ER-MNS-09 MEMS Directional Module For Mining Well-Trajectory Measurement Device

ER-MNS-09 MEMS Directional Module For Mining Well-Trajectory Measurement Device

Introduction
The ER-MNS-09 is a MEMS gyroscopic directional module for well trajectory measurement device with a special-shaped cylindrical design. It uses high-precision MEMS gyroscope that can find the north by itself. It determines the geographic true north direction by measuring the earth's rotation component. It does not rely on the geomagnetic field and can work stably in underground mines, metal pipelines or strong electromagnetic environments

It can realize azimuth measurement, real-time output of carrier attitude reference value and attitude holding function. It has strong anti-impact and vibration ability, small size, light weight and low power consumption, and is the most ideal equipment in the fields of mining, geophysical exploration, directional drilling, etc.

Features

1. Revolutionary miniaturization (ø30mm/ø25.4mm/ø18.6mm) allows seamless integration into narrow probe spaces;
2. Adopt the latest three-axis MEMS gyro, three-axis MEMSaccelerometer strapdown inertial measurement technology;
3. Full solid-state design, built-in inner platform, excellent impact and vibration resistance, and resistant to harsh environments;
4. 4. With self-seeking north function, not affected by magnetic field;

Applications
1.Orientation and attitude measurement of advanced mining/drilling equipment;
2.Direction and trajectory control of non-excavation underground hidden engineering pipeline tracking and mapping;
3.Pipeline laying through and across operations in HDD;
4.Provide reference direction for total station and pointing instrument in tunnel construction;
5.Find north positioning in land surveying/land mobile mapping system.

Figure 1. ER-MNS-09 coordinate axis definition (front view)

Specifications

Model	ER-MNS-09A	ER-MNS-09B		ER-MNS-09HA			ER-MNS-09HB
Azimuth accuracy(1σ, °secψ)	1		0.5	1		0.5
Attitude accuracy(1σ, °)	≤0.2
Azimuth accuracy retaining time	20min
Attitude accuracy retaining time	20min
Azimuth measurement range(°)	0~360
Inclination measurement range(°)	-85~85
North-seeking time	5min
North-seeking method	stationary
Update rate (Hz)	100
Power supply and working environment
Operating temperature(℃)	5~+55				5~+125
Storage temperature(℃)	0~+65				0~+130
Wide voltage (V)	6~12V
Power(W)	3
Communication interface	RS-422
Appearance characteristics
Size (mm×mm)	Option A:  Φ30mm x 120mm Option B:  Φ25.4mm x 120mm Option C:  Φ18.6mm x 120mm
Weight(g)	≤150g

Wiring Definition

Connect Type	Pin	Definition
J30J-15ZKP	1	6~12V
	3	GND
	6	Tx+
	7	Tx-
	8	Rx+
	9	Rx-

Dimension 

Data protocols

Upper computer receiving protocol

The data update rate is 100Hz, the baud rate is 230400bps, and each frame contains 61 bytes of data, each byte contains 1 start bit (0), 8 data bits, 1 stop bit (1), and no parity. The specific data format is shown in the table below:

Table 1 Receive data frame format

Bytes (60 bytes total)	Data content	supplementary note
1~4	header	EB8055AA
5~8	X Gyro Data	Low then high, dimensionless digital FLOAT
9~12	Y gyro data	Low then high, dimensionless digital FLOAT
13~16	Z Gyro Data	Low then high, dimensionless digital FLOAT
17~20	X ACCL data	Low then high, dimensionless digital FLOAT
21~24	Y ACCL data	Low then high, dimensionless digital FLOAT
25~28	Z ACCL data	Low then high, dimensionless digital FLOAT
29~32	Lon	Low then high, 0.000001°.
33~36	Lat	Low then high, 0.000001°.
37~40	Alt	First low, then high, 0.000001m
41~44	register	Low then high, 10ms
45~46	PIT	Low then high, 0.01°
47~48	ROL	Low then high, 0.01°
49~50	YAW	Low then high, 0.01°
51~52	V_n	First low then high, 0.01m/s
53~54	V_u	First low then high, 0.01m/s
55~56	V_e	First low then high, 0.01m/s
57	state of affairs	0xA1 alignment, 0xB1 hold
58	end of frame	0x00
59	end of frame	0xFF
60	end of frame	0x34
61	matching test	EB 80 and the sum of all bytes other than itself

Host computer sending protocol

Total number of bytes sent down in a single transmission: 21 bytes, baud rate 230400bps, no parity, each byte includes: start bit (0), data bit (8 bits), stop bit (1).

1. priming

byte symbol	define	note
1	0xEB
2	0x80
3	0x00
4	0xCC
5-8	0x00
9-12	0x00
13-16	0x00
17-21	0x00

2. Send warp and woof height

byte symbol	define	note
1	0xEB
2	0x80
3	0x00
4	0xAA
5-8	Latitude
9-12	longitudes
13-16	Altitude
17	0xAA
18	0xBB
19	0xCC
20	0xDD
21	5~20 heterodyne calibration

Determine the definition of the data sent based on byte 4:

1. if control_flag==0xCC: restart work
2. if control_flag==0xAA: send latitude/longitude altitude

Send order: 5-8 bytes: latitude (*1e6 in °)

9-12 bytes: longitude (*1e6 in °)

13-16 bytes: altitude (*1 in m)

For example, the C code that sends the latitude/longitude instruction (the rest of the bytes are configured arbitrarily), Latitude is "latitude * 1e6", longitude is similar, and altitude scale is 1.

bytSend[0] = 0xeb;

bytSend[1] = 0x80;

bytSend[2] = 0x00;

bytSend[3] = 0xaa;

bytSend[4] = (Latitude>>24) & 0xff;

bytSend[5] = (Latitude>>16) & 0xff;

bytSend[6] = (Latitude>>8) & 0xff;

bytSend[7] = (Latitude) & 0xff.

bytSend[8] = (Longitude>>24) & 0xff;

bytSend[9] = (Longitude>>16) & 0xff;

bytSend[10] = (Longitude>>8) & 0xff;

bytSend[11] = (Longitude) & 0xff.

bytSend[12] = (altitude>>24) & 0xff;

bytSend[13] = (altitude>>16) & 0xff;

bytSend[14] = (altitude>>8) & 0xff;

bytSend[15] = (altitude) & 0xff;

bytSend[16] = 0xaa;

bytSend[17] = 0xbb;

bytSend[18] = 0xcc;

bytSend[19] = 0xdd;

bytSend[20] = b[4]^b[5]^... .b[19];

Introduction to the software

Click the COMCFG button to set the serial port, baud rate and frequency. The baud rate is 230400 and the frequency CAL is 100HZ.

Click Open to start the test.

Click Initial Align to start the north search, the search time is 300s.The result is displayed at PIT;YAW;ROL.

If you want to change the latitude and longitude, please change them at Lon0 and Lat0, then click Load, and then click Initial Align to re-navigate.

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