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Please read this manual before installation and operation in

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UAV Mounted Magnetometer

Manual

Version Number： V2.2

Publication Date： 2020.05.27

Xi’an Huashun Measuring Equipment Co., Ltd.

 Catalog
1 Overview...........................................................................................................................................................1
2 Technical Index..................................................................................................................................................1
2.1 Three Component Data Acquisition Module..........................................................................................1
2.2 Fluxgate Sensor......................................................................................................................................2
2.3 Format Conversion Software..................................................................................................................3
3 Application Scope..............................................................................................................................................3
4 Structure Feature...............................................................................................................................................3
4.1 Data Acquisition Module........................................................................................................................4
4.2 Fluxgate Sensor......................................................................................................................................6
4.3 GPS Module...........................................................................................................................................6
5 Operation Method..............................................................................................................................................7
5.1 Function Test..........................................................................................................................................7
5.2 Data Export.............................................................................................................................................8
5.3 Format Conversion.................................................................................................................................8
6 Considerations...................................................................................................................................................9
Appendix............................................................................................................................................................ 11
1 Basic Principles...............................................................................................................................................11
2 Interface Specification.....................................................................................................................................11
3 Data Protocol Table.........................................................................................................................................11
4 Magnetic Field Data Calculation.....................................................................................................................12
5 GPS Detailed Protocol And Analytical Algorithm...........................................................................................14
5.1 NAV-SOL.....................................................................................................................................................14
5.2 NAV-POSLLH..............................................................................................................................................15
5.3 NAV-VELNED.............................................................................................................................................16
5.4 NAV-TIMEUTC...........................................................................................................................................16
6 Attitude Temperature Analytical Algorithm.....................................................................................................17
6.1 Content of Each Packet.................................................................................................................................17
6.2 Specific Analytical Method..........................................................................................................................17
1 Overview

The magnetometer mounted on UAV (hereinafter referred to as magnetometer) is a series of weak magnetic

measurement products integrating GPS information acquisition, attitude information acquisition, temperature

information acquisition and other functions developed and designed by Xi'an Huashun measurement

equipment Co., Ltd., which has the characteristics of high measurement accuracy, simple operation and

convenient carrying.

The magnetometer is composed of fluxgate magnetic sensor, data acquisition module, GPS module, attitude

module, temperature module, etc. The whole set is powered by DC 12V power supply.

Basic testing principle of magnetometer system: The magnetic sensor converts the magnetic field signal of

the area to be tested into voltage signal, and then realizes digitization through 24bit AD chip; The attitude

module is integrated in the magnetic sensor, and the attitude information is sent out through the serial port; The

temperature module is integrated in the data acquisition module; The GPS module collects the GPS

information of the current position and sends it through the serial port (TTL). ARM chip processes four kinds

of data and communicates with the outside world through internal recording.

The overall block diagram is shown in the figure below:

Figure 1.1 Diagram of UAV Mounted Magnetometer

2 Technical Index

2.1 Three Component Data Acquisition Module

1
 No. Technical Item Technical Index

1 Number of sampling channels 3

2 Sampling frequency 200Hz

3 Sampling accuracy 24bit AD

4 Working voltage 12V DC

5 Communication mode SD Record

6 Size 56mm*106mm*136mm

7 Weight ≤400g

8 Working current ≤300mA

9 GPS 1Hz

10 Attitude information 1Hz

11 Temperature information 1Hz

2.2 Fluxgate Sensor

No. Technical Item Technical Index

1 Axis 3

2 Measuring range ±100uT

3 Bandwidth DC-1KHz

4 Linearity ≤0.01% FS

5 Orthogonality ≤±0.5°

6 Frequency domain noise ≤10pTrms/√HZ@1Hz

7 Consumption ≤0.45W

8 Weight 220g

9 Size 30 mm *30 mm *120mm

10 Cable length 1.5m

11 Integrated temperature sensor Upload 1 group of temperature values per

2
 second

2.3 Format Conversion Software

No. Technical Item Technical Index

1 Conversion mode dat file to txt file

2 Accuracy of conversion data 0.1nT

3 Application Scope

The three channel data acquisition module is used together with magnetic sensor, temperature module,

attitude module and GPS module to facilitate the magnetic detection application of outdoor UAV.

PT100 Temperature Sensor: The temperature value of the position where the magnetic sensor is located can

be measured;

GPS Module: GPS information of the current system can be measured;

Attitude Module: The attitude information of the current system can be measured;

Temperature Module: The temperature information of the current system can be measured.

