Security classification: Internal

User Manual

Product Name: Attitude and Azimuth Integrated Navigation System

Model: AAI-20
Version: V1.0

Table of Content
1. Scope ....................................................................................................................... 4
1.1 Marks ................................................................................................................ 4
1.2 System summary ............................................................................................... 4
1.4 Application ........................................................................................................ 5
1.5 System features ................................................................................................. 5
2. Product Configuration ............................................................................................. 6
3. Technical Specifications & Characteristics ............................................................ 7
3.1 Technical specification ...................................................................................... 7
3.2

Environmental Test ....................................................................................... 8

3.3

EMC ............................................................................................................. 9

4.1 Product Composition ...................................................................................... 10

4.2 System workflow ............................................................................................ 12
5.1 Connector definition ....................................................................................... 13
5.2

Inertial navigation output data protocol (PORTB) ..................................... 15

6.1 Installation....................................................................................................... 16
6.2 Data record ...................................................................................................... 18
7.1 Software Operation ......................................................................................... 19
7.2 Software Interface Introduction ...................................................................... 20
7.3 Altitude Heading Compass ............................................................................. 21
7.4 Moving Trajectory Display ............................................................................. 22
7.5 Time, Altitude, Velocity Display ..................................................................... 23
7.6 Main-station and Sub-main Satellite Distribution .......................................... 23
7.7 System Detailed Information Display............................................................. 24
7.7.1 GPFPD Information .............................................................................. 24
7.7.2 GTIMU Information ............................................................................. 25
7.8 Software Setup ................................................................................................ 26
7.8.1 Serial Port Setup ................................................................................... 26
7.8.2 Serial Port Transmission Rate Setup ..................................................... 26
7.8.3 Data Storage .......................................................................................... 27
7.8.4 Display Setup ........................................................................................ 27
7.8.5 Data Playback ....................................................................................... 28
7.9 System Setup ................................................................................................... 28
7.9.1 Baseline length ...................................................................................... 28

7.9.2 Satellite System ............................................................................................ 30

7.10 Port Setup ...................................................................................................... 31
7.10.1 Protocol 1 Port Setup ................................................................................. 32
7.10.2 Serial Port A, B Setup ................................................................................ 33
7.10.3 Pulse Port Setup ......................................................................................... 34
7.11 Software Operation Cautions ........................................................................ 34
8. Mechanical Drawing ................................................................................................ 35
9. Maintenance .......................................................................................................... 36
10.

Transportation & Storage ............................................................................... 37

10.1 Transportation ............................................................................................... 37
10.2 Storage .......................................................................................................... 37

CAUTIONS
! Copyright
This manual must not, in whole or part, be copied, photocopied, reproduced,
translated or transmitted to any electronic medium or machine readable form without
our companys written authorization.

! Product warranty
Warranty period: 1 year from ex-factory date
Warranty scope: exclude use wrongly, accident, incorrect installation, maintenance
and application.
Do not open the camera body for any reason. Disassembly of the camera (including
removal of the cover) can cause permanent damage and will void the warranty.

1. Scope
1.1 Marks
This manual is used for AAI-20 Attitude and Azimuth Integrated Navigation
System.
This manual specifies operation and maintenance of AAI-20 Attitude and
Azimuth Integrated Navigation System.
Version No. is V1.0.

1.2 System summary

Featured with independent of outside information, excellent concealment, strong
anti-interference, all weather operations, inertial navigation system is a complete
autonomic navigation system which could provide diverse navigation parameters.
However, its output error is accumulated along with time. Global position satellite
(GPS) has higher navigation accuracy, but it is easy to be interfered, suffered from
discontinuous output and incomplete output information etc. In order to integrate the
advantages of these two navigation methods and effectively improve product
performance, as well as strength products reliability, availability, environment
adaptability and dynamics, we utilizing multi-sensor data fusion technology to
combine satellite positioning, orientation and inertial measurement, and release new
attitude and position integration navigation system.
Employing high accuracy FOG, Q-flex accelerometers, dual-frequency GPS
position & orientation system, barometric altimeter and advanced integration
navigation and attitude measurement algorithm, the performance of AAI-20 has been
dramatically improved.
Combining built-in high accuracy IMU (inertial measurement unit) with satellite,

it could output high accuracy position, speed, attitude, angular speed and acceleration
information. While the satellite signal is completely covered, system would enter into
pure inertial mode. By use of high accuracy FOG, it could still keep good attitude
measurement accuracy in certain time. Integrated with barometric altimeter, it could
make correction and get higher accuracy height information.

