HG1171 Series
6DF Inertial Measurement
Unit
DESCRIPTION
The HG1171 Series is a six degrees of freedom (6DF) inertial
measurement unit (IMU) that senses rotation rate about the
roll, pitch and yaw axes (X, Y and Z axes) and acceleration
along the longitudinal, lateral and vertical axes (X, Y and Z
axes, see Figure 1 on page 2). This product is designed for
enhanced accuracy of tracking and monitoring of
vehicle/platform (up/down, left/right, forward/backward) in a
hard mounted configuration.
It provides key data for automated steering and vehicle
controls, freeing the operator to focus on machine functions,
one of the main reasons customers use IMUs.
The HG1171 contains high performance MEMS (Micro
Electromechanical Systems) rotation rate sensors
(gyroscopes), whose function is based on the physical
properties of the Coriolis effect, as well as enhanced precision
integrated accelerometers for each axis.
High speed CAN bus (2.0 A or B) provides cost-effective, high-
integrity serial data communications bus for real-time control
applications operating at data rates up to 1 Mbit/s. This
capability allows enhanced error detection and confinement.
FEATURES
•
3-dimensional rotation rate and acceleration outputs (roll,
pitch, yaw)
•
High speed CAN bus
•
Broad dynamic range
•
Low noise
•
High resolution
•
Customizable
•
Enhanced temperature performance
•
Tough metal housing
POTENTIAL APPLICATIONS
Vehicle stability control systems on:
•
Agricultural equipment such as tractors and harvesters to:
−
Provide motion control feedback (attitude/accleration) for
leveling cutting blades, planters, tillers and other
equipment when on slopes or hills
−
Improve automated steering capabilities by providing
rotational rate change data to vehicle controls
−
Smooth GPS data (position and velocity) for use in high
accuracy planting/tilling
•
Construction equipment such as excavators, trucks, forestry
equipment, loaders and graders to:
−
Improve operator awareness relative to equipment loading
and extension envelopes on cranes and material/
telescopic handlers
−
Provide real time stability control in rugged and steep
terrain
−
Provide active depth and angle control for graders
−
Provide motion compensation in GPS-guided automated
vehicles
KWP (Keyword Protocol) is used for self-test, health reporting,
software loading and related tasks. KWP 2000 (or ISO14230)
is a defined protocol for monitoring health and status of a unit
on a CAN bus (primary use is for off-vehicle test equipment). It
supports high speed IMU flashing for re-reprogramming.)
Customization of I/O timing, CAN labels, connectors, and other
parameters allows the customer to specify changes in the IMU
so it more readily fits into existing architecture on vehicle.
A temperature sensor in each rotation rate sensor provides a
temperature value to the processing module where the
samples are filtered and compensated. This information allows
the customer’s system to perform over a wide temperature
range.
The tough metal housing is often ideal for demanding
environments. The user may mount the product on the vehicle
frame outside the cabin, anywhere an IMU is needed.
HG1171 Series
Table 1. General Specifications
Characteristic
Supply voltage (normal operation)
Over voltage (output halted)
Reverse voltage
Supply current
Start up time
Operating temperature
Storage temperature
Vibration (10 Hz to 1000 Hz)
Shock
(1)
Humidity )
Sealing
(2)
ESD (Electrostatic Discharge)
Connector
Notes:
Minimum
Typical
Maximum
+7
+13.5
+17
—
—
+26
—
—
-18
—
—
+75
—
700
—
-40 [-40]
20 [68]
85 [185]
-40 [-40]
—
95 [203]]
—
—
3.1
—
100
—
—
—
95%
IP62K
Meets ISO 10605:
−
at <8 kV ESD protection for handling
−
at <15 kV protection for power
AMP: 3-967-616-1, keying C mating cable harness
Unit
V
V
V
mA
ms
°C
[°F]
°C
[°F]
g (RMS)
g (half sine for 6 ms)
—
1. After exposure, including a condensing environment.
2. All exposed ports have low-pass filtering using trade-off methods which consider ESD protection, RF filtering and bandwidth. The ESD simulator
waveform verification complies with ISO 10605 except for contact discharge rise time < 1 ns and air discharge rise time < 20 ns.
