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200 lines
10 KiB
Markdown
200 lines
10 KiB
Markdown
# MicroStrain (INS, IMU, VRU, AHRS)
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MicroStrain by HBK provides high-performance inertial sensors engineered for reliability and precision in challenging environments.
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Widely used across industries like aerospace, robotics, industrial automation, and research, MicroStrain sensors are optimized for real-time, accurate motion tracking and orientation data.
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The driver currently supports the following hardware:
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- [`MicroStrain CV7-AR`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/vertical-reference/3dm-cv7-ar): Inertial Measurement Unit (IMU) and Vertical Reference Unit (VRU)
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- [`MicroStrain CV7-AHRS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/attitude-and-heading/3dm-cv7-ahrs): Inertial Measurement Unit (IMU) and Attitude Heading Reference System (AHRS)
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- [`MicroStrain CV7-INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS).
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- [`MicroStrain CV7-GNSS/INS`](https://www.hbkworld.com/en/products/transducers/inertial-sensors/navigation/3dm-cv7-gnss-ins): Inertial Measurement Unit (IMU) and Inertial Navigation System (INS) combined with dual multiband (GNSS) receivers.
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PX4 can use these sensors to provide raw IMU data for EKF2 or to replace EKF2 as an external INS.
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For more information, including user manuals and datasheets, please refer to the sensors product page.
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## 구매처
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MicroStrain sensors can be purchased through HBK's official [MicroStrain product page](https://www.hbkworld.com/en/products/transducers/inertial-sensors) or through authorized distributors globally.
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For large orders, custom requirements, or technical inquiries, reach out directly to [sales](https://www.hbkworld.com/en/contact-us)
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## 하드웨어 설정
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### 배선
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Connect the main UART port of the MicroStrain sensor to any unused serial port on the flight controller.
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This port needs to be specified while starting the device.
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### 장착
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The MicroStrain sensor can be mounted in any orientation.
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The default coordinate system uses X for the front, Y for the right, and Z for down, with directions marked on the device.
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## 펌웨어 설정
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### PX4 설정
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To use the MicroStrain driver:
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1. Include the module in firmware in the [kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) by setting the kconfig variables: `CONFIG_DRIVERS_INS_MICROSTRAIN` or `CONFIG_COMMON_INS`.
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2. Configure the driver mode by setting [MS_MODE](../advanced_config/parameter_reference.md#MS_MODE)
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- To use the MicroStrain sensor to provide raw IMU data to EKF2
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1. Set [MS_MODE](../advanced_config/parameter_reference.md#MS_MODE) to 0
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2. Update the [EKF2_MULTI_IMU](../advanced_config/parameter_reference.md#EKF2_MULTI_IMU) parameter to account for the added MicroStrain sensor.
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3. Enable EKF2 by setting [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN) to 1
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4. To prioritize MicroStrain sensor output, adjust the priority level of individual sensors from 0-100 using the following parameters:
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- [CAL_ACCn_PRIO](../advanced_config/parameter_reference.md#CAL_ACC0_PRIO)
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- [CAL_GYROn_PRIO](../advanced_config/parameter_reference.md#CAL_GYRO0_PRIO)
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- [CAL_MAGn_PRIO](../advanced_config/parameter_reference.md#CAL_MAG0_PRIO)
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- [CAL_BAROn_PRIO](../advanced_config/parameter_reference.md#CAL_BARO0_PRIO)
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where `n` corresponds to the index of the corresponding sensor.
