| Parameter | Units | INS-B | INS-P | INS-D | INS-DL |
GENERAL | Output signals | | - Positions, Heading, Dual antenna Heading (D/DL), Pitch, Roll, Velocity, Accelerations, Angular rates, Barometer, PPS
- Direct AT_ITINS message with Position, Heading, Pitch & Roll to COBHAM AVIATOR UAV 200
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Input signals | | - Marine application: DVL (Doppler Velocity Log)
- Land application: Odometer, Wheel sensor, Encoder, DMI
- Aerial application: Wind sensor, Air Speed Sensor, Doppler shift from locator (for long-term GPS denied)
- All: External Stand Alone Magnetic Compass (SAMC/AHRS)
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Main features | | Ideal solution for remote sensing (with LiDAR, Optical Camera) | High performance in long-term GPS-Denied environment | High precision Heading Tactical-grade IMU | Affordable price High precision Heading 1 cm RTK position |
Compatible with | | Pixhawk Autopilot; Embention Autopilot; COBHAM AVIATOR UAV 200 |
Data rate | Hz | Up to 200 (INS data); Up to 2000 (IMU data) | Up to 200 (INS) & 2000 (IMU) |
Internal Data Logger (storage) – optional | | 8 GB or 64 GB (optional) |
Start-up time | sec | <1 |
| Positions, Velocity and Timestamps | Units | INS-B | INS-P | INS-D | INS-DL |
NAVIGATION | Horizontal position accuracy (GPS L1) | meters, RMS | 1.5 |
Vertical position accuracy (GPS L1) | meters, RMS | <1 | <2 |
Horizontal position accuracy (GPS L1/L2) | meters, RMS | 1.2 | 1.2 |
Horizontal position accuracy (SBAS)(1) | meters, RMS | 0.6 | n/a |
Horizontal position accuracy (DGPS) | meters, RMS | 0.4 | 0.4 |
Horizontal position accuracy (TerraStar-L) (2) | meters, RMS | 0.4 | n/a |
Horizontal position accuracy (TerraStar-C PRO)(2) | meters, RMS | 0.025 | n/a |
Horizontal position accuracy (post processing)(3) | meters, RMS | 0.005 | 0.005 |
Horizontal position accuracy (RTK) | meters, RMS | 0.01 + 1 ppm | 0.01 + 1 ppm |
Vertical position accuracy (RTK) | meters, RMS | 0.02 | 0.02 |
Position accuracy (free inertial, land vehicles) | %, DT | 0.2% DT (w/o odometer input) 0.05 % DT (w/ odometer input) | 0.5% DT (w/o odometer input) 0.1 % DT (w/ odometer input) |
Velocity accuracy, RMS | meters/sec | 0.03 | 0.03 |
PPS timestamps accuracy | nano sec | 20 | 20 |
| Heading | Units | INS-B | INS-P | INS-D | INS-DL |
ORIENTATION | Range | deg | 0 to 360 | 0 to 360 | 0 to 360 | 0 to 360 |
Static Accuracy (4) | deg RMS | 1 | 0.4 | 0.15 (1 meter base line) 0.08 (2 meters baseline) | 0.2 (1 meter base line) 0.08 (2 meters baseline) |
Dynamic accuracy (GNSS) (7) | deg RMS | 0.1 | 0.1 |
Post processing accuracy (3) | deg RMS | 0.03 | 0.03 | 0.03 | 0.03 |
Pitch and Roll | Units | INS-B | INS-P | INS-D | INS-DL |
Range: Pitch, Roll | deg | ±90, ±180 | ±90, ±180 |
Angular Resolution | deg | 0.01 | 0.01 |
Static Accuracy in whole Temperature Range | deg RMS | 0.05 | 0.05 |
Dynamic Accuracy (7) | deg RMS | 0.08 | 0.1 |
Post processing accuracy (3) | deg RMS | 0.006 | 0.01 |
