Shock:

Type half sine wave

Peak acceleration 15g

Fig. 1 Vibration Test

pulse width 11ms

shock times 6 times

Direction Vertical

System condition power-off

3.3 EMC

Refer to GJB151A and GJB152A, meet ZDB26-2010EMC requirement, running

of this equipment is compatible with extension equipments and all equipment

working normally.

4. Product Composition & System Workflow

4.1 Product Composition

AAI-20 Attitude and Azimuth Integrated Navigation System composition refer to

Fig.1, consists of gyro data acquisition unit, accelerometer data acquisition unit, IMU

compensation unit, integrated navigation calculation unit, GPS heading calculation

processing unit, protocol processing unit and barometric altimeter.

(1) Gyro data acquisition unit: acquisition 3-axis angular speed and internal

temperature information of high accuracy fiber optic gyro, and transmit to IMU

compensation unit.

(2) Accelerometer data acquisition unit: acquisition 3-axis linear acceleration and

internal temperature information of accelerometer, and transmit acquired data to

IMU compensation unit.

(3) IMU compensation unit: Used for error compensation of gyro data and

accelerometer output signal. And then transmit the compensated 3-axis angular

speed and 3-axis linear acceleration data to integrated navigation calculation unit.

(4) GPS heading calculation unit: receiving information from GPS main station and

sub-station, and figure out GPS heading.

(5) Integrated navigation calculation unit: Make integrated navigation calculation on

carrier’s 3-axis angular speed, 3-axis linear acceleration and GPS heading,

position, speed. Figure out carrier’s position, speed and attitude and transmit to

protocol conversion unit.

(6) Protocol conversion unit: Converting the information transmitted by integrated

navigation calculation unit to data protocol as per user requirement, and output

through data interface.

Fig.2 AAI-20 System Block Diagram

4.2 System workflow

AAI-20 Attitude and azimuth integrated navigation system workflow as below fig.2.

After system power-on and self-test successfully, it entering into initialization. When

initialization finished, respectively wait IMU data and raw data from two GPS

receiver. After IMU output normally and two GPS positioning finished, AAI-20 begin

entering into initial alignment, and then automatically enter into navigation mode.

Under navigation mode, AAI-20 refer to GPS heading, speed and position and using

self-sensitive 3-axis angular speed and 3-axis acceleration to real-time calculate

carrier navigation information and output navigation information through output

interface. When GPS suffered from jamming, system would enter into pure inertial

navigation mode.

Fig.3 System Workflow

5. Output Interface & Data Output Protocol

5.1 Connector definition

This product consists of 4pcs external connector. 1 pcs data input/output connector,

2pcs GPS antenna connector, 1 pcs power connector. Each connector function and

model refer to Table-1.

1) Power connector (JY27466T13E04PN)

Table-1 Power interface definition

Pin NO. Definition Function description

A 24V+ Power +

B 24V+ Power +

C 24V- Power -

D 24V- Power -

2) Data input & output connector interface (JY27466T15E35PN)

Table-2 Data output connector definition

Aviation socket Pin Definition Content Remark

1 PORT A 232_TX Protocol output 1

2 232_RX

3 GND

4 PORT B 422_TX+ Protocol output 2

5 422_TX-

6 422_RX+

7 422_RX-

8 PORT C 422_TX+ Extend external

interface for product

update

9 422_TX-（RS232_TX）

10 422_RX+

11 422_RX-（RS232_RX）

12 GND

13 PORT D 422_TX+ Extend external

interface 14 422_TX-（RS232_TX）

15 422_RX+

16 422_RX-（RS232_RX）

17 422_TX+

18 GND

19 PORT E CAN_H Protocol output

20 CAN_L

21 GND

22 PPS_Y 1PPS output

23 PPS_Z

24 GND

25 PORT F (USB) 5V_USB Storage interface

26 D-

27 D+

28 GND

29 PORT G LCJ_1

30 LCJ_2

31 LCJ_3

32 LCJ_4

33 GND

34 +5V_0.5A Power output

35 GND

36 R Recognition

resistance

37 GGND Casing GND

3) Network interface (YW320E01S1)

NO. Definition Content Remark

1 TX_D1+

2 TX_D1-

3 RX_D2+

4

5

6 RX_D2-

4) GPS antenna connector interface

GPS antenna connector is TNC interface.

5.2 Inertial navigation output data protocol (PORTB)

Refer to Attached product standard protocol v1.0 version.

6. Installation & Test

6.1 Installation

1) Prepare D.C. stabilized power source or reserve battery (24VDC), computer and all

items in our packing list.

2) Find an open, non-occlusion, non-multi-path jamming test field.

3) Fix AAI-20 host on the carrier. Keep AAI-20 coordinates XOY surface (down

below leftward, no painting surface) parallel with carrier’s datum surface. Keep

Y-axis parallel with carrier’s vertical axis. Fix two GPS antenna on the carrier,

front-antenna (F-ANT) and end-antenna (E-ANT) is respectively fixed on carrier’s

forward direction and backward direction (refer to Fig.3). Antennas should be put on

the highest point of carrier as possible as you can to ensure receive good GPS signal.

