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4 Tips When Migrating to Our Latest Generation GX5 Inertial Sensors

( 05/29/2019 ) Written by: Fritz Martin

The LORD Sensing 3DM-GX5 family of high-performance, industrial-grade inertial sensors is the latest generation of the popular 3DM-GX series. While these sensors are known for providing a wide range of triaxial inertial measurements and computed attitude and navigation solutions, there are several critical, performance-related differences between previous generations and the latest GX5 inertial sensors that are important to acknowledge in order to achieve the best performance from the GX5 series.

In addition to better accelerometers, better gyro performance, multi-constellation GNSS tracking and our new auto-adaptive EKF, the GX5 inertial sensors are a true “drop-in” replacement for the previous generation GX4 inertial sensors, making it extremely simple to upgrade. These frequently asked questions should help make upgrading easier, but you can also reach out to our team to help answer any questions that come up as you begin this process.

Are the connector and the mounting the same?

Yes, the GX5 and GX4 have the exact same micro-DB9 connector and pin-out. The GX5 and GX4 also have the exact same mounting hole, alignment pin size, and pin location

Are the data rates the same?

Yes, the data rates are identical on the GX5 and GX4. See the table below for data rates of the GX3, GX4, and GX5 -45, -25, and -15 models for example.

Inertial Sensor Data Rates
Device IMU / AHRS Message GNSS Message Estimation Filter Message
GX5-45 500 4 500
GX4-45 500 4 500
GX3-45 100 4 100
GX5-25 1000 500
GX4-25 1000 500
GX3-25 1000
GX5-15 1000 500
GX4-15 1000 500
GX3-15 1000

What is the difference between “Auto-Adaptive” and “Adaptive”?

The Adaptive feature of the GX4 allows the user to enter thresholds that are used to determine if the gravity vector or magnetometer vector are too large or pointing in an unexpected direction. When exceeding those thresholds, the Kalman Filter ignores them as references and relies on the inertial solution to determine attitude.

This feature is retained on the GX5, however an “automatic” option has been added. This feature dynamically sets the adaptive thresholds by tracking the errors on the gravity vector and magnetometer. This makes it much easier for a user to utilize the adaptive features effectively without needing to determine the thresholds manually.

The auto-adaptive magnetometer and auto-calibrating magnetometer features combine to make the magnetometer a much more reliable and accurate heading reference. The auto-adaptive gravity greatly improves the pitch-roll accuracy during dynamic maneuvers.

I am migrating from the 3DM-GX3. What do I do?

There are some critical differences between the GX3 and the GX4/GX5. In most cases, a GX4 or GX5 is a drop-in replacement, but there were a few commands and data quantities that were deprecated and replaced by equivalent but enhanced commands.

Please see the document Migrating From a 3DM-GX3® Series Sensor to a 3DM-GX4™ Migrating from the GX3 to the GX5 is identical to migrating from the GX3 to the GX4.

Learn more about our 3DM®-GX5 by visiting our website or contact a representative for sales or technical support.

ABOUT THE AUTHOR MORE BY THIS AUTHOR
Fritz Martin

Fritz Martin is an Inertial Engineering Manager at LORD, focused on enhancing and developing inertial sensors.

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