1.4 Application

Aircraft flight control and navigation

Radar and weapon launcher

Ship-borne & vehicle-borne navigation system

Inertial stability control system

E-traffic measurement system

Industrial & agricultural measurement and application

1.5 System features

High accuracy, no accumulated error, short starting time;

Keep higher attitude heading accuracy while satellite signal suffered from
jamming;

Able to be used as RTK mobile station, location accuracy improved up to 2cm.

Able to make post-processing differentiation, output IMU raw data, satellite raw
data, compatible with IE software.

2. Product Configuration
No.

Item

Quantity

Attitude and Azimuth Integrated Navigation Gyro AAI-20

Data power connector

Dual-frequency measurement antenna

Demo Software

User manual

Safety packing case

Packing list

3. Technical Specifications & Characteristics

3.1 Technical specification
Range
Heading

0~360,

Pitch angle

90

Roll angle

180

Angular rate

300/s

Acceleration

10g

Positioning & orientation accuracy

Heading accuracy (GPS valid)

0.1(length of baseline 2m, 1)

Attitude (GPS valid)

0.05(1)

Position accuracy (GPS valid)

3m
(CEP)
,
(post-differentiation)

Velocity accuracy (GPS valid)

0.1m/s (rms), (1)

2cm+1ppm(CEP)

Preparation time
Start time

10s

Stable time

System working normally after GPS and

heading valid (specified time depends on
surrounding environment, open field
2min)

Power supply
Power supply

DC12~32V, 24V10% (rating)

Power consumption

25W

Reliability
MTBF

2000h

Continuous working time

12h

Physical parameters
System weight

3.6kg (excluding antenna and feeder

line)

Physical dimension

191mm166mm131.5mm (X, Y, Z)

3.2 Environmental Test

Environmental test including: high temperature, low temperature, damp-heat, shock,
vibration, test on car etc.
3.2.1 High operation temperature: 70
3.2.2 High storage temperature: 75
3.2.3 Low operation temperature: -40
3.2.4 Low storage temperature: -45
3.2.5 Damp-heat: <95+30
3.2.6 Vibration: broad-band random vibration
4.

Fig. 1 Vibration Test

3.2.7 Shock:
Type

half sine wave

Peak acceleration

15g

pulse width

11ms

shock times

6 times

Direction

Vertical

System condition

power-off

3.3 EMC
Refer to GJB151A and GJB152A, meet ZDB26-2010EMC requirement, running
of this equipment is compatible with extension equipments and all equipment
working normally.

4. Product Composition & System Workflow

4.1 Product Composition
AAI-20 Attitude and Azimuth Integrated Navigation System composition refer to
Fig.1, consists of gyro data acquisition unit, accelerometer data acquisition unit, IMU
compensation unit, integrated navigation calculation unit, GPS heading calculation
processing unit, protocol processing unit and barometric altimeter.
(1) Gyro data acquisition unit: acquisition 3-axis angular speed and internal
temperature information of high accuracy fiber optic gyro, and transmit to IMU
compensation unit.
(2) Accelerometer data acquisition unit: acquisition 3-axis linear acceleration and
internal temperature information of accelerometer, and transmit acquired data to
IMU compensation unit.
(3) IMU compensation unit: Used for error compensation of gyro data and
accelerometer output signal. And then transmit the compensated 3-axis angular
speed and 3-axis linear acceleration data to integrated navigation calculation unit.
(4) GPS heading calculation unit: receiving information from GPS main station and
sub-station, and figure out GPS heading.
(5) Integrated navigation calculation unit: Make integrated navigation calculation on
carriers 3-axis angular speed, 3-axis linear acceleration and GPS heading,
position, speed. Figure out carriers position, speed and attitude and transmit to
protocol conversion unit.
(6) Protocol conversion unit: Converting the information transmitted by integrated
navigation calculation unit to data protocol as per user requirement, and output
through data interface.

