User Guide IS-900 SimTracker, SimTracker LT, & VETracker with MicroTraxTM Devices 2014 Thales Visionix, Inc. 700 Technology Park Drive, Suite 102 Billerica, MA 01821 USA Phone +1 781 541 6330 • Fax +1 781 541 6329 www.intersense.com Doc. No. 072-00105-0I07 Revision 4.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 User Guide for the IS-900 SimTracker, SimTracker LT, & VETracker Firmware 4.29 and higher DLL Version 4.237 and higher Contacting InterSense Please contact us if you need assistance. Thales Visionix, Inc. 700 Technology Park Drive, Suite 102 Billerica, Massachusetts 01821 USA Telephone: Fax: Technical Support: Sales: +1 781 541 6330 +1 781 541 6329 +1 781 541 7624 +1 781 541 7650 Internet: email: email: email: http://www.intersense.com ISinfo@intersense.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Regulatory Statements and Approvals FCC Compliance Statement for SimTracker and VETracker Systems This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. Warning This is a Class A product.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 FCC Compliance Statement for SimTracker LT Systems This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Warnings and Precautionary Statements Any changes or modifications to the IS-900 SimTracker/VETracker, MicroTrax Tracking Devices and other components of the IS-900 System not expressly approved by InterSense will void the warranty and any regulatory compliance issued for the system. This could also void the user’s authority to operate the equipment.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Equipment Design: • To avoid damage to the battery pack, make sure that the battery pack is positioned away from heat sources in the equipment. • If the battery pack is designed into other equipment, use caution to strictly avoid designing airtight battery compartments. When using the battery Misusing the battery may cause the battery to get hot, explode, or ignite and cause serious injury.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 While charging the battery Follow the rules listed below while charging the battery. Failure to do so may cause the battery to become hot, explode, or ignite and cause serious injury. • When charging the battery use only InterSense’s charging station (10091000-EWBS) or individual device charger (099-00076-0000) Note: * means that the suffix is U, E or K depending on voltage requirements of your country.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Do not bend, twist, pull strongly or tamper in any way with any part of the IS-900 cabling. Take care to avoid electric shocks. Do not plug-in or unplug the power cable with wet hands. During normal operation, the user should not make contact with the metal surfaces, including the microphone housings and the connector hood, of the tracking stations. Such contact could result in invalid data or a tracker reset.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 The following devices: • • 2.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Table of Contents 1. System Description ................................................................................................................ 13 1.1. IS-900 Configuration ....................................................................................................... 14 1.2. IS-900 SimTracker & VETracker Processor ................................................................... 15 1.3.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 4.5.5. Records Specific to IS-900 Models .......................................................................... 88 LCD Status & Settings Screen ............................................................................................... 90 5.1. Overview ......................................................................................................................... 90 5.2. Normal Operation (Steady State) ...........................................
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Table of Figures Figure 1 - IS-900 Functional Diagram ........................................................................................... 14 Figure 2 - IS-900 SimTracker Processor ....................................................................................... 15 Figure 3 - IS-900 VETracker Processor ........................................................................................ 15 Figure 4 - IS-900 SoniStrips ............................
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 1. System Description The IS-900 product family delivers precision motion tracking technology for simulators, training, virtual, and immersive display systems. The IS-900, designed for dedicated, precision 6 degree of freedom (6-DOF) motion tracking for both small tracking area simulators and large area virtual environments.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 1.1. IS-900 Configuration As shown in the block diagram in Figure 1, the IS-900 offers a wide range of tracking options. InterSense’s SensorFusion code for calculating the full 6-DOF tracking solution is performed by the dedicated IS-900 processor. The MicroTrax tracking devices and SoniStrips plug into the serial interface ports and the IS-900 processor interfaces directly to a host computer via RS-232 serial port or Ethernet.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 The IS-900 SimTracker and VETracker work with all of InterSense’s standard wired & wireless MicroTrax devices (Head Tracker and Wand) plus several specialized devices developed for OEM applications (Helmet Tracker, NVIS Virtual Binoculars & HMD, plus others). Note that some early versions of InterSense’s devices are not compatible with the SimTracker & VETracker components. Please check with InterSense Technical Support (techsupport@intersense.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 1.3. SoniStrips, SoniFrame, SoniWing & SoniPod acoustic pulse transmitters The SoniStrips (Figure 4), SoniWing (Figure 5), SoniFrame (Figure 6) and SoniPods (Figure 7) have ultrasonic SoniDisc transmitters that receive addressed signals from the Base Processor Unit and transmit ultrasonic pulses in response. The acoustic transmission beam width for each SoniDisc is adjusted for wide-angle coverage (approx. 70-degree cone angle) to maximize the tracking area.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Figure 7 - Discrete SoniDisc Transmitter (SoniPod) The IS-900 uses an acoustic time-of-flight (TOF) ranging system to prevent position and orientation drift. For maximum accuracy and resolution, acoustic range measurements are made with unidirectional TOF measurements from the SoniStrip transmitters to the Tracked Stations. The SoniDiscs’ acoustic pulses are detected by miniature microphones integrated in the Tracked Stations.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 The design of the Fixed Frame provides mechanical mounting options for all InterSense SoniStrips in all lengths (2-foot, 4-foot and 6-foot) and combinations. Figure 6 shows a typical SoniFrame fully assembled and ceiling mounted with three 6 ft. SoniStrips. Interconnect bars are available to assemble multiple SoniFrames together as one structure.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 In addition to InterSense’s standard tracked stations, there are also new OEM devices being delivered with some IS-900 systems that integrate the IS-900 technology into custom 3rd party tracked stations. IS-900 systems shipped with 3rd party devices come with documentation specific to these devices. All of InterSense’s MicroTrax tracking devices can be configured with a wireless transmitter & receiver for unencumbered tracking over larger areas.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 1.5.1. MicroTrax Wand with Joystick Figure 9 - MicroTrax Wand The MicroTrax Wand with center-click Joystick (Figure 9) is a tracked device that provides a simple and convenient way for the user to interact with virtual environments. There are four miniature acoustic receiver microphones integrated into the MicroTrax Wand. During operation, all four miniature microphones are sampling the ultrasonic signals.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 1.5.2. MicroTrax Head Tracker Figure 10 - MicroTrax Head Tracker The MicroTrax Head Trackers (Figure 10) are tracked devices that provide accurate 6-DOF data needed to give the user a correct visual viewpoint in an immersive visual environment. The MicroTrax head tracker is suitable for use in both projected (Simulators, CAVE®s, PowerWalls, etc…) and head worn (HMDs) application where head tracking is required. The device can be used wired, or wirelessly.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 1.5.3. MicroTrax Docking Station Figure 11 - MicroTrax Docking Station The MicroTrax Docking Station (Figure 11) is an optional component that serves to hold the wireless MicroTrax devices, and two spare batteries, in one handy place. The wireless devices are equipped with charging contacts enabling recharging in-situ. LEDs next to each slot indicate when the device is in the process of charging or is completely charged.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 1.5.4. MicroTrax Hand Tracker Figure 12 - MicroTrax Hand Tracker The MicroTrax Hand Tracker (Figure 12) is a tracked device that provides accurate 6-DOF data of a user’s hand. The MicroTrax Hand Tracker is designed to be ambidextrous. When properly mounted to either hand, the main device cable should exit the tracker from the pinky-side of the hand. The device can be used wired, or wirelessly.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 1.5.5. Wireless MicroTrax Modules All MicroTrax tracked stations can be operated without cabling to the IS-900 processor by using the IS-900 Wireless Modules. The Wireless Modules have two components—a receiver component that plugs into the IS-900 Processor and a rechargeable, battery operated transmitter that is either integrated into the tracked station (e.g.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 1.6. IS-900 Cables, Connectors, Adaptors, Power Boosters and Wireless Radios Due to the flexible design of the IS-900 system, many systems are custom configured and installed by trained service representatives and may come with varying cabling and interconnect items.The items and their descriptions in this section cover all standard and optional interconnect components available for the IS-900.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 1. Cable: Processor to SoniStrip or to MicroTrax device Adapter. • Part no. 078-00088-0030 • 30 feet long • RS422 communication • 10-pin RJ48 cable connector This 30 foot cable provides basic +12 VDC power and transmits the SoniDisc trigger signals to the SoniStrip Constellation array. It connects from the back of the IS-900 Processor (any PORT #) to the SoniStrips and can run a maximum length of 15 meters (50 ft.)*.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 6. Adapter: RS232 to RS422 • Part no. 100-SDPDL-001 • 10 pin RJ48 connector for RS422 • 6-pin RJ12 connector for RS232 This adapter simply converts the RS232 MicroTrax interface signals to a differential serial signal (RS422) in order to transmit the signals long distance to the IS-900 Processor. The interface RJ48 connector labeled “BASE” attaches to the Cable (ref. item 1). The RJ12 connector labeled “TRACKER” connects to the MicroTrax Wand integrated cable.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 1.6.2. Wireless System Figure 14 illustrates how the cables, connectors and adaptors are set-up for the wireless version of the IS-900 System and MicroTrax devices. For simplicity, 2.4 GHz wireless devices are shown, therefore each device requires its own receiver (900 MHz devices may share receivers, 2 devices per receiver).
