7430-3810-04 - B User Manual, DMUX80ZA

DMU280ZA, DMU380ZA, and
DMU480ZA SERIES USER MANUAL

Document Part Number: 7430-3810-04_B
ACEINNA, Inc.
email: [email protected], website: www.aceinna.com
Revision History
Date Document Firmware Description Author

Revision Applicability
Rev. 3 v14.6.0 Baseline release of J.S. Motyka

IMUX80ZA manual
May 23, Rev. 4 v18.3.0 Contains changes to the J.S. Motyka

2017 SPI interface related to
register contents and
synchronization capability
DMU380ZA Series User’s Manual
Table of Contents
1 Introduction ................................................................................................................. 1
Manual Overview ................................................................................................. 1
Overview of the DMUX80ZA Series Inertial Systems ........................................ 2
2 Interface ....................................................................................................................... 4
Electrical Interface ............................................................................................... 4
2.1.1 Connector and Mating Connector ................................................................. 4
2.1.2 Power Input and Power Input Ground........................................................... 5
2.1.3 Serial Data Interface ...................................................................................... 5
2.1.4 External GPS Aiding (VGX80ZA, AHRSX80ZA and INSX80ZA) ............ 5
2.1.5 Reserved – Factory Use Only........................................................................ 6
Mechanical Interface ............................................................................................ 6
3 Theory of Operation .................................................................................................... 8
DMUX80ZA Series Default Coordinate System ............................................... 11
3.1.1 Advanced Settings ....................................................................................... 12
IMUX80ZA Theory of Operation ...................................................................... 13
3.2.1 IMUX80ZA Advanced Settings .................................................................. 13
3.2.2 IMUX80ZA Built-In Test ........................................................................... 14
VGX80ZA Theory of Operation ........................................................................ 15
3.3.1 VGX80ZA Advanced Settings .................................................................... 16
3.3.2 VGX80ZA Built-In Test ............................................................................. 17
AHRSX80ZA Theory of Operation ................................................................... 18
3.4.1 AHRSX80ZA Magnetometer Calibration and Alignment .......................... 20
3.4.2 AHRSX80ZA Advanced Settings ............................................................... 21
3.4.3 AHRSX80ZA Built-In Test ........................................................................ 23
INSX80ZA Theory of Operation........................................................................ 24
3.5.1 INSX80ZA Magnetometer Calibration and Alignment .............................. 25
3.5.2 INSX80ZA Advanced Settings ................................................................... 25
3.5.3 INSX80ZA Built-In Test............................................................................. 27
4 Application Guide...................................................................................................... 29
Introduction ........................................................................................................ 29
Fixed Wing Aircraft ........................................................................................... 29
Rotorcraft............................................................................................................ 30
Land Vehicle ...................................................................................................... 31
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Water Vehicle ..................................................................................................... 31

5 DMUX80ZA SPI Port Interface Definition ............................................................... 34
DMUX80ZA Register Map ................................................................................ 34
DMUX80ZA SPI Register Read Methodology .................................................. 36
5.2.1 DMUX80ZA SPI Port Polled-Mode Read .................................................. 36
5.2.2 DMUX80ZA SPI Port Burst-Mode Read ................................................... 38
Output Data Registers ........................................................................................ 40
System Registers ................................................................................................ 41
Diagnostic Status Register.................................................................................. 42
DMUX80ZA SPI Register Write Methodology ................................................. 43
Configuration Registers ...................................................................................... 44
5.7.1 Self-Test/Data-Ready .................................................................................. 44
5.7.2 Output Data Rate ......................................................................................... 45
5.7.3 Rate-Sensor Scaling/Low-Pass Filter .......................................................... 46
5.7.4 Accelerometer, Magnetometer, and Alternate Rate-Sensor Scaling ........... 47
5.7.5 Axis Orientation Settings ............................................................................ 49
5.7.6 Saving the Configuration to EEPROM ....................................................... 50
5.7.7 Magnetic-Alignment ................................................................................... 50
5.7.8 Hardware and Software Version ................................................................. 51
Suggested Operation........................................................................................... 51
Signal Synchronization....................................................................................... 53
6 DMUX80 UART Port Interface Definition ............................................................... 55
General Settings ................................................................................................. 55
Number Formats ................................................................................................. 55
Packet Format ..................................................................................................... 56
6.3.1 Packet Header.............................................................................................. 56
6.3.2 Packet Type ................................................................................................. 56
6.3.3 Payload Length............................................................................................ 57
6.3.4 Payload ........................................................................................................ 57
6.3.5 16-bit CRC-CCITT ..................................................................................... 57
6.3.6 Messaging Overview ................................................................................... 57
7 DMUX80 Standard UART Port Commands and Messages ...................................... 60
Link Test............................................................................................................. 60
7.1.1 Ping Command ............................................................................................ 60
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7.1.2 Ping Response ............................................................................................. 60

7.1.3 Echo Command ........................................................................................... 60
7.1.4 Echo Response ............................................................................................ 60
Interactive Commands ........................................................................................ 60
7.2.1 Get Packet Request ..................................................................................... 60
7.2.2 Algorithm Reset Command ......................................................................... 61
7.2.3 Algorithm Reset Response .......................................................................... 61
7.2.4 Calibrate Command .................................................................................... 61
7.2.5 Calibrate Acknowledgement Response ....................................................... 62
7.2.6 Calibration Completed Parameters Response ............................................. 62
7.2.9 Error Response ............................................................................................ 63
Output Packets (Polled) ...................................................................................... 63
7.3.1 Identification Data Packet ........................................................................... 63
7.3.2 Version Data Packet .................................................................................... 63
7.3.3 Test 0 (Detailed BIT and Status) Packet ..................................................... 64
Output Packets (Polled or Continuous) .............................................................. 65
7.4.1 Scaled Sensor Data Packet 0 ....................................................................... 65
7.4.2 Scaled Sensor Data Packet 1 (Default IMU Data) ...................................... 65
7.4.3 Angle Data Packet 1 (Default AHRS Data) ................................................ 66
7.4.4 Angle Data Packet 2 (Default VG Data) ..................................................... 67
7.4.5 Nav Data Packet 0 ....................................................................................... 68
7.4.6 Nav Data Packet 1 (Default INS Data) ....................................................... 69
8 DMUX80ZA Advanced UART Port Commands ...................................................... 71
Configuration Fields ........................................................................................... 71
Continuous Packet Type Field............................................................................ 72
Digital Filter Settings ......................................................................................... 72
Orientation Field................................................................................................. 72
User Behavior Switches ..................................................................................... 75
Hard and Soft Iron Values .................................................................................. 75
Heading Track Offset ......................................................................................... 75
Commands to Program Configuration................................................................ 77
8.8.1 Write Fields Command ............................................................................... 77
8.8.2 Set Fields Command ................................................................................... 78
Read Fields Command ....................................................................................... 79
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Read Fields Response ..................................................................................... 79

Get Fields Command ...................................................................................... 80
Get Fields Response ....................................................................................... 80
9 DMUX80ZA Advanced UART Port BIT.................................................................. 81
Built In Test (BIT) and Status Fields ................................................................. 81
Master BIT and Status (BITstatus) Field............................................................ 83
hardwareBIT Field ............................................................................................. 84
hardwarePowerBIT Field ................................................................................... 84
hardwareEnvironmentalBIT Field ...................................................................... 84
comBIT Field ..................................................................................................... 85
comSerialABIT Field ......................................................................................... 85
comSerialBBIT Field ......................................................................................... 85
softwareBIT Field............................................................................................... 86
softwareAlgorithmBIT Field .......................................................................... 86
softwareDataBIT Field ................................................................................... 86
hardwareStatus Field....................................................................................... 86
comStatus Field .............................................................................................. 87
softwareStatus Field........................................................................................ 87
sensorStatus Field ........................................................................................... 87
Configuring the Master Status ........................................................................ 88
9.16.1 hardwareStatusEnable Field ........................................................................ 88
9.16.2 comStatusEnable Field ................................................................................ 88
9.16.3 softwareStatusEnable Field ......................................................................... 88
9.16.4 sensorStatusEnable Field ............................................................................ 88
10 Warranty and Support Information ........................................................................ 90
10.3.1 Authorization............................................................................................... 90
10.3.2 Identification and Protection ....................................................................... 90
10.3.3 Sealing the Container .................................................................................. 91
10.3.4 Marking ....................................................................................................... 91
10.3.5 Return Shipping Address ............................................................................ 91
Appendix A: Installation and Operation of NAV-VIEW ................................................. 92
NAV-VIEW Computer Requirements .......................................................................... 92
Install NAV-VIEW .................................................................................................... 92
Connections ................................................................................................................... 92
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Setting up NAV-VIEW ................................................................................................. 93

Data Recording.............................................................................................................. 93
Data Playback................................................................................................................ 94
Raw Data Console ......................................................................................................... 94
Horizon and Compass View .......................................................................................... 95
Packet Statistics View ................................................................................................... 96
Unit Configuration ........................................................................................................ 96
Advanced Configuration ............................................................................................... 97
Bit Configuration........................................................................................................... 98
Mag Alignment Procedure ............................................................................................ 99
Hard Iron/Soft Iron Overview ................................................................................... 99
Mag Alignment Procedure Using NAV-VIEW ....................................................... 100
Read Unit Configuration ............................................................................................. 102
Appendix B: NMEA Message Format ............................................................................ 104
GGA - GPS fix data .................................................................................................... 104
Appendix C: Sample Packet-Parser Code....................................................................... 106
Overview ..................................................................................................................... 106
Code listing ................................................................................................................. 107
Appendix D: Sample Packet Decoding........................................................................... 114
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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
Normal
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1 Introduction
Manual Overview
This manual provides a comprehensive introduction to ACEINNA’s DMU280ZA, DMU380ZA,
and DMU480ZA Series Inertial System products (Dynamic Measurement Unit 280ZA, 380ZA,
or 480ZA). As the functionality of the different series are identical (only the performance specs
are different), for simplicity all references will be to the DMUX80ZA, where X is 2, 3, or 4. For
users wishing to get started quickly, please refer to the two-page quick start guide included with
each evaluation kit shipment. Table 1 highlights the content in each section and suggests how to
use this manual.
Table 1 Manual Content
Manual Section Who Should Read?
Section 1: All customers should read sections 1.1 and 1.2.

Manual Overview
Section 2: Customers designing the electrical and mechanical interface to the DMUX80ZA
series products should read Section 2.
Interface
Section 3: All customers should read Section 3.

Theory of Operation As the DMUX80ZA Series products are inter-related, use the chart at the
beginning of Section 3 to ensure that you get an overview of all of the functions
and features of your DMUX80ZA Series system. For example, if you have
purchased an INSX80ZA, you should read not only the section on the
INSX80ZA, but also familiarize yourself with the theory of operation for the
IMUX80ZA, VGX80ZA, and AHRSX80ZA. The INSX80ZA builds on the
capabilities of the IMUX80ZA, VGX80ZA and AHRSX80ZA.
Section 4: Customers who want product configuration tips for operating the DMUX80ZA
Series Inertial Systems in a wide range of applications – fixed wing, rotary wing,
Application Guide unmanned vehicles, land vehicles, marine vessels, and more, should review the
part of Section 4 that is relevant to your application. Note: INS and AHRS
DMUX80ZA Series units are preconfigured for airborne applications with
“normal” dynamics. VGX80ZA Series units are preconfigured for land
applications with “automotive testing” dynamics. All DMUX80ZA Series products
allow for complete flexibility in configuration by the user.
Section 5: Customers designing the software interface to the DMUX80ZA series products
SPI Port should review Section 5.
SPI Port Interface
Section 6-9: Customers designing the software interface to the DMUX80ZA series products
UART Port should review Sections 6-9.
UART Port Interface
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Overview of the DMUX80ZA Series Inertial Systems
This manual provides a comprehensive introduction to the use of ACEINNA’s DMUX80ZA
Series Inertial System products listed in Table 2. This manual is intended to be used as a detailed
technical reference and operating guide. ACEINNA’s DMUX80ZA Series products combine the
latest in high-performance commercial MEMS (Micro-electromechanical Systems) sensors and
digital signal processing techniques to provide a small, cost-effective alternative to existing IMU
systems.
Table 2 DMUX80ZA Series Feature Description

Product Features
IMUX80ZA (-200,-209,-409) 6-DOF Digital IMU, 9-DOF Digital IMU Standard Range, 9-DOF Digital IMU High Range
VGX80ZA (-200,-400) 6-DOF IMU plus Roll and Pitch Standard Range, High Range
AHRSX80ZA (-200, -400) 9-DOF IMU (3-Axis Internal Magnetometer) plus Roll, Pitch, and Heading Standard Range,
High Range
INSX80ZA (-200, -400) 9-DOF IMU (3-Axis Internal Magnetometer) with interface for External GPS Receiver plus
Position, Velocity, Roll, Pitch, and Heading Standard Range, High Range
The DMUX80ZA Series is ACEINNA’s fourth generation of MEMS-based Inertial Systems,

building on over a decade of field experience, and encompassing thousands of deployed units and
millions of operational hours in a wide range of land, marine, airborne, and instrumentation
applications. It is designed for OEM applications.
At the core of the DMUX80ZA Series is a rugged 6-DOF (Degrees of Freedom) MEMS inertial
sensor cluster that is common across all members of the DMUX80ZA Series. The 6-DOF MEMS
inertial sensor cluster includes three axes of MEMS angular rate sensing and three axes of MEMS
linear acceleration sensing. These sensors are based on rugged, field proven silicon bulk
micromachining technology. Each sensor within the cluster is individually factory calibrated for
temperature and non-linearity effects during ACEINNA’s manufacturing and test process using
automated thermal chambers and rate tables.
Coupled to the 6-DOF MEMS inertial sensor cluster is a high performance microprocessor that
utilizes the inertial sensor measurements to accurately compute navigation information including
attitude, heading, and linear velocity through dynamic maneuvers (actual measurements are a
function of the DMUX80ZA Series product as shown in Table 2). In addition, the processor
makes use of internal magnetic sensor and external GPS data to aid the performance of the
inertial algorithms and help correct long term drift and estimate errors from the inertial sensors
and computations. The navigation algorithm utilizes a multi-state configurable Extended Kalman
Filter (EKF) to correct for drift errors and estimate sensor bias values.
Another unique feature of the DMUX80ZA Series is the extensive field configurability of the
units. This field configurability allows the DMUX80ZA Series of Inertial Systems to satisfy a
wide range of applications and performance requirements with a single mass produced hardware
platform. The basic configurability includes parameters such as baud rate (UART), clock speed
(SPI), packet type, and update rate, and the advanced configurability includes the defining of
custom axes and how the sensor feedback is utilized in the Kalman filter during the navigation
process.
The DMUX80ZA Series is packaged in a light-weight, rugged, unsealed metal enclosure that is
designed for cost-sensitive commercial and OEM applications. The DMUX80 can be configured
to output data over a SPI Port or a low level UART serial port. The port choice is user controlled
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by grounding the appropriate pin on the connector. The DMUX80 low level UART output data
port is supported by ACEINNA’s NAV-VIEW 3.X, a powerful PC-based operating tool that
provides complete field configuration, diagnostics, charting of sensor performance, and data
logging with playback.
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2 Interface
Electrical Interface
2.1.1 Connector and Mating Connector

The DMUX80ZA main connector is a SAMTEC FTM-110-02-F-DV-P defined in Figure 1. The
mating connector that can be used is the SAMTEC CLM-110-02.
Figure 1 DMUX80ZA Interface Connector
The connector pin definitions are defined in Table 3.
Table 3 DMUX80ZA Interface Connector Pin Definition

Pin Signal
1 Inertial-Sensor Sampling Indicator (sampling upon falling edge)
2 Synchronization Input (1KHz Pulse used to synchronize SPI Comm) / 1PPS
Input (External GPS)
3 SPI Clock (SCLK) / UART TX
4 SPI Data Output (MISO) / UART RX
5 SPI Data Input (MOSI)
6 SPI Chip Select (SS)
7 Data Ready (SPI Communication Data Ready) / SPI-UART Port Select 1
8 External Reset (NRST)
w
9 Reserved – factory use only
10 Power VIN (3-5 VDC)
13 Power GND
14 Power GND
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15 Power GND
17 External GPS UART TX
19 External GPS UART RX
2.1.2 Power Input and Power Input Ground

Power is applied to the DMUX80ZA on pins 10 through 15. Pins 13-15 are ground; Pins 10-12
accepts 3 to 5 VDC unregulated input. Note that these are redundant power ground input pairs.
WARNING
Do not reverse the power leads or damage may occur. Do not add greater than 5.5 volts on the
power pins or damage may occur. This system has no reverse voltage or over-voltage protection.
2.1.3 Serial Data Interface

The user can select the serial interface used with the DMUX80ZA by controlling the logic level
on connector pin 7 at system startup. If pin 7 is left floating then the DMUX80ZA is configured
for SPI communications on pins 3-6. Pin 7 is set as an output and used as the DATA READY
discrete for SPI communications. Additionally, the user can synchronize the output data on the
SPI port by providing a 1 KHz input pulse on Pin 2. For the complete SPI interface definition,
please refer to Section 5.
If the connector pin 7 is grounded then the DMUX80ZA is configured for low-level UART
output on pins 3 and 4. This is a standard UART asynchronous output data port. For the
complete UART interface definition, please refer to Sections 6-8. Note that the two output port
interface methods are controlled independently from each other. The UART port output controls
apply only to data being output over the UART port, and the SPI output controls apply only to
data being output over the SPI port.
2.1.4 External GPS Aiding (VGX80ZA, AHRSX80ZA and INSX80ZA)

The VGX80ZA/AHRSX80ZA/INSX80ZA allows the use of an external GPS receiver to be
connected the external GPS UART port (pins 17, 19). The user is required to configure the
GPS receiver to output the GPS messages that the DMUX80ZA Series expects.
Table 4 shows the supported GPS protocols and guidelines for configuration. Note that the details
of the GPS messages can be found in the respective GPS protocol documents. The user must
configure the VG/AHRS/INSX80ZA to accept external GPS information using NAV-VIEW as
described in Appendix A. If the VG/AHRS/INSX80ZA is parsing valid external GPS data and
the GPS receiver has 3D lock, then the comStatus  noExternalGPS flag will be zero, otherwise
it will be one. See Section 9 for a complete description of system status indications.
Since NMEA protocol does not provide vertical velocity, the vertical velocity that the
DMUX80ZA Series estimates (based upon GPS altitude changes) may not be sufficient for
airborne applications (see
Table 4). Therefore, the NMEA protocol is not recommended for airborne applications.
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Table 4 External GPS Receiver for VG/AHRS/INSX80ZA

Protocols Required Messages Required Message Rate Baud rate
SIRF Binary 1 Hz 115,200
NovAtel Binary BestPosB, BestVelB 1Hz 115,200
NMEA* GPGGA, GPVTG 1Hz 115,200
*Not recommended for airborne applications.
The external GPS UART port should be configured to 8 data bits, 1 start bit, 1 stop bit, no parity
bit, and no flow control.
2.1.4.1 1 PPS Input Interface

When using external GPS aiding for a VG/AHRS/INSX80ZA system, Pin 2 should be used for
the 1PPS input signal to force synchronization of sensor data collection to a 1Hz rising-edge
signal. The signal must maintain 0.0-0.2 V zero logic and 3.0-5.0 volts high logic and stay within
100ms of the internal system 1 second timing. Sending this signal to the system will align the
sensor data collection and algorithm processing to its rising edge and 10ms boundaries thereafter.
2.1.4.2 SPI Com Synchronization Input

If the user does not have 1PPS available from an external GPS receiver, then Pin 2 can be used as
a sync pulse to force synchronization of sensor data collection to a 1 kHz rising-edge signal for
output over the SPI port. See Section 5.9 for a more complete description.
2.1.4.3 External GPS Receiver Antenna Connection

The external GPS receiver needs to receive signals from as many satellites as possible. A GPS
receiver doesn’t work properly in narrow streets and underground parking lots or if objects or
human beings cover the antenna. Poor visibility may result in position drift or a prolonged Time-
To-First-Fix (TTFF). A good sky visibility is therefore a prerequisite. Even the best receiver can’t
make up for signal loss due to a poor antenna, in-band jamming or a poor RF cable. Placing the
antenna on a 4 inch or larger ground plane is highly recommended.
 IMPORTANT
Place the antenna with optimal sky visibility and use a ground plane. Route the GPS Antenna RF
cable away from sources of radiated energy (i.e. switching power supplies).
2.1.5 Reserved – Factory Use Only

During normal operation of the DMUX80ZA, no connection is made to the Reserved – factory
use only pins. These pins have internal pull-up mechanisms and must have no connections for
the DMUX80ZA to operate properly.
Mechanical Interface
The DMUX80ZA mechanical interface is defined by the outline drawing in Figure 2.
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Figure 2 DMUX80ZA Outline Drawing

NOTES UNLESS OTHERWISE STATED:
1) MATING CONNECTOR SAMTEC CLM-110-02
2) DIMENSION TO CENTROID OF PIN ONE
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3 Theory of Operation
This section of the manual covers detailed theory of operation for each member of the
DMUX80ZA Series starting with the basic IMUX80ZA and then reviewing each major variant
(VG, AHRS and INS) with their associated additional features, outputs, and performance. Table
5 shows the basic features of each member of the DMUX80ZA Series with cross references to
important sections for review.
Table 5 DMUX80ZA Series Overview
Product Features Learning More
IMUX80ZA 6-DOF IMU, 9-DOF IMU Read 3.1 and 3.2
VGX80ZA 6-DOF IMU Read 3.1, 3.2, and 3.3
Roll, Pitch
AHRSX80ZA 9-DOF IMU (3-Axis Internal Magnetometer) Read 3.1, 3.2, 3.3, and 3.4
Roll, Pitch, and Heading
INSX80ZA 9-DOF IMU (3-Axis Internal Magnetometer and external Read 3.1, 3.2, 3.3, 3.4, and 3.5
GPS Receiver)
Position, Dynamic Velocity, Roll, Pitch, and Heading
Figure 3 shows the DMUX80ZA Series hardware block diagram. At the core of the DMUX80ZA
Series is a rugged 6-DOF (Degrees of Freedom) MEMS inertial sensor cluster that is common
across all members of the DMUX80ZA Series. The 6-DOF MEMS inertial sensor cluster includes
three axes of MEMS angular rate sensing and three axes of MEMS linear acceleration sensing.
These sensors are based on rugged, field proven silicon bulk micromachining technology. Each
sensor within the cluster is individually factory calibrated using ACEINNA’s automated
manufacturing process. Sensor errors are compensated for temperature bias, scale factor, non-
linearity and misalignment effects using a proprietary algorithm from data collected during
manufacturing. Accelerometer and rate gyro sensor bias shifts over temperature (-40 0C to +71
0
C) are compensated and verified using calibrated thermal chambers and rate tables.
The 6-DOF inertial sensor cluster data is fed into a high speed signal processing chain, which
provides the sensor compensation and digital filtering. The processor also calculates attitude and
navigation data for the appropriate models (VG, AHRS and INS). Measurement data packets are
available at fixed continuous output rates or on a polled basis from the SPI port or the UART
port. The SPI port outputs data via registers, and the user can perform polled reads of each
register, or a block burst read of a set of predefined registers. Output data over the SPI port can
be synchronized to an external 1 KHz pulse. Alternatively, users can input a 1 PPS signal from
an external GPS receiver when providing external GPS data over the secondary UART2 port.
The complete SPI interface is defined in Section 4. The UART port outputs data packets are
asynchronous and defined in Sections 5-7. As shown in the block diagram (Figure 3), the
INSX80ZA and AHRSX80ZA include an internal 3-axis magnetometer.
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System Digital Outputs and Inputs

X/Y/Z High-Speed
UART1 (Pins 3,4) or SPI (Pins 3-6)
Gyros Sampling &
ACEINNA Serial Protocol (UART1)
+ UART1
SPI Registers (SPI)
X/Y/Z SPI
Sensor
X / Y / Z Acceleration
Accelerometers Compensation /
Filtering Roll / Pitch / Yaw Rate
+ X / Y / Z Magnetic Fields (INS/AHRS only)

Temperature
UART2
Navigation &
Sensor
Attitude
Kalman Filter UART2 External GPS Input

(VG/AHRS/INS)
6-DOF Sensor
Cluster
SPI Com Sync 1 KHz Pulse
External GPS 1 PPS Input
Pin 2
X/Y/Z
Magnetometers
Figure 3 DMUX80ZA Series Hardware Block Diagram
Figure 4 shows the software block diagram. The 6-DOF inertial sensor cluster data is fed into a
high speed 200Hz signal processing chain. These 6-DOF signals pass through one or more of the
processing blocks and these signals are converted into output measurement data as shown.
Measurement data packets are available at fixed continuous output rates or on a polled basis. The
type of measurement data packets available depends on the unit type according to the software
block diagram and Table 5. Aiding sensor data is used by an Extended Kalman Filter (EKF) for
drift correction in the INS, AHRS and VG Series products. Built-In-Test and Status data is
available in the measurement packet or via the special Status Packet T0.
As shown in the software block diagram, the DMUX80ZA Series has a unit setting and profile
block which configures the algorithm to user and application specific needs. This feature is one of
the more powerful features in the DMUX80ZA Series architecture as it allows the DMUX80ZA
Series to work in a wide range of commercial applications by settings different modes of
operation for the DMUX80ZA Series.
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Measurement IMU - Scaled Packets VG/AHRS – Angle