Fig.2 AAI-20 System Block Diagram

4.2 System workflow

AAI-20 Attitude and azimuth integrated navigation system workflow as below fig.2.
After system power-on and self-test successfully, it entering into initialization. When
initialization finished, respectively wait IMU data and raw data from two GPS
receiver. After IMU output normally and two GPS positioning finished, AAI-20 begin
entering into initial alignment, and then automatically enter into navigation mode.
Under navigation mode, AAI-20 refer to GPS heading, speed and position and using
self-sensitive 3-axis angular speed and 3-axis acceleration to real-time calculate
carrier navigation information and output navigation information through output
interface. When GPS suffered from jamming, system would enter into pure inertial
navigation mode.

Fig.3 System Workflow

5. Output Interface & Data Output Protocol

5.1 Connector definition
This product consists of 4pcs external connector. 1 pcs data input/output connector,
2pcs GPS antenna connector, 1 pcs power connector. Each connector function and
model refer to Table-1.
1) Power connector (JY27466T13E04PN)
Table-1 Power interface definition
Pin NO.

Definition

Function description

24V+

Power +

24V+

Power +

24V-

Power -

24V-

Power -

2) Data input & output connector interface (JY27466T15E35PN)

Table-2 Data output connector definition
Aviation socket Pin

Definition

Content

Remark

PORT A

232_TX

Protocol output 1

232_RX

GND

PORT B

422_TX+

422_TX-

422_RX+

422_RX-

PORT C

Protocol output 2

10

Extend external
interface
for product
422_TX-RS232_TX
update
422_RX+

11

422_RX-RS232_RX

12

GND

13

PORT D

422_TX+

422_TX+

14

422_TX-RS232_TX

15

422_RX+

16

422_RX-RS232_RX

17

422_TX+

18

GND

19

PORT E

CAN_H

20

CAN_L

21

GND

22

PPS_Y

23

PPS_Z

24

GND

25

PORT F (USB)

5V_USB

26

D-

27

D+

28

GND

29

PORT G

Extend external
interface

Protocol output

1PPS output

Storage interface

LCJ_1

30

LCJ_2

31

LCJ_3

32

LCJ_4

33

GND

34

+5V_0.5A

35

GND

36

Recognition
resistance

37

GGND

Casing GND

Power output

3) Network interface (YW320E01S1)

NO.

Definition

Content

TX_D1+

TX_D1-

RX_D2+

Remark

4
5
6

RX_D2-

4) GPS antenna connector interface

GPS antenna connector is TNC interface.

5.2

Inertial navigation output data protocol (PORTB)

Refer to Attached product standard protocol v1.0 version.

6. Installation & Test

6.1 Installation
1) Prepare D.C. stabilized power source or reserve battery (24VDC), computer and all
items in our packing list.
2) Find an open, non-occlusion, non-multi-path jamming test field.
3) Fix AAI-20 host on the carrier. Keep AAI-20 coordinates XOY surface (down
below leftward, no painting surface) parallel with carriers datum surface. Keep
Y-axis parallel with carriers vertical axis. Fix two GPS antenna on the carrier,
front-antenna (F-ANT) and end-antenna (E-ANT) is respectively fixed on carriers
forward direction and backward direction (refer to Fig.3). Antennas should be put on
the highest point of carrier as possible as you can to ensure receive good GPS signal.
Also, it must ensure the line of two GPS antenna phase center is corresponding or
parallel with carrier central axis.
4) Respectively connect two feed line to front-antenna and end-antenna and F-ANT
and E-ANT interface on host unit. Note: F-ANT interface must be contacted with the
front antenna which is put on the carrier forward direction. E-ANT interface must be
contacted with the end antenna which is put on the carrier backward direction. When
the antenna working, there should be no occlusion. Do not plug connector when it is
power on.
5) Use a ruler measuring the distance from GPS end-antenna central point to
front-antenna central point (measuring accuracy is up to 2mm). The space length of
two antennas depends on specific installation environment. But the space length affect
directional accuracy.

Carrier

Frontantenna

Antenna connection direction

End-antenna

Carrier axis direction

Fig.4 Antenna installation schematic diagram

Take our system installation on UAV for an example.

Fig.5 Aircraft flight schematic diagram

6) Contact data power cable to system data, power interface. Contact data
output interface to computer serial port.

Fig. 6 System Overview

7) Contact 24VDC power to data power cable.

8) Check every connection and power pin polarity and ensure all are correct.
9) Power-on and test demo software on computer: ADUcenterVCProj.exe.

6.2 Data record

System software has data record memory function, able to record test data.