4 Structure Feature

Figure 4.1 Structure diagram of data acquisition module

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4.1 Data Acquisition Module

4.1.1 Front Panel

The front panel of the data acquisition module has a power indicator, a status indicator, a type C USB

port, an Ethernet interface, a circular switch, a power interface and a GPS interface, as shown in Figure 4.2.

Figure 4.2 Structure diagram of front panel

Meaning of Indicator Light

Indicator Work State Work Description
Twinkle System did not get the GPS time
Power Light on System obtains GPS time
Light off System abnormality or power failure
Twinkle System works normally
Status
Light off Just power on initialization or system abnormality or power failure
Type C USB Interface: Data export interface.

Circular Switch: Control power on and off.

Power Interface: Power the system through the DC connector.

Input Interface: Connect to GPS module. See the table below for interface definition.

Interface Appearance Function Definition Remark

1：5V

2：DGND

4
 3：TX Connect GPS RX

4：RX Connect GPS TX

5：NC

4.1.2 Rear Panel

The rear panel of the data acquisition module has a magnetic sensor interface, as shown in Figure 4.3.

Figure 4.3 Structure diagram of rear panel

See the table below for the definition of magnetic sensor interface

Interface Appearance Function Definition Remark

1：PGND
2：-15V
3：+15V
4： X
5： Y
6： Z
7：AGND
8：VCC
9：DGND
10：TX
11：RX
12: NC
13: NC

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4.2 Fluxgate Sensor

There is a power indicator light and a connecting wire with aviation plug on the side of the magnetic

sensor, as shown in Figure 4.4.

Figure 4.4 Structure diagram of fluxgate sensor

(1) Meaning of indicator light
Indicator Work State Work Description
Light on The power supply of magnetic sensor is normal
Power
Light off System abnormality or power failure
(2) See the table below for the definition of magnetic sensor interface

Interface Appearance Function Definition Remark

1:PGND Black & Shield

2:Power - Brown
3:Power+ Red
4: Vx Dark green
5: Vy Yellow
6: Vz Dark blue
7:AGND Grey
8:VCC Orange
9:GND purple
10:Rx Light green
11:Tx Pink
12:NC Light blue
13:NC

4.3 GPS Module

The GPS module is internally integrated with a blue indicator, which is connected with the data

acquisition input interface through a 0.5m connecting cable.

(1) Meaning of indicator light

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 Indicator Work State Work Description
Light on The power supply of GPS module is normal
Power
Light off GPS module abnormality or power failure
(2) See the table below for the definition of GPS module interface

Function
Interface Appearance Remark
Definition
1：5V

2：DGND

3：RX Connect data acquisition module TX

4：TX Connect data acquisition module RX

5：NC

5 Operation Method

The data acquisition module is used together with the magnetic sensor and GPS module. The specific

operations include function test and data export. After the system obtains the GPS time, the system will create

a new folder named the date of the current day in the root directory. At this time, the test data will be stored in

the folder in ". Dat" format; Power on again, the system will re create a new ". Dat" file as long as the power

on interval exceeds 2min.

If the GPS signal is not received, the system will create a new date named 5 days earlier than the current

date in the root directory, and save the test data in ". Dat" format in this folder.

5.1 Function Test

（ 1 ） The magnetic sensor is connected to the magnetic sensor interface of the data acquisition module.

The GPS module is connected to the GPS & IO interface, and the 12V power supply is connected to the power

interface via the standard equipped power supply cable;

（2） Turn on the power switch and power on the system. The "power" indicator of the data acquisition

module is on, and the system enters initialization. The "power" indicator of the data acquisition module starts

to flash and start searching for GPS signals. After obtaining the GPS time, the "power" indicator is always on.

The "status" indicator flashes all the time as an indication of data sampling.

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 （3）After the test, disconnect the system power supply firstly, and then remove the magnetic sensor and

GPS module.

Attention：
It is strictly forbidden to plug and unplug the aviation plug of magnetic sensor and GPS module.

5.2 Data Export

（1）The USB cable connects the USB port of the computer with the type C port of the data acquisition

module；

（ 2 ） The 12V power supply is connected to the power interface through the 3-core aviation plug, the

power switch is closed, and the computer automatically identifies the data acquisition module as a storage

device.

（3）Open the USB storage device of the data acquisition module, and there will be a folder with the name

of "date of the day" in the root directory. The folder is the actual test data. The files in the "date of the day"

folder are the test data after receiving the GPS signal.

Note：
（1）When the device is working normally, please ensure that there is enough space in the
memory device. After using the original data, please empty the files in the SD card in time.
（2）In the process of data export, connect the USB cable before power on. Hot plug of
USB cable is prohibited.

