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KVH E

Core 1000
Fiber Optic Gyro
Technical Manual
Congratulations!
The KVH E-Core
'
1000 Eiber Optic Gyro (EOG) is the perIect replacement Ior troublesome
mechanical gyroscopes in applications such as antenna and optical stabilization, navigation,
positioning, robotics, and instrumentation. Wide bandwidth, excellent resolution, and bias
stability combined with resistance to shock and vibration Iills a wide variety oI system needs
making the KVH E-Core 1000 the ideal upgrade solution Ior tracking, stabilization and
GPS/EOG navigation.
Eor replacement oI mechanical gyros or new system design, the KVH E-Core 1000 series Iiber
optic gyros provide precision measurement oI rotation with high reliability, ease oI interIace, and
no need Ior preventive maintenance.
Should you have any questions, comments, or suggestions, please direct them to:
KVH Industries, Inc.
50 Enterprise Center
Middletown, RI 02842 USA
tel:(401) 847-3327
Iax:(401) 849-0045
e-mail: inIokvh.com
Internet: http//www.kvh.com
KVH Part No. 54-0128 Rev. A1
1999, KVH Industries, Inc.
E-Core

is a trademark oI KVH Industries, Inc.

KVH

and Autogyro

are registered trademarks oI KVH Industries, Inc.

54-0128 Rev. A1 i
Table of Contents
1 Introduction......................................................................... 1
1.1 Applicability..............................................................................................1
1.2 Product Description.................................................................................1
2 Installation .......................................................................... 4
2.1 Unpacking.................................................................................................4
2.2 Preliminary Testing..................................................................................4
2.2.1 RA1100 (Analog Output) .................................................................................. 4
2.2.1.1 Test Procedure................................................................................................. 5
2.2.2 RD1100 (Digital Output) ................................................................................... 6
2.2.2.1 Test Procedure................................................................................................. 7
2.3 Installation Tips........................................................................................8
2.3.1 Attitude and Orientation.................................................................................... 8
2.3.2 Vehicle Installations.......................................................................................... 8
2.3.3 Power Connection............................................................................................ 8
2.3.4 Data Connections............................................................................................. 9
2.3.5 Sensor Zero Offset ........................................................................................... 9
3 Troubleshooting ................................................................ 10
4 CE Mark............................................................................. 11
Appendix A Digital Interface Specification ..................................... 12
A.1 Digital Data Output Functions...............................................................12
A.2 Specifications.........................................................................................12
A.3 Data Group Structure.............................................................................13
A.4 Message Contents and Scaling ............................................................14
Appendix B Product Information.................................................... 16
B.1 Patent Protection ...................................................................................16
54-0128 Rev. A1 ii
List of Tables
Table 1. Part Numbers .............................................................................................1
Table 2. Product Specifications..............................................................................2
Table 3. Electrical Interface (Analog) .....................................................................4
Table 4. Electrical Interface (Digital) ......................................................................6
Table 5. Troubleshooting Issues ..........................................................................10
Table 6. Specifications ..........................................................................................12
Table 7. Data Format..............................................................................................13
Table 8. Message Contents...................................................................................14
List of Figures
Figure 1. Interface Control Drawing .......................................................................2
Figure 2. Test Cable Wiring Diagram......................................................................7
54-0128 Rev. A1 1
1 Introduction
1.1 Applicability
This manual is Ior KVH Industries E-Core 1000 Iiber optic rate gyros. Technical and
perIormance speciIications, interIaces, installation guidance and procedures are provided, as
well as a brieI troubleshooting guide. This manual covers model RA1100 and RD1100 rate
gyros with the Iollowing part numbers, as shown in Table 1:
Table 1. Part Numbers
Model No. Voltage Output Part Number
RA1100 12 VDC Analog 225210-1
RA1100 24 VDC Analog 225210-6
RD1100 12 VDC RS232 225140-1
RD1100 12 VDC RS422 225140-2
RD1100 24 VDC RS232 225140-6
RD1100 24 VDC RS422 225140-7
1.2 Product Description
The RA1100 and RD1100 rate gyros are single-axis interIerometric Iiber optic rate sensors
Ior use in a wide range oI stabilization, pointing and navigation applications. Based on
E-Core polarization-maintaining Iiber and precision Iiber optic gyroscope technology, the
1000 series rate sensors employ an analog electronic signal processor and an all-Iiber optical
system. Operating Irom either nominal 12 VDC or 24 VDC unconditioned power, the devices
produce either an analog voltage linearly proportional to a maximum rotation rate oI 100
degrees per second or an equivalent digital output. The angular rate oI rotation can be
integrated through post-processing to allow angle turned to be accurately measured.