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 2. Cable: SoniStrip to SoniStrip • Part no. 078-00088-0004 • 4 feet long • RS422 communication • 10-pin RJ48 The 4 foot SoniStrip to SoniStrip cable provides standard connectivity between each SoniStrip in the Constellation array. The cable and connector type (10-pin RJ48) are identical to the Processor to SoniStrip Cable. The IS-900 SimTracker configuration can support a maximum of 12 SoniStrips (36 SoniDiscs) per system.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 1.6.3. All Systems AC Power Cable, Part No. 078-00003-xx09 (“xx” for US/JP, UK, EU country code) The IS-900 system ships with a 9 foot AC Power Cord to match the country voltage specification on your order. The IS-900 Processor has an auto switching power supply module to supporting AC voltage inputs from 100 to 240 VAC. RS-232 Null Modem Serial Cable, Part No.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Failure to power down the IS-900 Processor when connecting or disconnecting tracked stations will cause damage to the tracked stations. Exceeding maximum cable lengths will cause IS-900 to operate unreliably due to signal transmission and timing errors. 1.7. IS-900 Support CD The provided support CD has the latest version of all InterSense product specifications, InterSense technical papers/notes, and IS-900 product documentation.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 2. Specifications 2.1. Performance Specifications Degrees of Freedom: 6 (X, Y, Z, Yaw, Pitch, and Roll) Tracking Device(s): MicroTrax Head Tracker MicroTrax Wand MicroTrax Hand Tracker Custom/OEM Devices (Consult InterSense) Tracking Volume: Up to 20 m with 12 SoniStrips (SimTracker maximum) 2 Up to 140 m with 84 SoniStrips (VETracker maximum) 2.0 m x 2.0 m x 3.0 m maximum w/ SoniFrame (optional) 1.5 m x 1.5 m x 3.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 900 MHzSpecification for Wireless Devices Device charge time 3 hours Number of charges Constant Tracking Time Radio Technology Radio Range (Indoor) Radio Channels 500 6-8 hours on one charge 900 MHz non-frequency hopping spread spectrum 100 Feet (with no major obstructions) 10 2.2.
InterSense 2.3. Doc. No. 072-00105-0I07 Rev. 4.2 Environmental Specifications When disposing of electronic equipment please do so responsibly in accordance with local requirements.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 1. Power on the IS-900 Shortcut→ Use the front panel buttons and LCD menus to determine the IS-900 firmware version by pressing the Enter key, arrow key down to System Config, select Enter again, select Information to read Firmware revision number. Or use ISDEMO as follows. 2. Connect the PC to the IS-900 processor using the null modem cable provided with your system or via Ethernet. 3.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 3.1. InterSense Coordinate Reference Frame Before setting up the IS-900, it is important to review the standard InterSense coordinate reference system. As a 6-DOF tracker, use of the “InterSense Coordinate Reference Frame” throughout this manual helps explain the installation, calibration and tracking performance.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 3.2. Hardware Set-up General Equipment Handling Warnings The ultrasonic transmitters (SoniDiscs) are sensitive electronic components. Take care not to allow any dirt or moisture in or around the SoniDiscs install the SoniStrips, SoniFrame, SoniWing or SoniPods. Mishandling or static discharge can damage both the ultrasonic emitters and the tracking devices. Do not drop the tracked stations.
InterSense 3.3. Doc. No. 072-00105-0I07 Rev. 4.2 Installation of SoniStrips In order to install the SoniStrips, you need the following (that are not supplied in the standard IS900 System): 1. An optical surveying tool or Total Station. We recommend a Nikon DTM 420 or equivalent for measuring absolute X, Y, and Z coordinates of all SoniDiscs. Note: If your IS-900 system comes with a fixed constellation frame (SoniFrame or SoniWing), then the optical surveying equipment is not needed. 2.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 The SoniStrip Constellation Array provides an absolute positional reference to the tracked environment. The idea behind providing SoniDiscs (beacons) in groups of three in each SoniStrip (rail) is to give flexibility in both the configuration and installation to cover a wide range of tracking environments in a convenient package for ease of installation.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Note: If either of these two conditions is not met, then the performance of the tracking system will degrade and possibly fail. InterSense will not warrant a system to track with improper installation. For larger or first time installations, we recommend you contract InterSense to perform onsite installation and training. Please contact your InterSense representative for details. Sections 3.3.1, 3.3.2 and 3.3.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 3.3.1. SoniStrip Mounting for Ceiling Installations The following is an example of an installation for a large area immersive room environment. Important Note: For customers upgrading existing MiniTrax systems to work with wireless MicroTrax devices – an InterSense acoustic timing adjuster (ATA) must be inserted between the processor and the first SoniStrip in the chain.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 With each SoniStrip mounted in the same orientation on the ceiling and pointing down, the normal vectors then for the installation and wiring shown in Figure 19 become: SoniDisc ID Nos. 5001 – 5018 Normal Vectors used in Constellation Array 0.000, 0.000, 1.000 3.3.2. SoniStrip Mounting for Power Wall Installations The following is an example of an installation for a typical power wall.
