The Tersus GNSS-Aided Inertial Navigation Systems INS-T-306 is OEM version of fully-integrated, combined GPS L1/L2, GLONASS and BeiDou navigation and high-performance strapdown system. The INS-T-306 determines position, velocity and absolute orientation (heading, pitch and roll) for any device on which it is mounted. Horizontal and vertical position, velocity and orientation are determined with high accuracy for both motionless and dynamic applications.
The INS-T-306 utilizes an advanced GNSS receiver, a barometer, 3-axis magnetometers, MEMS accelerometers and gyroscopes to provide accurate position, velocity, heading, pitch and roll of the device under measure. The INS-T-306 contains the Tersus new on-board sensors fusion filter, state-of-the-art navigation and guidance algorithms and calibration software.
性能
仕様
ドキュメント
Supports GPS L1/L2, GLONASS, BeiDou, DGPS, and RTK
73 x 47 x 33mm size and 145g weight
High precision IMU (1deg/hour gyroscopes and 5µg accelerometer bias in-run stability)
Compatibility with LiDARs (Velodyne, RIEGL, FARO)
Up to 200Hz IMU, 50Hz GNSS positions and 20Hz GNSS measurements data rate
Advanced, extendable, embedded Kalman-Filter-based sensor fusion algorithms
GNSS
+
Number of Antennas
Single
Supported Navigation Signals
GPS L1/L2, GLONASS, BEIDOU, DGPS, SBAS, RTK
Channel Configuration
120 Channels
GNSS Positions Data Rate
50Hz
GNSS Measurements (raw) Data Rate
20Hz
Velocity Accuracy, RMS
<0.03m/s
Initialization Time
- Cold Start
<50s
- Warm Start
<30s
Time Accuracy (clock drift)
20ns
Navigation
+
Horizontal Position Accuracy (GPS L1/L2), RMS
1.2m
Horizontal Position Accuracy (DGPS), RMS
0.4m
Horizontal Position Accuracy (post processing)
0.02m
Horizontal Position Accuracy (RTK), RMS
0.01m + 1 ppm
Vertical Position Accuracy, RMS
<1m
Velocity Accuracy, RMS
0.03m/s
PPS Timestamps Accuracy
20ns
Orientation - Heading
+
Range
0 to 360 deg
Static Accuracy
1 deg
Dynamic Accuracy (GNSS)
0.1 deg RMS
Post Processing Accuracy
0.03 deg RMS
Orientation - Pitch and Roll
+
Range: Pitch, Roll
±90 deg, ±180 deg
Angular Resolution
0.01 deg
Static Accuracy in whole Temperature Range
0.05 deg
Dynamic Accuracy
0.1 deg RMS
Post Processing Accuracy
0.006 deg RMS
Sensors - Gyroscopes
+
Measurement Range
±450 deg/sec
Bias In-run Stability (RMS, Allan Variance)
1 deg/hr
Noise Density
0.004 deg/sec√Hz
Sensors - Accelerometers
+
Measurement Range
±8 g
Bias In-run Stability (RMS, Allan Variance)
0.005 mg
Noise Density
0.025 mg√Hz
Sensors - Magnetometers
+
Measurement Range
±2 Gauss
Bias In-run Stability, RMS
4nT
Noise Density, PSD
10 nT√Hz
Sensors - Pressure
+
Measurement Range
300hPa~1100 hPa
Bias In-run Stability (RMS, Allan Variance)
2Pa
Noise Density
0.8 Pa/√Hz
Environment
+
Operating Temperature
-40℃ ~ +70℃
Storage Temperature
-50℃ ~ +85℃
MTBF
55,500 hours
入力・消費電力
+
Supply Voltage
9V~36V DC
Power Consumption
3.0W
Output Interface (options)
RS232/RS422
Output Data Format
Binary, TSS-1, NMEA 0183 ASCII characters
寸法
+
Size
73 x 47 x 33mm
Weight
145g
-
INS-T-306 Datasheet
発行日付: 2019-06-19 バージョン:2.1
-
INS-T Inertial Navigation System User Manual - Interface Control
発行日付: 2018-04-20 バージョン:1.0
-
INS-T Inertial Navigation System User Manual - Demo Program
発行日付: 2018-04-20 バージョン:1.0
-
INS-T-306 Brochure
発行日付: 2019-06-27 バージョン:1.1
-
INS-T-306 Tersus RTK-Aided Inertial Navigation Systems Test Report
発行日付: 2018-04-20 バージョン:1.0
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