AHRSD Module
AHRSD - Attitude and Heading Reference System with Depth
The AHRSD is also sometimes referred to as an Inertial Measurement Unit, or IMU. It provides feedback on the vehicle's orientation. Measurements include magnetic heading, depth, attitude and rates of change.
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 + |
AHRSD 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 |
3 (7446) |
Port 7444 IMU, Port 7445 Depth |
