IG-500A 中英文对照

Sub-Miniature Orientation Sensor 组合导航系统

The IG-500A is an innovative and high performance gyro enhanced

sub-miniature orientation sensor. Designed for size and cost

sensitive applications and based on the latest MEMS technologies,

the IG-500A perfectly fits for both machine and human motion

measurements.

IG-500A 是一个兼具创新与高性能的陀螺仪增强的组合导航系

统。专为尺寸和成本敏感应用而设计，基于最新的微机电系统，

IG-500A 尤其适合机器运动测量与人体运动测量。

IG-500A description IG-500A 详细说明

The IG-500A is an Attitude and Heading Reference System

(AHRS). It uses three gyroscopes, three accelerometers, and three

magnetometers, to provide a drift-free and precise attitude, even in

severe dynamic conditions.

This lightweight, robust and reliable device delivers consistent

performance over a wide temperature range thanks to an advance

calibration procedure and a configurable Extended Kalman filter

(EKF).

IG-500A 是一种组合导航系统。它使用三个陀螺仪，三个加速

计以及三个磁力计来提供无漂移、精确的姿态，甚至在剧烈动

态状况下作用。

这种轻巧耐用、可信赖的设备，由于预先的校准过程和可配置

的扩展卡尔曼滤波器，可以实现在宽温度范围下的持续运行。

Easy and fast integration 便捷迅速的集成能力

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-500A in your application is even easier.

SBG 系统为本产品设计了强大便捷的开发包。在数秒之内可以

开始评估和配置新的设备。IG-500A 非常方便整合在应用中。

Key Features 主要特点

• Precise 3D orientation, even in dynamic conditions

精确 3D 定向，甚至可在动态环境下实现精确 3D 定向

• On board processing at high update rate (200 Hz)

高刷新率（200 Hz）机上处理

• Wide inertial sensors range options

惯性传感器宽幅选项

• Calibrated over full temperature range -40 to 85°C for bias, gain,

misalignments, cross-axis and gyro-g

可进行全温度域（-40 to 85°C）零偏、增益、失准、横轴和

gyro-g 的校准

• Advanced and easy to use magnetometers compensation

procedure for soft and hard iron

先进、便捷，用于软硬铁的磁力计补偿

• Improved Extended Kalman filter for best attitude estimation

用于最好姿态估计的改进扩展卡尔曼滤波器

• Communication protocols : RS-232, CAN and USB

通信协议：: RS-232, CAN 以及 USB

• Very compact and lightweight design (40 grams)

紧密轻巧的设计（40 克）

• Very low power design down to 320 mW

极低功率设置 320 mW

• Robust and high precision aluminum enclosure

高精密、耐用的铝制外壳

Rev 2.1 Specifications are subject to change without notice.

● Mail:[email protected] ● Web: www.cgs-tech.comTel: +86 10 52875407

Fields of use 应用范围

• Autonomous vehicles 自动汽车

• Vehicles motion analysis 车辆运动分析

• Gyro stabilized cameras 陀螺仪稳定相机

• Antenna tracking systems 天线跟踪系统

• Biomechanics 生物力学

• Augmented reality / Animation 增强实境

• Platforms stabilization 平台稳定

Technical Specifications

Parameter参数 Specification规格 Remarks说明

Attitude姿态

Sensing range 感测范围 360° in all axes 360° 全轴向 Static accuracy 静态精度 ± 0.5° (Pitch, Roll) ± 0.5° (俯仰, 横滚) Stabilized Kalman Filter 稳定卡尔曼滤波器

± 1° (Heading) ± 1° (航向) Homogenous magnetic field 均匀磁场

Dynamic accuracy 动态精度 ± 2.0° RMS ± 2.0° 均方根值 Depends on type of motions 取决于运动形式

Repeatability 重复性 < 0.2°

Resolution 分辨率 < 0.05° Output frequency 输出频率 0 to 500 Hz Calibrated sensors only 仅用于校准后传感器

