TRAX User Manual r09.2

User Manual
TRAX
Attitude & Heading Reference System (AHRS)
Table of Contents
1 COPYRIGHT & WARRANTY INFORMATION ................................................. 1
2 INTRODUCTION ......................................................................................... 2
3 SPECIFICATIONS ......................................................................................... 3
3.1 Characteristics & Requirements ........................................................... 3
3.2 Mechanical Drawings ............................................................................ 6
4 SET-UP ....................................................................................................... 7
4.1 Electrical Connections ........................................................................... 7
4.2 Installation Location.............................................................................. 8
4.2.1 Operate within the TRAX’s dynamic range .................................. 8
4.2.2 Locate away from changing magnetic fields ............................... 8
4.2.3 Mount in a physically stable location .......................................... 8
4.3 Mechanical Mounting ........................................................................... 8
4.3.1 Pitch and Roll Convention ............................................................ 8
4.3.2 Coordinate System ....................................................................... 9
4.3.3 Mounting Orientation .................................................................. 9
5 USER CALIBRATION .................................................................................. 11
5.1 Magnetic Calibration........................................................................... 12
5.1.1 Full-Range Calibration ................................................................ 15
5.1.2 2D Calibration ............................................................................ 21
5.1.3 Limited-Tilt Calibration .............................................................. 22
5.1.4 Hard-Iron-Only Calibration ........................................................ 23
5.2 Accelerometer Calibration .................................................................. 23
5.2.1 Accel-Only Calibration................................................................ 24
5.2.2 Mag-and-Accel Calibration ........................................................ 25
6 OPERATION WITH TRAX STUDIO .............................................................. 26
6.1 Installation .......................................................................................... 26
6.2 TRAX Studio Header and Connecting to TRAX Studio ........................ 26
6.3 TRAX Studio Footer and Saving/Applying Settings ............................. 27
6.4 Configuration Tab ............................................................................... 28
6.4.1 General Settings ......................................................................... 29
6.4.2 Acquisition Settings.................................................................... 30
6.5 Calibration and the Calibration Tab .................................................... 31
6.5.1 Calibration Settings .................................................................... 32
6.5.2 Performing a Calibration ............................................................ 33
6.5.3 Calibration Results ..................................................................... 34
6.6 Test Tab ............................................................................................... 35
6.7 Log Data Tab ....................................................................................... 38
6.8 Graph Tab............................................................................................ 39
6.9 System Log Tab ................................................................................... 40
PNI Sensor Corporation DOC#1016505 r09.2

TRAX User Manual Page i
7 OPERATION WITH PNI BINARY PROTOCOL ............................................... 41
7.1 Datagram Structure ............................................................................ 41
7.2 Parameter Formats ............................................................................. 42
7.2.1 Endianness ................................................................................. 42
7.2.2 Floating Point ............................................................................. 42
7.2.3 Signed Integer ............................................................................ 43
7.2.4 Unsigned Integer ........................................................................ 44
7.2.5 Boolean ...................................................................................... 44
7.3 Commands Overview .......................................................................... 45
7.4 Set-Up Commands .............................................................................. 46
7.4.1 Module Information................................................................... 46
7.4.2 Module Configuration ................................................................ 46
7.4.3 Saving Settings ........................................................................... 51
7.5 Measurement Commands .................................................................. 51
7.5.1 Setting the Reference Magnetic Field Criteria........................... 51
7.5.2 Data Acquisition Parameters ..................................................... 52
7.5.3 Data Components ...................................................................... 53
7.5.4 Making a Measurement ............................................................. 55
7.6 Calibration Commands........................................................................ 56
7.6.1 User Calibration Commands ...................................................... 56
7.6.2 Performing a User calibration .................................................... 58
7.6.3 Calibration Score ........................................................................ 58
7.6.4 Factory Calibration ..................................................................... 59
7.7 Compass Mode Commands ................................................................ 60
7.7.1 Switching Functional Mode ....................................................... 60
7.7.2 FIR Filters.................................................................................... 61
7.7.3 Power Down/Up ........................................................................ 63
7.8 Using Multiple Coefficient Sets ........................................................... 63

TRAX User Manual Page ii
List of Figures
Figure 3-1: Typical Current Drawing During Application of External Power ......... 4
Figure 3-2: TRAX PCA Mechanical Drawing ........................................................... 6
Figure 3-3: Molex-to-Pigtail Cable Drawing, pn 12415 .......................................... 6
Figure 3-4: Molex-to-USB Cable Drawing, pn 13119 ............................................. 6
Figure 4-1: Positive & Negative Roll and Pitch Definition...................................... 9
Figure 4-2: TRAX Enclosed Mounting Orientations ............................................. 10
Figure 5-1: 12 Point Full-Range Calibration ......................................................... 21
Figure 5-2: Accelerometer Calibration Starting Orientations .............................. 25
Figure 7-1: Datagram Structure ........................................................................... 41
List of Tables
Table 3-1: Performance Specifications1 ................................................................. 3
Table 3-2: Absolute Maximum Ratings .................................................................. 4
Table 3-3: Electrical Requirements ........................................................................ 4
Table 3-4: I/O Characteristics................................................................................. 5
Table 3-5: Environmental Requirements ............................................................... 5
Table 3-6: Mechanical Characteristics ................................................................... 5
Table 4-1: TRAX Pin Descriptions ........................................................................... 7
Table 5-1: Magnetic Calibration Mode Summary ................................................ 13
Table 5-2: 12 Point Full-Range Calibration Pattern ............................................. 17
Table 5-3: 12 Point 2D Calibration Pattern .......................................................... 22
Table 5-4: 12 Point Limited-Tilt Calibration Pattern ............................................ 22
Table 5-5: 6 Point Hard-Iron-Only Calibration Pattern ........................................ 23
Table 7-1: Port Configuration............................................................................... 41
Table 7-2: TRAX Command Set ............................................................................ 45
Table 7-3: Configuration Identifiers ..................................................................... 47
Table 7-4: Sample Points...................................................................................... 49
Table 7-5: Component Identifiers ........................................................................ 53
Table 7-6: Recommended FIR Filter Tap Values .................................................. 61
Table 7-7: Multiple Coefficient Command List ..................................................... 64

TRAX User Manual Page iii
1 Copyright & Warranty Information
© Copyright PNI Sensor Corporation 2011. Revised December 2014.
All Rights Reserved. Reproduction, adaptation, or translation without prior written permission is prohibited, except
as allowed under copyright laws. For the most recent version of this manual, visit our website at www.pnicorp.com.
PNI Sensor Corporation
2331 Circadian Way
Santa Rosa, CA 95407, USA
Tel: (707) 566-2260
Fax: (707) 566-2261
Warranty and Limitation of Liability. PNI Sensor Corporation ("PNI") manufactures its TRAX products
(“Products”) from parts and components that are new or equivalent to new in performance. PNI warrants that each
Product to be delivered hereunder, if properly used, will, for one year following the date of shipment unless a
different warranty time period for such Product is specified: (i) in PNI‟s Price List in effect at time of order
acceptance; or (ii) on PNI‟s web site (www.pnicorp.com) at time of order acceptance, be free from defects in
material and workmanship and will operate in accordance with PNI‟s published specifications and documentation
for the Product in effect at time of order. PNI will make no changes to the specifications or manufacturing processes
that affect form, fit, or function of the Product without written notice to the OEM, however, PNI may at any time,
without such notice, make minor changes to specifications or manufacturing processes that do not affect the form,
fit, or function of the Product. This warranty will be void if the Products‟ serial number, or other identification
marks have been defaced, damaged, or removed. This warranty does not cover wear and tear due to normal use, or
damage to the Product as the result of improper usage, neglect of care, alteration, accident, or unauthorized repair.
THE ABOVE WARRANTY IS IN LIEU OF ANY OTHER WARRANTY, WHETHER EXPRESS, IMPLIED,
OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, ANY WARRANTY OF MERCHANTABILITY,
FITNESS FOR ANY PARTICULAR PURPOSE, OR ANY WARRANTY OTHERWISE ARISING OUT OF
ANY PROPOSAL, SPECIFICATION, OR SAMPLE. PNI NEITHER ASSUMES NOR AUTHORIZES ANY
PERSON TO ASSUME FOR IT ANY OTHER LIABILITY.
If any Product furnished hereunder fails to conform to the above warranty, OEM‟s sole and exclusive remedy and
PNI‟s sole and exclusive liability will be, at PNI‟s option, to repair, replace, or credit OEM‟s account with an
amount equal to the price paid for any such Product which fails during the applicable warranty period provided that
(i) OEM promptly notifies PNI in writing that such Product is defective and furnishes an explanation of the
deficiency; (ii) such Product is returned to PNI‟s service facility at OEM‟s risk and expense; and (iii) PNI is satisfied
that claimed deficiencies exist and were not caused by accident, misuse, neglect, alteration, repair, improper
installation, or improper testing. If a Product is defective, transportation charges for the return of the Product to
OEM within the United States and Canada will be paid by PNI. For all other locations, the warranty excludes all
costs of shipping, customs clearance, and other related charges. PNI will have a reasonable time to make repairs or
to replace the Product or to credit OEM‟s account. PNI warrants any such repaired or replacement Product to be
free from defects in material and workmanship on the same terms as the Product originally purchased.
Except for the breach of warranty remedies set forth herein, or for personal injury, PNI shall have no liability for any
indirect or speculative damages (including, but not limited to, consequential, incidental, punitive and special
damages) relating to the use of or inability to use this Product, whether arising out of contract, negligence, tort, or
under any warranty theory, or for infringement of any other party‟s intellectual property rights, irrespective of
whether PNI had advance notice of the possibility of any such damages, including, but not limited to, loss of use,
revenue or profit. In no event shall PNI‟s total liability for all claims regarding a Product exceed the price paid for
the Product. PNI neither assumes nor authorizes any person to assume for it any other liabilities.
Some states and provinces do not allow limitations on how long an implied warranty lasts or the exclusion or
limitation of incidental or consequential damages, so the above limitations or exclusions may not apply to you. This
warranty gives you specific legal rights and you may have other rights that vary by state or province.

TRAX User Manual Page 1
2 Introduction
Thank you for purchasing PNI Sensor Corporation‟s TRAX attitude & heading reference system
(AHRS). The TRAX employs a proprietary Kalman filtering algorithm that intelligently fuses
PNI's patented Reference Magnetic Sensors with a 3-axis gyroscope and 3-axis accelerometer.
The result is an orientation device that provides accurate heading information under a wide
variety of conditions, including its ability to overcome errors normally caused by erratic motion
and/or changes in the local magnetic field. The advanced features of the TRAX make it ideal for
a variety of applications, including:
 Unmanned Ground Vehicles (UGV) – Robots and Unmanned Conversions
 Unmanned Underwater Vehicles (UUV) – Autonomous Gliders and ROV‟s
We‟re sure the TRAX will help you to achieve the greatest performance from your system.
Thank you for selecting the TRAX.

3 Specifications
3.1 Characteristics & Requirements
Table 3-1: Performance Specifications1
Parameter Value
Accuracy2 2.0° rms
Heading
Resolution 0.1°
AHRS Pitch ± 90°
Range
Mode Roll ± 180°
Attitude
Accuracy 2.0° rms
Resolution 0.01°
Static Accuracy3 0.3° rms
Heading Resolution 0.1°
Repeatability 0.05° rms
Compass Pitch ± 90°
Range
Mode Roll ± 180°
Attitude Static Accuracy 0.2° rms
Resolution 0.01°
Repeatability 0.05° rms
Footnotes:
1. Specifications are typical unless otherwise noted, and subject to change.
2. Assumes heading status is “1”. See Section 6.6 or Section 7.5.3 for a
discussion on heading status.
3. Assumes TRAX is motionless, the local magnetic field is clean relative to
user calibration, ≤65° of pitch, and after a Full-Range calibration has been
performed.

