Moog Crossbow GNAV540 - Manual (Page 24)

Page 24
r Manual
7430‐0808‐01 Rev. B
Figure 3 GNAV540 Functions
GNAV540 Use
NAV Function AHRS Function
Magnetometer
heading
accels, rates,
mags, attitude,
, ,
Accelerometer Accelerometer tilt
Correction algorithm
Roll/pitch heading velocity
Attitude propagation
100 Hz
∑
Magnetometer
heading
accels, rates, MAGS, attitude,
velocity, GPS position
, ,
Accelerometer Accelerometer tilt
Correction algorithm
Roll/pitch heading velocity
Attitude and velocity
propagation 100 Hz
∑
GPS velocity
VG Function with External GPS VG Function
GN
Accelerometer
?
GPS velocity
Accelerometer tilt
Correction algorithm
Roll/pitch heading velocity
∑
accels, rates, attitude,
velocity, GPS position Attitude and velocity
propagation 100 Hz
Correction algorithm
Roll/pitch heading velocity
Accelerometer
AV540 Default Coordinate System
The GNAV540 Inertial System default coordinate system is shown in Figure 4 below. The coordinate system is
configurable with either NAV‐VIEW 2.2 or by sending the appropriate serial commands. This section of the
manual describes the default coordinate system settings of the unit when it leaves the factory. For information
about configuring GNAV540, refer to Chapter 7. Configuring GNAV540 with NAV­VIEW 2.2 Chapter 6. Viewing and
Logging Data with NAV­VIEW 2.2 and Chapter 10. Programming Guidelines. With the GNAV540 connector
facing you and the mounting plate down, the axes are defined as shown below:
Figure 4 GNAV540 Default Coordinate System
X­axis: from face with connector through the unit
Y­axis: along the face with connector from left to right
Z­axis: along the face with the connector from top to bottom
The axes form an orthogonal SAE right‐handed coordinate system. Acceleration is positive when it is oriented
towards the positive side of the coordinate axis. For example, with a GNAV540 sitting on a level table, it will
Accelerometer tilt
∑
Attitude propagation
100 Hz
accels, rates,
attitude,
(heading/yaw free