0 to 200 Hz Sensors + AHRS mode 传感器加上AHRS模式

Standard Sensors Accelerometers Gyroscopes Magnetometers

标准传感器加速计陀螺仪磁力计

Measurement range ± 5 g ± 300 °/s ± 1.2 Gauss Refer to sensors options table

测量范围 ± 5 g ± 300 °/s ± 1.2 高斯参考传感器选择表

Non-linearity < 0.2% of FS < 0.1% of FS < 0.2% of FS

非线性 < 0.2% of FS < 0.1% of FS < 0.2% of FS Bias stability ± 5 mg ± 0.5 °/s ± 0.5 mGauss Over temperature range 零偏稳定性 ± 5 mg ± 0.5 °/s ± 0.5 mGauss 在整个温度范围内

- < 0.1 °/s - Kalman filter stabilized - < 0.1 °/s - 卡尔曼滤波器稳定

Scale factor stability < 0.1% < 0.05% < 0.5% Over temperature range

刻度因子稳定性 < 0.1% < 0.05% < 0.5% 在整个温度范围内

Noise density 0.25 mg/√Hz 0.05 °/s/√Hz 0.01 mG/√Hz

噪音密度 0.25 mg/√Hz 0.05 °/s/√Hz 0.01 mG/√Hz

Alignment error < 0.1° < 0.1° < 0.1°

对准误差 < 0.1° < 0.1° < 0.1°

Bandwidth 50 Hz 40 Hz 500 Hz Additional software filter available

带宽 50 Hz 40 Hz 500 Hz 可提供额外的软件过滤器

Sampling rate 10 000 Hz 10 000 Hz 1 000 Hz

抽样率 10 000 Hz 10 000 Hz 1 000 Hz

Communication 通信 Output modes Euler angles, Quaternion, Matrix, Each output can be enabled or 输出模式欧拉角、四元数、矩阵用户可以启用或

Calibrated sensor data, disabled by the user 已校准传感器数据关闭每个输出 Raw sensor data

原始传感器数据



Interface options Serial (RS-232 or TTL 3.3V)

序列 (RS-232 or TTL 3.3V) 界面选项 CAN 2.0A/B up to 1 Mbit/s

CAN 2.0A/B up 到 1 Mbit/s Usb using provided UsbToUart Usb 使用提供 Usb 到 Uart

Serial data rate串行数据速度 9 600 to 921 600 bps User selectable 用户选择

Physical 物理性

Dimensions OEM 非封装大小 27x30x14 mm

Dimensions box 封装大小 36x49x22 mm

Weight OEM 非封装重量 8 grams

Weight box 封装重量 40 grams

Specified temperature -40 to 85°C Non-condensing environment

规定温度 -40 to 85°C 无结露环境

Storage temperature贮藏温度 -40 to 85°C

Shock limit 1 000g (Powered), 2 000g (Unpowered) Shocks can affect performance

抗震限度 1000g (通电), 2 000g (断电) 震动可影响性能

Enclosure Robust and high precision aluminum

外壳结实、高精密铝壳

Electrical 电力

Operating voltage 工作电压 3.3 V to 30 V

Power consumption 320 mW @ 5.0 V High efficiency DC/DC converter

能量功耗高效率DC/DC转换器

Start-up time 启动时间 < 1 s Valid data 有效数据

Simplified Block Diagram

简化的方框图

3 Axis Gyroscopes 3 轴陀螺仪

3 Axis Accelerometers 3 轴加速计

3 Axis

Magnetometers

3 轴磁力计

16 bits A

/D

Temperature

Sensors

温度传感器

CPU

Kalman filter 卡尔曼滤波器

+ Calibration data stored in

flash 闪存储存校准数据

3D Orientation 3D 定向

Euler, Matrix, Quaternion

欧拉角、四元数、矩阵

Sensors 传感器

3D Angular rate 3D 角速率

3D Acceleration 3D 加速

3D Magnetic field 3D 磁场

12 bits A

/D

RS 232




Rev 1.9 规格变更恕不通知

Product code options

产品代码选择

Accelerometers: 加速计： 1：2g 2：5g • 3：18g

Protocol mode: 协议模式： 1：RS-232 • 2：Serial(序列)TTL 3：CAN 2.0A/B

Gyroscopes: 陀螺仪： 2：75° 3：150°

4：300°/s • 5：600°/s 6：1200°/s

Packaging: 封装： B：Box version 封装 •O：OEM version 非封装

I G - 5 0 0 A - G # A # P # - #

• standard product options

• 标准产品选择

Mechanical drawing

机械图示

Side View 侧图

Top View 俯视图

All dimensions are in millimeters

尺寸单位：毫米



Documents

IG-500A 中英文对照