FeiYu Tech FY-AHRS-2000B User Manual

FY-AHRS-2000B Installation Instructions

Attitude and Heading Reference Systems

FY-AHRS-2000B

Installation Instructions V1.0

Guilin FeiYu Electronic Technology Co., Ltd

Addr: 4th Floor,Yu Tai Jie Science&Technology Building,
Information Industry Park , Chao Yang 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 using the products of Guilin Feiyu Electronic Technology Co,

Ltd. Please carefully read the instructions to ensure the proper use and operation.

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FY-AHRS-2000B Installation Instructions

FY-AHRS-2000B 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.

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.

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Specification

FY-AHRS-2000B

Remark

Performance

Refresh Rate（Hz）

1~100

The default refresh rate is 20Hz

Initialization Time（sec）

3

Heading

Output Range（deg）

0~360

length（mm）

width（mm）

height（mm）

45

25

11

Black cable

Red cable

Yellow cable

Green cable

GND

+5V

RX

TX

1. Dimensions and Interface Description:

Dimensions：

Interface：

2. Performance Parameter

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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）

＜2000

Optional range of different

Resolution（deg/sec）

＜0.05

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 Current（mA）

＜80

Digital Output

TTL or RS232
(Optional)

Baud rate of output

4800~115200

The default baud rate is 19200

Physical index

Size（mm）

45×25×11

Length ×width× height

Weight（g）

18

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3、Hardware Installation

FY-AHRS-2000B should be installed on a stable platform; the installation of the surface
should be parallel with the ground as far as possible when still placed on the platform, and keep
it away from the magnetic field effects as far as possible. Magnetic objects must avoid being
included. For example: car engines, electric motors, audio speakers, steel, iron and steel nuts or
bolts. We recommend using copper, plastic or aluminum as the FY-AHRS-2000B installation and
packaging materials. Because it equipped with a gyro and acceleration sensor, so we must fix it
on the platform cautiously.

When install FY-AHRS-2000B, make ensure that the "forward" on the shell (it means the
positive X-axis) keep the same direction with the platform move forward straight. This is very
important. Once the installation is finished, you’d better make ensure that no more change in use.

Since magnetic interference may exist in the surroundings, for realize the correction of
course, we advised that please run the magnetic field compensate program of the
FY-AHRS-2000B after each time the environment changed .We must select the install position
carefully when install the FY-AHRS-2000B.The selected position should expose the electronic
component fully to the Earth's magnetic field, while keep it relatively isolated from the magnetic
field effects and interference.

FY-AHRS-2000B includes gyroscopes and accelerometers, in order to initialize the sensors,
you should keep it horizontal and static for about 3 to 5 seconds when Power-on. If you
power-on it during movement, it may cause the attitude data accuracy decline.

If the external environment changed so much, when boot and maintain the stationary state,
the gyroscope angular rate is greater than 1 ° per second, please perform "configuration" - ""
gyro to initialize ".

4、 Power and Signal Connections

FY-AHRS-2000B connects to the user equipment through standard TTL serial protocol, so
if you are using a notebook computer, please prepare a USB-serial converter. FY -AHRS-2000B
factory default serial port baud rate is 19200, the output data refresh rate is 20Hz.

Recommended operating voltage is 5V DC power input. The voltage input range is 3.3V ~
6V, if the supply voltage is out of the range, the AHRS will be damaged or caused performance
reduction.

5、Demo Software Installation and Use

The demo software program's document of FY-AHRS-2000B is AHRS test software.exe,
after completing the installation, the interface is as follows:

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Select the serial port used to connect in the "Port" field, such as: "COM1"; in the "Rate"
field select the baud rate as "19200"; FY-AHRS-2000B connected to the default wave special
rate of 19200, a start-byte, 8 data bytes, a Stop byte, no parity, either hardware or software no
"handshake." Baud rate can be changed by command.

Click "Open Serial Port" button, if the FY-AHRS-2000B has been powered on and in
working status, you will see the attitude, angular rate and other parameters displayed on the left
window. After click "Graphic Demo" button, the 3D graphics demo window will be pop-up.

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The three-dimensional rectangular in the demo program will change its attitude accordingly thought the

change attitude of the FY-AHRS-2000B .

Select the menu "Show" - “electronic compass display ", you can switch to two dimensions
compass view, it will indicating the real time course.

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At the main interface of AHRS testing software, you can configure the output serial baud
rate, the output data refresh rate, the output data content, etc, and you also can set the baseline
calibration and the magnetic field calibration of the sensors inside the FY-AHRS-2000B .