Table 3-2: Absolute Maximum Ratings
Parameter Minimum Maximum Units

Supply Voltage -0.3 +10 VDC
Storage Temperature -40 +85 °C
CAUTION:
Stresses beyond those listed above may cause permanent damage to the device.
These are stress ratings only. Operation of the device at these or other conditions
beyond those indicated in the operational sections of the specifications is not implied.
Table 3-3: Electrical Requirements
Parameter Value
Supply Voltage 3.8 to 9 VDC
High Level Input 2.4 V minimum
Low Level Input 0.6 V maximum
Communication Lines
Output Voltage Swing ±5.2 V typ., ±5.0 V min.
Tx Output Resistance 300 Ω
AHRS Mode@ max.
55 mA typical
sample rate
Compass Mode @
28 mA typical
Current Draw max. sample rate
During application of
See Figure 3-1
external power
Sleep Mode 0.5 mA typical
Figure 3-1: Typical Current Drawing During Application of External Power

Table 3-4: I/O Characteristics
Parameter Value
Communication Interface RS232 UART & USB
Communication Protocol PNI Binary
Communication Rate1 2400 to 921,600 baud
Maximum Data Output Rate ≈30 samples/sec
Footnote:
1. The TRAX can operate up to 921,600 baud, but native RS232 is limited to
115,200 baud.
Table 3-5: Environmental Requirements
Parameter Value
Operating Temperature1 -40C to +85C
Storage Temperature -40C to +85C
Footnote:
1. To meet performance specifications across this range, recalibration will be
necessary as the temperature varies.
Table 3-6: Mechanical Characteristics
Parameter Value
Dimensions (l x w x h) 3.5 x 4.3 x 1.0 cm
Weight 7 gm
Connector 9-pin Molex, pn 53780-0970

3.2 Mechanical Drawings
Figure 3-2: TRAX PCA Mechanical Drawing
Figure 3-3: Molex-to-Pigtail Cable Drawing, pn 12415
Figure 3-4: Molex-to-USB Cable Drawing, pn 13119

4 Set-Up
This section describes how to configure the TRAX in your host system. To install the TRAX
into your system, follow these steps:
 Make electrical connections to the TRAX.
 Evaluate the TRAX using the TRAX Studio program, or a binary terminal emulation
program, such as RealTerm or Tera Term, to ensure the TRAX is working properly.
 Choose a mounting location.
 Mechanically mount the TRAX in the host system.
 Perform a user calibration.
4.1 Electrical Connections

The TRAX PCA incorporates a 9 pin Molex connector, part number 53780-0970, which
mates with Molex part 51146-0900 or equivalent. The pin-out for both is given below in
Table 4-1.
Table 4-1: TRAX Pin Descriptions
TRAX PCA
1
Pin # 9 Pin Molex Pigtailed Cable
Connector Wire Color
1 Ground Black
2 USB +5 VDC Gray
3 Ground Green
4 Not Connected Orange
5 USB D– Violet
6 USB D+ Brown
7 RS232 Tx Yellow
8 RS232 Rx Blue
9 RS232 +5 VDC Red
Footnote:
1. Pin #1 is indicated on Figure 3-2.
After making the electrical connections, it is a good idea to perform some simple tests to
ensure the TRAX is working as expected. See Section 6 for how to operate the TRAX with
TRAX Studio or Section 7 for how to operate the TRAX using PNI‟s binary protocol.

4.2 Installation Location
The TRAX‟s wide dynamic range and sophisticated algorithms allow it to operate in many
environments. For optimal performance however, you should mount the TRAX with the
following considerations in mind:
4.2.1 Operate within the TRAX’s dynamic range

The TRAX can be user calibrated to correct for static magnetic fields created by the host
system. However, each axis of the TRAX has a calibrated dynamic range of ±125 µT. If
the total field exceeds this value for any axis, the TRAX may not perform to
specification. When mounting the TRAX, consider the effect of any sources of magnetic
fields in the host environment that, when added to Earth‟s field, may take the TRAX out
of its dynamic range. For example, large masses of ferrous metals such as transformers
and vehicle chassis, large electric currents, permanent magnets such as electric motors,
and so on.
4.2.2 Locate away from changing magnetic fields

While the TRAX can compensate for transient changes in the local magnetic field, it is
good design practice to keep the TRAX away from sources of local magnetic distortion
that knowingly will change with time; such as electrical equipment that will be turned on
and off, or ferrous bodies that will move.
4.2.3 Mount in a physically stable location

Choose a location that is isolated from persistent vibration or other dynamic motion. The
TRAX can provide accurate headings while experiencing intermittent dynamic motion,
such as vibration or quick heading changes. But if this is persistent the TRAX will have
difficulty holding an accurate heading over extended periods of time.
4.3 Mechanical Mounting

The TRAX is factory calibrated with respect to its mounting holes. It must be aligned within
the host system with respect to these mounting holes. Ensure any stand-offs or screws used
to mount the TRAX are non-magnetic. Refer to Section 3.2 for dimensions, hole locations,
and the reference frame orientation.
4.3.1 Pitch and Roll Convention

The TRAX utilizes Euler angles as the primary method for providing orientation data,
although quaternions outputs also are available. The Euler angles are the common

method used for aircraft orientation, where the outputs are heading, pitch and roll. When
using Euler angles in aviation, roll is defined as the angle rotated around an axis through
the center of the fuselage, while pitch is rotation around an axis through the center of the
wings. These rotations are dependent on each other since the axes of rotation move with
the plane.
As shown in Figure 4-1, for the TRAX a positive pitch is when the front edge of the
board is rotated upward and a positive roll is when the right edge of the board is rotated
downward. The order of rotation is given as heading, pitch, and then roll.
Figure 4-1: Positive & Negative Roll and Pitch Definition
4.3.2 Coordinate System

The TRAX utilizes North East Down (NED) coordinate system (frame) to define X, Y
and Z axes as shown in Figure 4-1.
4.3.3 Mounting Orientation

The TRAX can be mounted in 16 different orientations, as shown in Figure 4-2. All
reference points are based on the silk-screened arrow on the top side of the TRAX PCA
board. The orientation should be programmed in the TRAX using the Configuration Tab
in TRAX Studio or using the kSetConfig command and the kMountingRef setting in the
PNI Protocol, as described in Section 7.4.2. The default orientation is “STD 0°”.

Figure 4-2: TRAX Enclosed Mounting Orientations

5 User Calibration
The magnetic sensor in the TRAX is calibrated at PNI‟s factory in a magnetically controlled
environment. However sources of magnetic distortion positioned near the TRAX in the user‟s
system will distort Earth‟s magnetic field and should be compensated for in the host system with
a user calibration. Examples of such sources include ferrous metals and alloys (ex. iron, nickel,
steel, etc.), batteries, audio speakers, current-carrying wires, and electric motors. Compensation
is accomplished by mounting the TRAX in the host system and performing a user calibration. It
is expected the sources of magnetic distortion remain fixed relative to the TRAX„s position
within the host system. By performing a calibration, the TRAX identifies the local sources of
magnetic distortion and negates their effects from the overall reading to provide an accurate
heading.
As with the magnetic sensor, the accelerometer in the TRAX is calibrated at PNI‟s factory. But
the accelerometer gradually changes over time, and the user either will need to periodically
perform a user accelerometer calibration or return the unit to PNI for recalibration. As a rule-of-
thumb, the accelerometer should be recalibrated every 6 to 12 months. Unlike a magnetic
calibration, the accelerometer may be calibrated outside the host system. Accelerometer
calibration is more sensitive to noise or hand jitter than magnetic calibration, especially for
subsequent use at high tilt angles. Because of this, a stabilized fixture is suggested for
accelerometer calibration, although resting the unit against a stable surface often is sufficient.
Key Points:
 Magnetic calibration:
o Requires incorporating the TRAX into the user‟s host system such that the
magnetic components of the user‟s system can be compensated for.
o Allows for 4 different methods of calibration. Full-Range Calibration provides
the highest heading accuracy, but requires ≥45° of pitch. 2D and Limited-Tilt
Calibration allow for good calibration when the range of allowable motion is
limited. Hard-Iron-Only Calibration updates the hard-iron compensation
coefficients with a relatively easy procedure.
 Accelerometer calibration requires rotating the TRAX through a full sphere of coverage,
but it does not need to be incorporated in the user‟s system during calibration.
 If the TRAX will experience different states during operation, such as operating with a
nearby shutter sometimes closed and sometimes open, or operating over a broad
temperature range, then different sets of calibration coefficients can be saved for the
various states. Up to 8 magnetic calibration coefficient sets and 3 accelerometer
calibration coefficient sets can be saved.

5.1 Magnetic Calibration
Two fundamental types of magnetic distortion exist: hard-iron and soft-iron. These are
discussed in the following paragraphs, plus a discussion on how temperature also affects
magnetic fields and other considerations. For more information on magnetic distortion and
calibration, see PNI‟s white paper “Local Magnetic Distortion Effects on 3-Axis
Compassing” at PNI‟s website (http://www.pnicorp.com/technology/papers).
Hard-Iron Effects
Hard-iron distortions are caused by permanent magnets and magnetized objects in
close proximity to the sensors. These distortions add or subtract a fixed component to
each axis of the magnetic field reading. Hard-iron distortions usually are unchanging
and in a constant location relative to the sensors, for all heading orientations.
Soft-Iron Effects
Magnetically “soft” materials effectively bend the magnetic field near them. These
materials have a high magnetic permeability, meaning they easily serve as a path for
magnetic field lines. Unlike hard-iron effects, soft-iron effects do not increase or
decrease the total field in the area. However, the effect of the soft-iron distortion
changes as the host system‟s orientation changes. Because of this, it is more difficult
to compensate for soft-iron materials.
Temperature Effects
While the hard-iron and soft-iron distortion of a system may remain quite stable over
time, normally the distortion signature will change over temperature. As a general
rule, the hard-iron component will change 1% per 10°C temperature change. Exactly
how this affects heading depends on several factors, most notably the hard-iron
component of the system and the inclination, or dip angle.
Consider the example of a host system with a 100 µT hard-iron component. This is a
fairly large hard-iron component, but not completely uncommon. A 10°C
temperature change will alter the magnetic field by ~1 µT in the direction of the hard-
iron component. Around San Francisco, with an inclination of ~60°, this results in up
to a couple of degrees of heading change over 10°C.
Consequently, no matter how stable a compass is over temperature, it is wise to
recalibrate over temperature since the magnetic signature of the host system will
change over temperature. The TRAX helps accommodate this issue by allowing the
user to save up to 8 sets of magnetic calibration coefficient sets, so different
calibration coefficients can be generated and loaded at different temperatures.

Other Considerations
Unlike a compass, such as PNI‟s TCM module, the TRAX is an AHRS and as such it
can compensate for transient changes in the local magnetic field. However, the
TRAX will work best if it is kept away from dynamic magnetic fields. For example,
if there is an electric motor is in the host system that will be turning on and off during
TRAX operation, then mount the TRAX far away from the motor such that the
motor‟s state does not affect the heading when TRAX is in Compass Mode.
Alternatively, TRAX can store up to 8 different sets of magnetic calibration
coefficients, so in the case of the motor, generate and use one set of magnetic
calibration coefficients for when the motor is off and another set for when it is on.
The main objective of a magnetic user calibration is to compensate for hard-iron and soft-
iron distortions to the magnetic field caused by components within the user‟s host system.
To that end, the TRAX needs to be mounted within the host system and the entire host
system needs to be moved as a single unit during a user calibration. The TRAX allows the
user to perform a calibration only in a 2D plane or with limited tilt, but provides the greatest
accuracy if the user can rotate through 360° of heading and at least ±45°of tilt.
The following subsections provide instructions for performing a magnetic calibration of a
TRAX system. Several calibration mode options exist, as summarized in Table 5-1. To meet
the accuracy specification, the number of samples should be the “Minimum Recommended”
value, or greater. Calibration may be performed using TRAX Studio or using the PNI binary
protocol, and up to 8 sets of magnetic calibration coefficients may be saved. The
recommended calibration patterns described in the following sub-sections provide a good
distribution of sample points. Also, PNI recommends the location of the TRAX remain fairly
constant while only the orientation is changed.
Table 5-1: Magnetic Calibration Mode Summary
Minimum Allowable
Calibration Static Accuracy in Tilt Range
Recommended Range of #
Mode Compass Mode during Cal
# of Samples of Samples
Full-Range 0.3° rms >±45° 12 10 – 18
2D Calibration <2° <±5° 12 10 – 18
Limited-Tilt <2° over 2x tilt range ±5° to ±45° 12 10 – 18
Restores prior 4 - 18
Hard-Iron-Only >±3° 6
accuracy
Before proceeding with a calibration, ensure the TRAX is properly installed in the host
system. The device should be installed as discussed in Section 4, and the software should be

properly configured with respect to the mounting orientation, Endianness, north reference,
etc.
Section 6.5 outlines how to perform a calibration using TRAX Studio, while Section 7.6.2
provides a step-by-step example of how to perform a calibration using the PNI protocol.