InterSense SoniDisc ID Nos. 5001 – 5003 5004 – 5009 5010 – 5012 5013 – 5018 Doc. No. 072-00105-0I07 Rev. 4.2 Normal Vectors used in Constellation Array -0.707, 0.707, 0.000 -0.707, 0.000, 0.707 -0.707, -0.707, 0.000 -0.707, 0.000, -0.707 3.3.3. SoniStrip Mounting for CAVE-like Installations The following is an example of an installation for a typical CAVE-like environment. The IS-900 excels over magnetic or optical trackers in CAVE-like installations.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 with the normal vectors pointing straight down on each side of the center ceiling mirror and along the back side of the CAVE. The mounting of these three interior SoniStrips may require the addition of two U-Channels, positioned front to back, on each side of the mirror at the top, center of the CAVE. Each SoniStrip is wired in sequence with the bottom left corner connecting to Port 5 of the IS-900 Processor.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 When measuring the SoniStrip Constellation Array with a Total Station: 1. Read the manufacturer’s instructions on the set-up and operation of the surveying tool. Make sure the measurement tool can report absolute X, Y, and Z coordinates for each measurement. The IS-900 Tracking system needs the X, Y, and Z position measurement for each SoniDisc location in order to properly track. 2.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 3. Using the InterSense command format: MCF{beaconNum}, X, Y, Z, Nx, Ny, Nz, BeaconID Where, {beaconNum} is a sequential number (i.e.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 3.5. Connections with IS-900 Processor This section describes the final steps to setting up the IS-900 system. 1. Connect all the tracking devices and SoniStrip Constellation Array to the IS-900 Processor Important! Always power down the IS-900 Processor and any external power boosters prior to connecting or removing any cables.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 A Power booster (Figure 22) must be connected in between Port 5 and the end of the SoniStrip “daisy chain” and of the IS-900 Processor to supply the additional power to the SoniDiscs for: • • Measurement ranges greater than 3 meters or, SoniStrip Arrays configured with more than 12 SoniStrips, where an additional power booster is required after every 12th SoniStrip in a large SoniStrip Constellation Array. Figure 22 - External Power Booster for SoniStrips 2.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 simultaneously, for example it is acceptable to set a 900 MHz and 2.4 GHz tracker/Base Receiver Module to channel 4 on the same system. 900 MHz wireless devices allow receiver sharing, which is a special mode that allows two trackers to connect to a single Base Receiver Module. 3.6.2. Receiver Sharing (900 MHz) When receiver sharing is configured by adding a second link ID to the port configuration as shown below, two important changes occur.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Please refer to the RFScope tool (Section 10.8) to assist in choosing an optimal RF channel for MicroTrax devices. If you are using wireless devices, we recommend fully charging the Radio/Battery Modules prior to use. If the power LED on the wireless Wand or Head tracker transmitter is flashing, that is an indication of a low battery.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 6. Run ISDEMO and connect to the processor via the “IS-900” configuration. Click “Parameters->Wireless Configuration” from the menu. You will be presented with the following dialog; set the Mode dropdown box to “Normal mode – connect to devices by ID”: Normal Mode Determines wireless communication by device Link IDs Anonymous Mode Link IDs Determines wireless communication by wireless channel, and ignores Port Port of the IS-900 Processor.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 7. Click a row that corresponds with a receiver and click the “Edit” button. A dialog similar to the following will be presented (900 MHz and 2.4 GHz radio dialogs shown): 8. Enter a channel into the first input box. The valid range of channels is 0-15 for 2.4 GHz and 1-10 for 900 MHz. No two Base Receiver Modules can use the same channel on the same band.
InterSense Doc. No. 072-00105-0I07 Rev. 4.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 10. Make sure that all configured Trackers are powered on and click the “Apply” button. ISDEMO will prompt you if an RF Search is recommended. It may take a minute or two for the processor to apply the configuration. If the devices are communicating properly, both green LEDs should now be lit on both the Trackers and Base Receiver Modules. The status should also be listed as “ok”. If the status is “station not found” click Search→RF Search.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 The “Power” LED on the transmitter should be on. The “Link” LED on the transmitter should be off. If the power LED is flashing or doesn’t turn on, the battery is low and you should charge it before you continue or replace the battery with a charged one. Note: If you turn the Wireless Transmitter Module ON but do not move it for more than 10 minutes it will go into sleep mode and you will have to switch the power ON again.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Figure 24 - Configuration Script File Menu From the Configuration Script window under Tracker menu, select Send to Tracker (Figure 25). The SoniStrip Constellation Array is now uploaded into the IS-900 Processor.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Figure 26 - Constellation Tool Selection From the Constellation Configuration Tool window, select Retrieve from Tracker from the menu item Constellation (Figure 27). Figure 27 - Checking installed SoniStrip Constellation Array This will upload the grid into the Constellation Configuration Tool window from the IS-900 Processor. At this point, you should see SoniStrip Constellation Arrays similar to examples covered in Section 3.
InterSense Doc. No. 072-00105-0I07 Rev. 4.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 of the display window indicating correct tracking. Move the physical tracker around and see it move in the display window. Figure 31 - ISDEMO Constellation Tool Screen with Tracking Devices Also check the LCD panel of the IS-900 Processor. For each connected tracking station, “T” should appear on the IS-900 Processor’s front LCD panel to indicate proper tracking (Figure 32). If an “X”, appears it may indicate hardware, cabling or wireless link issues.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Figure 33 - Saving All Configuration Settings to IS-900 Processor Locking the configuration Locking the settings will prevent inadvertently changing settings when not desired. Lock the settings by selecting menu item File→Configuration Lock in main ISDEMO window (Figure 34). A window will come up asking to Lock tracker configuration. Click on Lock Tracker Configuration.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Connecting to application Follow the instructions or manual that came with the tracked application for using the IS-900 tracking system. If you have problems connecting to your application, first contact the application developer for detailed information about connecting to InterSense tracking systems. If you still need assistance, contact InterSense for technical support.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 ON – The Receiver is communicating (or attempting to communicate) with a Wireless Transmitter Module. OFF – A connection has not been established with a Wireless Transmitter Module. Charging Instructions Only use the power supply from InterSense when charging the Radio/Battery board. Other chargers could cause failures and void the warranty. See the battery handling instructions at the beginning of this manual.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 4. Interface Communication Protocol For firmware version 4.20 or higher Terminology Throughout this section and the ISDEMO program described in Section 10, certain terms and acronyms are used to reference functional components of all InterSense tracking systems. Specifically, IS-900 models contain an ultrasonic subsystem that includes SoniDiscs (Ultrasonic Transponder Beacons) and Microphones (Ultrasonic Receiver Modules – URMs).
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Alignment Reference Frame A{stationNum},[Ox,Oy,Oz,Xx,Xy,Xz,Yx,Yy,Yz]<> Sets the coordinate frame with respect to which outputs for that station will be reported. The coordinate frame is defined by a set of three points. Ox,Oy,Oz defines the origin of the new coordinate system, Xx,Xy,Xz defines a point on the positive x-axis and Yx,Yy,Yz defines a point on the positive y-axis.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Boresight Compatibility Mode MBF<> Switch system to Fastrak Compatible mode. MBI<> Switch system to Firmware Version 2.x Compatible mode. In firmware versions prior to 3.00 the B{stationNum}<> command was implemented as the Heading Boresight (see below) and full boresight was not available. To maintain compatibility with the user software written at that time, two Boresight Compatibility modes are available.
