Low Cost MEMS North Seeker for Heading Machine

ER-MNS-06AD Low Cost MEMS North Seeker for Heading Machine

Introduction

ER-MNS-06AD is an ultra-low-cost MEMS north seeker mainly used for tunnel boring machines. It adopts the latest MEMS gyro technology and is a precision measurement and orientation device that breaks through the traditional volume advantage. It has the characteristics of small size, light weight, and low power consumption.

The compact size and lightweight structure greatly reduce the requirements for installation space and can be seamlessly embedded in narrow space scenes. It is mainly used in mining engineering, underground tunneling, construction and other fields. It can be integrated in engineering machinery such as tunnel boring machines and mining equipment, as well as various fields that require orientation.

Different from traditional magnetic compasses, the north finder is completely unaffected by the geomagnetic field. It adopts three-axis MEMS gyroscope and three-axis MEMS accelerometer strapdown inertial measurement technology. It does not require external reference signals to solve the carrier attitude and north azimuth. It can still maintain stable output in strong magnetic environments, high-latitude geomagnetic anomaly areas or electromagnetic pulse environments.

Technical Features

1. Adopt the latest MEMS gyro technology, the volume is extremely reduced, the size is only 38.6×44.8×25.5mm, easy to integrate;
2. Adopt the latest three-axis MEMS gyro, three-axis MEMS accelerometer strapdown inertial measurement technology;
3. With self-seeking function;
4. Not affected by magnetic field;
5. Light weight, low power consumption;
6. 5°C to 55°C temperature compensation;

Applications

Direction of advanced mining/drilling equipment

Excavation operations in underground tunnels of coal mines, metal mines, etc., suitable for large equipment such as cantilever tunneling machines and continuous coal miners

Orientation and attitude measurement of transportation equipment such as mining AGV in underground tunnels

Precision platform attitude measurement and control

Bridge, high-rise building, high tower, dam monitoring

Specifications

Model No.	ER-MNS-06AD
Azimuth accuracy (1σ,°secψ)	1
Attitude accuracy(1σ,°)	≤0.3
Azimuth accuracy retaining accuracy	20min
Attitude accuracy retaining accuracy	20min
Azimuth measurement range(°)	0~360
Inclination angle measurement range(°)	-85~85
North seeking time	180s
North seeking method	stationary
Update Rate (Hz)	100
Power and environment
Operating temperature (℃)	5~+55
Storage temperature (℃)	0~+65
Power supply (V)	6~12V
Power (W)	2
Communication interface	RS-422
Physical characteristics
Size (mm×mm×mm)	38.6×44.8×25.5
Weight (g)	≤70g

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.

Double 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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Application Techniques

1.Applicable to coal mines, tunnels, and exploration! North seeker's strength revealed

2.How important is the North Seeker in the field of oil、mining and drilling?

3.OEM customization, easy integration! The North Seeker helps operations in multiple fields to be more accurate and efficient!

4.Efficient mining, north seeker assists mining drilling operations

5.Accurate orientation, easy to deal with! North seeker helps work more efficiently

6.Not restricted by the environment, MEMS north finders help various fields achieve high-precision orientation

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