Also, it must ensure the line of two GPS antenna phase center is corresponding or

parallel with carrier central axis.

4) Respectively connect two feed line to front-antenna and end-antenna and F-ANT

and E-ANT interface on host unit. Note: F-ANT interface must be contacted with the

front antenna which is put on the carrier forward direction. E-ANT interface must be

contacted with the end antenna which is put on the carrier backward direction. When

the antenna working, there should be no occlusion. Do not plug connector when it is

power on.

5) Use a ruler measuring the distance from GPS end-antenna central point to

front-antenna central point (measuring accuracy is up to 2mm). The space length of

two antennas depends on specific installation environment. But the space length affect

directional accuracy.

Fig.4 Antenna installation schematic diagram

Take our system installation on UAV for an example.

Fig.5 Aircraft flight schematic diagram

6) Contact data power cable to system “data, power” interface. Contact data

output interface to computer serial port.

Front-

antennaEnd-antenna

Carrier

Carrier axis direction

Antenna connection direction

Fig. 6 System Overview

7) Contact 24VDC power to data power cable.

8) Check every connection and power pin polarity and ensure all are correct.

9) Power-on and test demo software on computer: ADUcenterVCProj.exe.

6.2 Data record

System software has data record memory function, able to record test data.

7. Display & Control Software Introduction

This software is used for contacting with PC for real-time test data observation, as

well as analyze feedback protocol data from system, show all information in the form

of graphic to user, also able to real-time storage the data which received from slave

computer data，also able to make some setting for slave computer through this

software.

CPU: Pentium 4 2GHz

Memory: 1G

Hard-disk space: >30GB

Operation system: Windows XP、Windows 7

7.1 Software Operation

This software is green software, decompressing software cabinet folder to any file,

double click mark to operate the software.

7.2 Software Interface Introduction

Fig. 7 Software Interface Diagram

7.3 Altitude Heading Compass

As an important display part, altitude heading compass mainly provides heading, roll

and pitch 3 real-time data.

Up part is heading indicator. According to system feedback data, it gives approx

navigation direction.

Bottom part is heading angle. It provides more precise heading information.

North direction is 0° (360°), East direction is 90°, on the analogy of clockwise.

Center diamond graphic is pitch indicator. Above 0 scale means pitch angle is

plus; on the contrary, the pitch angle is minus.

Left pitch value gives more precise pitch information, horizontal is 0°.

Right roll value gives more precise roll information, horizontal is 0°.

This display module requires GPFPD protocol sentence support (protocol

sentence format refer to annex).

Heading

indicator

Pitch

indicator

Heading precise

indication

Fig. 8 Altitude Heading Compass

7.4 Moving Trajectory Display

“Moving trajectory display part” could describe system moving trajectory in

coordinate system according to latitude and longitude change. Position is determined

by latitude and longitude.

In Coordinate system, X-axis is longitude, Y-axis is latitude. Software could

automatically adjust longitude and latitude scale value according to present

moving distance, enables whole moving trajectory display in coordinate system at

suitable size.

Note: When the system is static, moving in short distance or satellite signal is

covered severely, because satellite signal accuracy is limit, its trajectory cannot be

used for reference.

This display module requires GPFPD protocol sentence support (protocol

sentence format refer to annex).

Fig.9 Position Display

7.5 Time, Altitude, Velocity Display

Fig.10 Time, Altitude and Velocity Display

Time information is calculated by GPS cycle and GPS second. It is not this

software operation time on PC.

Altitude information shows altitude.

Velocity information is composite velocity which combing ground velocity, east

direction velocity and north direction velocity (sky direction velocity not

involved in calculation).

This display module requires GPFPD protocol sentence support (protocol

sentence format refer to annex).

7.6 Main-station and Sub-main Satellite Distribution

Main-station and sub-main satellite distribution gives present satellite which involved

in calculation, satellite relative position, satellite PRN (Pseudo-Random Noise) and

SNR (Signal Noise Ratio).

Fig. 11 Satellite Information Distribution

Antenna 1 is main-station satellite distribution; Antenna 2 is sub-main satellite

distribution.

Internal green value is Satellite PRNC (Pseudo-Random Noise Code), below

value is its SNR.

PRNC >160 is Beidou satellite, <50 is GPS satellite. (able to be used for judging

present satellite working condition).

This display module requires GPGSV protocol sentence support (protocol

sentence format refer to annex).

7.7 System Detailed Information Display

7.7.1 GPFPD Information

Fig. 12 Detailed Parameters

This part displays all feedback information from present system, including time,

altitude, heading, position, 3-direction speed and GPS location condition. This

display part requires GPFPD, GPHPD etc protocol sentence support (protocol

sentence format refer to Annex).

Date and time is calculated by GNSS cycle and GNSS second. The north of

heading angle is 0°, east direction is 90°, on the analogy of clockwise.

Track angle is the angle between right head direction and actual moving

direction.

Baseline length is the distance between primary satellite and secondary satellite.

It is automatically calculated by system (Baseline length is also able to be

automatically set, refer to Setting chapter).