InterSense Heading Unboresight Doc. No. 072-00105-0I07 Rev. 4.2 b{stationNum}<> mode) Mb{stationNum}<> (Firmware Version 2.x compatibility (Fastrak compatibility mode) This command has no effect with the IS-900.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Output record mode F f Put in ASCII output mode Put in Binary output mode. Default F Output record list settings O{stationNum},[p1],[p2],[p3],.....,[pn]<> Sets the output data list for stationNum. If optional parameters are omitted, a data record containing current output list settings for the station is returned.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 X Roll Y Pitch Yaw Z Data Items 5, 6, 7 – Direction Cosines. X-axis, Y-axis and Z-axis direction cosines can be used to construct a 3x3 rotation matrix. x1 x2 x3 y1 y2 y3 z1 z2 z3 X direction cosines. Y direction cosines. Z direction cosines.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Data Items 18, 19, 20 – 16 bit binary format. 16 bit binary format can be used in applications requiring fastest possible serial I/O. Each floating point number is stored in 2 bytes with only 14 bits containing actual data. This results in lower accuracy than the standard IEEE floating point format. Data is 2’s-complement. The first byte of the data set has its high-order bit set to 1; all others have them set to zero. This can be used for data synchronization.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Data Item 22 – Buttons. One 3-digit integer in ASCII format or one byte in binary format. Bits represent the button states of a station’s buttons. If a button is pressed, the corresponding bit is 1 otherwise it is 0.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Position Operational Envelope V{stationNum},[Xmax, Ymax, Zmax, Xmin, Ymin, Zmin]<> This command sets the boundaries of the area where position is to be tracked. Whenever a station leaves the defined range, position tracking is stopped and only resumed once it is back within the defined boundaries. Parameters are entered in meters. If optional parameters are omitted, current settings are returned. Units are meters. Default 4.3.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 4.4.1. System Configuration Commands Time Units The time stamp recorded is the time when the tracker data was collected from the hardware. The time index is set to zero when tracker is first turned on. MT<> Sets the units for the data record time stamp to milliseconds. Mt<> Sets the units for the data record time stamp to microseconds. Default Set Current Time to Zero MZ<> T This command sets current time index of the tracker to zero.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 InterSense System Status Record Request MS<> Request the manufacturer-specific system status record. This is information about parameters which are specific to the InterSense product, additional to the standard system status information obtained using the S command. Tracking Status Record Request MP<> Requests tracking status information for all 12 stations. See Section 5.5.5 for the description.
InterSense Configuration Lock Doc. No. 072-00105-0I07 Rev. 4.2 Configuration lock commands are used to prevent unintentional changes to tracker configuration. Two Levels of protection are provided. The First prevents changes to saved settings. The second prevents changes to current unsaved (session) settings as well as saved settings.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 ME<> MEC<> ME1<> ME0<> Returns all errors, one per error message. Clear all errors from internal list. Enable error reporting. Disable error reporting. Default Error reporting is OFF Command logging Command logging captures all host commands into a file for debugging purposes. The log file holds a maximum of 500 kB. When the max size is reached, the file is rewound and overwritten with new entries.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 range is 0-50 ms. This parameter is used for both position and orientation prediction. If optional parameter is omitted, current prediction value is returned. Default 0 Perceptual Enhancement Level MF{stationNum},{Mode}<> In order to provide the best performance for a large range of various applications, 3 levels of perceptual enhancement are available. None of the modes introduces any additional latency. Mode 0 provides the best accuracy.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 much less susceptible to magnetic interference, but heading drift will slowly accumulate. This mode is particularly useful when high rotational sensitivity settings are used. Mode 2 - FULL compass mode. Readings produced by the magnetometers inside the InertiaCube are used as the absolute reference orientation for yaw. Default 2 Mh{stationNum}<> Turns off the stationNum’s compass heading correction. There can be slow drift in the yaw direction.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 A Unique number identifying a Fixed PSE (beacon) within a Constellation (a complete set of fixed PSEs). Numbering starts at 1. xp, yp, zp xn, yn, zn IDcode <> FPSE position in meters. Normal vector. Hardware ID of the PSE. CR LF pair. Disassociate Fixed PSE from the Constellation MCf[Fixed PSE number, IDcode]<> If PSE number and IDcode are not associated in the current configuration, this command is ignored.
InterSense Apply New Configuration Doc. No. 072-00105-0I07 Rev. 4.2 MCe<> This command reconfigures the system with the new MicroTrax station and SoniDisc information. A Configuration Session is the period during which the station and constellation configuration commands are received and accepted. The configuration session starts when the first MC command arrives. MC commands are saved but not applied to the system configuration until the MCe<> command is received.
InterSense 4.5. Doc. No. 072-00105-0I07 Rev. 4.2 Records Returned from the Tracker to the Host 4.5.1. Format Considerations Record Headers The first byte of each record is used to identify its type. 0 – Data record. 2 – Fastrak™ status record. 3 – InterSense manufacturer-specific status record. Floating Point Numbers Floating point numbers can be returned as IEEE 32 bit floats or as ASCII numbers in X.xf notation, where: X x f is the total number of characters used to represent the float.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 4.5.3. Fastrak™ System and Data Records Data Record This record is sent in response to the P command in polled mode or continuously in continuous mode. A separate data record is sent for each active station. The list of data items in each station record depends on how the list was set up with the O command. For most of the commonly used data list items, the format depends on commands F, f, U, u, MT, Mt. 0{stationNum}{status}{dataItem1,dataItem2,....
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Example: For the default data record O1,2,4,1<> in ASCII mode 'F'. The output record set for the active stations 1 and 2 would look as follows: '01 '02 1.23 41.83 23.01 -452.94 12.18 0.01 13.04 -1.01 76.11 23.32 34.12CRLF' 12.34CRLF' Station 1: x=1.23, y=41.83, z=12.18, yaw=13.04, pitch=76.11, roll=34.12 Station 2: x=23.01, y=-452.94, z=0.01, yaw=−1.01, pitch=23.32, roll=12.34 System Status Record This record is sent in response to the S command.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 2 C. 3 4-5 6-7 … Station Number. A hexadecimal number up to Sub-Record type, 'O' par1 par2 CR, LF For example, the default data list would be returned as: '21O 2 4 1<>' Station State Record This record is sent in response to an l{stationNum}<> command. If the stationNum parameter is omitted the record returns the state of the first four stations. This maintains compatibility with the Fastrak protocol.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Alignment Reference Frame Record This record is sent in response to an A{stationNum}<> command. It returns 9 ASCII floats that were last set with the A command. Each float is represented as 7 characters with 2 digits after the floating point. Units are centimeters. 2{stationNum}A{OxOyOzXxXyXzYxYyYz}<> Bytes 1 2 3 4-24 25-45 axis 46-66 axis 67-68 Explanation Record type , '2' Station Number. A hexadecimal number up to C.
InterSense Tip Offset Record Doc. No. 072-00105-0I07 Rev. 4.2 This record is sent in response to an N{stationNum}<> command. It returns 3 ASCII floats that were last set with the N command. Each float is represented as 7 characters with 3 digits after the floating point. Units are centimeters. 2{stationNum}N{Ox Oy Oz}<> Bytes 1 2 C. 3 4-11 12-19 20-27 28-29 Explanation Record type , '2' Station Number.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 4.5.4. InterSense-specific Records Manufacturer System Status Record This record is sent in response to an MS<> command. It returns a status record specific to the InterSense system. 31S{statusRecord}<> Bytes 1 2 3 4 5 6 7,8 Explanation Record type , '3' Station number.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Config Byte 0 Unused Config Byte 1 Corresponds to the Perceptual Enhancement Level. Can be 0, 1, or 2. The remaining 2 bits are reserved for future expansion of this option.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Genlock Synchronization Record This record is sent in response to MG<> command. It returns the current synchronization settings of the system. 31G{State}, {Rate}, {Number of cycles per signal}<> Bytes 1 2 3 4 5-11 12-14 15,16 Explanation Record type , '3' Always 1. Sub-Record type, 'G' State, 0 to 3 Strobe rate or Output record rate Number of computational cycles tracker performs between sync signals or output records.
