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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