000828 Issue 3 TARS SERIES Transportation Attitude Reference System Ruggedized Inertial Measurement Unit (IMU) DESCRIPTION DIFFERENTIATION The Transportation Attitude Reference Flexible. On-board firmware System (TARS-IMU) is a packaged sensor customizes the TARS-IMU to the array designed to report vehicle angular specific vehicle for its designed rate, acceleration, and attitude data for application. demanding applications in industries Durable. With top-of-the-line sealing such as heavy-duty, off-highway (IP67, IP69K), the TARS-IMU is transportation. ruggedized to withstand harsh or heavy-duty applications. FEATURES The TARS-IMU enables autonomous Convenient. The TARS-IMU is High performance IMU reports vehicle characteristics and enhances delivered with customizable firmware vehicle angular rate, acceleration and efficiency and productivity by reporting that allows manufacturers to use a inclination data (6 degrees of freedom, key data required to automate and single part number across vehicles see Figure 1) monitor movements of vehicle systems and applications. If preferred, the Ruggedized PBT thermoplastic and components. The sensor fusion TARS-IMU may be pre-configured at housing design for many demanding algorithm may be customized for specific the Honeywell factory for immediate applications and environments (IP67 vehicle applications via on-board installation out of the box. and IP69K certified) firmware, allowing movement data to be filtered for extraneous environment and Advanced filtering of raw sensor VALUE TO CUSTOMERS vehicle movements. data to minimize unwanted noise Designed to allow vehicle and vibration promotes positioning With two sensor models for different manufacturers and end users to accuracy power levels, the TARS-IMU increase efficiency with the automation Supports 5 V and 9 V to 36 V vehicle accommodates both 5 V and 9 V to 36 V of repetitive movements and complex power systems vehicle power systems. Communication tasks Operating temperature of -40C to is transmitted using industry standard Enables precise movement, actuation, 85C -40F to 185F CAN J1939 connectivity. As a standard, and guidance over severe terrain and Customizable via TCT software TARS-IMU is calibrated on aerospace- vehicle grades grade rate tables at the factory to provide available on the web Enhances safety through monitoring enhanced calibration consistency Reduced power consumption and guidance capabilities to promote between units. Small form-factor the productivity of operators Optional metal guard for added Customization protection POTENTIAL APPLICATIONS The TARS-IMU may be customized to Equipment control best meet application needs using the Linkage tracking TARS Configurator Tool (TCT) software TARS-IMU joins Honeywells Bucket control to change selected parameters such as venerated sensor portfolio, Work monitoring broadcast rate, orientation, filter settings, adding to the ever- Vehicle stability control etc. This tool creates a unique personality increasing connected and Operator assisted control file which is then uploaded to the TARS- intelligence driven capabilities Performance and output control IMU for implementation. that Honeywell offers. TARS- Linear position IMU is built to withstand the demanding applications in industries like off-highway transportation and beyond. TRANSPORTATION ATTITUDE REFERENCE SYSTEM, TARS SERIES FIGURE 1. SIX DEGREES OF FREEDOM Rotational Movement Translational Movement in Three Perpendicular Axes about Three Perpendicular Axes Heave Heave (vertical) Surge (vertical) Surge (longitudinal) (longitudinal) Roll Roll Yaw += Yaw Sway Sway (lateral) (lateral) Pitch Pitch Surg:e: Moving forward/backward Roll: Tilting side to side Surge Roll Heave: Moving up/down Pitch: Tilting forward and backward Heave Pitch Sway: Moving left/right Yaw: Turning left and right Sway Yaw TABLE 1. SENSOR SPECIFICATIONS CHARACTERISTIC MIN. TYP. MAX. UNIT Gyroscope 3 axis performance 1 Range -245 +245 deg/s Resolution 8.75 mdps In-run bias stability 1 mdps Noise density 4 mdps/ Hz Offset (0C to 50C) 0.8 deg/s Offset (-40C to 85C) 1.6 deg/s Accelerometer 3 axis performance 1 2 Range -78.48 +78.48 m/s 2 2 Resolution 0.01 m/s In-run bias stability 50 mg Noise density 65 mg/ Hz 2 Offset (0C to 50C) 0.05 m/s 2 Offset (-40C to 85C) 0.15 m/s Inclination (pitch and roll) 1 Range -85 +85 deg Resolution 0.014 deg Static error (0C to 50C) 0.3 deg Static error (-40C to 85C) 0.9 deg Translational acceleration error 0.5 deg Centripetal acceleration error 0.5 deg 1 2 Sensors are calibrated in the following ranges: 60 deg/s for angular rate, 9.80665 m/s for acceleration, and 30 deg for pitch and roll. Calibrated ranges may be extended to maximums shown with deviation to performance specifications. Angular rate outputs per PGN 61482 Z-down convention required by J1939. Acceleration outputs per PGN 61485 Z-up convention required by J1939. Pitch and roll outputs per PGN 61481 Z-down convention required by J1939. 2 Accelerometer resolution is limited by the J1939 protocol. 2 sensing.honeywell.com