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

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