InterSense Fixed PSE Record Doc. No. 072-00105-0I07 Rev. 4.2 This record is sent in response to MCF[Fixed PSE number]<> command. It returns the current settings of a single PSE or entire Constellation. 31F{Fixed PSE number}{Fixed PSE record}<> Bytes 1 2 3 4-10 11-40 41-61 62-68 69,70 Tracking Status Record Explanation Record type , '3' Constellation Number. Always '1' Sub-Record type, 'M' Fixed PSE number in ASCII decimal format. x, y, z components of position vector in 10.4f ASCII format.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 5. LCD Status & Settings Screen (Firmware 4.26 and higher) 5.1. Overview The LCD Status and Settings screen provides a simple and convenient way to view and change most of the tracking parameters, communication protocols, and IS-900 system settings without the requirement of a dedicated Windows PC running ISDEMO. The LCD panel also provides a simple way to place the IS-900 in “file transfer” communication mode for installing firmware updates.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Buttons for menu mode: Enter Select menu item at cursor or enter changed setting. Up/Down Move cursor to another menu item. Right/Left Scroll right/left when viewing error message. F2 Back up to parent menu. F1 Return to display mode. 5.2. Normal Operation (Steady State) During system start-up, the LCD displays a greeting and draws dots along the bottom row. While the dots are being drawn, “file transfer” mode can be invoked by pressing the F1 button.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 In Figure 36, the “T” indicates that Station 1 (or the Tracker connected into port 1 of the processor) is tracking. The “T” field next to each station number has different letter values that indicate: “T” = The station is tracking. “X” = The station status is invalid or wireless channel is off. “L” = The station is lost. “ ” = No station is connected or the station state is “off”.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Figure 39 - Communication Integrity Status for a Wired Tracking Station 1 The statistical values for “TQ” or tracking quality (shown in Figure 40) are represented by a percentage from 0 to 100%. 100% means that the station is tracking perfectly and 0% means it is lost. When an InertiaCube is plugged into a station port, the tracking quality is always 100% because no ultrasonic measurements are used by 3-DOF devices such as InertiaCubes.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Example of LCD Menu Navigation As example of a typical use for the LCD panel, here are the steps to find out the current firmware revision running on the IS-900. Refer to the menu flow chart in the next sectioin to follow the navigation steps outlined here. Step 1 – Change to Display mode When the system is running with one tracker attached at Port 1, the LCD is in display mode as shown in Figure 36.
InterSense 5.3. Doc. No. 072-00105-0I07 Rev. 4.2 IS-900 LCD Menu Flow Chart Figure 41 illustrates the flow chart for the IS-900 LCD menu. Communication Station Config System Config Errors Display Reset Encoders (reserved) Exit Menu 0. 9600 Baud 1. 19200 Baud 2. 38400 Baud 3. 115200 Baud BACK Baud Rate Data Output Ethernet BACK Inches Centimeters BACK Format Units Sample Mode BACK 0. Disabled 1. Manual 2.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 6. Appendix A – Frequently Asked Questions Q1. What is the maximum length of the cable between the IS-900 MicroTrax Tracked Devices and IS-900 Processor? The cable between the IS-900 Processor and the MicroTrax Devices has been tested to a length of 15 m (50 feet). This is the total length of cabling including the Tracker cable and the Tracker Extension cable. Q2.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 5 6 7 8 9 GND DSR RTS CTS RI Q6. Do you have any advice about working with software packages? InterSense maintains a list of software partners at http://www.intersense.com/softwarepartners. Please check this web page and then consult with the software vendor to determine compatibility. If the software package is not listed or you have any questions, contact InterSense technical support at techsupport@intersense.com. Q7.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 7. Appendix B – Troubleshooting & Tips Problem Reason/Solution ISDEMO doesn’t work / can’t connect to IS-900 Most common reasons (not in any order): 1) Connected to wrong COM port plug on the back of the computer. 2) The selected serial port is captured by another program and can’t be opened by ISDEMO. 3) The RS-232 cable running from the PCTracker Hub to the computer is not a null modem serial cable (crossed TX and RX lines).
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Tracker(s) are lost Check for the following: 1) A valid constellation for the SoniStrips is loaded. 2) The small microphones on the MicroTrax Device(s) are covered, upside down or the device is not located under the SoniStrip constellation. 3) From the main ISDEMO window, run a self test by selecting menu items “Tools System Self-Test” and then from the Tracker Hardware and Configuration Test window select menu item “Test Run Tests”.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 unit on the station port the last time the system was used Interference from a transmitter being used with another IS-900 system Channels for stations n and m are both set to x Link ID for stations n and m are both x Receivers are set to the same channel MicroTrax units are not compatible with each other in ISDEMO to set up radios (if using normal mode) Check for transmitter in the area that is powered on and set to the same channel.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 8. Appendix C – Health & Safety Warnings with Tracker Use Guidelines Important: Most of the side effects described in this section usually only occur when a tracking device, like an IS-900, is used with personal displays or 3D glasses. The symptoms listed below usually are referred to as “Simulator Sickness”. Read and follow the user instructions. Before using the IS-900, read and follow the user instructions.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Additional possible risks of harm. While tracking technology has been used for many years, the range of sensors that are used to calculate positional and angular data continues to develop. Over the last twenty years as considerable amount of research has been conducted into possible side effects induced in users of real time computing systems that include various types of tracking sensors.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 9. Appendix D – Care & Maintenance Care and Cleaning When not in use, always return your IS-900 wireless devices (Wand and Wireless Transmitter) to InterSense’s MicroTrax Docking Station or individual charger. The first step to keeping the IS-900 clean is to keep dirt and dust from accumulating. Try to keep the area around the system clear and clean. Open ports in the rear of the base unit can quickly accumulate dust and dirt that can affect their functioning.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 10. Appendix E – ISDEMO Reference For ISDEMO Versions 4.2703 and above. ISDEMO is a tool to help you test, diagnose and configure your system. With ISDEMO, it is possible to test all the features of the tracker. Use it also to set and save tracker configurations. Software included with your tracking device consists of the following: ISDEMO32.EXE Win32 version for use with Windows XP/Vista/7.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Select IS-900 Series interface and click Accept to begin. Use the Detect option from this first screen to detect serial communication port and baud rate parameters only if you have trouble setting them manually. The DLL Compatible interface can be used for all InterSense trackers when isense.dll is installed in the \WINDOWS\SYSTEM32 directory of a Windows PC.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 GENLOCK feature in on, but a valid signal is not being detected. See Appendix F for details about GENLOCK. Row 1 (Stn) lists station numbers. Row 2 (Status) displays the tracking status. Stations display T when tracking position, and L (Lost) when position tracking is not possible. If a station configuration is invalid or hardware is not connected, X is displayed.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 ISDEMO also has six primary menus in its main window: • • • • • • File Communications Parameters Display Tools Help The following sections will walk you through all of the menu options.
InterSense 10.2. Doc. No. 072-00105-0I07 Rev. 4.2 File Options The File menu (shown above) provides you with the following options: Select Hardware Device System Initialization window (also seen at initial start-up) is shown when Select Hardware Device is selected. Use this window to select or detect the tracker model connected to your computer. Configuration Lock Configuration lock commands are used to prevent unintentional changes to tracker configurations being saved to permanent memory.