7. Display & Control Software Introduction

This software is used for contacting with PC for real-time test data observation, as
well as analyze feedback protocol data from system, show all information in the form
of graphic to user, also able to real-time storage the data which received from slave
computer dataalso able to make some setting for slave computer through this
software.

CPU: Pentium 4 2GHz

Memory: 1G

Hard-disk space: >30GB

Operation system: Windows XPWindows 7

7.1 Software Operation

This software is green software, decompressing software cabinet folder to any file,
double click

mark to operate the software.

7.2 Software Interface Introduction

Fig. 7 Software Interface Diagram

7.3 Altitude Heading Compass

As an important display part, altitude heading compass mainly provides heading, roll
and pitch 3 real-time data.

Heading
indicator
Pitch
indicator

Heading
indication
Fig. 8 Altitude Heading Compass

Up part is heading indicator. According to system feedback data, it gives approx

navigation direction.

Bottom part is heading angle. It provides more precise heading information.

North direction is 0(360), East direction is 90, on the analogy of clockwise.

Center diamond graphic is pitch indicator. Above 0 scale means pitch angle is
plus; on the contrary, the pitch angle is minus.

Left pitch value gives more precise pitch information, horizontal is 0.

Right roll value gives more precise roll information, horizontal is 0.

This display module requires GPFPD protocol sentence support (protocol

sentence format refer to annex).

precise

7.4 Moving Trajectory Display

Moving trajectory display part could describe system moving trajectory in
coordinate system according to latitude and longitude change. Position is determined
by latitude and longitude.

Fig.9 Position Display

In Coordinate system, X-axis is longitude, Y-axis is latitude. Software could

automatically adjust longitude and latitude scale value according to present
moving distance, enables whole moving trajectory display in coordinate system at
suitable size.

Note: When the system is static, moving in short distance or satellite signal is
covered severely, because satellite signal accuracy is limit, its trajectory cannot be
used for reference.

This display module requires GPFPD protocol sentence support (protocol

sentence format refer to annex).

7.5 Time, Altitude, Velocity Display

Fig.10 Time, Altitude and Velocity Display

Time information is calculated by GPS cycle and GPS second. It is not this
software operation time on PC.

Altitude information shows altitude.

Velocity information is composite velocity which combing ground velocity, east

direction velocity and north direction velocity (sky direction velocity not
involved in calculation).

This display module requires GPFPD protocol sentence support (protocol

sentence format refer to annex).

7.6 Main-station and Sub-main Satellite Distribution

Main-station and sub-main satellite distribution gives present satellite which involved
in calculation, satellite relative position, satellite PRN (Pseudo-Random Noise) and
SNR (Signal Noise Ratio).

Fig. 11 Satellite Information Distribution

Antenna 1 is main-station satellite distribution; Antenna 2 is sub-main satellite

distribution.

Internal green value is Satellite PRNC (Pseudo-Random Noise Code), below

value is its SNR.

PRNC >160 is Beidou satellite, <50 is GPS satellite. (able to be used for judging
present satellite working condition).

This display module requires GPGSV protocol sentence support (protocol

sentence format refer to annex).

7.7 System Detailed Information Display

7.7.1 GPFPD Information

Fig. 12 Detailed Parameters

This part displays all feedback information from present system, including time,
altitude, heading, position, 3-direction speed and GPS location condition. This
display part requires GPFPD, GPHPD etc protocol sentence support (protocol
sentence format refer to Annex).

Date and time is calculated by GNSS cycle and GNSS second. The north of
heading angle is 0, east direction is 90, on the analogy of clockwise.

Track angle is the angle between right head direction and actual moving
direction.

Baseline length is the distance between primary satellite and secondary satellite.
It is automatically calculated by system (Baseline length is also able to be
automatically set, refer to Setting chapter).

GNSS condition is calculated by GPFPD sentence status flag.

7.7.2 GTIMU Information

Fig. 13 IMU Information Display

This part displays gyro and accelerometer value which feedback from present
system, as well as present system temperature value.

This display module requires GTIMU protocol sentence support (protocol

sentence refer to Annex).

7.8 Software Setup

Fig. 14 Toolbar

7.8.1 Serial Port Setup

Left serial figure is able to set receiving information serial number. Select local
serial number through dropdown menu (dropdown menu include unavailable
virtual serial port, so please pay attention to select available local serial port).

