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MicroStrain® 3DM-GX3® -45 miniature GPS Aided Inertial Navigation System (INS)

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3DM-GX3® -45

Miniature GPS-Aided Inertial Navigation System

Overview

The 3DM-GX3® -45 high-performance, miniature GPS/INS combines MEMS inertial sensors, a highly-sensitive GPS receiver, and a complex Extended Kalman Filter to generate optimal position, velocity, and attitude (PVA) estimates. This combination of technologies creates better short-term GPS-out performance, sustained-G attitude performance, and provides higher rate PVA data than typical GPS and AHRS Sensors. Raw GPS data, IMU data, and filtered INS data are time-aligned and available as custom, user-defined packets (either by polling or continuous stream).

The 3DM-GX3® -45 is a member of the 3DM-GX3® family of inertial sensors. The 3DM-GX3® -45 offers a range of navigation-related output quantities, including: estimated position, velocity, and attitude (PVA); position, velocity, and attitude uncertainties; bias- compensated angular rate, linear acceleration, WGS84 local gravity magnitude and vector, and World Magnetic Model (WMM2010) local magnetic field declination. Fully-calibrated inertial quantities include: total acceleration, angular rate, magnetic field, delta theta and delta velocity. Unprocessed GPS data includes: LLH Position, NED velocity, GPS time, and UTC time. The ease and flexibility of managing these different data quantities at different sampling rates is made possible by the powerful Microstrain Inertial Packet Protocol (MIP).

The 3DM-GX3® -45 has a dual communication interface, which supports USB and RS-232. Starter kits include choice of USB or RS-232 interface cables.

Microstrain 3dm-gx3-45 miniature attitude heading reference system
Applications
  • primary and/or Secondary GPS-Aided Navigation System
  • unmanned-vehicle navigation
  • computer science
  • platform stabilization
  • antenna and camera pointing
  • robotics
  • vehicle tracking
  • on-board Extended Kalman Filter for optimal position, velocity, and attitude (PVA) estimation
  • smallest, lightest, lowest power GPS/INS available on the market
  • fully temperature compensated over -40 °C to 65 °C
  • 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
  • fully customizable data output: Kalman filter solution @ 100 Hz,raw IMU data @ 100Hz, and GPS data at up to 4Hz with individual data quantity control
  • calibrated for sensor misalignment, gyro G-sensitivity, and gyro scale factor non-linearity to third order; gyro in-run bias is estimated and compensated by the Kalman filter.
  • versions available from 1.7 g to 50 g and 50°/s to 1200°/s
  • external GPS and heading updates can be sent to the device via a MIP command
Inertial Sensors
Orientation range 360° about all axes
Accelerometer range ± 5 g standard
± 1.7 g, ± 16 g, and ± 50 g also available
Accelerometer bias stability ± 0.005 g for ± 5 g range
± 0.003 g for ± 1.7 g range
± 0.010 g for ± 16 g range
± 0.050 g for ± 50 g range
Accelerometer nonlinearity 0.2%
Gyro range ± 300°/sec standard
± 1200°/sec, ± 600°/sec, ± 50°/sec also available
Gyro bias stability ± 0.2°/sec for +/- 300°/sec
Gyro nonlinearity 0.2%
Magnetometer range +/- 2.5 Gauss
Magnetometer nonlinearity 0.4%
Magnetometer bias stability 0.01 Gauss
Filtering Sensors sampled at 30 kHz, digitally filtered (user adjustable ) and scaled into physical units

Coning and sculling integrals computed at 1 kHz
A/D resolution 16 bits (SAR)(oversampled to 17 bits)
Raw GPS Receiver
GPS receiver type 50 Channels, L1 frequency, GPS C/A Code SBAS: WAAS, EGNOS, MSAS, GAGAN
GPS Navigation 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
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 Connector MMCX type
Kalman Filter
Typical position accuracy ±2.5 m RMS horizontal, ±5 m RMS vertical
Typical velocity accuracy ±0.1 m/s to ±0.75 m/s RMS (application and settings dependent)
Typical attitude accuracy ±0.35 deg RMS roll & pitch
±1.0 deg RMS heading
Update rate 100 Hz
General
Output modes

Acceleration, angular rate, magnetic field, deltaTheta, deltaVelocity, Euler angles, orientation matrix, quaternion, LLH position, NED velocity, GPS time, filter status, PVA estimate, PVA uncertainties, attitude as: quaternion, matrix, or Euler angles, gravity-free linear acceleration, bias-compensated angular rate, WGS84 gravity magnitude and vector, WMM2010 declination, heading with respect to true and magnetic north
Interface options Standard: USB 2.0 or RS232
Data rate IMU: 1 Hz to 100 Hz
INS: 1 Hz to 100 Hz
GPS: 1 Hz to 4 Hz
Serial baud rate 9,600 baud to 921,600 baud (115,200 baud default)
Supply voltage Standard: 3.2 to 16 volts
Power consumption 160 mA (typical) @ 5 volts with RS-232 and GPS lock
Connector micro-DB9
Operating temperature -40° to +65°C
Dimensions 44 mm x 24 mm x 14 mm - excluding mounting tabs, width across tabs 37 mm
Weight 23 grams
Shock limit 500 g

 
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3DM-GX3-45-RS232-SK1
3DM-GX3-45-RS232-SK1

Includes one 3DM-GX3-45-RS232/USB-M GPS aided inertial navigation system, RS232 communication cable, software, non-magnetic antenna lead, GPS antenna and power supply.   


Online Price: $3,795.00
Part Number: 6228-4221
3DM-GX3-45-USB-SK1
3DM-GX3-45-USB-SK1

Includes one 3DM-GX3-45-RS232/USB-M GPS aided inertial navigation system, GPS antenna and cable, USB communication cable, software and non-magnetic antenna lead.


Online Price: $3,795.00
Part Number: 6228-4241