Ekinox Series TACTICAL GRADE MEMS Inertial Systems Motion Sensing & Navigation AEROSPACE GROUND MARINE EKINOX SERIES R&D specialists usually compromise between high accuracy and price. The Ekinox Series has been designed to bring robust and cost-effective MEMS solutions to the FOG technology’s level of accuracy. Ekinox Series opens a new world of opportunities. ITAR Free 0.05° RMS IMU AHRS MRU INS VG Ekinox Series Brings robust and cost-effective MEMS to the Tactical Grade Ekinox Series is a product range of high accuracy inertial systems. It has been designed to bring robust, maintenance free, and cost-effective MEMS to the tactical grade. Thanks to a drastic selection of high end MEMS sensors, an advanced calibration procedure, and powerful algorithm design, the Ekinox Series achieves 0.05° attitude accuracy. » High Performance Inertial Systems » ITAR Free » Cost-effective & Robust MEMS technology » Maintenance Free KEY FEATURES » Up to 4 connected equipment » Survey Grade GNSS receiver (Ekinox-N/D) » 8 GB Data Logger » IP68 Enclosure » Web Interface & Ethernet Accuracy 3D ORIENTATION Roll, Pitch 0.05° 0.02° Real-Time Post-Processing Heading 0.5° 0.1° 0.05° 0.03° Magnetometers GPS Dual Antenna GPS Post-Processing » 200 Hz Output Rate GNSS POSITIONING Ekinox-N Single Point L1 1.5 m Single Point L1/L2 1.2 m SBAS 0.6 m DGPS 0.4 m RTK No aiding for 30 sec No aiding for 60 sec 0.02 m 5m 16 m Post-processing 0.02 m Ekinox-D Included Option VELOCITY AIDED POSITIONING Odometer < 0.1% TD Depends on odometer performance DVL * < 0.2% TD External Gyro-compass or GPS Heading < 0.3% TD Internal Magnetometer. Lawn mower pattern with 1 km lines. Real-time 5 cm or 5% Whichever is greater, velocity aided Wave period 0 to 25 s Auto-adjusting Delayed 2.5 cm or 2.5% Whichever is greater, velocity aided Wave period 0 to 50 s HEAVE * Depends on DVL performance. - TD: Travelled Distance.- Typical RMS values. A Cutting-Edge Architecture IMU OUTPUTS EKINOX INTEGRATION at 1kHz DATA LOGGER 3 Axis Gyroscopes Serial Ethernet CAN 3 Axis Accelerometers DATA FUSION 3 Axis Magnetometers Extended Kalman Filter at 200 Hz Ekinox-A Ekinox-E Ekinox-N Ekinox-D Roll, Pitch, Heading Heave, Surge, Sway IMU sensor data GPS 1 GPS 2 External Aiding Data - Navigation: Position, Velocity INPUTS Serial Ethernet CAN Ekinox-A Ekinox-E Ekinox-N Ekinox-D Internal Single GPS Internal Dual GPS GPS Position/Velocity GPS True Heading GPS RTK Correct. - Odometer - DVL - USBL * - EM Log * - * Contact us for more information Included Included External Aiding Required Software sbgCenter CONFIGURATION, REAL-TIME DISPLAY & REPLAY Configuration is made easy through our intuitive embedded web interface where all parameters can be quickly displayed and adjusted. The sbgCenter offers all the tools for realtime visualization (200 Hz) and replay of the records stored in the internal data logger. Embedded Web Interface Applications AEROSPACE Ready-to-use INS/GPS (Ekinox-N) Mid-sized & large UAV Designed for harsh environments Avionics Temperature calibrated (-40 to 75°C) LiDAR Unmatched precision in high vibration Gyro-stabilized camera conditions (MIL-STD-810G) Flight data recorder Robust IP68 enclosure LAND All-in-one solution with Dual Antenna GPS, Car motion RTK GNSS, and odometer (Ekinox Land Solution) Unmanned Ground Vehicle Ethernet & CAN connectivity Camera and 3D scanner Precise GPS UTC synchronization (20 Nano-sec) SATCOM antenna Low latency (3ms) Machine Control Very low noise on Attitude & Navigation data MARINE Integrated Dual Antenna GPS for True Heading Hydrography (Ekinox-D) Motion monitoring Real-time Auto adjusting heave period on 4 Performance sailing monitoring points Offshore NMEA, TSS & Simrad protocols Targeting system Ethernet & Web interface SUBSEA Compact and low-power consumption AUV, ROV Real-time data fusion with DVL, USBL, etc. SONAR, LiDAR, Camera Up to 4 simultaneously connected equipment Seamless Integration DEVELOPMENT KIT NEED A CUSTOM PACKAGE? The Development Kit comes with the Ekinox model you would like to test. It consists of a waterproof transport box including power supply, Ethernet cable, a quick start guide, a user manual, GPS Antennas (1x for Ekinox-N, 2x for Ekinox-D) and related communication cables. A set of software tools is included such as the sbgCenter application, API C libraries with code examples, etc. Every industry has its own constraints. Our Sales Engineers will work with you to recommend the right solution for your project, or for an entirely custom design. SBG SYSTEMS SERVICES Support – Training - Custom Design Specifications SENSORS PERFORMANCE Accelerometers Gyroscopes Magnetometers Measurement range 5g 400 °/s 6 Gauss Non-linearity (% of Full Scale) 0.05 0.05 0.1 Bias in-run stability 20 µg < 3 °/hour - Gain (ppm) 300 300 1,000 In Band Noise (RMS) 200 µg 0.3 °/s 50 