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3DM-GX3-45 Miniature GPS-Aided Inertial Navigation System
(GPS/INS)

MicroStrain's inertial, orientation and inclinometer product line includes simple inclinometers, commonly referred to as tiltmeters or clinometers, inertial measurement units (IMU) and attitude heading reference systems (AHRS) - With or without GPS-Receiver. These products can provide single axis or dual axis inclination, linear acceleration and angular rate, or orientation in the form of pitch, roll and heading (yaw or azimuth) Quaternion or orientation matrix.

UPDATE:

There is a typo in the 3DM-GX-series data sheets regarding the Gyro Bias stability.

It should read: Gyro Bias Instability: +/-0.01°/sec

3DM-GX3® -45 Miniature GPS-Aided Inertial Navigation System (GPS/INS)

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 short-term 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).

Introducing 3DM-GX3-45

Features & Benefits

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 with sensor ranges from 1.7 g to 50 g and 50°/s to 1200°/s
rugged aluminum enclosure with precision alignment holes
ROHS compliant
Output quantities: Acceleration, angular rate, magnetic field, delta theta, delta velocity, 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, WGS84 gravity magnitude and vector, WMM2010 declination, heading wrt true and magnetic north

System Overview

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.