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GPS-Integrated IMU
Overview
 Inertial, barometric, and GPS sensors are fused with a powerful microprocessor to form the Circinus Inertial Measurement Unit (IMU). Circinus can be used for calculating orientation and positioning output for multiple applications. Circinus operates with complete 360-degree coverage on three axes, and outputs real-time calculation of its orientation in static operational settings. The configurable digital serial output of Circinus provides orientation in quaternion or Euler formats at update rates of 20 Hz or 100 Hz.
Circinus' embedded microprocessor performs all orientation calculations and does not place additional processing loads on a host system. Additionally, the embedded processor resolves sensor fusion and development issues that typically challenge software/hardware teams, thus improving product development time and lowering costs.
Features
- Dimensions: 1.50” x 2.00” x 0.75” without case, 1.91” x 2.14” x 1.22 ” with case
- Weight: 1.0 oz without case, 2.9 oz with case
- 3-Axis Gyro
- 3-Axis Accelerometer
- 3-Axis Magnetometer
- 4 Hz differential ready 16-channel GPS; WAAS/EGNOS compliant
- High resolution barometric sensor
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- 300°/sec rate sensors (optional up to 900°)
- Temperature: Fully temperature compensated for operation under a wide range of temperatures
- Powerful embedded microprocessor for orientation calculation and output
- Advanced hardware filters provides a high level of vibration immunity and exceptional performance
- Source code access granted under agreement
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Technical Specifications
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Metric |
Value |
Remarks |
General
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Update Rate (Hz) |
100 |
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Data Output Rate (Hz)
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20 or 100 |
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| Start-up Time Valid Data (sec) |
< 1 |
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| Fully Stabilized Data (sec) |
< 1 |
Unfiltered |
| Physical |
Size (in) |
1.91 x 2.14 x 1.22 |
With case |
| |
1.50 x 2.00 x 0.75 |
Without case |
| Weight (oz) |
2.9 |
With case |
| |
1.0 |
Without case |
| Connector |
6 pin Omnetics |
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| GPS Antenna Connector |
SMAF |
Case |
| GPS Antenna (V) |
3.3 |
Active, L1 |
| Electrical |
Input Voltage (VDC) |
5.5 to 12 |
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| Input Current (mA) |
< 180 |
at 5.5 - 12 VDC |
| Power Consumption (W) |
< 1.2 |
at 6 VDC nominal |
| Communications |
Digital Output Format |
RS-232 |
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| Data Format |
Atair Binary Protocol |
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| Serial Data Rate (kBaud) |
115,200 |
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| Position/Velocity1 |
Position Accuracy (m) |
2 |
Internal GPS, unfiltered |
| X,Y Velocity Accuracy (m/s rms) |
< 0.2 |
GPS available |
| Z Velocity Accuracy (m/s rms) |
< 0.5 |
GPS available |
| 1PPS Accuracy (ns) |
± 50 |
GPS available |
| Attitude |
Range: Roll, Pitch (°) |
± 180 |
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| Accuracy (° rms) |
< 0.75 |
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| Repeatability (° rms) |
< 0.2 |
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| Resolution (°) |
< 0.1 |
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| Angular Rate |
Range: Roll, Pitch, Yaw (°/sec) |
± 300 |
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| Bias: Roll, Pitch, Yaw (°/sec) |
< ± 0.1 |
Unfiltered |
| Scale Factor Accuracy (%) |
< 1 |
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| Non-Linearity (% FS) |
< 0.2 |
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| Resolution (°/sec) |
< 0.1 |
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| Bandwidth (Hz) |
40 -3 dB |
Unfiltered; Can be set to lower bandwidth by user |
| Random Walk (°/hr1/2) |
< 4.5 |
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| Heading |
Range (°) |
± 180 |
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| Accuracy (° rms) |
< 2.0 |
Static, non-moving |
| Repeatability (° rms) |
< 0.5 |
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| Resolution (°) |
< 0.1 |
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| Acceleration |
Input Range: X/Y/Z (g)2 |
±10 |
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| Bias: X/Y/Z (mg) |
< ± 15 |
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| Scale Factor Accuracy (%) |
< 1 |
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| Non-Linearity (% FS) |
< 0.2 |
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| Resolution (mg) |
< 0.5 |
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| Bandwidth (Hz) |
50 -3 dB |
Unfiltered; Can be set to lower bandwidth by user |
| Random Walk (m/s/hr1/2) |
< 1.0 |
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| Environment |
Operating Temperature (°C) |
-40 to +70 |
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| Non-Operating Temperature (°C) |
-55 to +85 |
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| Non-Operating Shock (g) |
200 |
1 ms half sine wave |
1 High-sensitivity GPS module with tracking sensitivity of -158 dBm (-142 dBm acquisition) is optionally available.
2 2g accelerometers are optionally available.
| Pin |
Signal |
Color |
| 1 |
Timing Pulse |
Green |
| 2 |
Not Used |
Yellow |
| 3 |
TxD |
Orange |
| 4 |
RxD |
Red |
| 5 |
Grd |
Brown |
| 6 |
V+ |
Black |
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Technical information in this document is subject to change without notice.
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Copyright ©2008
Atair Aerospace, Inc. |
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