InterSense 10.3. Doc. No. 072-00105-0I07 Rev. 4.2 Communications Options This menu allows the communications port and the baud rate of the computer ISDEMO is running on to be set to match the settings of the tracker. The default settings are COM1, with a rate of 115,200 baud. Communications Setup The IS-900 allows both Serial communications as well as Ethernet communications.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Serial Configuration Default settings are for the serial port set to COM1 with a baud rate of 115,200. Serial Port Choose the RS232 port the tracker is connected to. Baud Rate Choose the communications speed the tracker is set to. Connect ISDEMO attempts to connect to the IS-900 Processor using the selected communication parameters. Cancel Exits the screen saving the current selected communication parameters.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Ethernet Configuration Ethernet is supported with IS-900 firmware version 4.20 and higher. Ethernet is disabled by default. An IP address must be configured using the serial port or LCD menu to enable Ethernet communication. Refer to Section 4.2 to set an IP address for your IS900 tracker. Two Ethernet interface paths are available - a command interface (single client, bi-directional) and a UDP broadcast interface (multiple clients, receive only).
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Network Port The TCP port (defaults to 5005). UDP Broadcast State ON/OFF UDP Port Default is 5001, the Isense.DLL automatically checks ports 5001-5005. You can set the port from 1001 to 6535. 10.4. Parameter Options Parameters menu allows access to the tracker configuration controls.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Tracker System Parameters Output Mode Polled or Continuous. In Polled mode, data records are sent out only in response to a P command. Measurement (output record) Inches Centimeters Data Format ASCII (F command) Numbers are returned in ASCII format. Each number has 7 ASCII characters: a sign, 3 digits, a decimal point, and 2 more digits. Binary (f command) Floats are sent as 4 byte IEEE 32-bit floats.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Sync Rate Value in Hertz used with Genlock enabled. Sync Phase 0-100%. Please see section 11 for complete details. SoniDisc LEDs (ML command) Enable and disable the SoniStrip LEDs. Ultrasonic Volume Sets the volume of the SoniDiscs (ultrasonic emitters). Ranges between 0 (off) and 3 (maximum volume). Volume levels 2 and 3 are identical unless using a power booster, in which case volume 3 will be louder.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Station Configuration window Station ON/OFF When a station is ON, data records will be sent for it, even if there is no hardware connected to the IS-900. Perceptual Enhancement Level In order to provide the best performance for a large range of applications, three levels of perceptual enhancement are available. None of the modes introduce any additional latency. Mode 0 provides the best accuracy.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Mode 2 is recommended for use with HMD or other immersive applications. Drift correction adjustments are made smoothly and only while the sensor is moving, so as to be transparent to the user. Sensitivity Level This setting is only used when Perceptual Enhancement Level is set to 2. It controls the minimum angular rotation rate picked up by the MicroTrax inertial components. Default is level 3.
InterSense 10.4.1. Doc. No. 072-00105-0I07 Rev. 4.2 Wireless Configuration window The window below lists the wireless status and configuration for each processor port. Normal Mode Determines wireless communication by device Link IDs Anonymous Mode Determines wireless communication by wireless channel, and ignores Link IDs Port Port of the IS-900 Processor. Configured Channel The channel that the connected Base Receiver Module is configured to.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Normal Mode Use normal mode to set radios to desired channels and station IDs. Only stations with the specified IDs are connected to. Select a port with a Base Receiver Module connected and click Edit, or double-click on the line. The second screenshot depicts channel-sharing mode with two Link IDs, and is only available on 900 MHz Base Receiver Modules/Trackers. In the Port Settings dialog box, enter the channel (0-15 for 2.
InterSense 10.5. Doc. No. 072-00105-0I07 Rev. 4.2 Display Options Start (and Stop) Displaying Data To display position and orientation data being received from the tracker, use the Start Displaying Data option in the Display menu or press Ctrl-D. ISDEMO first attempts to establish communication and get all configuration information necessary to correctly interpret and display incoming data.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Please note that whenever your tracker is in continuous mode, records are displayed in the text window even when the display is off. 10.6.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Constellation™ Tool This tool provides a graphical representation of the tracked area. All tracked devices are shown. The Constellation Tool is extremely useful when first installing the IS-900 system. See Section 10.7 of the manual for more information. Constellation™ 3D This tool provides a rotatable 3D view of the current constellation, including normal vectors.
InterSense System Self-Test Doc. No. 072-00105-0I07 Rev. 4.2 There are three levels of tests supported for this release. Level 1 Designed to detect and display information on all the connected hardware and compare it to the user configuration to evaluate it for errors. This tool is designed for troubleshooting the system when hardware failure is suspected. Level 2 Displays the current Communication status, Tracking quality and URM noise for all active stations.
InterSense Level 3 Doc. No. 072-00105-0I07 Rev. 4.2 Level 3 Searches for wireless stations and displays wireless receiver and station configuration. Please note that the search operation can take a minute or so to complete. This tool is useful for identifying a wireless device if its ID is unknown. The ID is needed to use the ISDEMO Wireless Configuration Tool.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 The self-test procedures may generate warning and errors that are displayed at the end of the report. If errors are detected, corresponding error records are also generated and can be displayed in the Error Report tool. Log The system log file can be retrieved and viewed with the Log→Get System Log File option on the System Self Test screen. Command Log Creating a command log can be enabled with Command Log→Command Logging.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Data Capture/Playback Utility ISDEMO has the ability to write the data it receives from the tracker to a file. To utilize this feature you must first specify the name and location of the output file. To start data collection, select Record. Data can be Saved as is, or in an ASCII or Binary Flat File. When the Flat File option is selected, only tracker data is saved, one line per update cycle.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Configuration Script Tool This utility provides complete control over the tracker parameters, including support for multiple configurations. Contents of the display area of the window can be edited directly, like in any text editor. File Load from File Ctrl+O Opens a file selection dialog box. Configuration file must be a plain text file. Save to a File Ctrl+S Used to save the contents of the window to a text file.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 System Errors Some basic system errors and their meanings are listed in the table below. This is a partial list and does not contain all possible error codes; please contact InterSense for more information on specific error codes.
InterSense 10.7. Doc. No. 072-00105-0I07 Rev. 4.2 Constellation™ Configuration Tool Constellation™ Tool is used to configure and manage the Constellation™ of SoniDiscs. This is the most important part of tracker configuration, as it has a direct effect on quality of tracking. Terminology IS-900 models contain an ultrasonic subsystem that includes SoniDiscs (Ultrasonic Transponder Beacons) and Microphones (URMs).
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 3.1 for details on the InterSense standard coordinate system). stations is computed relative to that coordinate system. Position data for all Mobile PSE configuration is stored in the EPROM of each station and is configured automatically without user input. The Constellation, however, is custom for each installation and must be configured before the system can be used.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Constellation Menu Retrieve from Tracker ISDEMO requests the current Constellation from the IS-900 base unit and displays the received configuration. Any configuration displayed prior to this command is replaced. Send To Tracker Currently displayed configuration is sent to the tracker. This command is used to apply custom configuration once data entry has been completed. Please note that Constellation editing is done off line, so this step is required.