The RA1100 and RD1100 series rate gyros are selI-initializing and ready Ior use
approximately one second aIter power is applied.
54-0128 Rev. A1 2
Product speciIications are given in Table 2. Note that an arrow on the side oI the product
shows the sense oI rotation corresponding to a positive electrical signal. Please read the entire
manual prior to making connections between the unit and your system. An interIace control
drawing (ICD) illustrating the dimensions, connector placement and mounting arrangements
is provided in Eigure 1, 'InterIace Control Drawing.
Table 2. Product Specifications
Attribute Specification
Performance
Input rotation rate to 100 degrees/second max.
Angle random walk
deg/hr/rt-Hz
deg/rt-hr
20
0.33
Bias stability
Fixed temperature
Full temperature
2-4/hr, 1 sigma
0.4/sec peak to peak
Scale factor linearity
Constant temperature
Full temperature
< 0.5%
< 2% RMS*
Physical
Dimensions 115mm x 90mm x 41mm (4.5" x 3.5" x 1.6")
excluding connector
Weight 250 gm (0.55 lb.)
Operating Temperature -40C to +75C (-40F to +167F)
Storage Temperature -50C to +85C (-58F to +185F)
Power (transient and reverse polarity
protected)
+9 to +18 VDC (12 V nominal) OR
+18 to +36 VDC (24 V nominal)
Analog 2W; digital 3W
Interface
Sensor Output
Analog (RA1000)
Digital (RD1000)
+2.5 VDC (zero rotation) 2 V, into 10KO
(20 mv/deg/sec scale factor)
RS232, RS422
Connector 15-pin subminiature D-sub (DA15P)
* Digital (RD1000) units have factory-loaded internal compensation to meet 1% RMS scale factor,
full temperature.
54-0128 Rev. A1 3
Figure 1. Interface Control Drawing
3 6
3.625"
4.32"
0.08"
54-0128 Rev. A1 4
2 Installation
2.1 Unpacking
The rate gyro module is shipped in styroIoam endblocks within a cardboard carton. It is
suggested that the packing material be retained in the event that the product must be returned
Ior any reason. Digital output versions also include a demonstration soItware package on a
Iloppy disk.
2.2 Preliminary Testing
We suggest that you conduct a simple Iamiliarization test iI this is your Iirst use oI the
product. The test will veriIy proper operation and assist in troubleshooting. Because the
digital and analog versions are connected diIIerently and have diIIerent outputs, the
Iamiliarization tests Ior each version are described separately below.
2.2.1 RA1100 (Analog Output)
The only equipment needed is a 12 VDC or a 24 VDC power supply (depending on the
power option), a digital voltmeter and a mating D-sub style connector wired in accordance
with Table 3.
Table 3. Electrical Interface (Analog)
Pin Function Characteristics
1 +12 VDC input * + 12 VDC at 170 ma
2 Power common - - -
3 Spare - - -
4 +24 Vdc input * +24 VDC at 85 ma
5 Spare - - -
6 VSS Out (odometer) TTL LOW pulse, 0-2550 pps
7 Reverse Out TTL LOW = Reverse
8 Fault TTL LOW = FAULT
9 Temperature 0C = 2.5 VDC, scale factor 20 mv/C
10 Chassis ground
A
- - -
(Continued on the Next Page)
54-0128 Rev. A1 5
Table 3. Electrical Interface (Analog) (continued)
Pin Function Characteristics
11 Rate Output +2.5 VDC (ref.) 2 V into 10K O,
20 mv/deg/sec
12 Rate/temperature ref. +2.5 VDC into 10K O
13 VSS In (Odometer) +2 to +40 VDC, 0-2500 Hz
14 Reverse In +2 to +40 VDC
15 Signal Common - - -
*Apply +12 VDC at pin 1 for part numbers 225210-1, 225140-1, and 225140-2, only; apply +24 VDC at
pin 4 for part numbers 225210-6, 225140-6, and 225140-7, only.
