MicroStrain 3DM-CV7 Noise Vibration and Harshness Division Owner’s Manual

MicroStrain 3DM-CV7 Noise Vibration and Harshness Division

Specifications

• System Performance
  • Attitude and Heading (-AR, -AHRS): Roll, Pitch (static), Roll, Pitch (dynamic), Heading (static, AHRS only), Heading (dynamic, AHRS only)
  • INS Accuracy: Position, Velocity, Roll, Pitch, Heading
  • External GNSS: TBD or External GNSS
  • IMU: Range, Random Walk, Bias Instability, Noise Density, Turn-on to Turn-on Bias, Bias Error Over Temperature, Scale Factor Error Over Temperature
  • Barometer: 260 to 1260 mbar
• Interface
  • Connector: Samtec FTS-105 (2×5)
  • Communications Interface: UART (TTL), USB
  • Output Data Rate (IMU and EKF): 1 to 1000 Hz
  • I/O: 4x GPIO
  • Protocols: MIP, NMEA
• Physical and Electrical
  • Weight: 8.3g
  • Size: 38 mm x 24 mm x 8.6 mm
  • Power Consumption: 230 mW (Typical), 280 mW (Max)
  • Operating Voltage: 3.2 to 5.2 VDC
  • GPIO Voltage: 3V (5V tolerant)
  • Operating Temperature: TBD
  • MTBF: 2,002,026 hours (Telecordia Method, GM/35C)
• Product Variants
  • Name: 3DM-CV7-INS, 3DM-CV7-AHRS, 3DM-CV7-ARPart Number: 6291-9960, 6286-9960, 6287-9960
  • Description: Inertial Navigation System, Attitude and Magnetometer-Aided Heading, Attitude and Relative Heading

Product Usage Instructions

Mounting Instructions:
Ensure the MicroStrain 3DM-CV7 Series is securely mounted in the desired orientation using appropriate mounting hardware.

Powering On:
Connect the MicroStrain 3DM-CV7 Series to a power source within the specified voltage range (3.2 to 5.2 VDC) to power on the device.

Data Communication:
Use the provided connectors to establish communication with the MicroStrain 3DM-CV7 Series via UART or USB interface.

Data Output:
Configure the output data rate based on your application requirements (1 to 1000 Hz) to receive accurate data from the device.

Frequently Asked Questions (FAQ)

• Q: What is the weight of the MicroStrain 3DM-CV7 Series?
  A: The weight of the device is 8.3g.

• Q: What is the power consumption of the MicroStrain 3DM-CV7 Series?
  A: The typical power consumption is 230mW, with a maximum of 280mW.

• Q: What are the available product variants of the MicroStrain 3DM-CV7 Series?
  A: The available variants are 3DM-CV7-INS (Inertial Navigation System), 3DM-CV7-AHRS (Attitude and Magnetometer-Aided Heading), and 3DM-CV7-AR (Attitude and Relative Heading).

MicroStrain 3DM-CV7 Series
Tactical Grade Embeddable INS, IMU/AHRS, and IMU/VRU

Standout Performance in an Embeddable Package:
The 3DM-CV7 offers tactical grade inertial performance in the smallest and lightest OEM package yet. Each 3DM-CV7 is individually calibrated and features an Adaptive Extended Kalman Filter for optimal performance over a wide range of operating conditions.
All models in the 3DM-CV7 series feature cutting-edge orientation algorithms, advanced internal time management, and a flexible event triggering system. The INS model adds external position, velocity, and heading inputs as well as NMEA compatibility. With an unparalleled array of advanced features, the 3DM-CV7 sets the benchmark for value and performance in its category.

Features:

https://prker.co/3n6k744

phone +1 802 862 6629 microstrainsales@parker.com www.parker.com/microstrain

MicroStrain 3DM-CV7 Series Specifications

System Performance

Attitude and Heading (-AR, -AHRS)

Roll, Pitch (static)| 0.25°
Roll, Pitch(dynamic) [1]| 0.5°
Heading (static, AHRS only) [2]| 0.5°
Heading (dynamic, AHRS only) [1,2]| 2°
INS Accuracy [4]

Position| External GNSS
Velocity| External GNSS
Roll, Pitch| TBD
Heading| TBD or External GNSS

