G ESELLSCHAFT F UER I NERTIALE M ESS -,
A UTOMATISIERUNGS - UND R EGELSYSTEME MB H
WWW . IMAR - NAVIGATION . DE
iTraceRT-R300
Most Accurate Real-Time Vehicle Trajectory and Attitude Surveying
- Deeply Coupled INS/GNSS iTraceRT-R300 is a most precise ring laser gyro
based INS/GNSS deeply coupled inertial navigation, measurement, surveying and control system
for applications on the surface (land/sea) and in
the air. It provides all kinematic measurements,
like acceleration, angular rate, attitude, true
heading, velocity and position of the target
vehicle in real-time with a data update rate of up
to 300 Hz.
 robust, compact, light weight
 Hi-Rel ring laser gyro technology (RLG)
 supports GNSS (GPS and GLONASS) in both
uncorrected and corrected (RTK, DGPS) mode
 output of angular rate, acceleration, attitude,
true heading, course over ground, velocity and
position via USB, RS232/422 and Ethernet in
real-time with up to 300 Hz
 CAN interface (up to 300 Hz)
 true heading determination by gyro compassing
due to high gyro performance
 accuracies: 2 cm position, 0.003° roll/pitch/
heading, 25 µg acceleration and 0.005 m/s
velocity with RTK L1/L2 GNSS
 suitable in high dynamic environment (20 g,
450 °/s)
 lowest gyro drift allows long free inertial
navigation in case of GNSS outages
 shortest re-acquisition time after loss of RTK
To determine the motion of a vehicle with centimeter accuracy, RTK aiding of the INS with
GNSS data is required. While conventional
systems are only suitable in an environment
which guarantees an open sky all over the measurement (no bridges, no urban canyons), the
deeply coupled INS/GNSS inside the iTraceRT
overcomes this lack of those systems. Inside of
the iTraceRT, the RTK GPS information is used
to aid the INS, and additionally the accurate INS
position and velocity solution is fed back to the
GPS engine to improve the signal tracking and
signal processing inside of the advanced GPS
receiver and to reduce multipath impacts
dramatically. At the end of a period of GPS outage the receiver knows its own position from the
INS and this leads to the superior re-acquisition
time and system performance.
TraceRT-R300-Q_en.doc
The re-acquisition time for RTK performance is
therefore significantly reduced.
RTK-GPS
INS
Output
Classical INS/GPS Coupling
RTK-GPS
INS
Output
iTraceRT: Deeply Coupled INS/GPS
The deeply coupled solution and aiding between
INS and GNSS, using a most precise ring laser
gyro based inertial measurement system (RLGIMU) of class 0.003 deg/hr, provides the high
system performance and system reliability which
is required in all advanced tasks of vehicle motion dynamics testing, automated vehicle steering, trajectory surveying and motion control (car
/ truck / naval vessel / civil and military aircraft).
For land vehicles additionally an odometer aiding
capability is available as an option.The
iTraceRT-R300 is delivered with Windows-based
configuration software. With reduced position
accuracy, iTraceRT can also be operated without
RTK GNSS correction data (stand-alone GPS /
GLONASS or DGNSS).
iMAR GmbH / Germany

G ESELLSCHAFT F UER I NERTIALE M ESS -,
A UTOMATISIERUNGS - UND R EGELSYSTEME MB H
WWW . IMAR - NAVIGATION . DE
Technical Data: iTraceRT-R300 (all rms values)
Attit./Heading Position (LLA) Velocity (ENU/Body)
unlimited
unlimited (no phys. limitations)
pure INS, unaided, day-to-day, OTR
pure INS, after 5 minutes RTK-GPS aiding
1
Angles:
0.003° RP, 0.008° Y
(INS/RTK-GPS)
0.003° RP, 0.008° Y
(after 60 sec GPS outage)
0.003° RP, 0.008° Y
(after 180 sec GPS outage)
2
0.05° Side slip angle (v > 10 m/s)
Position horizontal / vertical: ................................................
± 2 cm / 5 cm + 2 ppm (INS/RTK-GNSS)
± 5 cm / 8 cm (10 s RTK outage)
± 50 cm / 15 cm (60 s RTK outage, no ODO)
± 2 cm / 5 cm (postproc, RTK GNSS)
± 10 cm / 8 cm (postproc, 60 s RTK outage)
Range:
Accuracy (1σ):
Velocity:
Rate
Acceleration
 450°/s
 20 g
0.003°/h
0.025 mg
0.002°/h
0.025 mg
........................................
.................................................................................
Noise:
< 0.002°/ h < 10 µg/ Hz
Resolution:
< 0.001°/s < 10 µg
Scalefactor error: < 0.0005% < 0.015%
Initial Alignment:
Data Processing Rate:
Data Output Rate:
Synchronization:
Output:
Inputs:
Graphical User Interface:
Power Supply:
Temperature,:
Shock, Vibration:
Mass, Size, Protection:
Qualification:
Deliverables:
Options:
0.001°
0.001°
< 0.0005%
< 1 mm
< 0.5 mm
0.005 m/s (INS/RTK-GPS)
0.007 m/s (10 s GNSS outage)
0.010 m/s (60 s GNSS outage)
< 0.002 m/s
< 0.001 m/s
automatic, with deeply coupled (bidirectional) INS/GNSS Kalman filter
300 Hz; PPS timing accuracy better 10 ns
LAN / USB 2.0: 1...300 Hz; CAN: 300 Hz; RS232/422 up to 230.4 kBd
PPS output (TTL); with each PPS a time message is sent via CAN bus
USB Host, RS232, CAN (1 MBd), Ethernet LAN (100 MBd)
RTK-Base (RS232); odometer (A or A/B at RS422 level) as an option
Windows based software iTraceRT-Command
11...34 V DC, 35 W
−40...+63°C operating (outer case temperature); -55…+85 °C storage
30 g / 11 ms, 3 g rms (20-2000 Hz) endurance
approx. 7.5 kg / approx. 186 x 250 x 124 mm (WxDxH) plus connector; IP66
MIL-STD 810F, MIL-STD 461E (temperature, vibration, sand&dust, humidity,
altitude, salt fog, EMI/EMC)
- RLG based INS with integrated L1/L2-RTK-GNSS, GPS/GLONASS antenna
- Windows based GUI software iTraceRT_Command
- Odometer interface for aiding during longer GPS outages
(position error then limited to approx. 0.1% of distance travelled)
- TerraStar based SBAS correction data interface; GLONASS option
- Wireless data transmission for correction data from GPS base station
- GSM or GPRS based wireless modem for internet based correction data
- iREF-L1L2 GNSS Reference Station (RTK capability)
- Interface for ABD Steering Robot and Ethernet data output
- Optional QZSS, Beidou and Galileo support.
iMAR Navigation GmbH  Im Reihersbruch 3  D-66386 St. Ingbert / Germany
Phone: +49-(0)-6894-9657-0  Fax: +49-(0)-6894-9657-22
www.imar-navigation.de  sales@imar-navigation.de
iMAR GmbH 04/14
1
2
(any technical changes reserved without notice)
rev. 2.4
RPY = Roll/Pitch/Yaw (Azimuth = −Yaw)
The side slip angle is the angle between course over ground (CoG) and true heading. It is calculated from the longitudinal
and transversal velocity of the vehicle. Its accuracy therefore increases with increasing velocity. At standstill the side
slip angle is undefined.
TraceRT-R300-Q_en.doc
iMAR GmbH / Germany