5.1.1 Full-Range Calibration
 A Full-Range Calibration is appropriate when the TRAX can be tilted ±45° or more. This
method compensates for hard and soft-iron effects in three dimensions, and allows for the
highest accuracy readings. The recommended 12 point calibration pattern is a series of 3
circles of evenly spaced points, as illustrated in

Figure 5-1 and listed in Table 5-2. The pitch used in the second and third circles of the
calibration should at least match the maximum and minimum pitch the device is expected
to encounter in use.
Table 5-2: 12 Point Full-Range Calibration Pattern
Sample # Yaw1 Pitch Roll

First Circle
1 0° ±5° 30° to 40°
2 90° ±5° -30° to -40°
3 180° ±5° 30° to 40°
4 270° ±5° -30° to -40°
Second Circle
5 30° > +45° 30° to 40°
6 120° > +45° -30° to -40°
7 210° > +45° 30° to 40°
8 300° > +45° -30° to -40°
Third Circle
9 60° < -45° 30° to 40°
10 150° < -45° -30° to -40°
11 240° < -45° 30° to 40°
12 330° < -45° -30° to -40°
Footnote:
1. Yaw listings are not absolute heading directions but rather relative heading
referenced to the first sample.

Notes about

Figure 5-1: 12 Point Full-Range Calibration:
 While the figure shows the location of the device changing, this is for illustration purpose
and it is best for the location of the device to remain constant.

 The arrow on the blocks representing the module correspond to the arrow silkscreened
on the board.
 It is not necessary for the board to be pointing North, however, it may provide better
results, especially in high latitudes.

Figure 5-1: 12 Point Full-Range Calibration
5.1.2 2D Calibration
A 2D Calibration is intended for very low tilt operation (<5°) where calibrating the
TRAX with greater tilt is not practical.
This procedure calibrates for hard and soft-iron effects in only two dimensions, and in
general is effective for operation and calibration in the tilt range of -5° to +5°. The
recommended 12 point calibration pattern is a circle of evenly spaced points, as given in
Table 5-3.

Table 5-3: 12 Point 2D Calibration Pattern
Sample # Yaw Pitch1 Roll1

1 0° 0° 0°
2 30° max. negative max. negative
3 60° 0° 0°
4 90° max. positive max. positive
5 120° 0° 0°
7 180° 0° 0°
9 240° 0° 0°
11 300° 0° 0°
Footnote:
1. For best results, the tilt experienced during calibration should match that experienced
in service. For example, if the TRAX is restrained to a level plane in service, then
calibration should be in a plane, where “max. positive” and “max. negative” are 0°.
5.1.3 Limited-Tilt Calibration

A Limited-Tilt Calibration is recommended when 45° of tilt isn‟t feasible, but >5° of tilt
is possible. It provides both hard-iron and soft-iron distortion correction. The
recommended 12 point calibration pattern given below is a series of 3 circles of evenly
spaced points, with as much tilt variation as expected during use.
Table 5-4: 12 Point Limited-Tilt Calibration Pattern
Sample # Yaw Pitch Roll

First Circle
1 0° 0° 0°
2 90° 0° 0°
3 180° 0° 0°
6 270° 0° 0°
Second Circle
7 45° > +5° > +5°
8 135° > +5° > +5°
11 225° > +5° > +5°
12 315° > +5° > +5°
Third Circle
13 45° < -5° < -5°
14 135° < -5° < -5°
17 225° < -5° < -5°
18 315° < -5° < -5°

Note that a similar and acceptable alternative pattern would be to follow the
recommended 12 point Full-Range Calibration pattern, but substituting the >±45° of pitch
with whatever pitch can be achieved and the ±10° to ±20° of roll with whatever roll can
be achieved up to these limits. See Section 5.1.1 for more information.
5.1.4 Hard-Iron-Only Calibration

It is not uncommon for the hard-iron magnetic distortions around the TRAX to change.
Some reasons for this include significant temperature change or temperature shock to a
system, as well as gradual aging of components. A Hard-Iron-Only Calibration allows
for quick recalibration of the TRAX for hard-iron effects, and generally is effective for
operation and calibration in the tilt range of 3° or more (≥45° is preferred). The
recommended 6 point calibration pattern given below is a circle of alternately tilted,
evenly spaced points, with as much tilt as expected during use.
Table 5-5: 6 Point Hard-Iron-Only Calibration Pattern
Sample # Yaw Pitch1 Roll1

Footnote:
1. For best results, the tilt experienced during calibration should match that experienced
in service. For example, if the TRAX will be subject to ±45° of pitch and roll when in
service, then “max negative” should be -45° and “max positive” should be +45°.
5.2 Accelerometer Calibration

The TRAX uses a MEMS accelerometer to measure attitude. This data is output as pitch and
roll data. Additionally, the accelerometer data is critical for establishing an accurate heading
reading when the TRAX is tilted, as discussed in the PNI white paper “Tilt-Induced Heading
Error in a 2-Axis Compass”, which can be found on PNI‟s web site
(http://www.pnicorp.com/technology/papers).
The TRAX algorithms assume the accelerometer only measures the gravitational field. If the
TRAX is accelerating, this will result in the TRAX calculating an inaccurate gravitational

vector, which in turn will result in an inaccurate heading reading. For this reason, the TRAX
should be stationary when taking a measurement.
As previously mentioned, PNI calibrates the accelerometer in its factory prior to shipment.
But over time the bias and offset of the accelerometer will drift. For this reason PNI
recommends the accelerometer be recalibrated every 6 to 12 months. The user may return
the TRAX to PNI for accelerometer calibration, or the user may perform a user
accelerometer calibration. The remainder of this section covers the user accelerometer
calibration.
5.2.1 Accel-Only Calibration

The requirements for a good user accelerometer calibration differ significantly from the
requirements for a good magnetic calibration. Specifically, a good accelerometer
calibration involves the TRAX experiencing a wide range of pitch and roll values,
preferably seeing both ±180° of pitch and ±180° of roll. Also, it is necessary for the
TRAX to be very still during an accelerometer calibration. If possible, PNI recommends
using a fixture to hold the device during calibration, although resting the TRAX on a hard
surface normally is sufficient.
The accelerometer either can be calibrated while mounted in the host system or it may be
removed and calibrated outside the system. The advantage of performing the calibration
while mounted in the host system is the user does not need to remove the TRAX from the
system, which can be burdensome, and a simultaneous Mag-and-Accel Calibration may
be appropriate. The advantage of performing the calibration outside of the system is it
may be much simpler to obtain the desired range of pitch and roll.
Figure 5-2 shows the two basic starting positions for the recommended 18-point
calibration pattern. Starting with the TRAX as shown on the left in Figure 5-2, rotate the
device about its z axis such that it sits on each of its 4 edges, taking one calibration
sample on each edge. Then place the TRAX flat on the surface and take a calibration
sample, then flip it over (roll it 180°) and take another sample. Next, starting with the
TRAX as shown on the right, take a calibration point with it being vertical (0°). Now tilt
the TRAX back 45° and take another calibration point (+45°), then tilt the device forward
45° and take another calibration point (-45°). Repeat this 3-point calibration process for
the TRAX with it resting on each of its 4 corners. Note that it is possible to perform an
Accel-Only Calibration with as few as 12 sample points, although it generally is more
difficult to obtain a good calibration with just 12 sample points. Also, the maximum
number of calibration points is 18.

Note: While the TRAX is shown removed from the host system, the Accelerometer
Calibration may be performed with the TRAX mounted in the host system.
Figure 5-2: Accelerometer Calibration Starting Orientations
5.2.2 Mag-and-Accel Calibration

The TRAX allows for a simultaneous magnetometer and accelerometer calibration. This
requires a good calibration pattern, stable measurements (not handheld), and installation
in the user‟s system such that the appropriate local magnetic environment is present. PNI
recommends 18 to 32 calibration points for a Mag-and-Accel Calibration. The Accel-
Only Calibration pattern discussed in Section 5.2.1 also will work for a Mag-and-Accel
Calibration. Optimal performance is obtained when all rotations of the cube are
performed towards magnetic north to achieve the widest possible magnetic field
distribution.
Note that combining calibrations only makes sense if all the host system‟s magnetic
distortions (steel structures or batteries, for instance) are present and fixed relative to the
module when calibrating. If the Accel-Only Calibration is performed, the user‟s system
distortions are not relevant, which allows the TRAX to be removed from the host system
in order to perform the Accel-Only Calibration.
Note: Mag-and-Accel Calibration is not available through the Trax Studio

6 Operation with TRAX Studio
The TRAX Studio program puts an easy-to-use, graphical-user interface (GUI) onto the binary
command language used by the TRAX. TRAX Studio is intended for evaluating, demonstrating,
and calibrating the TRAX. Among other features, the program can log and save the outputs from
the TRAX to a file for off-line evaluation. Anything that can be done using TRAX Studio also
can be done using PNI‟s binary protocol, as discussed in Section 7.
NOTE: TRAX Studio works with the TRAX module configured to Big Endian. This is the default
setting, but if the module was set to Little Endian, reset to Big Endian per section 7.4.2
6.1 Installation
TRAX Studio is provided as an executable program which can be downloaded from PNI‟s
website. It will work with Windows XP, Windows Vista, and Windows 7 operating systems.
Check the PNI web page at www.pnicorp.com for the latest version.
Copy the “TRAXStudio.msi” file onto your computer. Double-click on the icon and step
through the Setup Wizard. The program will be installed into the following directory unless
you direct it otherwise: Program Files\PNI Sensor Corporation\TRAX Studio\. A “TRAX
Studio” shortcut icon will be placed on your computer‟s desktop.
Now plug the TRAX into the USB or RS232 port of your computer. Ensure the TRAX is
completely still when plugging it into the USB port, as the gyros initialize during the
first five seconds after being plugged in.
If you are using the Windows XP operating system, then the first time you plug in the TRAX
device it will launch the Found New Hardware Wizard. Select a “Yes…” button, then click
on <Next> and proceed with the installation. The computer should find the required virtual
communications port (VCP) driver by searching the internet, which may take a minute or
two. If you are using Windows 7 the computer automatically searches for and installs the
driver. If there is a problem with this, download the driver from FTDI‟s website at
http://www.ftdichip.com/Drivers/VCP.htm.
You have now completed the installation of TRAX Studio.
6.2 TRAX Studio Header and Connecting to TRAX Studio

If the TRAX is not already plugged into the computer, then do so. Note that the module must
be motionless when being plugged in and for 5 seconds afterwards, as this is when the gyros
initialize.

Double-click on the TRAX Studio icon to launch TRAX Studio. Below is a picture of the
TRAX Studio header. The header includes “Module Information” and “Connection
Settings”, and under the header are the various TRAX Studio tabs, which are discussed in the
subsequent sections. The header is the same regardless of which tab is selected.
To connect, set the “Serial” field to the appropriate COM port. To determine this, in
Windows right click on “My Computer”, select “Manage”, then select “Device Manager”.
Expand “Ports” and note the port for “USB Serial Port”. This should be the assigned COM
port for the TRAX.
Set the baud rate. The default is 38400, and this should be the setting the first time the
TRAX is used. Once a connection has been established, the desired baud rate can be
changed on the Configuration Tab, as discussed in Section 6.4.1.
Click the <Connect> button. When the connection is established, the light to the left of
“Status” will turn green, “Status” will change to “Connected @ [the baud rate]”, the
<Connect> button will now say <Disconnect>, the <Power Down> button will be live, and
the “Device Information” section of the header will populate.
6.3 TRAX Studio Footer and Saving/Applying Settings

Below is a picture of the TRAX Studio footer. The footer includes 4 buttons which are
discussed below. The footer is the same regardless of which tab is selected. Note that if a
field is changed on any of the TRAX Studio tabs, then either <Apply> or <Save> must be
selected for the change to take effect.

