GPS-Aided INS 1
GPS-Aided INS The Inertial Labs Single and Dual Antenna GPS-Aided Inertial Navigation System INS is new generation of fully-integrated, combined GPS, GLONASS, GALILEO and BEIDOU navigation and highperformance strapdown system, that determines position, velocity, heave and absolute orientation (Heading, Pitch and Roll) for any device on which it is mounted. Horizontal and Vertical Position, Velocity, Heave and Orientation are determined with high accuracy for both motionless and dynamic applications. The Inertial Labs INS utilizes advanced single and dual antenna GNSS receiver, barometer, 3-axes each of calibrated in full operational temperature range precision Fluxgate magnetometers, Accelerometers and Gyroscopes to provide accurate Position, Velocity, Heading, Pitch and Roll of the device under measure. INS contains Inertial Labs new on-board sensors fusion filter, state of the art navigation and guidance algorithms and calibration software. KEY FEATURES AND FUNCTIONALITY Excellent performance in GPS-Denied environment GPS, GLONASS, GALILEO, BEIDOU, SBAS, DGPS, RTK supported signals Tactical-grade IMU (1 deg/hr gyroscopes and 5 micro g accelerometers Bias in-run stability) Single and Dual antenna GNSS receivers Compatibility with LiDARs (Velodyne, RIEGL, FARO) and optical cameras Odometer / wheel sensor, Airspeed sensor inputs 60 cm SBAS Horizontal Position Accuracy and 40 cm DGPS Horizontal Position Accuracy 0.5 cm Post Processing (PP) Horizontal Position Accuracy 1 cm + 1 ppm RTK Horizontal Position Accuracy 0.1 deg Heading, Pitch & Roll real-time accuracy 0.03 deg Heading and 0.006 deg Pitch & Roll Post Processing (PP) accuracy Up to 50 Hz GNSS positions data rate 0.08 deg GNSS Heading and 0.4 deg Gyro-Stabilized Slaved Magnetic Heading accuracy (3 sigma) Highly accurate, reliable and temperature stable Fluxgate magnetometers (INS-P) Advanced, extendable, embedded Kalman Filter based sensor fusion algorithms State-of-the-art algorithms for different dynamic motions of Vessels, Ships, Helicopters, UAV, UUV, UGV, AGV, ROV, Gimbals and Land Vehicles Implemented ZUPT, GNSS tracking angle features Full temperature calibration of all sensing elements. Environmentally sealed (IP67), compact design One of the key elements to the success of Inertial Labs INS-P is its use advanced single and dual antenna GNSS receiver and Inertial Labs Fluxgate Magnetometers. Inertial Labs Fluxgate Magnetometer has distinct advantages over commonly used magneto-inductive or magneto-resistive magnetometers. In operation over time and temperature fluxgate magnetometers have superior stability and repeatability. In terms of sensitivity, fluxgate magnetometers provide up to two orders of magnitude increased sensitivity. In addition to the performance advantages, unlike the chip-level magnetometer technology, fluxgate magnetometer technology has been depended on for over 70 years to provide an accurate reference to North. It remains the most reliable magnetic sensor technology for determining an object s heading. 2
Navigation Orientation GNSS IMU General Single and Dual Antenna GPS-Aided INS Specifications Parameter Units INS-B (Basic) INS-P (Professional) INS-D (Dual Antenna) Output signals Positions, Heading, GNSS Heading (D model), Pitch & Roll, Heave & Heave Velocity (D model), Velocity, Accelerations, Angular rates, Barometric data, Pulse Per Second (PPS) Update rate Hz 1 200 (user settable) 1 200 (user settable) 1 200 (user settable) Start-up time sec <1 <1 <1 Positions, Velocity and Timestamps Units INS-B INS-P INS-D Horizontal position accuracy (GPS L1), RMS meters 1.5 1.5 1.5 Horizontal position accuracy (GPS L1/L2), RMS meters 1.2 1.2 1.2 Horizontal position accuracy (SBAS), RMS (1) meters 0.6 0.6 0.6 Horizontal position accuracy (DGPS), RMS meters 0.4 0.4 0.4 Horizontal position accuracy (post processing) (2) meters 0.005 0.005 0.005 Horizontal position accuracy (RTK), RMS meters 0.01 + 1 ppm 0.01 + 1 ppm 0.01 + 1 ppm Vertical position accuracy, RMS meters <1 <1 <1 Velocity accuracy, RMS meters/sec 0.03 0.03 0.03 PPS timestamps accuracy nano sec 20 20 20 Heading Units INS-B INS-P INS-D Range deg 0 to 360 0 to 360 0 to 360 Static Accuracy (3) deg 1 0.4 0.08 (2 meters baseline) Dynamic accuracy (GNSS) (6) deg RMS 0.1 0.1 0.05 (4 meters baseline) Post processing accuracy (2) deg RMS 0.03 0.03 0.03 Pitch and Roll Units INS-B INS-P INS-D Range: Pitch, Roll deg ±90, ±180 ±90, ±180 ±90, ±180 Angular Resolution deg 0.01 0.01 0.01 Static Accuracy in whole Temperature Range deg 0.05 0.05 0.05 Dynamic Accuracy (6) deg RMS 0.1 0.1 0.1 Post processing accuracy (2) deg RMS 0.006 0.006 0.006 GNSS receiver Units INS-B INS-P INS-D Number of Antennas Single Single Dual Supported navigation signals GPS L1/L2/L5; GLONASS L1/L2; BeiDou B1/B2/B3 GPS L1/L2, GLONASS L1/L2, GALILEO E1/E5; SBAS; DGPS; RTK BEIDOU, SBAS, DGPS, RTK Channel configuration (4) 120 Channels GNSS Positions data rate (5) Hz 20, 50 GNSS Measurements (raw) data rate Hz 20 Single antenna Heading accuracy, RMS (6) degree 0.1 Dual antenna Heading accuracy, RMS degree 0.08 (2 meters baseline) Velocity accuracy, RMS meters/sec <0.03 Initialization time Sec <50 (cold start), <30 (hot start) Time accuracy (clock drift) (7) nano sec 20 Gyroscopes Units INS-B INS-P INS-D Measurement range deg/sec ±450 ±450 ±450 Bias in-run stability (RMS, Allan Variance) deg/hr 1 1 1 Noise density deg/sec Hz 0.004 0.004 0.004 Accelerometers Units INS-B INS-P INS-D Measurement range g ±8 ±8 ±8 Bias in-run stability (RMS, Allan Variance) mg 0.005 0.005 0.005 Noise density mg Hz 0.025 0.025 0.025 Magnetometers Units INS-B INS-P INS-D Measurement range Gauss ±1.6 Bias in-run stability, RMS nt Optional 0.2 Optional Noise density, PSD nt Hz 0.3 Pressure Units INS-B INS-P INS-D Measurement range hpa 300 1100 300 1100 300 1100 Bias in-run stability (RMS, Allan Variance) Pa 2 2 2 Noise density Pa/ Hz 0.8 0.8 0.8 Environment Units INS-B INS-P INS-D Operating temperature deg C -40 to +70-40 to +70-40 to +70 Storage temperature deg C -50 to +85-50 to +85-50 to +85 MTBF hours 55,500 55,500 55,500 Electrical Units INS-B INS-P INS-D Supply voltage V DC 9 to 36 9 to 36 9 to 36 Power consumption Watts 1 1.4 2.6 Output Interface (options) RS-232, RS-422, RS-485, RS-232, RS-422, RS-485, RS-232, RS-422, RS-485, - Output data format Binary, TSS-1, NMEA Binary, TSS-1, NMEA Binary, TSS-1, NMEA 0183-0183 ASCII characters 0183 ASCII characters ASCII characters Physical Units INS-B INS-P INS-D Size mm 120 x 50 x 53 120 x 50 x 53 120 x 50 x 53 Weight gram 220 280 320 INS specification notes (1) GPS only; (2) RMS, incremental error growth from steady state accuracy. Post-processing results using third party software; (3) calibrated in whole operational temperature range, in homogeneous magnetic environment, for latitude up to ±65 deg; (4) tracks up to 60 L1/L2 satellites; (5) 50 Hz while tracking up to 20 satellites. 20 Hz position update rate for Basic model of INS; (6) dynamic accuracy may depend on type of motion; (7) time accuracy does not include biases due to RF or antenna delay; (8) relative to the start point 3
Inertial Labs GPS-Aided INS key performance 4
INS-B and INS-P mechanical interface drawing INS-D mechanical interface drawing Notes: 1. All dimensions are in millimeters. 2. All dimensions within this drawing are subject to change without notice. Customers should obtain final drawings before designing any interface hardware. Interface connector type: Binder Series 723. Male receptacle, shielded, rear-mounting GNSS antenna connector type: TNC - Female 5