Crossbow RGA300CA User Manual

RGA

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RATE GYRO & ACCELEROMETER PACKAGE

▼ Single Axis MEMS Yaw Rate Gyro

▼ 3-Axis Accelerometer

▼ Roll and Pitch in Static Conditions

▼ EMI & Vibration Resistant

Applications

Land Vehicle Control

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GPS Augmentation

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Dead Reckoning

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RGA300CA

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inertial systems

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Robotics

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 proces­sor. 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 ac­celerometer is included in the
RGA300CA system. The triaxial accel­erometer is a bulk-micromachined
capacitive accelerometer. The acceler­ometer outputs can be used in one of
two ways. In GPS augmentation appli­cations, the accelerometers can be
used to estimate X, and Y velocity by
performing a single integration of the

outputs. A second use for the accelera­tion 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 ac­celerometers 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 in­clude land vehicle guidance and
control. Example equipment includes
construction vehicles and land robots.
Tall buildings, trees, and other obstruc­tions make reliable GPS coverage
challenging. The yaw rate sensor of
the RGA300CA, allows the system en­gineer 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.

60

Document Part Number: 6020-0036-01

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crossbow technology, inc ▼ 41 daggett drive ▼ san jose, ca 95134-2109

Specifications RGA300CA Remarks

SUNSTAR传感与控制 http://www.sensor-ic.com/ TEL:[phone] FAX:[phone] E-MAIL:[e-mail]

SUNSTAR自动化 http://www.sensor-ic.com/ TEL: [phone] FAX:[phone] E-MAIL:[e-mail]

Performance

Update Rate (Hz) > 100 Continuous Update Mode
Start-up Time Valid Data (sec) < 1
Fully Stabilized Data (sec) < 1 Static conditions

Attitude

Range: Roll, Pitch (°) ± 180, ± 90
Static Accuracy (°) ± 1.5
Resolution (°) < 0.1

Angular Rate

Range: Yaw (°/sec) ± 100
Bias: Yaw (°/sec) <± 2.0
Scale Factor Accuracy (%) < 1
Non-Linearity (% FS) < 0.3
Resolution (°/sec) < 0.025
Bandwidth (Hz) > 25 -3 dB point
Random Walk (°/hr

Acceleration

Input Range: X/Y/Z (g) ± 2
Bias: X/Y/Z (mg) <± 30
Scale Factor Accuracy (%) < 1
Non-Linearity (% FS) < 1
Resolution (mg) < 1.0
Bandwidth (Hz) > 50 -3 dB point
Random Walk (m/s/hr

Environment

Operating Temperature (°C) -40 to +71
Non-Operating Temperature (°C) -55 to +85
Non-Operating Vibration (g rms) 6 20 Hz - 2 KHz random
Non-Operating Shock (g) 1000 1 ms half sine wave

Electrical

Input Voltage (VDC) 9 to 30
Input Current (mA) < 200
Power Consumption (W) < 3 at 12 VDC
Digital Output Format RS-232 See “Digital Data Format”

1

Range (VDC) ± 4.096 Pins 8, 9, 10, 12, 13, 14

Analog

Physical

Size (in) 3.0 x 3.75 x 3.20 Includ. mounting flanges

Weight (lbs) < 1.3

Connector 15 pin sub-miniature “D” male

Notes

1

All DAC analog outputs are fully buffered and are designed to interface directly to data
acquisition equipment.
Specifications subject to change without notice

1/2

) < 2.25 Typical

1/2

) < 0.15

0 to 5.0 Pins 5, 6, 7

(cm) 7.62 x 9.53 x 8.13 Includ. mounting flanges

(kg) < 0.59

C

15 Pin "D" Connector Male Pinout

1 2 3 4 5 6 7 8

9 10 11 12 13 14 15

Pin Signal

1 RS-232 Transmit Data
2 RS-232 Receive Data
3 Input Power
4 Ground
5 X-axis Accel Voltage
6 Y-axis Accel Voltage
7 Z-axis Accel Voltage
8 X-axis Acceleration
9 Y-axis Acceleration
10 Z-axis Acceleration
11 NC – Factory Use Only
12 Roll Angle
13 Pitch Angle
14 Yaw-axis Angular Rate
15 NC – Factory Use Only

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.

3

Pin Diagram

1

1

1

2

2

2

3

4

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Tri-axial

Accelerometer

14-bit A/D

Yaw-Rate

Gyroscope

Temp Sensor

RGA Block Diagram

Ordering Information

Model Description Gyro (°/sec) Accel (g)

RGA300CA-100 Yaw Rate Gyro and Accelerometers ±100 ± 2

CALL FACTORY FOR OTHER CONFIGURATIONS

phone: [phone] ▼ fax: [phone] ▼ e-mail: [e-mail] ▼ web: www.xbow.com

RS-232

CPU + EEPROM

Digital

Output

Calibration

Algorithm

Document Part Number: 6103-0036-01

12-bit

DAC

Analog
Output

Roll and

inertial systems

Pitch Angle

XYZ

Acceleration

Yaw

Angular Rate

61

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