Fig. 15 Serial Port Setup

7.8.2 Serial Port Transmission Rate Setup

Baud rate button is able to set receiving port serial transmission rate, software
provide following transmission rate for user option (default is 115200).

Fig. 16 Baud rate

7.8.3 Data Storage

Storage button is used for establish text document to storage the data receiving
from serial port. First click start storage, the button is under press condition
during storage period, click again to finish storage, the button recovers to
previous state.

Setting button is able to set system output protocol, output rate, baseline length
etc information.

7.8.4 Display Setup

Fig. 17 Display Setup

Layout button: able to set whether each control can display or not;

Pause show button: Pause button could pause data refresh, it doesnt affect data
receiving and storage;

Clear show button: used for clear each control data display, return to zero.

7.8.5 Data Playback

Fig.18 Data Playback

When close serial port, click open file button, select playback file according to
reminder, and then it would a playback dialogue would appear to make pause,
stop, speed +, - control.

7.9 System Setup

7.9.1 Baseline length

Fig. 19 Setup Button

Fig.19 Baseline Length Setup

Fig. 20 Baseline Length Setup

After selecting COM port, click Setup to set baseline length.

Input baseline length by manual, and then click Save. Baseline length setup by
is finished.

After save, systems baseline length would change to setting length in short time.

If need set other information, user could click index column to select other
information. If doesnt need set other information, click storage to store present
setting.

7.9.2 Satellite System

Fig. 21 Setup Button

Fig.22 Satellite System Setup

After selecting COM port, click Setup to set Satellite system.

Select present required working satellite system, click radio button and then click
save to setup satellite working mode.

If need set other information, user could click index column to select other
information. If doesnt need set other information, click storage to store present
setting.

7.10 Port Setup

Fig. 22 Port Setting

Fig. 23 Port Setup

When the serial port is ON, click Port Setup button to make setup.

A new dialogue would appear after you click Port Setup Button.

Able to set protocol 1 port output protocol, serial port A and B application mode,
pulse output .

7.10.1 Protocol 1 Port Setup

Fig. 24 Protocol 1 Port Setting

Able to set Protocol 1 ports output protocol and output frequency

Click corresponding protocol selection box and input corresponding output

frequency

After setting finish, click Storage button to save setting.

7.10.2 Serial Port A, B Setup

Fig.25 Serial Port A Setup

Serial port A, Serial Port B: able to set corresponding serial port connection
device, mode, serial port parameters, as well as output protocol and frequency
under user communication state.

In serial port A setting device could be selected User Communication. At this

moment, it is used as protocol output. Mode can be selected as RS232 or RS422.

User could set serial port baud rate, parity, stop bit etc parameters.

When user selecting User Communication mode, serial port output protocol
and frequency is able to be set.

7.10.3 Pulse Port Setup

Fig. 26 Pulse Port Setup

Pulse 1, 2, 3,4 is designed for odometer interface, user could set input mode.

7.11 Software Operation Cautions

It need contact AAI-20 system when using this software.

It would happen unpredictable problem if contacting with other device and save
setting through this software.

AAI-20 serial port transmission rate is 115200. In order to ensure data frame
completely output, no lost, we do not suggest user change its transmission rate.

Any problems happen, please contact with us immediately to get technical

support.

8. Mechanical Drawing
External dimension refer to Fig.27. Setscrew is M6.

Fig.27 AAI-20 System External Dimension

9. Maintenance
AAI-20 Attitude and azimuth integrated navigation system is a precise instrument for
specific operating requirements. User must read this manual very carefully and
understand product usage and limits very well before use it.
1) Check connectors before use it to avoid loose.
2) Regularly check the data power cables to prevent kink.
3) The power should be separated when our product connecting with other
equipments. Ensure stable power supply to avoid jamming.
4) Please contact factory promptly if the product have any fault. Disassembly of the
camera (including removal of the cover) can cause permanent damage and will
void the warranty.

10. Transportation & Storage

10.1 Transportation
The product should be packed with original package during transportation. The
product should be keep dry, clean, pollution-free, damp proof, mould proof, knock
against, rain & snow against, not stay in the sun too long, non-corrosive gas. It must
be carefully handled, avoid strong shock and vibration.

10.2 Storage
The product should be stored in original package. And keep it in dry, clean,
pollution-free place.
For long time storage, the warehouse temperature should be at 2010, relative
humidity 80%. No acid and alkali corrosive gas. No strong mechanical vibration,
shock and magnetic.