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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. SBG 系统已经设计出了一个功能强大而简单的开发工具包来使用该产品。在短短的几秒钟 之内,您就可以对新设备进行评估和配置。 Tel: +86 10 52875407 ● Mail:[email protected] ● Web: www.cgs-tech.com Rev 2.1 Specifications are subject to change without notice.
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Aided Navigation and AHRS Solution
辅助导航以及姿态和航向参考系统辅助导航以及姿态和航向参考系统辅助导航以及姿态和航向参考系统辅助导航以及姿态和航向参考系统方案方案方案方案 The IG-500E is a high performance miniature and
cost effective aided inertial navigation and
orientation sensor (AHRS). Thanks to a
Revolutionary architecture, the IG-500E accepts
various external aiding information to deliver
unmatched precision for both attitude and position
measurements.
IG-500E 是一种微型的高性能且价格低廉的辅
助惯性导航及定位传感器(组合导航系统)。运
用一项创新型的技术,IG-500E 能够通过接收
各种外部辅助信息从而使得姿态和位置测量同
时达到无与伦比的精度。
A revolutionary concept
创新创新创新创新型的概念型的概念型的概念型的概念
The IG-500E combines a MEMS based calibrated Inertial Measurement Unit (IMU) and an on
board real time Extended Kalman Filter to fuse inertial data with external aiding information such
as GPS position, true heading or even odometer velocities.
IG-500E 通过将一个基于微机电系统的校正惯性测量单元和一个实时的扩展卡尔曼滤波器
结合来融合惯性数据以及像 GPS位置,实际的航向或是里程表速度之类的外部辅助信息。
At a very affordable price, the IG-500E provides a precise drift-free 3D orientation and a smooth
position even in difficult conditions such as in urban canyons or during short GPS outages.
尽管价格很低廉,IG-500E也能够在像城市峡谷或是短暂的 GPS切断的严峻情况下提供精
确地无漂移三维定位和一个平稳的位置信息。
By removing transient accelerations, calculated using external aiding information, the attitude
accuracy is greatly improved compared to traditional AHRS.
由于去除了瞬时加速度,运用外部辅助信息来计算,姿态精度与传统的姿态及航向参考系统
相比有了很大的提高。
Easy and fast integration
方便快捷方便快捷方便快捷方便快捷的整合的整合的整合的整合
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.
SBG 系统已经设计出了一个功能强大而简单的开发工具包来使用该产品。在短短的几秒钟
之内,您就可以对新设备进行评估和配置。
Rev 2.1 Specifications are subject to change without notice.
Tel: +86 10 52875407 ● Mail:[email protected] ● Web: www.cgs-tech.com
Simplified Block Diagram
简化的方块图简化的方块图简化的方块图简化的方块图
Key Features 主要特点主要特点主要特点主要特点
● Aided 3D velocity, position and orientation at high update rate (100 Hz)
● 在高达 100Hz的刷新频率下辅助的三维速度,方位及位置
● Accepts a wide range of external aiding data such as RTK GPS, GPS compass, odometers,
DVL
● 像 RTK 全球定位系统, 全球定位系统指南针,里程表,DVL 之类的大范围的外部辅助
数据的接收
● Sync Out/Trigger, Sync In, odometers pulse inputs
● 同步输出/触发,同步输入,里程表脉冲输入
● Accurate attitude even in high G maneuvers
● 高 G 精巧移动情况下都有的精确姿态
● Precise UTC referenced output
● 精密格林威治时间参考输出
● Wide inertial sensor range options
● 宽惯性传感器范围选择
● Calibrated over full temperature range -40 to 85°C for bias, gain, misalignments, cross-axis
and gyro-g
● 全温度域(-40 到 85℃)的零偏、增益、失准、横轴和 gyro-g 的校准
● Advanced and easy to use magnetometers compensation tools for soft and hard iron
effects
● 先进而简易的运用磁力计补偿工具来应付软硬铁效应
● Communication protocols options: RS-232, RS-422,CAN 2.0 A/B, TTL and USB
● 通讯协议:RS-232,RS-422,CAN2.0A/B,TTL 和 USB
● Very compact and lightweight design(49 grams)
● 小巧轻便的设计(仅有 49克)
● Ultra low power design down to 600 Mw
● 600毫瓦的超低功率设计
● Robust and high precision aluminum enclosure
● 高密度、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
应用领域应用领域应用领域应用领域
Underwater navigation…
水下航行…
Doppler velocity logger
多普勒速度记录器
Accurate positioning…
精确地定位
2D odometer, RTK GPS
二维里程表,RTK 全球定位系统
Calibration free compass…
无需校正的指南针
Dual antenna GPS heading
双重天线全球定位系统航向
Mechanical drawing 机械视图机械视图机械视图机械视图
Side View 侧视图 Top View 顶视图
All dimensions are in millimeters 所有尺寸以毫米为单位
Product code options 产品代码选择产品代码选择产品代码选择产品代码选择
Standard product options
标准产品选择
Rev 2.1 Specifications are subject to change without notice.