Table 2. Rotation Rate Sensor Specifications
Characteristic
Measurement range
Overload range(<60 ms recovery)
Sensitivity error
Linearity
Offset (total)
Offset drift (over temperature range)
Offset drift speed (t > 3 min)
Noise
Cross axis sensitivity
Turn on time
Table 3. Acceleration Sensor Specifications
Characteristic
Measurement range
Overload range(<60 ms recovery)
Sensitivity error
Linearity
Offset (total)
Offset drift (over temperature range)
Offset drift speed (over 60
°K
interval)
Noise
Cross axis sensitivity
Turn on time
Minimum
-75
-1000
-4
-1
-2.5
-1
-0.2
—
—
—
Maximum
75
1000
4
1
2.5
1
0.2
0.2
2
750
Unit
°/s
°/s
%
%
°/s
°/s
°/s/min
°/s
%
ms
Minimum
-17
-100
-5
-4
-1
-0.35
-0.2
—
5
—
Maximum
17
100
5
4
1
0.35
0.2
0.1
5
250
Figure 1. Axes of Motion
Unit
2
m/s
2
m/s
%
%
2
m/s
2
m/s
2
m/s /min
2
m/s (RMS)
%
ms
Table 4. Software Resolution for Rotation Rates and Accelerations
Bit Position
Number of Bits
Vehicle Dynamic Rates
34-47
14
—
—
—
—
Vehicle Dynamic Lateral and Longitudinal Acceleration
22-31
10
—
—
—
—
Vehicle Dynamic Vertical Acceleration
22-31
10
—
—
—
—
2
www.honeywell.com/sensing
Inertial Measurement Unit
Figure 2. Block Diagram
Figure 3. Dimensional Drawing (For reference only: mm/[in].)
98,0
[3.86]
82,0
[3.23]
10,0
[0.39]
114,2
[4.50]
97,0
[3.82]
2x Ø 7,0
[0.28]
Ø 7,0
[0.28]
80,0
[3.15]
41,0
[1.61] 40,0
[1.57]
41,0
[1.61]
21,0
[0.83]
Honeywell Sensing and Control
3
Order Guide
Catalog LIsting
HG1171BA01
Description
HG1171 Series 6DF inertial measurement unit
WARNING
PERSONAL INJURY
DO NOT USE these products as safety or emergency stop
devices or in any other application where failure of the
product could result in personal injury.
Failure to comply with these instructions could result
in death or serious injury.
WARRANTY/REMEDY
Honeywell warrants goods of its manufacture as being free of
defective materials and faulty workmanship. Honeywell’s
standard product warranty applies unless agreed to otherwise
by Honeywell in writing; please refer to your order
acknowledgement or consult your local sales office for specific
warranty details. If warranted goods are returned to Honeywell
during the period of coverage, Honeywell will repair or replace,
at its option, without charge those items it finds defective.
The
foregoing is buyer’s sole remedy and is in lieu of all other
warranties, expressed or implied, including those of
merchantability and fitness for a particular purpose. In no
event shall Honeywell be liable for consequential, special,
or indirect damages.
While we provide application assistance personally, through
our literature and the Honeywell web site, it is up to the
customer to determine the suitability of the product in the
application.
Specifications may change without notice. The information we
supply is believed to be accurate and reliable as of this
printing. However, we assume no responsibility for its use.
WARNING
MISUSE OF DOCUMENTATION
•
The information presented in this product sheet is for
reference only. Do not use this document as a product
installation guide.
•
Complete installation, operation, and maintenance
information is provided in the instructions supplied with
each product.
Failure to comply with these instructions could result in
death or serious injury.
SALES AND SERVICE
Honeywell serves its customers through a worldwide network
of sales offices, representatives and distributors. For
application assistance, current specifications, pricing or name
of the nearest Authorized Distributor, contact your local sales
office or:
E-mail:
info.sc@honeywell.com
Internet:
www.honeywell.com/sensing
Phone and Fax:
Asia Pacific
Europe
Latin America
USA/Canada
+65 6355-2828; +65 6445-3033 Fax
+44 (0) 1698 481481; +44 (0) 1698 481676 Fax
+1-305-805-8188; +1-305-883-8257 Fax
+1-800-537-6945; +1-815-235-6847
+1-815-235-6545 Fax
Sensing and Control
Honeywell
1985 Douglas Drive North
Golden Valley, Minnesota 55422
www.honeywell.com/sensing
000668-1-EN IL50 GLO Printed in USA
February 2008
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