GPS aided Orientation Sensor
GPS辅助型组合导航系统
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是世界上最小的带有GPS辅助定位的姿态航向参考系统系统（AHRS）。IG-500N拥有嵌入式的扩展卡尔曼滤波器，使其在高速动态条件下能够提供无与伦比的姿态和方位测量精度。
All in one: the IG-500N
集成所有功能于一体: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由基于微机电系统(MEMS)的惯性测量单元(IMU)、GPS接收器和压力传感器组成。它能够在长时间内提供精确的无漂移的姿态信息和位置信息。
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.
本微型惯性导航系统(INS)运行了一个实时的扩展卡尔曼滤波器，能以最高达100 Hz的刷新频率来计算方向、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.
相比传统的姿态航向参考系统，IG-500N通过去除GPS接收机所测量的瞬时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公司为IG-500N设计了一个强大、易于使用的系统开发工具包。仅在数秒之内, 你就可以开始评估和配置你的新设备。IG-500N能够非常方便地整合在你的应用中。
Key Features
Key Features
主要特点
l GPS enhanced 3d velocity, position and orientation at high update rate (100 Hz)
高达100 Hz刷新率的GPS增强型三维速度、位置和方位输出
l Accurate attitude even in high G maneuvers
l 即使在高G移动状态下都能够提供精确的姿态
l Precise UTC referenced output
精确的格林威治时间供参考输出
l Embedded 4Hz GPS receiver & barometric sensor
嵌入式的4Hz GPS接收机及气压传感器
l Wide inertial sensors range options
宽幅惯性传感器范围选择
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全温度域内进行零偏、增益、失准、交叉轴和gyro-g的校准
l Advanced and easy to use magnetometers compensation procedure for soft and hard iron
磁力计的软硬铁补偿程序先进而易于使用
l Communication protocols: RS-232 and USB
通讯协议 : RS-232及USB
l Very compact and lightweight design (46 grams)
小巧轻便的设计(46克)
l Very low power design down to 550 mW 最低至550 mW 的功耗设计
l Robust and high precision aluminum enclosure
高精密度、结实的铝制外壳
Fields of use 应用范围
l Unmanned vehicles 无人机
l Vehicle motion analysis 车辆运动分析
l Aerospace 航天
l Robotics 机器人
l Marine industry 航海
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参数
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规格
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说明
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测量范围
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360° 全轴向
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静态精度
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± 0.5° ( 俯仰, 横滚)
± 1° ( 航向)
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稳定卡尔曼滤波器
均匀磁场
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动态精度
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± 1.0° RMS
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良好的GPS性能
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重复性
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< 0.2°
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分辨率
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< 0.05°
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输出频率
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0 to 500 Hz
0 to 100 Hz
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仅用于校准后传感器
姿态，三维速度和位置
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标准传感器
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加速度计
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陀螺仪
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磁力计
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测量范围
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±5 g
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± 300 °/s
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± 1.2 高斯
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测量范围可选
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非线性
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< 0.2% of FS
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< 0.1% of FS
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< 0.2% of FS
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零偏稳定性
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± 5 mg
--
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± 0.5 °/s
< 0.1 °/s
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±0.5mGauss
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在整个温度范围内
卡尔曼滤波器稳定
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刻度因子稳定性
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< 0.1%
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< 0.05%
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< 0.5%
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在整个温度范围内
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噪音密度
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0.01g/√Hz
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0.05 °/s/√Hz
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0.01mG/√Hz
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对准误差
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< 0.1°
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< 0.1°
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< 0.1°
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带宽
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50 Hz
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40 Hz
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500 Hz
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可提供额外的软件过滤器
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抽样率
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10 000 Hz
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10 000 Hz
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1 000 Hz
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GPS Receiver 接收器
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类型
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L1 frequency, C/A, Code, 16-Channels, 4 Hz
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位置精度
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2.0 meters
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with SBAS support
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2.5 meters
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CEP (Horizontal accuracy) 水平精度
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5.0 meters
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SEP (Vertical accuracy)竖直精度
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Acquisition time
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< 3.5 s / 34 s
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Hot start 热启动/Cold start 冷启动
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跟踪灵敏度
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-158 dB
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Pressure Sensor 压力传感器
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分辨率
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6 Pa
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压力精度
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± 50 Pa
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Relative 相对
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± 200 Pa
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Absolute 绝对
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长期稳定性
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100 Pa
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超过12 个月
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刷新频率
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9 Hz
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Communication 通讯方面
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输出模式
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Euler angles, Quaternion, Matrix, 3d velocity, 3d position, Calibrated sensor data, Raw sensor data
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每一种输出可由用户用启用或者关闭
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接口
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Serial (RS-232 or TTL 3.3V) Usb using provided UsbToUart
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串行数据速度
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9600 to 921600 bps
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用户选择
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OEM尺寸
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27x3014 mm
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封装尺寸
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36x49x22mm
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OEM重量
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10 grams
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封装重量
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46 grams
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温度
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-40 to 85°C
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无结露环境
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储藏温度
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-40 to 85°C
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抗震限度
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1000g (通电), 2 000g (断电)
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震动可影响性能
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Electrical 电气方面
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工作电压
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3.3 V to 30 V
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能量功耗
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550mW@5.0V
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最佳功耗为5V 电源
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启动时间
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< 1 s
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