Save
Clicking the <Save> button will save any changes made in TRAX Studio to the
TRAX‟s onboard non-volatile and volatile memory.
Apply
Selecting the <Apply> button will apply any changes to the TRAX‟s volatile
memory, but not to the non-volatile memory. If the TRAX is powered off/on, the
settings will revert to whatever was last saved in the non-volatile memory.
Read
Clicking the <Read> button will read the current settings in the TRAX‟s volatile
memory and display them. This will change any item in bold, which indicates a
setting was changed in TRAX Studio but not applied to the TRAX‟s volatile memory,
back to regular type and the setting change will not be applied to the TRAX‟s
memory.
Default
Selecting the <Default> button will display the default settings, which are stored in
TRAX Studio. Selecting this button will not automatically apply these values, and
either <Apply> or <Save> must be selected for the read values to be applied.
6.4 Configuration Tab

The Configuration Tab is shown below and its contents discussed in the following
subsections. For any changes to take effect, the <Save> button must be selected. Clicking
on the <Default> button will load the factory default values, although these must be saved to
take effect. Clicking the <Retrieve> button will show the current settings of the device.

6.4.1 General Settings
Baud Rate
The baud rate can be altered by selecting the desired baud rate from the pull down
menu, clicking on “Save”, and then powering the device off and back on. The new
baud rate will not take effect until the device has been powered off/on. The default
baud rate is 38400.
Mounting
TRAX Studio supports 16 mounting orientations, as previously illustrated in Figure
4-2. The default is “Standard”.
Output Units
The TRAX can output heading, pitch, and roll in either degrees or mils. The default
is “Degrees”. (There are 6400 mils in a circle, such that 1 degree = 17.7778 mils and
1 mil = 0.05625 degree.)
North Reference
When “Magnetic” is selected, the heading output will be relative to magnetic north.
When “True” is selected, heading will be relative to true north, and the declination
value should be entered in the next field. The default is “Magnetic”.

Declination
The declination represents the heading difference between magnetic north and true
north, and needs to be entered if “True” is selected as the “North Reference”.
Declination varies primarily with location, although it also gradually changes over
time (years) for a given location. To find the declination for where the TRAX will be
used, go to http://www.ngdc.noaa.gov/geomagmodels/Declination.jsp.
Filter Taps
When operating the TRAX in Compass Mode, the TRAX will use a finite impulse
response (FIR) filter to effectively provide a stable heading reading. When operating
in AHRS Mode a completely different filtering method is used and the number of FIR
Taps is not relevant.
The number of taps (or samples) represents the amount of filtering to be performed.
Either 0, 4, 8, 16, or 32 taps may be selected, with zero taps representing no filtering.
Note that selecting a larger number of taps can significantly slow the time for the
initial sample reading and, if “Flush Filters” is selected, the rate at which data is
output. The default setting is 32.
The FIR filtering operates on a first-in, first-out (FIFO) basis. For example, with FIR
Taps set to 32, once the initial 32 samples are taken the next sample (#33) is included
in the filtering and the initial sample (#1) is dropped from the filtering.
Flush Filter
The Flush Filter setting is only relevant when in Compass Mode, as it affects how the
FIR filters are implemented. Flushing the FIR filter clears all the filter values so it is
necessary to fully repopulate the filter before a good reading can be given. For
example, if 32 FIR taps is set, then 32 new samples must be taken to provide a good
reading. It is particularly prudent to flush the filter if the Sampling Delay is set to a
non-zero value as this will purge old data. Note that flushing the filters increases the
delay until data is output, with the length of the delay being directly correlated to the
number of FIR taps. The default is not to Flush Filters.
6.4.2 Acquisition Settings

Acquisition Mode
When operating in Continuous Acquisition Mode, the TRAX continuously outputs
data to the host system. The rate is set by the Sample Delay. When operating in
Polled Mode, TRAX Studio simulates a host system and polls the TRAX for a single
measurement; but TRAX Studio makes this request at a fixed rate which is set by the
Polling Delay. In both cases data is continuously output, but in Continuous

Acquisition Mode the TRAX controls the data rate while in Polled Mode the TRAX
Studio program controls the data rate. Polled Mode is the default.
Sample Delay
The Sample Delay is relevant when Continuous Mode is selected. It is the time
delay, in seconds, between completion of TRAX sending one set of data and the start
of sending the next sample set. If the delay is set to 0, then TRAX will begin sending
new data as soon as the previous data set has been sent. Note that the inverse of the
Sample Delay is greater than the sample rate, since the Sample Delay does not
include the actual measurement acquisition time. The default is 0.
Polling Delay
The Polling Delay is relevant when Polled Mode is selected. It represents the time
delay, in seconds, between the completion of TRAX Studio receiving one set of
sampled data and requesting the next sample set. If the delay is set to 0, then TRAX
Studio requests new data as soon as the previous request is fulfilled. Note that the
inverse of the Polling Delay is greater than the sample rate, since the Polling Delay
does not include the actual measurement acquisition time. The default is 0.
6.5 Calibration and the Calibration Tab

As discussed in Section 5, a user calibration should be performed to optimize TRAX
performance. The Calibration Tab is shown below, and following this are discussions of how
to set the calibration settings, how to perform a calibration, and how to interpret the results.

6.5.1 Calibration Settings
Calibration Type
The “Calibration Type” pull down menu establishes the type of calibration to be
performed. The options are Full, 2D, Hard-Iron-Only, Limited-Tilt, and
Accelerometer. These are briefly discussed below and in more detail in Section 5.
Full Range – recommended calibration method when ≥45° of tilt is possible.
2D – recommended when the available tilt range is limited to ≤5°.
Hard Iron Only – serves as a hard-iron recalibration to a prior calibration. If the
hard-iron distortion around the device changes, this procedure can bring the device
back into specification more quickly than other methods.
Limited Tilt Range – recommended calibration method when >5° of tilt calibration
is available, but tilt is restricted to <45°. (i.e. full range calibration is not possible.)
Accelerometer – The user should select this when accelerometer calibration will be
performed. Accelerometer calibration is recommended every 6 to 12 months to
compensate for bias drift in the accelerometer. The TRAX can also be returned to
PNI for accelerometer calibration.
Number of Points
This establishes how many samples will be taken during the calibration. The minimum and
recommended number of samples depends on the calibration method, and is summarized in
The following subsections provide instructions for performing a magnetic calibration of a
TRAX system. Several calibration mode options exist, as summarized in Table 5-1. To meet
the accuracy specification, the number of samples should be the “Minimum Recommended”
value, or greater. Calibration may be performed using TRAX Studio or using the PNI binary
protocol, and up to 8 sets of magnetic calibration coefficients may be saved. The
recommended calibration patterns described in the following sub-sections provide a good
distribution of sample points. Also, PNI recommends the location of the TRAX remain fairly
constant while only the orientation is changed.
Table 5-1. The maximum number of samples is 18.
Mag Coefficient Set & Accel Coefficient Set
At any one time, the TRAX will use one set of magnetic calibration coefficients and
one set of accelerometer calibration coefficients. The magnetic coefficients
compensate for measured magnetic distortions in the host system as determined
during a magnetic calibration. The accelerometer coefficients compensate for bias
and offset of the accelerometers, as determined during an accelerometer calibration.

However, the TRAX can store eight (8) sets of magnetic calibration coefficients and
eight (8) sets of accelerometer calibration coefficients. This feature is useful if the
compass will be placed in multiple locations that have different local magnetic field
properties. The default is index number 0 and initially this is populated at PNI with
factory-generated coefficients for the device itself. The other sets initially are
unpopulated.
To store a coefficient set, first select the index number (0 to 7), then perform a
calibration. The coefficient values will be stored in the defined index number,
assuming the <Save> is selected after the calibration. To recall and use a different set
of coefficients, change the “Mag Coefficient Set” and/or “Accel Coefficient Set”
number, then click the <Save> button.
Automatic Sampling
If selected, the TRAX will take a sample point once predefined minimum change and
stability requirements have been satisfied. If the user wants to have more control
over when the point will be taken then Auto Sampling should be deselected.
H/P/R Output During Cal
When selected, the heading, pitch, and roll of the device will be output below the
sample number during a calibration. Using this feature, the user can monitor the
device‟s orientation to easily follow the appropriate recommended calibration pattern.
Since a calibration is being performed, these values are relative and should not be
considered accurate.
Audible Feedback
If selected, TRAX Studio will give an audible signal when a calibration sample is
taken.
6.5.2 Performing a Calibration

Before proceeding, ensure you are familiar with the recommended calibration pattern
corresponding to the “Type” selected. These are discussed in Section 5.
To perform a calibration, follow the following steps:
 Click the <Start> button to begin the calibration process.
 If “Automatic Sampling” is not checked the first sample will be taken
automatically assuming the TRAX is relatively stationary. After this, it is
necessary to click the <Take Sample> button to take a calibration sample point.
This should be repeated until the total number of samples is taken, changing the
orientation of the device between samples as discussed in Section 0.

 If “Automatic Sampling” is checked the TRAX needs to be held steady for a short
time and then a sample automatically will be taken. Once the window indicates
the next number, the device‟s orientation should be changed and held steady for
the next sample. Once the pre-set number of samples has been taken (as set on
the Configuration tab) the calibration is complete.
Regardless of whether “Automatic Sampling” is selected, two criteria must be met for a
calibration sample to be taken. First, the TRAX must be held steady enough to meet
PNI-defined stability criteria. Second, the TRAX‟s orientation must have changed
enough to meet PNI-defined orientation change criteria.
If “H/P/R Output During Cal” is selected, then the “Heading”, “Pitch”, and “Roll” fields
will be populated in real-time once the <Start> button is selected. Note that the readings
in these fields are relative, since calibration is in process.
6.5.3 Calibration Results

Once the calibration is complete the “Calibration Results” section will indicate the
quality of the calibration. This may take a few seconds to populate. The primary score
of concern is the MagCalScore or AccelCalScore, depending on whether a magnetic or
accelerometer calibration was performed. The other parameters provide information that
may assist in improving the MagCalScore should it be unacceptably high. If a calibration
is acceptable, then click the <Save> button to save the calibration coefficients to the
coefficient set defined on the Configuration Tab.
Note: If a calibration is aborted, all the score’s will read “179.80”, and the calibration coefficients
will not be changed. (Clicking the <Save> button will not change the calibration coefficients.)
Mag Cal
Represents the over-riding indicator of the quality of a magnetic calibration.
Acceptable scores are <1 for Full-Range Calibration and <2 for other methods. Note
that it is possible to obtain acceptable Distribution Error and Tilt Error scores and still
have a rather high Mag Cal value. The most likely reason for this is the TRAX is
close to a source of magnetic distortion that is not fixed with respect to the device.
Accel Cal
Represents the quality of an Accelerometer Calibration. The score should be <1.
Distribution Error
Indicates if the distribution of sample points is good, with an emphasis on the heading
distribution. The score should be 0. Significant clumping or a lack of sample points

in a particular section can result in a poor score. Distribution is not calculated for an
Accelerometer Calibration.
Tilt Error
Indicates if the TRAX experienced sufficient tilt during the calibration, taking into
account the calibration method. The score should be 0. Tilt Error is not calculated
for an Accelerometer Calibration.
Tilt Range
This reports the larger of either half the full pitch range or half the full roll range of
all sample points. For example, if the TRAX is pitched +10° to -20º, and rolled +25º
to -15º, the Tilt Range value would be 20º, as derived from [+25º - {-15º}]/2. For
Full-Range Calibration and Hard-Iron-Only Calibration, this should be ≥45°. For 2D
Calibration, this ideally would be ~2°. For Limited-Tilt Calibration the value should
be as large as possible given the user‟s constraints. Tilt Range is not calculated for an
Accelerometer Calibration.
Mag Factory Reset & Accel Factory Reset
Clicking the Mag Factory Reset and/or Accel Factory Reset will reset the calibration
coefficients to those established at PNI. Note that the mag factory coefficients will
not take into account magnetic influences inherent in the host system, which could
result in very large heading errors. And the accel factory coefficients will not correct
for accelerometer drift, which may become significant over an extended period (6 –
12 months, typically). If either of these Reset buttons are selected, it is necessary to
click <Save> or <Apply> to have the factory coefficients take effect.
6.6 Test Tab

The Test Tab is used to demonstrate and evaluate the performance of the TRAX. The
Heading, Pitch, and Roll are output during testing, as well as the Heading Status.
The Heading Status provides an indication of the accuracy of the heading. A green box
represents a heading accuracy of <2°, a yellow box means the heading uncertainty is
approximately 2° to 10°, and a red box means the uncertainty is >10°. These heading
uncertainties assume the TRAX was properly calibrated in a clean magnetic environment.

