AHRS Module

AHRS - Attitude and Heading Reference System

The AHRS is also sometimes referred to as an Inertial Measurement Unit, or IMU. It provides feedback on the vehicle's orientation. Measurements include magnetic heading, attitude and rates of change. The AHRS also includes a pressure sensor to determine the depth of the vehicle.

Cable Pinout

Pin Function
1 ETH_RXP +
2 ETH_RXP -
3 24 V DC +
4 ETH_TXP +
5 GND
6 ETH_TXP -
7 RS-485 A
8 RS-485 B
9 12 V DC +
AHRS Module Arrangement

The Defender vehicle AHRSD is mounted in the top center of the ROV frame.

AHRSD Location Group ID Node ID Application ID TCP/IP Address TCP/IP Port Number Notes
Top Center 194 3 N/A 192.168.1.65 2 (7446) Port 7444 IMU, Port 7445 Depth


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MSS Defender Operator's Manual, Version: 1.00.00
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