Data Available to INS - Nav Packets
(S0, S1) Packets (N0, N1)
User (Fixed Rate All Units (A1, A2)
or Polled) INS/AHRS/VG
INS/AHRS/VG/IMU INS/AHRS/VG
6-DOF Sensor Cluster
X / Y / Z Body
Rates
200Hz
Sensor Integration to 100 Hz
Signal Integration to
Calibration Velocity, GPS
Proc. Attitude
X / Y / Z Body Axes Rotation Position Output
Chain
Accelerometers
Unit Settings & Profile* Extended Kalman Filter (EKF)

Drift Correction Module Built In Test
& Status
Data
Communication Settings Available to
Axes Orientation User
Kalman Filter and Dynamic State Model
Low Pass Filtering
Free Integrate
UseGPS
UseMags
TurnSwitch Threshold
DynamicMotion
Restart On Overange Hard/Soft Iron Free Integrate UseGPS
Dynamic Motion Calibration TurnSwitch Stationary Yaw
Programmable BIT Alerts UseMags Threshold Lock
Status
Packet
(T0)
Aiding Sensors
X/Y/Z Gravity Reference

Magnetometers Turn Rate GPS Data
(Internal Internal/External
INS/AHRS only Computation)
Figure 4 DMUX80ZA Series Software Block Diagram
Simplified functional block diagrams for INS, AHRS and VG series products derived from Figure
4 are shown in Figure 5 to highlight key features of each product. The DMUX80ZA Series
products are mainly differentiated by types of aiding sensors used in the EKF for the drift
correction of the 6-DOF inertial sensor cluster.
For the AHRS product, a 3-axis magnetometer is used for correcting the drift on yaw/heading
angle. For the INS product, a 3-axis magnetometer and a GPS receiver are used for correcting the
drift on yaw/heading angle, increasing the accuracy of the attitude estimation by incorporating
these sensor signals into the EKF, and providing a navigation solution. The common aiding
sensor for the drift correction for the attitude (i.e., roll and pitch only) is a 3-axis accelerometer.
This is the default configuration for the VG product.
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Figure 5 Functional Block Diagram of INS, AHRS and VG Default Operating Mode
DMUX80ZA Series Default Coordinate System

The DMUX80ZA Series Inertial System default coordinate systems are shown in Figure 6 and
Figure 7. As with many elements of the DMUX80ZA Series, the coordinate system is
configurable with either NAV-VIEW or by sending the appropriate serial commands over the
UART port. These configurable elements are known as Advanced Settings. This section of the
manual describes the default coordinate system settings of the DMUX80ZA Series when it leaves
the factory.
+Z
Yaw
Roll
Pitch
+X +Y
Figure 6 IMU380ZA-200 Default Coordinate Frame
+X
+Y
Roll
Pitch
Yaw
+Z
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Figure 7 IMU380ZA
The axes(-209, -409)
form an VG/AHRS/INS380ZA
orthogonal SAE right-handed (-200, -400) Default
coordinate system.Coordinate
AccelerationFrame
is positive when
it is oriented towards the positive side of the coordinate axis. For example, with a DMUX80ZA
Series product sitting on a level table, it will measure zero g along the x- and y-axes and -1 g
along the z-axis. Normal Force acceleration is directed upward, and thus will be defined as
negative for the DMUX80ZA Series z-axis.
The angular rate sensors are aligned with these same axes. The rate sensors measure angular
rotation rate around a given axis. The rate measurements are labeled by the appropriate axis. The
direction of a positive rotation is defined by the right-hand rule. With the thumb of your right
hand pointing along the axis in a positive direction, your fingers curl around in the positive
rotation direction. For example, if the DMUX80ZA Series product is sitting on a level surface
and you rotate it clockwise on that surface, this will be a positive rotation around the z-axis. The
x- and y-axis rate sensors would measure zero angular rates, and the z-axis sensor would measure
a positive angular rate.
The magnetic sensors are aligned with the same axes definitions and sign as the linear
accelerometers. For example, when oriented towards magnetic North, you will read
approximately +0.25 Gauss along X, 0.0 Gauss along Y, and +0.35 Gauss along Z direction
(North America). Magnetic values at other geographic locations can be found at
http://www.ngdc.noaa.gov/seg/WMM/DoDWMM.shtml.
Pitch is defined positive for a positive rotation around the y-axis (pitch up). Roll is defined as
positive for a positive rotation around the x-axis (roll right). Yaw is defined as positive for a
positive rotation around the z-axis (turn right).
The angles are defined as standard Euler angles using a 3-2-1 system. To rotate from the body
frame to an earth-level frame, roll first, then pitch, and then yaw.
The position output from GPS is represented in Latitude, Longitude, and Altitude (LLA)
convention on the WGS84 Ellipsoid. This is the most commonly used spherical coordinate
system. The GPS velocity is defined in North, East and Down reference frame. The users can
convert this into Cartesian coordinate system, called Earth-Centered, Earth-Fixed (ECEF). ECEF
uses three-dimensional XYZ coordinates (in meters) to describe the location of a GPS user or
satellite. Several online resources are available to help users with this transformation. For
example, refer to the application note on ACEINNA website,
http://www.aceinna.com/support/documentation/inertial-systems/category/3-application-
notes.html
3.1.1 Advanced Settings

The DMUX80ZA Series Inertial Systems have a number of advanced settings that can be
changed. The specific settings available vary from unit to unit, and a detailed description of each
unit (IMU, VG, AHRS, and INS) is found in the subsequent sections of this manual. All units
support baud rate1, power-up output packet type, output rate, sensor low pass filtering, and
1
Note: certain combinations of baud-rate, packet-type, and output data rate are invalid because the time to transmit the data exceeds a
limit on the permissible message length. The DMU380 limits the output packet width to 80% of the time between data packets. For
instance, if the packet is output every 10 milliseconds (100 Hz) then the packet width must be less than 8 milliseconds or the
combination is not allowed. This prevents messages from overlapping and causing communication problems. For this reason, 57.6
kbps and higher baud-rates are suggested.
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custom axes configuration. The units can be configured using NAV-VIEW, as described in
Appendix A, and also directly with serial commands as described in Sections 6-9.
IMUX80ZA Theory of Operation

The product name, IMUX80ZA, stands for Inertial Measurement Unit X80, and the name is
indicative of the inertial measurement unit functionality that the IMUX80ZA provides by
providing inertial rate and acceleration data in 6-DOF (six degrees of freedom). The IMUX80ZA
signal processing chain consists of the 6-DOF sensor cluster, programmable low-pass filters, and
the signal processor for sensor error compensation. The IMUX80ZA, as with other DMUX80ZA
Series variants, has a UART input/output port and a SPI input/output port.
After passing through a digitally controlled programmable low-pass filter, the rate and
acceleration sensor signals are obtained at 200Hz. The sensor data is filtered by the processor
using FIR filters. The factory calibration data, stored in EEPROM, is used by the processor to
remove temperature bias, misalignment, scale factor errors, and non-linearities from the sensor
data. Additionally any advanced user settings such as axes rotation are applied to the IMU data.
The 200Hz IMU data is continuously being maintained inside the IMUX80ZA, and is available at
200Hz on the SPI output port registers. Digital IMU data is output over the UART port at a
selectable fixed rate (100, 50, 25, 20, 10, 5 or 2 Hz) or on as requested basis using the GP, ‘Get
Packet’ command. The digital IMU data is available in one of several measurement packet
formats including Scaled Sensor Data (‘S1’ Packet). In the Scaled Sensor Data (‘S1’ Packet) data
is output in scaled engineering units. See Section 7 of the manual for full packet descriptions.
 IMPORTANT
The Delta-Theta, Delta-V packet is only recommended for use in continuous output mode at 5Hz
or greater. Polled requests for this packet will produce values accumulated since the last poll
request, and thus, are subject to overflow (data type wrap around).
3.2.1 IMUX80ZA Advanced Settings

The IMUX80ZA advanced settings are described in Table 6. All of the advanced settings are
accessible through NAV-VIEW under the Configuration Menu, Unit Configuration settings. For
a full definition of the SPI port please see section 5.
Table 6 IMUX80ZA Advanced Settings

Setting Default Comments
Baud Rate 38,400 baud 9600, 19200, 57600, 115200, and 230400 also available
Packet Type S0 S1 also available
Packet Rate 100Hz This setting sets the rate at which selected Packet Type, packets are output. If
polled mode is desired, then select Quiet. If Quiet is selected, the IMUX80ZA
will only send measurement packets in response to GP commands.
Orientation See Figure 6 To configure the axis orientation, select the desired measurement for each
and Figure 7. axis: NAV-VIEW will show the corresponding image of the IMUX80ZA, so it
easy to visualize the mode of operation. Refer to Section 8.4 Orientation Field
settings for the twenty four possible orientation settings.
Filter Settings 20 Hz The low pass filters are set to a default of 20 Hz for the accelerometers, and 20
(unfiltered, 2, 5, Hz for the angular rate sensors. There is one filter setting for all three angular
10, 20, 25, 40 50 rate sensors. There is one filter setting for all three accelerometers. Setting
Hz). either to zero disables the low-pass filter.
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BIT See 9.1
NOTE on Filter Settings

Why change the filter settings? Generally there is no reason to change the low-pass filter settings
on the IMUX80ZA or other DMUX80ZA Series Inertial Systems. However, when a
DMUX80ZA Series product is installed in an environment with a lot of vibration, it can be
helpful to reduce the vibration-based signal energy and noise prior to further processing on the
signal. Installing the IMUX80ZA in the target environment and reviewing the data with NAV-
VIEW can be helpful to determine if changing the filter settings would be helpful. Although the
filter settings can be helpful in reducing vibration based noise in the signal, low filter settings
(e.g., 5Hz) also reduce the bandwidth of the signal, i.e. can wash out the signals containing the
dynamics of a target. Treat the filter settings with caution.
3.2.2 IMUX80ZA Built-In Test

The IMUX80ZA Built-In Test capability allows users of the IMUX80ZA to monitor health,
diagnostic, and system status information of the unit in real-time. The Built-In Test information
consists of a BIT word (2 bytes) transmitted in every measurement packet. In addition, there is a
diagnostic packet ‘T0’ that can be requested via the Get Packet ‘GP’ command which contains a
complete set of status for each hardware and software subsystem in the IMUX80ZA. See Sections
6-8 for details on the ‘T0’ packet.
The BIT word, which is contained within each measurement packet, is detailed below. The LSB
(Least Significant Bit) is the Error byte, and the MSB (Most Significant Bit) is a Status byte with
programmable alerts. Internal health and status are monitored and communicated in both
hardware and software. The ultimate indication of a fatal problem is the masterFail flag.
The masterStatus flag is a configurable indication that can be modified by the user. This flag is
asserted as a result of any asserted alert signals which have been enabled. See Advanced BIT
(Section 9) for details regarding the configuration of the masterStatus flags. Table 7 shows the
BIT definition and default settings for BIT programmable alerts in the IMUX80ZA.
Table 7 IMUX80ZA Default BIT Status Definition

BITstatus Field Bits Meaning Category
masterFail 0 0 = normal, 1 = fatal error has occurred BIT
HardwareError 1 0 = normal, 1= internal hardware error BIT
comError 2 0 = normal, 1 = communication error BIT
softwareError 3 0 = normal, 1 = internal software error BIT
Reserved 4:7 N/A
masterStatus 8 0 = nominal, 1 = Alert, Sensor Over Range Status
hardwareStatus 9 Disabled Status
comStatus 10 Disabled Status
softwareStatus 11 Disabled Status
sensorStatus 12 0 = nominal, 1 = Sensor Over Range Status
Reserved 13:15 N/A
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The IMUX80ZA also allows a user to configure the Status byte within the BIT message. To
configure the word, select the BIT Configuration tab from the Unit Configuration menu. The
dialog box allows selection of which status types to enable (hardware, software, sensor, and
comm). In the case of the IMUX80ZA which has fewer features and options than other
DMUX80ZA Series products, the only meaningful parameter is sensor over-range. It is
recommended that users leave the default configuration, which is sensorStatus enabled and flag
on sensor over-range. The over-range only applies to the rotational rate sensors. Because
instantaneous acceleration levels due to vibration can exceed the accelerometer sensor range in
many applications, none of the DMUX80ZA Series products trigger over-range on accelerometer
readings.
VGX80ZA Theory of Operation

The VGX80ZA supports all of the features and operating modes of the IMUX80ZA, and it
includes additional internal software, running on the processor, for the computation of dynamic
roll and pitch. The product name, VGX80ZA, stands for Vertical Gyro X80, and it is indicative of
the vertical gyro functionality that the VGX80ZA replicates by providing dynamic roll and pitch
measurements, in addition to the IMU data. The dynamic roll and pitch measurements are
stabilized by the using the accelerometers as a long-term gravity reference. Unlike the VG400
and earlier ACEINNA VG Series products, the VGX80ZA can also output a free integrating yaw
angle measurement that is not stabilized by a magnetometer or compass heading (see
AHRSX80ZA or INSX80ZA for stabilized heading). At a fixed 200Hz rate, the VGX80ZA
continuously maintains both the digital IMU data as well as the dynamic roll and pitch data. As
shown in the software block diagram Figure 4, after the Sensor Calibration block, the IMU data is
passed into an Integration to Orientation block (Please refer to the Figure 5 if external GPS aiding
will be used). The Integration to Orientation block integrates body frame sensed angular rate to
orientation at a fixed 200 times per second within all of the DMUX80ZA Series products. For
improved accuracy and to avoid singularities when dealing with the cosine rotation matrix, a
quaternion formulation is used in the algorithm to provide attitude propagation.
As also shown in the software block diagram, the Integration to Orientation block receives drift
corrections from the Extended Kalman Filter or Drift Correction Module. In general, rate sensors
and accelerometers suffer from bias drift, misalignment errors, acceleration errors (g-sensitivity),
nonlinearity (square terms), and scale factor errors. The largest error in the orientation
propagation is associated with the rate sensor bias terms. The Extended Kalman Filter (EKF)
module provides an on-the-fly calibration for drift errors, including the rate sensor bias, by
providing corrections to the Integration to Orientation block and a characterization of the gyro
bias state. In the VGX80ZA, the internally computed gravity reference vector provides a
reference measurement for the EKF when the VGX80ZA is in quasi-static motion to correct roll
and pitch angle drift and to estimate the X and Y gyro rate bias. Because the gravity vector has no
horizontal component, the EKF has no ability to estimate either the yaw angle error or the Z gyro
rate bias. The VGX80ZA adaptively tunes the EKF feedback in order to best balance the bias
estimation and attitude correction with distortion free performance during dynamics when the
object is accelerating either linearly (speed changes) or centripetally (false gravity forces from
turns). Because centripetal and other dynamic accelerations are often associated with yaw rate,
the VGX80ZA maintains a low-passed filtered yaw rate signal and compares it to the turnSwitch
threshold field (user adjustable). When the user platform to which the VGX80ZA is attached
exceeds the turnSwitch threshold yaw rate, the VGX80ZA lowers the feedback gains from the
accelerometers to allow the attitude estimate to coast through the dynamic situation with primary
reliance on angular rate sensors. This situation is indicated by the softwareStatusturnSwitch
status flag. Using the turn switch maintains better attitude accuracy during short-term dynamic
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situations, but care must be taken to ensure that the duty cycle of the turn switch generally stays
below 10% during the vehicle mission. A high turn switch duty cycle does not allow the system
to apply enough rate sensor bias correction and could allow the attitude estimate to become
unstable.
The VGX80ZA algorithm has two major phases of operation. The first phase of operation is the
initialization phase. During the initialization phase, the VGX80ZA is expected to be stationary or
quasi-static so the EKF weights the accelerometer gravity reference heavily in order to rapidly
estimate the roll and pitch angles, and X, Y rate sensor bias. The initialization phase lasts
approximately 60 seconds, and the initialization phase can be monitored in the softwareStatus
BIT transmitted by default in each measurement packet. After the initialization phase, the
VGX80ZA operates with lower levels of feedback (also referred to as EKF gain) from the
accelerometers to continuously estimate and correct for roll and pitch errors, as well as to
estimate X and Y rate sensor bias.
If a user wants to reset the algorithm or re-enter the initialization phase, sending the algorithm
reset command, ‘AR’, will force the algorithm into the reset phase.
The VGX80ZA outputs digital measurement data over the UART port at a selectable fixed rate
(100, 50, 25, 20, 10, 5 or 2 Hz) or on as requested basis using the GP, ‘Get Packet’ command. In
addition to the scaled sensor packets described in the IMUX80ZA section, the VGX80ZA has
additional measurement output packets including the default ‘A2’ Angle Packet which outputs the
roll angle, pitch angle, and digital IMU data. ‘N0’ and ‘N1’ packets are also available for use with
an external GPS receiver. See Section 6 and 7 of the manual for full packet descriptions. All data
is also available on the SPI output port registers. Please refer to section 5 for a complete
description of the SPI port functionality.
3.3.1 VGX80ZA Advanced Settings

In addition to the configurable baud rate, packet rate, axis orientation, and sensor low-pass filter
settings, the VGX80ZA provides additional advanced settings which are selectable for tailoring
the VGX80ZA to a specific application requirements. These VGX80ZA advanced settings are
shown in Table 8 below:
Table 8 VGX80ZA Series Advanced Settings

Baud Rate 38,400 9600, 19200, 57600, 115200, and 230400 also available
baud
Packet Type A2 S1, N0, N1 also available
Packet Rate 25Hz This setting sets the rate at which selected Packet Type, packets are output. If polled
mode is desired, then select Quiet. If Quiet is selected, the VGX80ZA will only send
measurement packets in response to GP commands.
Orientation See To configure the axis orientation, select the desired measurement for each axes: NAV-
Figure 6 VIEW will show the corresponding image of the VGX80ZA, so it easy to visualize the
and mode of operation. See Section 8.4 Orientation Field settings for the twenty four possible
Figure 7. orientation settings. The default setting points the connector AFT.
Filter 20 Hz The low pass filters are set to a default of 5Hz for the accelerometers, and 20 Hz for the
Settings angular rate sensors. There is one filter setting for all three angular rate sensors. There
(unfiltered, 2, are two settings for the accelerometers, one for the X and Y axes, and a separate setting
5, 10, 20, 25, for the Z axis. The reason for a separate setting in the Z-axis is that in many installations,
40, 50 Hz) the Z-axis vibration level is much higher than in the X and Y axes, and it can prove helpful
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to filter the Z-axis at a lower cutoff than the X and Y axes. Setting either to zero disables
the low-pass filter.
Freely OFF The Freely Integrate setting allows a user to turn the VGX80ZA into a ‘free gyro’. In free
Integrate gyro mode, the roll, pitch and yaw are computed exclusively from angular rate with no
Kalman filter based corrections of roll, pitch, or yaw. When turned on, there is no coupling
of acceleration based signals into the roll and pitch. As a result, the roll, pitch, and yaw
outputs will drift roughly linearly with time due to sensor bias. For best performance, the
Freely Integrate mode should be used after the algorithm has initialized. This allows the
Kalman Filter to estimate the roll and pitch rate sensor bias prior to entering the free gyro
mode. Upon exiting the ‘free gyro’ mode (OFF), one of two behaviors will occur
(1) If the VGX80ZA has been in freely integrate mode for less than sixty seconds,
the algorithm will resume operation at normal gain settings
(2) If the VGX80ZA has been in freely integrate mode for greater than sixty
seconds, the algorithm will force a reset and reinitialize with high gains
automatically.
Restart On OFF This setting forces an algorithm reset when a sensor over range occurs i.e., a rotational
Over Range rate on any of the three axes exceeds the maximum range. The default setting is OFF for
the VGX80ZA. Algorithm reset returns the VGX80ZA to a high gain state, where the
VGX80ZA rapidly estimates the gyro bias and uses the accelerometer feedback heavily.
This setting is recommended when the source of over-range is likely to be sustained and
potentially much greater than the rate sensor operating limit. Large and sustained angular
rate over-ranges result in unrecoverable errors in roll and pitch outputs. An unrecoverable
error is one where the EKF can not stabilize the resulting roll and pitch reading. If the
over-ranges are expected to be of short duration (<1 sec) and a modest percentage over
the maximum operating range, it is recommended that the restart on over range setting
be turned off. Handling of an inertial rate sensor over-range is controlled using the
restartOnOverRange switch. If this switch is off, the system will flag the overRange status
flag and continue to operate through it. If this switch is on, the system will flag a
masterFail error during an over-range condition and continue to operate with this flag until
a quasi-static condition is met to allow for an algorithm restart. The quasi-static condition
required is that the absolute value of each low-passed rate sensor fall below 3 deg/sec to
begin initialization. The system will then attempt a normal algorithm start.
Dynamic ON The default setting is ON for the VGX80ZA. Turning off the dynamic motion setting results
Motion in a higher gain state that uses the accelerometer feedback heavily. During periods of
time when there is known low dynamic acceleration, this switch can be turned off to allow
the attitude estimate to quickly stabilize.
Turn Switch 10.0 With respect to centripetal or false gravity forces from turning dynamics (or coordinated
threshold deg/sec turn), the VGX80ZA monitors the yaw-rate. If the yaw rate exceeds a given Turnswitch
threshold, the feedback gains from the accelerometer signals for attitude correction are
reduced because they are likely corrupted.
BIT See 4.3.2
3.3.2 VGX80ZA Built-In Test

As with the IMUX80ZA, the VGX80ZA Built-In Test capability allows users of the VGX80ZA
to monitor health, diagnostic, and system status information of the unit in real-time. The Built-In
Test information consists of a BIT word (2 bytes) transmitted in every measurement packet. In
addition, there is a diagnostic packet ‘T0’ that can be requested via the Get Packet ‘GP’ command
which contains a complete set of status for each hardware and software subsystem in the
VGX80ZA. See Sections 6-8 for details on the ‘T0’ packet.
The BIT word contained within each measurement packet is detailed below. The LSB (Least
Significant Bit) is the Error byte, and the MSB (Most Significant Bit) is a Status byte with
hardware and software. The ultimate indication of a fatal problem is the masterFail flag.
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asserted as a result of any asserted alert signals which have been enabled. See Advanced BIT
(Section 9) for details on configuring the masterStatus flags. Table 9 shows the BIT definition
and default settings for BIT programmable alerts in the VGX80ZA.
Table 9 VGX80ZA Default BIT Status Definition
Reserved 4:7 N/A
masterStatus 8 0 = nominal, 1 = one or more status alerts Status
comStatus 10 0 = nominal, 1 = No External GPS Comm Status
softwareStatus 11 0 = nominal, 1 = Algorithm Initialization or High Gain Status
Reserved 13:15 N/A
The VGX80ZA also allows a user to configure the Status byte within the BIT message. To
comm). Like the IMUX80ZA, ACEINNA recommends for the vast majority of users, that the
default Status byte for the VGX80ZA is sufficient. For users, who wish to have additional
visibility to when the VGX80ZA EFK algorithm estimates that the VGX80ZA is turning about its
Z or Yaw axis, the softwareStatus bit can be configured to go high during a turn. In other words,
the turnSwitch will turn on the softwareStatus bit. In the VGX80ZA, the turnSwitch is by default
set at 10.0 deg/sec about the z-axis.
AHRSX80ZA Theory of Operation