Start/Stop Testing
Clicking the <Start> button results in the Heading, Pitch, and Roll values being
updated on the Test Tab screen, as well as the Heading Status.
If the Acquisition Mode is set to “Continuous”, then the data will be continuously
updated. The button will change to read <Stop>, such that clicking it again will stop
the screen from updating.
If the Acquisition Mode is set to “Single”, then only one measurement will be
displayed on the screen. The button will briefly gray out while the data is being
output to the screen, then return to reading <Start>.

Show 3D Model
Selecting the <Show> button launches the 3D Model window, as shown below.
Clicking the <Start> button begins continuous updating of the orientation of the
rendered model, and of the heading, pitch, and roll output fields. The <Start> button
on the Test Tab screen and on the 3D Model screen are linked such that selecting
either of them will stop or start both screens.
Clicking on <Fullscreen> will expand the window to the full computer screen, and
the button will now read <Windowed>. Clicking <Windowed> will shrink the
window back down.
Output Format & North Reference
The “Output Format” and “North Reference” fields mimic the settings on the
Configuration Tab. To change these, return to the Configuration Tab, make the
change, then <Apply> or <Save> the change.
Background & Foreground Color
The foreground and background colors of the screen can be changed by the user.
Simply click on the color square and select the new desired color. The change in
color automatically is saved. The default is black lettering on a grey background.
Functional Mode
The TRAX can operate either in AHRS Mode or Compass Mode. While the TRAX
is intended to be used as an AHRS, there are times when it is necessary or beneficial

to place it in Compass Mode. Specifically, it is necessary to calibrate the TRAX in
Compass Mode. (This is handled automatically in TRAX Studio, so it is not
necessary for the user to place the TRAX in Compass Mode when doing a calibration
in TRAX Studio.) Also, it may be beneficial to operate in Compass Mode to
conserve battery life, since in Compass Mode the TRAX turns off the gyros,
generally uses less CPU power, and can be placed in Sleep Mode to significantly
reduce current consumption.
Truth Method
This field allows the user to have control over the breadth of criteria used to establish
if the local magnetic field conforms to the reference magnetic field criteria. “Auto” is
the default.
Reference Field Reset
Clicking the Reference Field <Reset> button re-establishes the criteria for a clean
magnetic field. After clicking this button the Heading Status box will go green.
Assuming an accurate heading reading is desired, this should be done only when the user
is confident the local magnetic field is free from distortions. For the purpose of
demonstrating the general capabilities of the TRAX a distortion-free local magnetic field
may not be required, but the user should realize the heading reading likely will not meet
the accuracy specification.
6.7 Log Data Tab

TRAX Studio can capture measurement data and then export it to a text file.

To acquire data and export it, follow the procedure below:
 Select the parameters you wish to log in the window on the left. Use Shift -Click and
Ctrl-Click to select multiple items. In the screen shot above, “Heading”, “Pitch”,
“Roll”, and “Heading Status” were selected. Note that Heading Status can be 0, 1, or
2, corresponding to “green”, “yellow”, or “red”.
 Click the <Start> button to start logging. The <Start> button changes to a <Stop>
button after data logging begins.
 Click the <Stop> button to stop logging data.
 Click the <Export> button to save the data to a file.
 Click the <Clear> button to clear the data from the window.
Note that the “Distortion” log indicates if the magnetic field is >±125 µT for any of the
magnetic sensors. It is only applicable in Compass Mode, and will always read “FALSE” in
AHRS Mode.
6.8 Graph Tab

The Graph Tab provides a plot of the measured field strength on the x-axis and y-axis
magnetic sensors.
The “Filt” data and plot (blue) provides magnetic field strength measurements after the FIR
filter taps are applied, but prior to applying the user calibration coefficients. The “User” data
and plot (red) provides data after applying the user calibration coefficients. In AHRS Mode
the data and plots are identical, while in Compass Mode there is an offset which represents

the effect of the calibration coefficients. The Graph Tab normally would be used in Compass
Mode because of this. The graph can be used to visually see hard and soft-iron effects within
the environment measured by the TRAX, as well as corrected output after a user calibration
has been performed.
The data can be saved to a .txt log file by clicking <Export>. To clear the data, select
<Clear>. To clear both the data and the plot, select <Apply>.
6.9 System Log Tab

The System Log tab shows all communication between TRAX Studio and TRAX. Closing
TRAX Studio will erase the system log. Select the <Export> button, at the bottom right of
the screen, to save the system log to a text file.

7 Operation with PNI Binary Protocol
The TRAX utilizes a binary communication protocol, where the communication parameters
should be configured as follows:
Table 7-1: Port Configuration
Parameter Value
Number of Data Bits 8
Start Bits 1
Stop Bits 1
Parity none
7.1 Datagram Structure

The data structure is shown below:
ByteCount Packet Frame CRC-16

(UInt16) (1 - 4092 UInt8) (UInt16)
Frame
Payload
ID
(1 - 4091 UInt8)
(UInt8)
Figure 7-1: Datagram Structure
The ByteCount is the total number of bytes in the packet including the CRC-16 (checksum).
The CRC-16 is calculated starting from the ByteCount to the last byte of the Packet Frame.
The ByteCount and CRC-16 are always transmitted in big Endian. Two examples follow.
Example: The complete packet for the kGetModInfo command, which has no payload is:
00 05 01 EF D4
ByteCount Frame ID Checksum
Example: Below is a complete sample packet to start a 2D Calibration (kStartCal):
00 09 0A 00 00 00 14 5C F9
ByteCount Frame ID CalOption CalOption Checksum

(MSBs) (2D Calibration)

7.2 Parameter Formats
7.2.1 Endianness
TRAX can treat 32-bit and 16-bit parameters as having big or little Endian formatting.
For 32-bit parameters, the big Endian byte order is ABCD EFGH, while the little Endian
byte order is DCBA HGFE. For 16-bit parameters the big Endian byte order is ABCD,
while the little Endian byte order is DCBA. The Endianness is selectable by the user per
Section 7.4.2. The default is big Endian, and this is generally assumed in the manual.
7.2.2 Floating Point

Floating-point parameters conform to ANSI/IEEE Std 754-1985. A hex-to-floating-point
converter can be found at http://babbage.cs.qc.cuny.edu/IEEE-754.old/32bit.html. Note
that for this converter, little Endian values must be manually converted to big Endian.
Please refer to the Standard for more information. PNI also recommends referencing the
user‟s compiler instructions to understand how the compiler implements floating-point.
64-Bit Floating Point (Float64)
Below is the 64-bit float format in big Endian. In little Endian the bytes are in reverse
order in 4-byte groups (e.g. DCBA HGFE).
63 62 52 51 0
S Exponent Mantissa
The value (v) is determined as:

v = (-1)S * 2(Exponent-1023) * 1.Mantissa, if and only if 0 < Exponent < 2047
32-Bit Floating Point (Float32)
Shown below is the 32-bit float format in big Endian. In little Endian, the 4 bytes are
in reverse order (e.g. DCBA).
3130 23 22 0
S Exponent Mantissa
The value (v) is determined as:

v = (-1)S * 2(Exponent-127) * 1.Mantissa, if and only if 0 < Exponent < 255

7.2.3 Signed Integer
For signed integers, the most significant bit (msb) represents the sign of the value, where
0=positive and 1=negative. Signed integers are represents in 2‟s compliment.
Signed 32-Bit Integer (SInt32)
SInt32-based parameters are signed 32-bit numbers (2‟s compliment). Bit 31
represents the sign of the value, where 0=positive and 1=negative.
31 24 23 16 15 8 7 0
msb lsb
Big Endian
7 0 15 8 23 16 31 24
lsb msb
Little Endian

SInt16-based parameters are signed 16-bit numbers (2‟s compliment). Bit 15
represents the sign of the value, where 0=positive and 1=negative.
15 8 7 0 7 0 15 8
msb lsb lsb msb
Big Endian Little Endian

UInt8-based parameters are unsigned 8-bit numbers. Bit 7 represents the sign of the
value, where 0=positive and 1=negative.
7 0
byte

7.2.4 Unsigned Integer
Unsigned 32-Bit Integer (UInt32)
UInt32-based parameters are unsigned 32-bit numbers.
31 24 23 16 15 8 7 0
msb lsb
Big Endian
7 0 15 8 23 16 31 24
lsb msb
Little Endian

15 8 7 0 7 0 15 8
msb lsb lsb msb
Big Endian Little Endian

7 0
byte
7.2.5 Boolean
Boolean is a 1-byte parameter that MUST have the value 0=FALSE or 1=TRUE.
7 0
byte

7.3 Commands Overview
Table 7-2 provides a summary of the basic commands available with the TRAX.
Table 7-2: TRAX Command Set
Frame ID
Command Description
Dec Hex
1 0x01 kGetModInfo Queries the device’s type and firmware revision.
2 0x02 kGetModInfoResp Response to kGetModInfo
3 0x03 kSetDataComponents Sets the data components to be output.
4 0x04 kGetData Queries the TRAX for data
5 0x05 kGetDataResp Response to kGetData
6 0x06 kSetConfig Sets internal configurations in TRAX
Queries TRAX for the current internal
7 0x07 kGetConfig
configuration
8 0x08 kGetConfigResp Response to kGetConfig
Saves the current internal configuration and any
9 0x09 kSave new user calibration coefficients to non-volatile
memory.
10 0x0A kStartCal Commands the TRAX to start user calibration
11 0x0B kStopCal Commands the TRAX to stop user calibration
Sets the FIR filter settings for the magnetometer &
12 0x0C kSetFIRFilters
accelerometer sensors.
Queries for the FIR filter settings for the
13 0x0D kGetFIRFilters
magnetometer & accelerometer sensors.
Contains the FIR filter settings for the
14 0x0E kGetFIRFiltersResp
magnetometer & accelerometer sensors.
15 0x0F kPowerDown Powers down the module
16 0x10 kSaveDone Response to kSave
Sent from the TRAX after taking a calibration
17 0x11 kUserCalSampleCount
sample point
18 0x12 kUserCalScore Contains the calibration score
19 0x13 kSetConfigDone Response to kSetConfig
20 0x14 kSetFIRFiltersDone Response to kSetFIRFilters
Commands the TRAX to output data at a fixed
21 0x15 kStartContinuousMode
interval
22 0x16 kStopContinuousMode Stops data output when in Continuous Mode
Confirms the TRAX has received a signal to power
23 0x17 kPowerUpDone
up
24 0x18 kSetAcqParams Sets the sensor acquisition parameters
25 0x19 kGetAcqParams Queries for the sensor acquisition parameters
26 0x1A kSetAcqParamsDone Response to kSetAcqParams
27 0x1B kGetAcqParamsResp Response to kGetAcqParams
28 0x1C kPowerDownDone Response to kPowerDown
Resets magnetometer calibration coefficients to
29 0x1D kFactoryMagCoeff
original factory-established values
30 0x1E kFactoryMagCoeffDone Response to kFactoryMagCoeff

