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  

 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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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

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.

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.

                                                                                               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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INS Specifications Parameter Units Value

Output signals Horizontal position, Vertical position, Velocity, Heave, Euler angles, Quaternion, Accelerations, Angular rates, Magnetic field, GNSS, Barometric data, Pulse Per Second

Update rate Hz 1 … 200 (user settable) Full accuracy data (orientation only) sec 10

Full accuracy data at GNSS cold start (1) sec 50 Navigation

Horizontal position accuracy (single point L1), RMS meters 1.5 Horizontal position accuracy (single point L1, L2), RMS meters 1.2

Horizontal position accuracy (SBAS), RMS meters 0.6 Horizontal position accuracy (DGPS), RMS meters 0.4

Horizontal position accuracy (RTK), RMS meters 0.01 + 1ppm Vertical position accuracy, RMS meters 2

Velocity accuracy, RMS meters/sec 0.03 Heave

Measurement range meters ±300 Resolution meters 0.01

Accuracy, RMS % (meters) 5% or 0.05 meters (whichever is greater) Orientation

Heading range degree 0 to 360 Heading accuracy, (3 sigma) (2) degree 0.4

Heading noise (@100Hz) degree 0.03 Pitch range degree ±90 Roll range degree ±180

Pitch and Roll accuracy, RMS degree 0.1 Pitch and Roll noise (@100Hz) degree 0.02

Sensors Accelerometers Gyroscopes Magnetometers Pressure Technology type MEMS MEMS Fluxgate MEMS

Measurement range ±2 g, ±6 g ±250/500/1000/2000 deg/sec ±1.6 Gauss 300 – 1100 hPa Bandwidth (3) 100 100 100 50

Resolution 0.2 mg (at ±6 g range) 0.01 deg/sec (at ±250 deg/sec range) 10 nT 2 Pa Bias in-run stability (RMS, Allan Variance) 50 ug 4 deg/hr 0.1 nT 0.8 Pa

SF accuracy 0.1 % 0.01 % 0.02 % – Noise density 40 ug√Hz 0.009 deg/sec√Hz 3 uG/√Hz 1 Pa/√Hz Non-linearity 0.05% 0.01% 0.02% –

Axis misalignment 0.15 mrad 0.15 mrad 0.15 mrad – GNSS

Supported navigation signals GPS, GLONASS, SBAS, DGPS, RTK Channel configuration (4) 120 Channels

Position update rate (5) Hz 20, 50 Heading dynamic accuracy, RMS (6) degree 0.1

Velocity accuracy, RMS meters/sec 0.03 Initialization time (cold start) Sec <50 Initialization time (hot start) Sec <30

Time accuracy (7) nano sec 20 Environment

Operating temperature deg C -40 to +75 Storage temperature deg C -50 to +85

MTBF hours 55,500

Electrical Supply voltage V DC 9 to 40

Power consumption watts 1 Output interface RS-232, RS-422, CAN 2.0, USB (with external converter)

Output data format Binary, TSS-1, NMEA 0183 ASCII characters GPIO level V 5 to 20

Mechanical Size mm 120 x 50 x 53

Weight grams 200 (1) including time of initial alignment, it may be decreased on request (2) calibrated in whole operational temperature range, in homogeneous magnetic environment, for latitude up to ±65 deg (3) gyroscopes, accelerometers and magnetometers bandwidth can be increased up to 400Hz, though with increasing of sensors noise level and noise in calculated orientation (4) tracks up to 60 L1/L2 satellites (5) 50 Hz while tracking up to 20 satellites. 20 Hz position update rate for Basic model of INS  (6) dynamic accuracy may depend on type of motion (7) time accuracy does not include biases due to RF or antenna delay.

                                                                                               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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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 gyro range acc range calibration case GNSS firmware option interfaces

Model Gyroscopes measurement range

Accelerometers measurement range

Temperature calibration

Aluminum case GNSS firmware Interfaces

INS G250 G500 G1000 G2000 A2 A6 TMGA C1 V0.X V1.X V2.X V3.X V4.X V5.X VX.1 VX.2 VX.3

+ ±250 deg/sec

±500 deg/sec

±1000 deg/sec

±2000 deg/sec ±2 g ±6 g YES YES Basic Medium High Advanced RS-232 RS-422 CAN2.0

GNSS firmware options

Grade Version Frequency (1) GNSS signals tracking and INS horizontal position accuracy Position

data rate Antenna performance and functionality Antenna part number L1 L2 GPS GLONASS (2) SBAS DGPS GLIDE (3) RTK

Basic V0.X + - 1.5 m - 0.6 m 0.4 m Yes - 20 Hz Active L1/L-Band GPS/GLONASS 2.6" circular, 33 dB, magnet or screw mount, 5 m cable with SMA connector, black

ANT-26C1GOA-196MNSB Medium

V1.X + - 1.5 m - 0.6 m 0.4 m Yes - 50 Hz V2.X + - 1.5 m 1.5 m 0.6 m 0.4 m Yes - 50 Hz

High V3.X + + 1.2 m - 0.6 m 0.4 m Yes - 50 Hz 3.4"x2.2" Mini Arinc, Active L1/L2

GPS/GLONASS/L-band, TNC Connector, white color

G5Ant-4AT1-ROHS V4.X + + 1.2 m 1.2 m 0.6 m 0.4 m Yes - 50 Hz

Advanced V5.X + + 1.2 m 1.2 m 0.6 m 0.4 m Yes 0.01m + 1ppm 50 Hz L1/L2, GPS/GLONASS, kinematic, zero-offset, TNC connector, high vibr. option GPS-702-GG-HV

(1) INS also supports L2C that provides stronger signal tracking and better cross correlation protection for superior solution availability in low signal strength applications (2) Adding GLONASS tracking increases available positions in obstructed sky conditions, increasing field productivity (3) GLIDE for decimeter level pass-to-pass accuracy

INS mechanical interface drawing INS electrical interface description

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.

Interface connector type: Binder Series 723. Male receptacle, 12 pin, shielded, rear-mounting GNSS antenna connector type: TNC

Pin Signal A RS422 – A B RS422 – B C RS422 – Y D RS422 – Z E Power F Ground G RS232 – RX H RS232 – TX J PPS K GPIO L Do not connect M Do not connect