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::: tip
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Sensors can be identified by their device id, which can be found by checking the parameters:
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- [CAL_ACCn_ID](../advanced_config/parameter_reference.md#CAL_ACC0_ID)
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- [CAL_GYROn_ID](../advanced_config/parameter_reference.md#CAL_GYRO0_ID)
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- [CAL_MAGn_ID](../advanced_config/parameter_reference.md#CAL_MAG0_ID)
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- [CAL_BAROn_ID](../advanced_config/parameter_reference.md#CAL_BARO0_ID)
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:::
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- To use the MicroStrain sensor as an external INS
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1. Set [MS_MODE](../advanced_config/parameter_reference.md#MS_MODE) to 1
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2. Disable EKF2 by setting [EKF2_EN](../advanced_config/parameter_reference.md#EKF2_EN) to 0
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3. Reboot and start the driver
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- `microstrain start -d <port>`
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- To start the driver automatically when the flight controller powers on, set [SENS_MS_CFG](../advanced_config/parameter_reference.md#SENS_MS_CFG) to the sensor’s connected port.
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## MicroStrain Configuration
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1. Rates:
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- By default, accel and gyro data are published at 500 Hz, magnetometer at 50 Hz, and barometric pressure at 50 Hz.
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This can be changed by adjusting the following parameters:
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- [MS_IMU_RATE_HZ](../advanced_config/parameter_reference.md#MS_IMU_RATE_HZ)
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- [MS_MAG_RATE_HZ](../advanced_config/parameter_reference.md#MS_MAG_RATE_HZ)
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- [MS_BARO_RATE_HZ](../advanced_config/parameter_reference.md#MS_BARO_RATE_HZ)
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- Global position, local position, attitude and odometry will be published at 250 Hz by default.
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This can be configured via:
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- [MS_FILT_RATE_HZ](../advanced_config/parameter_reference.md#MS_FILT_RATE_HZ)
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- For the CV7-GNSS/INS, the GNSS receiver 1 and 2 will publish data at 5Hz by default.
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This can be changed using:
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- [MS_GNSS_RATE_HZ](../advanced_config/parameter_reference.md#MS_GNSS_RATE_HZ)
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- The driver will automatically configure data outputs based on the specific sensor model and available data streams.
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- The driver is scheduled to run at twice the fastest configured data rate.
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2. Aiding measurements:
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- If supported, GNSS position and velocity aiding are always enabled.
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- Internal/external magnetometer and heading aiding, as well as optical flow aiding, are disabled by default. They can be enabled using the following parameters:
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- [MS_INT_MAG_EN](../advanced_config/parameter_reference.md#MS_INT_MAG_EN)
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- [MS_INT_HEAD_EN](../advanced_config/parameter_reference.md#MS_INT_HEAD_EN)
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- [MS_EXT_HEAD_EN](../advanced_config/parameter_reference.md#MS_EXT_HEAD_EN)
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- [MS_EXT_MAG_EN](../advanced_config/parameter_reference.md#MS_EXT_MAG_EN)
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- [MS_OPT_FLOW_EN](../advanced_config/parameter_reference.md#MS_OPT_FLOW_EN)
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- The aiding frames for external sources can be configured using the following parameters:
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- [MS_EHEAD_YAW](../advanced_config/parameter_reference.md#MS_EHEAD_YAW)
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- [MS_EMAG_ROLL](../advanced_config/parameter_reference.md#MS_EMAG_ROLL)
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- [MS_EMAG_PTCH](../advanced_config/parameter_reference.md#MS_EMAG_PTCH)
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- [MS_EMAG_YAW](../advanced_config/parameter_reference.md#MS_EMAG_YAW)
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- [MS_OFLW_OFF_X](../advanced_config/parameter_reference.md#MS_OFLW_OFF_X)
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- [MS_OFLW_OFF_Y](../advanced_config/parameter_reference.md#MS_OFLW_OFF_Y)
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- [MS_OFLW_OFF_Z](../advanced_config/parameter_reference.md#MS_OFLW_OFF_Z)
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- [SENS_FLOW_ROT](../advanced_config/parameter_reference.md#SENS_FLOW_ROT)
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- The uncertainty for optical flow and external magnetometer aiding must be specified using the following parameters:
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- [MS_EMAG_UNCERT](../advanced_config/parameter_reference.md#MS_EMAG_UNCERT)
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- [MS_OFLW_UNCERT](../advanced_config/parameter_reference.md#MS_OFLW_UNCERT)
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::: tip
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1. When optical flow aiding is enabled, the sensor uses the `vehicle_optical_flow_vel` output from the flight controller as a body-frame velocity aiding measurement.
