Transcript
14 Somerset House Hussar Court Waterlooville Hampshire
TECHNICAL INFORMATION SHEET
PO7 7SG
HAS-01 Heading and Attitude Sensor The HAS-01 Heading and Attitude Sensor is a magnetic/inertial sensor designed to give heading, rate of turn, roll and pitch data.
Description The HAS-01 is a sensor which uses three-axis magnetic, acceleration and rotation sensors to measure heading and attitude. It is designed for supplying data to marine craft autopilots. The HAS-01 comprises a processing engine that combines the data from the magnetic and acceleration sensors to calculate roll and pitch angles and heading. These are combined in a Kalman filter with the rotation sensor data to produce a smoothed output. As well as smoothing the output, the Kalman filter mitigates the effect of centripetal accelerations which would otherwise generate large errors in the output during high speed manoeuvring or even in straight line operations.
Ease of use The device has built-in functions to aid commissioning. Once the device has been installed, an “AutoLevel” command may be used to rotate the device data into the vehicle axes. This means that the device may be installed in any orientation. Once the device has been auto-levelled, it is calibrated for local hard-iron effects by performing a slow turning manoeuvre. Once the device has been calibrated for hard iron offsets, a final command may be used to align the output to the vehicle heading.
Versatility Output baud rate and sentence rates may be selected by sending simple commands. This allows the device to be configured according to the needs of the vehicle. Configuration settings are automatically saved to EEPROM.
Ordering information •
HAS-01-232: RS232 version
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HAS-01-485: RS485 version
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HAS-01-OEM: Board only, 5V TTL i/o
© H Scientific Ltd 2012
14 Somerset House Hussar Court Waterlooville Hampshire PO7 7SG
HAS-01 Heading and Attitude Sensor Specification Supply:
6V to 15V
Current:
< 40mA
Vibration:
TBC
Shock:
5,000g for 0.1ms
Magnetic environment:
constant < 0.5 Gauss. Time-varying fields will cause errors in the heading output. The magnitude of such errors may be estimated approximately by the equation: ∆H≈ (∆M / Mgeo) x 180/π
Where ∆H = rms heading error, ∆M = rms field disturbance, Mgeo = geomagnetic field Storage precautions:
Avoid extremes of temperature (below -40° or above 85°C) Avoid magnetic fields in excess of 10 Gauss
Temperature:
-30° to +85°
Humidity:
95% non-condensing
Serial output:
HAS-01-232: RS232, HAS-01-485: RS485
Baud rate:
Programmable 4800 to 57600
Sentences:
NMEA 0183 HDG, ROT, HPR (proprietary Heading – Pitch angle – Roll angle)
Data rate:
0, 1, 2, 4, 5, 10, 20Hz
Precision:
2 decimal places
Output ranges:
Heading 0-360°; Pitch angle 0-90°; Roll angle -180-+180°. Angular rate limits 250°/second any axis. Exceeding this limit will cause significant errors in the output. Errors will be corrected over a period of about 1 minute after the rate returns to within the specified range.
Accuracy:
Roll, pitch: static: 0.5°; highly dynamic: 5° Heading: static: 1°; highly dynamic: 10°
Note: Static heading accuracy depends approximately on 1/(cos(magnetic dip angle)). See table:
Magnetic dip angle Aaccuracy factor 0° (horizontal, equatorial latitudes) 1.0 30° 1.15 70° (UK) 2.9
© H Scientific Ltd 2012
