Allgemein
integrated-sensors
I
Datenausgaben
Inertial Measurement Unit (IMU) outputs: acceleration, angular rate, magnetic field *, ambient pressure, deltaTheta, deltaVelocity
Computed outputs:
Extended Kalman Filter (EKF): LLH position, NED velocity, attitude estimates (in Euler angles, quaternion, orientation matrix), bias compensated angular rate, pressure altitude, gravity-free linear acceleration, gyroscope and accelerometer bias, scale factors and uncertainties, gravity and magnetic models, and more.
Global Positioning System outputs (GPS): LLH position, ECEF position and velocity, NED velocity, UTC time, GPS time, SV. GPS protocol access mode available.
Inertiale Messeinheit (IMU) Sensorausgang
Messbereiche
Accelerometer: +/-5 g
Gyroscope: 300°/sec (standard) +/-75, +/-150, +/-900 °/sec (options)
Magnetometer: +/-2.5 Gauss
Nichtlinearität
Accelerometer: +/-0.03 % fs
Gyroscope: +/-0.03% fs
Magnetometer: +/-0.4% fs % FS
Auflösung
Accelerometer: <0.04 m g
Gyroscope: <0.0025°/sec
Magnetometer: -
bias-instability
Accelerometer: +/-0.02 m g
Gyroscope: 5 °/hr
Magnetometer: -
initial-bias-error
Accelerometer: +/-0.001 g
Gyroscope: +/-0.05°/sec
Magnetometer: +/-0.003 Gauss
scale-factor-stability
Accelerometer: +/-0.05%
Gyroscope: +/-0.05%
Magnetometer: +/-0.1% %
noise-density
Accelerometer: 50 µg/√Hz
Gyroscope: 0.002°/sec/√Hz
Magnetometer: 100 µGauss/√Hz
alignment-error
Accelerometer: +/-0.05°
Gyroscope: +/-0.05°
Magnetometer: +/-0.05° °
adjustable-bandwidth-max
Accelerometer: 250 Hz
Gyroscope: 160 Hz
Magnetometer: - Hz
vibration-induced-noise
Accelerometer: -
Gyroscope: 0.06°/s RMS/g RMS
Magnetometer: -
vibration-rectification-error
Accelerometer: 0.025%
Gyroscope: 0.001°/s/g2 RMS
Magnetometer: -
imu-filtering
4 stage filtering: analog bandwidth filter to digital sigma-delta wide band anti-aliasing filter to (user adjustable), low pass filter; coning and sculling integrals computed at 1 kHz
Abtastrate
HzI
imu-data-output-rate
1 – 500 Hz
Errechnete Ausgabe
position-accuracy
+/-2.5 m RMS horizontal, +/-5 m RMS vertical (typ)
velocity-accuracy
+/-0.1 m/s RMS
attitude-accuracy
+/-0.1° RMS roll and pitch, +/-0.5° RMS heading (typical)
attitude-heading-range
360 °I
attitude-resolution
< 0.01 °
attitude-repeatability
0.1 °I
calculation-update-rate
500 Hz
computed-data-output-rate
1 – 500 Hz
Global Positioning System (GPS) Ausgabe
receiver-type
50-channel u-Blox 6 engine GPS, L1 frequency, C/A code SBAS: WAAS, EGNOS, MSAS
gps-data-output-rate
1 – 4 Hz
time-to-first-fix
Cold start: 36 second, aided start: 36 second, hot start: <1 second
Empfindlichkeit
Tracking: -159 dBm, cold start: -147 dBm, hot start: -156 dBm
gps-velocity-accuracy
0.1 m/sec
gps-heading-accuracy
0.5 °
horizontal-position-accuracy
GNSS: 2.5 m CEP
SBAS: 2.0 m CEP
time-pulse-signal-accuracy
30 nsec RMS
< 60 nsec 99%
Peak Acceleration
≤ 4 g
altitude-limit
no limit
max-velocity
500 m/secI
Betriebsparameter
communication
RS422 (9600 bps to 460,800 bps, default 115,200)
Spannnungsversorgung
10 – 28 VI
Stromverbrauch
2,50 WI
Betriebstemperatur
-40 – 85 °CI
vibration-limit
6 g RMS, 10 Hz to 2 kHz
mechanical-shock-limit
750 gI
mtbf
180000 hI
Physische Spezifikationen
Abmessungen
88,30x 76,20 x 22,20 mm
Gewicht
205 g
environmental-rating
DO-160G
Gehäusematerial
Aluminium
Integration
Anschluss
Data/power output: 7 pin circular Glenair series 801
GPS antenna: SMA type
Software
MIP Monitor, MIP Hard and Soft Iron Calibration, Windows XP/Vista/7/8 compatible
compatibility
Protocol compatibility across 3DM-GX3, GX4, RQ1, GQ1, and GX5 product families
software-development-kit
MIP data communications protocol with sample code available (OS and platform independent)
