3DM-GX3® -45
3DM-GX3 -45
®
Data Sheet
Miniature GPS-Aided Inertial Navigation System (GPS/INS)
Introduction
The 3DM-GX3® -45 high-performance, miniature GPS-Aided Inertial
Navigation System (GPS/INS) combines MEMS inertial sensors, a
highly-sensitive embedded GPS receiver, and a complex Extended
Kalman Filter to generate optimal position, velocity, and attitude (PVA)
estimates. This combination of technologies creates better shortterm 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 user-defined packets (either by polling or continuous
stream).
Features & Benefits
Product Overview
• on-board Extended Kalman Filter for optimal position, velocity,
and attitude (PVA) estimation, even under high g maneuvers
• smallest, lightest, lowest power GPS/INS available on the market
• fully temperature compensated over operational range
• 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
• 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
• RS-232 and USB 2.0 communication interfaces
• MIP protocol provides fully customizable data output: Kalman
filter solution at 100 Hz, inertial data up to 1000 Hz, and GPS data
up to 4 Hz with individual data quantity control
• accepts external GPS and heading updates for improved
navigational performance
• full world magnetic model
• versions available from 1.7 g to 50 g and 50°/s to 1200°/s
• rugged aluminum enclosure with precision alignment holes
• ROHS compliant
The 3DM-GX3® -45 offers a range of navigation-related output
quantities, including estimated position, velocity, and attitude (PVA),
position, velocity, and attitude uncertainties, bias-compensated
angular rate, and linear acceleration. Fully-calibrated inertial
measurements include acceleration, angular rate, magnetic field,
deltaTheta and deltaVelocity vectors, Euler angles (pitch, roll, and
heading), rotation matrix and quaternion. Unprocessed GPS data
quantities include LLH position, NED velocity, ECEF position and
velocity, DOP data, UTC time, GPS time, clock info, GPS fix, and SVI. All
quantities are fully temperature compensated and are mathematically
aligned to an orthogonal coordinate system. The angular rate
quantities are further corrected for g-sensitivity and scale factor
non-linearity to third order. The 3DM-GX3® -45 architecture has been
carefully designed to substantially eliminate common sources of error
such as hysteresis induced by temperature changes and sensitivity to
supply voltage variations. Gyro drift is eliminated in AHRS mode by
referencing magnetic North and Earth’s gravity and compensating for
gyro bias. On-board coning and sculling compensation allows for use
of lower data output rates while maintaining performance of a fast
internal sampling rate. The 3DM-GX3® -45 is initially sold as a starter
kit consisting of an INS module, RS-232 or USB communication and
power cable, software CD, user manual, and quick start guide.
triaxial gyros
Applications
• primary and/or secondary GPS-aided navigation system
• location tracking of vehicles or personnel
triaxial accels
sensor signal
conditioners
triaxial mags
multiplexer
5 temperature
sensors
• unmanned vehicle navigation
• platform stabilization, artificial horizon
16 bit A/D
EEPROM
calibration data
user settable
parameters
• antenna, satellite and camera pointing
• biomechanics, biomedical animation
• robotics, automotive, marine, military
PPS (pulse
per second)
• heavy equipment, container handling
GPS receiver
• virtual reality, computer science
• reconnaissance, surveillance and target acquisition system
Little Sensors, Big Ideas.®
AHRS
MCU
GPS/INS
Kalman filter
MCU
USB 2.0
RS-232
www.microstrain.com
3DM-GX3® -45 Miniature GPS-Aided Inertial Navigation System (GPS/INS)
Navigation Specifications
Sensor Specifications
Accels
