Aceinna INS401 Manuale utente

ACEINNA, Inc.

email: [email protected], website: www.aceinna.com

INS401 USER MANUAL

(Preliminary)

Document Part Number: 7430-4006-02

Date Document

Revision

Firmware

Applicability

Description Author

Aug 19, 2021 -D1 28.00.01 Preliminary Release JN/DW/BL/

Oct 01, 2021 -D2 28.00.02

(maybe

28.01.00)

Update figures to the final

product look and update

content to 28.00.02

CT/KL/DW/

Nov 05, 2021 -D3 28.01 Update contents to reflect FW

28.01

Dec 29, 2021 -D4 28.02 Mounting instructions updated

to reflect FW 28.02

Add more contents for

Firmware Upgrade

WARNING

Aceinna has developed this product exclusively for commercial applications. It has not been tested

for, and Aceinna makes no representation or warranty as to conformance with, any military

specifications or that the product is appropriate for any military application or end-use.

Additionally, any use of this product for nuclear, chemical, biological weapons, or weapons

research, or for any use in missiles, rockets, and/or UAV's of 300km or greater range, or any other

activity prohibited by the Export Administration Regulations, is expressly prohibited without the

written consent of Aceinna and without obtaining appropriate, US export license(s) when required

by US law. Diversion contrary to U.S. law is prohibited.

without notice.

Aceinna is a registered trademark of Aceinna Inc. Other product and trade names are trademarks

or registered trademarks of their respective holders.

INS401 User’s Manual

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Doc# 7430-3305-08 Page 1

Table of Contents

Introduction ........................................................................................................................................... 4

INS401 Overview ........................................................................................................................... 4

INS401 Hardware .................................................................................................................................. 5

Housing and Dimensions ................................................................................................................ 5

Mechanical Interface ...................................................................................................................... 6

RF Connector .......................................................................................................................... 6

Main Connector and Pin Description ...................................................................................... 7

INS401 Installation ................................................................................................................................ 8

Mounting Instructions .................................................................................................................... 8

Antenna Selection and Connection ................................................................................................ 9

Power Requirement ...................................................................................................................... 10

INS401 Operation ................................................................................................................................ 11

Setting Up Communications ......................................................................................................... 11

System Operation and Data Logging ........................................................................................... 11

RTK Corrections .......................................................................................................................... 14

Odometer ...................................................................................................................................... 14

Diagnostic Capabilities ........................................................................................................................ 16

Ethernet Port and Messages ................................................................................................................. 17

Ethernet Data Frame Definition ................................................................................................... 17

Aceinna Binary Packet Format ..................................................................................................... 17

Output Binary Packets .................................................................................................................. 18

GNSS Solution Packet .......................................................................................................... 18

INS navigation solution ......................................................................................................... 18

Diagnostic Message .............................................................................................................. 20

Raw IMU Data ...................................................................................................................... 22

RTCM Data ........................................................................................................................... 22

Output ASCII Messages ............................................................................................................... 22

Input Binary Packets..................................................................................................................... 23

User Commands ........................................................................................................................... 24

Firmware Upgrade ............................................................................................................................... 28

FW Upgrade with AceNav ........................................................................................................... 28

BootLoader Design ....................................................................................................................... 28

INS401 User’s Manual

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Doc# 7430-3305-08 Page 2

INS401 APP Upgrade ........................................................................................................... 29

INS401 IMU FW Upgrade .................................................................................................... 33

INS401 STA9100 FW Upgrade ............................................................................................ 34

Appendix A: 16-bit CRC Implementation Sample Code ............................................................................ 37

Appendix B: AceNav CLI Software Usage ................................................................................................ 38

System requirement ................................................................................................................................. 38

GNSS/INS operation user settings .......................................................................................................... 38

Commands ............................................................................................................................................... 38

Appendix C: Firmware 28.01 and Earlier IMU Axis Definition ................................................................ 40

INS401 User’s Manual

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Doc# 7430-3305-08 Page 3

About this Manual

The following annotations have been used to provide additional information.

 NOTE

Note provides additional information about the topic.

 EXAMPLE

Examples are given throughout the manual to help the reader understand the terminology.

 IMPORTANT

This symbol defines items that have significant meaning to the user

WARNING

The user should pay particular attention to this symbol. It means there is a chance that physical

harm could happen to either the person or the equipment.

The following paragraph heading formatting is used in this manual:

1 Heading 1

1.1 Heading 2

1.1.1 Heading 3

1.1.1.1 Heading 4

Normal

INS401 User’s Manual

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Doc# 7430-3305-08 Page 4

Introduction

INS401 Overview

The Aceinna INS401 is an Inertial Navigation System (INS) with RTK-enabled GNSS

positioning engine and triple-redundant IMU sensors. It is powered by RTK330LA – an ASIL B

certified product of Aceinna. It is designed to work with odometer and RTK corrections for

optimal performance. It is a lightweight and compact enclosure that consists of only two

interfaces – the RF interface, and the power and data communication interface. It is a single-box

solution developed for easy evaluation and flexible deployment for various applications,

including automotive applications and ADAS systems.

The Aceinna INS401 supports multiple constellations – GPS, GLONASS, Galileo, Beidou and

QZSS. It tracks the following satellite signals shown in Table 1.