● Mail:[email protected] ● Web: www.cgs-tech.comTel: +86 10 52875407
Technical Specifications
技术规格技术规格技术规格技术规格
Parameter
参数参数参数参数
Specification
规格规格规格规格
Remarks
说明说明说明说明
Attitude 姿态姿态姿态姿态
Sensing range
传感范围
360° in all axes 所有轴
Static accuracy
静态精度
± 0.5° (Pitch, Roll 横滚,俯仰)
± 0.5° (Heading 航向)
Stabilized Kalman Filter,
using a two antennas
GPS heading 稳定的的卡
尔曼滤波器,运用有两根天
线的 GPS导航
Dynamic
accuracy
动态精度
± 1.0°RMS Using external aiding
information
运用外部辅助信息
Repeatability
重复性
< 0.2°
Resolution
分辨率
< 0.05°
output
frequency
输出频率
0 to 500 Hz
0 to 100 Hz
Calibrated sensors only
仅适用于校准过的传感器
Attitude, 3d velocity and
position 姿态,三维速度和
位置
Standard
Sensors
标准传感器标准传感器标准传感器标准传感器
Accelerometers
加速度计加速度计加速度计加速度计
Gyroscopes
陀螺仪陀螺仪陀螺仪陀螺仪
Magnetometers
磁力仪磁力仪磁力仪磁力仪
Measurement
range 测量范围
± 5 g ±300°/s ± 1.2 Gauss Refer to sensors options
table 参考传感器选项表
Non-linearity
非线性
< 0.2% of FS <0.1% of FS < 0.2% of FS
Bias stability
零偏稳定性
± 5 mg
-
± 0.5°/s
< 0.1 ° /s
±0.5 m Gauss
-
Over temperature range
Kalman filter stabilized
在整个温度范围内卡尔曼
滤波器稳定
Scale factor
stability 比例因
子稳定性
< 0.1% < 0.05% < 0.5% Over temperature range
在整个温度范围内
Noise density
噪音密度
0.25 mg/√Hz 0.05°/s/√Hz 0 .01 mG/√Hz
Rev 2.1 Specifications are subject to change without notice.
● Mail:[email protected] ● Web: www.cgs-tech.comTel: +86 10 52875407
Alignment error
轴对准误差
< 0.1°
< 0.1°
< 0.1°
Bandwidth
带宽
50 Hz 40 Hz 500 Hz Additional software filter
available 可提供额外的软
件过滤器
Sampling rate
取样频率
10 000 Hz 10 000 Hz 1 000 Hz
External aiding 外部辅助外部辅助外部辅助外部辅助
Interface
options
界面
Serial RS-232 or RS-422 Configurable protocol and
slew rate
配置协议及转换速率
Serial data rate
串行数据频率
9600 to 921600 bps User selectable
用户可选
Supported
protocols
支持的协议
NMEA for navigation data and true heading. sbgCom for
GPS data, remote magnetometers.
Contact us for more
information
想了解更多信息请联系我
们
Odometers
里程表
Two axis odometer inputs such as wheel speed counter
or 2D optical odometer
User selectable
用户可选
Communication 通讯方面通讯方面通讯方面通讯方面
Output modes
输出模式
Euler angles, Quaternion, Matrix,
3d velocity, 3d position,
Calibrated sensor data,
Raw sensor data
欧拉角,四元数,矩阵,三维速度,三维位置,校正传感
器数据,原始传感器数据
Each output can be
enabled or disabled by the
user
每一种输出可由用户启用
或关闭
Interface
options
接口
Serial (RS-232 ,RS-422or TTL 3.3V)
CAN 2.0A/B up to 1 Mbits/s
Usb using provided UsbToUart
Serial data rate
串行数据速率
9 600 to 921 600 bps User selectable
用户可选
physical 实体特性实体特性实体特性实体特性
Dimensions
OEM 尺寸
27x30x14 mm
Dimensions box 36x49x25 mm
Weight OEM 质
量
10 grams
Weight box 49 grams
operating
temperature
工作温度
-40 to 85°C Non-condensing
environment
非冷凝环境
Storage
temperature
储存温度
-40 to 85°C
Rev 2.1 Specifications are subject to change without notice.
● Mail:[email protected] ● Web: www.cgs-tech.comTel: +86 10 52875407
Rev 1.0 Specifications are subject to change without notice.
第 1.0版,本文件,如有更改,恕不另行通知。
Shock limit
冲击极限
1 000g (Powered), 2 000g (Unpowered)
通电 断电
Shocks can affect
performance
震动可能影响性能
Electrical 电气方面电气方面电气方面电气方面
Operating
voltage
工作电压
3.3 V to 30 V
Power
consumption
功耗
600 mW @ 5.0 V Optimal power
consumption at 5.0 V
最佳功耗为 5V 电源
Start-up time
启动时间
< 1 s
Valid data
有效数据
Sync out, trigger
同步输出,触发
Open drain pull-up voltage: -0.3 to 25V
明沟上拉电压:-0.3 to 25V
Open drain,use a pull up
resistor 明沟,运用一个上
拉电阻器
Sync in, time
pulse, odometer
同步输入,时间
脉冲,里程表
Low level<0.8V Input range: ±20V
High level>2.2V input delay: <150ns
Two inputs available and
user configurable
两个输入可用,用户可自行
配置
Rev 2.1 Specifications are subject to change without notice.
● Mail:[email protected] ● Web: www.cgs-tech.comTel: +86 10 52875407