GPS-‐Aided INS Datasheet Rev. 1.6
Inertial Labs, Inc 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-‐4222, Website: www.inertiallabs.com
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GPS-‐Aided INS Datasheet Rev. 1.6 The Inertial Labs GPS-Aided Inertial Navigation System – INS is a fully-integrated combined GPS navigation and high-performance strapdown system, that determines position, velocity, heave and absolute orientation (Heading, Pitch and Roll) for any device on which it is mounted. Horizontal and Vertical Position, Velocity, Heave and Orientation are determined with high accuracy for both motionless and dynamic applications. The Inertial Labs INS utilizes advanced GNSS receiver, barometer, 3-axes each of calibrated in full operational temperature range precision Fluxgate magnetometers, tactical grade Accelerometers, and Gyroscopes to provide accurate Position, Velocity, Heading, Pitch and Roll of the device under measure. INS contains Inertial Labs new on-board sensors fusion filter, state of the art navigation and guidance algorithms and calibration software. KEY FEATURES AND FUNCTIONALITY • State-of-the-art algorithms for different dynamic motions of Vessels, Ships, Helicopters, UAV, UUV, UGV, AGV, ROV, Gimbals and Land Vehicles • 1.5 meters L1 GPS & GLONASS Horizontal Position Accuracy • 1.2 meters L1, L2 & GLONASS Horizontal Position Accuracy • 0.6 meters SBAS Horizontal Position Accuracy • 0.4 meters DGPS Horizontal Position Accuracy • 1cm + 1ppm RTK Horizontal Position Accuracy • Up to 50 Hz GNSS update rate • 4 deg/hr gyroscopes and 0.05 mg accelerometers Bias in-run stability • 5% or 0.05 meters RMS (whichever is greater) Heave measurement accuracy • 0.1 deg GNSS Heading and 0.4 deg Gyro-Stabilized Slaved Magnetic Heading accuracy (3 sigma) • Highly accurate, reliable and temperature stable Fluxgate magnetometers (in-house technology) • Advanced, extendable, embedded Kalman Filter based sensor fusion algorithms • Embedded 2D and 3D magnetic calibration on hard and soft iron • Full temperature calibration of all sensing elements • RS-232, RS-422 and CAN 2.0 interfaces • Environmentally sealed (IP67), Compact design
One of the key elements to the success of Inertial Labs INS is its use advanced GNSS receiver and Inertial Labs Fluxgate Magnetometers. Inertial Labs Fluxgate Magnetometer has distinct advantages over commonly used magneto-inductive or magneto-resistive magnetometers. In operation over time and temperature fluxgate magnetometers have superior stability and repeatability. In terms of sensitivity, fluxgate magnetometers provide up to two orders of magnitude increased sensitivity. In addition to the performance advantages, unlike the chip-level magnetometer technology, fluxgate magnetometer technology has been depended on for over 70 years to provide an accurate reference to North. It remains the most reliable magnetic sensor technology for determining an object’s heading.
Inertial Labs, Inc 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-‐4222, Website: www.inertiallabs.com
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GPS-‐Aided INS Datasheet Rev. 1.6 INS Specifications Parameter Output signals Update rate Full accuracy data (orientation only) Full accuracy data at GNSS cold start (1) Navigation Horizontal position accuracy (single point L1), RMS Horizontal position accuracy (single point L1, L2), RMS Horizontal position accuracy (SBAS), RMS Horizontal position accuracy (DGPS), RMS Horizontal position accuracy (RTK), RMS Vertical position accuracy, RMS Velocity accuracy, RMS Heave Measurement range Resolution Accuracy, RMS Orientation Heading range Heading accuracy, (3 sigma) (2) Heading noise (@100Hz) Pitch range Roll range Pitch and Roll accuracy, RMS Pitch and Roll noise (@100Hz) Sensors Technology type Measurement range Bandwidth (3) Resolution Bias in-run stability (RMS, Allan Variance) SF accuracy Noise density Non-linearity Axis misalignment GNSS Supported navigation signals Channel configuration (4) Position update rate (5) Heading dynamic accuracy, RMS (6) Velocity accuracy, RMS Initialization time (cold start) Initialization time (hot start) Time accuracy (7) Environment Operating temperature Storage temperature MTBF