Commands the TRAX to take a sample during
31 0x1F kTakeUserCalSample
user calibration
Resets accelerometer calibration coefficients to
36 0x24 kFactoryIAccelCoeff
original factory-established values
37 0x25 kFactoryAccelCoeffDone Respond to kFactoryAccelCoeff
79 0x4F kSetFunctionalMode Puts TRAX in Compass Mode or AHRS Mode
80 0x50 kGetFunctionalMode Queries for Compass Mode or AHRS Mode
81 0x51 kGetFunctionalModeResp Response to kGetFunctionalMode
Establishes criteria for the reference magnetic
110 0x6E kSetResetRef
field.
Sets if dip angle & radius establish mag truth
119 0x77 kSetMagTruthMethod
(standard) or additional criteria (tight).
120 0x78 kGetMagTruthMethod Queries for standard or tight truth method.
121 0x79 kGetMagTruthMethodResp Response to kGetMagTruthMethod
7.4 Set-Up Commands

7.4.1 Module Information
kGetModInfo (frame ID 1d, 0X01)
This frame queries the device's type and firmware revision number. The frame has no
payload.
kGetModInfoResp (frame ID 2d, 0X02)
The response to kGetModInfo is given below. The payload contains the device type
identifier followed by the firmware revision number.
Payload
Type Revision
UInt32 UInt32
Note that the Type and Revision can be decoded from the binary format to character
format using the ASCII standard. For example, the hex string “00 0D 02 54 52 41 58
31 32 30 38 C7 87” can be decoded to read “TRAX 1208”. A Hex-to-ASCII
converter can be found at: http://www.dolcevie.com/js/converter.html
7.4.2 Module Configuration

kSetConfig (frame ID 6d, 0X06)
This frame sets internal configurations in the TRAX. The first byte of the payload is
the configuration ID followed by a format-specific value. These configurations can

only be set one at time. To save these in non-volatile memory, the kSave command
must be issued.
Payload
Config ID Value
UInt8 ID Specific
Example: To configure the declination, the payload would look like:

Payload
1 10.0
Declination ID Declination
Angle (Float32)
Table 7-3: Configuration Identifiers
Settings Config. IDd Format Values / Range Default

kDeclination 1 Float32 -180˚ to +180˚ 0
kTrueNorth 2 Boolean True or False False
kBigEndian 6 Boolean True or False True
1 = STD 0°
2 = X UP 0°
3 = Y UP 0°
4 = STD 90°
5 = STD 180°
6 = STD 270°
7 = Z DOWN 0°
8 = X UP 90°
kMountingRef 10 UInt8 1
9 = X UP 180°
10 = X UP 270°
11 = Y UP 90°
12 = Y UP 180°
13 = Y UP 270°
14 = Z DOWN 90°
15 = Z DOWN 180°
16 = Z DOWN 270°
kUserCalNumPoints 12 UInt32 4 – 18 12
kUserCalAutoSampling 13 Boolean True or False True

4 – 2400
5 – 3600
6 – 4800
7 – 7200
8 – 9600
kBaudRate 14 UInt8 9 – 14400 12
10 – 19200
11 – 28800
12 – 38400
13 – 57600
14 - 115200
kMilOut 15 Boolean True or False False
kHPRDuringCal 16 Boolean True or False True
kMagCoeffSet 18 UInt32 0-7 0
kAccelCoeffSet 19 UInt32 0-7 0
Configuration parameters and settings for kSetConfig:

kDeclination (Config. ID 1d)
This sets the declination angle to determine True North heading. Positive
declination is easterly declination and negative is westerly declination. This is not
applied unless kTrueNorth is set to TRUE.
kTrueNorth (Config. ID 2d)
Flag to set compass heading output to true north heading by adding the
declination angle to the magnetic north heading.
kBigEndian (Config. ID 6d)
Sets the Endianness of packets. TRUE is Big Endian. FALSE is Little Endian.
Note: TRAX Studio requires Big Endian. Return the module to Big Endian if Little Endian
has been set if it will be used with TRAX Studio.
kMountingRef (Config. ID 10d)

This sets the reference orientation for the TRAX. Please refer to Figure 4-2 for
additional information.
kUserCalNumPoints (Config. ID 12d)
The user must select the number of points to take during a calibration. Table 7-4
provides the “Minimum Recommended” number of sample points, as well as the
full “Allowable Range”. The “Minimum Recommended” number of samples
normally is sufficient to meet the TRAX‟s heading accuracy specification, while
less than this may make it difficult to meet specification. See Section 5 for
additional information.

Table 7-4: Sample Points
Number of Samples
Calibration Mode Allowable Minimum
Range Recommended
Full-Range 10 to 18 12
Limited-Tilt 10 to 18 12
2D Calibration 10 to 18 12
Hard-Iron-Only 4 to 18 6
Accelerometer-Only 12 to 32 18
Mag-and-Accel 12 to 32 18
kUserCalAutoSampling (Config. ID 13d)

This flag is used during user calibration. If set to TRUE, the TRAX automatically
takes calibration sample points once the minimum change and stability
requirements are met. If set to FALSE, the device waits for kTakeUserCalSample
to take a sample with the condition that a magnetic field vector component delta is
greater than 5 µT from the last sample point. If the user wants to have maximum
control over when the calibration sample point are taken then this flag should be
set to FALSE.
kBaudRate (Config. ID 14d)
Baud rate index value. A power-down, power-up cycle is required when
changing the baud rate.
kMilOut (Config. ID 15d)
Sets the output units as mils (TRUE) or degrees (FALSE). The default is FALSE.
kHPRDuringCal (Config. ID 16d)
This flag sets whether or not heading, pitch, and roll data are output
simultaneously while the TRAX is being calibrated. The default is TRUE, such
that heading, pitch, and roll are output during calibration. FALSE disables
simultaneous output.
kMagCoeffSet (Config. ID 18d)
This command provides the flexibility to store up to eight (8) sets of
magnetometer calibration coefficients in the TRAX. The default is set number 0.
To store a set of coefficients, first establish the set number (number 0 to 7) using
kMagCoeffSet, then perform the magnetometer calibration. The coefficient
values will be stored in the defined set number. This feature is useful if the
compass will be placed in multiple locations that have different local magnetic
field properties.

kAccelCoeffSet (Config. ID 19d)
This command provides the flexibility to store up to eight (8) sets of
accelerometer calibration coefficients in the TRAX. The default is set number 0.
To store a set of coefficients, first establish the set number (number 0 to 7) using
kAccelCoeffSet, then perform the accelerometer calibration. The coefficient
values will be stored in the defined set number.
kSetConfigDone (frame ID 19d, 0X13)
This frame is the response to kSetConfig frame. The frame has no payload.
kGetConfig (frame ID 7d, 0X07)
This frame queries the TRAX for the current internal configuration value. The
payload contains the configuration ID requested.
Payload
Config ID
UInt8
kGetConfigResp (frame ID 8d, 0X08)

The response to kGetConfig is given below. The payload contains the configuration
ID and value.
Payload
Config ID Value
UInt8 ID Specific
Example: If a request to get the set declination angle, the payload would look like:
Payload
1 10.0
Declination ID Declination
Angle (Float32)
kSetMagTruthMethod (frame ID 119d, 0X77)

This frame allows the user to have control over the breadth of criteria used to
establish if the local magnetic field conforms to the reference magnetic field criteria.
The “AutoMerge” criteria is the default. The payload is defined below.

Payload
MagTruthMethod Payload Value:
MagTruthMethod “1”: Standard
“2”: Tight
UInt8 “3”: AutoMerge
kGetMagTruthMethod (frame ID 120d, 0X78)

This frame queries the setting of the Mag Truth Method. It has no payload.
kGetMagTruthMethodResp (frame ID 121d, 0X79)
This frame is the response of kGetMagTruthMethod and the payload is the same as
for kSetMagTruthMethod.
7.4.3 Saving Settings

kSave (frame ID 9d, 0X09)
This frame commands the TRAX to save internal configurations and user calibration
to non-volatile memory. Internal configurations and user calibration are restored on
power up. The frame has no payload. This is the ONLY command that causes the
device to save information to non-volatile memory.
kSaveDone (frame ID 16 d, 0X10)
This frame is the response to kSave frame. The payload contains a UInt16 error code:
0 indicates no error; 1 indicates an error when attempting to save data to memory.
Payload
Error Code
UInt16
7.5 Measurement Commands

7.5.1 Setting the Reference Magnetic Field Criteria
Prior to operating the TRAX in AHRS mode it is necessary to establish the criteria for a
known distortion-free local field. This should be done with the TRAX installed in the
host system, as the distortion presented by the host system is constant and will be
compensated for by the TRAX algorithms.

kSetResetRef (frame ID 110d)
This frame re-aligns the TRAX 9-axis heading to the 6-axis (mag and accel) heading
and establishes the criteria for the reference magnetic field. The frame should be sent
when the user is confident the local magnetic field is not distorted. It has no payload.
7.5.2 Data Acquisition Parameters

kSetAcqParams (frame ID 24 d)
This frame sets the sensor acquisition parameters in the TRAX. The payload should
contain the following:
Payload
AcquisitionMode FlushFilter PNIReserved SampleDelay
UInt8 UInt8 Float32 Float32
AcquisitionMode:
This flag sets whether output will be presented in Continuous or Polled
Acquisition Mode. Poll Mode is TRUE and should be selected when the host
system will poll the TRAX for each data set. Continuous Mode is FALSE and
should be selected if the user will have the TRAX output data to the host system
at a relatively fixed rate. Poll Mode is the default.
FlushFilter:
This is only relevant in Compass Mode. Setting this flag to TRUE results in the
FIR filter being flushed (cleared) after every measurement. The default is
FALSE.
Flushing the filter clears all tap values, thus purging old data. This can be useful
if a significant change in heading has occurred since the last reading, as the old
heading data would be in the filter. Once the taps are cleared, it is necessary to
fully repopulate the filter before data is output. For example, if 32 FIR taps is set,
32 new samples must be taken before a reading will be output. The length of the
delay before outputting data is directly correlated to the number of FIR taps.
PNIReserved:
These 4 bytes serve no function. PNI recommends populating the bytes with 0.
SampleDelay:
The SampleDelay is relevant when the Continuous Acquisition Mode is selected.
It is the time delay, in seconds, between completion of TRAX sending one set of
data and the start of sending the next data set. The default is 0 seconds, which
means TRAX will send new data as soon as the previous data set has been sent.

