The fiber-optic integrated navigation system INS500D is based on closed-loop fiber-optic gyroscope, accelerometer and high-end GNSS receiving board with high cost performance, and is realized through multi-sensor fusion and navigation calculation algorithm, which meets the requirements of accurate measurement of attitude, heading and position information in the application fields of medium and high precision mobile measurement system and large UAV.
The system has inertial/satellite integrated navigation mode and pure inertial mode.
In the inertial/satellite integrated navigation mode, the satellite positioning information received by the GNSS receiver can be used for integrated navigation, and the pitch, roll, course, position, speed, time and other information of the carrier can be output; After the signal is lost, the position, velocity and attitude calculated by inertia are output, in which the pitch and roll are required to be accurate, the course keeping function is available in a short time, and the meter-level positioning accuracy is available in a short time. In the integrated navigation mode, post-processing information can be output for post-processing software to process.
After the pure inertial mode (i.e., GPS fusion has never been performed after power-on, and if it loses lock again after fusion, it belongs to the integrated navigation mode) is started, it has accurate attitude measurement function, can output the pitch and roll heading, and the pure inertial mode can find the north statically.
| Parameter | Technical indicators | |
|
Position accuracy |
Single point (RMS) | 1.2m |
| RTK(RMS) | 2cm+1ppm | |
|
Lock-loss accuracy (CEP) |
1.8nm/h 2 ‰ D, where D is the distance travelled (optional, DVL or odometer combination) |
|
|
Heading (RMS) |
Self-north seeking accuracy |
0.1 ° × sec (Lati), 10 min alignment of stationary base; Where Lati denotes the latitude. |
| Lock-loss holding accuracy | 0.1°/h | |
|
Attitude (RMS) |
GNSS is valid | 0.02° |
| Lock-loss holding accuracy | 0.05°/h | |
| Horizontal Velocity Accuracy (RMS) | Single point L1/L2 | 0.1m/s |
| GNSS is invalid | 2m/s/h | |
| Navigation data frequency | 200Hz | |
|
Gyroscope |
Range | 400°/s |
| Zero bias stability | 0.3°/h | |
| Scale factor nonlinearity |
50ppm |
|
| Angular random walk | 0.02°/ √hr | |
|
Accelerometer |
Range | 16g |
| Zero bias stability | 50ug⑤ | |
| Scale factor nonlinearity |
100ppm |
|
| Speed random walk | 0.01m/s/ √hr | |
|
Physical dimensions and electrical characteristics |
Overall dimensions | 138.5 mm× 136.5 mm×102mm |
| Weight | 2.0 kg (without cable) | |
| Input voltage | 12～36VDC | |
| Power consumption | < 24W (steady state) | |
| Store | 16G | |
|
Environmental indicators |
Operating temperature | -40℃~+60℃ |
| Storage temperature | -45℃~+70℃ | |
| Random vibration | 6.06g,20Hz~2000Hz | |
| MTBF | 3000h | |
|
Interface characteristics |
PPS, EVENT, RS232, RS422, CAN (optional) | |
| 100m network port | ||
| Antenna Connector (TNC) | ||
| Wheel speed sensor interface | ||
Outline Drawing
