IG-500E - Aided Navigation and AHRRS Solution : Ver información

IG-500E - Aided Navigation and AHRRS Solution : Ver información
IG-500E
Redefine motion limits ...
Aided Navigation and AHRS Solution
Key Features
The IG-500E is a high performance miniature and cost
effective aided inertial navigation and orientation
sensor (AHRS). Thanks to a revolutionary
architecture, the IG-500E accepts various external
aiding information to deliver unmatched precision for
both attitude and position measurements.
A revolutionary concept
The IG-500E combines a MEMS based calibrated
Inertial Measurement Unit (IMU) and an on board real
time Extended Kalman Filter to fuse inertial data with
external aiding information such as GPS position, true
heading or even odometer velocities.
At a very affordable price, the IG-500E provides a
precise drift-free 3D orientation and a smooth position
even in difficult conditions such as in urban canyons or
during short GPS outages.
3D velocity, position and orientation at high
• Aided
update rate (100 Hz)
a wide range of external aiding data such
• Accepts
as RTK GPS, GPS compass, odometers, DVL, ...
• SyncOut/Trigger, SyncIn, odometers pulse inputs
• Accurate attitude even in high G maneuvers
• Precise UTC referenced output
• Wide inertial sensor range options
over full temperature range -40 to 85°C
• Calibrated
for bias, gain, misalignments, cross-axis and gyro-g
and easy to use magnetometers
• Advanced
compensation tools for soft and hard iron effects
• Available protocol RS-232, RS-422, CAN and USB
• Very compact and lightweight design (49 grams)
• Ultra low power design down to 650 mW
• Robust and high precision aluminum enclosure
Fields of use
Underwater navigation...
Doppler Velocity Logger
By removing transient accelerations, calculated using
external aiding information, the attitude accuracy is
greatly improved compared to traditional AHRS.
Accurate positioning...
2D odometer, RTK GPS
Easy and fast integration
SBG Systems has designed a powerful and easy to
use Development Kit for this product. In just a few
seconds, you can start evaluating and configuring your
new device.
Calibration free compass...
Dual antenna GPS heading
Simplified Block Diagram
3 Axis
Accelerometers
Temperature
Sensors
12 bits A/D
3 Axis
Magnetometers
16 bits A/D
3 Axis
Gyroscopes
External
aiding data
Odometer
inputs
3D Orientation
Euler, Matrix, Quaternion
CPU
Kalman Filter
+
Calibration data
stored in flash
RS-232
RS-422
CAN 2.0
3D Navigation
3D Velocity
3D Position
Sensors
3D Angular rate
3D Acceleration
3D Magnetic field
Tel: +33 (0)1 80 88 45 00 ● Mail: [email protected] ● Web: www.sbg-systems.com
IG-500E
Redefine motion limits ...
Technical Specifications
Parameter
Specification
Remarks
Attitude
Sensing range
360° in all axes
Static accuracy
± 0.5° (Pitch, Roll)
< 0.5° (Heading)
Stabilized Kalman Filter
Using a two antennas GPS heading
Dynamic accuracy
± 1.0° RMS
Using external aiding information
Repeatability
< 0.2°
Resolution
< 0.05°
Output frequency
0 to 500 Hz
0 to 100 Hz
Standard Sensors
Accelerometers Gyroscopes
Magnetometers
Measurement range
±5g
± 300 °/s
± 1.2 Gauss
Non-linearity
< 0.2% of FS
< 0.1% of FS
< 0.2% of FS
± 5 mg
± 0.5 °/s
± 0.5 mGauss
Over temperature range
-
< 0.1 °/s
-
Kalman filter stabilized
Scale factor Stability
<0.1%
<0.05%
<0.5%
Over temperature range
Noise density
0.25 mg/√Hz
0.05 °/s/√Hz
0.01 mG/√Hz
Alignment error
< 0.1°
< 0.1°
< 0.1°
Bandwidth
50 Hz
40 Hz
500 Hz
Sampling rate
10 000 Hz
10 000 Hz
1 000 Hz
Side View
36.20
25
Calibrated sensors only
Attitude, 3D velocity and position
6
Refer to sensors options table
Top View
Additional software filter available
Communication
Output modes
Euler angles, Quaternion, Matrix,
3D velocity, 3D position,
Calibrated sensor data,
Raw sensor and GPS data
Interface options
Serial (RS-232, RS-422 or TTL 3.3V)
CAN 2.0A/B up to 1 Mbits/s
Usb using provided UsbToUart
Serial data rate
9 600 to 921 600 bps
Configurable slew rate
Interface options
Serial RS-232 or RS-422
Configurable protocol and slew rate
Serial data rate
9 600 to 921 600 bps
User selectable
Supported protocols
NMEA for navigation data and true heading.
sbgCom for GPS data, remote magnetometers.
Contact us for more information
Odometers
Two axis odometer inputs such as wheel speed
counter or 2D optical odometer.
User configurable
3.20
35.80
Bias Stability
Mechanical drawing
Each output can be enabled or
disabled by the user
49.40
All dimensions are in millimeters
External aiding
Accelerometers:
1:
2:
3:
Physical
Dimensions OEM
27x30x14 mm
Dimensions Box
36x49x25 mm
Weight OEM
10 grams
Weight Box
49 grams
Operating Temperature
-40 to 85°C
Storage Temperature
-40 to 85°C
Shock Limit
1 000g (Powered), 2 000g (Unpowered)
2g
5g ●
18g
Protocol mode:
1:
2:
3:
4:
RS-232 ●
Serial TTL
CAN 2.0A/B
RS-422
IG-500E-G#A#P#-#
Non-condensing environment
Gyroscopes:
Shocks can affect performance
Electrical
Rev 1.1
Product code options
Operating voltage
3.3 V to 30 V
Power consumption
650 mW @ 5.0 V
Optimal power consumption at 5.0 V
SyncOut, Trigger
Open drain pull-up voltage: -0.3 to 25 V
Open drain, use a pull up resistor
SyncIn, Time pulse,
Odometer
Low level < 0.8 V
High level > 2.2 V
Two inputs available and user
configurable
Start-up time
<1s
Input range: ± 20 V
Input delay: <150 ns
Valid data
Specifications are subject to change without notice.
SBG Systems s.a.s. ● 3bis, chemin de la Jonchère ● 92500 Rueil Malmaison ● FRANCE
2:
3:
4:
5:
6:
75°/s
150°/s
300°/s ●
600°/s
1200°/s
Packaging:
S: Box version ●
O: OEM version
● standard product options
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