The AHRSX80ZA supports all of the features and operating modes of the IMUX80ZA and
VGX80ZA, and it includes an additional internal 3-axis magnetometer and associated software
running on the processor, for the computation of dynamic heading, as well as dynamic roll and
pitch. The product name, AHRSX80ZA, stands for Attitude Heading Reference System X80, and
it is indicative of the attitude and heading reference functionality that the AHRSX80ZA replicates
by providing dynamic heading, roll, and pitch measurements, in addition to the VG and IMU
data. The dynamic heading measurement is stabilized using the 3-axis magnetometer as a
magnetic north reference. As in the VGX80ZA, the dynamic roll and pitch measurements are
stabilized using the accelerometers as a long-term gravity reference. Unlike the AHRS400 and
earlier ACEINNA AHRS Series products, the AHRSX80ZA can be configured to turn on and off
the magnetic reference for user defined periods of time (see Section 8 Advanced Commands). In
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addition, the AHRSX80ZA can accept external GPS data (refer to the INSX80ZA section for
details) for improved performance.
At a fixed 200Hz rate, the AHRSX80ZA continuously maintains the digital IMU data as well as
the dynamic roll, pitch, and heading. As shown in Figure 4, after the Sensor Calibration Block,
the IMU data is passed to the Integration to Orientation block. The Integration to Orientation
block integrates body frame sensed angular rate to orientation at a fixed 200 times per second
within all of the DMUX80ZA Series products. For improved accuracy and to avoid singularities
when dealing with the cosine rotation matrix, a quaternion formulation is used in the algorithm to
provide attitude propagation.
As also shown in the software block diagram, the Integration to Orientation block receives drift
corrections from the Extended Kalman Filter or Drift Correction Module. In general, rate sensors
and accelerometers suffer from bias drift, misalignment errors, acceleration errors (g-sensitivity),
nonlinearity (square terms), and scale factor errors. The largest error in the orientation
propagation is associated with the rate sensor bias terms. The Extended Kalman Filter (EKF)
module provides an on-the-fly calibration for drift errors, including the rate sensor bias, by
providing corrections to the Integration to Orientation block and a characterization of the gyro
bias state. In the AHRSX80ZA, the internally computed gravity reference vector and the
distortion corrected magnetic field vector provide an attitude and a heading reference
measurement for the EKF when the AHRSX80ZA is in quasi-static motion to correct roll, pitch,
and heading angle drift and to estimate the X, Y and Z gyro rate bias. The AHRSX80ZA
adaptively tunes the EKF feedback gains in order to best balance the bias estimation and attitude
correction with distortion free performance during dynamics when the object is accelerating
either linearly (speed changes) or centripetally (false gravity forces from turns). Because
centripetal and other dynamic accelerations are often associated with yaw rate, the AHRSX80ZA
maintains a low-passed filtered yaw rate signal and compares it to the turnSwitch threshold field
(user adjustable). When the user platform (with the AHRSX80ZA attached) exceeds the
turnSwitch threshold yaw rate, the AHRSX80ZA lowers the feedback gains from the
accelerometers to allow the attitude estimate to coast through the dynamic situation with primary
reliance on angular rate sensors. This situation is indicated by the softwareStatusturnSwitch
status flag. Using the turn switch maintains better attitude accuracy during short-term dynamic
situations, but care must be taken to ensure that the duty cycle of the turn switch generally stays
below 10% during the vehicle mission. A high turn switch duty cycle does not allow the system
to apply enough rate sensor bias correction and could allow the attitude estimate to become
unstable.
As described in 3.3 VGX80ZA theory of operation, the AHRSX80ZA algorithm also has two
major phases of operation. The first phase of operation is the high-gain initialization phase.
During the initialization phase, the AHRSX80ZA is expected to be stationary or quasi-static so
the EKF weights the accelerometer gravity reference and Earth’s magnetic field reference heavily
in order to rapidly estimate the X, Y, and Z rate sensor bias, and the initial attitude and heading of
the AHRSX80ZA. The initialization phase lasts approximately 60 seconds, and the initialization
phase can be monitored in the softwareStatus BIT transmitted by default in each measurement
packet. After the initialization phase, the AHRSX80ZA operates with lower levels of feedback
(also referred to as EKF gain) from the accelerometers and magnetometers to continuously
estimate and correct for roll, pitch, and heading (yaw) errors, as well as to estimate X, Y, and Z
rate sensor bias.
The AHRSX80ZA digital data is output over the UART port at a selectable fixed rate (100, 50,
25, 20, 10, 5 or 2 Hz) or on as requested basis using the GP, ‘Get Packet’ command. The
AHRS400 supports the same scaled sensor and angle mode packet format of the VGX80ZA. The
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AHRSX80ZA defaults to the ‘A1’ Angle Packet which outputs the roll angle, pitch angle, yaw
angle, and digital IMU data. In the AHRSX80ZA, the ‘A1’ packet contains accurate
magnetometer readings. See Sections 6 and 7 of the manual for full packet descriptions. All data
is also available on the SPI output port registers. Please refer to section 5 for a complete
description of the SPI port functionality.
 IMPORTANT
For proper operation, the AHRSX80ZA relies on magnetic field readings from its internal 3-axis
magnetometer. The AHRSX80ZA must be installed correctly and calibrated for hard-iron and
soft iron effects to avoid any system performance degradation. See section 3.4.1 for information
and tips regarding installation and calibration.
3.4.1 AHRSX80ZA Magnetometer Calibration and Alignment

The AHRSX80ZA uses magnetic sensors to compute heading. Ideally, the magnetic sensors
would measure only the earth's magnetic field to compute the heading angle. In the real world,
however, residual magnetism in your system will add to the magnetic field measured by the
AHRSX80ZA. This extra magnetic field will create errors in the heading measurement if they are
not accounted for. These extra magnetic fields are called hard iron magnetic fields. In addition,
magnetic material can change the direction of the magnetic field as a function of the input
magnetic field. This dependence of the local magnetic field on input direction is called the soft
iron effect. The AHRSX80ZA can actually measure any constant magnetic field that is associated
with your system and correct for it. The AHRSX80ZA can also make a correction for some soft
iron effects. The process of measuring these non-ideal effects and correcting for them is called
hard iron and soft iron calibration. This calibration will help correct for magnetic fields that are
fixed with respect to the AHRSX80ZA. It cannot help for time varying fields, or fields created by
parts that move with respect to the AHRSX80ZA. Because time varying fields cannot be
compensated, selection of a proper installation location is important.
During the calibration procedure, the AHRSX80ZA makes a series of measurements while the
user system is being turned through a complete 360 degree circle. A 360 degree rotation gives the
AHRSX80ZA visibility to hard and soft iron distortion in the horizontal plane. Using NAV-
VIEW, a user can see the hard and soft iron effects by selecting the Misalignment option on the
Configuration Menu, and viewing the magnetic circle during the calibration.
The AHRSX80ZA uses these measurements to model the hard iron and soft iron environment in
your system, and store these as calibration constants in the EEPROM. The status of the
AHRSX80ZA magnetometer calibration is indicated by the
softwareErrordataErrormagAlignOutOfBounds error flag available in the ‘T0’ packet. The
current release of this software does not currently implement this feature however. In future
releases, this functionality will be restored. The user can access the hardIron and
softIronScaleRatio calibration data as configuration fields in NAV-VIEW, or by using the
communication protocol over UART or SPI. Also, the softwareError bit of the masterFail byte
within the BIT word is transmitted in every measurement packet. When the AHRSX80ZA has not
been properly calibrated, this softwareError bit will be set to fail (high). The current release of
this software does not currently implement this feature however. In future releases, this
functionality will be restored.
In order for the AHRSX80ZA calibration to work properly, the AHRSX80ZA must be installed
in your system prior to calibration. If you perform the calibration process with the AHRSX80ZA
by itself, you will only correct for the magnetism in the AHRSX80ZA itself. If you then install
the AHRSX80ZA in a vehicle (for instance), and the vehicle is magnetic, you will still see errors
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arising from the magnetism of the vehicle. The AHRSX80ZA must be calibrated after installation
and prior to use of the system
The AHRSX80ZA also provides a command interface for initiating the hard iron / soft iron
calibration without the using NAV-VIEW. The user can send a ‘WC’ command to initiate the
calibration, and then rotate the user system through 360 degrees. The ‘WC’ command has two
options – auto-termination and manual termination. With, auto-termination, the AHRSX80ZA
tracks the yaw movement and after X80 degrees of rotation returns the calibration complete
response, ‘CD’. The auto-termination sequence can falsely terminate if the 360 degree rotation is
not completed within 2 minutes of the ‘WC’ command initiation. Manual termination requires the
user to send a second ‘WC’ command with the termination code in the payload. Manual
termination is a good option when the user system moves very slowly (e.g., large marine vessel)
and completing the 360 degree rotation may require more than two minutes.
The calibration complete, ‘CD’, command response message contains the X and Y hard iron bias,
as well as the soft iron ratio and soft iron phase angle. This information can be interpreted to give
an indication of the quality of the calibration. See the section Hard Iron/Soft Iron Overview in
Appendix A: Installation and Operation of NAV-VIEW for more information on the hard iron
bias, soft iron ratio and soft iron phase angle. Section 7 has programming details for the ‘WC’
and ‘CD’ commands, as well as the “GF” commands that allow the user to request the parameters
committed to EEPROM memory.
WARNING
The AHRSX80ZA and INSX80ZA units must be mounted at least 24” away from large ferrous
objects and fluctuating magnetic fields. Failure to locate the unit in a clean magnetic environment
will affect the attitude solution.
3.4.2 AHRSX80ZA Advanced Settings

settings, the AHRSX80ZA provides additional advanced settings which are selectable for
tailoring the AHRSX80ZA to a specific application requirements. The AHRSX80ZA advanced
settings are shown in Table 10:
Table 10 AHRSX80ZA Series Advanced Settings
baud
Packet A1 S0, S1, A2, N0, N1 also available

Type
Packet 25 Hz This setting sets the rate at which selected Packet Type, packets are output. If polled
Rate mode is desired, then select Quiet. If Quiet is selected, the VGX80ZA will only send
Orientation See To configure the axis orientation, select the desired measurement for each axes: NAV-
Figure 6 VIEW will show the corresponding image of the AHRSX80ZA, so it easy to visualize the
and mode of operation. See section 8.4 Orientation Field settings for the twenty four possible
Figure 7. orientation settings. The default setting points the connector AFT.
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Filter 20 Hz The low pass filters are set to a default of 20Hz for the accelerometers, and 20Hz for the
Settings accels angular rate sensors. There is one filter setting for all three angular rate sensors. There
(unfiltered, is one filter setting for all three accelerometer sensors. The reason for filtering the
20 Hz
2, 5, 10, 20, accelerometers is that in many installations, the vibration level can be high, and it can
rates
25, 40, 50 prove helpful to filter accelerometers. Setting either to zero disables the low-pass filter.
Hz)
Freely OFF The Freely Integrate setting allows a user to turn the AHRSX80ZA into a ‘free gyro’. In
Integrate free gyro mode, the roll, pitch and yaw are computed exclusively from angular rate with
no kalman filter based corrections of roll, pitch, or yaw. When turned on, there is no
coupling of acceleration based signals into the roll and pitch or magnetometer based
signals to the yaw. As a result, the roll, pitch, and yaw outputs will drift roughly linearly
with time due to sensor bias. For best performance, the Freely Integrate mode should be
used after the algorithm has initialized. This allows the Kalman Filter to estimate the roll
and pitch rate sensor bias prior to entering the free gyro mode. Upon exiting the ‘free
gyro’ mode (OFF), one of two behaviors will occur
(1) If the AHRSX80ZA has been in freely integrate mode for less than sixty
seconds, the algorithm will resume operation at normal gain settings
(2) If the AHRSX80ZA has been in freely integrate mode for greater than sixty
automatically.
Use Mags ON The Use Mags setting allows users to turn on and off the magnetometer feedback
for yaw/heading stabilization. The default setting is ON for the AHRSX80ZA. When
Use Mags is turned ON, the AHRSX80ZA uses the magnetic field sensor readings
to stabilize the drift in yaw, and it slaves the yaw to the compass reading provided
from the magnetic field sensor readings. When Use Mags is turned OFF, the
heading (yaw) angle measurement of the AHRSX80ZA will drift and freely
integrate. In effect, this setting converts an AHRSX80ZA into the functionality of the
VGX80ZA. However, unlike a VGX80ZA this can be done on a selectable basis and
changed in real time during a mission. The reason for this setting is to give the user
an ability to turn off the magnetometer stabilization when severe magnetic distortion
may be occurring. This setting is desirable when the user system temporarily
moves in close proximity to a large ferrous object. When the Use Mags switch is
turned from OFF to ON, the AHRSX80ZA will reinitialize the yaw/heading angle
with the compass reading provided from the magnetic field sensor readings.
Restart On OFF This setting forces an algorithm reset when a sensor over range occurs i.e., a rotational
Over rate on any of the three axes exceeds the maximum range. The default setting is OFF for
Range the AHRSX80ZA. Algorithm reset returns the AHRSX80ZA to a high gain state, where
the AHRSX80ZA rapidly estimates the gyro bias and uses the accelerometer feedback
heavily. This setting is recommended when the source of over-range is likely to be
sustained and potentially much greater than the rate sensor operating limit. Large and
sustained angular rate over-ranges result in unrecoverable errors in roll and pitch
outputs. An unrecoverable error is one where the EKF can not stabilize the resulting roll
and pitch reading. If the over-ranges are expected to be of short duration (<1 sec) and a
modest percentage over the maximum operating range, it is recommended that the
restart on over range setting be turned off. Handling of an inertial rate sensor over-range
is controlled using the restartOnOverRange switch. If this switch is off, the system will
flag the overRange status flag and continue to operate through it. If this switch is on, the
system will flag a masterFail error during an over-range condition and continue to
operate with this flag until a quasi-static condition is met to allow for an algorithm restart.
The quasi-static condition required is that the absolute value of each low-passed rate
sensor fall below 3 deg/sec to begin initialization. The system will then attempt a normal
algorithm start.
Dynamic ON The default setting is ON for the AHRSX80ZA. Turning off the dynamic motion setting
Motion results in a higher gain state that uses the accelerometer feedback heavily. During
periods of time when there is known low dynamic acceleration, this switch can be turned
off to allow the attitude estimate to quickly stabilize.
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Turn 0.5 With respect to centripetal or false gravity forces from turning dynamics (or coordinated
Switch deg/sec turn), the AHRSX80ZA monitors the yaw-rate. If the yaw rate exceeds a given
threshold Turnswitch threshold, the feedback gains from the accelerometer signals for attitude
correction are reduced because they are likely corrupted.
BIT See 4.4.3
3.4.3 AHRSX80ZA Built-In Test

As with the IMUX80ZA and VGX80ZA, the Built-In Test capability allows users of the
AHRSX80ZA to monitor health, diagnostic, and system status information of the unit in real-
time. The Built-In Test information consists of a BIT word (2 bytes) transmitted in every
measurement packet. In addition, there is a diagnostic packet ‘T0’ that can be requested via the
Get Packet ‘GP’ command which contains a complete set of status for each hardware and
software subsystem in the AHRSX80ZA. See Sections 6 and 7 of the Programming Guide, for
details on the ‘T0’ packet.
Significant Bit)) is the Error byte, and the MSB (Most Significant Bit) is a Status byte with
hardware and software. The ultimate indication of a fatal problem is the masterFail flag. The
softwareError bit also provides useful information regarding the status and quality of the
AHRSX80ZA magnetic alignment. If the AHRSX80ZA has not been properly magnetically
calibrated, the AHRSX80ZA shall indicate a softwareError.
asserted as a result of any asserted alert signals which has been enabled. See Section 9 Advanced
BIT for details on configuring the masterStatus flags. Table 11 shows the BIT definition and
default settings for BIT programmable alerts in the AHRSX80ZA.
Table 11 AHRSX80ZA Default BIT Status Definitions
softwareError 3 0 = normal, 1 = internal software error or BIT

magAlignOutofBounds
Reserved 4:7 N/A
masterStatus 8 0 = nominal, 1 = one or more status alerts Status
comStatus 10 0 = nominal, 1 = No External GPS Comm Status
softwareStatus 11 0 = nominal, 1 = Algorithm Initialization, or High Gain Status
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Reserved 13:15 N/A
The AHRSX80ZA also allows a user to configure the Status byte within the BIT message. To
comm). Like the VGX80ZA and IMUX80ZA, ACEINNA recommends for the vast majority of
users, that the default Status byte for the AHRSX80ZA is sufficient. For users, who wish to have
additional visibility to when the AHRSX80ZA EFK algorithm estimates that the AHRSX80ZA is
turning about its Z or Yaw axis, the softwareStatus bit can be configured to go high during a turn.
In other words, the turnSwitch will turn on the softwareStatus bit. In the AHRSX80ZA, the
turnSwitch is by default set at 0.5 deg/sec about the Z-axis.
INSX80ZA Theory of Operation

The INSX80ZA supports all of the features and operating modes of the IMU/VG/AHRSX80ZA,
and it includes additional capability of interfacing with an external GPS receiver and associated
software running on the processor, for the computation of navigation information as well as
orientation information. The product name, INSX80ZA, stands for Inertial Navigation System
X80, and it is indicative of the navigation reference functionality that the INSX80ZA provides by
outputting inertially-aided navigation information (Latitude, Longitude, and Altitude), inertially-
aided 3-axis velocity information, as well as heading, roll, and pitch measurements, in addition to
digital IMU data.
At a fixed 100Hz rate, the INSX80ZA continuously maintains the digital IMU data; the dynamic
roll, pitch, and heading data; as well as the navigation data. As shown in the software block
diagram in Figure 4, after the Sensor Calibration block, the IMU data is passed into an
“Integration to Orientation” block. The “Integration to Orientation” block integrates body frame
sensed angular rate to orientation at a fixed 100 times per second within all of the DMUX80ZA
Series products (except IMUX80ZA). For improved accuracy and to avoid singularities when
dealing with the cosine rotation matrix, a quaternion formulation is used in the algorithm to
provide attitude propagation. Following the integration to orientation block, the body frame
accelerometer signals are rotated into the NED level frame and are integrated to velocity. At this
point, the data is blended with GPS position data, and output as a complete navigation solution.
As shown in Figure 4, the Integration to Orientation and the Integration to Velocity signal
processing blocks receive drift corrections from the Extended Kalman Filter (EKF) drift
correction module. The drift correction module uses data from the aiding sensors, when they are
available, to correct the errors in the velocity, attitude, and heading outputs. Additionally, when
aiding sensors are available corrections to the rate gyro and accelerometers are performed.
The INSX80ZA blends GPS derived heading and accelerometer measurements into the EKF
update depending on the health and status of the associated sensors. If the GPS link is lost or
poor, the Kalman Filter solution stops tracking accelerometer bias, but the algorithm continues to
apply gyro bias correction and provides stabilized angle outputs. The EKF tracking states are
reduced to angles and gyro bias only. The accelerometers will continue to integrate velocity,
however, accelerometer noise, bias, and attitude error will cause the velocity estimates to start
drifting within a few seconds. The attitude tracking performance will degrade, the heading will
freely drift, and the filter will revert to the VG only EKF formulation. The UTC packet
synchronization will drift due to internal clock drift.
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The status of GPS signal acquisition can be monitored from the hardwareStatus BIT as discussed
in Section 3.5.3 INSX80ZA Built in Test. From a cold start, it typically takes 40 seconds for GPS
to lock. The actual lock time depends on the antenna’s view of the sky and the number of
satellites in view.
The processor performs time-triggered trajectory propagation at 100Hz and will synchronize the
sensor sampling with the GPS UTC (Universal Coordinated Time) second boundary when
available.
As with the AHRSX80ZA and VGX80ZA, the algorithm has two major phases of operation.
Immediately after power-up, the INSX80ZA uses the accelerometers and magnetometers to
compute the initial roll, pitch and yaw angles. The roll and pitch attitude will be initialized using
the accelerometer’s reference of gravity, and yaw will be initialized using the leveled
magnetometers X and Y axis reference of the earth’s magnetic field. During the first 60 seconds
of startup, the INSX80ZA should remain approximately motionless in order to properly initialize
the rate sensor bias. The initialization phase lasts approximately 60 seconds, and the initialization
phase can be monitored in the softwareStatus BIT transmitted by default in each measurement
packet. After the initialization phase, the INSX80ZA operates with lower levels of feedback (also
referred to as EKF gain) from the GPS, accelerometers, and magnetometers.
Digital data is output over the UART port at a selectable fixed rate (100, 50, 25, 20, 10, 5 or 2
Hz) or on as requested basis using the GP, ‘Get Packet’ command. In addition to the angle mode
packets of the AHRSX80ZA and scaled sensor packets of the IMUX80ZA, the INSX80ZA has
additional output measurement packets including the default ‘N1’ Navigation Packet which
outputs the Latitude, Longitude, Altitude, X,Y,Z velocities, accelerations, and roll angle, pitch
angle, yaw angle, and digital IMU data. See Sections 6 and 7 of the manual for full packet
descriptions. All data is also available on the SPI output port registers. Please refer to section 5
for a complete description of the SPI port functionality.
 IMPORTANT
For proper operation, the INSX80ZA relies on magnetic field readings from its internal 3-axis
magnetometer. The INSX80ZA must be installed correctly and calibrated for hard-iron and soft
iron effects to avoid any system performance degradation. See section 3.4.1 for information and
tips regarding installation and calibration and why magnetic calibration is necessary. Please
review this section of the manual before proceeding to use the INSX80ZA.
 IMPORTANT
For optimal performance the INSX80ZA utilizes GPS readings from an external GPS receiver.
The GPS receiver requires proper antennae installation for operation. See section 2.1.4 for
information and tips regarding antenna installation.
3.5.1 INSX80ZA Magnetometer Calibration and Alignment

The INSX80ZA requires the three axis magnetic field sensor to be calibrated while installed in its
operating environment. See section 3.4.1 for information and tips regarding installation and
calibration and why magnetic calibration is necessary. Please review this section of the manual
before proceeding to use the INSX80ZA.
3.5.2 INSX80ZA Advanced Settings

settings, the INSX80ZA provides additional advanced settings which are selectable for tailoring
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the INSX80ZA to a specific application requirements. The INSX80ZA advanced settings are
shown in Table 12 below:
Table 12 INSX80ZA Series Advanced Settings

baud
Packet Type N1 S0, S1, A1, A2, N0 also available
Packet Rate 25 Hz This setting sets the rate at which selected Packet Type, packets are output. If polled
mode is desired, then select Quiet. If Quiet is selected, the INSX80ZA will only send
Orientation See To configure the axis orientation, select the desired measurement for each axes; NAV-
Figure VIEW will show the corresponding image of the INSX80ZA, so it easy to visualize the
6 and mode of operation. See section 8.4 Orientation Field settings for the twenty four possible
Figure orientation settings. The default setting points the connector AFT.
7.
Filter Settings 20 Hz The low pass filters are set to a default of 20Hz for the accelerometers, and 20Hz for the
(unfiltered, 2, 5, accels angular rate sensors. There is one filter setting for all three angular rate sensors. There is
10, 20, 25, 40, one filter setting for all three accelerometer sensors. The reason for filtering the
20 Hz
50 Hz) accelerometers is that in many installations, the vibration level can be high, and it can
rates
prove helpful to filter accelerometers. Setting either to zero disables the low-pass filter.
Freely Integrate OFF The Freely Integrate setting allows a user to turn the INSX80ZA into a ‘free gyro’. In free
gyro mode, the roll, pitch and yaw are computed exclusively from angular rate with no
kalman filter based corrections of roll, pitch, and yaw. When turned on, there is no
coupling of acceleration based signals into the roll and pitch or magnetometer based
signal to the yaw. As a result, the roll, pitch, and yaw outputs will drift roughly linearly with
time due to sensor bias. For best performance, the Freely Integrate mode should be
used after the algorithm has initialized. This allows the Kalman Filter to estimate the roll
and pitch rate sensor bias prior to entering the free gyro mode. Upon exiting the ‘free
gyro’ mode (OFF), one of two behaviors will occur
(1) If the INSX80ZA has been in freely integrate mode for less than sixty seconds,
the algorithm will resume operation at normal gain settings
(2) If the INSX80ZA has been in freely integrate mode for greater than sixty
automatically.
Use GPS ON The Use GPS setting allows users to turn on and off the GPS feedback. The default
setting is ON for the INSX80ZA. When Use GPS is turned OFF, the INSX80ZA’s
behavior will revert to that of an AHRSX80ZA. See the AHRSX80ZA Theory of Operation
for detailed description.
Stationary Yaw OFF This setting defaults to OFF on the INSX80ZA, and it is recommended to be OFF for the
Lock INSX80ZA. The stationary yaw lock setting is only recommended for consideration when
the INSX80ZA is operating with GPS (Use GPS = ON) and WITHOUT magnetometer
feedback (Use Mags = OFF). Stationary yaw lock may be appropriate if the user platform
is a wheeled land vehicle.
Use Mags ON The Use Mags setting allows users to turn on and off the magnetometer feedback for
yaw/heading stabilization. The default setting is ON for the INSX80ZA. When Use Mags
is turned ON, the INSX80ZA uses the magnetic field sensor readings to stabilize the drift
in yaw, and it slaves the yaw to the compass reading provided from the magnetic field
sensor readings. When UseMags is turned OFF, the heading (yaw) angle measurement
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of the INSX80ZA will be slaved to the GPS heading if GPS is available, otherwise the
heading will drift feely. The reason for this setting is to give the user an ability to turn off
the magnetometer stabilization when severe magnetic distortion may be occurring. This
setting is desirable when the user vehicle temporarily moves in close proximity to a large
ferrous object. When the Use Mags switch is turned from OFF to ON, the INSX80ZA will
reinitialize the yaw/heading angle with the compass reading provided from the magnetic
field sensor readings.
Restart On Over OFF This setting forces an algorithm reset when a sensor over range occurs i.e., a rotational
Range rate on any of the three axes exceeds the maximum range. The default setting is OFF for
the INSX80ZA. Algorithm reset returns the INSX80ZA to a high gain state, where the
INSX80ZA rapidly estimates the gyro bias and uses the accelerometer feedback heavily.
This setting is recommended when the source of over-range is likely to be sustained and
potentially much greater than the rate sensor operating limit. Large and sustained
angular rate over-ranges result in unrecoverable errors in roll and pitch outputs. An
unrecoverable error is one where the EKF can not stabilize the resulting roll and pitch
reading. If the over-ranges are expected to be of short duration (<1 sec) and a modest
percentage over the maximum operating range, it is recommended that the restart on
over range setting be turned off. Handling of an inertial rate sensor over-range is
controlled using the restartOnOverRange switch. If this switch is off, the system will flag
the overRange status flag and continue to operate through it. If this switch is on, the
system will flag a masterFail error during an over-range condition and continue to operate
with this flag until a quasi-static condition is met to allow for an algorithm restart. The
quasi-static condition required is that the absolute value of each low-passed rate sensor
fall below 3 deg/sec to begin initialization. The system will then attempt a normal
algorithm start.
Dynamic ON The default setting is ON for the INSX80ZA. Turning off the dynamic motion setting
Motion results in a higher gain state that uses the accelerometer feedback heavily. During
periods of time when there is known low dynamic acceleration, this switch can be turned
off to allow the attitude estimate to quickly stabilize.
Turn Switch 0.5 With respect to centripetal or false gravity forces from turning dynamics (or coordinated
threshold deg/sec turn), the INSX80ZA monitors the yaw-rate. If the yaw rate exceeds a given Turnswitch
threshold, the feedback gains from the accelerometer signals for attitude correction are
reduced because they are likely corrupted.
BIT See 4.5.3
3.5.3 INSX80ZA Built-In Test