InterSense Insert Doc. No. 072-00105-0I07 Rev. 4.2 SoniDiscs in pre-calibrated configurations such as the SoniWing, SoniFrame, and L-Frame can be added to the Constellation with this feature. By selecting one of the three choices, ISDEMO will prompt the user to enter information about the hardware in use. After selecting the proper settings for the hardware you intend to use, ISDEMO will add the associated SoniDiscs to the Constellation.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Undo Center Tracker The effects of Center Tracker command are removed and display origin is aligned with the origin of the coordinate system.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Define Coordinate System Used to specify the exact location of your origin when using a total station to measure the exact XYZ locations of your SoniDiscs. Move Coordinate System Used to move the origin of the coordinate system to a new location. After this menu item is selected, left-click in the display area and while holding the button down, move the mouse. The coordinate system will then move with the mouse.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Display Menu Start Displaying Data Turns the display on. Configured stations are displayed in green when tracking, or in red if lost. When display is on, SoniDiscs in the Constellation are displayed in green when they are used for tracking or in red, if range measurements received are rejected by the tracker. During normal operation SoniDiscs should not consistently appear red.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 and YZ views can be used. The coordinate system is righthanded with X forward, Y to the right and Z pointing down. Using the Constellation Constellation Graphical Interface to manually configure a By “right-clicking” your mouse in the constellation window, a list of options to manually configure your Constellation appears. Use your mouse to select which SoniStrip and/or SoniDiscs you would like to manipulate.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Inserting SoniStrips 1. Right-click in the Constellation Tool window at the position where the new SoniStrip is to be placed. 2. Select Insert Rev3 SoniStrip item. Rev1 and Rev2 SoniStrips are not generally used with IS-900 SimTracker or VETracker processor configurations (though InterSense does have hubs which provide backward compatibility with existing SoniStrips). A window listing available SoniStrip options is displayed. Select one and click OK.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Move SoniStrips (right-click menu) Select one or more emitters first (the actual circles need to be selected, not just the SoniStrip grouping). All values are entered in meters. This menu allows both displacement and rotation along/about all axes. Units are in meters. Line-up SoniStrips (right-click menu) This tool changes the orientation of all selected SoniStrips to match one of them.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Set X/Y/Z Spacing (right-click menu) This tool applies a set spacing to the group of selected SoniStrips. Value is entered in meters. The order of the SoniStrips is preserved. For example, when setting up a grid attached to a drop ceiling with 2 foot tiles, enter 0.6096 and click Apply. Light Up SoniDisc (right-click menu) This option is extremely helpful in diagnosing potential cabling and/or configuration problems.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Tools Menu Constellation 3D IS-900 User Guide This tool gives a three dimensional view of the constellation, as well as all tracked devices. Each SoniDisc is drawn with a normal vector and optional beacon ID number. Use the slide bars or mouse to zoom in and out. Click and drag the main view to rotate the constellation. Left click rotates, right click drags, and scroll wheel zooms.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 The Constellation 3D tool also includes a three dimensional performance tool. This feature will allow an end user to estimate the ultrasonic signal strength and tracking geometry quality under a Constellation. For more information on this tool click on About. Tracking Report Information is gathered about all PSEs. A history of when stations become ‘lost’ and then reacquire is also recorded at the bottom of the file.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Microscribe-3DX Using a Microscribe is an extremely accurate way to measure the positions of your SonisDiscs. First, Set up and initialize the Microscribe. Plug the microscribe into a serial port (COM1 through COM4) of your PC. In the main window of ISDEMO, change the communications parameters to the COM port. Next use the right-click insert function of ISDEMO Constellation Tool. Select a SoniDisc you would like to map by highlighting it.
InterSense 10.8. Doc. No. 072-00105-0I07 Rev. 4.2 RF Scope RFScope usage In order to set channels optimally, it is recommended that the RFScope utility be used to check for wireless interference from sources such as wireless LANs and other portable devices operating in the 900 MHz or 2.4 GHz bands supported by the IS-900 receivers.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 The RFScope display consists of several sections. The section at the top shows the current, peak, and moving average signal strength values in 1 MHz increments from 2405 to 2480 MHz (or 904 to 926 MHz), as reported by the receiver. The current measurements are shown with a green line graph, the peak signal strength is shown as a dark red bar graph, and the moving average lines are shown as yellow lines that gradually decrease in strength.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 11. Appendix F – GENLOCK Synchronization 11.1. Why Use GENLOCK? GENLOCK synchronization is used to guarantee constant latency between the sampling of the motion tracking sensor and the current image on the display device. Any change in the amount of latency between these two events appears as jitter in orientation when the head is rotating. For typical head rotation rates of 300 degrees/sec, a timing difference of 6.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 By choosing to have the data port output occur at one of the earlier numbered phase points, there is a bit more latency, but also more slack to allow for an occasional rendering cycle that just slightly exceeds the allotted 16.7 ms. Figure 43 illustrates the tracker set up to output data at phase point # 3.
InterSense 11.2. Doc. No. 072-00105-0I07 Rev. 4.2 Configuring the IS-900 for GENLOCK The default operation of the tracker is free run. That is, the tracker performs updates and, in continuous mode, outputs data records as rapidly as it can. GENLOCK operation causes the tracker to synchronize updates and data record output to an external sync signal or to an internal clock. When external GENLOCK is enabled and a valid sync signal is provided, it may take several seconds to stabilize tracking.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Enabling GENLOCK via Command Send the C command to the tracker to place it in continuous mode. If the tracker is used in polled mode, its internal updates will be synchronized to the sync signal but data record output will not. Send the InterSense-specific GENLOCK command to the tracker. MG[state,[rate]]<> State 0 Genlock off (free run) 1 Reserved—has no effect on the GENLOCK state. 2 Use external sync, strobe rate specified by rate parameter (manual).
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Verifying Synchronization To verify GENLOCK is working with the IS-900, check the GENLOCK indicator in the lower-right corner of the LCD on the front panel of the processor. When GENLOCK is on and stable, the indicator displays “G”, otherwise the indicator displays an “X” indicating GENLOCK is enabled but the processor is not synchronized. If “G” or “X” is not displayed, then GENLOCK is off.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 12. Appendix G – Developers Instructions For InterSense SDK Version 4.23 or higher. 12.1. Introduction This document describes the interface to be used by the application software to initialize and retrieve data from the InterSense devices using the InterSense library (isense.dll / libisense.so / libisense.dylib). This library and API is provided to simplify communications with all models of InterSense tracking devices.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 12.3. Usage The API provides an extensive set of functions that can read and set tracker configuration, but in its simplest form can be limited to just 3 or 4 function calls, as shown in the simple example below: #include #include "isense.h" #ifdef UNIX #include
InterSense 12.4. Doc. No. 072-00105-0I07 Rev. 4.2 API ISD_TRACKER_HANDLE ISD_OpenTracker( HWND hParent, DWORD commPort, Bool infoScreen, Bool verbose ) This function is used for opening a single tracker. It may be called multiple times in order to open multiple trackers, though typically using ISD_OpenAllTrackers()is recommended instead for use with multiple trackers. hParent Handle to the parent window.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 pointer will be populated with handles for all detected trackers when this function returns. infoScreen This feature has not been implemented. Its purpose is to display an information window to show the tracker detection progress and results. Currently DLL writes only to Windows console. Most applications should pass FALSE. verbose Pass TRUE if you would like a more detailed report of the DLL activity. Messages are printed to Windows console.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 When used with IS Precision Series (IS-300, IS-600, and IS-900) tracking devices this function call will set ultrasonic and synchronization parameters, all other fields in the ISD_TRACKER_INFO_TYPE structure are for information purposes only. handle Handle to the tracking device. This is a handle returned by ISD_OpenTracker() or ISD_OpenAllTrackers(). Tracker Pointer to a structure of type ISD_TRACKER_INFO_TYPE. The structure definition is given below.
