GPSレシーバ付き超小型10軸慣性センサ 慣性計測装置 (IMU)

GPSレシーバ付き超小型10軸慣性センサ 慣性計測装置 (IMU) Vectornav社は、2008年に設立されたIMU/INSメーカで、独自に開発されたカルマンフィルタアルゴリズム によりドリフトフリーを達成しました。高精度な3軸ジャイロセンサ、3軸加速度センサ、3軸地磁気センサに GPSレシーバ機能を付属したINS (Inertial Navigation System: 慣性航法装置)やGPSを必要としないIMU (Inertial Measurement Unit: 慣性計測装置)が提供可能です。 特長 ● 3軸ジャイロセンサ、3軸加速度センサ 　 3軸地磁気センサ, 圧力センサ内臓 ●静的精度 : 0.5° (Pitch/Roll) ●静的精度 : 2.0° (Yaw) ●角速度入力レンジ: ±2000°/s ●加速度入力レンジ: ±16g ●地磁気入力レンジ: ±2.5 Gauss ●GPSレシーバオプション (Model: VN-200) ●-40℃ ~ +85℃までに耐環境性能 ●リアルタイムでのバイアス補正 製品サイズ/重量 ●表面実装タイプ: 24mm x 22mm x 3 mm / 3g ●堅牢パッケージタイプ: 36mm x 34mm x 9.5 mm /14g アプリケーション ●ドローン/無人航空機 (UAV) ●無人搬送車 (AGV) ●無人陸上車両 (UGV) ●安定化装置 (スタビライザー) ●ヘッドアップディスプレイ ●モーションキャプチャ

TACTICAL VSEECRTOIERSNAV INDUSTRIAL SERIES VN-100 IMU/AHRS VN-200 GPS/INS VN-300 DUAL GNSS/INS Key Benefits Miniaturized surface mount & Rugged packaging < 30 grams Embedded Navigation Solutions

THE INDUSTRIAL SERIES CAPABILITIES VN-100 IMU/AHRS VN-200 GPS/INS VN-300 Dual GNSS/INS IMU Measurements Magnetic Heading Attitude Filter (VPE1) INS Filter GPS-Compass Heading INDUSTRY LEADING ALGORITHMS AHRS & VPE GPS/INS GPS-Compass VN-100, VN-200 & VN-300 VN-200 & VN-300 VN-300 Magnetic Heading; Pitch & Roll GPS-Aided Position, Velocity & Attitude GNSS-Based Heading Continuous attitude over 360° range Magnetic independent compensation compensation

SPECIFICATIONS NAVIGATION VN-100 VN-200 VN-300 Heading (Magnetic)1 Heading (INS) Heading (GPS-Compass)2 Pitch/Roll (Static) Pitch/Roll (Dynamic)3 Horizontal Position Accuracy (w/ SBAS) Vertical Position Accuracy (w/ Barometer) Velocity Accuracy Angular Resolution < 0.05 ° < 0.05 ° < 0.05 ° Repeatability Output Rate (IMU Data)4 Output Rate (Navigation Data) 3 IMU Accelerometers Gyroscopes Magnetometers Barometer Range In-Run Bias Stability Linearity Noise Density √ √ √ Bandwidth Alignment Error ±0.05 ° ±0.05 ° ±0.05 ° Resolution < 0.5 mg GPS/GNSS VN-200 VN-300 Receiver Type Solution Update Rate Time-to-First-Fix (Cold/Warm Start) 36 s Time-to-First-Fix (Hot Start) Altitude Limit Velocity Limit INTERFACES ENVIRONMENT Interface (SMD) Operating Temperature Interface (Rugged) Storage Temperature INPUT/OUTPUT Serial Protocols Data Outputs Δ ΔΘ Filtering External Sensors Supported Synchronization

