Otonom VN-200 Product Brief_R4
GPS-AIDED INERTIAL
NAVIGATION SYSTEM
Embedded Navigation Solutions
VectorNav VN-200 GPS/INS
High-Performance Embedded Navigation
The VN-200 is the world’s smallest & lightest, high-performance
GPS-Aided Inertial Navigation System (GPS/INS). Combining an
advanced GPS module with the latest in MEMS inertial & pressure
sensor technology, the patent pending VN-200 provides
unprecedented opportunities for embedded navigation in a footprint
no larger than a postage stamp.
PRODUCT OVERVIEW
VECTOR PROCESSING ENGINE (VPE) 2.0
On-board Extended Kalman filter running at 400
Hz, IMU data available at 1 kHz
Continuous attitude solution over the complete
360° range of motion
Coupled position, velocity & attitude estimates
Dynamic accuracy better than 0.3° in heading,
0.1° in pitch/roll
On-board pressure sensor & u-blox GPS receiver
Compatible with external GPS, pressure or
magnetic measurements
Individually calibrated for bias, scale factor,
misalignment, & gyro g-sensitivity
Available with standard (at +25°C) or full
temperature compensation (-40°C to +85°C)
Miniature, self-locking U.FL & MMCX connectors
for GPS antenna
Coning & sculling integrals (ΔV’s, ΔΘ’s)
User configurable messages using simple
VectorNav binary protocol
Serial TTL, SPI & USB communication interfaces
Surface mount package (30-pin LGA)
• Dimensions: 24 x 22 x 3 mm
• Weight: 4 grams
Rugged package (10-pin Harwin connector)
• Dimensions: 36 x 33 x 9.5 mm
• Weight: 16 grams
On-board Extended Kalman filter
Automatic filter initialization & dynamic alignment
GPS delay compensation
Real-time sensor bias drift compensation
All inertial data synchronized to GPS time
Automatic transitioning between AHRS and INS Modes
On-board World Magnetic & Gravity Reference Models
VPE Toolboxes
• Advanced disturbance rejection
• Adaptive signal filtering
• Dynamic filter tuning
• On-board Hard & Soft Iron compensation
www.otonomteknoloji.com
VN-200 SIMPLIFIED BLOCK DIAGRAM
Yaw, Pitch & Roll
Quaternion, DCM
3-Axis Accels
Timing & Sensor Sampling
3-Axis Gyros
Calibration Compensation
3D Velocity
(ECEF, NED)
3-Axis Mags
GPS Delay Compensation
Bias Compensated
Angular Rates
Pressure Sensor
VPE 2.0 Toolboxes
Bias Compensated
Acceleration
GPS Module
Tel +90 312 210 1188
Extended Kalman Filtering
3D Position
(LLA, ECEF, NED)
Gravity, Linear
Acceleration
Calibrated Sensor
Measurements
12-0003-OT-R4
[email protected]
TECHNICAL SPECIFICATIONS
Navigation Specifications
Horizontal Position Accuracy:
Horizontal Position Accuracy (w/SBAS):
Vertical Position Accuracy:
Vertical Position Accuracy (w/Barometer):
Velocity Accuracy:
Dynamic Accuracy (Heading, True Inertial):
Dynamic Accuracy (Pitch/Roll):
Static Accuracy (Heading, Magnetic)1:
Static Accuracy (Pitch/Roll):
Angular Resolution:
Repeatability:
Max Output Rate (IMU Data)2:
Max Output Rate (Navigation Data):
VN-200 DEVELOPMENT
2.5 m RMS
2.0 m RMS
5.0 m RMS
2.5 m RMS
±0.05 m/s
0.3 ° RMS
0.1 ° RMS
2.0 ° RMS
0.5 ° RMS
< 0.05 °
< 0.1 °
1 kHz
400 Hz
VN-200 Development Board
Gyro Specifications
Range:
In-Run Bias Stability:
Linearity:
Noise Density:
Bandwidth:
Alignment Error:
Accelerometer Specifications
Range:
In-Run Bias Stability:
Linearity:
Noise Density:
Bandwidth:
Alignment Error:
Magnetometer Specifications
Range:
Linearity:
Noise Density:
Bandwidth:
Alignment Error:
GPS Specifications
Receiver Type:
Solution Update Rate:
Time-to-First-Fix (Cold/Warm Start):
Time-to-First-Fix (Hot Start):
Altitude Limit:
Velocity Limit:
Pressure Sensor Specifications
Range:
Resolution:
Accuracy:
Error Band:
Bandwidth:
Environment
Operating Temp:
Storage Temp:
Electrical:
Input Voltage:
Current Draw3:
Max Power Consumption3:
Digital Interface:
Physical:
Size:
Weight:
Connector:
GPS Antenna Connector:
1
2
3
• Pre-Soldered VN-200
Surface Mount Part with
USB & RS-232 Interfaces
• 30-Pin Header for Easy
Prototyping
• SMA Connector for GPS
Antenna
• Software Development Kit
±2000 °/s
< 10 °/hr
< 0.1 % FS
0.0035 °/s /√Hz
256 Hz
±0.05 °
±16 g
<0.04 mg
< 0.5 % FS
0.14 mg/√Hz
260 Hz
±0.05 °
SMD
SMD
24 x 22 x 3 mm
4g
30-pin LGA
U.FL
50 Channels, L1
GPS C/A Code
5 Hz
36 s
<1s
50,000 m
500 m/s
With proper magnetic declination, suitable magnetic environment and
valid hard/soft iron calibration.
Default 800 Hz.
Not including active antenna power consumption.
www.otonomteknoloji.com
• Cable Connection Tool
• Carrying Case
Sensor Explorer GUI: Powerful and user-friendly GUI allows you to
display sensor output as a 3D object, graph inertial data, configure
sensor settings, perform data-logging, & more.
Software Development Kit: Interface via C/C++, .NET & MATLAB
development environments.
3.3 V to 17 V
80 mA @ 5 V
500 mW
Serial TTL, RS-232
Rugged
• GPS Antenna
VN-200 DEVELOPMENT TOOLS
10 to 1200 mbar
0.042 mbar
±1.5 mbar
±2.5 mbar
200 Hz
36 x 33 x 9.5 mm
16 g
10-pin Harwin
MMCX
Cables
UAVs, UAS, Manned Aircraft
Camera/Platform Stabilization
Marine Antenna Stabilization
Gimbaled Payloads
SATCOM, SOTM, VSAT
Ground Vehicles/Robotics
Smart Weapons
Motorsports
±2.5 Gauss
< 0.1 %
140 µGauss/√Hz
200 Hz
±0.05 °
Rugged
• USB & Serial Adapter
VN-200 APPLICATIONS
-40°C to +85°C
-40°C to +85°C
3.2 V to 5.5 V
105 mA @ 3.3 V
445 mW
Serial TTL, SPI
VN-200 Rugged Development
Kit
Online Library: A large collection of inertial navigation knowledge
and application notes is available on our website to help maximize
VN-200 performance for your application.
Engineering Support: Dedicated and responsive engineering
support team with combined experience in sensing, guidance,
navigation, and controls.
Custom Solutions Available: Application-specific modeling &
algorithm development; controls & closed-loop navigation
solutions; custom form-factors & packaging; integration with other
external sensors; displays, GUIs & other software packages;
tailored calibrations; custom communication protocols.
12-0003-OT-R4
Tel +90 312 210 1188
[email protected]
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