INS100E integrated navigation system (hereinafter referred to as integrated navigation system) has built-in high-performance MEMS gyroscope and accelerometer, which can receive internal GNSS data, realize multi-sensor fusion and integrated navigation solution algorithm, and have short-term inertial navigation capability when GNSS is invalid.
The product has high reliability and strong environmental adaptability. By matching different software, the product can be widely used in the fields of industry unmanned motion carrier, unmanned vehicle, unmanned ship, communication in motion, mapping, stable platform and so on.
2. Functions and indicators
2.1 Main functions
The integrated navigation system can carry out integrated navigation by using the satellite navigation information received internally, and output the pitch, roll, heading, position, speed, time and other information of the carrier; After losing the satellite signal, it outputs the position, velocity and attitude information of inertial solution, and has a certain navigation accuracy maintenance function in a short time.
2.2 Performance index
The performance of integrated navigation system is shown in Table 1.
Table 1 System Performance Index
| Project | Metrics (RMS) | Remark |
| Heading accuracy | GNSS valid ① | 0.1° | |
| Heading holding | 0.2°/min | GNSS failure |
| Attitude accuracy | GNSS is valid | 0.1° | Single-point L1/L2, RTK |
| Attitude holding | 0.2°/min | GNSS failure |
| Positioning accuracy | Horizontal, GNSS valid; RTK | 1.5m；1cm+1ppm | Single point L1/L2; Differential |
| Elevation, GNSS valid; RTK | 2.5m；2cm+1ppm | Single point L1/L2; Differential |
| Position holding, GNSS failure | 20m | Unlocked for 60s |
| Horizontal velocity accuracy | GNSS is valid | 0.1m/s | Single-point L1/L2,RTK |
| Gyroscope | Measuring range | ±500°/s | |
| Zero bias stability | 4°/h | Allan variance |
| Accelerometer | Measuring range | ±16g | Customizable 200 g |
| Zero bias stability | 0.2mg | Allan variance |
| Satellite board | Cold start | < 30 seconds | Open environment |
| Hot start | 5 seconds | Open environment |
| Type of receiver | BDS B1I/B2I/B3I GPS L1C/A/L2P (Y)/L2C/L5 GLONASS G1/G2 Galileo E1/E5a/E5b QZSS L1/L2/L5 | |
| Communication interface | RS232 | Route 2 | |
| RS422 | Route 1 | |
| Electrical characteristics | Voltage | 9~36VDC | |
| Power consumption | ≤3W | |
| Ripple | 100 mV | P-P |
| Structural characteristics | Size | 80 mm×53 mm×23mm | |
| Weight | ≤150g | |
| Use environment | Operating temperature | -40℃~+60℃ | |
| Storage temperature | -45℃~+65℃ | |
| Vibration | 20~2000Hz,6.06g | |
| Impact | 30g,11ms | |
| Degree of protection | IP65 | |
| Reliability | MTBF | 30000h | |
| Life span | > 15 years | |
| Continuous working time | >24h | |
| ① Effective 2m baseline of dual antenna, or dynamic alignment of single antenna |
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High-Frequency Data Output Inertial Navigation System with 0.1° Heading Accuracy Images
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