µGauss Bandwidth (3 dB) 100 Hz 100 Hz 50 Hz Resolution threshold 250 µg 0.03 °/s 120 µGauss Sampling rate 5 k Hz 1 k Hz 1 k Hz Alignment error 0.03° 0.03° 0.03° INTERFACE Aiding Sensors 2x GPS, RTCM, Odometer, DVL, USBL*, Depth, EM log*, External Magnetometer, Gyro-compass, User Inputs Protocols NMEA, ASCII, Binary, TSS, Simrad Output Rate 0.1 to 200 Hz Logging Capacity 8 GB or 48h @ 200 Hz Serial RS-232/422 Model N/D - 2 outputs / 4 inputs Model E - 3 outputs / 5 inputs Model A - 1 output / 1 input CAN 1 CAN 2.0 A/B bus up to 1 Mbit/s Pulses Inputs: PPS, Event marker up to 1 kHz Outputs: SyncOut, Trigger Model E/N/D – 5 inputs / 2 outputs Model A – 1 input / 2 outputs PRODUCT CODE INS standard product options EKINOX-#-G4A#-PS MODEL A: AHRS E: INS N: INS with internal GPS D: INS with internal Dual GPS GYROSCOPES * Contact us for more information 4: 400 °/s ACCELEROMETERS ENVIRONMENTAL SPECIFICATIONS Operating Vibrations 8 g RMS – 20 Hz to 2 k Hz as per MIL-STD-810G IP Rating IP68 Operating Temperature -40 to 75°C / -40 to 167°F MTBF 50,000 hours 1: 2 g 2: 5 g 3: 10 g 4: 30 g PHYSICAL CHARACTERISTICS Ekinox-A Ekinox-E Ekinox-N Ekinox-D GPS - - L1/L2 GPS + GLONASS receiver L1/L2 Dual Antenna GPS + GLONASS receiver Weight 350 grams 0.77 pounds 400 grams 0.88 pounds 500 grams 1.10 pounds 600 grams 1.32 pounds Dimensions (L x W x H) 10 x 8.6 x 4.3 cm 3.9 x 3.4 x 1.7 “ 10 x 8.6 x 5.8 cm 3.9 x 3.4 x 2.2 ” 10 x 8.6 x 6.4 cm 3.9 x 3.4 x 2.5 ” 10 x 8.6 x 7.5 cm 3.9 x 3.4 x 2.9 “ Power Consumption <3W <3W <5W <7W Supply Voltage 9 to 36 VDC Typical RMS values. All specifications subject to change without notice. 9 to 36 VDC 9 to 36 VDC 9 to 36 VDC SBG Systems is a leading French supplier of MEMS-based inertial motion sensing solutions. The company provides a wide range of inertial solutions from miniature to high accuracy. Combined with cutting-edge calibration techniques and advanced embedded algorithms, SBG Systems products are ideal solutions for industrial & research projects such as unmanned vehicle control, antenna tracking, camera stabilization, and surveying applications. PRODUCTS TEST RESULTS Ekinox Test Results TEST ENVIRONMENT Ekinox Test Results MARINE TEST ENVIRONMENT Ekinox Series PRODUCT ON TEST AUTOMOTIVE Ekinox Series Ekinox-A Motion Sensor PRODUCT ON TEST Ekinox Land Solution Real time GPS data Real time Ekinox INS output Test 1 - Countryside TEST CONDITIONS TESTED PRODUCTS Ekinox-A Motion Sensor TESTED PERFORMANCE Heave, Roll, and Pitch PLACE Brest (France) at the IFREMER Institute CONDITIONS Sea conditions simulated on a Hexapod FULL REPORT : Send an email to [email protected] to receive the complete version of this test. Subsea MRU & INS Ekinox INS with RTK base station and odometer SBG Systems EMEA (Headquarters) Phone: +33 1 80 88 45 00 E-mail: [email protected] SBG Systems North America Phone: +1 (773) 754 3272 E-mail: [email protected] www.sbg-systems.com V1.0 - February – All rights reserved © 2014 SBG Systems Marine Tested Equipment The test session simulated a complete 6 degrees of freedom (DOF). The hexapod reproduced various sea conditions while providing accurate reference data. A wide range of heave frequencies and amplitudes have been initiated as well as periods in the range of 5 to 12 s. The test included eight sessions of five minutes tests and an additional fifteen minutes test to check longer operation periods. Special thanks to IFREMER Institute and Mr. Pierre Merriaux (IRSEEM and ESIGELEC) who conducted this performance test. Ekinox-D, Inertial Navigation System with integrated Dual Antenna GNSS receiver. MOUNTING ON THE HEXAPOD All tested sensors were mechanically strapped on the Hexapod platform which provides accurate 6 degrees of freedom. Precision alignment ensured a 0.1° alignment accuracy on roll and pitch angles. RTK GNSS base station with a SATEL RF modem to transmit differential corrections to the Ekinox. Odometer connected to the Ekinox-D for velocity aiding. Results When entering in a small village downtown, the Radio was not able to send enough corrections to maintain RTK positioning accuracy. Spikes and jumps are observed on GPS data (in red on the picture above). The Ekinox data fusion (in blue) behaved exactly as expected in these situations and maintained optimal positioning accuracy. As there is no long outages in such environment, the use of an odometer is not required. REAL-TIME 3D ORIENTATION (RMS) Roll Pitch Yaw 0.028° 0.032° 0.14° Roll and Pitch are more accurate than the announced accuracy (0.05°). With a baseline of 1.2m, Heading accuracy is within expectations (0.2° with 1 m baseline). A better heading accuracy could be achieve with a larger baseline. Automotive REAL-TIME POSITION Northing Easting Altitude 2.0 cm 2.7 cm 3 cm RMS errors observed here are close to what is achievable when RTK data reception is poor.