INS - Inertial Navigation Systems

VN-200 Rugged GPS/INS

The VN-200 Rugged is a miniature high-performance GPS-Aided Inertial Navigation System that combines MEMS inertial sensors, a high-sensitivity GPS receiver, and advanced Kalman filtering algorithms to provide optimal estimates of position, velocity, and orientation for industrial applications.

VectorNav Technologies

Dallas, US

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Description

The VN-200 is a miniature, high-performance GNSS-Aided Inertial Navigation System (GNSS/INS) that combines 3-axis gyros, accelerometers and magnetometers, a high-sensitivity GNSS receiver, and advanced Kalman filtering algorithms to provide optimal estimates of position, velocity, and attitude.

OVERVIEW

Introduced in 2012, the VN-200 was the world’s first GPS-Aided Inertial Navigation System (GPS/INS) in a single surface mount package. At the size of a postage stamp, the VN-200 SMD requires only a single 3.2-5.5V power supply and can be directly embedded into a user’s electronics.

The VN-200 Rugged is the “plug and play” version of the VN-200 SMD. Enclosed in a clamshell precision anodized aluminium enclosure, the VN-200 Rugged offers additional protection of the internal inertial sensors, GNSS receiver and electronics. Interfacing with the module is made through a locking 10-pin connector, as well as an MMCX connector for an external active GNSS antenna.

SENSOR SUMMARY

Continuous attitude solution over the complete 360° range of operation
True INS Filter, no mounting restrictions, modes of operation or constraints required
Compatible with external GNSS receivers:
- Multifrequency RTK capable
- SAASM
VectorNav Processing Engine (VPE) 2.0 for disturbance rejection, adaptive filtering, dynamic filter tuning
Hard/Soft Iron Compensation
Coupled position, velocity and attitude estimates
Solid-State MEMS inertial sensors
Available with standard (@ 25°C) or full temperature compensation (-40°C to 85 °C)
All sensors are individually calibrated for bias, scale factor, misalignment, and temperature over a full operating range (-40°C to 85 °C)
1 x 72 Channel GNSS Receiver:
- GPS L1 C/A
- Galileo E1
- SBAS: L1 C/A
Raw Psuedorange, Doppler and carrier phase outputs
Up to 1 kHz IMU Data
400 Hz navigation and attitude data
- Yaw/Pitch/Roll
- Position and Velocity
Coning and sculling integrals (ΔV’s, Δθ’s)
Data output format: ASCII (VectorNav), NMEA-0183, Binary (VectorNav)
VectorNav Control Center freely available for easy setup, configuration and logging
ITAR-Free

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Specifications

Other specifications: Graphical user interface

Y

Typical application

UAS, Camera/Antenna Stabilization, Ground Vehicles, Mapping, Smart Weapons

Distinguishable features

SWaP-C optimized, miniature rugged design, calibrated over temperature, onboard Extended Kalman Filter, automatic filter initialization & dynamic alignment, external GPS

Export restrictions

ITAR free

Environmental: Max. rotation speed [deg/s]

2000

Min. operating temperature [°C]

-40

Max. operating temperature [°C]

85

Software: Filtering

Y

GNSS aided uncertainty: Heading [deg]

0.2

Pitch [deg]

0.03

Roll [deg]

0.03

General: Year of initial development

2012

Height [m]

0.0095

Width [m]

0.033

Length [m]

0.036

Weight [kg]

0.016

Min. Voltage (DC)

3.3

Max. Voltage (DC)

17

Power consumption [W]

0.5

Splashproof casting

Y

Water resistant casting

N

Type of accelerometer

3-axis MEMS

Type of gyro

3-axis MEMS

Type of application

Air, Land, Marine

Moving parts

N

Height [mm]

9.5

Width [mm]

22

Length [mm]

24

GNSS Positioning Sensor: Number of integrated GNSS receivers and antenna ports

1

No. channels p receiver

72

Tracked satellite signals

GPS L1

SBAS differential signals

Y

Update rate [ Hz ]

5

Cold start [ seconds ]

29

Hot start [ seconds ]

1

Unaided uncertainty: Heading [deg]

2

Pitch [deg]

0.5

Roll [deg]

0.5

Data formats: NMEA formats

RMC, GGA, GLL, GSA, GSV, HDG, HDT, THS, VTG, ZDA

Other

PASHR, TSS1

Inertial Measurement Unit: Accelerometer bias [µ-g]

40

gyro bias [deg/hr]

5

Calibration procedure

Calibrated at room temperature or over full thermal operating range (-40 C to +85 C) for bias, scale factor, misalignment and gyro g-sensitivity.