FeiYu Tech FY-AHRS-1200B User Manual

FY-AHRS-1200B Instructions

Attitude and Heading Reference Systems

FY-AHRS-1200B
Instructions V1.0

Guilin FeiYu Electronic Technology Co., Ltd

Addr: 4th Floor,Yu Tai Jie Science&technology Building, Information Industry Park,

ChaoYang Road ,Qi Xing District , Guilin 541004, China.

Website: http://www.feiyudz.cn
E-mail: [e-mail]

GuiLin FeiYu Electronic Technology Co., Ltd

Dear customers:

Hello! Thank you for the use of products of Guilin Feiyu Electronic Technology Co,
Ltd. to better use the product, before using please carefully read the instructions to
ensure the proper use and operation.

FY-AHRS-1200B is a high-performance strap down inertial navigation system that can
measure any point of orientation of the entire locomotive and vehicle in the 3D space. AHRS
could make high-precision positioning for any stationary or moving objects with angular velocity,
even short magnetic interference will not affect the heading accuracy of the AHRS. The system
can be carried out AHRS magnetic field calibration, to eliminate the hard and soft iron materials
motorcycles offset caused by magnetic fields.

Features:

1、Using high-performance all solid-state three-axis accelerometer, three-axis angular rate

sensors and three-axis magnetic field sensor.

2、Three axis 360-degree all-dimensional output of the attitude and heading, attitude and heading

data on a static accuracy of less than 0.5 degrees, the dynamic accuracy of less than 2
degrees.

3、 Built-in sensor auto-calibrate, can automatically compensate for the interference of

temperature drift, noise, external magnetic field, etc.

4、Super long time stability and fast dynamic response.

Application:

 Ground Transportation
 Robots
 Aircraft
 Video Camera ect.

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X

Y

Z

VCC

1 VCC

2 GND

3 GND

4 NOT USE
5 NOT USE

6 NOT USE

7 NOT USE

8 NOT USE

9 NOT USE

NOT USE 16

NOT USE 17

NOT USE 18
GND 13

GND 10

NOT USE 14

NOT USE 15

UART1 RX 12

UART1 TX 11

The AHRS includes three gyroscopes, three accelerometers and three magnetic field
meters. Real-time measure three axial angular velocity, acceleration, and magnetic field
strength.After the processing by the internal microprocessor, the AHRS outputs drift-free attitude
and heading information, the three-dimensional acceleration, three-dimensional angular velocity,
three-dimensional geomagnetic field, which have been compared and checked-off.

Dimensions and Interface Description:

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Specification

FY-AHRS-1200B

Remark

Performance

Refresh Rate（Hz）

1~100

The default refresh rate is
20Hz

Initialization Time（sec）

3 Heading

Output Range（deg）

0~360

Accuracy（deg）

±1

Compensation and Correction

Resolution（deg）

0.1

Attitude

Roll output range（deg）

±180

Pitch output range（deg）

±90

Static Accuracy（deg）

＜0.5

Dynamic accuracy（deg RMS）

＜2

Resolution（deg）

0.05

Angular velocity

Roll, Pitch ,Heading（deg/sec）

＜1200

Optional range of different

Resolution（deg/sec）

＜0.05

Typical application connection diagram

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Bandwidth（Hz）

100

Linear Acceleration

X, Y, Z axis measuring range（g）

±3 Deviation（mg RMS）

0.3 Bandwidth（Hz）

40 Magnetic field

X, Y, Z axis measuring range

（gauss）

±1.5

Output range

-2048～2047

0.769 MG/LSB

Bandwidth（Hz）

20 Environmental Indicators

Working temperature（℃）

-40~+70

Electrical indicators

Input voltage（V）

3.3V~6V

Recommended 5V

Input voltage（mA）

＜80

Digital Output

TTL or RS232
(Optional)

Baud rate of output

4800~115200

The default baud rate is 19200

Physical index

Size（mm）

38×23×3

Length ×width× height

Weight（g）

5

FY-AHRS-1200B Interface Protocol

FY-AHRS-1200B Data output format description (standard RS-232, ASCII character
output):

Command head, field1, field 2, field 3, • • • • • •, the field n * checksum field (CRLF)
Between the fields with "," separated, each with a carriage return line feed end of the data.

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Command
type

Command
head

Field 1

field 2

field 3

field 4

field 5

field 6

attitude data

$FYZT

Pitch

Roll

heading

X
angular
rate

Y
angular
rate

Z
angular
rate

field 7

field 8

field 9

field 10

field 11

field 12

field 13

Check

X
acceleration

Y
acceleration

Z
acceleration

resultant
acceleration

X
magnetic
field

Y
magnetic
field

Z
magnetic
field

* Check
value

Command

type

Command

head

Command

NO

Parameter

1

Paramete

r
2

parameter 3

parameter

4

Configure the
output refresh
rate

$Config

6

Refresh rate
settings,
Parameter setting
range
1 — 100
1， 100Hz
2， 50Hz
5， 20Hz
10， 10Hz
100，1Hz

NULL

NULL

NULL

Configure the
output baudrate

$Config

7

Baudrate
settings,

NULL

NULL

NULL

FY-AHRS-1200B attitude data format

FY-AHRS-1200B attitude data output example:

$FYZT,-0.92,-0.60,341.77,-0.15,0.14,0.11,0.02,-0.01,1.00,1.00,447.19,140.02,159.50*F4
Check value calculation method: arithmetic accumulate all data by-byte start from each "$" of
the data symbols (including the $) to the"*" (excluding “*”).

FY-AHRS-1200B Configuration Format Description (standard RS-232, ASCII character
input):

Command head, command NO, parameter1, parameter2,……，parameter n (CRLF).
Between the fields with "," separated, with a carriage return line feed end of each data.

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Parameter setting
range
0 — 7
0，4800
1，9600
2，14400
3，19200
4，38400
5，56000
6，57600
7，115200

Configure
magnetic
declination

$Config

4

Setting of the
magnetic
declination,
Parameter setting
range

-360 — 360
For setting the
magnetic
deviation angle
and installed
heading bias

NULL

NULL

NULL

Open/Close the
FY -AHRS-120
0B serial data
output

$Config

9

Parameter setting
range
0 — 1
0，close
1，open

NULL

NULL

NULL

magnetic field
calibration

$Config

10

The magnetic
field calibration
options
1 — 2
1,Start calibration
XY-axis magnetic
field
2，Reserved.
After send this
command, must
clockwise rotate
FY -AHRS-1200B

NULL

NULL

NULL

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horizontally to
complete the
magnetic field
calibration

write the
configuration
information
in the FLASH

$Config

99

Is fixed at 1
Once configured,
send this
command to write
the configuration
information in the
FLASH

NULL

NULL

NULL

FY-AHRS-1200B attitude configure command example:

$Config,9,1 (CRLF)
Open the FY-AHRS-1200B serial data output

$Config,4,16 (CRLF)
Configure the FY-AHRS-1200B magnetic field deviation angle of 16 degrees.

$Config,99,1(CRLF)
Write the configuration information to the FLASH.

Attention:If there is any change of the configuration parameters ,you must click "Write FLASH"
button ,or chose menu"configuration"->permanent preserve configuration parameters",to writhe the
configuration to FLASH and pemanent preserve ,or next time power up ,these configuration parameter
will be lost .

——END——

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Note: We reserve the right to change this manual at any time! And the newest edition will

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