InterSense Station Doc. No. 072-00105-0I07 Rev. 4.2 Pointer to a structure of type ISD_STATION_INFO_TYPE. The structure definition is given below. stationID Number from 1 to ISD_MAX_STATIONS. Bool ISD_GetStationConfig( ISD_TRACKER_HANDLE handle, ISD_STATION_INFO_TYPE *Station, WORD stationID, Bool verbose ) Fills the ISD_STATION_INFO_TYPE structure with current settings. handle Handle to the tracking device. This is a handle returned by ISD_OpenTracker() or ISD_OpenAllTrackers().
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Bool ISD_GetTrackingData( ISD_TRACKER_HANDLE handle, ISD_TRACKING_DATA_TYPE *Data ) Get data from all configured stations. Data is places in the ISD_TRACKING_DATA_TYPE structure. TimeStamp is only available if requested by setting TimeStamped field to TRUE. Returns FALSE if failed for any reason. handle Handle to the tracking device. This is a handle returned by ISD_OpenTracker() or ISD_OpenAllTrackers().
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Bool ISD_RingBufferStart( ISD_TRACKER_HANDLE handle, WORD stationID ) Activate the ring buffer. While active, all data samples are stored in the buffer. Because this is a ring buffer, it will only store the number of samples specified in the call to ISD_RingBufferSetup(), so the oldest samples can be overwritten. handle Handle to the tracking device. This is a handle returned by ISD_OpenTracker() or ISD_OpenAllTrackers().
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Bool ISD_ResetHeading( ISD_TRACKER_HANDLE handle, WORD stationID ) Reset heading (yaw) to zero. handle Handle to the tracking device. This is a handle returned by ISD_OpenTracker() or ISD_OpenAllTrackers(). stationID Number from 1 to ISD_MAX_STATIONS. Bool ISD_BoresightReferenced( ISD_TRACKER_HANDLE handle, WORD stationID, float yaw, float pitch, float roll ) Boresight station using specific reference angles.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 stationID Number from 1 to ISD_MAX_STATIONS. set TRUE or FALSE, to set to clear boresight, respectively. Bool ISD_SendScript( ISD_TRACKER_HANDLE handle, char *script ) Send a configuration script to the tracker. Script must consist of valid commands as described in the interface protocol. Commands in the script should be terminated by the newline character '\n'. The linefeed character '\r' is added by the function and is not required.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Bool ISD_NumOpenTrackers( WORD *num ) The number of currently opened trackers is stored in the parameter passed to this function. float ISD_GetTime( void ) Platform independent time function. Bool ISD_UdpDataBroadcast( ISD_TRACKER_HANDLE handle, DWORD port, ISD_TRACKING_DATA_TYPE *trackingData, ISD_CAMERA_DATA_TYPE *cameraData ) Broadcast tracker data over the network using UDP broadcast. handle Handle to the tracking device.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Bool ISD_GetStationHardwareInfo( ISD_TRACKER_HANDLE handle, ISD_STATION_HARDWARE_INFO_TYPE *info, WORD stationID ) Retrieve station hardware information. Stations are individual devices (such as a wand or head tracker) connected to a tracker (such as an IS-900). handle Handle to the tracking device. This is a handle returned by ISD_OpenTracker() or ISD_OpenAllTrackers(). info An ISD_STATION_HARDWARE_INFO_TYPE structure containing the information.
InterSense 12.5. Doc. No. 072-00105-0I07 Rev. 4.2 Data Structures 12.5.1.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 SyncState Applies to IS-X Series devices only. Can be one of 4 values: 0 - OFF, system is in free run 1 – Not used 2 - ON, hardware genlock frequency is specified by the user 3 - ON, no hardware signal, lock to the user specified frequency SyncRate Sync frequency - number of hardware sync signals per second, or, if SyncState is 3 - data record output frequency. SyncPhase The time within the sync period at which a data record is transmitted.
InterSense 12.5.2. Doc. No. 072-00105-0I07 Rev. 4.2 ISD_STATION_INFO_TYPE This data structure is used to get and set station configuration, using ISD_GetStationConfig() and ISD_SetStationConfig().
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 0 and 1, which stood for ON or OFF. Please use the new notation. This API will correctly interpret the settings. InertiaCube InertiaCube associated with this station. If no InertiaCube is assigned, this number is -1. Otherwise, it is a positive number 1 to ISD_MAX_STATIONS. Only relevant for IS-300 and IS-600 Series devices. For IS-900 systems, it is always the same as the station number, for InterTrax and InertiaCubes it’s always 1.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Prediction Inertial sensors can predict motion up to 50 ms into the future, which compensates for graphics rendering delays and further contributes to eliminating simulator lag. Supported by IS-300, IS-600, IS-900 and InertiaCubes. Not available for the InterTrax. AngleFormat ISD_EULER or ISD_QUATERNION. The Euler angles are defined as rotations about Z, then Y, then X in body frame. Angles are returned in degrees. Default is ISD_EULER.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 CoordFrame Coordinate frame in which position and orientation data is reported. Can be ISD_DEFAULT_FRAME or ISD_VSET_FRAME. Second is used for camera tracker only. Default is ISD_DEFAULT_FRAME. AccelSensitivity AccelSensitivity is used for 3-DOF tracking with InertiaCube products only. It controls how fast tilt correction, using accelerometers, is applied. Valid values are 1 to 4, with 2 as default.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 12.5.3. ISD_TRACKING_DATA_TYPE This data structure is used to return current data for a station, including position, orientation, time stamp, button and analog channel state.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 TrackingStatus Tracking status byte. Available only with IS-900 firmware versions 4.13 and higher, and isense.dll versions 3.54 and higher. It is a value from 0 to 255 that represents tracking quality. 0 represents lost. NewData TRUE if this is new data. Every time ISD_GetData() is called this flag is reset.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 AngularVelBodyFrame rad/sec, in sensor body coordinate frame. Reported as rates about X, Y and Z axes, corresponding to Roll, Pitch, Yaw order. This is the processed angular rate, with current biases removed. This is the angular rate used to produce orientation updates. AngularVelNavFrame rad/sec, in world coordinate frame, with boresight and other transformations applied. Reported as rates about X, Y and Z axes, corresponding to Roll, Pitch, Yaw order.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 necessary to for tracking purposes. Relative magnitudes should be accurate, however. Fixed metal compass calibration may rescale the values.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 12.5.4. ISD_HARDWARE_INFO_TYPE This data structure is used to return system hardware information using ISD_GetSystemHardwareInfo(). For more detailed descriptions of elements in the structure, please reference the comments in the isense.h file.
InterSense Doc. No. 072-00105-0I07 Rev. 4.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 12.5.5. ISD_STATION_HARDWARE_INFO_TYPE This data structure is used to return station (individual tracking device) hardware information using ISD_GetStationHardwareInfo(). For more detailed descriptions of elements in the structure, please reference the comments in the isense.h file.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 12.5.6. ISD_PORT_WIRELESS_INFO_TYPE This data structure is used to information about the wireless hardware on a given port, using ISD_GetPortWirelessInfo(). The radioVersion field can be used to check the type of radio hardware: 2.4 2.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 13. Appendix H – Interface Protocol Commands – Quick Reference For further detail, see: Section 4.2 Standard Fastrak™ Interface Commands, pages 63-71. Section 4.3 Fastrak™ Commands Implemented for Compatibility, page 71. Section 4.4 InterSense specific Commands, pages 71-80.
InterSense Doc. No. 072-00105-0I07 Rev. 4.2 Output record list settings O{stationNum},[p1],[p2],[p3],.....
InterSense Doc. No. 072-00105-0I07 Rev. 4.
