GPS aided Orientation Sensor
GPS輔助型組合導航系統
The IG-500N is the world smallest GPS enhanced Attitude and Heading Reference System (AHRS). With its embedded Extended Kalman Filter, the IG-500N delivers unmatched precision for attitude and position measurements in very high dynamic conditions.IG-500N是世界上比較小的帶有GPS輔助定位的姿態航向參考系統系統（AHRS）。IG-500N擁有嵌入式的擴展卡爾曼濾波器，使其在高速動態條件下能夠提供的姿態和方位測量精度。
All in one: the IG-500N
集成所有功能于一體:IG-500N
The IG-500N includes a MEMS based Inertial Measurement Unit (IMU), a GPS receiver and a pressure sensor. It provides precise drift-free attitude and position, even in long time turns.
IG-500N由基于微機電系統(MEMS)的慣性測量單元(IMU)、GPS接收器和壓力傳感器組成。它能夠在長時間內提供精確的無漂移的姿態信息和位置信息。
This miniature Inertial Navigation System (INS) runs a real time, on board, Extended Kalman Filter that computes orientation, position and velocity data at high update rates, up to 100 Hz.
本微型慣性導航系統(INS)運行了一個實時的擴展卡爾曼濾波器，能以達100 Hz的刷新頻率來計算方向、位置和速度信息。
The attitude accuracy is also improved, compared to traditional AHRS, by removing transient accelerations measured by the GPS receiver.
相比傳統的姿態航向參考系統，IG-500N通過去除GPS接收機所測量的瞬時加速度的方法得到精度上的提高。
Easy and fast integration
方便快捷的整合
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. Integrating the IG-500N in your application is even easier.
SBG Systems公司為IG-500N設計了一個強大、易于使用的系統開發工具包。僅在數秒之內, 你就可以開始評估和配置你的新設備。IG-500N能夠非常方便地整合在你的應用中。
Key Features
Key Features
主要特點
l GPS enhanced 3d velocity, position and orientation at high update rate (100 Hz)
高達100 Hz刷新率的GPS增強型三維速度、位置和方位輸出
l Accurate attitude even in high G maneuvers
l 即使在高G移動狀態下都能夠提供精確的姿態
l Precise UTC referenced output
精確的格林威治時間供參考輸出
l Embedded 4Hz GPS receiver & barometric sensor
嵌入式的4Hz GPS接收機及氣壓傳感器
l Wide inertial sensors range options
寬幅慣性傳感器范圍選擇
l Calibrated over full temperature range -40 to 85°C for bias, gain, misalignments, cross-axis and gyro-g
可在-40 to 85°C全溫度域內進行零偏、增益、失準、交叉軸和gyro-g的校準
l Advanced and easy to use magnetometers compensation procedure for soft and hard iron
磁力計的軟硬鐵補償程序而易于使用
l Communication protocols: RS-232 and USB
通訊協議 : RS-232及USB
l Very compact and lightweight design (46 grams)
小巧輕便的設計(46克)
l Very low power design down to 550 mW 至550 mW 的功耗設計
l Robust and high precision aluminum enclosure
高精密度、結實的鋁制外殼
Fields of use 應用范圍
l Unmanned vehicles 無人機
l Vehicle motion analysis 車輛運動分析
l Aerospace 航天
l Robotics 機器人
l Marine industry 航海
參數 | 規格 | 說明 | |||||
測量范圍 | 360° 全軸向 | ||||||
靜態精度 | ± 0.5° ( 俯仰, 橫滾) ± 1° ( 航向) | 穩定卡爾曼濾波器 均勻磁場 | |||||
動態精度 | ± 1.0° RMS | 良好的GPS性能 | |||||
重復性 | < 0.2° | ||||||
分辨率 | < 0.05° | ||||||
輸出頻率 | 0 to 500 Hz 0 to 100 Hz | 僅用于校準后傳感器 姿態，三維速度和位置 | |||||
標準傳感器 | 加速度計 | 陀螺儀 | 磁力計 | ||||
測量范圍 | ±5 g | ± 300 °/s | ± 1.2 高斯 | 測量范圍可選 | |||
非線性 | < 0.2% of FS | < 0.1% of FS | < 0.2% of FS | ||||
零偏穩定性 | ± 5 mg -- | ± 0.5 °/s < 0.1 °/s | ±0.5mGauss -- | 在整個溫度范圍內 卡爾曼濾波器穩定 | |||
刻度因子穩定性 | < 0.1% | < 0.05% | < 0.5% | 在整個溫度范圍內 | |||
噪音密度 | 0.01g/√Hz | 0.05 °/s/√Hz | 0.01mG/√Hz | ||||
對準誤差 | < 0.1° | < 0.1° | < 0.1° | ||||
帶寬 | 50 Hz | 40 Hz | 500 Hz | 可提供額外的軟件過濾器 | |||
抽樣率 | 10 000 Hz | 10 000 Hz | 1 000 Hz | ||||
GPS Receiver 接收器 | |||||||
類型 | L1 frequency, C/A, Code, 16-Channels, 4 Hz | ||||||
位置精度 | 2.0 meters | with SBAS support | |||||
2.5 meters | CEP (Horizontal accuracy) 水平精度 | ||||||
5.0 meters | SEP (Vertical accuracy)豎直精度 | ||||||
Acquisition time | < 3.5 s / 34 s | Hot start 熱啟動/Cold start 冷啟動 | |||||
跟蹤靈敏度 | -158 dB | ||||||
Pressure Sensor 壓力傳感器 | |||||||
分辨率 | 6 Pa | ||||||
壓力精度 | ± 50 Pa | Relative 相對 | |||||
± 200 Pa | Absolute | ||||||
長期穩定性 | 100 Pa | 超過12 個月 | |||||
刷新頻率 | 9 Hz | ||||||
Communication 通訊方面 | |||||||
輸出模式 | Euler angles, Quaternion, Matrix, 3d velocity, 3d position, Calibrated sensor data, Raw sensor data | 每一種輸出可由用戶用啟用或者關閉 | |||||
接口 | Serial (RS-232 or TTL 3.3V) Usb using provided UsbToUart | ||||||
串行數據速度 | 9600 to 921600 bps | 用戶選擇 | |||||
OEM尺寸 | 27x30x14 mm | ||||||
封裝尺寸 | 36x49x22mm | ||||||
OEM重量 | 10 grams | ||||||
封裝重量 | 46 grams | ||||||
溫度 | -40 to 85°C | 無結露環境 | |||||
儲藏溫度 | -40 to 85°C | ||||||
抗震限度 | 1000g (通電), 2 000g (斷電) | 震動可影響性能 | |||||
Electrical 電氣方面 | |||||||
工作電壓 | 3.3 V to 30 V | ||||||
能量功耗 | 550mW@5.0V | 功耗為5V 電源 | |||||
啟動時間 | < 1 s | ||||||
