3DM-GX3® -45 - Hoskin Scientifique

3DM-GX3 -45
®
Data Sheet
Miniature GPS-Aided Inertial Navigation System
(GPS/INS)
Introduction
The 3DM-GX3® -45 high-performance, miniature GPS/INS
combines MEMS inertial sensors, a highly-sensitive GPS receiver,
and a complex Extended Kalman Filter to generate optimal
position, velocity, and attitude (PVA) estimates. This combination
of technologies creates better short-term GPS-out performance,
sustained-G attitude performance, and provides higher rate PVA
data than typical GPS and AHRS Sensors. Raw GPS data, IMU data,
and filtered INS data are time-aligned and available as custom,
user-defined packets (either by polling or continuous stream).
Features & Benefits
System Overview
• on-board Extended Kalman Filter for optimal position,
velocity, and attitude (PVA) estimation
• smallest, lightest, lowest power GPS/INS available on the
market
• fully temperature compensated over -40 °C to 65 °C
• improved performance under vibration, as inertial sensors
are sampled at 30 kHz and digitally filtered and scaled into
physical units; coning and sculling integrals are computed at
1 kHz
• fully customizable data output: Kalman filter solution @ 100
Hz, raw IMU data @ 100 Hz, and GPS data at up to 4 Hz with
individual data quantity control
• calibrated for sensor misalignment, gyro G-sensitivity, and
gyro scale factor non-linearity to third order; gyro in-run bias
is estimated and compensated by the Kalman filter.
• versions available from 1.7 g to 50 g and 50°/s to 1200°/s
• external GPS and heading updates can be sent to the device
via a MIP command
Applications
• primary and/or Secondary GPS-Aided Navigation System
• unmanned-vehicle navigation
• computer science
• platform stabilization
• antenna and camera pointing
• robotics
• vehicle tracking
The 3DM-GX3® -45 is a member of the 3DM-GX3® family of inertial
sensors. The 3DM-GX3® -45 offers a range of navigation-related
output quantities, including: estimated position, velocity, and
attitude (PVA); position, velocity, and attitude uncertainties; biascompensated angular rate, linear acceleration, WGS84 local gravity
magnitude and vector, and World Magnetic Model (WMM2010)
local magnetic field declination. Fully-calibrated inertial quantities
include: total acceleration, angular rate, magnetic field, delta
theta, delta velocity, as well as an independent attitude calculation
via the 3DM-GX3® -25 AHRS attitude algorithm. Unprocessed GPS
data includes: LLH Position, NED velocity, GPS time, and UTC time. The ease and flexibility of managing these different data quantities
at different sampling rates is made possible by the powerful
Microstrain Inertial Packet Protocol (MIP).
The 3DM-GX3® -45 has a dual communication interface, which
supports USB and RS-232. Starter kits include choice of USB or RS232 interface cables.
[37 mm] [24 mm]
1.44 in .96 in
Little Sensors, Big Ideas.®
[14 mm]
.55 in
[44 mm]
1.72 in
[41 mm]
1.62 in
[3.2 mm]
.12 in
www.microstrain.com
3DM-GX3® -45 Miniature GPS-Aided Inertial Navigation System (GPS/INS)
Specifications
Raw Inertial Sensors
Orientation range
360° about all axes
Accelerometer range
± 5 g standard;
± 1.7 g, ± 16 g, and ± 50 g also available
Accelerometer bias stability
± 0.005 g for ± 5 g range
± 0.003 g for ± 1.7 g range
± 0.010 g for ± 16 g range
± 0.050 g for ± 50 g range
Accelerometer nonlinearity
0.2 %
Gyro range
± 300°/sec standard, ± 1200°/sec, ± 600°/
sec, ± 50°/sec also available
Gyro bias stability
± 0.2°/sec for ± 300°/sec
Gyro nonlinearity
0.2 %
Magnetometer range
± 2.5 Gauss
Magnetometer nonlinearity
0.4 %
Magnetometer bias stability
0.01 Gauss
Filtering
sensors sampled at 30 kHz, digitally
filtered (user adjustable ) and scaled into
physical units;
coning and sculling integrals computed at
1 kHz
A/D resolution
16 bits (SAR) (oversampled to 17 bits)
Raw GPS Receiver
GPS receiver typet
50 Channels, L1 frequency, GPS C/A Code
SBAS: WAAS, EGNOS, MSAS, GAGAN
GPS navigation update rate
Up to 4Hz
Time-to-First-Fix
Cold Start (Autonomous): 36 sec
Warm Start (Autonomous): 36 sec
Hot Start: < 1 sec
Features
General
Output modes
acceleration, angular rate, magnetic field,
deltaTheta, deltaVelocity, Euler angles,
orientation matrix, quaternion, LLH
position, NED velocity, GPS time, filter
status, PVA estimate, PVA uncertainties,
attitude as: quaternion, matrix, or Euler
angles, gravity-free linear acceleration,
bias-compensated angular rate, WGS84
gravity magnitude and vector, WMM2010
declination, heading wrt true and
magnetic north
Interface options
standard: USB 2.0 and RS232
Data rate
IMU: 1 Hz to 100 Hz,
INS: 1 Hz to 100 Hz,
GPS: 1 Hz to 4 Hz
Serial baud rate
9,600 baud to 921,600 baud (115,200
baud default)
Supply voltage
standard: 3.2 to 16 volts
Power consumption
160 mA (typical) @ 5 volts with RS-232 and
GPS lock
Connector
micro-DB9
Operating temp
-40 °C to +65 °C
Dimensions
44 mm x 24 mm x 14 mm - excluding
mounting tabs, width across tabs 37 mm,
Weight
23 grams
Shock limit
500 g
GPS tacking and navigation
sensitivity
-159 dBm
GPS reacquisition sensitivity
-159 dBm
GPS cold start (autonomous)
sensitivity
-141 dBm
GPS velocity accuracy
0.1 m/sec
GPS heading accuracy
0.5°
3 axis gyros
GPS horizontal position
accuracy
< 2.5 m Autonomous
< 2.0 m SBAS
3 axis accels
GPS timepulse signal accuracy
30 nsec RMS
< 60 nsec 99 %
3 axis mags
GPS acceleration limit
≤ 4 g
GPS altitude limit
50000 m
GPS velocity limit
500 m/sec (972 knots)
GPS connector
mmcx type
Kalman Filter
Position accuracy
2.5m CEP
Velocity accuracy
0.75 m/s 1-sigma
Attitude accuracy
0.35 deg 1-sigma roll & pitch
1.0 deg 1-sigma heading
Update rate
100 Hz
Copyright © 2011 MicroStrain Inc.
MicroStrain and 3DM-GX3 are trademarks of MicroStrain Inc.
Specifications are subject to change without notice.
Version # 1.00f
vehicle dynamics mode selection
(portable/automotive/airborne),
user-defined sensor to vehicle frame
transformation, antenna offset
specification, bias enable/disable, internal
magnetometer enable/disable, and
external GPS and heading sensor support
5 temperature
IMU/AHRS MCU
temperature
compensated vectors,
Euler angles,
deltaTheta/deltaVelocity,
orientation matrix,
quaternion
PPS (pulse
per second)
GPS receiver
Embedded GPS/INS
Kalman Filter MCU
MicroStrain Inc.
459 Hurricane Lane,
Suite 102
Williston, VT 05495 USA
www.microstrain.com
USB2.0/
RS-232
ph: 800-449-3878
fax : 802-863-4093
[email protected]
Patents Pending

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