A Case ground may be supplied either by an external ground connection to chassis ground at pin 10 or
through the enclosure mounting flange if it provides a good ground. Case ground connections to both
points may result in a ground loop.
2.2.1.1 Test Procedure
1. Place the module on a Ilat surIace with the mounting surIace down.
2. Connect 12V to pin 1 or 24 VDC to pin 4; return the ground to
pin 2.
3. Connect the voltmeter probe to pin 11, and the ground to pin 15.
4. Measure the voltage. It should be a steady 2.5 0.2 VDC.
5. Connect the voltmeter to pins 11 and 12, with pin 12 as the reIerence
in a diIIerential mode. (II a diIIerential input is not available then use
pin 15 as the signal ground. There may be a slight error in the zero
rotation measurement.)
6. Grasp the gyro and slowly rotate in the direction oI the arrow on the
side oI the module (counterclockwise). The measured voltage should
go more positive. Reverse the direction oI rotation (clockwise). The
output voltage should change in a negative direction. (Note that this is
a diIIerential measurement with respect to the reIerence voltage.)
7. Connect the voltmeter positive lead to pin 8; connect the negative lead
to pin 15. A TTL HI signal (5 VDC nominal) should be observed.
If an analog-to-digital converter is used to digitize the
output, ensure that a sufficient dynamic range is maintained.
A minimum of 12 or 14 bits is recommended.
54-0128 Rev. A1 6
2.2.2 RD1100 (Digital Output)
Eor testing the RD1100 rate gyro, equipment required includes a 12 VDC or a 24 VDC
power supply (depending on the power option), a MS-DOS compatible computer and a
mating D-sub style connector wired as shown in Table 4. A test cable should be constructed
to connect the gyro, power supply and computer as illustrated in Eigure 2, 'Test Cable Wiring
Diagram. Each digital version rate gyro is accompanied by a soItware diskette, which should
be installed in accordance with instructions provided in the README.TXT Iile. Please reIer
to this diskette Ior a discussion oI serial interIacing techniques and sample code to capture
data Irom the digital interIace.
Table 4. Electrical Interface (Digital)
Pin Function Characteristics
1 +12 VDC input
-
+ 12 VDC at 170 ma
2 Power common - - -
3 Spare - - -
4 Spare - - -
5 Spare - - -
6 Spare - - -
7 Tx1 (host) RS232 or RS422, 9600 baud
8 TX1- RS422 only
9 Spare - - -
10 Spare - - -
11 Chassis ground
A
- - -
12 +24 VDC input
-
+24 VDC at 85ma
13 VSS In (odometer) +2 to +40 VDC, 0-2500 Hz
14 Reverse In +2 to +40 VDC
15 Signal Common - - -
*Apply +12 VDC at pin 1 for part numbers 225140-1 and -2, only; apply +24 VDC at pin 12 for part
numbers 225140-6 and -7, only.
A Case ground may be supplied either by an external ground connection to chassis ground at pin 10
or through the enclosure mounting surface if it provides a good ground. Case ground connections to
both points may result in a ground loop.
54-0128 Rev. A1 7
Figure 2. Test Cable Wiring Diagram
2.2.2.1 Test Procedure
1. Place the module on a Ilat surIace with the mounting surIace down.
2. Connect the DC power supply (12V to pin 1; 24V to pin 12),
ground to pins 2 and 11.
3. Open the test data acquisition soItware application program. Choose
the correct host COM port (deIault is COM1).
4. With the gyro stationary, the indicated rate should be less than
approximately 0.2 deg/sec. II no data is being received or iI the data is
garbled, check the wiring Ior proper data line connections. It may be
helpIul to use a standard communications program to visualize the data
stream. The parameters are 9600 baud, 8 bits, no parity.
5. Use the AUTOZERO command to establish the at-rest output level.
6. Grasp the gyro and slowly rotate counterclockwise. A positive rate
should be indicated. Rotation in the opposite direction will result in a
negative rate.