As with the IMU, VG and AHRSX80ZA, the Built-In Test capability allows users of the
INSX80ZA to monitor health, diagnostic, and system status information of the unit in real-time.
The Built-In Test information consists of a BIT word (2 bytes) transmitted in every measurement
packet. In addition, there is a diagnostic packet ‘T0’ that can be requested via the Get Packet ‘GP’
command which contains a complete set of status for each hardware and software subsystem in
the INSX80ZA. See Sections 6 and 7 of the manual for details on the ‘T0’ packet.
Significant Bit) is the Error byte, and the MSB (Most Significant Bit) is a Status byte with
hardware and software. The ultimate indication of a fatal problem is the masterFail flag. The
softwareError bit also provides useful information regarding the status and quality of the
INSX80ZA magnetic alignment. If the INSX80ZA has not been properly magnetically calibrated,
the INSX80ZA shall indicate a softwareError.
asserted as a result of any asserted alert signals which have been enabled. See Advanced Settings
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for details for configuring the masterStatus flags. Table 13 shows the BIT definition and default
settings for BIT programmable alerts in the INSX80ZA.
Table 13 INSX80ZA Default BIT Status Definitions

softwareError 3 0 = normal, 1 = internal software error or BIT

magAlignOutofBounds
Reserved 4:7 N/A
masterStatus 8 0 = nominal, 1 = one or more status alert Status
hardwareStatus 9 0 = nominal, 1 = Internal GPS unlocked or 1PPS Status

invalid
comStatus 10 Disabled Status
softwareStatus 11 0 = nominal, 1 = Algorithm Initialization or high gain Status
Reserved 13:15 N/A
The INSX80ZA also allows a user to configure the Status byte within the BIT message. To
comm). Like the IMU, VG and AHRSX80ZA, ACEINNA recommends for the vast majority of
users, that the default Status byte for the INSX80ZA is sufficient. For users, who wish to have
additional visibility or alerts relative to the GPS sensor status or algorithm status, they can
configure additional triggers for both the softwareStatus and hardwareStatus (See Section 9 of the
user’s manual for a description of all the BIT fields).
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4 Application Guide
Introduction
This section provides recommended advanced settings for tailoring the DMUX80ZA Series of
inertial systems to different types of application and platform requirements.
Fixed Wing Aircraft

A fixed-wing aircraft is a heavier-than-air craft where movement of the wings in relation to the
aircraft is not used to generate lift. The term is used to distinguish from rotary-wing aircraft,
where the movement of the wing surfaces relative to the aircraft generates lift. The fixed wing
aircraft can range in size from the smallest experimental plane to the largest commercial jet. The
dynamic characteristics of the fixed wing aircraft depends upon types of aircraft (i.g., glider,
propeller aircraft, and jet aircraft) and mission phases (i.e., launch, landing, and maneuver). In
order to meet application requirements, users must dial in proper advanced settings so that the
DMUX80ZA Series can provide the best possible solution under given dynamic conditions. For
example, Table 14 provides the recommended advanced settings for four different dynamic
conditions.
Table 14 Recommended Advanced Settings for Fixed Wing Aircraft
Recommended
AHRSX80ZA or INSX80ZA
Product
Dynamic Condition
Recommended
Pre-launch or known Launch Normal
Settings
straight and level un- Dynamics High Dynamics
accelerated flight (Default)
UseMags ON ON ON ON
UseGPS ON ON (< 4g) ON ON (< 4g)
FreelyIntegrate OFF OFF** OFF OFF (< 2g)
Stationary Yaw Lock OFF OFF OFF OFF
Restart Over Range ON OFF OFF OFF
Dynamic Motion OFF ON ON ON
Turn Switch Threshold 0.5 deg/s 0.5 deg/s 0.5 deg/s 0.5 deg/s
XY Filter Accel 5 Hz 5 Hz 5 Hz* 15 Hz
Z Filter Accel 5 Hz 5 Hz 5 Hz* 15 Hz
Filter Rate Sensor 20 Hz 20 Hz 20 Hz* 20 Hz
*A cutoff frequency of filters may be varied depending on the fastest dynamic mode of the aircraft. For
example, the conventional aircraft has five dynamic modes, short-period, phugoid, spiral, dutch-roll, and
roll, and the fastest one is the roll mode. The natural frequency of this mode is around 6~8 radian/sec or
(about 2 Hz) in most cases. Therefore, the recommended filter setting would not reject desired frequency
components (or dynamic modes) that one wants to capture. However, the larger the bandwidth (or cutoff
frequency) is, the noisier the corresponding signal is, which may result in the performance degradation. If
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the aircraft is operated under severe vibrations, also, the recommended filter setting may need to be further
reduced in order to reject the frequency components caused by the vibration.
**FreelyIntegrate should only be set to “ON” for severe launch conditions. Normal takeoff dynamics that
a standard aircraft would experience will see the best performance with this setting in the “OFF” position.
Rotorcraft
Rotorcraft is a category of heavier-than-air flying machines that use lift generated by rotors. They
may also include the use of static lifting surfaces, but the primary distinguishing feature being lift
provided by rotating lift structures. Rotorcraft includes helicopters, autogyros, gyrodynes and
tiltrotors.
The rotor blade dynamics itself is much faster than that of the fixed wing aircraft and contains
high frequency components. At the same time, however, it may cause severe vibrations on the
airframe. Also, the overall dynamics (translational and rotational motion) of the rotor craft is
much slower than the fixed wing aircraft due to a mechanical mechanism of rotors generating the
aerodynamic forces and moments. Table 15 provides the recommended advanced settings for two
different dynamic conditions.
Table 15 Recommended Advanced Settings for Rotorcraft
Recommended Product AHRSX80ZA or INSX80ZA
Dynamic Condition
Recommended Settings High Dynamics
Normal Dynamics
(with uncoordinated tail motion)
UseMags ON ON
UseGPS ON ON (< 4g)
FreelyIntegrate OFF OFF (< 2g)
Stationary Yaw Lock OFF OFF
Restart Over Range OFF ON
Dynamic Motion ON ON
Turn Switch Threshold 1.0 deg/s** 30.0 deg/s**
XY Filter Accel 5 Hz* 5 Hz
Z Filter Accel 5 Hz* 5 Hz
Filter Rate Sensor 20 Hz* 20 Hz
**The helicopter can change its heading angle rapidly unlike the aircraft which
requires banking. A turn switch threshold that is too low may cause turn switch
activation with high duty cycle causing random walk in roll and pitch angles due to
low feedback gains.
*A cutoff frequency must be far away from major frequency components caused by
the rotor vibration.
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Land Vehicle
Some examples of land vehicles are: Automobiles, trucks, heavy equipment, trains, snowmobiles,
and other tracked vehicles. Table 16 provides the recommended advanced settings for two
different types of application.
Table 16 Recommended Advanced Settings for Land Vehicle
Recommended Product VGX80ZA or INSX80ZA
Dynamic Condition
Recommended Settings
Heavy Equipment
Automotive Testing (IMU and VG default)
Application
UseMags ON* ON*
UseGPS ON ON (< 4g)
FreelyIntegrate OFF OFF
Restart Over Range ON OFF
Turn Switch Threshold 5.0 deg/s 10.0 deg/s
XY Filter Accel 5 Hz 5 Hz
Z Filter Accel 5 Hz 5 Hz
Filter Rate Sensor 20 Hz 20 Hz
*When not in distorted magnetic environment.
Water Vehicle
Water vehicle is a craft or vessel designed to float on or submerge and provide transport over and
under water. Table 17 provides the recommended advanced settings for two different types of
application.
Table 17 Recommended Advanced Settings for Water Vehicle
Recommended Product INSX80ZA
Application
Recommended Settings
Surfaced Submerged
UseMags ON* ON*
UseGPS ON OFF
FreeIntegrate OFF OFF
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Restart Over Range OFF OFF
Turn Switch Threshold 10 deg/s 5 deg/s
XY Filter Accel 5 Hz 2 Hz
Z Filter Accel 5 Hz 2 Hz
Filter Rate Sensor 15 Hz 10 Hz
*When not in distorted magnetic environment.
 EXAMPLE
Figure 8 shows a typical flight profile of the fixed wing aircraft and the corresponding advanced
settings that one can configure adaptively depending on a flight phase:
 Prelaunch is the phase of flight in which an aircraft goes through a series of checkups
(hardware and software) on the ground before takeoff. The aircraft is a static condition,
 Takeoff is the phase of flight in which an aircraft goes through a transition from moving
along the ground (taxiing) to flying in the air, usually along a runway. The aircraft is
under horizontal acceleration and may suffer from vibrations coming from an engine and
ground contact forces transmitted from its landing gear.
 Climb is the phase of a flight, after take-off, consisting of getting the aircraft to the
desired flight level altitude. More generally, the term 'climb' means increasing the
altitude. The aircraft is under vertical acceleration until it reaches the steady-state climb
rate.
 Straight and level flight is the phase of flight in which an aircraft reaches its nominal
flight altitude and maintains its speed and altitude. The aircraft is under equilibrium (See
Figure 8).
 Maneuver is the phase of flight in which an aircraft accelerates, decelerates, and turns.
The aircraft is under non-gravitational acceleration and/or deceleration (See Figure 8).
 Descent is the phase of flight in which an aircraft decreases altitude for an approach to
landing. The aircraft is under vertical deceleration until it captures a glide slope (See
Figure 8).
 Landing is the last part of a flight, where the aircraft returns to the ground (See Figure
8).
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Figure 8 Typical flight profiles of fixed wing aircraft and the corresponding advanced
settings
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5 DMUX80ZA SPI Port Interface Definition
The DMUX80ZA provides a SPI interface for data communications. This section of the user’s
manual defines the DMUX80ZA register map, register control capabilities, and the data register
reading and writing methodologies.
The DMUX80ZA operates as a slave device. The master device must be configured to
communicate with the DMUX80ZA using the following settings:
 Data transferred in 16-bit word-length and MSB-first
 fCLK ≤ 2.0 MHz
 CPOL = 1 (clock polarity) and CPHA = 1 (clock phase)
Additional operational requirements are described in Section 5.8.
DMUX80ZA Register Map

Table 18 describes the DMUX80ZA register map.
Table 18 DMUX80ZA Register Map2
Name Read/Write Address Default Function

Reserved N/A 0x00 to 0x03 N/A
X_RATE R 0x04 X-Axis Rate-Sensor Output
Y_RATE R 0x06 N/A Y-Axis Rate-Sensor Output
Z_RATE R 0x08 Z-Axis Rate-Sensor Output
X_ACCEL R 0x0A X-Axis Accelerometer Output
Y_ACCEL R 0x0C N/A Y-Axis Accelerometer Output
Z_ACCEL R 0x0E Z-Axis Accelerometer Output
X_MAG R 0x10 X-Axis Magnetometer Output
Y_MAG R 0x12 N/A Y-Axis Magnetometer Output
Z_MAG R 0x14 Z-Axis Magnetometer Output
RATE_TEMP R 0x16 N/A Rate-sensor temperature
BOARD_TEMP R 0x18 N/A Board temperature
Reserved R 0x1A to 0x33 N/A
SELF_TEST3 R/W 0x34/0x35 0x00 See Table 25: Initiate Self-Test / Configure Data-Ready
DATA_READY R/W 0x35/0x34 0x04 output signal
OUTPUT_DATA_RATE R/W 0x36/0x37 0x01

See Table 26: Set Output Data Rate (ODR)
Reserved N/A 0x37/0x36 0x01
RS_DYNAMIC_RANGE R/W 0x38/0x39 0x02
2
Register and data-packet availability is based on the features of the DMU380ZA (see Table 2).
3
Register reads are performed 2-bytes at a time while writes are a single byte in length. In operation, the
SELF_TEST/DATA_READY register should be read together starting at register 0x34. This applies to other shared registers as well.
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See Table 27: Set rate-sensor dynamic range (SPI only) /
LOW_PASS_FILTER R/W 0x39/0x38 0x06
Select digital filter
Reserved N/A 0x3A to 0x3B N/A
STATUS R 0x3C N/A See Table 23: Diagnostic register
Command to perform a burst-read of the standard data-
STNDRD_BURST R 0x3E N/A
packet
Reserved R 0x3F to 0x40
Burst-Mode Command for UCB scaled-sensor 0 data-
S0_BURST R 0x41 N/A
packet (see Section 7.4.1)
Burst-Mode Command for UCB scaled-sensor 1 data-
S1_BURST R 0x42 N/A
packet (see Section 7.4.2)
Burst-Mode Command for UCB angle 1 data-packet (see
A1_BURST R 0x43 N/A
Section 7.4.3)
Burst-Mode Command for UCB angle 2 data-packet (see
A2_BURST R 0x44 N/A
Section 7.4.4)
Burst-Mode Command for UCB nav 0 data-packet (see
N0_BURST R 0x45 N/A
Section 7.4.5)
Reserved N/A 0x46 to 0x47 N/A
X_HARD_IRON R 0x48 0x0000 Hard-iron bias (X-Axis)
Y_HARD_IRON R 0x4A 0x0000 Hard-iron bias (Y-Axis)
SF_SOFT_IRON R 0x4C 0x8000 Soft-iron scale factor
ANG_SOFT_IRON R 0x4E 0x0000 Soft-iron angle
MAG_ALIGN4 R/W 0x50/0x51 N/A See Table 34: Magnetic-alignment control and status
MANUF_CODE R 0x52 0x1310 Manufacturing code indicating year and location
UNIT_CODE R 0x54 0x0000 Unit information code
PRODUCT_ID R 0x56 0x3810 Product identification code
SERIAL_NUMBER R 0x58 Varies Serial number
MASTER_STATUS R 0x5A N/A See Section 9.2: Master BIT and Status Field
HW_STATUS R 0x5C N/A See Section 9.3: Hardware BIT Field
SW_MASTER R 0x5E N/A See Section 9.9: Software BIT Field
SW_STATUS R 0x60 N/A See Section 9.14: Software Status Field
SW_ALGO R 0x62 N/A See Section 9.10: Software Algorithm BIT Field
SW_DATA R 0x64 N/A See Section 9.11: Software Data BIT Field
COMM_MASTER R 0x66 N/A See Section 9.6: Com BIT Field
COMM_DATA_STATUS R 0x68 N/A See Section 9.13: Com Status Field
COMM_BUS_A R 0x6A N/A See Section 9.7: Com Serial A BIT Field
COMM_BUS_B R 0x6C N/A See Section 9.8: Com Serial B BIT Field
4
This command only applies to AHRS and INS variants and will not work with IMU or VG units
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SENSOR_STATUS R 0x6E N/A See Section 9.15: Sensor Status Field
RS_SCALE R/W 0x70/0x71 0x1F
See Section 5.7.4
ACCEL_SCALE R/W 0x71/0x70 0x3F
MAG_SCALE R/W 0x72/0x73 0x10
See Section 5.7.4
Reserved R/W 0x73/0x72 0x03
ORIENTATION_MSB R/W 0x74 0x00 See Table 43 for valid orientation settings. The orientation
register must be written in order (MSB followed by LSB) for
ORIENTATION_LSB R/W 0x75 0x00 write to take effect.
EEPROM_WRITE W 0x76 N/A See Section 5.7.6

Reserved N/A 0x78 to 0x7D N/A
HW_SW_VERSION R 0x7E 0x00 See Section 5.7.8
DMUX80ZA SPI Register Read Methodology

The DMUX80ZA SPI port uses registers to store information such as:
 Sensor data
 Algorithm output data
 Configuration/Status information
A SPI master accesses information via the SPI bus in one of two ways:
 Polled-Mode
 Burst-Mode
In polled-mode, the DMUX80ZA transfers information from any register back to the master in
two (or more) SPI cycles5. In Burst-Mode, the DMUX80ZA transfers predefined blocks of data
in one contiguous group of nine to twenty SPI cycles.
5.2.1 DMUX80ZA SPI Port Polled-Mode Read

In polled-mode, data transfer begins when the SPI master sets the chip-select line (nSS) low and
clocks a 16-bit word, comprised of the register-address byte and a zero-byte, across the MOSI
line. For example, to request the unit’s serial number, stored in register 0x58, the master sends
the command 0x5800. The DMUX80ZA returns information from this address across the MISO
line during the following 16 clock-cycles.
Subsequent SPI-master commands sent to the DMUX80ZA consist of either:
 Sixteen zero-bits (0x0000) to complete the read of a single register.
 The address of another register followed by a zero-byte. This permits back-to-back reads
of data-registers.
Single-Register Polled-Read
Figure 9 illustrates a polled-mode read of a single register (x-axis rate-sensor data), which is
composed of two bytes, starting at register address 0x04.
5
A SPI cycle consists of 16 clock cycles.
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In this example, the SPI-master initiates a register read by clocking in the address followed by
0x00, i.e. 0x0400, via MOSI; this combination is referred to as a read-command6. This is
followed by 16 zero-bits to complete the SPI data-transfer cycle.
As the master transmits the read command over MOSI, the DMUX80ZA transmits information
back over MISO. In this transmission, the first data-word sent by the DMUX80ZA (as the read-
command is sent) consists of 16-bits of non-applicable data. The subsequent 16-bit message
contains the x-axis rate-sensor information (most significant byte followed by least-significant
byte).
nSS
CLK
MOSI 0x0400 0x0000
MISO N/A X_RATE
Figure 9 Single Register Read via Polled-Mode
Multiple-Register Polled-Read
Figure 10 illustrates a polled-mode read of multiple registers. In this case, the SPI-master
transmits an initial read-command (the desired register-address appended by 0x00) across MOSI
followed by any number of additional read-commands (one for each register of interest). The
DMUX80ZA transfers the requested information concurrently across MISO to the master. To
complete the data transfer, the final read-command must be followed by an additional 16 clock
cycles to transfer the last 16-bits of data.
In this example, the master requests data from four separate registers: x-axis rate (0x0400), y-axis
rate (0x0600), z-axis acceleration (0x0E00), and system status (0x3C00). The transfer of 0x0000
across MOSI completes the read by returning the status data via the MISO line.
6
A read-command consists of an 8-bit register address and a zero byte (0x00).
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nSS
CLK
MOSI 0x0400 0x0600 0x0E00 0x3C00 0x0000
MISO N/A X_RATE Y_RATE Z_ACCEL STATUS
Figure 10 Multiple Register Read via Polled-Mode
5.2.2 DMUX80ZA SPI Port Burst-Mode Read

In burst-mode, the DMUX80ZA returns predefined blocks of data in single groups, referred to as
data-packets, without the need to send multiple read commands. These groups vary from eight to
nineteen words in length, depending on the packet selected. Table 19 lists the data-packets
available for the DMUX80ZA. The data packets are described in more detail, including data-
ordering and conversion factor information, in Section 7.4.
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Table 19 DMUX80ZA Burst-Mode Data-Packets
Data-Packet Register Number of Pertinent Availability
Address 16-bit Words Section
Standard 0x3E 8 5.2.2 All systems
Scaled Sensor 0 0x41 15 7.4.1 All systems except IMUX80ZA-200 and
VGX80ZA
Scaled Sensor 1 0x42 12 7.4.2 All systems
Angle Data 1 0x43 16 7.4.3 All systems except IMUX80ZA and VGX80ZA
Angle Data 2 0x44 15 7.4.4 All systems except IMUX80ZA
Nav 0 0x45 16 7.4.5 INSX80ZA
Burst-Read of Standard Data-Packet

The standard data-packet comprises data from eight predefined registers. Table 20 lists the data
contained in a standard packet along with the corresponding registers. The registers are listed in
the order in which they are sent during a burst-mode read.
Table 20 DMUX80ZA Burst-Mode Output Registers

Register Name Register Address Description
STATUS 0x3C System Status

X_RATE 0x04 Rate Sensor Output (X-Axis)
Y_RATE 0x06 Rate Sensor Output (Y-Axis)
Z_RATE 0x08 Rate Sensor Output (Z-Axis)
X_ACCEL 0x0A Accelerometer Output (X-Axis)
Y_ACCEL 0x0C Accelerometer Output (Y-Axis)
Z_ACCEL 0x0E Accelerometer Output (Z-Axis)
BOARD_TEMP 0x18 System Temperature
Burst-mode begins when the master requests a read from a burst-mode data-packet (i.e. 0x3E).
Eight additional SPI cycles complete the read (one for each word in the standard data-packet).
Figure 11 illustrates the burst-mode sequence. Note: if the incorrect number of SPI cycles follow
the burst-mode command, the SPI transfer will either complete early or remain in burst-mode;
subsequent reads/writes will be out of sync with the SPI transfer cycle of the DMUX80ZA.
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nSS
CLK
MOSI 0x3E00 0x0000 0x0000 0x0000
BOARD_
MISO N/A STATUS X_RATE
TEMP
Figure 11 Multiple Register Read via Burst-Mode
Operational notes:
1. When combining polled and burst reads, use only single-register polled-reads.
2. Burst-mode reads for other data-packets are performed in a manner similar to the standard
packet. The only deviation from the method described above is the register address and the
subsequent number of data words, listed in Table 20.
3. Care must be taken when switching between data-packets as values returned during the first
burst-read of a new packet are invalid. A single read-cycle is needed to populate the internal
burst-mode register; subsequent reads from the same packet contain valid information.
4. During a burst read, the chip-select line (nSS) can be controlled in one of two ways:
 Toggle nSS in between each of the 16-bit words (as shown in Figure 11).
 Set and hold nSS low during the entire read. After the transfer is complete, set chip-
select high.
Output Data Registers

Output data registers hold the sensor information as it is measured; they are overwritten only
when new data is available. Table 21 lists each register, its memory address, and its conversion
factor. Note: the scale-factor described below only applies to the values in the data registers and
standard burst-mode. Scale-factors for the other output data packets follow the values listed in
Section 7.4.
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Table 21 DMUX80ZA Data Output Registers
Name Read Address Function
X_RATE 0x04 X, Y, Z-axis rate-sensor information, twos complement format,
Y_RATE 0x06 conversion factor: 200 LSB/[ ° /sec ] (default); changes with selected
Z_RATE 0x08 dynamic range (Table 28)
X_ ACCEL 0x0A X, Y, Z-axis accelerometer information, twos complement format,
Y_ ACCEL 0x0C conversion factor: 4000 LSB/g (default) ; changes with selected dynamic
Z_ACCEL 0x0E range (Table 31)
X_MAG 0x10 X, Y, Z-axis magnetometer information, twos complement format,
Y_MAG 0x12 conversion factor: 16000 LSB/G (default) ; changes with selected
dynamic range (Table 33)
Z_MAG 0x14
RATE_TEMP 0x16 Rate-sensor temperature information, twos complement format,
conversion:
Tout [° C ] = Vout · 0.07311 [° C/LSB ]
BOARD_TEMP 0x18 System temperature information, twos complement format, conversion:
Tout [° C ] = Vout · 0.07311 [° C/LSB ] + 31.0 [° C ]
System Registers
In addition to the output data registers, there are further read-only registers that provide
DMUX80ZA system information to the SPI master. Table 22 provides a description of each
along with their read-addresses.
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Table 22 DMUX80ZA System Registers
Name Read Address Function
DIAGNOSTIC_STATUS 0x3C Sensor self-test and over-range information (See Section 5.5)
X_HARD_IRON 0x48
Y_HARD_IRON 0x4A
Results of the magnetic-alignment procedure (see Section 5.7.7)
SF_SOFT_IRON 0x4C
ANG_SOFT_IRON 0x4E
MANUF_CODE 0x52 Product manufacturing code
UNIT_CODE 0x54 Additional product manufacturing information
PRODUCT_ID 0x56 Product ID (0x3810)
SERIAL_NUMBER 0x58 Unique product identification number
MASTER_STATUS 0x5A See Section 9.2: Master BIT and Status Field
HW_STATUS 0x5C See Section 9.3: Hardware BIT Field
SW_MASTER 0x5E See Section 9.9: Software BIT Field
SW_STATUS 0x60 See Section 9.14: Software Status Field
SW_ALGO 0x62 See Section 9.10: Software Algorithm BIT Field
SW_DATA 0x64 See Section 9.11: Software Data BIT Field
COMM_MASTER 0x66 See Section 9.6: Com BIT Field
COMM_DATA_STATUS 0x68 See Section 9.13: Com Status Field
COMM_BUS_A 0x6A See Section 9.7: Com Serial A BIT Field
COMM_BUS_B 0x6C See Section 9.8: Com Serial B BIT Field
SENSOR_STATUS 0x6E See Section 9.15: Sensor Status Field
HW_SW_VERSION 0x7E Hardware and Software Versions (See Section 5.7.8)
Diagnostic Status Register

The diagnostic status register contains information describing the results of the self-test as well as
sensor over-range information. It is defined in Table 23.
Table 23 Diagnostic Status Register

(Base Address: 0x3C), Read-Only
Bits Description (Default: 0x0000)
15 Accelerometer Z-Axis self-test bit
0: Pass, 1: Fail
14 Accelerometer Y-Axis self-test bit
0: Pass, 1: Fail
13 Accelerometer X-Axis self-test bit
0: Pass, 1: Fail
12 Rate-Sensor Z-Axis self-test bit
0: Pass, 1: Fail
11 Rate-Sensor Y-Axis self-test bit
0: Pass, 1: Fail
10 Rate-Sensor X-Axis self-test bit
0: Pass, 1: Fail
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[ 9:6 ] Unused
5 Self-Test Success/Failure bit
0: Success, 1: Failure
4 Sensor over-range bit