5.3 Format Conversion

After following steps 5.1 and 5.2, the data saved by Ethernet is txt file, so there is no need to convert. The

". dat" file stored in the internal memory card is the original data, which needs to be decoded through "format

conversion" and converted into a txt file that can visually read GPS information, temperature information and

magnetic field values of each axis of the magnetic sensor. The specific operation steps are as follows：

（1）Copy the data file in the memory card to the hard disk of the PC;

（2）Open the upper computer software, click "add file" or "add folder", and select the data file or folder in the

path where the data is located;

（3）Select the appropriate output path and click "" directly to complete the format conversion. The final output

file is ". txt" file, GPS information and magnetic field value of each axis of its magnetic sensor.

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6 Considerations

6.1 Non professionals, do not disassemble the casing；

6.2 Do not use in humid environment；

6.3 If any other questions, please contact the after-sales personnel.

Appendix

Data Interface Protocol

1 Basic Principles
Magnetic field information is collected through three components data acquisition module. GPS, attitude

and temperature information are received in real time through serial port. Magnetic field information, GPS,

attitude and temperature information are integrated and packaged and stored in SD card in real time.

2 Interface Specification
Serial port; Baud rate: 9600, Data bits: 8 bits, Stop bit: 1 bit, no parity bit;

SD card storage data.

3 Data Protocol Table

Byte
Serial Data
offse Content(Hexadecimal) Remark
number format
t
1~2 0 46 4D UINT8 Magnetic field frame header
Frame length，magnetic field data length
3~4 2 80 0C UINT8 (3-component magnetic field + 1 incremental
sequence, 200 frames, 3200 in total)
5~7 4 Incremental sequence UINT16 Range: 0~65535
8 5 0C UINT8 Increment flag
X-Component magnetic 24 bit AD acquisition, accounting for only the
9~11 8 INT32
field of magnetic sensor 1 lower 24 bits
X- Component magnetic field mark of
12 11 58 UINT8
magnetic sensor 1, ASCII‘X’
Y- Component magnetic 24 bit AD acquisition, accounting for only the
13~15 12 INT32
field of magnetic sensor 1 lower 24 bits

9
 Y- Component magnetic field mark of
16 15 59 UINT8
magnetic sensor 1,ASCII‘Y’
Z- Component magnetic 24 bit AD acquisition, accounting for only the
17~19 16 INT32
field of magnetic sensor 1 lower 24 bits
Z- Component magnetic field mark of
20 19 5A UINT8
magnetic sensor 1,ASCII‘Z’
Second frame magnetic
21~36 20 ~
field data
… … … … The format corresponds to 5 ~ 20
3189~320 200th frame magnetic
3188 ~
4 field data
3205~320 The end of each packet of data frame is used
3204 0D 0A 0D 0A UINT8
8 as the end flag
3209~321
3208 46 47 UINT8 GPS frame header
0
3211~321
3210 A8 00 UINT8 Frame length, GPS data length - 168 bytes
2
3213~327
3212 B5 62 01 06 XX……XX UINT8 NAV-SOL data，60 bytes
2
3273~330
3272 B5 62 01 02 XX……XX UINT8 NAV-POSLLH，36 bytes
8
3309~335
3308 B5 62 01 12 XX……XX INT8 NAV-VELNED，44 bytes
2
3353~338
3352 B5 62 01 21 XX……XX UINT8 NAV-TIMEUTC，28 bytes
0
3381~338 The end of each packet of data frame is used
3380 0D 0A 0D 0A UINT8
4 as the end flag
3385~338
3384 46 41 UINT8 Attitude temperature frame header
6
3387~338 Frame length, attitude temperature data length
3386 24 00 UINT8
8 - 36 bytes
3389~342 55 51 …… 55 52 ……
3388 UINT8 Attitude temperature data, 36 bytes
4 55 53 ……
3425~342 The end of each packet of data frame is used
3424 0D 0A 0D 0A UINT8
8 as the end flag

4 Magnetic Field Data Calculation

Magnetic field data (16 bytes):

For each sampling, there is an incremental mark in the magnetic field data, accounting for 4 bytes; Followed

by 12 bytes (x, y, z) of magnetic field data, 4 bytes for each channel. According to the small end mode, the low

byte is in front, the high byte is in the back, and the highest byte is the identification byte. The details are as

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follows:

（1）Incremental mark

L M H 0x0C

00 00 00 ‘12’

The fourth byte "0x0c" has a constant value as a distinguishing mark; The first three bytes are incremental

data sequences, with the small end in the front.

