CHRobotics CHR-UM6 magnetic, angular rate, and gravity (MARG) sensor

Supported hardware devices

• Link to manufacturer's website: http://www.chrobotics.com/shop/orientation-sensor-um6

Supported platforms

• Windows 32 bits
• Windows 64 bits
• Windows XP embedded 32 bits

Installation

• Contains accelerometer, gyroscope, and magnetometer sensors, each with 3 DOF.
• Small (few centimeters by few centimeters), low-cost (about $200) device.
• Sensor fusion algorithm is integrated into the device.
• Need to enable the following options in the firmware: "Broadcast" and "Euler Output".
• Gyroscope bias correction may (depending on settings in the Firmware) be performed automatically when powering up the device. Therefore after the powering the device it shall be kept stationary for a few seconds.

Device configuration settings

• 
  Type = "ChRobotics"
  
• 
  AcquisitionRate
  

  Default = "20"
• 
  LocalTimeOffsetSec
  

  Default = "0"
• 
  ToolReferenceFrame
  

  Default = "Tracker"
• 
  SerialPort Used COM port number for serial communication (ComPort: 1 => Port name: "COM1").
  

  Default = "5"
• 
  BaudRate Baud rate for serial communication.
  

  Default = "115200"
• 
  FirmwareDirectory Directory path containing the XML files that describes the device firmware (available registers, calibration, etc.). The path can be relative to the configuration directory.
  

  Default = "Absolute path of the executable"
• 
  DataSources Exactly one DataSource child element is required.
  
  • 
    DataSource
    
    • 
      PortName = "OrientationSensor"
      
    • 
      BufferSize
      

      Default = "150"
    • 
      AveragedItemsForFiltering
      

      Default = "20"

Example configuration file PlusDeviceSet_Server_ChRobotics.xml

<PlusConfiguration version="2.1">

  <DataCollection StartupDelaySec="1.0">
    <DeviceSet 
      Name="PlusServer: CHRobotics CH3-UM6 MARG sensor" 
      Description="Broadcasting tool tracking data through OpenIGTLink"
    />
    <Device 
      Id="TrackerDevice"
      Type="ChRobotics"
      SerialPort="5"
      BaudRate="115200"
      FirmwareDirectory="ChRoboticsFirmware"
      ToolReferenceFrame="Tracker" >
      <DataSources>
        <DataSource Type="Tool" Id="OrientationSensor" PortName="OrientationSensor" />
      </DataSources>
      <OutputChannels>
        <OutputChannel Id="TrackerStream">
          <DataSource Id="OrientationSensor"/>
        </OutputChannel>
      </OutputChannels>
    </Device>    
    <Device
      Id="CaptureDevice"
      Type="VirtualCapture"
      BaseFilename="RecordingTest.igs.mha"
      EnableCapturingOnStart="FALSE" >
      <InputChannels>
        <InputChannel Id="TrackerStream" />
      </InputChannels>
    </Device>
  </DataCollection>
  
  <PlusOpenIGTLinkServer 
    MaxNumberOfIgtlMessagesToSend="1" 
    MaxTimeSpentWithProcessingMs="50" 
    ListeningPort="18944" 
    OutputChannelId="TrackerStream"
    > 
    <DefaultClientInfo> 
      <MessageTypes> 
        <Message Type="TRANSFORM" />
      </MessageTypes>
      <TransformNames> 
        <Transform Name="OrientationSensorToTracker" /> 
        <xTransform Name="AccelerometerToTracker" /> 
        <xTransform Name="GyroscopeToTracker" /> 
        <xTransform Name="MagnetometerToTracker" /> 
      </TransformNames>
    </DefaultClientInfo>
  </PlusOpenIGTLinkServer>
  
</PlusConfiguration>