USER MANUAL and INSTALLATION SHEET

USER MANUAL and INSTALLATION SHEET
3D Sensor
Part number: 90-60-374-002
USER MANUAL
and
INSTALLATION SHEET
Version 3.0
nke - Racing
Z.I. Kerandré – Rue Gutenberg – 56700 HENNEBONT- FRANCE
http://www.nke.fr.
CONTENT
1
USAGE
1.1
1.2
1.3
1.4
2
ERREUR ! SIGNET NON DEFINI.
3
ERREUR ! SIGNET NON DEFINI.
4
5
COMPASS' MAGNETIC COMPENSATION
OFFSET SETTING
5
11
INSTALLATION
3.1
3.2
4
INTRODUCTION
TECHNICAL SPECIFICATIONS
LIST OF CHANNELS CREATED BY THE 3D SENSOR
CHANNELS FILTERING
SENSOR'S CALIBRATION
2.1
2.2
3
ERREUR ! SIGNET NON DEFINI.
ERREUR ! SIGNET NON DEFINI.
MOUNTING THE 3D SENSOR
INSTALLATION PRECAUTIONS
ERREUR ! SIGNET NON DEFINI.
ERREUR ! SIGNET NON DEFINI.
TROUBLE-SHOOTING - 1RST LEVEL
ERREUR ! SIGNET NON DEFINI.
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Installation 3D Sensor – version 3.0
1 USAGE
1.1 INTRODUCTION
3D Sensor is an inertial measurement unit with high accuracy and based on MEMS technology (Microelectro-mechanical systems). It measures the boat's movements in real time and calculates the boat's
orientation. It delivers magnetic heading, roll and pitch, acceleration and rate of turn on 3 axis.
It is connected to the 3D Hull input of the PROCESSOR HR or NMEA 1/compass input of the PROCESSOR
REGATTA.
1.2 TECHNICAL SPECIFICATIONS
Power supply:
4.5 to 15VDC
Consumption:
360mW
Angle resolution:
0.05°
Mag. Heading accuracy:
<1°
Roll and pitch accuracy:
<0.5°
Dynamic accuracy:
2° RMS
Waterproof protection rate:
IP67
Weight:
200 g
Operational temperature:
-10°C to +50°C
Storage temperature:
-20°C to +60°C
Gyroscopes:
±450°/s
Accelerometer:
± 8G
WARNING
Please take time to read this manual carefully before you start installation
All electrical connections of the 3D Sensor must be made to a PROCESSOR HR or a PROCESSOR
REGATTA. Alternatively, it can be connected to a PC via a USB interface, not supplied with the 3D
Sensor.
Any work on the 3D Sensor requires the system to be powered off.
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1.3 LIST OF CHANNELS CREATED BY THE 3D SENSOR
The 3D Sensor, once connected to the PROCESSOR HR or PROCESSOR REGATTA, creates the following
channels.
Variables
Affichage
unité
Désignation
267
3DH_Lacet Degree Yaw rotation angle
266
3DH_Tang
265
3DH_Roulis Degree Roll angle
256
3DH_AccX
g
Longitudinal Hull acceleration
257
3DH_AccY
g
Transversal Hull acceleration
258
3DH_AccZ
g
Vertical Hull acceleration
259
3DH_GirX
°/s
Turn rate and roll speed
260
3DH_GirY
°/s
Turn rate and pitch speed
261
3DH_GirZ
°/s
Yaw (hull) speed
262
3DH_MagX A.U.
Hull's magnetic field (longitudinal)
263
3DH_MagY A.U.
Hull's magnetic field (Transversal)
264
3DH_MagZ A.U.
Hull's magnetic field (Vertical)
Degree Pitch angle
1.4 CHANNEL FILTERING
Channel filtering, for magnetic Heading and heel, is carried out by the Multigraphic or Gyrographic.
Refer to the relevant manual for the filter settings. Filter settings affect the displayed data, not the raw
data. Channels for magnetic field, rate of turn and acceleration cannot be filtered.
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Installation 3D Sensor – version 3.0
2 SENSOR CALIBRATION
3D Sensor is factory set. Nevertheless, an offset setting may be required to match the boat's specific
characteristics to achieve optimum accuracy. Use the following calibration procedure.
2.1 COMPASS MAGNETIC COMPENSATION
The 3D Sensor can be affected by environmental influences on some boats. Despite a clean installation
and an offset setting, deviation between the magnetic heading and true heading may be experienced
over the whole measurement range from 0 to 359°.
Magnetic sensors are very sensitive to their environment and small metal items such as screws as well
as larger equipment such as the keel or the engine can generate a magnetic field that adds to the earth’s
magnetic field, generating deviation. Therefore, the localised electromagnetic fields can induce errors in
the magnetic heading, heel and pitch calculation.
There are several sources of magnetic influences:
•
Influences caused by fixed equipment such as brackets or screws.
•
Influences caused by moving parts like canting keel, non-fixed gas bottles...
•
Influences caused by equipment generating magnetic radiation all the time, like autopilot power
cables, VHF …
As a general rule, the 3D Sensor must be placed at least one meter away from any potential magnetic
source.
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Installation 3D Sensor – version 3.0
2.1.1 Three dimensions calibration principle
The aim of the calibration procedure is to place the 3D Sensor and the boat in all possible orientations
including heel and pitch. An algorithm will calculate the difference between the earth magnetic field and
all influences on board for compensation. Therefore, the whole compensation must be done in a single
location. The calibration is run under sail with enough wind to create maximum heel and pitch in all
orientations.
To do this, you need a 3D sensor connected to a Processor HR or Processor Regatta, and a computer
networked to the Processor.
Crossed cable
RJ45
The tools for magnetic calibration can be found on the Processor’s web page.