IMU

| Accelerometer| Gyroscope| Magnetometer| Barometer
---|---|---|---|---
Range| ± 4g, 8g, 16g| ± 250 °/s, 500 °/s, 1000 °/s| ±8 Gauss| 260 to 1260 mbar
Random Walk| 30 µg/√Hz| 0.14 °/√h| –| –
Bias Instability| 18 µg| 1.5 °/h| –| –
Noise Density| 30 µg/√Hz| 8.5 °/h/√Hz| –| –
Turn-on to Turn-on Bias [3]| 40 µg| 0.004 °/s| –| –
Bias Error Over Temperature| 0.75 mg| 0.03 °/s| –| –
Scale Factor Error Over Temperature| 600 PPM| 1000 PPM| –| –

Interface

Physical and Electrical

Product Variants

1. Automotive conditions, vehicle dynamics dependent
2. Magnetic heading, with valid declination, magnetic environment, and hard/soft iron calibration
3. Bias repeatability, <24 hours
4. INS model only

MicroStrain 3DM-CV7 Series Allan Variance (AVAR)

MicroStrain 3DM-CV7 Series Key Features

• External Clock Synchronization
  Tighter synchronization with external sensors like LiDAR or cameras to improve state estimation

• Tactical Grade Gyro
  Improved position accuracy during dead reckoning

• Custom Event Trigger System
  Simplifies configuration of context-based events and frees up CPU on vehicle main board

• User-Adjustable Gyro & Accel Range
  Range flexibility enables improved noise performance

• Adjustable Sampling Rates
  Faster response to vehicle dynamics

• Low Latency
  Reduces navigation errors from clock drift when combining with external aiding sensors

• Calibrated Over Full Temperature Range
  Consistent and reliable performance over entire temperature range

Auto-Adaptive EKF

Adaptive Extended Kalman Filter (EKF)| More reliable than pre-configured vehicle dynamics model. Rejects the unexpected and auto-adapts its error model to dynamics in real-time
EKF for Orientation Estimation (-AR, -AHRS)

Adaptive EKF for Orientation| Reduces attitude error due to linear acceleration
IMU Bias Error Tracking| Improves performance over traditional complementary filters
Integrated Magnetometer| Allows for absolute heading tracking (-AHRS and -INS only)
EKF for Position, Velocity, Attitude Estimation (-INS)

External Position, Velocity, Heading Inputs| Improves position, velocity, attitude (PVA) estimate of standalone GNSS receiver
Industry-Standard NMEA Input Over AUX Port| Simplifies GNSS input by providing configurable AUX port on any of the 4 GPIO ports
Defense-Ready: Accepts Encrypted GNSS Receivers (SAASM or MCode)| Improves reliability of Position, Navigation, and Timing (PNT) solution during jamming and spoofing events
Filter Body Frame Constraints| Improves position accuracy for known dynamics
Vehicle Frame Velocity I/O| Allows users to input measurements in a non-global frame, enabling sensors like radar and vision as aiding sources (with preprocessing)

MicroStrain 3DM-CV7 Series Integration

• Designed for High Volume Production
  Aluminum mounting frame eliminates board stress, thermal shock, and alignment errors seen in surface mount devices for repeatable higher accuracy performance.

• Backward Compatibility
  MicroStrain Inertial Packet (MIP) protocol enables simple upgrades from other MicroStrain devices.

• Actively Maintained Software
  Engineers actively supporting software products ensures features are available, and can assist in integration with your application’s nav stack.

• Complimentary Support
  Support and Application Engineers provide product integration guidance to provide a smooth test and integration experience.

SensorConnect is PC software for sensor configuration and data collection. Configure inertial parameters, device settings, data channels, and sample rates.
Visualize massive amounts of data instantly using built-in intelligent data collection and graphing algorithms. Create immersive dashboards with rich data visualization.

MSCL™ API and MIP SDK
The MicroStrain Communication Library (MSCL) is our open-sourced API that simplifies writing code to interact with our sensors. MIP SDK is a lightweight C/C++ library for interacting with MicroStrain G and C-series products via bare-metal and resource constrained microcontrollers.
Both APIs are readily available and fully-documented on GitHub, featuring valuable tools such as full documentation, example code, and a quick start guide.

MicroStrain offers an open source, license-free (MIT License) series of actively supported drivers specifically designed and tested for ROS and ROS2.
Use ROS for building and simulating robotics applications, unmanned ground vehicles (UGVs) and simultaneous localization and mapping (SLAM).

©2023 Parker Hannifin Corporation | Document 8400-0141 Revision D | Subject to change without notice.

References

• MSCL
• ROS (Robot Operating System) Drivers | MicroStrain
• SensorConnect

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