Microstrain

3DM-GX3® -35

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3DM-GX3® -35

Miniature Attitude Heading Reference System (AHRS) with GPS
Video - Product Overview
Overview

The 3DM-GX3® -35 high-performance, miniature Attitude Heading Reference System (AHRS) with GPS, combines MEMS sensor technology and a highly sensitive embedded GPS receiver. It incorporates a triaxial accelerometer, triaxial gyro, triaxial magnetometer, temperature sensors, and an on-board processor running a sophisticated fusion algorithm to provide orientation, inertial, and GPS measurements. Data from the GPS receiver is time synchronized with the inertial sensors and all inertial and GPS data are available as user-defined packets (either by polling or continuous stream). The 3DM-GX3® -35 provides a perfect platform for users to develop their own navigation solutions.

The 3DM-GX3® -35 offers a range of fully calibrated inertial measurements including acceleration, angular rate, magnetic field, deltaTheta and deltaVelocity vectors, Euler angles (pitch, roll, and heading), rotation matrix and quaternion. Its GPS data quantities include LLH position, NED velocity, ECEF position and velocity, DOP data, UTC time, GPS time, clock info, GPS fix, and SVI. All quantities are fully temperature compensated and are mathematically aligned to an orthogonal coordinate system. The angular rate quantities are further corrected for g-sensitivity and scale factor non-linearity to third order. The 3DM-GX3® -35 architecture has been carefully designed to substantially eliminate common sources of error such as hysteresis induced by temperature changes and sensitivity to supply voltage variations. Gyro drift is eliminated in AHRS mode by referencing magnetic North and Earth’s gravity and compensating for gyro bias. On-board coning and sculling compensation allows for use of lower data output rates while maintaining performance of a fast internal sampling rate. For those users, integrators or OEMs who develop their own orientation and navigation applications, the 3DM-GX3® -35 is shipped with a complete Data Communications Protocol guide that provides access to the powerful MicroStrain Inertial Packet Protocol (MIP). Applications of your own design can readily be developed in any coding language and on any computing platform including microprocessors. The 3DM-GX3® -35 is initially sold as a starter kit consisting of an AHRS+GPS module, RS-232 or USB communication and power cable, software CD, user manual and quick start guide.

Inertial Sensor: 3DM-GX3-35 Miniature AHRS with GPS
Applications
  • host based inertial aided GPS navigation
  • location tracking of vehicles or personnel
  • unmanned vehicle navigation
  • platform stabilization, artificial horizon
  • antenna, satellite and camera pointing
  • biomechanics, biomedical animation
  • robotics
  • automotive, marine, military
  • heavy equipment, container handling
  • virtual reality, computer science
  • reconnaissance, surveillance and target acquisition system
  • smallest and lightest AHRS with GPS available on the market
  • fully temperature compensated over operational range
  • calibrated for sensor misalignment, gyro g-sensitivity, and gyro scale factor non-linearity to third order
  • improved performance under vibration, as inertial sensors are sampled at 30 kHz and digitally filtered and scaled into physical units; coning and sculling integrals are computed at 1 kHz
  • RS-232 and USB 2.0 communication interfaces
  • MIP protocol provides fully customizable data output: inertial data up to 1000 Hz and GPS data up to 4 Hz with individual data quantity control
  • AHRS output includes Euler angles, rotation matrix, deltaTheta, deltaVelocity, quaternion, acceleration, angular rate and magnetic field
  • NMEA GPS protocol records and UBX GPS protocol records available in advanced mode
  • provides time synchronized inertial and GPS data enabling users to develop navigation solutions
  • versions available from 1.7 g to 50 g and 50°/s to 1200°/s
  • rugged aluminum enclosure with precision alignment holes
  • ROHS compliant

AHRS Specifications

Attitude and Heading

Attitude heading range

360° about all 3 axes

Accelerometer range

±5g standard

Gyroscope range

±300°/sec standard

Static accuracy

±0.5° pitch, roll, heading typical for static test conditions

Dynamic accuracy

±2.0° pitch, roll, heading for dynamic (cyclic) test conditions and for arbitrary angles