(a 1 indicates one or more sensors have over-ranged)
[ 3:0 ] Unused
DMUX80ZA SPI Register Write Methodology

The SPI master configures the DMUX80ZA by writing to specific registers. However, unlike
reads, writes are performed one byte at a time. The specific registers that affect system
configuration are listed in Table 24 along with their write-addresses.
Table 24 DMUX80ZA Configuration Registers

Name Write Address Function
SELF_TEST 0x35 See Table 25: Initiate self-test and Configure Data-Ready
DATA_READY 0x34 output signal
OUTPUT_DATA_RATE 0x37 See Table 26: Sets Output Data Rate (ODR) of the unit
RS_DYNAMIC_RANGE 0x39 See Table 27: Set the rate-sensor dynamic range and the
LOW_PASS_FILTER 0x38 digital filter
See Section 5.7.7: Command to initiate a magnetic-alignment
MAG_ALIGN 0x50
on AHRS and INS variants
RS_SCALE 0x71
ACCEL_SCALE 0x70 See Section 5.7.4: Set the dynamic range of the sensors
MAG_SCALE 0x73
ORIENTATION_MSB 0x74 See Sections 5.7.5 and 8.4: Sets the orientation (x, y, and z-
ORIENTATION_LSB 0x75 axes) of the unit
EEPROM_WRITE 0x76 Save the settings to the EEPROM
The following example highlights how write-commands are formed in order to initiate a sensor
self-test:
 Select the write address of the desired register, e.g. 0x35 for self-test
 Change the most-significant bit of the address to 1 (the write-bit), e.g. 0x35 becomes
0xB5
 Create the write command by appending the write-bit/address combination with the value
to be written to the register, e.g. 0xB504 (see Table 25 for a description of the self-test
register)
Figure 12 illustrates the sensor self-test command sent over SPI.
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nSS
CLK
MOSI 0xB504
MISO N/A
Figure 12 Single Register Write to Initiate Self-Test
As described in Section 5.7.1, the self-test command bit remains set until the test completes. The
master must read from register 0x34 to assess if the test is complete (Figure 13). Note: as
described in the Register Reads section, a register read returns two bytes, in this case a read from
register 0x34 returns data from registers 0x34 (self-test information) and 0x35 (data-ready
settings). The value read from the DMUX80ZA must be parsed according to Table 25 to
determine self-test completion status.
nSS
CLK
MOSI 0x3400 0x0000
MISO N/A ST+DR
Figure 13 Polled-Read of the Self-Test/Data-Ready Register
Configuration Registers
5.7.1 Self-Test/Data-Ready
Self-test and data-ready registers are combined into a single 16-bit register at memory location
0x34; individual bits are assigned according to Table 25.
Table 25 Self-Test/Data-Ready Register
(Base Address: 0x34), Read/Write
[ 15:11 ] Unused
10 Unit self-test bit (bit reset upon completion of self-test)
0: Disabled (default)
1: Enabled
[ 9:8 ] Unused
[ 7:3 ] Unused
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2 Data-ready enable bit
0: Disabled
1: Enabled (default)
1 Data-ready line polarity
0: Low upon data-ready (default)
1: High upon data-ready
0 Unused
The self-test enables the system to test individual sensors by applying a temporary bias to
determine if they are responding correctly. Once self-test completes, the self-test bit (bit 10) is
reset to indicate that the test is finished. Results of the self-test are store in the status register,
0x3C. To initiate self-test, the master sends 0xB504 across the SPI bus.
The data-ready bits enable the master to enable or disable the data-ready signal provided on pin 7
of the DMUX80ZA and to set the data-ready signal polarity (high or low). To enable data-ready
with a high signal, the master sends 0xB406.
5.7.2 Output Data Rate

Output data rate (ODR) is contained in register 0x36; individual bits are assigned according to
Table 26. Note: these settings apply only to data output via the DMUX80ZA SPI port and do not
affect the low-level UART output port.
Table 26 Output Data Rate/Clock Configuration Register

[ 15:12 ] Unused
[ 8:11 ] System Output Data Rate
0x00 (0): Data output suppressed
0x01 (1): 200 Hz (default)
0x02 (2): 100 Hz
0x03 (3): 50 Hz
0x04 (4): 25 Hz
0x05 (5): 20 Hz
0x06 (6): 10 Hz
0x07 (7): 5 Hz
0x08 (8): 4 Hz
0x09 (9): 2 Hz
0x10 (10): 1 Hz
[7:0] Reserved
The ODR enables the master to specify the output rate of data provided by the DMUX80ZA.
Setting this register directly affects the data-ready signal. The default ODR is 200 Hz; to change
the ODR to 100 Hz, the master sends 0xB702.
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5.7.3 Rate-Sensor Scaling/Low-Pass Filter
The rate-sensor scaling and digital low-pass filter configuration are combined into a single 16-bit
register at memory location 0x38; individual bits are assigned according to Table 27. Note: these
settings apply only to data output via the DMUX80ZA SPI port and do not affect the low-level
UART output port.
Table 27 Sensor Scaling/Digital Low-Pass Filter Register

[ 15:8 ] Rate-Sensor Scaling/Dynamic Range Selector
0x01 (1): +/-62.5° /sec
0x02 (2): +/-125.0° /sec (default)
0x04 (4): +/-250.0° /sec
0x08 (8): +/-500.0° /sec
0x10 (16): +/-1000.0° /sec
[7:0 ] Digital Low-Pass Filter
0x00 (0): Unfiltered
0x03 (3): 40 Hz Bartlett
0x06 (6): 5 Hz Bartlett (default)
0x30 (48): 50 Hz Butterworth
The rate-sensor scaling selector adjusts the output scaling applied to the rate-sensor values7 in
registers 0x04 through 0x08 as well as the values in the standard data-packet (scaling in the other
data-packets are not affected). Additionally, this setting affects the limits that control the sensor
over-range bit in the diagnostic status register (Table 23); if the system undergoes motion that
exceeds this limit, the over-range bit is set. The default scaling is 125.0°/sec; to change the
scaling to 62.5°/sec, the master sends 0xB901.
The rate sensor dynamic range selection maps to a bit-weight scale factor as defined in Table 28.
Table 28 Rate-Sensor Scaling Factor

Dynamic Range Scale Factor Signal Limit Over-Range Limit
+/-62.5° /sec 400 LSB/( ° /sec ) +/-80.0 ° /sec +/-62.5 ° /sec
7
Limits will affect the signal output only if the system is capable of generating a signal of that level. For instance, for an IMU380ZA-
200, a 220 °/sec limit will apply however the 440 °/sec limit will not, as the sensor is incapable of outputting signals greater than
220 °/sec.
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The digital low-pass filter register sets the type and cutoff frequency of the filter applied to the
scaled sensor data. The default setting is a 5 Hz Bartlett filter; to switch to a 20 Hz Butterworth
filter, the master sends 0xB840. Figure 14 describes the output response of the different Bartlett
filter settings.
Figure 14 DMUX80ZA Bartlett Filter Response
5.7.4 Accelerometer, Magnetometer, and Alternate Rate-Sensor Scaling

The scaling and limits of the accelerometer and magnetometer output can be configured in a
manner similar to the method described in Section 5.7.3. Additionally, the rate-sensor output can
be configured via an alternate register. Changes in register 0x38 will be reflected in this alternate
register (0x71) and vice-versa.
Rate-sensor and accelerometer scaling and limits are combined into a single 16-bit register at
memory location 0x70; individual bits are assigned according to Table 29. Note: these settings
apply only to data output via the DMUX80ZA SPI port and do not affect the low-level UART
output port.
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Table 29 Rate-Sensor and Accelerometer Output Scaling
Bits Description (Default: 0x1F3F)
[ 15:12 ] Rate-Sensor Scaling/Dynamic Range Selector
0x0: +/-62.5° /sec
0x1: +/-125.0° /sec (default)
0x2: +/-250.0° /sec
0x3: +/-500.0° /sec
0x4: +/-1000.0° /sec
[ 11:8 ] Reserved for future use
[ 7:4 ] Accelerometer Scaling/Dynamic Range Selector
0x0: +/-1.0 [g]
0x1: +/-2.0 [g]
0x2: +/-4.0 [g]
0x3: +/-5.0 [g] (default)
0x4: +/-8.0 [g]
As described in the previous section, the rate-sensor scaling selector adjusts the output scaling
applied to the rate-sensor values as well as the limits that control the sensor over-range bit in the
diagnostic status register (Table 23). The accelerometer scaling and limits work in the same
fashion.
The rate sensor dynamic range selection maps to a bit-weight scale factor as defined in Table 30.
The accelerometer dynamic range mapping is defined in Table 31.
Table 30 Rate-Sensor Scaling Factor

Table 31 Accelerometer Scaling Factor

+/-1.0 [g] 32768 LSB/[g] +/-1.0 [g] +/-0.9 [g]
+/-2.0 [g] 16384 LSB/[g] +/-1.96 [g] +/-1.8 [g]
+/-4.0 [g] 8192 LSB/[g] +/-3.92 [g] +/-3.6 [g]
+/-5.0 [g] 4000 LSB/[g] +/-4.5 [g] +/-4.5 [g]
+/-8.0 [g] 4096 LSB/[g] +/-7.84 [g] +/-7.2 [g]
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Magnetometer scaling and limits are in the register at memory location 0x72; individual bits are
assigned according to Table 32.
Table 32 Magnetometer Output Scaling

[ 15:12 ] Magnetometer Scaling/Dynamic Range Selector
0x0: +/-1.0 [G]
0x1: +/-2.0 [G] (default)
0x2: +/-4.0 [G]
0x3: +/-8.0 [G]
Just like the rate-sensor and accelerometer scaling, the magnetometer scaling selector adjusts the
output scaling applied to the magnetometer values. However, the limit only affects the sensor
output, it does not affect the over-range bit.
The magnetometer dynamic range selection maps to a bit-weight scale factor as defined in Table
33.
Table 33 Magnetometer Scaling Factor

Dynamic Range Scale Factor Signal Limit
+/-1.0 [G] 32768 LSB/[G] +/-0.98 [G]
+/-2.0 [G] 16384 LSB/[G] +/-1.96 [G]
+/-4.0 [G] 8192 LSB/[G] +/-3.92 [G]
+/-8.0 [G] 4096 LSB/[G] +/-7.84 [G]
5.7.5 Axis Orientation Settings

The DMUX80 gives users the ability to set the axes orientation by selecting which axis aligns
with the base axes as well as the sign. The only constraint is the axes must conform to a right-
hand definition. The available settings are described in Section 8.5. The specific selections are
provided in Table 43. The default setting is (+Ux, +Uy, +Uz).
To specify the orientation over SPI requires the user to write to two SPI registers (0x74 and 0x75)
in succession. Writing to register 0x75 prior to 0x74 will have no effect. Additionally, reading
the current orientation from register 0x74 will reset the write and require the user to rewrite the
two bytes again (if done before both bytes are written).
To write the orientation, the user must first select the orientation and corresponding value from
Table 43. Then the value must be split into most-significant and least-significant bytes. The
most-significant byte is then written to register 0x74. This is followed by writing the least-
significant byte to 0x75. Only by writing the two bytes back-to-back will the selection take
effect.
For example, to select an orientation of (-Ux, +Uz, +Uy) the user must write 0x01 to 0x74
followed by 0x11 to 0x75. Note: this register does not require the user to swap bytes for the write
to load the bytes properly, unlike other registers.
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5.7.6 Saving the Configuration to EEPROM

The DMUX80 enables the user to save certain settings to the EEPROM so they are set
automatically the next time the system is started. At this time, only the Orientation field can be
saved. To save the value either write the address of the register to 0x76 (to save an individual
configuration setting) or a zero to save all settings.
5.7.7 Magnetic-Alignment
On models with magnetometers and AHRS or INS algorithms (INSX80ZA and AHRSX80ZA),
the system is capable of compensating for the hard-iron bias and soft-iron scaling of the mounting
environment. Once found, the values are used by the Kalman filter algorithm to compensate the
heading for the magnetic environment. A complete discussion of the process is discussed in the
section Mag Alignment Procedure found in Appendix A: Installation and Operation of NAV-
VIEW.
To initiate a magnetic alignment over the SPI bus, perform a write to register 0x50 by appending
the write-bit/address combination with 0x01, e.g. 0xD001. Table 34 provides a description of the
mag-alignment register.
Table 34 Magnetic-Alignment Register

[ 15:8 ] Mag-Align Initiation byte
[ 7:0 ] Mag-Align Status byte
0x00: Disabled (default)
0x0B: Alignment process complete
0x0C: Alignment process in-progress
Once the mag-align procedure has begun, the Mag-Align Status byte will be set to 0x0C. The
master must monitor the least-significant byte of register 0x50 to assess test status. Once the byte
changes to 0x0B the alignment procedure is complete. At this point, the hard-iron and soft-iron
estimates are written to registers 0x48 through 0x4F and saved to the EEPROM. The Kalman
filter algorithm is reset to stabilization mode. It remains in this state for five seconds to allow the
user to bring the system to rest while the initialization process completes.
Conversion factors from values in the hard and soft-iron registers (0x48 through 0x4E) to decimal
equivalents are provided in Table 35.
Table 35 DMUX80 Magnetic Alignment Parameters
Register
Name Format Scaling Range Units
Address
X-Axis Hard-Iron Bias 0x48 Signed-Integer 20/2^16 [ -10,10 ] Gauss
Y-Axis Hard-Iron Bias 0x4A Signed-Integer 20/2^16 [ -10,10 ] Gauss
Soft Iron Scale Ratio 0x4C Unsigned-Integer 2/2^16 [ 0,2 ] N.D.
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Soft-Iron Angle 0x4E Signed-Integer 2*pi/(2^15 – 1) [ -pi,pi ] Radians
5.7.8 Hardware and Software Version

SPI register 0x7E contains information about the hardware and software of the DMUX80, as
listed in Table 36. The software version is contains both the major and minor version numbers
concatenated. For example, a value of 0x7F = 127, refers to a major version of 12 and a minor
version of 7.
Table 36 Hardware and Software Version

(Base Address: 0x7E), Read Only
[ 15:8 ] Hardware Version
[ 7:0 ] Software Version (Major and Minor versions concatenated)
Suggested Operation
The following operational procedure and timing specifications should be adhered to while
communicating with the DMUX80 via SPI to ensure proper system operation. These points are
further highlighted later in this section.
Startup Timing
The following timing applies at system startup (Figure 15):
 During system setup, the DMUX80 should be held in reset (nRST line held low) until the
SPI master is configured and the system is ready to begin communications with the
DMUX80
 After releasing the reset line, the DMUX80 requires 550 msec (tSystem Delay) before the
system is ready for use
 Data should be read from the DMUX80ZA when the data-ready line is set (see Section
5.7.1)
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Power-on
of master
nRST pulled low SPI
following power-on
Timing
Vcc The
nRST released after timing
system configured
nRST held low during
master boot-up sequence
nRST
tReset Delay
DR
Set nSS low to read data

when Data-Ready line is set
nSS
Figure 15 Startup Timing

requirements for the SPI are listed in Table 37 and illustrated in Figure 16 and Figure 17. In
addition, the following operational constraints apply to the SPI communications:
 The unit operates with CPOL = 1 (polarity) and CPHA = 1 (phase)
 Data is transmitted 16-bits words, Most Significant Bit (MSB) first
Table 37 SPI Timing Requirements
Parameter Description Value Units

fCL SPI clock frequency 2 (max) MHz
tDELAY Time between successive clock cycles (Figure 16) 9 (min) usec
tSU,NSS nSS setup time prior to clocking data (Figure 17) 133 nsec
th,NSS nSS hold time following clock signal (Figure 17) 67 nsec
tV,MISO Time after falling edge of previous clock-edge that MISO data- 25 nsec
bit is invalid (Figure 17)
tSU,MOSI Data input setup time prior to rising edge of clock (Figure 17) 5 nsec
th,MOSI Data input hold time following rising edge of clock (Figure 17) 4 nsec
nSS
CLK
tDELAY
Figure 16 Delay Time
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nSS
tSU,NSS th,NSS
CLK
tV,MISO
MISO MSB bit 14 bit 13 bit 1 LSB
tSU,MOSI th,MOSI
MOSI MSB bit 14 bit 13 bit 1 LSB
Figure 17 SPI Timing Diagram
Signal Synchronization
The IMUX80 is capable of synchronizing its output with a 1 kHz external clock signal, in the
form of a square wave, applied to Pin 2. When detected, the DMUX80 ignores its internal timer,
replacing it with the external clock. Care must be taken to ensure the signal is a true 1 kHz clock,
as the firmware will assume all signals on the line have a 1 kHz frequency. Also, once an
external sync pulse is applied, the signal must remain or the unit will cease its sampling and
processing functions; the system cannot return to internal timing without resetting the system and
removing the sync signal.
While providing a 1 kHz clock locks the system’s output to the external signal, there still remains
ambiguity as to which clock-edge corresponds to the sampling and data-processing task. This is
due to the decimation by five of the input clock to the maximum output data rate (200 Hz). The
following method will enable the user to create a deterministic lock between the clock and the
sampling task of the DMUX80.
Locking Data-Processing to the Input Clock Signal

The following steps describe the process to lock the data-processing to the input clock signal:
1. Hold the external reset line (pin 8) low while applying power to the unit. When ready to
configure the unit and receive data, set the reset line high to release the unit from hold.
2. Wait 550 milliseconds to allow initialization of the DMUX80 to complete. At this point
the data-ready signal will toggle, indicating when the SPI data-buffer is populated with
processed data.
3. Configure the unit as needed.
4. At any point following this, begin the synchronization process by providing a 1 kHz
square-wave signal to the synchronization input of the DMUX80 (pin 2).
5. The first rising edge of the input clock signal triggers the synchronization process but
actual lock does not occur until the 66th rising edge of the input signal. This is due to
initialization of the external sync and handoff of control from the internal timer.
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6. An additional 5 clock cycles are required before data, synchronized to the external clock,
is available. This occurs on the 71st rising edge of the 1 kHz signal (70 milliseconds
after the first rising edge).
The lock forces the data-processing task in the firmware to begin on the rising edge of the clock
signal. Data-ready (pin 7) is set approximately 400 micro-seconds after the task begins (the time
it takes to process the data), indicating that the latest data has been placed into the SPI register.
Subsequent data, locked to the external clock signal, is placed into the SPI register depending
upon the ODR (set via SPI register 0x37). For instance, if the ODR is set to 100 Hz
(corresponding to a value 0x02 in register 0x36), then the process is repeated at every tenth rising
edge of the external clock. For a 200 Hz ODR, the process repeats at every fifth rising edge.
Inertial-Sensor Sampling Indicator

When the user requires finer knowledge of the instant that data is sampled, the DMUX80
provides the ability to determine when the sensor read is performed. A falling edge of the signal
provided on pin 1 indicates when the inertial sensors are sampled. By combining this information
with the synchronization process described above, the user can account for the sensor latency due
to the data-sampling and processing tasks.
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6 DMUX80 UART Port Interface Definition
The DMUX80ZA Series contains a number of different products which have different
measurement capabilities. Depending on the model you purchased, various commands and output
modes are supported. However, all models support a common packet structure that includes both
command or input data packets (data sent to the DMUX80ZA Series) and measurement output or
response packet formats (data sent from the DMUX80ZA Series). This section of the manual
explains these packet formats as well as the supported commands. NAV-VIEW also features a
number of tools that can help a user understand the packet types available and the information
contained within the packets. This section of the manual assumes that the user is familiar with
ANSI C programming language and data type conventions.
For an example of the code required to parse input data packets, please see refer to Appendix C.
For qualified commercial OEM users, a source code license of NAV-VIEW can be made
available under certain conditions. Please contact your ACEINNA representative for more
information.
General Settings
The serial port settings are RS232 with 1 start bit, 8 data bits, no parity bit, 1 stop bit, and no flow
control. Standard baud rates supported are: 9600, 19200, 38400, 57600, 115200, and 230400.
Common definitions include:
 A word is defined to be 2 bytes or 16 bits.
 All communications to and from the unit are packets that start with a single word
alternating bit preamble 0x5555. This is the ASCII string “UU”.
 All multiple byte values are transmitted Big Endian (Most Significant Byte First).
 All communication packets end with a single word CRC (2 bytes). CRC’s are calculated
on all packet bytes excluding the preamble and CRC itself. Input packets with incorrect
CRC’s will be ignored.
 Each complete communication packet must be transmitted to the DMUX80ZA Series
inertial system within a 4 second period.
Number Formats
Number Format Conventions include:
 0x as a prefix to hexadecimal values
 single quotes (‘’) to delimit ASCII characters
 no prefix or delimiters to specify decimal values.
Table 38 defines number formats:

Table 38 Number Formats
Descriptor Description Size (bytes) Comment Range
U1 Unsigned Char 1 0 to 255
U2 Unsigned Short 2 0 to 65535
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U4 Unsigned Int 4 0 to 2^32-1
I2 Signed Short 2 2’s Complement -2^15 to 2^15-1
I2* Signed Short 2 Shifted 2’s Complement Shifted to specified
range
I4 Signed Int 4 2’s Complement -2^31 to 2^31-1
F4 Floating Point 4 IEEE754 Single -1*2^127 to 2^127
Precision
SN String N ASCII
Packet Format
All of the Input and Output packets, except the Ping command, conform to the following
structure:
0x5555 <2-byte packet type <payload byte-length <variable length <2-byte CRC (U2)>
(U2)> (U1)> payload>
The Ping Command does not require a CRC, so a DMUX80ZA Series unit can be pinged from a
terminal emulator. To Ping a DMUX80ZA Series unit, type the ASCII string ‘UUPK’. If properly
connected, the DMUX80ZA Series unit will respond with ‘PK’. All other communications with
the DMUX80ZA Series unit require the 2-byte CRC. {Note: A DMUX80ZA Series unit will also
respond to a ping command using the full packet formation with payload 0 and correctly
calculated CRC. Example: 0x5555504B009ef4 }.
6.3.1 Packet Header

The packet header is always the bit pattern 0x5555.
6.3.2 Packet Type

The packet type is always two bytes long in unsigned short integer format. Most input and output
packet types can be interpreted as a pair of ASCII characters. As a semantic aid consider the
following single character acronyms:
P = packet
F = fields
Refers to Fields which are settings or data contained in the unit
E = EEPROM
Refers to factory data stored in EEPROM
R = read
Reads default non-volatile fields
G = get
Gets current volatile fields or settings
W = write
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Writes default non-volatile fields. These fields are stored in non-volatile memory and
determine the unit’s behavior on power up. Modifying default fields take effect on the
next power up and thereafter.
S = set
Sets current volatile fields or settings. Modifying current fields will take effect
immediately by modifying internal RAM and are lost on a power cycle.
6.3.3 Payload Length

The payload length is always a one byte unsigned character with a range of 0-255. The payload
length byte is the length (in bytes) of the <variable length payload> portion of the packet
ONLY, and does not include the CRC.
6.3.4 Payload
The payload is of variable length based on the packet type.
6.3.5 16-bit CRC-CCITT

Packets end with a 16-bit CRC-CCITT calculated on the entire packet excluding the 0x5555
header and the CRC field itself. A discussion of the 16-bit CRC-CCITT and sample code for
implementing the computation of the CRC is included at the end of this document. This 16-bit
CRC standard is maintained by the International Telecommunication Union (ITU). The highlights
are:
Width = 16 bits
Polynomial 0x1021
Initial value = 0xFFFF
No XOR performed on the final value.
See Appendix C for sample code that implements the 16-bit CRC algorithm.
6.3.6 Messaging Overview

Table 39 summarizes the messages available by DMUX80ZA Series model. Packet types are
assigned mostly using the ASCII mnemonics defined above and are indicated in the summary
table below and in the detailed sections for each command. The payload byte-length is often
related to other data elements in the packet as defined in the table below. The referenced variables
are defined in the detailed sections following. Output messages are sent from the DMUX80ZA
Series inertial system to the user system as a result of a poll request or a continuous packet output
setting. Input messages are sent from the user system to the DMUX80ZA Series inertial system
and will result in an associated Reply Message or NAK message. Note that reply messages
typically have the same <2-byte packet type (U2)> as the input message that evoked it but
with a different payload.
Table 39 Message Table
ASCII Mnemonic <2-byte <payload Description Type Products

packet byte-length Available
type (U2)> (U1)>
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Link Test
PK 0x504B 0 Ping Command Input/Reply ALL
and Response Message
CH 0x4348 N Echo Command Input/Reply ALL
and Response Message
Interactive Commands
GP 0x4750 2 Get Packet Input ALL
Request Message
AR 0x4152 0 Algorithm Reset Input/Reply VG,AHRS, INS
Message
NAK 0x1515 2 Error Response Reply ALL
Message
WC 0x5743 2 Calibrate Input/Reply AHRS, INS
Command and Message
Response
CD 0x4344 10 Calibration Reply AHRS, INS
Completed Message
Output Messages: Status
& Other, (Polled Only)
ID 0x4944 5+N Identification Data Output ALL
Message
VR 0x5652 5 Version Data Output ALL
Message
T0 0x5430 28 Test 0 (Detailed Output ALL
BIT and Status) Message
Output Messages:
Measurement Data
(Continuous or Polled)
S0 0x5330 30 Scaled Sensor 0 Output IMUX80ZA (-
Data Message 209, -409),
AHRS, INS
S1 0x5331 24 Scaled Sensor 1 Output ALL
Data Message
A1 0x4131 32 Angle 1 Data Output AHRS, INS
Message
A2 0x4132 30 Angle 2 Data Output VG, AHRS,
Message INS
N0 0x4E30 32 Nav 0 Data Output VG, AHRS,
Message INS
N1 0x4E31 42 Nav 1 Data Output VG, AHRS,
Message INS
Advanced Commands
WF 0x5746 numFields*4+ Write Fields Input ALL
1 Request Message
WF 0x5746 numFields*2+ Write Fields Reply ALL
1 Response Message
SF 0x5346 numFields*4+ Set Fields Input ALL
1 Request Message
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SF 0x5346 numFields*2+ Set Fields Reply ALL
1 Response Message
RF 0x5246 numFields*2+ Read Fields Input ALL
1 Request Message
RF 0x5246 numFields*4+ Read Fields Reply ALL
1 Response Message
GF 0x4746 numFields*2+ Get Fields Input ALL
1 Request Message
GF 0x4746 numFields*4+ Get Fields Reply ALL
1 Response Message
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7 DMUX80 Standard UART Port Commands and Messages
Link Test.
7.1.1 Ping Command