PACKAGING RUGGED Precision aluminum Interface GPS Antenna Connector anodized enclosure MMCX MECHANICAL / ELECTRICAL VN-100 VN-200 VN-300 Size Weight 30 g Input Voltage Current Draw* Max Power Consumption* VN-200 Rugged SURFACE MOUNT Shared footprint across Interface GPS Antenna Connector VN-100, VN-200 & VN-300 MECHANICAL / ELECTRICAL VN-100 VN-200 VN-300 Size Weight 3.5 g 5 g Input Voltage Current Draw* Max Power Consumption* VN-200 SMD APPLICATIONS LAND AIR SEA

VECTORNAV SUPPORT ECOSYSTEM SUPPORT PRODUCTION < VectorNav products DEVELOPMENT TOOLS Development Kits VN-300 SMD Development Board VN-300 Rugged Development Kit Sensor Explorer GUI & Software Development Kit QNX Unity EmbeddedCygwin WindowsLinux OSXC/C++/C# x64 .NET ARMx86 LabVIEW MATLAB Python VectorNav Sensor Explorer GUI Custom Solutions Available

TACTICAL VSEECRTOIERSNAV TACTICAL SERIES VN-110 IMU/AHRS VN-210 GNSS/INS VN-310 DUAL GNSS/INS VectorNav introduces the Tactical Series, a next-generation, MEMS inertial navigation platform that features high-performance IMU, AHRS, GPS/INS and GPS-Compass solutions. Featuring a tactical-grade IMU core housed in a robust and compact aluminum enclosure, the Tactical Series leverages VectorNav’s industry leading navigation algorithms to offer a new class of inertial navigation solutions. Key Benefits < 1˚/hr in-run gyro bias stability < 2 mrad attitude performance IP 68 rated enclosure designed to meet DO-160G Software compatible with existing VectorNav products Expansion port for connectivity to external sensors AS9100 Certified Made in the USA and ITAR-free Embedded Navigation Solutions

THE TACTICAL SERIES The VectorNav Tactical Series sets a new standard for high-performance inertial navigation systems. Built on a tactical grade MEMS IMU core that is housed in a compact and ruggedized aluminum enclosure, the Tactical Series leverages VectorNav’s industry leading navigation algorithms and extensive applications experience to deliver a new standard in inertial navigation. CAPABILITIES VN-110 IMU/AHRS VN-210 GNSS/INS VN-310 Dual GNSS/INS IMU Measurements Magnetic Heading Attitude Filter (VPE1) INS Filter - GPS-Compass Heading - - 1 Vector Processing Engine, VectorNav’s proprietary suite of attitude estimation algorithms and toolboxes. RUGGEDIZED PACKAGING The Tactical Series features a precision milled, anodized aluminum enclosure designed to meet DO-160G standards. With dual I/O connectors the Tactical Series offers maximum flexibility for interfacing with external GNSS receivers and IMUs. MECHANICAL VN-110 VN-210 VN-310 Size 56 x 56 x 23 mm 56 x 56 x 31 mm 56 x 56 x 31 mm Weight 125 g 155 g 160 g CONNECTOR Purpose Voltage Power Primary Input power & primary RS-422 12 - 36 V Max: 2.5 W communications (No auxiliary load) Auxiliary Optional output power and 12 - 36 V Max: 10 W RS-422 for auxiliary sensors (with 7.5 W auxiliary load) GPS GPS RF input with 5 V ± 0.1 V 0.5 W 5V output to power active antenna (100 mA max) Key Benefits IP 68 rated per IEC 60529 Designed to meet DO-160G standards Protection - MIL-STD-1275E Expansion port for connectivity to external sensors Circular push-pull 10-pin connectors SMA GNSS RF connectors < 160 grams