Long term drift

eliminated by complimentary filter architecture

Repeatability

0.2°

Resolution

<0.1°

Data output rate

AHRS: 1 Hz to 1,000 Hz, GPS: 1 Hz to 4 Hz

Filtering

sensors sampled at 30 kHz, digitally filtered (user adjustable ) and scaled into physical units; coning and sculling integrals computed at 1 kHz

Output modes

3DM-GX3 MIP records: acceleration, angular rate, magnetic field, deltaTheta, deltaVelocity, Euler angles, orientation matrix, quaternion, LLH position, NED velocity, ECEF position and velocity, DOP data, UTC time, GPS time, clock info., GPS fix, and SVI; NMEA GPS protocol records and UBX GPS protocol records available in advanced mode

 

General

A/D resolution

16 bits SAR oversampled to 17 bits

Interface options

USB 2.0 or RS232

Baud rate

9,600 bps to 921,600 bps (115,200 bps default)

Power supply voltage

+3.2 to +16 volts DC

Power consumption

160 mA (typical) @ 5 volts with RS-232 and GPS lock

Connector

micro-DB9

Operating temperature

-40 °C to +65 °C

Dimensions

44 mm x 24 mm x 14 mm - excluding mounting tabs, width across tabs 37 mm

Weight

23 grams

ROHS

compliant

Shock limit

500 g

Software utility

CD in starter kit (XP/Vista/Win7 compatible)

Software development kit (SDK)

complete data communications protocol and sample code

IMU Specifications

 

Accels

Gyros

Mags

Measurement range

±5 g

±300°/sec

±2.5 Gauss

Non-linearity

±0.1 % fs

±0.03 % fs

±0.4 % fs

In-run bias stability

±0.04 mg

18°/hr

—

Initial bias error

±0.002 g

±0.25°/sec

±0.003 Gauss

Scale factor stability

±0.05 %

±0.05 %

±0.1 %

Noise density

80 µg/√Hz

0.03°/sec/√Hz

100 µGauss/√Hz

Alignment error

±0.05°

±0.05°

±0.05°

User adjustable bandwidth

225 Hz max

440 Hz max

230 Hz max

Sampling rate

30 kHz

30 kHz

7.5 kHz max

GPS Specifications

GPS Receiver

GPS receiver type

50 Channels, L1 frequency, GPS C/A Code

SBAS: WAAS, EGNOS, MSAS, GAGAN

GPS solution update rate

Up to 4Hz

Time-to-First-Fix

Cold Start (Autonomous): 36 sec

Warm Start (Autonomous): 36 sec

Hot Start: < 1 sec

GPS tacking and navigation sensitivity

-159 dBm

GPS reacquisition sensitivity

-159 dBm

GPS cold start (autonomous) sensitivity

-141 dBm

GPS velocity accuracy

0.1 m/sec

GPS heading accuracy

0.5°

GPS horizontal position accuracy

< 2.5 m Autonomous

< 2.0 m SBAS (CEP, stationary 24 hours, SEP 3.5 m)

GPS timepulse signal accuracy

30 nsec RMS

< 60 nsec 99%

GPS acceleration limit

≤ 4 g

GPS altitude limit

no limit

GPS velocity limit

500 m/sec (972 knots)

GPS antenna connector

MMCX type

 

Options

Accelerometer range

±1.7 g, ±16 g, ±50 g (±16 g and ±50 g may require export license)

Gyroscope range

±50°/sec, ±600°/sec, ±1200°/sec

 
RS232 3DM-GX3-35 AHRS starter kit
RS232 3DM-GX3-35 AHRS starter kit

3DM-GX3-35-RS232-SK1
Includes one 3DM-GX3-35-RS232/USB-M AHRS with internal GPS receiver, RS232 communication cable, software, non-magnetic antenna lead, GPS antenna and power supply.

Online Price: $2,595.00
Part Number: 6225-4221
USB 3DM-GX3-35 Starter Kit
USB 3DM-GX3-35 Starter Kit

3DM-GX3-35-USB-SK1
Includes one 3DM-GX3-35-RS232/USB-M AHRS with internal GPS receiver, GPS antenna and cable, USB communication cable, software and non-magnetic antenna lead.  

Online Price: $2,595.00
Part Number: 6225-4241

OEM volume pricing available for embedded applications.