Ping (‘PK’ = 0x504B)
Preamble Packet Type Length Termination
0x5555 0x504B - -
The ping command has no payload. Sending the ping command will cause the unit to send a ping
response. To facilitate human input from a terminal, the length and CRC fields are not required.
(Example: 0x5555504B009ef4 or 0x5555504B))
7.1.2 Ping Response

Ping (‘PK’ = 0x504B)
0x5555 0x504B 0x00 <CRC (U2)>
The unit will send this packet in response to a ping command.
7.1.3 Echo Command

Echo (‘CH’ = 0x4348)
Preamble Packet Type Length Payload Termination
0x5555 0x4348 N <echo payload> <CRC (U2)>
The echo command allows testing and verification of the communication link. The unit will
respond with an echo response containing the echo data. The echo data is N bytes long.
7.1.4 Echo Response

Echo Payload Contents
Byte Offset Name Format Scaling Units Description
0 echoData0 U1 - - first byte of echo data
1 echoData1 U1 - - Second byte of echo data
… … U1 - - Echo data
N-2 echoData... U1 - - Second to last byte of echo data
N-1 echoData… U1 - - Last byte of echo data
Interactive Commands
Interactive commands are used to interactively request data from the DMUX80ZA Series, and to
calibrate or reset the DMUX80ZA Series.
7.2.1 Get Packet Request

Get Packet (‘GP’ = 0x4750)
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0x5555 0x4750 0x02 <GP payload> <CRC (U2)>
This command allows the user to poll for both measurement packets and special purpose output
packets including ‘T0’, ‘VR’, and ‘ID’.
GP Payload Contents
0 requestedPacketType U2 - - The requested packet
type
Refer to the sections below for Packet Definitions sent in response to the ‘GP’ command
7.2.2 Algorithm Reset Command

Algorithm Reset (‘AR’ = 0x4152)
0x5555 0x4152 0x00 - <CRC (U2)>
This command resets the state estimation algorithm without reloading fields from EEPROM. All
current field values will remain in affect. The unit will respond with an algorithm reset response.
7.2.3 Algorithm Reset Response

Algorithm Reset (‘AR’ = 0x4152)
0x5555 0x4152 0x00 <CRC (U2)>
The unit will send this packet in response to an algorithm reset command.
7.2.4 Calibrate Command

Calibrate (‘WC’ = 0x5743)
0x5555 0x5743 0x02 <WC payload> <CRC (U2)>
This command allows the user to perform various calibration tasks with the DMUX80ZA Series.
See the calibration command table below for details. The unit will respond immediately with a
calibrate response containing the calibrationRequest received or an error response if the
command cannot be performed.
WC Payload Contents
0 calibrationRequest U2 - - The requested calibration
task
Currently, magnetic alignment is the only function supported by the calibrate command. There
are two magnetic alignment procedures supported; (1) magnetic alignment with automatic yaw
tracking termination, and magnetic alignment without automatic termination.
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calibrationRequest Description
Begin magnetic alignment without automatic termination. Rotate vehicle
through >360 degrees yaw and then send 0x000B calibration request to
0x0009 terminate.
Terminate magnetic alignment. The unit will send a CC response containing
the hard-iron and soft-iron values. To accept the parameters, store them
0x000B using the write magnetic calibration command.
Begin magnetic calibration with automatic termination. Rotate the unit
through X80 degrees in yaw. The unit will send a CC response containing
the hard-iron and soft-iron values upon completion of the turn. To accept the
0x000C parameters, store them using the write magnetic calibration command.
Write magnetic calibration. The unit will write the parameters to EEPROM
0x000E and then send a calibration response.
7.2.5 Calibrate Acknowledgement Response

Calibrate (‘WC’ = 0x5743)
0x5555 0x5743 0x02 <WC payload> <CRC (U2)>
The unit will send this packet in response to a calibrate request if the procedure can be performed
or initiated.
WC Payload Contents
task
7.2.6 Calibration Completed Parameters Response

Calibrate Completed (‘CD’ = 0x4344)
0x5555 0x4344 0x0A <CD payload> <CRC (U2)>
The unit will send this packet after a calibration has been completed. Currently, there is only one
message of this type sent after a magnetic calibration has been completed (with or without
automatic termination) and the parameters have been calculated. Thus, the calibrationRequest
field will be 0x000B or 0x000C.
CD Payload Contents
task
2 xHardIron I2 20/2^16 G The x hard iron bias
4 yHardIron I2 20/2^16 G The y hard iron bias
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6 softIronScaleRatio U2 2/2^16 - The scaling ratio between
the x and y axis
8 softIronAngle I2 2*pi/2^16 Rad The soft iron phase angle
(360/2^16) Deg between x and y axis
7.2.9 Error Response

Error Response (ASCII NAK, NAK = 0x1515)
0x5555 0x1515 0x02 <NAK payload> <CRC (U2)>
The unit will send this packet in place of a normal response to a faiiledInputPacketType request
if it could not be completed successfully.
NAK Payload Contents

0 failedInputPacketType U2 - - the failed request
Output Packets (Polled)

The following packet formats are special informational packets which can be requested using the
‘GP’ command.
7.3.1 Identification Data Packet

Identification Data (‘ID’ = 0x4944)
0x5555 0x4944 5+N <ID payload> <CRC (U2)>
This packet contains the unit serialNumber and modelString. The model string is terminated with
0x00. The model string contains the programmed versionString (8-bit Ascii values) followed by
the firmware part number string delimited by a whitespace.
ID Payload Contents
0 serialNumber U4 - - Unit serial number
4 modelString SN - - Unit Version String
4+N 0x00 U1 - - Zero Delimiter
7.3.2 Version Data Packet

Version Data (‘VR’ = 0x5652)
0x5555 0x5652 5 <VR payload> <CRC (U2)>
This packet contains firmware version information. majorVersion changes may introduce serious
incompatibilities. minorVersion changes may add or modify functionality, but maintain backward
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compatibility with previous minor versions. patch level changes reflect bug fixes and internal
modifications with little effect on the user. The build stage is one of the following: 0=release
candidate, 1=development, 2=alpha, 3=beta. The buildNumber is incremented with each
engineering firmware build. The buildNumber and stage for released firmware are both zero. The
final beta candidate is v.w.x.3.y, which is then changed to v.w.x.0.1 to create the first release
candidate. The last release candidate is v.w.x.0.z, which is then changed to v.w.x.0.0 for release.
VR Payload Contents
0 majorVersion U1 - - Major firmware version
1 minorVersion U1 - - Minor firmware version
2 patch U1 - - Patch level
3 stage - - - Development Stage (0=release
candidate, 1=development,
2=alpha, 3=beta)
4 buildNumber U1 - - Build number
7.3.3 Test 0 (Detailed BIT and Status) Packet

Test (‘T0’ = 0x5430)
03.3x5555 0x5430 0x1C <T0 payload> <CRC (U2)>
This packet contains detailed BIT and status information. The full BIT Status details are
described in Section 9 of this manual.
T0 Payload Contents
0 BITstatus U2 - - Master BIT and Status Field
2 hardwareBIT U2 - - Hardware BIT Field
4 hardwarePowerBIT U2 - - Hardware Power BIT Field
6 hardwareEnvironmentalBIT U2 - - Hardware Environmental BIT
Field
8 comBIT U2 - - communication BIT Field
10 comSerialABIT U2 - - Communication Serial A BIT
Field
12 comSerialBBIT U2 - - Communication Serial B BIT
Field
14 softwareBIT U2 - - Software BIT Field
16 softwareAlgorithmBIT U2 - - Software Algorithm BIT Field
18 softwareDataBIT U2 - - Software Data BIT Field
20 hardwareStatus U2 - - Hardware Status Field
22 comStatus U2 - - Communication Status Field
24 softwareStatus U2 - - Software Status Field
26 sensorStatus U2 - - Sensor Status Field
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Output Packets (Polled or Continuous)
7.4.1 Scaled Sensor Data Packet 0

Scaled Sensor Data (‘S0’ = 0x5330)
0x5555 0x5330 0x1E <S0 payload> <CRC (U2)>
This packet contains scaled sensor data. The scaled sensor data is fixed point, 2 bytes per sensor,
MSB first, for 13 sensors in the following order: accels(x,y,z); gyros(x,y,z); mags(x,y,z);
temps(x,y,z,board). Data involving angular measurements include the factor pi in the scaling and
can be interpreted in either radians or degrees.
Angular rates: scaled to range of 3.5* [-pi,+pi) or [-630 deg/sec to +630 deg/sec)
Accelerometers: scaled to a range of [-10,+10) g
Magnetometers: scaled to a range of [-1,+1) Gauss
Temperature: scaled to a range of [-100, +100)°C
S0 Payload Contents
0 xAccel I2 20/2^16 g X accelerometer
2 yAccel I2 20/2^16 g Y accelerometer
4 zAccel I2 20/2^16 g Z accelerometer
6 xRate I2 7*pi/2^16 rad/s X angular rate
[1260° /2^16] [° /sec]
8 yRate I2 7*pi/2^16 rad/s Y angular rate
[1260° /2^16] [° /sec]
10 zRate I2 7*pi/2^16 rad/s Z angular rate
[1260° /2^16] [° /sec]
12 xMag I2 20/2^16 Gauss X magnetometer
14 yMag I2 20/2^16 Gauss Y magnetometer
16 zMag I2 20/2^16 Gauss Z magnetometer
18 xRateTemp I2 200/2^16 deg. C X rate temperature
20 yRateTemp I2 200/2^16 deg. C Y rate temperature
22 zRateTemp I2 200/2^16 deg. C Z rate temperature
24 boardTemp I2 200/2^16 deg. C CPU board temperature
26 GPSITOW U2 truncated ms GPS ITOW (lower 2 bytes)
Not Implemented
28 BITstatus U2 - - Master BIT and Status
7.4.2 Scaled Sensor Data Packet 1 (Default IMU Data)

Scaled Sensor Data (‘S1’ = 0x5331)
0x5555 0x5331 0x18 <S1 payload> <CRC (U2)>
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This packet contains scaled sensor data. Data involving angular measurements include the factor
pi in the scaling and can be interpreted in either radians or degrees.
Accelerometers: scaled to a range of [-10,+10)g
Temperature: scaled to a range of [-100, +100)°C
S1 Payload Contents
6 xRate I2 7*pi/2^16 rad/s X angular rate
[1260° /2^16] [° /sec]
8 yRate I2 7*pi/2^16 rad/s Y angular rate
[1260° /2^16] [° /sec]
10 zRate I2 7*pi/2^16 rad/s Z angular rate
[1260° /2^16] [° /sec]
18 boardTemp I2 200/2^16 deg. C CPU board
temperature
20 Counter U2 - packets Output packet counter
7.4.3 Angle Data Packet 1 (Default AHRS Data)

Angle Data (‘A1’ = 0x4131)
0x5555 0x4131 0x20 <A1 payload> <CRC (U2)>
This packet contains angle data and selected sensor data scaled in most cases to a signed 2^16 2’s
complement number. Data involving angular measurements include the factor pi in the scaling
and can be interpreted in either radians or degrees.
Angles: scaled to a range of [-pi,+pi) or [-180 deg to +180 deg).
Magnetometers: scaled to a range of [-10,+10) Gauss
Temperature: scaled to a range of [-100, +100) °C
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A1 Payload Contents
0 rollAngle I2 2*pi/2^16 Radians Roll angle
[360° /2^16] [° ]
2 pitchAngle I2 2*pi/2^16 Radians Pitch angle
[360° /2^16] [° ]
4 yawAngleMag I2 2*pi/2^16 Radians Yaw angle (magnetic north)
[360° /2^16] [° ]
6 xRateCorrected I2 7*pi/2^16 rad/s X angular rate Corrected
[1260° /2^16] [° /sec]
8 yRateCorrected I2 7*pi/2^16 rad/s Y angular rate Corrected
[1260° /2^16] [° /sec]
10 zRateCorrected I2 7*pi/2^16 rad/s Z angular rate Corrected
[1260° /2^16] [° /sec]
18 xMag I2 20/2^16 Gauss X magnetometer
20 yMag I2 20/2^16 Gauss Y magnetometer
22 zMag I2 20/2^16 Gauss Z magnetometer
24 xRateTemp I2 200/2^16 Deg C X rate temperature
26 timeITOW U4 1 ms DMU ITOW (sync to GPS)
Not Implemented
7.4.4 Angle Data Packet 2 (Default VG Data)

Angle Data (‘A2’ = 0x4132)
0x5555 0x4132 0x1E <A2 payload> <CRC (U2)>
This packet contains angle data and selected sensor data scaled in most cases to a signed 2^16 2’s
complement number. Data involving angular measurements include the factor pi in the scaling
and can be interpreted in either radians or degrees.
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A2 Payload Contents
[360° /2^16] [° ]
[360° /2^16] [° ]
4 yawAngleTrue I2 2*pi/2^16 Radians Yaw angle (free)
[360° /2^16] [° ]
6 xRateCorrected I2 7*pi/2^16 rad/s X angular rate corrected
[1260° /2^16] [° /sec]
8 yRateCorrected I2 7*pi/2^16 rad/s Y angular rate corrected
[1260° /2^16] [° /sec]
10 zRateCorrected I2 7*pi/2^16 rad/s Z angular rate corrected
[1260° /2^16] [° /sec]
24 timeITOW U4 1 ms DMU ITOW (sync to GPS)
Not Implemented
7.4.5 Nav Data Packet 0

Nav Data (‘N0’ = 0x4E30)
0x5555 0x4E30 0x20 <N0 payload> <CRC (U2)>
This packet contains navigation data and selected sensor data scaled in most cases to a signed
2^16 2’s complement number. Data involving angular measurements include the factor pi in the
scaling and can be interpreted in either radians or degrees.
Velocities are scaled to a range of [-256,256) m/s
Altitude is scaled to a range of [-100,16284) m using a shifted 2’s complement
representation.
Longitude and latitude are scaled to a range of [-pi,pi) or [-180 deg to +180 deg).
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N0 Payload Contents
[360° /2^16] [° ]
[360° /2^16] [° ]
4 yawAngleTrue I2 2*pi/2^16 Radians Yaw angle (true north)
[360° /2^16] [° ]
[1260° /2^16] [° /sec]
[1260° /2^16] [° /sec]
[1260° /2^16] [° /sec]
12 nVel I2 512/2^16 m/s North velocity
14 eVel I2 512/2^16 m/s East velocity
16 dVel I2 512/2^16 m/s Down velocity
18 longitude I4 2*pi/2^32 Radians Longitude
[360° /2^32] [° ]
22 latitude I4 2*pi/2^32 Radians Latitude
[360° /2^32] [° ]
26 altitude I2* 2^14/2^16 m GPS altitude [-100,16284)
28 ITOW U2 truncated ms ITOW (lower 2 bytes)
7.4.6 Nav Data Packet 1 (Default INS Data)

Nav Data (‘N1’ = 0x4E31)
0x5555 0x4E31 0x2A <N1 payload> <CRC (U2)>
This packet contains navigation data and selected sensor data scaled in most cases to a signed
2^16 2’s complement number. Data involving angular measurements include the factor pi in the
scaling and can be interpreted in either radians or degrees.
Velocities are scaled to a range of [-256,256) m/s
Altitude is scaled to a range of [-100,16284) m using a shifted 2’s complement
representation.
Longitude and latitude are scaled to a range of [-pi,pi) or [-180 deg to +180 deg).
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N1 Payload Contents
[360° /2^16] [° ]
[360° /2^16] [° ]
4 yawAngleTrue I2 2*pi/2^16 Radians Yaw angle (true north)
[360° /2^16] [° ]
[1260° /2^16] [° /sec]
[1260° /2^16] [° /sec]
[1260° /2^16] [° /sec]
18 nVel I2 512/2^16 m/s North velocity
20 eVel I2 512/2^16 m/s East velocity
22 dVel I2 512/2^16 m/s Down velocity
24 longitude I4 2*pi/2^32 Radians Longitude
[360° /2^32] [° ]
28 latitude I4 2*pi/2^32 Radians Latitude
[360° /2^32] [° ]
32 altitude I2* 2^14/2^16 m Altitude [-100,16284)
34 xRateTemp I2 200/2^16 deg C X rate sensor temperature
36 ITOW U4 1 ms ITOW (sync to GPS)
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8 DMUX80ZA Advanced UART Port Commands
The advanced commands allow users to programmatically change the DMUX80ZA Series
settings. This section of the manual documents all of the settings and options contained under the
Unit Configuration tab within NAV-VIEW. Using these advanced commands, a user’s system
can change or modify the settings without the need for NAV-VIEW.
Configuration Fields
Configuration fields determine various behaviors of the unit that can be modified by the user.
These include settings like baud rate, packet output rate and type, algorithm type, etc. These
fields are stored in EEPROM and loaded on power up. These fields can be read from the
EEPROM using the ‘RF’ command. These fields can be written to the EEPROM affecting the
default power up behavior using the ‘WF’ command. The current value of these fields (which
may be different from the value stored in the EEPROM) can also be accessed using the ‘GF’
command. All of these fields can also be modified immediately for the duration of the current
power cycle using the ‘SF’ command. The unit will always power up in the configuration stored
in the EEPROM. Configuration fields can only be set or written with valid data from Table 40
below.
Table 40 Configuration Fields
configuration fields field ID Valid Values description

Packet rate divider 0x0001 0,1,2,5,10, 20, 25, 50 quiet, 100Hz, 50Hz, 25Hz, 20Hz, 10Hz, 5Hz, 2Hz
Unit BAUD rate 0x0002 0,1,2,3,4,5,6 9600, 19200, 38400, 57600, 4800, 115200, 230400
Not all output packets available for all products.
Continuous packet type 0x0003 Any output packet type See detailed product descriptions.
Unused 0x0004
18750-65535 [2Hz]
8035-18749 [5Hz]
4018-8034 [10Hz]
2411-4017 [20Hz]
1741-2410 [25Hz]
1205-1740 [40Hz] Sets low pass cutoff for rate sensors. Cutoff
1-1204 [50 Hz] Frequency choices are 2, 5, 10, 20, 25, 40, and
Gyro Filter Setting 0x0005 0 [Unfiltered] 50Hz
18750-65535 [2Hz]
8035-18749 [5Hz]
4018-8034 [10Hz]
2411-4017 [20Hz]
1741-2410 [25Hz]
1205-1740 [40Hz] Sets low pass cutoff for accelerometers. Cutoff
1-1204 [50 Hz] Frequency choices are 2, 5, 10, 20, 25, 40, and
Accelerometer Filter Setting 0x0006 0 [Unfiltered] 50Hz
Determine forward, rightward, and downward
Orientation 0x0007 See below facing sides
Free Integrate (60 sec), Use Mags, Use GPS,
User Behavior Switches 0x0008 Any Stationary Yaw Lock, …
X Hard Iron Bias 0x0009 Any I2 scaled from [-1,1)
Y Hard Iron Bias 0x000A Any I2 scaled from [-1,1)
Soft Iron Scale Ratio 0x000B Any U2 scaled from [0,2)
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Soft Iron Phase Angle 0x000E Any I2 scaled from [-pi,pi]
Note: BAUD rate SF has immediate effect. Some output data may be lost. Response will be
received at new BAUD rate.
Continuous Packet Type Field

This is the packet type that is being continually output. The supported packet depends on the
model number. Please refer to Section 7.4 for a complete list of the available packet types.
Digital Filter Settings

These two fields set the digital low pass filter cutoff frequencies (See Table 41). Each sensor
listed is defined in the default factory orientation. Users must consider any additional rotation to
their intended orientation.
Table 41 Digital Filter Settings
Filter Setting Sensor
FilterGyro Ux,Uy,Uz Rate
FilterAccel Ux,Uy,Uz Accel
Orientation Field
This field defines the rotation from the factory to user axis sets. This rotation is relative to the
default factory orientation for the appropriate DMUX80 family model. The default factory axis
setting for the IMUX80ZA-200 orientation field is (-Uy, -Ux, -Uz) which defines the connector
pointing in the +Z direction and the +X direction going from the connector through the serial
number label at the end of the DMUX80. The user axis set (X, Y, Z) as defined by this field
setting is depicted in Figure 18 below:
+Z (-Uz)
Yaw
Roll
Pitch
+X (-Uy) +Y (-Ux)
Figure 18 IMUX80ZA-200 Default Orientation Field (0x006B)
Table 42 DMUX80 Orientation Definitions

Description Bits Meaning
X Axis Sign 0 0 = positive, 1 = negative
X Axis 1:2 0 = Ux, 1 = Uy, 2 = Uz, 3 = N/A
Y Axis Sign 3 0 = positive, 1 = negative
Y Axis 4:5 0 = Uy, 1 = Uz, 2 = Ux, 3 = N/A
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Z Axis Sign 6 0 = positive, 1 = negative
Z Axis 7:8 0 = Uz, 1 = Ux, 2 = Uy, 3 = N/A
Reserved 9:15 N/A
There are 24 possible orientation configurations (See Table 43). Setting/Writing the field to
anything else generates a NAK and has no effect.
Table 43 DMUX80 Orientation Fields
Orientation Field Value X Axis Y Axis Z Axis

0x0000 +Ux +Uy +Uz
0x0009 -Ux -Uy +Uz
0x0023 -Uy +Ux +Uz
0x002A +Uy -Ux +Uz
0x0041 -Ux +Uy -Uz
0x0048 +Ux -Uy -Uz
0x0062 +Uy +Ux -Uz
0x006B -Uy -Ux -Uz
0x0085 -Uz +Uy +Ux
0x008C +Uz -Uy +Ux
0x0092 +Uy +Uz +Ux
0x009B -Uy -Uz +Ux
0x00C4 +Uz +Uy -Ux
0x00CD -Uz -Uy -Ux
0x00D3 -Uy +Uz -Ux
0x00DA +Uy -Uz -Ux
0x0111 -Ux +Uz +Uy
0x0118 +Ux -Uz +Uy
0x0124 +Uz +Ux +Uy
0x012D -Uz -Ux +Uy
0x0150 +Ux +Uz -Uy
0x0159 -Ux -Uz -Uy
0x0165 -Uz +Ux -Uy
0x016C +Uz -Ux -Uy
The default factory axis setting for all other DMUX80 family model’s orientation field is (+Ux,
+Uy, +Uz) which defines the base of the DMUX80 pointing in the +Z direction and the +Y
direction going from the serial number label at the end through the connector of the DMUX80.
The user axis set (X, Y, Z) as defined by this field setting is depicted in Figure 19 below:
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+X (Ux)
+Y (Uy)
Roll
Pitch
Yaw
+Z (Uz)
Figure 19 IMU380ZA (-209, -409) VG/AHRS/INS380ZA (-200, -400) Default Orientation Field (0x0000)
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User Behavior Switches
This field allows on the fly user interaction with behavioral aspects of the algorithm (See Table
44).
Table 44 DMUX80 Behavior Switches
Description Bits Meaning

Free Integrate 0 0 = use feedback to stabilize the algorithm, 1 = 6DOF inertial
integration without stabilized feedback for 60 seconds
Use Mags 1 0 = Do not use mags to stabilize heading (heading will run open
loop or be stabilized by GPS track), 1 = Use mags to stabilize
heading
Use GPS 2 0 = Do not use GPS to stabilize the system, 1 = Use GPS when
available
Stationary Yaw Lock 3 0 = Do not lock yaw when GPS speed is near zero (<0.75 m/s), 1
= Lock yaw when GPS speed is near zero
Restart on Over-range 4 0 = Do not restart the system after a sensor over-range, 1 =
restart the system after a sensor over-range
Dynamic Motion 5 0=vehicle is static, force high gain corrections, 1= vehicle is
dynamic, use nominal corrections
Reserved 6:15 N/A
Hard and Soft Iron Values

These fields allow access to hard iron bias and soft iron scale ratio values for magnetometer
alignment (See Table 45):
Table 45 DMUX80 Magnetic Alignment Parameters
Field Name Field ID Format Scaling Units

X Hard Iron Bias 0x0009 I2 2/2^16 Gauss
Y Hard Iron Bias 0x000A I2 2/2^16 Gauss
Soft Iron Scale Ratio 0x000B U2 2/2^16 -
Soft Iron Phase Angle 0x000E I2 2*pi/2^16 Radians
The hard iron bias values are scaled from [-1,1] Gauss. These values are subtracted from the
tangent plane magnetometer vector before the heading reference is calculated for the filter. The
soft iron scale ratio is scaled from [0,2] and is multiplied by the tangent plane x magnetometer
value before the heading reference is calculated for the filter. The soft iron phase angle is scaled
from [-pi,pi] and is applied to the tangent plane x magnetometer value before the heading
reference is calculated for the filter. This compensates for elliptical soft iron errors that generate
an ellipse at an angle away from the major or minor axis following the full rotation of a
magnetometer alignment. Note that none of these parameters are applied to the output
magnetometer vector data in message A1. They are only applied internally to the data for use in
the heading reference for the Kalman filter.
Heading Track Offset

