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

Supported hardware devices

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

Supported platforms

Installation

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

Device configuration settings

Type: ChRobotics
AcquisitionRate: (Optional, default: 20)
LocalTimeOffsetSec: (Optional, default: 0)
ToolReferenceFrame: (Optional, default: Tracker)
SerialPort: Used COM port number for serial communication
BaudRate: Baud rate for serial communication.
FirmwareDirectory: Directory path containing the XML files that describes the device firmware
DataSources: Exactly one DataSource child element is required. (Required)
- DataSource: (Required)
- PortName: = (OrientationSensor) (Required)
- BufferSize: (Optional, default: 150)
- AveragedItemsForFiltering: (Optional, default: 20)

Example configuration file PlusDeviceSet_Server_ChRobotics.xml

<PlusConfiguration version="2.1">

  <DataCollection StartupDelaySec="1.0">
    <DeviceSet
      Name="PlusServer: CHRobotics CH3-UM6 MARG sensor"
      Description="Broadcasting tool tracking data through OpenIGTLink"
    />
    <Device
      Id="TrackerDevice"
      Type="ChRobotics"
      SerialPort="5"
      BaudRate="115200"
      FirmwareDirectory="ChRoboticsFirmware"
      ToolReferenceFrame="Tracker" >
      <DataSources>
        <DataSource Type="Tool" Id="OrientationSensor" PortName="OrientationSensor" />
      </DataSources>
      <OutputChannels>
        <OutputChannel Id="TrackerStream">
          <DataSource Id="OrientationSensor"/>
        </OutputChannel>
      </OutputChannels>
    </Device>
    <Device
      Id="CaptureDevice"
      Type="VirtualCapture"
      BaseFilename="RecordingTest.igs.mha"
      EnableCapturingOnStart="FALSE" >
      <InputChannels>
        <InputChannel Id="TrackerStream" />
      </InputChannels>
    </Device>
  </DataCollection>

  <PlusOpenIGTLinkServer
    MaxNumberOfIgtlMessagesToSend="1"
    MaxTimeSpentWithProcessingMs="50"
    ListeningPort="18944"
    OutputChannelId="TrackerStream"
    >
    <DefaultClientInfo>
      <MessageTypes>
        <Message Type="TRANSFORM" />
      </MessageTypes>
      <TransformNames>
        <Transform Name="OrientationSensorToTracker" />
        <xTransform Name="AccelerometerToTracker" />
        <xTransform Name="GyroscopeToTracker" />
        <xTransform Name="MagnetometerToTracker" />
      </TransformNames>
    </DefaultClientInfo>
  </PlusOpenIGTLinkServer>

</PlusConfiguration>