Note that the inverse of the SampleDelay is somewhat greater than the actual
sample rate, since the SampleDelay does not include actual acquisition time.
kSetAcqParamsDone (frame ID 26 d)
This frame is the response to kSetAcqParams frame. The frame has no payload.
kGetAcqParams (frame ID 25 d)
This frame queries the unit for acquisition parameters. The frame has no payload.
kGetAcqParamsResp (frame ID 27 d)
This frame is the response to kGetAcqParams frame. The payload should contain the
same payload as the kSetAcqParams frame.
7.5.3 Data Components

kSetDataComponents (frame ID 3d)
This frame defines what data is output when kGetData is sent. Table 7-5 summarizes
the various data components and more detail follows this table. Note that this is not a
query for the device's model type and software revision (see kGetModInfo). The first
byte of the payload indicates the number of data components followed by the data
component IDs. Note that the sequence of the data components defined by
kSetDataComponents will match the output sequence of kGetDataResp.
Payload
ID Count ID 1 ID 2 ID 3 ……….
UInt8 UInt8 UInt8 UInt8
Example: To query for heading and heading status, the payload should contain:
Payload
02 05 18
ID Count Heading ID Pitch ID
Table 7-5: Component Identifiers
Component ID
Component Format Units
Decimal Hex
kHeading 5 0x05 Float32 degrees
kPitch 24 0x18 Float32 degrees
kRoll 25 0x19 Float32 degrees
kHeadingStatus 79 0x4F UInt8 value

kQuaternion 77 0x4D 4x Float32 quaternion
kTemperature 7 0x07 Float32 ˚ Celsius
0x08 True or False
kDistortion 8 Boolean
(Default)
0x09 True or False
kCalStatus 9 Boolean
(Default)
kAccelX 21 0x15 Float32 G
kAccelY 22 0x16 Float32 G
kAccelZ 23 0x17 Float32 G
kMagX 27 0x1B Float32 T
kMagY 28 0x1C Float32 T
kMagZ 29 0x1D Float32 T
kGyroX 74 0x4A Float32 radians/sec
kGyroY 75 0x4B Float32 radians/sec
kGyroZ 76 0x4C Float32 radians/sec
Component types are listed below. All are read-only values.

kHeading, kPitch, kRoll (Component IDs 5d, 24d, 25d)
Provides compass heading, pitch and roll outputs. The heading range is 0.0˚ to
+359.9˚, the pitch range is -90.0˚ to +90.0˚, and the roll range is to -180.0˚ to
+180.0˚.
kHeadingStatus (Component IDs 79d)
The heading status provides an indication of the uncertainty of the heading. “1”
represents a heading uncertainty of <2°, “2” means the heading uncertainty is
approximately 2° to 10°, and “3” means the uncertainty is >10°.
Quaternion (Component ID 77d)
The quaternion values generated by the TRAX algorithm are output in one data
package that contains the four quaternions. The quaternions are output as Q0, Q1,
Q2, and Q3, where Q3 is the scalar quaternion. When in AHRS Mode, heading,
pitch, and roll are subsequently calculated from these quaternions.
kTemperature (Component ID 7d)
This value is provided by the device‟s internal temperature sensor. Its value is in
degrees Celsius and has an accuracy of ±3° C.
kDistortion (Component ID 8d)
This flag indicates at least one magnetometer axis reading is beyond ±125 µT. It
is only applicable in Compass Mode, and will always read “FALSE” in AHRS
Mode.
kCalStatus (Component ID 9d)
This flag indicates the user calibration status. False means it is not user calibrated
and this is the default value.

kAccelX, kAccelY & kAccelZ (Component IDs 21d, 22d, 23d)
These values represent the accelerometer sensor data for the x, y, and z axis,
respectively. The values are normalized to g (Earth‟s gravitational force).
kMagX, kMagY & kMagZ (Component IDs 27d, 28d, 29d)
These values represent the magnetic sensor data for the x, y, and z axis,
respectively. The values are given in µT.
kGyroX, kGyroY, kGyroZ (Component IDs 74d, 75d, 76d)
These values represent the gyroscope sensor data for rotation around the x, y, and
z axis, respectively. The values are in radians per second.
7.5.4 Making a Measurement

kGetData (frame ID 4d)
If the TRAX is configured to operate in Polled Acquisition Mode (see
kSetAcqParams), then this frame requests a single measurement data set. The frame
has no payload.
kStartContinuousMode (frame ID 21 d)
If the TRAX is configured to operate in Continuous Acquisition Mode (see
kSetAcqParams), then this frame initiates the outputting of data at a relatively fixed
data rate, where the data rate is established by the SampleDelay parameter. The
frame has no payload.
kStopContinuousMode (frame ID 22 d)
This frame commands the TRAX to stop data output when in Continuous Acquisition
Mode. The frame has no payload.
kGetDataResp (frame ID 5d)
The response to kGetData and kStartContinuousMode is kGetDataResp. The specific
data fields that will be output (ID 1, Value ID 1, etc.) should have been previously
established by the kSetDataComponents command frame.
Payload
ID Count ID 1 Value ID 1 ID 2 Value ID 2 ID 3 Value ID 3
UInt8 UInt8 ID Specific UInt8 ID Specific UInt8 ID Specific
Example: If heading and heading status are set to be output per the
kSetDataComponents command, the payload would look like:

Payload
2 5 359.9 79 1
ID Count Heading ID Heading Heading Heading

(Float32) Status ID Status (UInt8)
7.6 Calibration Commands

7.6.1 User Calibration Commands
First, note that in order to perform a user calibration, it is necessary to place the TRAX in
Compass Mode, as discussed in Section 7.7. Note that TRAX allows for a maximum of
12 calibration points.
kStartCal (frame ID 10d)
This frame commands the TRAX to start user calibration with the current sensor
acquisition parameters, internal configurations and FIR filter settings.
Payload CalOption Payload Value:
“10d” or “0Ah”: Full-Range Calibration (default)
CalOption “20d” or “14h”: 2D Calibration
“30d” or “1Eh”: Hard-Iron-Only Calibration
UInt32
“40d” or “28h”: Limited-Tilt Calibration
“100d” or “64h”: Accel-Only Calibration
“110d” or “6Eh”: Mag-and-Accel Calibration
Note: The payload needs to be 32 bit (4 byte). If no payload is entered or if less than 4 bytes
are entered, the unit will default to the previous calibration method.
The CalOption values are given below, along with basic descriptions of the options.
Full-Range Calibration
Recommended calibration method when >45° of tilt is possible. Can be used for
between 20° and 45° of tilt, but accuracy will not be as good
2D Calibration
Recommended when the available tilt range is limited to ≤5°. Can be used for 5°
to 10° of tilt, but accuracy will not be as good.
Hard-Iron-Only Calibration
Recalibrates the hard-iron offset for a prior calibration. If the local field hard-iron
distortion has changed, this calibration can bring the TRAX back into
specification.

Limited-Tilt Calibration
Recommended calibration method when >5° of tilt calibration is available, but tilt
is restricted to <45°. (i.e. full range calibration is not possible.)
Accel-Only Calibration
Select this when an accelerometer calibration will be performed.
Accelerometer and Magnetic Calibration (110d = 6Eh)
Selected when magnetic and accelerometer calibration will be done
simultaneously.
Below is a complete sample packet to start a 2D Calibration (kStartCal):
00 09 0A 00 00 00 14 5C F9
ByteCount Frame ID CalOption CalOption Checksum

(MSBs) (2D Calibration)
Heading, pitch and roll information is output via the kGetDataResp frame during the
calibration process. This feature provides guidance during the calibration regarding
calibration sample point coverage. During calibration, in the kGetDataResp frame,
the number of data components is set to be 3 and then followed by the data
component ID-value pairs. The sequence of the component IDs are kHeading, kPitch
and kRoll.
kTakeUserCalSample (frame ID 31 d)
This frame commands the TRAX to take a sample during user calibration. The frame
has no payload.
kUserCalSampleCount (frame ID 17 d)
This frame is sent from the TRAX after taking a calibration sample point. The
payload contains the sample count with the range of 1 to 18.
Payload
SampleCount#
UInt32
kStopCal (frame ID 11d)

This command aborts the calibration process. The prior calibration results are
retained.

7.6.2 Performing a User calibration
The steps below provide an example of the steps to perform a user calibration.
 Using the kSetParam command, set the number of tap filters to 0.
 Using the kSetConfig command, set kUserCalAutoSampling. “False” is generally
recommended, but “True” may be more convenient.
 Using the kSetConfig command, set kMagCoeffSet (magnetometer calibration)
and/or kAccelCoeffSet (accelerometer calibration). These fields allow the user to
save multiple sets of calibration coefficients. “0” is the default.
 Using the kSetConfig command again, set kUserCalNumPoints to the appropriate
number of calibration points.
 Initiate a calibration using the kStartCal command. Note that this command
requires indentifying the type of calibration procedure (i.e. Full-Range, 2D, etc.).
 Follow the appropriate calibration procedure, as discussed in Section 5. If
kUserCalAutoSampling was set to “False”, then send a kTakeUserCalSample
command when ready to take a calibration point. If kUserCalAutoSampling was
set to “True”, then look for kUserCalSampCount to confirm when a calibration
point has been taken. During the calibration process, heading, pitch, and roll
information will be output from the TRAX, and this can be monitored using
kDataResp.
 When the final calibration point is taken, the device will present the calibration
score using kUserCalScore.
 If the calibration is acceptable (see Section 7.6.2), save the calibration coefficients
using kSave.
7.6.3 Calibration Score

kUserCalScore (frame ID 18 d)
The calibration score is automatically sent upon taking the final calibration point.
The payload is defined below, and the various payload components are discussed
after this.
Payload
MagCalScore Bytes 5-8 AccelCalScore DistributionError TiltError TiltRange
Float32 Float32 Float32 Float32 Float32 Float32
MagCalScore:
Represents the over-riding indicator of the quality of the magnetometer
calibration. Acceptable scores will be ≤1 for full range calibration, ≤2 for other

methods. Note that it is possible to get acceptable scores for DistributionError
and TiltError and still have a rather high MagCalScore value. The most likely
reason for this is the TRAX is close to a source of local magnetic distortion that is
not fixed with respect to the device.
Bytes 5-8:
Reserved for PNI use.
AccelCalScore:
Represents the over-riding indicator of the quality of the accelerometer
calibration. An acceptable score is ≤1.
DistributionError:
Indicates if the distribution of sample points is good, with an emphasis on the
heading distribution. The score should be 0. Significant clumping or a lack of
sample points in a particular section can result in a poor score.
TiltError:
Indicates if the TRAX experienced sufficient tilt during the calibration, taking
into account the calibration method. The score should be 0.
TiltRange:
This reports the larger of either half the full pitch range or half the full roll range
of sample points. For example, if the device is pitched +10° to -20º, and rolled
+25º to -15º, the TiltRange value would be 20º (as derived from [+25º -
{-15º}]/2). For Full-Range Calibration and Hard-Iron-Only Calibration, this
should be ≥45°. For 2D Calibration, ideally this should be ≈2°. For Limited-Tilt
Calibration the value should be as large a possible given the user‟s constraints.
7.6.4 Factory Calibration

kFactoryMagCoeff (frame ID 29 d)
This frame clears the magnetometer calibration coefficients and loads the original
factory-generated coefficients. The frame has no payload. This frame must be
followed by the kSave frame to save the change in non-volatile memory.
kFactoryMagCoeffDone (frame ID 30 d)
This frame is the response to kFactoryMagCoeff frame. The frame has no payload.
kFactoryAccelCoeff (frame ID 36 d)
This frame clears the accelerometer calibration coefficients and loads the original
factory-generated coefficients. The frame has no payload. This frame must be
followed by the kSave frame to save the change in non-volatile memory.

kFactoryAccelCoeffDone (frame ID 37 d)
This frame is the response to kFactoryAccelCoeff frame. The frame has no payload.
7.7 Compass Mode Commands

The TRAX normally operates in AHRS Mode, which uses a proprietary Kalman algorithm to
fuse the inputs of its 3-axis gyroscope, 3-axis accelerometer, and 3-axis magnetometer.
However, the user can place the TRAX in Compass Mode, wherein it only uses the inputs
from the accelerometer and magnetometer to establish heading, pitch, and roll. In this case
the TRAX operates very similarly to PNI‟s TCM electronic compass.
There are a couple of reasons it may be desirable to place the TRAX in Compass Mode. As
previously mentioned, it is necessary to place the TRAX in Compass Mode to perform a
calibration. Additionally, if a static measurement is to be made in a known clean local
magnetic field, then a somewhat higher level of accuracy is achievable in Compass Mode.
Also, by placing the TRAX in Compass Mode it can subsequently be placed into Sleep Mode
which will significantly reduce power consumption when not taking measurements.
7.7.1 Switching Functional Mode

kSetFunctionalMode (frame ID 79 d)
This frame establishes whether the TRAX operates in AHRS Mode or Compass
Mode. The frame has a one byte payload. The payload byte is “0” to operate in
Compass Mode and “1” to operate in AHRS Mode. The default is “1”.
Payload
FunctionalMode Payload Value:
FunctionalMode “0”: Compass Mode
“1”: AHRS Mode (default)
UInt8
Sending the kSave command after changing the mode will save the new setting in
non-volatile memory.
kGetFunctionalMode (frame ID 80 d)
This frame queries the TRAX functional mode. The frame has no payload.
kGetFunctionalModeResp (frame ID 81 d)
This is the response of kGetFunctionalMode, and it has the same payload definition
as kSetFunctionalMode.