（2）Magnetic field data

The amount of magnetic field data sampled each time is 12 bytes (x, y, z), and the data of each channel is 4

bytes. The magnetic field data is in the small end mode, with the low byte in the front, the high byte in the

back, and the highest byte as the identification byte. The details are as follows:

XL XM XH 0x58 YL YM YH 0x59 ZL ZM ZH 0x5A

Low Medium High ‘X’ Low Medium High ‘Y’ Low Medium High ‘Z’

Where XL is the lowest byte of X-Component data, XH is the highest byte of X- Component, and 0x58 is

the ASCII code of character 'X', indicating that the 4-byte data is X- Component data;

YL is the lowest byte of Y-Channel data, YH is the highest byte of Y- Component, and 0x59 is the ASCII

code of character 'Y', indicating that the 4-byte data is Y- Component data;

ZL is the lowest byte of Z-Channel data, ZH is the highest byte of Z- Component, and 0x5A is the ASCII

code of character 'Z', indicating that the 4-byte data is Z- Component data

The data received by each component is 4 bytes, including 3 bytes of valid data and 1 byte of identifier. The

identifier does not participate in the calculation.

For example: the primary sampling data received is:“C2 FD 63 58 B2 54 DC 59 29 F9 FF 5A” indicate that

the sampling X data is “0x63FDC2”,Y data is“0xDC54B2”,Z data is“0xFFF929”.

The magnetic field is calculated in detail as follows：

The format of 3-byte data is signed integer number, the data is complement format, and the highest bit is

symbolic bit. You need to convert the data in complement format into the actual value of decimal first. The

method is as follows:

When the data is less than , it is a positive number, the actual value is itself;

When the data is more than , it is a negative number, the actual value is its own value minus

11
 ;

For example: X-Component data is 0x63FDC2 ， then convert to decimal is 6553026 which is less than

8388607 ,so the actual value is itself: 6553026

Another example: Y-Component data is 0xDC54B2, then convert to decimal is 14439602,more than

8388607 , so it is a negative number, the actual value is its own value minus , that is：14439602

- = -2337614;

Assuming that the actual value of the calculated data is data and the final magnetic field value is Mag, their

relationship is：

(Unit: nT)

Where, Vref is the reference voltage, and the reference voltage of the equipment is 2.5V;

Kc is the magnetoelectric coefficient of the magnetic sensor, is 40nT/mV;

Therefore, the magnetic field value of X : Mag_X =78118.17nT;

The magnetic field value of Y: Mag_Y =-278866.53nT

When the calculation result is negative, it indicates that the direction of the magnetic field is opposite to the

reference direction.

5 GPS Detailed Protocol And Analytical Algorithm

5.1 NAV-SOL
Sample data: (Hexadecimal)
B5 62 01 06 34 00 0C 69 03 00 00 00 00 00 00 00 00 40 C4 43 04 26 00 00 00 00 00 00 00 00 80 E1 B6 26 00
00 00 00 00 00 00 00 00 00 00 00 D0 07 00 00 0F 27 02 00 86 4C 02 00 44 25

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5.2 NAV-POSLLH
Sample data: (Hexadecimal)
B5 62 01 02 1C 00 0C 69 03 00 00 00 00 00 00 00 00 00 00 00 00 00 98 BD FF FFFFFFFFFF 00 80 84 DF C9
D0

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5.3 NAV-VELNED
Sample data: (Hexadecimal)
B5 62 01 12 24 00 0C 69 03 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 D0
07 00 00 80 A8 12 01 C1 7D

5.4 NAV-TIMEUTC
Sample data: (Hexadecimal)
B5 62 01 21 14 00 0C 69 03 00 FF FF FF FF 00 65 CD 1D DD 07 09 01 00 03 2B F0 05 7F

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6 Attitude Temperature Analytical Algorithm
6.1 Content of Each Packet
Label 0 1 2 3 4 5 6 7 8 9 10
Packet Identify packet X X Y Y Z Z T T Checks
Meaning
header content Low High Low High Low High L H um
Acceleration 0X55 0X51 8 bits
Angular
0X55 0X52 8 bits -
velocity
Angle 0X55 0X53 8 bits

0X51 Acceleration, 0X52 Angular velocity, 0X53 Angle

6.2 Specific Analytical Method

ai=((aiH<<8)|aiL)/32768*16g, where g is the gravitational acceleration, 9.8m/s2

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wi=((wiH<<8)|wiL)/32768*2000(° /s )
angle_i=((angle_iH<<8)|angle_iL)/32768*180(°)
T= =((TH<<8)|TL) /100 ℃
Checksum SUM=0X55+0X5x+xH+xL+yH+yL+zH+zL+TH+TL
Each data cache has 11 bits, which are supplemented by four byte alignment during actual data processing, and
each data packet stores 12 bits.

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