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2. If the MicroStrain sensor does not support these aiding sources but they are enabled, sensor initialization will fail.
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:::
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3. Initial heading alignment:
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- Initial heading alignment is set to kinematic by default. This can be changed by adjusting
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- [MS_ALIGNMENT](../advanced_config/parameter_reference.md#MS_ALIGNMENT)
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4. GNSS Aiding Source Control (GNSS/INS only)
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- The Source of the GNSS aiding data can be configured using:
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- [MS_GNSS_AID_SRC](../advanced_config/parameter_reference.md#MS_GNSS_AID_SRC)
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5. Sensor to vehicle transform:
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- If the sensor is mounted in an orientation different from the vehicle frame. A sensor to vehicle transform can be enabled using
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- [MS_SVT_EN](../advanced_config/parameter_reference.md#MS_SVT_EN)
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- The transform is defined using the following parameters
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- [MS_SENSOR_ROLL](../advanced_config/parameter_reference.md#MS_SENSOR_ROLL)
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- [MS_SENSOR_PTCH](../advanced_config/parameter_reference.md#MS_SENSOR_PTCH)
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- [MS_SENSOR_YAW](../advanced_config/parameter_reference.md#MS_SENSOR_YAW)
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6. IMU ranges:
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- The accelerometer and gyroscope ranges on the device are configurable using:
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- [MS_ACCEL_RANGE](../advanced_config/parameter_reference.md#MS_ACCEL_RANGE)
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- [MS_GYRO_RANGE](../advanced_config/parameter_reference.md#MS_GYRO_RANGE)
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::: tip
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Available range settings depend on the specific [sensor](https://www.hbkworld.com/en/products/transducers/inertial-sensors) and can be found in the corresponding user manual.
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By default, the ranges are not changed.
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:::
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7. GNSS Lever arm offsets:
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- The lever arm offset for the external GNSS receiver can be configured using:
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- [MS_GNSS_OFF1_X](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_X)
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- [MS_GNSS_OFF1_Y](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_Y)
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- [MS_GNSS_OFF1_Z](../advanced_config/parameter_reference.md#MS_GNSS_OFF1_Z)
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- For dual-antenna configurations, the second GNSS receiver’s offset is configured using:
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- [MS_GNSS_OFF2_X](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_X)
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- [MS_GNSS_OFF2_Y](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_Y)
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- [MS_GNSS_OFF2_Z](../advanced_config/parameter_reference.md#MS_GNSS_OFF2_Z)
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## Published Data
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The MicroStrain driver continuously publishes sensor data to the following uORB topics:
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- [sensor_accel](../msg_docs/SensorAccel.md)
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- [sensor_gyro](../msg_docs/SensorGyro.md)
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- [sensor_mag](../msg_docs/SensorMag.md)
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- [sensor_baro](../msg_docs/SensorBaro.md)
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For GNSS/INS devices, GPS data is also published to:
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- [sensor_gps](../msg_docs/SensorGps.md)
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If used as an external INS replacing EKF2, it publishes:
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- [vehicle_global_position](../msg_docs/VehicleGlobalPosition.md)
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- [vehicle_local_position](../msg_docs/VehicleLocalPosition.md)
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- [vehicle_attitude](../msg_docs/VehicleAttitude.md)
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- [vehicle_odometry](../msg_docs/VehicleOdometry.md)
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otherwise the same data is published to the following topics
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- `external_ins_global_position`
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- `external_ins_attitude`
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- `external_ins_local_position`
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:::tip
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Published topics can be viewed using the `listener` command.
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:::
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