GNSS condition is calculated by GPFPD sentence status flag.

7.7.2 GTIMU Information

This part displays gyro and accelerometer value which feedback from present

system, as well as present system temperature value.

This display module requires GTIMU protocol sentence support (protocol

sentence refer to Annex).

Fig. 13 IMU Information Display

7.8 Software Setup

Fig. 14 Toolbar

7.8.1 Serial Port Setup

Left serial figure is able to set receiving information serial number. Select local

serial number through dropdown menu (dropdown menu include unavailable

virtual serial port, so please pay attention to select available local serial port).

7.8.2 Serial Port Transmission Rate Setup

Baud rate button is able to set receiving port serial transmission rate, software

provide following transmission rate for user option (default is 115200).

Fig. 16 Baud rate

Fig. 15 Serial Port Setup

7.8.3 Data Storage

Storage button is used for establish text document to storage the data receiving

from serial port. First click start storage, the button is under press condition

during storage period, click again to finish storage, the button recovers to

previous state.

Setting button is able to set system output protocol, output rate, baseline length

etc information.

7.8.4 Display Setup

Layout button: able to set whether each control can display or not;

Pause show button: Pause button could pause data refresh, it doesn’t affect data

receiving and storage;

Clear show button: used for clear each control data display, return to zero.

Fig. 17 Display Setup

7.8.5 Data Playback

When close serial port, click “open file” button, select playback file according to

reminder, and then it would a playback dialogue would appear to make pause,

stop, speed +, - control.

7.9 System Setup

7.9.1 Baseline length

Fig.18 Data Playback

Fig. 19 Setup Button

After selecting COM port, click “Setup” to set “baseline length”.

Input baseline length by manual, and then click “Save”. Baseline length setup by

is finished.

After save, system’s baseline length would change to setting length in short time.

If need set other information, user could click “index column” to select other

information. If doesn’t need set other information, click storage to store present

setting.

Fig.19 Baseline Length Setup

Fig. 20 Baseline Length Setup

7.9.2 Satellite System

After selecting COM port, click “Setup” to set “Satellite system”.

Select present required working satellite system, click radio button and then click

“save” to setup satellite working mode.

If need set other information, user could click “index column” to select other

information. If doesn’t need set other information, click storage to store present

setting.

Fig. 21 Setup Button

Fig.22 Satellite System Setup

7.10 Port Setup

When the serial port is ON, click “Port Setup” button to make setup.

A new dialogue would appear after you click “Port Setup” Button.

Able to set protocol 1 port output protocol, serial port A and B application mode,

pulse output .

Fig. 22 Port Setting

Fig. 23 Port Setup

7.10.1 Protocol 1 Port Setup

Able to set Protocol 1 port’s output protocol and output frequency

Click corresponding protocol selection box and input corresponding output

frequency

After setting finish, click “Storage” button to save setting.

Fig. 24 Protocol 1 Port Setting

7.10.2 Serial Port A, B Setup

Serial port A, Serial Port B: able to set corresponding serial port connection

device, mode, serial port parameters, as well as output protocol and frequency

under user communication state.

In serial port A setting “device” could be selected “User Communication”. At this

moment, it is used as protocol output. Mode can be selected as RS232 or RS422.

User could set serial port baud rate, parity, stop bit etc parameters.

When user selecting “User Communication” mode, serial port output protocol

and frequency is able to be set.

Fig.25 Serial Port A Setup

7.10.3 Pulse Port Setup

Pulse 1, 2, 3,4 is designed for odometer interface, user could set input mode.

7.11 Software Operation Cautions

It need contact AAI-20 system when using this software.

It would happen unpredictable problem if contacting with other device and save

setting through this software.

AAI-20 serial port transmission rate is 115200. In order to ensure data frame

completely output, no lost, we do not suggest user change its transmission rate.

Any problems happen, please contact with us immediately to get technical

support.

Fig. 26 Pulse Port Setup

8. Mechanical Drawing

External dimension refer to Fig.27. Setscrew is M6.

Fig.27 AAI-20 System External Dimension

9. Maintenance

AAI-20 Attitude and azimuth integrated navigation system is a precise instrument for

specific operating requirements. User must read this manual very carefully and

understand product usage and limits very well before use it.

1) Check connectors before use it to avoid loose.

2) Regularly check the data power cables to prevent kink.

3) The power should be separated when our product connecting with other

equipments. Ensure stable power supply to avoid jamming.

4) Please contact factory promptly if the product have any fault. Disassembly of the

camera (including removal of the cover) can cause permanent damage and will

void the warranty.

10. Transportation & Storage

10.1 Transportation

The product should be packed with original package during transportation. The

product should be keep dry, clean, pollution-free, damp proof, mould proof, knock

against, rain & snow against, not stay in the sun too long, non-corrosive gas. It must

be carefully handled, avoid strong shock and vibration.

10.2 Storage

The product should be stored in original package. And keep it in dry, clean,

pollution-free place.

For long time storage, the warehouse temperature should be at 20±10℃, relative

humidity ≤80%. No acid and alkali corrosive gas. No strong mechanical vibration,

shock and magnetic.