| GNSS | Units | INS-B | INS-P | INS-D | INS-DL |
GNSS | Number of GNSS Antennas | | Single | Single | Dual | Dual |
Supported navigation signals | | GPS L1 C/A, L1C, L2C, L2P, L5; GLONASS L1 C/A, L2 C/A, L2P, L3, L5; BeiDou B1, B2; Galileo E1, E5 AltBOC, E5a, E5b; NavIC (IRNSS) L5; SBAS L1, L5 QZSS L1 C/A, L1C, L2C, L5; L-Band up to 5 channels; DGPS; RTK | GPS L1/L2; GLO L1/L2; BDS B1/B2, GAL E1/E5, QZSS L1/L2, DGPS, RTK |
Channel configuration (5) | | 555 Channels | 432 Channels |
RTK corrections | | RTCM 2, RTCM 3 | RTCM 2, RTCM 3 |
GNSS Positions data rate (6) | Hz | 20, 50 | 20 |
GNSS Measurements (raw) data rate | Hz | 20 | 5 |
Velocity accuracy, RMS | meters/sec | <0.03 | <0.03 |
Initialization time | Sec | <50 (cold start), <30 (hot start) | <50 (cold start, <30 (hot start) |
Time accuracy (clock drift) (8) | nano sec | 20 | 20 |
| Gyroscopes | Units | INS-B | INS-P | INS-D | INS-DL |
IMU | Type | | Tactical-grade | Industrial-grade |
Measurement range | deg/sec | ±450 / ±950 | ±450 / ±950 |
Bias in-run stability (RMS, Allan Variance) | deg/hr | 1 | 3 |
Bias error over temperature range (RMS) | deg/hr | <30 | <50 |
Angular Random Walk | deg/√hr | <0.2 (0.08 optional) | <0.3 |
Accelerometers | Units | INS-B | INS-P | INS-D | INS-DL |
Type | | Tactical-grade | Industrial-grade |
Measurement range | g | ±8 g / ±15 g / ±40 g | ±8 g |
Bias in-run stability (RMS, Allan Variance) | mg | 0.005 (±8 g) / 0.02 (±15 g) / 0.03 (±40 g) | 0.01 |
Bias error over temperature range (RMS) | mg | 0.5 (±8 g) / 0.7 (±15 g) / 1.2 (±40 g) | 0.7 |
Bias one-year repeatability | mg | 1.0 (±8 g) / 1.3 (±15 g) / 1.5 (±40 g) | 1.5 |
Velocity Random Walk | m/s/√hr | 0.015 (±8 g) / 0.035 (±15 g) / 0.045 (±40 g) | 0.02 |
Magnetometers | Units | INS-B | INS-P (Fluxgate) | INS-D | INS-DL |
Measurement range | Gauss | Optional | ±1.6 | Optional | Optional |
Bias in-run stability, RMS | nT | 0.2 |
Noise density, PSD | nT√Hz | 0.3 |
Pressure | Units | INS-B | INS-P | INS-D | INS-DL |
Measurement range | hPa | 300 – 1100 | 300 – 1100 |
Bias in-run stability (RMS, Allan Variance) | Pa | 2 | 2 |
Noise density | Pa/√Hz | 0.8 | 0.8 |
| Environment | Units | INS-B | INS-P | INS-D | INS-DL |
GENERAL | Operating temperature | deg C | -40 to +75 | -40 to +70 |
Storage temperature | deg C | -50 to +85 | -50 to +85 |
MTBF (GM @ +65degC) | hours | 100,000 | 100,000 |
Shock and Vibration | | MIL-STD-810G | MIL-STD-810G |
EMC/EMI | | MIL-STD-461F | MIL-STD-461F |
Electrical | Units | INS-B | INS-P | INS-D | INS-DL |
Supply voltage | V DC | 9 to 36 | 9 to 36 | 9 to 36 | 9 to 36 |
Power consumption | Watts | 2.5 | 3.5 | 5 | 5 |
Output Interface (options) | – | RS-232 / RS-422 / CAN / Ethernet / 2 x RS-232 / 2 x RS-422 / RS-232 + CAN + Ethernet / RS-422 + CAN + Ethernet |
Protection (optional) | | MIL-STD-1275 |
Output data format | | Binary, NMEA 0183 ASCII characters |
Physical | Units | INS-B | INS-P | INS-D | INS-DL |
Size | mm | 120 x 50 x 53 | 120 x 50 x 53 | 120 x 50 x 53 | 120 x 50 x 53 |
Weight | gram | 220 | 280 | 320 | 320 |