6、Magnetic field calibration

FY-AHRS-2000B will be started magnetic compensation calibration procedures once the
installation finished. The magnetic field compensation process in the module's firmware
determines the magnetic field calibration impact of the installation of platform, so even if the
FY-AHRS-2000B is installed on the steel device (for example, a vehicle), it still can provide
accurate readings. FY-AHRS-2000B has the compensation effect only in a limited interference
range. Range value of magnetometer is between minus 100 and plus 100 m-Teslas which is
approximately twice the magnetic force in middle latitude northern hemisphere, If the
disturbance value of the magnetic field more than plus or minus 50 m-Teslas, the magnetometer
could reach saturation and block compensation.

Magnetic compensation function is semi-automatic. Once started, FY-AHRS-2000B will
collect data automatically from every position of the circumference. After completing this work,
the module will calculate the correction factor to compensate for the near magnetic field
abnormalities, and to store the corrected value in the permanent memory. After the compensation
process, the corrected value will be merged into the subsequent azimuth data.

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If necessary, the compensation process can be repeated several times. When began to run
the test program, please note: The magnetic objects (such as the nearby mobile phones, structural
steel and buried underground pipelines) may lead to azimuth errors. If the FY-AHRS-2000B is
installed in a vehicle, it will encounter the magnetic field anomaly; this is why there is a
magnetic compensation procedure. However, for some bulky magnetic properties are very likely
to distort the earth’s magnetic field, even the process of magnetic compensation happened in a
long distance.

Magnetic declination and bias of installation is the most important parameter values, which
can be entered into the module by the host. Usually, when power-on, the module will
automatically set the value of magnetic declination and bias to 0. This can be changed through
software commands, and the value is still valid after restarted.

Magnetic declination (also known as magnetic variable) is the angle between true north and
magnetic north. Azimuth bias is defined as the level angle deviation between the module's
forward axis (X axis) and the reference axis of installation platforms. Azimuth bias is a constant,
which is decided the module mechanical placement and installation elements. Magnetic
declination and Azimuth bias will affect the accuracy of the Azimuth observation. The module
should use these two corrected values, and add it to the magnetic field course deviation angle
correction option.

According to usual practice, both the mark symbol of magnetic declination and azimuth
bias used in the east are belonging to positive sign. For example, if magnetic north is the east of
true north, magnetic declination is positive. For example, the local magnetic declination is -6 °,
the install bias is -2 °, and then the magnetic field course deviation angle correction option
should fill in the 8 °.

Choosing menu "configuration"-> "magnetic calibration procedures", the magnetic
compensation procedures will be start, at the same time, the process and longitude of the
program operation would be shown on the bottom of the main procedures information displayed
window. Magnetic compensation is used to confirm the magnetic attribute of surrounding
environment, and obtaining the factor which is used to compensate the magnetic. If lack of this
amended procedure, the substantial azimuth angle error may occur.

In the implementation of the "Start calibration of XY-axis magnetic field", you need to place
FY-AHRS-2000B horizontally (the X-Y plane of FY -AHRS-2000B is parallel with the ground
level. At the same time, the right side of Z-axis being faced down with the ground water level
vertically), and rotate the module clockwise, keep it stable circular movement. If the
FY-AHRS-2000B is installed in a vehicle, the above steps are completed by rotate the vehicles
slowly on the horizontal ground.

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The magnetic field calibration process will show the current rotation angle by drawing the
circle. You must clockwise rotate FY -AHRS-2000B continuously until the end of the
amendment.

If the drawn circumference is significantly distortion, it may be coursed by the overlarge
external magnetic interference or there are problems in the process of rotation, so you must
re-calibrate.

By the end of the magnetic field calibration, click "Write FLASH” button, it will write the
amend parameters in the FLASH and keep them permanently. At the same installation platform,
if the external environment is not change too much, one time amendment will be enough.

FY-AHRS-2000B Interface Protocol
FY-AHRS-2000B Data output format description (standard RS-232, TTL, 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.

FY-AHRS-2000B attitude data format

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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

Parameter

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,
Parameter setting
range
0 — 7

NULL

NULL

NULL

FY-AHRS-2000B 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-2000B Configuration Format Description (standard RS-232,TTL, 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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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-200
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 sending this
command, you
must clockwise
rotate
FY -AHRS-2000B
horizontally to
complete the
magnetic field

NULL

NULL

NULL

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calibration

write the
configuration
information
in the FLASH

$Config

99

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

NULL

NULL

NULL

FY-AHRS-2000B attitude configure command example:

$Config,9,1 (CRLF)
Open the FY-AHRS-2000B serial data output

$Config,4,16 (CRLF)
Configure the FY-AHRS-2000B 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 choose menu "configuration"->"permanent preserve configuration
parameters", to write the configuration to FLASH and permanent preserve, or next time
power up, these configuration parameter will be lost.

——END——

Note: We reserve the right to change this manual at any time! And the newest edition will
be shown on our website www.feiyudz.cn.

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