The calibration procedure is embedded in the Processor.
2.1.2 Procedure for magnetic compensation of the 3D Sensor from a Processor HR
Warning
Auto compensation remains valid as long as the magnetic environment on board does not change.
It is recommended to carry out the calibration with the boat in her racing configuration (extra
batteries, anchor, etc.). Your calibration remains valid for any location in the world.
If your heading compass is the reference, it must be correctly compensated to get an accurate True
Wind Direction processed value.
It is recommended to run several 360°under sails to get the best possible calibration result.
Once the computer is connected to the Processor HR and the system is running, connect to the web
page with the address 192.168.0.232 (refer to the Processor HR user manual for details about the
connection configuration)
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Launch your Internet browser and connect to the Processor HR.
In the Magnetic Calibration section, you will find several commands.
Once you are ready for calibration, click on: 1 > Start acquisition
A window opens and acquisition is in progress.
Sail in each point of sail for a few minutes with a turn rate of a few degrees per second, playing with
heel angle as much as possible. The calibration process will be effective even if you cannot heel the boat
in some sectors like “Up Wind”.
Once this sea commissioning is complete you can click on the Back button (arrow located on the top left
of your Internet browser) to go to the Home page of the Processor HR.
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Click on: 2 > Stop the acquisition and compute the magnetic calibration
This window opens, the acquisition is stopped and the corrections are applied.
Go back to the Home page of the Processor HR.
Then, click on: 3 > Apply and save the Magnetic calibration
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This window opens, the calibration is saved in the 3D Sensor V3.
Go back to the Home page of the Processor HR.
The result of the calibration can be displayed in: Calibration result.
The result is displayed in a text format (see below):
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Example of a good calibration.
> start magnetic 3D acquisition 26/05/16 at 13:36:53
Launch the calibration
> compute magnetic calibration at 13:52:58
points=560/1000
quality=OPTIMAL
confidence=HIGH
accuracy=1.02 deg
INDICATION :
bandwidth HIGH
before MeanError=6 StdError=2 MaxError=10
after MeanError=1 StdError=1 MaxError=4
accuracy Mean=1.02 Std=0.84 Max=5.29
advancedStatus $0
Stop and process the calibration
Number of points kept for calibration
Quality of the calibration
Link to number of points
Average deviation
Indication about calibration
Band Width for points acquisition
> apply & save magnetic calibration at 13:53:37
Save the calibration in the 3DV3
Calibration result
Below are some messages that can be displayed in the calibration result
•
•
•
Quality: Optimal / Good / Poor / Invalid Mainly dependent of influences occurring around the
system during the calibration
Confidence: High / Medium / Low Mainly dependent on the number of points taken to cover the
calibration needs
Indication :
o Vide : OK
o No Enough Points:
Calibration must be repeated with more points
o Too much distortion: There may be influences around the system
o X motion issue:
More Roll (heel) must be applied
o Y motion issue:
More Pitch must be applied
o Z motion issue:
More Yaw must be applied
o Alignment issue:
Influence located too close to the system
WARNING
A stopped calibration cannot be resumed. It must be started again from scratch.
Any calibration saved in the 3Dsensor cannot be retrieved.
It is possible to get a good calibration even with a message in the INDICATION field.
When a calibration is perfectly achieved the INDICATION field does not display.
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2.2 OFFSET SETTING
Once the 3D Sensor is installed and calibrated, it may be required to set an offset, so that the magnetic
heading, the heel and pitch match the real magnetic heading.
Refer to the Multigraphic's manual for this.
3 INSTALLATION
Carefully choose a location for the sensor's installation. The 3D Sensor, like your heading compass, is
sensitive to any metal mass, the boat movement and the influences created by electric equipment. The
installation must be made with a lot of care to achieve optimum accuracy.
3.1 MOUNTING THE 3D SENSOR
Install the 3D Sensor on:
A horizontal surface
A vertical surface with a bracket (not supplied)
The 3D Sensor must be oriented with: X line in direction of the bow, Y to starboard and Z upwards.
(Binder connector to the boats stern and Lexan upwards)
Fixing is made with hook and loop tape (or plastic/non-magnetic screws).
3.2 INSTALLATION PRECAUTIONS
Ideally, the 3D Sensor must be installed as close as possible to the boat's centre of rotation, away from
metal masses and electric cables. As a general rule, the 3D Sensor must be placed at least one meter
away from any potential magnetic source. Mount the 3D Sensor carefully with X line parallel to the
boat's mid-line and X and Y on horizontal pla to minimize offsets values.
The mechanical adjustment of the 3D Sensor to minimize the offset value (<3°) is essential for the good
operation of the anti-capsize function (and makes the datalog process easier).
WARNING
Never expose the 3D Sensor to strong magnetic fields (magnets, compass, degausser). The 3D
Sensor contains as few magnetic materials as possible. Nevertheless, some minor components can
be affected permanently by exposure to magnetic fields. This would not damage the 3D Sensor, but
would make the compensation impossible.
Warning: do not store the 3D Sensor close to strong magnetic fields.
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4 1RST LEVEL TROUBLE-SHOOTING.
This chapter can help you quickly deal with small incidents that do not require a specialist. Read the
following trouble-shooting table carefully before contacting customer support.
Faults
Possible causes and solutions
No Compass, heel and pitch data
Refer to the Processor's manual and check the
configuration of the 3D Sensor port on the Processor.
The magnetic heading is displayed, but very Check that no equipment can interfere with the 3D
different from the steering compass.
Sensor or your steering compass: Check the list of
equipment featured in the Installation chapter.
Check the steering compass adjustment.
Carry out a three compass calibration.
If you cannot solve the problem, contact your distributor.
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