7. The EAULT indicator should show Ialse.
54-0128 Rev. A1 8
2.3 Installation Tips
2.3.1 Attitude and Orientation
The axis oI rotation is perpendicular to the plane oI the mounting surIace. The arrow and plus
sign on the side oI the module casing indicate the direction oI rotation resulting in a positive-
going output. Note that the sensor module may be mounted upside down, that is, with the
mounting lugs up; the arrow and plus sign still indicate the direction oI rotation which results
in a positive output.
To minimize output errors and cross coupling to the sensitive axis oI the gyro, the mounting
surIace should be parallel to the plane normal to the rotational axis within Iive degrees. II this
is not observed, the output data will be aIIected as a Iunction oI the cosine oI the
misalignment angle.
2.3.2 Vehicle Installations
The installation site is principally determined by ambient environmental considerations. Most
vehicle installations are in the trunk, or the module may be mounted under a seat or anywhere
that is protected Irom strong shocks. The module should not be exposed to direct sunlight or
immersed in Iluids. The gyro should not be mounted within 12 inches oI any source oI strong
magnetic Iields.
The module`s internal circuitry generates a nominal amount oI heat which must be conducted
away to maintain an operating temperature within speciIied levels. The baseplate should be in
Iull contact with a metal surIace oI at least 0.043 m (65 in) surIace area. II this is not
possible, then a metal plate oI the same area should be attached to the baseplate as a radiator.
2.3.3 Power Connection
The rate gyro is designed to be connected to unconditioned power within speciIied limits. It is
protected against reverse voltage polarity and transients normally experienced in mobile
electrical systems. To limit voltage drops at the input, a minimum wire gauge oI 24 AWG is
suggested Ior runs under 5 Ieet and at least 20 AWG Ior longer runs. Chassis and power
grounds should be connected together at the module connector iI the mounting location does
not provide a good ground. Poor grounds generally result in increased rate noise.
54-0128 Rev. A1 9
2.3.4 Data Connections
Eor the analog output versions, the rotation rate and reIerence outputs should be connected to
analog-to-digital (A/D) converter inputs. II a diIIerential input A/D converter is used, the zero
rotation rate will correspond to a 0 VDC signal. II the converter is single-ended, the rotation
rate and signal ground connections should be utilized; in this case the zero rotation rate will
correspond to 2.5 VDC, and will not be as accurate as the diIIerential measurement. The
connections should be made with twisted shielded pair wires, with the shield connected to pin
2 and leIt open (unconnected) at the A/D converter end. The output circuit is intended to
interIace with a high impedance (10 KOhm) circuit; lower impedance will load down the
output, resulting in inaccurate measurements.
2.3.5 Sensor Zero Offset
As with most sensors, the gyro has a zero oIIset bias (i.e., output at zero rotational rate
usually diIIers Irom nominal zero). In some applications it is useIul to measure the oIIset Ior
5 to 30 seconds when the gyro is known to be stationary and use the average oI this
measurement as the zero oIIset. This oIIset would then be subtracted Irom all later readings
beIore proceeding with other calculations. The oIIset can be re-estimated as necessary and
appropriate Ior the system accuracy required. Since the oIIset is primarily a Iunction oI
temperature, the user may measure the oIIset Ior a given gyro at various temperatures and
create a table oI oIIset vs. temperature.
54-0128 Rev. A1 10
3 Troubleshooting
This section is intended to provide a simple means oI determining iI a problem exists in the
E-Core 1000 and assumes that the unit has passed the bench testing described in Section 2.
The ECore 1000 is supplied as a sealed unit. Breaking the
QA seals voids the warranty and may violate the contract
under which the unit was supplied.
The warranty does not apply if the unit has been damaged
by misuse or as the result of service or modification other
than by KVH Industries.