SPECIFICATIONS Each individual Tactical Series sensor undergoes a robust calibration and acceptance testing process at VectorNav's manufacturing facility. VectorNav regularly conducts comprehensive testing on all products to verify continued conformance to all performance specifications. NAVIGATION VN-110 VN-210 VN-310 Heading (Magnetic)1 2.0 ° RMS 2.0 ° RMS 2.0 ° RMS Heading (INS) - < 0.1 ° RMS < 0.1 ° RMS Heading (GPS-Compass)2 - - 0.3 ° RMS Pitch/Roll (Static) < 0.05 ° RMS < 0.05 ° RMS < 0.05 ° RMS Pitch/Roll (Dynamic) - < 0.03 ° RMS < 0.03 ° RMS Horizontal Position Accuracy - 2.5 m RMS 2.5 m RMS (w/ SBAS) - 2.0 m RMS 2.0 m RMS Vertical Position Accuracy - 2.5 m RMS 2.5 m RMS Velocity Accuracy - < 0.05 m/s < 0.05 m/s 1 With proper magnetic declination, suitable magnetic environment and valid hard/soft iron calibration. 2 With 1 meter baseline, clear view of GNSS satellites and good multipath environment. IMU Accelerometers Gyroscopes Magnetometers Range ±15 g ±490 °/s ±2.5 Gauss In-Run Bias Stability < 10 µg < 1 °/hr - Noise Density 0.04 mg/√Hz 3.24 °/hr /√Hz 140 µGauss/√Hz Bandwidth 240 Hz 240 Hz 200 Hz GNSS (VN-210 and VN-310 Only) Receiver Type 72 Channels, L1, GNSS Time-to-First-Fix (Cold/Warm Start) 26 s Update Rate 5 Hz Time-to-First-Fix (Hot Start) < 1 s Altitude Limit 50,000 m Velocity Limit 500 m/s ENVIRONMENTAL & ELECTRICAL INTERFACING Operating Temperature -40°C to +85°C Output Rate (IMU) Up to 800 Hz Storage Temperature -40°C to +85°C Output Rate (Navigation) Up to 400 Hz IP Rating IP 68 per IEC 60529 Primary Interface3 RS-422 + 3 sync I/O pins MTBF (VN-110) > 35,000 hours Expansion Interface3 RS-422 MTBF (VN-210 & VN-310) > 25,000 hours Power & I/O Connectors Circular Push-Pull Fischer Power Consumption < 2.5 watts UltiMate (10-pin x 2; Size 7) Input Voltage +12 to +36 VDC GNSS RF Connectors SMA (MIL-STD-1275E) 3 Contact VectorNav for RS-232 interface options and availability. INPUT/OUTPUT Serial Protocols VectorNav Binary, VectorNav ASCII, NMEA Data Outputs Euler Angles (Yaw, Pitch, Roll); Quaternion; Position; Velocity; Coning & sculling integrals (ΔV’s, ΔΘ’s); Direction Cosine Matrix; Acceleration, Angular Rate and Magnetic Field Filtering Extended Kalman Filter; User Configurable Tuning Parameters; Active Disturbance Rejection; Adaptive Filtering External Sensors Supported GNSS, magnetometer Synchronization Sync-In, Sync-Out I/O pins GPS PPS, 30 ns RMS, 60 ns 99%

TACTICAL GRADE IMU CORE The Tactical Series incorporates the most compact, tactical grade MEMS IMU available on the market. Factory Calibration Tactical Grade Performance Each Tactical Series unit undergoes an < 1˚/hr in-run gyro bias stability extensive individual sensor calibration < 10 µg in-run accel bias stability across the full operating temperature range Ultra low noise accel and gyro (-40°C to +85°C) for bias, scale factor, (0.04 mg/√Hz and 3.24 °/hr /√Hz) misalignment, temperature dependancies High accel and gyro ranges and gyro g-sensitivity. (±15 g and ±490 °/s) INDUSTRY LEADING ALGORITHMS Each Tactical Series product features a robust Extended Kalman Filter (EKF) along with a proprietary suite of high-performance algorithms that run completely onboard the sensors. VectorNav's industry leading algorithms provide high-accuracy position, velocity, and attitude estimates along with compensated inertial measurements at rates up to 800 Hz. AHRS & VPE GPS/INS GPS-Compass VN-110, VN-210 & VN-310 VN-210 & VN-310 VN-310 Magnetic Heading; Pitch & Roll GNSS-Aided Position, Velocity & Attitude GNSS-Based Heading Continuous attitude over 360° range Automatic filter initialization & dynamic Dual antenna GNSS heading Real-time gyro bias tracking & alignment Magnetic independent compensation Real-time gyro & accel bias tracking & Automatic transition between AHRS, 3D hard/soft iron calibration compensation INS and GPS-Compass VPE 2.0 Toolboxes: GPS delay compensation Adjustable GNSS antenna baseline - Real-time magnetic & acceleration Synchronized to GPS time lengths for shorter start-up times or disturbance rejection Automatic transitioning between increased heading accuracy - Adaptive signal filtering AHRS & INS modes - Heading accuracy between - Dynamic filter tuning toolboxes Operates as a True Inertial Navigation 0.15° and 1.2° (RMS) World Magnetic & Gravity Reference System - no mounting restrictions or - Start-up in under 2 minutes Models velocity alignment assumptions Raw pseudorange, Doppler & Velocity aiding (airspeed, GPS) carrier phase outputs