This field is used to set the offset between vehicle heading and vehicle track to be used by the
navigation mode filter when no magnetometer heading measurements are available (See Table
46).
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Table 46 DMUX80 Heading Track Offset
Field Name Field ID Format Scaling Units

Heading Track Offset 2*pi/2^16 Radians (heading-track)
0x000C I2 [360° /2^16] [° ]
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Commands to Program Configuration
8.8.1 Write Fields Command

Write Fields (‘WF’ = 0x5746)
0x5555 0x5746 1+numFields*4 <WF payload> <CRC
(U2)>
This command allows the user to write default power-up configuration fields to the EEPROM.
Writing the default configuration will not take affect until the unit is power cycled. NumFields is
the number of words to be written. The field0, field1, etc. are the field
IDs that will be written with the field0Data, field1Data, etc., respectively. The unit will not write
to calibration or algorithm fields. If at least one field is successfully written, the unit will respond
with a write fields response containing the field IDs of the successfully written fields. If any field
is unable to be written, the unit will respond with an error response. Note that both a write fields
and an error response may be received as a result of a write fields command. Attempts to write a
field with an invalid value is one way to generate an error response. A table of field IDs and valid
field values is available in Section 8.1.
WF Payload Contents
0 numFields U1 - - The number of fields to write
1 field0 U2 - - The first field ID to write
3 field0Data U2 - - The first field ID’s data to write
5 field1 U2 - - The second field ID to write
7 field1Data U2 - - The second field ID’s data
… … U2 - - …
numFields*4 -3 field… U2 - - The last field ID to write
numFields*4 -1 field…Data U2 - - The last field ID’s data to write
Write Fields Response

Write Fields (‘WF’ = 0x5746)
0x5555 0x5746 1+numFields*2 <WF payload> <CRC (U2)>
The unit will send this packet in response to a write fields command if the command has
completed without errors.
WF Payload Contents
0 numFields U1 - - The number of fields written
1 field0 U2 - - The first field ID written
3 field1 U2 - - The second field ID written
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… … U2 - - More field IDs written
numFields*2 – 1 Field… U2 - - The last field ID written
8.8.2 Set Fields Command

Set Fields (‘SF’ = 0x5346)
0x5555 0x5346 1+numFields*4 <SF payload> <CRC (U2)>
This command allows the user to set the unit’s current configuration (SF) fields immediately
which will then be lost on power down. NumFields is the number of words to be set. The field0,
field1, etc. are the field IDs that will be written with the field0Data, field1Data, etc., respectively.
This command can be used to set configuration fields. The unit will not set calibration or
algorithm fields. If at least one field is successfully set, the unit will respond with a set fields
response containing the field IDs of the successfully set fields. If any field is unable to be set, the
unit will respond with an error response. Note that both a set fields and an error response may be
received as a result of one set fields command. Attempts to set a field with an invalid value is one
way to generate an error response. A table of field IDs and valid field values is available in
Section 8.1.
SF Payload Contents
0 numFields U1 - - The number of fields to set
1 field0 U2 - - The first field ID to set
3 field0Data U2 - - The first field ID’s data to set
5 field1 U2 - - The second field ID to set
7 field1Data U2 - - The second field ID’s data to set
… … U2 - - …
numFields*4 -3 field… U2 - - The last field ID to set
numFields*4 -1 field…Data U2 - - The last field ID’s data to set
Set Fields Response

Set Fields (‘SF’ = 0x5346)
0x5555 0x5346 1+numFields*2 <SF payload> <CRC (U2)>
The unit will send this packet in response to a set fields command if the command has completed
without errors.
SF Payload Contents
0 numFields U1 - - The number of fields set
1 field0 U2 - - The first field ID set
3 field1 U2 - - The second field ID set
… … U2 - - More field IDs set
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numFields*2 - 1 Field… U2 - - The last field ID set
Read Fields Command

Read Fields (‘RF’ = 0x5246)
0x5555 0x5246 1+numFields*2 <RF payload> <CRC (U2)>
This command allows the user to read the default power-up configuration fields from the
EEPROM. NumFields is the number of fields to read. The field0, field1, etc. are the field IDs to
read. RF may be used to read configuration and calibration fields from the EEPROM. If at least
one field is successfully read, the unit will respond with a read fields response containing the field
IDs and data from the successfully read fields. If any field is unable to be read, the unit will
respond with an error response. Note that both a read fields and an error response may be
received as a result of a read fields command.
RF Payload Contents
0 numFields U1 - - The number of fields to read
1 field0 U2 - - The first field ID to read
3 field1 U2 - - The second field ID to read
… … U2 - - More field IDs to read
numFields*2 - 1 Field… U2 - - The last field ID to read
Read Fields Response

Read Fields (‘RF’ = 0x5246)
0x5555 0x5246 1+numFields*4 <RF payload> <CRC (U2)>
The unit will send this packet in response to a read fields request if the command has completed
without errors.
RF Payload Contents
0 numFields U1 - - The number of fields read
1 field0 U2 - - The first field ID read
3 field0Data U2 - - The first field ID’s data read
5 field1 U2 - - The second field ID read
7 field1Data U2 - - The second field ID’s data read
… … U2 - - …
numFields*4 -3 field… U2 - - The last field ID read
numFields*4 -1 field…Data U2 - - The last field ID’s data read
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Get Fields Command
Get Fields (‘GF’ = 0x4746)
0x5555 0x4746 1+numFields*2 <GF Data> <CRC (U2)>
This command allows the user to get the unit’s current configuration fields. NumFields is the
number of fields to get. The field0, field1, etc. are the field IDs to get. GF may be used to get
configuration, calibration, and algorithm fields from RAM. Multiple algorithm fields will not
necessarily be from the same algorithm iteration. If at least one field is successfully collected, the
unit will respond with a get fields response with data containing the field IDs of the successfully
received fields. If any field is unable to be received, the unit will respond with an error response.
Note that both a get fields and an error response may be received as the result of a get fields
command.
GF Payload Contents
0 numFields U1 - - The number of fields to get
1 field0 U2 - - The first field ID to get
3 field1 U2 - - The second field ID to get
… … U2 - - More field IDs to get
numFields*2 – 1 Field… U2 - - The last field ID to get
Get Fields Response

Get Fields (‘GF’ = 0x4746)
0x5555 0x4746 1+numFields*4 <GF Data> <CRC (U2)>
The unit will send this packet in response to a get fields request if the command has completed
without errors.
GF Payload Contents
0 numFields U1 - - The number of fields retrieved
1 field0 U2 - - The first field ID retrieved
3 field0Data U2 - - The first field ID’s data retrieved
5 field1 U2 - - The second field ID retrieved
7 field1Data U2 - - The second field ID’s data
… … U2 - - …
numFields*4 -3 field… U2 - - The last field ID retrieved
numFields*4 -1 field…Data U2 - - The last field ID’s data retrieved
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9 DMUX80ZA Advanced UART Port BIT
Built In Test (BIT) and Status Fields
Internal health and status are monitored and communicated in both hardware and software. The
ultimate indication of a fatal problem is a hardware BIT signal on the user connector which is
mirrored in the software BIT field as the masterFail flag. This flag is thrown as a result of a
number of instantly fatal conditions (known as a “hard” failure) or a persistent serious problem
(known as a “soft” failure). Soft errors are those which must be triggered multiple times within a
specified time window to be considered fatal. Soft errors are managed using a digital high-pass
error counter with a trigger threshold.
The masterStatus flag is a configurable indication as determined by the user. This flag is asserted
as a result of any asserted alert signals which the user has enabled.
The hierarchy of BIT and Status fields and signals is depicted here:
 BITstatus Field
 masterFail
 hardwareError
 hardwareBIT Field
 powerError
 hardwarePowerBIT Field
 inpPower
 inpCurrent
 inpVoltage
 fiveVolt
 threeVolt
 twoVolt
 twoFiveRef
 sixVolt
 grdRef
 environmentalError
 hardwareEnvironmentalBIT Field
 pcbTemp
 comError
 comBIT Field
 serialAError
 comSerialABIT Field
 transmitBufferOverflow
 receiveBufferOverflow
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 framingError
 breakDetect
 parityError
 serialBError
 comSerialBBIT Field
 transmitBufferOverflow
 receiveBufferOverflow
 framingError
 breakDetect
 parityError
 softwareError
 softwareBIT Field
 algorithmError
 softwareAlgorithmBIT Field
 initialization
 overRange
 missedIntegrationStep
 dataError
 softwareDataBIT Field
 calibrationCRCError
 magAlignOutOfBounds
 masterStatus
 hardwareStatus
 hardwareStatus Field
 unlocked1PPS (enabled by default on INS)
 unlockedInternalGPS (enabled by default on INS)
 noDGPS
 unlockedEEPROM
 comStatus
 comStatus Field
 noExternalGPS (enabled by default on VG and AHRS)
 softwareStatus
 softwareStatus Field
 algorithmInitialization (enabled by default)
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 highGain (enabled by default)
 attitudeOnlyAlgorithm
 turnSwitch
 sensorStatus
 sensorStatus Field
 overRange (enabled by default)
Master BIT and Status (BITstatus) Field

The BITstatus field is the global indication of health and status of the DMUX80ZA Series
product (See Table 47). The LSB contains BIT information and the MSB contains status
information.
There are four intermediate signals that are used to determine when masterFail and the hardware
BIT signal are asserted. These signals are controlled by various systems checks in software that
are classified into three categories: hardware, communication, and software. Instantaneous soft
failures in each of these four categories will trigger these intermediate signals, but will not trigger
the masterFail until the persistency conditions are met.
There are four intermediate signals that are used to determine when the masterStatus flag is
asserted: hardwareStatus, sensorStatus, comStatus, and softwareStatus. masterStatus is the logical
OR of these intermediate signals. Each of these intermediate signals has a separate field with
individual indication flags. Each of these indication flags can be enabled or disabled by the user.
Any enabled indication flag will trigger the associated intermediate signal and masterStatus flag.
Table 47 DMUX80 BIT Status Field

Reserved 4:7 N/A
masterStatus 8 0 = nominal, 1 = hardware, sensor, com, or Status
software alert
hardwareStatus 9 0 = nominal, 1 = programmable alert Status
comStatus 10 0 = nominal, 1 = programmable alert Status
softwareStatus 11 0 = nominal, 1 = programmable alert Status
sensorStatus 12 0 = nominal, 1 = programmable alert Status
Reserved 13:15 N/A
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hardwareBIT Field
The hardwareBIT field contains flags that indicate various types of internal hardware errors (See
Table 48). Each of these types has an associated message with low level error signals. The
hardwareError flag in the BITstatus field is the bit-wise OR of this hardwareBIT field.
Table 48 DMUX80 Hardware BIT Field

hardwareBIT Field Bits Meaning Category
powerError 0 0 = normal, 1 = error Soft
environmentalError 1 0 = normal, 1 = error Soft
reserved 2:15 N/A
hardwarePowerBIT Field
The hardwarePowerBIT field contains flags that indicate low level power system errors (See
Table 49). The powerError flag in the hardwareBIT field is the bit-wise OR of this
hardwarePowerBIT field.
Table 49 DMUX80 Hardware Power BIT Field

hardwarePowerBIT Field Bits Meaning Category
inpPower 0 0 = normal, 1 = out of bounds Soft
inpCurrent 1 0 = normal, 1 = out of bounds Soft
inpVoltage 2 0 = normal, 1 = out of bounds Soft
fiveVolt 3 0 = normal, 1 = out of bounds Soft
threeVolt 4 0 = normal, 1 = out of bounds Soft
twoVolt 5 0 = normal, 1 = out of bounds Soft
twoFiveRef 6 0 = normal, 1 = out of bounds Soft
sixVolt 7 0 = normal, 1 = out of bounds Soft
grdRef 8 0 = normal, 1 = out of bounds Soft
Reserved 9:15 N/A
hardwareEnvironmentalBIT Field
The hardwareEnvironmentalBIT field contains flags that indicate low level hardware
environmental errors (See Table 50). The environmentalError flag in the hardwareBIT field is the
bit-wise OR of this hardwareEnvironmentalBIT field.
Table 50 DMUX80 Hardware Environment BIT Field

hardwareEnvironmentalBIT Field Bits Meaning Category
pcbTemp 0 0 = normal, 1 = out of bounds Soft
Reserved 9:15 N/A
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comBIT Field
The comBIT field contains flags that indicate communication errors with external devices (See
Table 51). Each external device has an associated message with low level error signals. The
comError flag in the BITstatus field is the bit-wise OR of this comBIT field.
Table 51 DMUX80 COM BIT Field

comBIT Field Bits Meaning Category
serialAError 0 0 = normal, 1 = error Soft
serialBError 1 0 = normal, 1 = error Soft
Reserved 2:15 N/A
comSerialABIT Field
The comSerialABIT field (See Table 52) contains flags that indicate low level errors with
external serial port A (the user serial port). The serialAError flag in the comBIT field is the bit-
wise OR of this comSerialABIT field.
Table 52 DMUX80 Serial Port A BIT Field

comSerialABIT Field Bits Meaning Category
transmitBufferOverflow 0 0 = normal, 1 = overflow Soft
receiveBufferOverflow 1 0 = normal, 1 = overflow Soft
framingError 2 0 = normal, 1 = error Soft
breakDetect 3 0 = normal, 1 = error Soft
parityError 4 0 = normal, 1 = error Soft
Reserved 5:15 N/A
comSerialBBIT Field
The comSerialBBIT field (See Table 53) contains flags that indicate low level errors with
external serial port B (the aiding serial port). The serialBError flag in the comBIT field is the bit-
wise OR of this comSerialBBIT field.
Table 53 DMUX80 Serial Port B BIT Field

comSerialBBIT Field Bits Meaning Category
transmitBufferOverflow 0 0 = normal, 1 = overflow Soft
receiveBufferOverflow 1 0 = normal, 1 = overflow Soft
framingError 2 0 = normal, 1 = error Soft
breakDetect 3 0 = normal, 1 = error Soft
parityError 4 0 = normal, 1 = error Soft
Reserved 5:15 N/A
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softwareBIT Field
The softwareBIT field contains flags that indicate various types of software errors (See Table 54).
Each type has an associated message with low level error signals. The softwareError flag in the
BITstatus field is the bit-wise OR of this softwareBIT field.
Table 54 DMUX80 Softrware BIT Field

softwareBIT Field Bits Meaning Category
algorithmError 0 0 = normal, 1 = error Soft
dataError 1 0 = normal, 1 = error Soft
Reserved 2:15 N/A
softwareAlgorithmBIT Field
The softwareAlgorithmBIT field contains flags that indicate low level software algorithm errors
(See Table 55). The algorithmError flag in the softwareBIT field is the bit-wise OR of this
softwareAlgorithmBIT field.
Table 55 DMUX80 Software Algorithm BIT Field

SoftwareAlgorithmBIT Field Bits Meaning Category
initialization 0 0 = normal, 1 = error during algorithm initialization Hard
overRange 1 0 = normal, 1 = fatal sensor over-range Hard
missedNavigationStep 2 0 = normal, 1 = fatal hard deadline missed for Hard
navigation
Reserved 3:15 N/A
softwareDataBIT Field
The softwareDataBIT field contains flags that indicate low level software data errors (See Table
56). The dataError flag in the softwareBIT field is the bit-wise OR of this softwareDataBIT field.
Table 56 DMUX80 Software Data BIT Field

SoftwareDataBIT Field Bits Meaning Category
calibrationCRCError 0 0 = normal, 1 = incorrect CRC on Hard
calibration EEPROM data or data has been
compromised by a WE command.
magAlignOutOfBounds 1 0 = normal, 1 = hard and soft iron Hard
parameters are out of bounds
Reserved 2:15 N/A
hardwareStatus Field
The hardwareStatus field contains flags that indicate various internal hardware conditions and
alerts that are not errors or problems (See Table 57). The hardwareStatus flag in the BITstatus
field is the bit-wise OR of the logical AND of the hardwareStatus field and the
hardwareStatusEnable field. The hardwareStatusEnable field is a bit mask that allows the user to
select items of interest that will logically flow up to the masterStatus flag.
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Table 57 DMUX80 Hardware Status BIT Field

hardwareStatus Field Bits Meaning
unlocked1PPS 0 0 = not asserted, 1 = asserted
unlockedInternalGPS 1 0 = not asserted, 1 = asserted
noDGPS 2 0 = DGPS lock, 1 = no DGPS
unlockedEEPROM 3 0=locked, WE disabled, 1=unlocked, WE enabled
Reserved 4:15 N/A
comStatus Field
The comStatus field contains flags that indicate various external communication conditions and
alerts that are not errors or problems (See Table 58). The comStatus flag in the BITstatus field is
the bit-wise OR of the logical AND of the comStatus field and the comStatusEnable field. The
comStatusEnable field is a bit mask that allows the user to select items of interest that will
logically flow up to the masterStatus flag.
Table 58 DMUX80 COM Status BIT Field

comStatus Field Bits Meaning
noExternalGPS 0 0 = external GPS data is being received, 1 = no external
GPS data is available
Reserved 1:15 N/A
softwareStatus Field
The softwareStatus field contains flags that indicate various software conditions and alerts that
are not errors or problems (See Table 59). The softwareStatus flag in the BITstatus field is the bit-
wise OR of the logical AND of the softwareStatus field and the softwareStatusEnable field. The
softwareStatusEnable field is a bit mask that allows the user to select items of interest that will
Table 59 DMUX80 Software Status Field

softwareStatus Field Bits Meaning
algorithmInit 0 0 = normal, 1 = the algorithm is in initialization mode
highGain 1 0 = low gain mode, 1 high gain mode
attitudeOnlyAlgorithm 2 0 = navigation state tracking, 1 = attitude only state tracking
turnSwitch 3 0 = off, 1 = yaw rate greater than turnSwitch threshold
Reserved 4:15 N/A
sensorStatus Field
The sensorStatus field contains flags that indicate various internal sensor conditions and alerts
that are not errors or problems (See Table 60). The sensorStatus flag in the BITstatus field is the
bit-wise OR of the logical AND of the sensorStatus field and the sensorStatusEnable field. The
sensorStatusEnable field is a bit mask that allows the user to select items of interest that will
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Table 60 DMUX80 Sensor Status Field

sensorStatus Field Bits Meaning
overRange 0 0 = not asserted, 1 = asserted
Reserved 1:15 N/A
Configuring the Master Status

The masterStatus byte and its associated programmable alerts are configured using the Read Field
and Write Field command as described in Section 8, Advanced Commands. Table 61 shows the
definition of the bit mask for configuring the status signals.
Table 61 DMUX80 Master Status Byte Configuration Fields

configuration fields field ID Valid Values Description
hardwareStatusEnable 0x0010 Any Bit mask of enabled hardware status signals
comStatusEnable Bit mask of enabled communication status
0x0011 Any signals
softwareStatusEnable 0x0012 Any Bit mask of enabled software status signals
sensorStatusEnable 0x0013 Any Bit mask of enabled sensor status signals
9.16.1 hardwareStatusEnable Field

This field is a bit mask of the hardwareStatus field (see BIT and status definitions). This field
allows the user to determine which low level hardwareStatus field signals will flag the
hardwareStatus and masterStatus flags in the BITstatus field. Any asserted bits in this field imply
that the corresponding hardwareStatus field signal, if asserted, will cause the hardwareStatus and
masterStatus flags to be asserted in the BITstatus field.
9.16.2 comStatusEnable Field

This field is a bit mask of the comStatus field (see BIT and status definitions). This field allows
the user to determine which low level comStatus field signals will flag the comStatus and
masterStatus flags in the BITstatus field. Any asserted bits in this field imply that the
corresponding comStatus field signal, if asserted, will cause the comStatus and masterStatus flags
to be asserted in the BITstatus field.
9.16.3 softwareStatusEnable Field

This field is a bit mask of the softwareStatus field (see BIT and status definitions). This field
allows the user to determine which low level softwareStatus field signals will flag the
softwareStatus and masterStatus flags in the BITstatus field. Any asserted bits in this field imply
that the corresponding softwareStatus field signal, if asserted, will cause the softwareStatus and
masterStatus flags to be asserted in the BITstatus field.
9.16.4 sensorStatusEnable Field

This field is a bit mask of the sensorStatus field (see BIT and status definitions). This field allows
the user to determine which low level sensorStatus field signals will flag the sensorStatus and
masterStatus flags in the BITstatus field. Any asserted bits in this field imply that the
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corresponding sensorStatus field signal, if asserted, will cause the sensorStatus and masterStatus
flags to be asserted in the BITstatus field.
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10 Warranty and Support Information
Customer Service
As a ACEINNA customer you have access to product support services, which include:
 Single-point return service
 Web-based support service
 Same day troubleshooting assistance
 Worldwide ACEINNA representation
 Onsite and factory training available
 Preventative maintenance and repair programs
 Installation assistance available
Contact Directory
United States: Email: [email protected]
Non-U.S.: Refer to website www.aceinna.com
Return Procedure
10.3.1 Authorization
Before returning any equipment, please contact ACEINNA to obtain a Returned Material
Authorization number (RMA).
Be ready to provide the following information when requesting a RMA:
 Name
 Address
 Telephone, Fax, Email
 Equipment Model Number
 Equipment Serial Number
 Installation Date
 Failure Date
 Fault Description
 Will it connect to NAV-VIEW 3.X?
10.3.2 Identification and Protection

If the equipment is to be shipped to ACEINNA for service or repair, please attach a tag TO THE
EQUIPMENT, as well as the shipping container(s), identifying the owner. Also indicate the
service or repair required, the problems encountered, and other information considered valuable
to the service facility such as the list of information provided to request the RMA number.
Place the equipment in the original shipping container(s), making sure there is adequate packing
around all sides of the equipment. If the original shipping containers were discarded, use heavy
boxes with adequate padding and protection.
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10.3.3 Sealing the Container
Seal the shipping container(s) with heavy tape or metal bands strong enough to handle the weight
of the equipment and the container.
10.3.4 Marking
Please write the words, “FRAGILE, DELICATE INSTRUMENT” in several places on the
outside of the shipping container(s). In all correspondence, please refer to the equipment by the
model number, the serial number, and the RMA number.
Warranty
The ACEINNA product warranty is one year from date of shipment.
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Appendix A: Installation and Operation of NAV-VIEW
NAV-VIEW has been designed to allow users to control all aspects of the DMUX80ZA Series
operation including data recording, configuration and data transfer. For the first time, you will be
able to control the orientation of the unit, sampling rate, packet type, hard iron calibration and
filter settings through NAV-VIEW. For proper use with the DMUX80ZA family version 3.5.2 or
higher of NAV-VIEW is required.
NAV-VIEW Computer Requirements

The following are minimum requirements for the installation of the NAV-VIEW Software:
• CPU: Pentium-class (1.5GHz minimum)
• RAM Memory: 500MB minimum, 1GB+ recommended
• Hard Drive Free Memory: 20MB
• Operating System: Windows XP, Vista, 8
• Properly installed Microsoft .NET 2.0 or higher
Install NAV-VIEW
To install NAV-VIEW onto your computer:
1. Insert the CD “Inertial Systems Product Support” (Part No. 8160-0063) in the CD-ROM
drive.
2. Locate the “NAV-VIEW” folder. Double click on the “setup.exe” file.
3. Follow the setup wizard instructions. You will install NAV-VIEW and .NET 2.0
framework.
Connections
The DMUX80ZA Series Inertial Systems products are shipped with a cable to connect the
DMUX80ZA Series to a PC Serial port.
1. Connect the 9-pin micro-DB connector end of the digital signal cable to the port on the
DMUX80ZA Series product.
2. Connect the 9-pin sub-DB end of the cable marked to the serial port of your computer.
3. The additional black and red wires on the cable connect power to the DMUX80ZA Series
product. Match red to (+) power and black to (-) ground. The input voltage can range
from 9-32 VDC with a maximum current draw of 350 mA.
4. Allow at least 60 seconds after power up for the DMUX80ZA Series product to initialize.
The DMUX80ZA Series needs to be held motionless during this period.
WARNING
Do not reverse the power leads! Reversing the power leads to the DMUX80ZA Series can
damage the unit; although there is reverse power protection, ACEINNA is not responsible for
resulting damage to the unit should the reverse voltage protection electronics fail.
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Setting up NAV-VIEW
With the DMUX80ZA Series product powered up and connected to your PC serial port, open the
NAV-VIEW software application.
1. NAV-VIEW should automatically detect the DMUX80ZA Series product and display the
serial number and firmware version if it is connected.
2. If NAV-VIEW does not connect, check that you have the correct COM port selected. You
will find this under the “Setup” menu. Select the appropriate COM port and allow the
unit to automatically match the baud rate by leaving the “Auto: match baud rate”
selection marked.
3. If the status indicator at the bottom is green and states, , you’re ready to go. If
the status indicator doesn’t say connected and is red, check the connections between the
DMUX80ZA Series product and the computer, check the power supply, and verify that
the COM port is not occupied by another device.
4. Under the “View” menu you have several choices of data presentation. Graph display is the
default setting and will provide a real time graph of all the DMUX80ZA Series data. The
remaining choices will be discussed in the following pages.
Data Recording
NAV-VIEW allows the user to log data to a text file (.txt) using the simple interface at the top of
the screen. Customers can now tailor the type of data, rate of logging and can even establish
predetermined recording lengths.
To begin logging data follow the steps below (See Figure 20):
1. Locate the icon at the top of the page or select “Log to File” from the “File” drop
down menu.
2. The following menu will appear.
Figure 20 Log to File Dialog Screen