Table 5. Troubleshooting Issues
Symptom Possible Cause Comment
No Output No DC power Use supplied test software to
verify output
Internal fault Fault line level (pin 8) should
be TTL high (5VDC)
Erratic or low output Faulty ground Ground shield at gyro end
only
Magnetic field near sensor Check for new wiring or
equipment
Improper output impedance Check load impedance for
minimum 10kO
High Noise Ground loop Check grounds and grounding
54-0128 Rev. A1 11
4 CE Mark
The ECore 1000 gyros conIorm to the European community CE Mark as indicated by the
Iollowing declaration:

54-0128 Rev. A1 12
Appendix A Digital Interface Specification
A.1 Digital Data Output Functions
- Angle change-per-unit time with 16-bit resolution. Eull scale gyro output
represents 100 degrees/second velocity when one second oI data is
integrated. One sample (0.1 second) represents 10 degrees rotation at a
maximum 100 degrees/second rotation rate.
- Temperature output with a range oI 55C to 100C and a resolution
oI 0.05C
- 0 output 0C
- Built-in test (BIT), gyro serial number
- CHECKSUM
A.2 Specifications
Table 6. Specifications
Data Type Definition/Setting
Interface format Serial asynchronous, RS-232e or RS-422
Characters per data group 8
Character format See Table 7
Baud rate 9600
Parity No parity
Start bits 1 (LO Level)
Stop bits 1 (HI Level)
Data bits 8 (Logic 1 = HI, Logic 0 = LO)
Intercharacter spacing None
Character group spacing 0.1 second or 0.01 second
Character group spacing accuracy 0.001 second
Group synchronization Embedded
Connector type 15 Pin (D-Subminiature) Male
54-0128 Rev. A1 13
A.3 Data Group Structure
Characters within an eight-character data group are reIerred to as Character 1 through 8, with
Character 1 being the Iirst character sent. In Table 7, D0 to D7 reIers to the bit positions,
where D0 is the Iirst bit sent and D7 is the last bit sent per character. It also shows the
position oI each data bit in the eight-bit data group. Table 8 shows the contents oI each data
bit. Scaling Iactors are discussed aIter the table.
Table 7. Data Format
Character 1 D0 DATA49 Character 5 D0 DATA21
D1 DATA50 D1 DATA22
D2 DATA51 D2 DATA23
D3 DATA52 D3 DATA24
D4 DATA53 D4 DATA25
D5 DATA54 D5 DATA26
D6 DATA55 D6 DATA27
D7 SYNCBIT (HI) D7 SYNCBIT (LO)
Character 2 D0 DATA42 Character 6 D0 DATA14
D1 DATA43 D1 DATA15
D2 DATA44 D2 DATA16
D3 DATA45 D3 DATA17
D4 DATA46 D4 DATA18
D5 DATA47 D5 DATA19
D6 DATA48 D6 DATA20
D7 SYNCBIT (LO) D7 SYNCBIT (LO)
Character 3 D0 DATA35 Character 7 D0 DATA7
D1 DATA36 D1 DATA8
D2 DATA37 D2 DATA9
D3 DATA38 D3 DATA10
D4 DATA39 D4 DATA11
D5 DATA40 D5 DATA12
D6 DATA41 D6 DATA13
D7 SYNCBIT (LO) D7 SYNCBIT (LO)
Character 4 D0 DATA28 Character 8 D0 DATA0
D1 DATA29 D1 DATA1
D2 DATA30 D2 DATA2
D3 DATA31 D3 DATA3
D4 DATA32 D4 DATA4
D5 DATA33 D5 DATA5
D6 DATA34 D6 DATA6
D7 SYNCBIT (LO) D7 SYNCBIT (LO)
54-0128 Rev. A1 14
Gyro rate/position and temperature data are always in two's complement binary Iorm. The
least signiIicant (LSB) is always placed in DATA0. Character synchronization can be veriIied
by viewing the SYNCBITs in an eight-character group Ior the 1, 0, 0, 0, 0, 0, 0, 0 sequence
prior to using the data.