Units Value Horizontal position, Vertical position, Velocity, Heave, Euler angles, Quaternion, Accelerations, Angular rates, Magnetic field, GNSS, Barometric data, Pulse Per Second Hz 1 … 200 (user settable) sec 10 sec 50 meters meters meters meters meters meters meters/sec
1.5 1.2 0.6 0.4 0.01 + 1ppm 2 0.03
meters meters % (meters)
±300 0.01 5% or 0.05 meters (whichever is greater)
degree degree degree degree degree degree degree Accelerometers MEMS ±2 g, ±6 g 100 0.2 mg (at ±6 g range) 50 ug 0.1 % 40 ug√Hz 0.05% 0.15 mrad
0 to 360 0.4 0.03 ±90 ±180 0.1 0.02 Gyroscopes Magnetometers MEMS Fluxgate ±250/500/1000/2000 deg/sec ±1.6 Gauss 100 100 0.01 deg/sec (at ±250 deg/sec range) 10 nT 4 deg/hr 0.1 nT 0.01 % 0.02 % 0.009 deg/sec√Hz 3 uG/√Hz 0.01% 0.02% 0.15 mrad 0.15 mrad
Pressure MEMS 300 – 1100 hPa 50 2 Pa 0.8 Pa – 1 Pa/√Hz – –
Hz degree meters/sec Sec Sec nano sec
GPS, GLONASS, SBAS, DGPS, RTK 120 Channels 20, 50 0.1 0.03 <50 <30 20
deg C deg C hours
-40 to +75 -50 to +85 55,500
Supply voltage Power consumption Output interface Output data format GPIO level
V DC watts
V
9 to 40 1 RS-232, RS-422, CAN 2.0, USB (with external converter) Binary, TSS-1, NMEA 0183 ASCII characters 5 to 20
Size Weight
mm grams
120 x 50 x 53 200
Electrical
Mechanical
(1) (2) (3) (4) (5) (6) (7)
including time of initial alignment, it may be decreased on request calibrated in whole operational temperature range, in homogeneous magnetic environment, for latitude up to ±65 deg gyroscopes, accelerometers and magnetometers bandwidth can be increased up to 400Hz, though with increasing of sensors noise level and noise in calculated orientation tracks up to 60 L1/L2 satellites 50 Hz while tracking up to 20 satellites. 20 Hz position update rate for Basic model of INS dynamic accuracy may depend on type of motion time accuracy does not include biases due to RF or antenna delay.
Inertial Labs, Inc 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-‐4222, Website: www.inertiallabs.com
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GPS-‐Aided INS Datasheet Rev. 1.6 INS available models and part numbers
INS - G250/500/1000/2000 - A2/6 - TMGA - C1 – V0/1/2/3/4/5 . 1/2/3
model
Gyroscopes measurement range G500 G1000 ±500 ±1000 deg/sec deg/sec
Model INS
G250 ±250 deg/sec
+
gyro range
G2000 ±2000 deg/sec
Accelerometers measurement range A2 A6 ±2 g
acc range
calibration
Temperature calibration TMGA
Aluminum case C1
YES
YES
±6 g
case
GNSS firmware option
interfaces
GNSS firmware V0.X
V1.X
Basic
V2.X
V3.X
Medium
Interfaces V4.X
High
V5.X Advanced
VX.1 RS-232
VX.2
VX.3
RS-422
CAN2.0
GNSS firmware options Grade
Version
Basic
V0.X V1.X V2.X V3.X
Medium High Advanced (1) (2) (3)
Frequency (1) L1 L2 + + + + +
GNSS signals tracking and INS horizontal position accuracy GPS GLONASS (2) SBAS DGPS GLIDE (3) RTK 1.5 m 0.6 m 0.4 m Yes 1.5 m 0.6 m 0.4 m Yes 1.5 m 1.5 m 0.6 m 0.4 m Yes 1.2 m 0.6 m 0.4 m Yes -
V4.X
+
+
1.2 m
1.2 m
0.6 m
0.4 m
Yes
V5.X
+
+
1.2 m
1.2 m
0.6 m
0.4 m
Yes
0.01m + 1ppm
Position data rate 20 Hz 50 Hz 50 Hz 50 Hz 50 Hz 50 Hz
Antenna performance and functionality Active L1/L-Band GPS/GLONASS 2.6" circular, 33 dB, magnet or screw mount, 5 m cable with SMA connector, black 3.4"x2.2" Mini Arinc, Active L1/L2 GPS/GLONASS/L-band, TNC Connector, white color L1/L2, GPS/GLONASS, kinematic, zerooffset, TNC connector, high vibr. option
Antenna part number ANT-26C1GOA-196MNSB
G5Ant-4AT1-ROHS GPS-702-GG-HV
INS also supports L2C that provides stronger signal tracking and better cross correlation protection for superior solution availability in low signal strength applications Adding GLONASS tracking increases available positions in obstructed sky conditions, increasing field productivity GLIDE for decimeter level pass-to-pass accuracy
INS mechanical interface drawing
INS electrical interface description
Pin A B C D E F G H J K L M
Notes: 1. All dimensions are in millimeters. 2. All dimensions within this drawing are subject to change without notice. Customers should obtain final drawings before designing any interface hardware.
Signal RS422 – A RS422 – B RS422 – Y RS422 – Z Power Ground RS232 – RX RS232 – TX PPS GPIO Do not connect Do not connect
Interface connector type: Binder Series 723. Male receptacle, 12 pin, shielded, rear-mounting GNSS antenna connector type: TNC
Inertial Labs, Inc 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-‐4222, Website: www.inertiallabs.com
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