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.

The AHRS compass may require a Magnetic Field Calibration. See the Compass Calibration page for more information.

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 Pro 5 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