3. Select the “Browse” box to enter the file name and location that you wish to save your
data to.
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4. Select the type of data you wish to record. “Engineering Data” records the converted
values provided from the system in engineering units, “Hex Data” provides the raw hex
values separated into columns displaying the value, and the “Raw Packets” will simply
record the raw hex strings as they are sent from the unit.
5. Users can also select a predetermined “Test Duration” from the menu. Using the arrows,
simply select the duration of your data recording.
6. Logging Rate can also be adjusted using the features on the right side of the menu.
7. Once you have completed the customization of your data recording, you will be returned
to the main screen where you can start the recording process using the button at the
top of the page or select “Start Logging” from the “File” menu. Stopping the data
recording can be accomplished using the button and the recording can also be paused
using the button.
Data Playback
In addition to data recording, NAV-VIEW allows the user to replay saved data that has been
stored in a log file.
1. To playback data, select “Playback Mode” from the “Data Source” drop down menu at
the top.
2. Selecting Playback mode will open a text prompt which will allow users to specify the
location of the file they wish to play back. All three file formats are supported
(Engineering, Hex, and Raw) for playback. In addition, each time recording is
stopped/started a new section is created. These sections can be individually played back
by using the drop down menu and associated VCR controls.
3. Once the file is selected, users can utilize the VCR style controls at the top of the page to
start, stop, and pause the playback of the data.
4. NAV-VIEW also provides users with the ability to alter the start time for data playback.
Using the slide bar at the top of the page users can adjust the starting
time.
Raw Data Console

NAV-VIEW offers some unique debugging tools that may assist programmers in the
development process. One such tool is the Raw Data Console. From the “View” drop down
menu, simply select the “Raw Data Console”. This console provides users with a simple display
of the packets that have been transmitted to the unit (Tx) and the messages received (Rx). An
example is provided in Figure 21.
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Figure 21 Raw Data Console
Horizon and Compass View

If the DMUX80ZA Series product you have connected is capable of providing heading and angle
information (see Table 2), NAV-VIEW can provide a compass and a simulated artificial horizon
view. To activate these views, simply select “Horizon View” and/or “Compass View” from the
“View” drop down menu at the top of the page (See Figure 22).
Figure 22 Horizon and Compass View
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Packet Statistics View

Packet statistics can be obtained from the “View” menu by selecting the “Packet Statistics”
option (See Figure 23). This view simply provides the user with a short list of vital statistics
(including Packet Rate, CRC Failures, and overall Elapsed Time) that are calculated over a one
second window. This tool should be used to gather information regarding the overall health of the
user configuration. Incorrectly configured communication settings can result in a large number of
CRC Failures and poor data transfer.
Figure 23 Packet Statistics
Unit Configuration
The Unit Configuration window (See Figure 24) gives the user the ability to view and alter the
system settings. This window is accessed through the “Unit Configuration” menu item under the
configuration menu. Under the “General” tab, users have the ability to verify the current
configuration by selecting the “Get All Values” button. This button simply provides users with
the currently set configuration of the unit and displays the values in the left column of boxes.
There are three tabs within the “Unit Configuration” menu; General, Advanced and BIT
Configuration. The General tab displays some of the most commonly used settings. The
Advanced and BIT Configuration menus provide users with more detailed setting information
that they can tailor to meet their specific needs.
To alter a setting, simply select the check box on the left of the value that you wish to modify and
then select the value using the drop down menu on the right side. Once you have selected the
appropriate value, these settings can be set temporarily or permanently (a software reset or power
cycle is required for the changes to take affect) by selecting from the choices at the bottom of the
dialog box. Once the settings have been altered a “Success” box will appear at the bottom of the
page.
 IMPORTANT
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Caution must be taken to ensure that the settings selected are compatible with the system that is
being configured. In most cases a “FAIL” message will appear if incompatible selections are
made by the user, however it is the users responsibility to ensure proper configuration of the unit.
 IMPORTANT
Unit orientation selections must conform to the right hand coordinate system as noted in Section
3.1 of this user manual. Selecting orientations that do not conform to this criteria are not allowed.
Figure 24 Unit Configuration
Advanced Configuration
Users who wish to access some of the more advanced features of NAV-VIEW and the
DMUX80ZA Series products can do so by selecting the “Advanced” tab at the top of the “Unit
Configuration” window.
WARNING
Users are strongly encouraged to read and thoroughly understand the consequences of altering the
settings in the “Advanced” tab before making changes to the unit configuration. These settings
are discussed in detail in Chapter 4 below.
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Behavior switches are identified at the top of the page with marked boxes. A blue box will appear
if a switch has been enabled similar to Figure 25 below. The values can be set in the same manner
as noted in the previous section. To set a value, users select the appropriate “Modify” checkbox
on the left side of the menu and select or enable the appropriate value they wish to set. At the
bottom of the page, users have the option of temporarily or permanently setting values. When all
selections have been finalized, simply press the “Set Values” button to change the selected
settings.
Figure 25 Advanced Settings
Bit Configuration
The third and final tab of the unit configuration window is “Bit Configuration” (See Figure 26).
This tab allows the users to alter the logic of individual status flags that affect the masterStatus
flag in the master BITstatus field (available in most output packets). By enabling individual status
flags users can determine which flags are logically OR’ed to generate the masterStatus flag. This
gives the user the flexibility to listen to certain indications that affect their specific application.
The masterFail and all error flags are not configurable. These flags represent serious errors and
should never be ignored.
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Figure 26 BIT Configuration
Mag Alignment Procedure
 IMPORTANT
The following section only applies to DMUX80ZA Series products with magnetometers (AHRS
and INSX80ZA). If your particular model does not utilize magnetometers for heading or
performance you can disregard the following section.
Hard Iron/Soft Iron Overview

The AHRS and INSX80ZA products use magnetic sensors to compute heading. Ideally, the
magnetic sensors would be measuring only earth's magnetic field to compute the heading angle.
In the real world, however, residual magnetism in your system adds to the total magnetic field
measured. This residual magnetism (called hard iron and soft iron) will create errors in the
heading measurement if it is not accounted for. In addition, magnetic material can change the
direction of the magnetic field as a function of the input magnetic field. This dependence of the
local magnetic field on input direction is called the soft iron effect.
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The AHRS and INSX80ZA products can actually measure the constant magnetic field that is
associated with your system and correct for it. The AHRS and INSX80ZA products can also
make a correction for some soft iron effects. The process of measuring these non-ideal effects and
correcting for them is called the “Mag Alignment Procedure”. Performing a “Mag Alignment
Procedure” will help correct for magnetic fields that are fixed with respect to the DMUX80ZA
Series product. It cannot correct for time varying fields, or fields created by ferrous material that
moves with respect to the DMUX80ZA Series product.
The AHRS and INSX80ZA products account for the extra magnetic field by making a series of
measurements, and using these measurements to model the hard iron and soft iron environment in
your system using a two-dimensional algorithm. The AHRS and INSX80ZA products will
calculate the hard iron magnetic fields and soft iron corrections and store these as calibration
constants in the EEPROM.
The “Mag Alignment Procedure” should always be performed with the AHRS or INSX80ZA
product installed in the user system. If you perform the calibration process with the DMUX80ZA
Series product by itself, you will not be correcting for the magnetism in the user system. If you
then install the DMUX80ZA Series product in the system (i.e. a vehicle), and the vehicle is
magnetic, you will still see errors arising from the magnetism of the vehicle.
Mag Alignment Procedure Using NAV-VIEW

The Mag Alignment Procedure using NAV-VIEW can be performed using the following steps
below:
1. Select “Mag Alignment” from the “Configuration” drop down menu at the top.
2. If you can complete your 360 degree turn within 120 seconds, select the “Auto-
Terminate” box.
3. Select the “Start” button to begin the “MagAlign” Procedure and follow the
instructions at the bottom of the screen as shown in Figure 27 below.
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Figure 27 Mag Alignment
4. Rotate the AHRS or INSX80ZA product through X80 degrees of rotation or until you
receive a message to stop.
5. Once you have completed your rotation, you will be given data concerning the
calibration accuracy. The X and Y offset values indicate how far the magnetic field
has been offset due to hard iron affects from components surrounding the unit. In
addition, you will see a soft iron ratio indicating the effect of soft iron on the AHRS
of INSX80ZA product.
6. Save this data to the AHRS or INSX80ZA product by selecting the “Apply” button
(See Figure 28).
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Figure 28 Magnetometer Alignment
7. Upon completion of the “Mag Alignment Procedure”, the heading accuracy should
be verified with all third party systems active using a known reference such as a
compass rose, GPS track or a calibrated compass. Heading inaccuracies greater than
the values specified on the data sheet or fluctuating heading performance may be an
indication of magnetic field disturbances near the unit.
 IMPORTANT
An acceptable calibration will provide X and Y Hard Iron Offset Values of < 2.5 and a Soft Iron
Ratio >0.95. If this procedure generates any values larger than stated above, the system will assert
the softwareErrordataErrormagAlignOutOfBounds error flag. See section 9 for details on
error flag handling. Note that the current release of the software does not have this functionality.
Future releases of software will restore this functionality. The magnetometer ranges is +/- 4
gauss, thus 2.5 gauss is the recommended maximum hardiron that should be tolerated for the
installation and still provide ample resolution and headroom to properly determine the earth’s
magnetic field (strength < 0.5 gauss). If the hard iron estimates are larger than 2.5 gauss, then a
different installation location should be investigated. The hard iron and softiron data, while used
internally to achieve a heading reference, do not get applied to the magnetometer data output in
message A1 (see Section 7.4.3 and Section 8.3).
Read Unit Configuration

NAV-VIEW allows users to view the current settings and calibration data for a given
DMUX80ZA Series unit by accessing the “Read Configuration” selection from the
“Configuration” drop down menu (See Figure 29). From this dialog, users can print a copy of the
unit’s current configuration and calibration values with the click of a button. Simply select the
“Read” button at the top of the dialog box and upon completion select the “Print” or “Print
Preview” buttons to print a copy to your local network printer. This information can be helpful
when storing hard copies of unit configuration, replicating the original data sheet and for
troubleshooting if you need to contact ACEINNA’s Support Staff.
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Figure 29 Read Configuration
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Appendix B: NMEA Message Format
The GPS receiver outputs data in NMEA-0183 format at 9600 Baud, 8 bits, no parity bit, and 1
stop bit. The GGA and RMC message packet formats are explained in this section.
GGA - GPS fix data

Time and position, together with GPS fixing related data (number of satellites in use, and the
resulting HDOP, age of differential data if in use, etc.).
$GPGGA,hhmmss.ss,Latitude,N,Longitude,E,FS,NoSV,HDOP,msl,m,Altref
,m,DiffAge,DiffStation*cs<CR><LF>
ASCII String
Name Description
Format Example
Message ID:
$GPGGA string $GPGGA
GGA protocol header
hhmmss.ss hhmmss.sss 092725.00 UTC Time: Current time
Latitude dddmm.mmmm 4717.11399 Latitude: Degrees + minutes
N/S Indicator:
N character N
N=north or S=south
Longitude:
Longitude dddmm.mmmm 00833.91590
Degrees + minutes
E/W indicator:
E character E
E=east or W=west
Position Fix Indicator

FS 1 digit 1
(See Table below)
Satellites Used:
NoSV numeric 8
Range 0 to 12
HDOP numeric 1.01 HDOP: Horizontal Dilution of Precision
msl numeric 499.6 MSL Altitude (m)
m character M Units: Meters (fixed field)
Altref blank 48.0 Geoid Separation (m)
m blank M Units: Meters (fixed field)
Age of Differential Corrections (sec):

DiffAge numeric
Blank (Null) fields when DGPS is not used
DiffStation numeric 0 Diff. Reference Station ID
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cs hexadecimal *5B Checksum
<CR> <LF> End of message
Fix Status Description
0 No fix / Invalid
1 Standard GPS (2D/3D)
2 Differential GPS
6 Estimated (DR) Fix
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Appendix C: Sample Packet-Parser Code
Overview
This appendix includes sample code written in ANSI C for parsing packets from data sent by the
DMUX80ZA Series Inertial Systems. This code can be used by a user application reading data
directly from the DMUX80ZA Series product, or perhaps from a log file.
The sample code contains the actual parser, but also several support functions for CRC
calculation and circular queue access.:
 process_xbow_packet – for parsing out packets from a queue. Returns these fields in
structure XBOW_PACKET (see below). Checks for CRC errors
 calcCRC – for calculating CRC on packets.
 Initialize - initialize the queue
 AddQueue - add item in front of queue
 DeleteQueue - return an item from the queue
 peekWord - for retrieving 2-bytes from the queue, without popping
 peekByte – for retrieving a byte from the queue without popping
 Pop - discard item(s) from queue
 Size – returns number of items in queue
 Empty – return 1 if queue is empty, 0 if not
 Full - return 1 if full, 0 if not full
The parser will parse the queue looking for packets. Once a packet is found and the CRC checks
out, the packet’s fields are placed in the XBOW_PACKET structure. The parser will then return
to the caller. When no packets are found the parser will simply return to the caller with return
value 0.
The XBOW_PACKET stucture is defined as follows:
typedef struct xbow_packet
{
unsigned short packet_type;
char length;
unsigned short crc;
char data[256];
} XBOW_PACKET;
Typically, the parser would be called within a loop in a separate process, or in some time
triggered environment, reading the queue looking for packets. A separate process might add data
to this queue when it arrives. It is up to the user to ensure circular-queue integrity by using some
sort of mutual exclusion mechanism withing the queue access funtions.
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Code listing
#include <stdio.h>
/* buffer size */
#define MAXQUEUE 500
/*
* circular queue
*/
typedef struct queue_tag
{
int count;
int front;
int rear;
char entry[MAXQUEUE];
} QUEUE_TYPE;
/*
* ACEINNA packet
*/
typedef struct xbow_packet
{
unsigned short packet_type;
char length;
unsigned short crc;
char data[256];
} XBOW_PACKET;
QUEUE_TYPE circ_buf;
/*******************************************************************************
* FUNCTION: process_xbow_packet looks for packets in a queue
* ARGUMENTS: queue_ptr: is pointer to queue to process
* result: will contain the parsed info when return value is 1
* RETURNS: 0 when failed.
* 1 when successful
*******************************************************************************/
int process_xbow_packet(QUEUE_TYPE *queue_ptr, XBOW_PACKET *result)
{
unsigned short myCRC = 0, packetCRC = 0, packet_type = 0, numToPop=0, counter=0;
char packet[100], tempchar, dataLength;
if(Empty(queue_ptr))
{
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return 0; /* empty buffer */
}
/* find header */
for(numToPop=0; numToPop+1<Size(queue_ptr) ;numToPop+=1)
{
if(0x5555==peekWord(queue_ptr, numToPop)) break;
}
Pop(queue_ptr, numToPop);
if(Size(queue_ptr) <= 0)
{
/* header was not found */
return 0;
}
/* make sure we can read through minimum length packet */

if(Size(queue_ptr)<7)
{
return 0;
}
/* get data length (5th byte of packet) */

dataLength = peekByte(queue_ptr, 4);
/* make sure we can read through entire packet */

if(Size(queue_ptr) < 7+dataLength)
{
return 0;
}
/* check CRC */
myCRC = calcCRC(queue_ptr, 2,dataLength+3);
packetCRC = peekWord(queue_ptr, dataLength+5);
if(myCRC != packetCRC)
{
/* bad CRC on packet – remove the bad packet from the queue and return */
Pop(queue_ptr, dataLength+7);
return 0;
Doc# 7430-3810 Rev. 04 Page 108

________________________________________________________________________
}
/* fill out result of parsing in structure */

result->packet_type = peekWord(queue_ptr, 2);
result->length = peekByte(queue_ptr, 4);
result->crc = packetCRC;
for(counter=0; counter < result->length; counter++)
{
result->data[counter] = peekByte(queue_ptr, 5+counter);
}
Pop(queue_ptr, dataLength+7);
return 1;
}
/*******************************************************************************
* FUNCTION: calcCRC calculates a 2-byte CRC on serial data using
* CRC-CCITT 16-bit standard maintained by the ITU
* (International Telecommunications Union).
* ARGUMENTS: queue_ptr is pointer to queue holding area to be CRCed
* startIndex is offset into buffer where to begin CRC calculation
* num is offset into buffer where to stop CRC calculation
* RETURNS: 2-byte CRC
*******************************************************************************/
unsigned short calcCRC(QUEUE_TYPE *queue_ptr, unsigned int startIndex, unsigned int num)
{
unsigned int i=0, j=0;
unsigned short crc=0x1D0F; //non-augmented inital value equivalent to augmented
initial value 0xFFFF
for (i=0; i<num; i+=1) {

crc ^= peekByte(queue_ptr, startIndex+i) << 8;
for(j=0;j<8;j+=1) {
if(crc & 0x8000) crc = (crc << 1) ^ 0x1021;
else crc = crc << 1;
}
}
return crc;
}
/*******************************************************************************
Doc# 7430-3810 Rev.04 Page 109

________________________________________________________________________
* FUNCTION: Initialize - initialize the queue
* ARGUMENTS: queue_ptr is pointer to the queue
*******************************************************************************/
void Initialize(QUEUE_TYPE *queue_ptr)
{
queue_ptr->count = 0;
queue_ptr->front = 0;
queue_ptr->rear = -1;
}
/*******************************************************************************
* FUNCTION: AddQueue - add item in front of queue
* ARGUMENTS: item holds item to be added to queue
* queue_ptr is pointer to the queue
* RETURNS: returns 0 if queue is full. 1 if successful
*******************************************************************************/
int AddQueue(char item, QUEUE_TYPE *queue_ptr)
{
int retval = 0;
if(queue_ptr->count >= MAXQUEUE)
{
retval = 0; /* queue is full */
}
else
{
queue_ptr->count++;
queue_ptr->rear = (queue_ptr->rear + 1) % MAXQUEUE;
queue_ptr->entry[queue_ptr->rear] = item;
retval = 1;
}
return retval;
}
/*******************************************************************************
* FUNCTION: DeleteQeue - return an item from the queue
* ARGUMENTS: item will hold item popped from queue
* queue_ptr is pointer to the queue
* RETURNS: returns 0 if queue is empty. 1 if successful
*******************************************************************************/
int DeleteQueue(char *item, QUEUE_TYPE *queue_ptr)
{
int retval = 0;
Doc# 7430-3810 Rev. 04 Page 110

________________________________________________________________________
if(queue_ptr->count <= 0)
{
retval = 0; /* queue is empty */
}
else
{
queue_ptr -> count--;
*item = queue_ptr->entry[queue_ptr->front];
queue_ptr->front = (queue_ptr->front+1) % MAXQUEUE;
retval=1;
}
return retval;
}
/*******************************************************************************
* FUNCTION: peekByte returns 1 byte from buffer without popping
* ARGUMENTS: queue_ptr is pointer to the queue to return byte from
* index is offset into buffer to which byte to return
* RETURNS: 1 byte
* REMARKS: does not do boundary checking. please do this first
*******************************************************************************/
char peekByte(QUEUE_TYPE *queue_ptr, unsigned int index) {
char byte;
int firstIndex;
firstIndex = (queue_ptr->front + index) % MAXQUEUE;
byte = queue_ptr->entry[firstIndex];
return byte;
}
/*******************************************************************************
* FUNCTION: peekWord returns 2-byte word from buffer without popping
* ARGUMENTS: queue_ptr is pointer to the queue to return word from
* index is offset into buffer to which word to return
* RETURNS: 2-byte word
* REMARKS: does not do boundary checking. please do this first
*******************************************************************************/
unsigned short peekWord(QUEUE_TYPE *queue_ptr, unsigned int index) {
unsigned short word, firstIndex, secondIndex;
Doc# 7430-3810 Rev.04 Page 111

________________________________________________________________________
firstIndex = (queue_ptr->front + index) % MAXQUEUE;
secondIndex = (queue_ptr->front + index + 1) % MAXQUEUE;
word = (queue_ptr->entry[firstIndex] << 8) & 0xFF00;

word |= (0x00FF & queue_ptr->entry[secondIndex]);
return word;
}
/*******************************************************************************
* FUNCTION: Pop - discard item(s) from queue
* numToPop is number of items to discard
* RETURNS: return the number of items discarded
*******************************************************************************/
int Pop(QUEUE_TYPE *queue_ptr, int numToPop)
{
int i=0;
char tempchar;
for(i=0; i<numToPop; i++)
{
if(!DeleteQueue(&tempchar, queue_ptr))
{
break;
}
}
return i;
}
/*******************************************************************************
* FUNCTION: Size
* RETURNS: return the number of items in the queue
*******************************************************************************/
int Size(QUEUE_TYPE *queue_ptr)
{
return queue_ptr->count;
}
/*******************************************************************************
* FUNCTION: Empty
* RETURNS: return 1 if empty, 0 if not
Doc# 7430-3810 Rev. 04 Page 112

________________________________________________________________________
*******************************************************************************/
int Empty(QUEUE_TYPE *queue_ptr)
{
return queue_ptr->count <= 0;
}
/*******************************************************************************
* FUNCTION: Full
* RETURNS: return 1 if full, 0 if not full
*******************************************************************************/
int Full(QUEUE_TYPE *queue_ptr)
{
return queue_ptr->count >= MAXQUEUE;
}
Doc# 7430-3810 Rev.04 Page 113

________________________________________________________________________
Appendix D: Sample Packet Decoding
Figure 30 Example payload from Angle Data Packet 2 (A2)
Doc# 7430-3810 Rev. 04 Page 114

________________________________________________________________________
Figure 31 Example payload from Scaled Data Packet 1 (S1)
Doc# 7430-3810 Rev.04 Page 115

________________________________________________________________________
FFDF
Figure 32 Example payload from Nav Data Packet 1 (N1)
Doc# 7430-3810 Rev. 04 Page 116

________________________________________________________________________
Website: www.aceinna.com
Email: [email protected]
Doc# 7430-3810 Rev.04 Page 117

7430-3810-04 - B User Manual, DMUX80ZA

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DMU280ZA, DMU380ZA, and

DMU480ZA SERIES USER MANUAL

Date Document Firmware Description Author

Rev. 3 v14.6.0 Baseline release of J.S. Motyka

May 23, Rev. 4 v18.3.0 Contains changes to the J.S. Motyka

Doc# 7430-3810 Rev. 04

Water Vehicle ..................................................................................................... 31

7.1.2 Ping Response ............................................................................................. 60

Doc# 7430-3810 Rev. 04

Read Fields Response ..................................................................................... 79

Setting up NAV-VIEW ................................................................................................. 93

Doc# 7430-3810 Rev. 04

About this Manual

The following paragraph heading formatting is used in this manual:

Table 1 Manual Content

Manual Section Who Should Read?

Section 1: All customers should read sections 1.1 and 1.2.

Section 3: All customers should read Section 3.

Doc# 7430-3810 Rev.04 Page 1

Table 2 DMUX80ZA Series Feature Description

The DMUX80ZA Series is ACEINNA’s fourth generation of MEMS-based Inertial Systems,

Doc# 7430-3810 Rev. 04 Page 2

Doc# 7430-3810 Rev.04 Page 3

2.1.1 Connector and Mating Connector

Figure 1 DMUX80ZA Interface Connector

The connector pin definitions are defined in Table 3.

Table 3 DMUX80ZA Interface Connector Pin Definition

Doc# 7430-3810 Rev. 04 Page 4

2.1.2 Power Input and Power Input Ground

2.1.3 Serial Data Interface

2.1.4 External GPS Aiding (VGX80ZA, AHRSX80ZA and INSX80ZA)

Doc# 7430-3810 Rev.04 Page 5

Table 4 External GPS Receiver for VG/AHRS/INSX80ZA

2.1.4.1 1 PPS Input Interface

2.1.4.2 SPI Com Synchronization Input

2.1.4.3 External GPS Receiver Antenna Connection

2.1.5 Reserved – Factory Use Only

Doc# 7430-3810 Rev. 04 Page 6

Figure 2 DMUX80ZA Outline Drawing

Doc# 7430-3810 Rev.04 Page 7

Doc# 7430-3810 Rev. 04 Page 8

System Digital Outputs and Inputs

+ X / Y / Z Magnetic Fields (INS/AHRS only)

Kalman Filter UART2 External GPS Input

Figure 3 DMUX80ZA Series Hardware Block Diagram

Doc# 7430-3810 Rev.04 Page 9

Measurement IMU - Scaled Packets VG/AHRS – Angle

6-DOF Sensor Cluster

Unit Settings & Profile* Extended Kalman Filter (EKF)

X/Y/Z Gravity Reference

Figure 4 DMUX80ZA Series Software Block Diagram

Doc# 7430-3810 Rev. 04 Page 10

DMUX80ZA Series Default Coordinate System

Figure 6 IMU380ZA-200 Default Coordinate Frame

Doc# 7430-3810 Rev.04 Page 11

3.1.1 Advanced Settings

Doc# 7430-3810 Rev. 04 Page 12

IMUX80ZA Theory of Operation

3.2.1 IMUX80ZA Advanced Settings