Kalman Filter Performance
Gyros
Mags
Typical position accuracy †
±2.5 m RMS horizontal, ±5 m RMS vertical
Measurement range
±5 g
±300°/sec
±2.5 Gauss
Typical velocity accuracy †
±0.1 m/s to ±0.75 m/s RMS (application and
settings dependent)
Non-linearity
±0.1 % fs
±0.03 % fs
±0.4 % fs
In-run bias stability
±0.04 mg
18°/hr
Initial bias error
±0.002 g
±0.25°/sec
±0.003 Gauss
Scale factor stability
±0.05 %
±0.05 %
±0.1 %
Noise density
80 µg/√Hz
0.03°/sec/√Hz
100 µGauss/√Hz
Alignment error
±0.05°
±0.05°
±0.05°
User adjustable bandwidth
225 Hz max
440 Hz max
230 Hz max
Sampling rate
30 kHz
30 kHz
7.5 kHz max
Typical attitude accuracy †
±0.35 deg RMS roll & pitch, ±1.0 deg RMS heading
Update rate
100 Hz
Features
•vehicle dynamics mode selection (portable/
tautomotive/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
•full world magnetic model
Data output rate
GPS Specifications
1 Hz to 100 Hz
AHRS Specifications
Attitude and Heading
Attitude heading range
360° about all 3 axes
Accelerometer range
±5 g standard
Gyroscope range
±300°/sec standard
Static accuracy
±0.5° pitch, roll, heading typical for static test conditions
Dynamic accuracy
±2.0° pitch, roll, heading for dynamic (cyclic) test
conditions and for arbitrary angles
—
GPS Receiver
GPS receiver type
50 Channels, L1 frequency, GPS C/A Code
SBAS: WAAS, EGNOS, MSAS, GAGAN
GPS solution update rate
Up to 4Hz
Time-to-First-Fix
Cold Start (Autonomous): 36 sec; Warm Start
(Autonomous): 36 sec; Hot Start: < 1 sec
GPS tacking and navigation
sensitivity
-159 dBm
GPS reacquisition sensitivity
-159 dBm
-141 dBm
Long term drift
eliminated by complementary filter architecture
GPS cold start (autonomous)
sensitivity
Repeatability
0.2°
GPS velocity accuracy
0.1 m/sec
Resolution
<0.1°
GPS heading accuracy
0.5°
Data output rate
1 Hz to 100 Hz
GPS horizontal position accuracy
Filtering
sensors sampled at 30 kHz, digitally filtered (user
adjustable ) and scaled into physical units; coning and
sculling integrals computed at 1 kHz
< 2.5 m Autonomous
< 2.0 m SBAS (CEP, stationary 24 hours, SEP 3.5 m)
GPS timepulse signal accuracy
30 nsec RMS, < 60 nsec 99%
GPS acceleration limit
≤ 4g
GPS altitude limit
no limit
GPS velocity limit
500 m/sec (972 knots)
GPS antenna connector
MMCX type
Data output rate
1 Hz to 4 Hz
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
General
Options
A/D resolution
16 bits SAR oversampled to 17 bits
Accelerometer range
±1.7 g, ±16 g, ±50 g
Interface options
USB 2.0 or RS232to micro-DB9
Gyroscope range
±50°/sec, ±600°/sec, ±1200°/sec
Baud rate
9,600 bps to 921,600 bps (115,200 bps default)
Power supply voltage
+3.2V to +16V (see technical note: http://files.
microstrain.com/TN-I0023_Inertia-Link_3DM-GX2_3DMGX3_Pin-Outs.pdf )
Power consumption
at full performance with GPS lock:
200 mA typ (250 mA max) when powered by Vpri
(3.2V-5.5V); 850 mW typ (1.0W max) when powered by
Vaux (5.2V-16V)
Operating temperature
-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
ROHS
compliant
Shock limit
500 g
Software utility
CD in starter kit (XP/Vista/Win7 compatible)
Software development kit
data communications protocol and sample code
© Copyright 2012 MicroStrain, Inc.
MicroStrain®, FAS-A®, 3DM®, 3DM-DH®, 3DM-GX3® and 3DM-DH3™ are trademarks of MicroStrain, Inc.
Specifications are subject to change without notice. 1.03d
8400-0035 rev. 002
† RMS values generated from actual vehicle testing (airborne & land) when compared to a reference
navigation unit
[24 mm]
.96 in
[14 mm]
.55 in
[37 mm]
1.44 in
[44 mm]
1.72 in
[41 mm]
1.62 in
[3.2 mm]
.12 in
MicroStrain Inc.
459 Hurricane Lane,
Suite 102
Williston, VT 05495 USA
www.microstrain.com
ph: 800-449-3878
fax : 802-863-4093
[email protected]
Patents Pending
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