7.7.2 FIR Filters
When operating in Compass Mode, the TRAX incorporates a finite impulse response
(FIR) filter to provide a more stable heading reading. The number of taps (or samples)
represents the amount of filtering to be performed. The number of taps directly affects
the time for the initial sample reading, as all the taps must be populated before data is
output. The FIR filter settings have no affect when operating in AHRS Mode.
The TRAX can be configured to clear, or flush, the filters after each measurement, as
discussed in Section 7.5.2. Flushing the filter clears all tap values, thus purging old data.
This can be useful if a significant change in heading has occurred since the last reading,
as the old heading data would be in the filter. Once the taps are cleared, it is necessary to
fully repopulate the filter before data is output. For example, if 32 FIR taps is set, 32 new
samples must be taken before a reading will be output. The length of the delay before
outputting data is directly correlated to the number of FIR taps.
kSetFIRFilters (frame ID 12d)
The payload for kSetFIRFilters is given below.
Payload
Byte 1 Byte 2 Count N Value 1 Value 2 Value 3 Value N
UInt8 UInt8 UInt8 ID Specific ID Specific ID Specific ID Specific
Byte 1 should be set to 3 and Byte 2 should be set to 1. The third payload byte
indicates the number of FIR taps to use, which can be 0 (no filtering), 4, 8, 16, or 32.
This is followed by the tap values (0 to 32 total Values can be in the payload), with
each Value being a Float64, and suggested values given in Table 7-6.
Table 7-6: Recommended FIR Filter Tap Values
Count 4-Tap Filter 8-Tap Filter 16-Tap Filter 32-Tap Filter

1 04.6708657655334e-2 01.9875512449729e-2 07.9724971069144e-3 01.4823725958818e-3
2 04.5329134234467e-1 06.4500864832660e-2 01.2710056429342e-2 02.0737124095482e-3
3 04.5329134234467e-1 01.6637325898141e-1 02.5971390034516e-2 03.2757326624196e-3
4 04.6708657655334e-2 02.4925036373620e-1 04.6451949792704e-2 05.3097803863757e-3
5 02.4925036373620e-1 07.1024151197772e-2 08.3414139286254e-3
6 01.6637325898141e-1 09.5354386848804e-2 01.2456836057785e-2
7 06.4500864832660e-2 01.1484431942626e-1 01.7646051430536e-2
8 01.9875512449729e-2 01.2567124916369e-1 02.3794805168613e-2
9 01.2567124916369e-1 03.0686505921968e-2

10 01.1484431942626e-1 03.8014333463472e-2
11 09.5354386848804e-2 04.5402682509802e-2
12 07.1024151197772e-2 05.2436112653103e-2
13 04.6451949792704e-2 05.8693165018301e-2
14 02.5971390034516e-2 06.3781858267530e-2
15 01.2710056429342e-2 06.7373451424187e-2
16 07.9724971069144e-3 06.9231186101853e-2
17 06.9231186101853e-2
18 06.7373451424187e-2
19 06.3781858267530e-2
20 05.8693165018301e-2
21 05.2436112653103e-2
22 04.5402682509802e-2
23 03.8014333463472e-2
24 03.0686505921968e-2
25 02.3794805168613e-2
26 01.7646051430536e-2
27 01.2456836057785e-2
28 08.3414139286254e-3
29 05.3097803863757e-3
30 03.2757326624196e-3
31 02.0737124095482e-3
32 01.4823725958818e-3
kSetFIRFiltersDone (frame ID 20 d)
This frame is the response to kSetFIRFilters. The frame has no payload.
kGetFIRFilters (frame ID 13d)
This frame queries the FIR filter settings for the sensors. Byte 1 should be set to 3
and Byte 2 should be set to 1.
Payload
Byte 1 Byte 2
UInt8 UInt8

kGetFIRFiltersResp (frame ID 14d)
This is the response to kGetFIRFilters and it has the same payload definition as
kSetFIRFilters.
7.7.3 Power Down/Up

For certain applications it is desirable to conserve battery power. To maintain accurate
heading readings in AHRS Mode generally requires continual sensor updates to the
Kalman algorithm. However, this is not the case in Compass Mode wherein readings
may be taken only when heading information is desired. Consequently, when in
Compass Mode the TRAX may be powered down when heading data is not required.
kPowerDown (frame ID 15d)
This frame is used to power-down the module. The frame has no payload. The
command will power down all peripherals including the sensors, microprocessor, and
RS-232 driver. However, the driver chip has a feature to keep the Rx line enabled.
The TRAX will power up when it receives any signal on the native UART Rx line.
kPowerDownDone (frame ID 28d)
This frame confirms the TRAX received a command to power down. The frame has
no payload.
kPowerUpDone (frame ID 23d)
This frame confirms the TRAX received a command to power up. (The TRAX will
power up when it receives any signal on the native UART Rx line.) The frame has no
payload.
7.8 Using Multiple Coefficient Sets
The ability to store and access multiple calibration coefficients sets the FieldForce TRAX
apart from our Prime or legacy TCM. This section will detail the command list and provide
two examples for utilizing this functionality.

Table 7-7: Multiple Coefficient Command List
Magnetometer Calibration
kSetConfig kCoeffCopySet Value Command

Examples TRAX Response
(frame ID) (config ID) (UInt32) Bytes
0x06 0x12 0-7 Set kCoeffCopySet to 0x00 0x0A 0x06 0x00 0x05 0x13 0xDD
be copy 0 0x12 0x00 0x00 0xA7
0x00 0x00 0x3E
0x76
Set kCoeffCopySet to 0x00 0x0A 0x06 0x00 0x05 0x13 0xDD
be copy 1 0x12 0x00 0x00 0xA8
0x00 0x01 0x2E
0x57
Set kCoeffCopySet to 0x00 0x0A 0x06 0x00 0x05 0x13 0xDD
be copy 4 0x12 0x00 0x00 0xA9
0x00 0x04 0x7E
0xF2
kGetConfig kCoeffCopySet Value Command
0x07 0x12 get kCoeffCopySet 0x00 0x06 0x07 0x00 0x0A 0x08 0x12
value which is 0x12 0x19 0x44 0x00 0x00 0x00 0x??
currently used in CRC1 CRC2
TRAX
Accelerometer Calibration
kSetConfig AccelCoeffCopySet Value Command

0x00 0x0A 0x06 0x00 0x05 0x13 0xDD

Set 0x13 0x00 0x00 0xA7
kAccelCoeffCopySet 0x00 0x00 0x94
0x06 0x13 0-2 to be copy 0 0x27
0x00 0x0A 0x06 0x00 0x05 0x13 0xDD
Set 0x13 0x00 0x00 0xA8
kAccelCoeffCopySet 0x00 0x01 0x84
to be copy 1 0x06
0x00 0x0A 0x06 0x00 0x05 0x13 0xDD
Set 0x13 0x00 0x00 0xA9
kAccelCoeffCopySet 0x00 0x02 0xB4
to be copy 2 0x65
kGetConfig AccelCoeffCopySet Value Command
0x07 0x13 get 0x00 0x06 0x07 0x00 0x0A 0x08 0x13
kAccelCoeffCopySet 0x13 0x09 0x65 0x00 0x00 0x00 0x??
value which is CRC1 CRC2
currently used in
TRAX

Examples
Example 1: Save Magnetic Calibration result to Coeff Copy Set 4.
Set the kCoeffCopySet to copy 4 by sending the following command.
0x00 0x0A 0x06 0x12 0x00 0x00 0x00 0x04 0x7E 0xF2
Get the kCoeffCopySet to verify by sending the following command. (Optional)
0x00 0x06 0x07 0x12 0x19 0x44
Send kSave command to save the kCoeffCopySet to flash so that it will be still available
after power cycle. The kSave command is as following.
0x00 0x05 0x09 0x6E 0xDC
Start a user calibration, when completes, save calibration coeffs to TCM. The coeffs have
been saved into coeff set copy 4.
Example 2: Use Magnetic Coeff Copy Set 1 in TCM. (The assumption is user has saved
calibration coeffs to set 1 before)
Set the kCoeffCopySet to copy 1 by sending the following command.
0x00 0x0A 0x06 0x12 0x00 0x00 0x00 0x01 0x2E 0x57
Get the kCoeffCopySet to verify by sending the following command. (Optional)
0x00 0x06 0x07 0x12 0x19 0x44
Send kSave command to save the kCoeffCopySet to flash so that it will be still available
after power cycle. The kSave command is as following.
0x00 0x05 0x09 0x6E 0xDC

Revision Control Block
Revision Description of Change Effective Date Approval

R06 Added Revision Control Block. Changed PNI address. Eliminated Mar. 31, 2014 A. Leuzinger
“FieldForce” reference and capitalized TRAX throughout.
Combined Table 3-1 and 3-2. Added Absolute Maximum Ratings
and Communication Lines specs. Changed Supply Voltage spec.
Added Figure 3-4, Molex-to-USB cable, and rename other cable
drawings to be more descriptive. Removed “pigtail” reference
except when it applies to Molex-to-pigtail cable. Modified Sections
5.1 and 5.2, including adding Accel and Mag Cal. Rearranged Table
7-2 to be in numerical order, and added hex numbers and added
section links. Changed Table 7-4 and preceding paragraph.
Renamed “field calibration” to “user calibration”,
kMagCoeffCopySet to kMagCoeffSet, kAccelCoeffCopySet to
kAccelCoeffSet, kSetFactoryMagCoeff to kFactoryMagCoeff,
kSetFactoryMagCoeffDone to kFactoryMagCoeffDone,
kSetFactoryAccelCoeff to kFactoryAccelCoeff, and
kSetFactorAccelCoeffDone to kFactoryAccelCoeffDone. Updated
Table 7-5 to include decimal and hex component IDs and corrected
the example prior to the table.
R07 Added instructions to insure a TRAX module is set to Sept. 19, D.
Big Endian if it will be used with TRAX Studio in 2014 McKenzie
sections 6 and 7.4.2.
R08 Removed references to and diagrams of the enclosed January 21, DMcKenzie
Trax 2015
Added section on using multiple calibration coefficients
R09.2 4.3.1 Figure 4-1 new picture to show NED coordinate July 7, 2017 B. Zhang
and correction on Roll polarity. Add a new section for
NED coordinate.


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User Manual

PNI Sensor Corporation DOC#1016505 r09.2

PNI Sensor Corporation DOC#1016505 r09.2

PNI Sensor Corporation DOC#1016505 r09.2

PNI Sensor Corporation DOC#1016505 r09.2

PNI Sensor Corporation DOC#1016505 r09.2

Table 3-1: Performance Specifications1

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Parameter Minimum Maximum Units

Table 3-3: Electrical Requirements

Figure 3-1: Typical Current Drawing During Application of External Power

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Table 3-5: Environmental Requirements

Table 3-6: Mechanical Characteristics

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Figure 3-2: TRAX PCA Mechanical Drawing

Figure 3-3: Molex-to-Pigtail Cable Drawing, pn 12415

Figure 3-4: Molex-to-USB Cable Drawing, pn 13119

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4.1 Electrical Connections

Table 4-1: TRAX Pin Descriptions

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4.2.1 Operate within the TRAX’s dynamic range

4.2.2 Locate away from changing magnetic fields

4.2.3 Mount in a physically stable location

4.3 Mechanical Mounting

4.3.1 Pitch and Roll Convention

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Figure 4-1: Positive & Negative Roll and Pitch Definition

4.3.2 Coordinate System

4.3.3 Mounting Orientation

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Table 5-1: Magnetic Calibration Mode Summary

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Table 5-2: 12 Point Full-Range Calibration Pattern

Sample # Yaw1 Pitch Roll

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Sample # Yaw Pitch1 Roll1

5.1.3 Limited-Tilt Calibration

Table 5-4: 12 Point Limited-Tilt Calibration Pattern

Sample # Yaw Pitch Roll

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5.1.4 Hard-Iron-Only Calibration

Table 5-5: 6 Point Hard-Iron-Only Calibration Pattern

Sample # Yaw Pitch1 Roll1

5.2 Accelerometer Calibration

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5.2.1 Accel-Only Calibration

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Figure 5-2: Accelerometer Calibration Starting Orientations

5.2.2 Mag-and-Accel Calibration