APPLICATIONS The VectorNav Tactical Series has been designed from the ground up to offer robust inertial navigation solutions for a wide range of applications and operating environments. Whether it is an airborne, marine, or ground-based platform, the Tactical Series offers systems integrators versatile hardware and software configuration options to meet the most demanding navigation requirements. The Tactical Series is well suited for Size, Weight, Power and Cost (SWaP-C) constrained systems in the aerospace, military, marine, among other industries. LAND AIR SEA Ground Vehicle Navigation UAV & Manned Aircraft Navigation ASV and ROV Navigation Camera/Antenna/Platform Autopilots Marine Antenna Stabilization Stabilization & Pointing Camera/Antenna/Platform Hydrography Geo-Referencing & Mapping Stabilization & Pointing Ocean Buoys Robotics Control & Navigation Geo-Referencing & Mapping Weather Monitoring Body Motion Capture Smart Weapons Platform Monitoring VECTORNAV SUPPORT ECOSYSTEM The Tactical Series is backed by the industry’s most customer-focused, robust and responsive support ecosystem. With VectorNav as your inertial navigation partner, you receive full access to our support ecosystem throughout the entire development cycle and product lifetime of your system. Our mission is to ensure the successful evalua- tion, development, testing, and integration of VectorNav sensors into your application. SUPPORT PRODUCTION < 24-hour sales and support response time 30,000 sq. ft. (2750 sq. meter) manufacturing Direct access to VectorNav’s hardware, software facility with high-volume production capacity and applications engineers AS9100 Certification Detailed and comprehensive documentation 1-2 day lead time on standard products Online collection of inertial navigation knowl- Individual sensor calibration across full edge, FAQ’s and application notes temperature range (-40 C to +85 C) Field upgradable firmware Standard 1-year warranty Common communication protocol across all Calibration reports VectorNav products

Your Partner in Embedded Navigation. VectorNav Technologies is a leading developer and manufacturer of high performance inertial navigation systems using the latest in MEMS sensor and GPS/GNSS technology. Since its founding in 2008, VectorNav has provided systems integrators in the Military, Aero- space, Marine, and Robotics industries with embedded navigation solutions optimized for SWaP-C constraints. VectorNav has unique expertise in applying the digital filtering and sensor calibration techniques that have multiple decades of heritage in Aerospace applica- tions to the state-of-the-art in MEMS inertial and GPS/GNSS technology. VectorNav Technologies 10501 Markison Road Dallas, TX 75238 USA tel +1 512 772 3615 fax +1 512 772 3086 email sales@vectornav.com web www.vectornav.com © 2016 VectorNav Technologies, LLC. All rights reserved. VectorNav and the Diamond and Triangle logo are trademarks of VectorNav Technologies, LLC. VectorNav, VPE, Sensor Explorer, Industrial Series, VN-110, VN-210, VN-310, Your Partner in Embedded Navigation, and Embedded Navigation Solutions are trademarks of VectorNav Technologies, LLC. All other trademarks are the property of their respective owners. Specifications subject to change without notice. Version 12-0006-R3 ●　東京本社 　　　〒105-0014　東京都港区 3 - 5 - 1　Tel. 03-5427-7564 ●　大阪営業所 　　　〒550-0005　大阪府大阪市西区西本町 1 - 13 - 40　Tel. 06-6532-1012 URL：https://www.cornestech.co.jp/tech/