AHRS-8 Attitude Heading Reference System

AHRS-8 Attitude Heading Reference System
AHRS-8 Attitude Heading Reference System
Description
The AHRS-8 is a fully temperature compensated Attitude Heading Reference System (AHRS), individually
calibrated over the -40⁰ to +70⁰ C operating range, providing industry leading heading accuracy in a broad
range of challenging application environments. The AHRS-8 provides superior performance by eliminating
external magnetic disturbances that affect heading accuracy. It provides 3D absolute magnetic field
measurement and full 360° tilt-compensated heading, pitch, and roll data. Our AdaptNav II™ adaptive
algorithm provides accurate in-field calibration even in the presence of magnetic distortions due to ferrous
objects, and noisy environments within the mounting platform. Sparton’s NorthTek™ Development System
enables the world’s only fully programmable navigation sensors, allowing users virtually limitless
customizations and applications. The AHRS-8 is fully pin-for-pin compatible with the Sparton DC-4 and GEDC6 navigation sensors.
Features
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Best in class AdaptNav II™ adaptive algorithm outperforms traditional Kalman filter based approaches by
providing real-time optimization of compass performance when used in varying magnetic and dynamic
operating environments. AdaptNav II™ also provides revolutionary real-time noise characterizations used
for drift compensation of heading, pitch and roll when in electrically and mechanically noisy environments.
Fully temperature compensated over the entire operating range, individually calibrated from -40⁰ to +70⁰
C, providing industry leading heading accuracy in a broad range of application environments
Powerful user programmable sensor customization apps via NorthTek™ Forth interpreter
2D and 3D adaptive in-field cal providing hard and soft magnetic interference compensation
Advanced sensing technology (3-axis magnetic, 3-axis acceleration, and 3-axis gyro)
Selectable 4g or 8g accelerometer ranges, suitable for highly dynamic application environments
Built-in world magnetic model for accurate True North heading anywhere in the world
Rugged (epoxy encapsulated) construction and small physical size
Magnetic and True North heading (yaw), pitch, and roll measurement
Full 360° rollover capability
Low power consumption and power management (Sleep Mode) functionality
Supports multiple communication protocols
1 (Rev 3.0)
Specifications
Product specifications are preliminary and are subject to change
Performance data applies to 20o C, 0g Acceleration for Pitch/Roll unless otherwise specified.
Dynamic Heading Accuracy
Static Heading Accuracy
Heading Repeatability
Dynamic Pitch/Roll Accuracy
Static Pitch/Roll Accuracy
Pitch/Roll Repeatability
Pitch/Roll Range
2
Accelerometer Range (Selectable)
Accelerometer Noise Density
Accelerometer Bias Stability
Accelerometer Velocity Random Walk (VRW)
Gyro Dynamic Range (Selectable)
Gyro Noise Density
Gyro Bias Stability
Gyro Angular Random Walk (ARW)
Magnetic Range
Maximum Magnetic Inclination (Dip)
Update Rate (Samples/Sec)
Baud Rate
Dimensions L x W x H
Mass
Encapsulated or Enclosure
Operating Temperature
Storage Temperature
Humidity Resistance
Shock Resistance
Vibration Resistance
Power Supply Input (Unregulated Voltage)
Input Power, Operating Mode (Typical @ 4V)
3.3V Logic UART Interface
2D and 3D In-Field Calibration
Able To Maintain Function When Inverted
Quaternion/Rotation Matrix Output
True North Heading Output
NorthTek™ User Programmable Customizations
Includes World Magnetic Model
Fully Temperature Compensated
Individually Calibrated Over Temperature Range
(-40° to +70° C)
1
1
1.0° RMS
0.2° RMS (<1.0⁰ RMS from -40⁰ to +70⁰ C)
0.1° RMS
1
1.0° RMS
0.2° RMS
0.1° RMS
± 90°, ± 180°
3
+/- 4g or +/- 8g (+/- 1g)
126 µg/√Hz
0.023 mg
0.063 m/s
3
± 480°/sec (± 300°/sec)
0.03 dps/√Hz
10.8°/Hr
1.5 deg/Sqrt[Hr]
3
±1.2 Gauss (±900 MGauss)
± 80°
100
0.3, 1.2, 2.4, 4.8, 9.6; 19.2; 38.4; 57.6; 115.2 kbaud
42 x 28 x 11 mm (1.66 x 1.11 x 0.43 inches)
16g
Yes
-40° to +85° C
-40° to +85° C
95%, 70° C, 240 hrs
Meets MIL-STD-202G – Method 103A, Test Condition A
1500g, 1ms Pulse, Half-Sine Wave
Meets MIL-STD-202G – Method 213B, Test Condition F
.06 dB Power Spectral Density, 9.26 G RMS
Meets MIL-STD-202G – Method 214A, Test Condition I/C
+4 to +10V DC
330 mW
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Yes
Dynamic heading accuracy derived from Scorsby table set for 7 RPM, 30 degrees of inclination
Note selection of the high range mode for the accelerometers results in decreased sensitivity, but also offers increased
dynamic range. Consequently, optimal mode selection is dependent upon the intended application and associated linear
accelerations present.
3 Specifications in parentheses represent current limits of calibration methodology
2
Applications
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Weather, data, and ocean surveillance
Electro-optical target designation sensors
Accurate vehicle attitude position and orientation sensing
Ground, sea surface and sub sea surface survey and monitoring
Precision autonomous vehicle guidance
Communications antenna pointing and tracking systems
Challenging application environments requiring high accuracy over a full range of temperature
Connections
Connector –
Pin Number
P1-1
Pin Name
I/O
Function
V_TEST
O
P1-2
P1-3
DEBUG_RXD
DEBUG_TXD
I
O
P1-4
P1-5
#WP_EEPROM
N/A
I
P1-6
P1-7
Factory Use
GND
I
N/A
3.3V regulator output for test purposes (factory use
only)
3.3V logic RXD Input to Debug Port (factory use only)
3.3V logic TXD Output from Debug Port (factory use
only)
Pin removed for keying
3.3V logic, active-low EEPROM write protect (the pin
has 10kΩ pull-down)
Do not connect (factory use only)
System Ground
P2-1
P2-2
P2-3
P2-4
V+
USER_RXD
USER_TXD
#RESET
I
I
O
I
P2-5
#EINT0
I
P2-6
P2-7
GND
GND
N/A
N/A
+4 to +10V DC power supply input. Max load = 80mA
3.3V logic RXD input to User Com Port
3.3V logic TXD output from User Com Port
3.3V logic, active-low reset input (the pin has a weak
pull-up)
3.3V logic, active-low interrupt input (the pin has a
weak pull-up). Used for programming purposes
System Ground
System Ground
3 (Rev 3.0)
Mechanical Data
For support, please e-mail
[email protected]
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