GPS-‐Aided INS Datasheet Rev. 1.4 Inertial Labs, Inc 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-‐4222, Website: www.inertiallabs.com 1
GPS-‐Aided INS Datasheet Rev. 1.4 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
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No export restrictions. Export Classification: Commerce ECCN7A994
State-of-the-art algorithms for different dynamic motions of UAV, UUV, UGV, AGV, ROV and Gimbals
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 (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
Tested to MIL-STD-810F, MIL-STD-461D and DO-160D standards
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 2
GPS-‐Aided INS Datasheet Rev. 1.4 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
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
Vibration (8)
Shock limit (9)
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
g, Hz
g, ms
hours
-40 to +75
-50 to +85
3 g RMS (20 Hz to 2000 Hz)
2000 g, 2ms
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
Inertial Labs, Inc 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A. Tel: +1 (703) 880-‐4222, Website: www.inertiallabs.com 3
GPS-‐Aided INS Datasheet Rev. 1.4 INS specifications notes
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
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.
(9)
MIL-STD 810F. Method 514.5. Procedure I
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)
(1)
Frequency
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
1
2
3
4
5
6
7
8
9
10
11
12
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, CAN – CANH
RS232 – TX, CAN – CANL
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 4