Table 1. INS401 Frequency Plan

Constellation Satellite Signals

GPS L1 C/A + L2C

GLONASS G1

BeiDou B1I + B2I

Galileo E1 + E5b

QZSS L1C/A + L2C

The INS401 provides the following features:

 Position, velocity, heading and attitude solution at 100Hz

 Multi-constellation and multi-frequency RTK algorithm support for centimeter accurate

positioning

 Integrated and calibrated triple-redundant MEMS IMU with range of ±8 g and 250 °/s

 Automotive ethernet interface

 1 PPS output

 Includes functionality for saving navigation data prior to shutdown to allow faster

initialization

INS401 User’s Manual

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Doc# 7430-3305-08 Page 5

INS401 Hardware

As described in the overview, the INS401 is a complete Inertial Navigation System contained in

a rugged aluminum housing, qualified for use in industrial and automotive applications. It

contains a dual-band RTK-capable GNSS receiver, a triple redundant IMU which is fully

calibrated for bias, scale factor, linearity, and misalignment, plus an ethernet interface for

external communication. The INS401 is powered directly from 12 V or 24 V battery systems (9

V ~ 32 V input range) and is designed and qualified to withstand the worst-case conditions in

terms of overvoltage, reverse voltage and other fault conditions experienced in these vehicles.

Housing and Dimensions

The INS401 housing is cast aluminum for ruggedness and low manufacturing cost as shown in

Figure 1. There are two connectors on the front panel, and they are permanently installed into the

INS401 housing:

 The small circular connector is the FAKRA-J C type connector for RF connection to the

GNSS antenna

 The large connector is the main electrical connector. It is an automotive grade MX23A

connector that contains the power, communication interfaces to connect with the vehicle

electronic control unit (ECU)

Figure 1 INS401 Housing

The overall dimensions are 130 x 115 x 34.5 mm, as shown in the 2D drawings in Figure 2.

INS401 User’s Manual

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Doc# 7430-3305-08 Page 6

Figure 2 INS401 Hardware Dimensions

Mechanical Interface

RF Connector

An automotive grade FAKRA-J C type connector, manufactured by Molex, is used for the GNSS

antenna connection. Its manufacturing part number is 734035112. The mating connector has part

number 734036262. The center conductor carries the RF signal into the INS401 receiver and

delivers 5 V DC from the INS401 to the external active antenna.

INS401 User’s Manual

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Doc# 7430-3305-08 Page 7

Main Connector and Pin Description

The main connector carries all the other power and I/O signals to and from the INS401 module.

This connector is also of automotive grade and is manufactured by JAE Electronics. The male

end which is installed in the INS401 housing has part number MX23A18NF1; the female end,

which is attached to the external wiring harness, has part number MX23A18SF1. Figure 3

illustrates the location of the 18 pins in the male part, as seen facing the connector from outside

the module.

Figure 3 Pin Diagram of the Male End

Table 2

shows the functional description of the 18 pins in the main connector.

Table 2. Pin Description of the Main Connector

Number

Type Pin Name Pin Function

Reserved

N/A

Reserved

N/A

Reserved

I/O

ETH_TRX_N

Ethernet (negative)

I/O

ETH_TRX_P

Ethernet (positive)

Reserved

N/A

Reserved

N/A

Reserved

N/A

Reserved

N/A

Reserved

Power

VCC_IN

9V ~ 32V DC power input

Reserved

N/A

Reserved

N/A

Reserved

N/A

Reserved

N/A

Reserved

Power

GND

Negative power supply input

Power

GND

Negative power supply input

PPS

1 Pulse per Second output, synchronized to GNSS

Power

GND

Negative power supply input

Power

GND

Negative power supply input

INS401 User’s Manual

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Doc# 7430-3305-08 Page 8

INS401 Installation

Mounting Instructions

Use four bolts of 1/4-20 UNC socket head cap screw (ASME B18.3) to fix the INS401 system on

a flat rigid panel on the vehicle, using the mechanical dimension measures shown in Figure 2.

The IMU navigation center and the IMU body frame default coordinate definition is shown in

Figure 4. Align the INS401 system x-axis with the forward driving direction of the vehicle.

By default, the IMU body frame orientation of INS401 is defined as in the figure below, with the

X-axis pointing to the opposite direction of the connectors, Z-axis pointing down, and Y-axis

completing a right-hand coordinate system. (Note in the firmware versions 28.01 and earlier, the

default IMU body frame orientation was different with the X-axis pointing to the same direction

as the connectors, Z-axis pointing down, and Y-axis completing a right-hand coordinate system).

To align with the vehicle frame definition, the INS401 should be mounted on the vehicle with

the connectors facing the tail of the vehicle, i.e. the X-axis of the IMU body frame points to the

forward driving direction of the vehicle.

The “Set User Configuration” command (see Table 11) should be used to re-align the coordinate

system so that X is facing forward, Y is right, and Z is down if the INS401 is mounted in a

different orientation.

Figure 4 IMU Axis Definition and Navigation Center Location

After the INS401 is mounted to the vehicle, measure the IMU to the GNSS antenna lever arm

(translational offset) from the IMU navigation center to the GNSS antenna phase center. The

GNSS antenna is typically installed on top of the vehicle roof. For optimal performance, it is

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