A.4 Message Contents and Scaling
Table 8. Message Contents
Bit Name Bit Bit Name Bit Bit Name Bit
DATA0 R0(LSB) DATA19 T3 DATA38 B6
DATA1 R1 DATA20 T4 DATA39 B7
DATA2 R2 DATA21 T5 DATA40 B8
DATA3 R3 DATA22 T6 DATA41 B9
DATA4 R4 DATA23 T7(MSB) DATA42 B10
DATA5 R5 DATA24 C0(LSB) DATA43 B11
DATA6 R6 DATA25 C1 DATA44 B12
DATA7 R7 DATA26 C2 DATA45 B13
DATA8 R8 DATA27 C3 DATA46 B14
DATA9 R9 DATA28 C4 DATA47 B15
DATA10 R10 DATA29 C5 DATA48 X0
DATA11 R11 DATA30 C6 DATA49 X1
DATA12 R12 DATA31 C7(MSB) DATA50 X2
DATA13 R13 DATA32 B0 DATA51 X3
DATA14 R14 DATA33 B1 DATA52 X4
DATA15 R15(MSB) DATA34 B2 DATA53 X5
DATA16 T0(LSB) DATA35 B3 DATA54 X6
DATA17 T1 DATA36 B4 DATA55 X7
DATA18 T2 DATA37 B5
R0 to R15 represent angle rate bits counts with Iull scale Irom -100.0 degrees to 99.999695
degrees per second standard option. The LSB is 0.00305 degrees/second. Increment oI angle
is the rate scale times the measuring interval (0.1 second).
T0 to T7 (Message 1) and T0 to T7 (Message 2) provide a temperature word oI 12-bits
resolution plus sync bits, and are scaled Ior a range oI -55 to 100C. T0(LSB) through T6
provide temperature data and T7 is the sync bit (logic HI in Message 1 and logic LO in
Message 2). T5 and T6 in Message 2 are held low. Message 1 provides seven low bits and
54-0128 Rev. A1 15
Message 2 provides Iive high bits, totaling 12 bits. Temperature is transmitted every two
messages. The least signiIicant bit is 0.05C, and a zero out equals 0C.
B0 is the Built-in-Test (BIT) indicator and is logic HI during normal operation.
B2 and B3 are the gyro serial number in 20-bit binary Iormat. The serial number is output in
consecutive data messages one bit at a time, starting with the LSB and ending with the MSB.
AIter the MSB, the process repeats in the next data message with the LSB. The serial number
bits are encoded into the SNBIT bit in the message block (B3). The SNSYNC bit (B2) is high
when SN0 is output, otherwise it is low. Bits B4 to B15 are not used.
X0 to X7 are the CHECKSUM Ior the data message. The CHECKSUM is calculated by the
gyro processor as the sum oI the six other data bytes, modulo 256 and then negated.
54-0128 Rev. A1 16
Appendix B Product Information
B.1 Patent Protection
One or more oI the Iollowing patents protect the technology in KVH Iiber optic rate sensors:
Australia 514,840
562,456
574,343
582,425
584,745
594,847
661,187
Canada 1,143,197
1,234,005
1,236,322
1,248,383
1,240,015
1,267,790
1,270,055
1,293,397
1,304,566
2,138,814
France 0 021 712
0 127 257
0 196 168
0 215 674
0 254 462
Germany P30 64 691.4
P34 84 284.5
P36 71 972.2
P36 88 959.8
P37 76 017.3
Italy 0 021 712
67,166-BE/92
67,730-BE/91
69,253-BE/93
1apan 1,561,748
1,870,145
2,076,012
2,509,580
Netherlands 0 196 168
0 021 712
0 215 674
United States 4,307,938
4,557,551
4,589,725
4,589,728
4,668,264
4,669,814
4,697,876
4,712,866
4,755,021
4,784,454
4,818,071
4,950,318
5,074,665
5,323,255
5,340,371
5,437,000
5,444,534
5,481,358
5,512,904
5,552,887
United Kingdom 0 196 168
0 021 712
0 127 257
0 215 674
0 254 462
1,599,345
KVH Fiber Optic Group
8412 West 185th Street Tinley Park, IL 60477
Phone: +1 708 444-2800 Fax: +1 708 444-2801
E-Mail: info@kvh.com
Internet: http://www.kvh.com
KVH Industries, Inc.
50 Enterprise Center Middletown, RI 02842 U.S.A.
Phone: +1 401 847-3327 Fax: +1 401 849-0045
E-Mail: info@kvh.com
Internet: http://www.kvh.com
Copyright 1999, KVH Industries, Inc. KVH

and ECoreare trademarks of KVH Industries, Inc.