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3DM-RQ1™ -45

Ruggedized Tactical Grade GPS-Aided Inertial Navigation System

The 3DM-RQ1™ -45 Ruggedized Tactical Grade GPS-Aided Inertial Navigation System (GPS/INS) combines a MEMS inertial sensor core with a high sensitivity GPS receiver, and a sophisticated Extended Kalman Filter to generate optimal position, velocity, and attitude (PVA) estimates. Time aligned raw GPS outputs and IMU measurements are also available to the user. The 3DM-RQ1™ -45 has been designed to meet the needs of applications that require tactical grade performance in a harsh operating environment while simultaneously demanding low cost and a small package size.

Best in Class

  •  precise position, velocity & attitude estimates
  •  fully configurable data outputs
  •  high immunity to shock and vibration
  •  compact, low profile, & light weight
  •  galvanically isolated
  •  -55 to 80 °C operation (-40 to 80 °C with heaterless model)
  •  designed to DO-160G for deployment in harsh environments

Easiest to Use

  •  simple integration supported by SDK & comprehensive API
  •  robust, forward compatible MIP™ packet protocol


Cost Effective

  •  reduced cost and rapid time to market for customer’s applications
  •  aggressive volume discount schedule

INS Specifications

Performance

Typical position accuracy

±2.5 m RMS horizontal, ±5 m RMS vertical

Typical velocity accuracy

±0.1 m/s RMS

Typical attitude accuracy

±0.1 deg RMS roll & pitch

±0.5 deg RMS heading

Typical attitude repeatability

0.1°

Attitude resolution

<0.01°

Attitude, heading range

360° about all axes

Navigation filter update rate

500 Hz

Features

vehicle dynamics mode selection,

user-defined sensor to vehicle frame transformation and offset,

antenna offset,

bias enable/disable,

external GPS and heading input support,

WGS84 gravity model,

WMM 2010 geomagnetic model

Output quantities

LLH position, NED velocity, attitude (Euler angles, orientation matrix or quaternion),

acceleration, angular rate, deltaTheta, deltaVelocity, GPS time, filter status,

PVA uncertainties, gravity-free linear acceleration,

 bias-compensated angular rate, estimated accel and gyro bias and scale factors

Data output rate   

1 Hz to 500 Hz

General

Interface

RS422

Baud rate

9,600 bps to 230,400 bps (115,200 bps default)

Power supply voltage

+10 to +28 volts DC

Power consumption

low temp model:  2.5 W at 0 to 80 °C case temp; up to 6 W at -55 to 0 °C case temp; 25 W during pre-heat (up to 1 min at startup if case temp is below -25 °C)
standard model (heaterless)*:  2.5 W at -40 °C to 80 °C case temp

Connector

Glenair series 801 "Mighty Mouse" 7 pin circular

Operating temperature (case temp)

low temp model: -55 to 80 °C; standard (heaterless) model*: -40 to 80 °C

Vibration

6 g RMS 10-2000 Hz

Shock

750 g half sine  2 msec powered any axis

Dimensions

88.3 mm x 76.2 mm x 22.2 mm
3.48 in x 3.00 in x 0.87 in

Weight

205 grams

Standards

ROHS Compliant,  DO-160G

Software utility

CD in starter kit (XP/Vista/Win7/Win8 compatible)

Software development kit (SDK)

complete data communications protocol and sample code

API

MIP™ Packet Protocol

Sensor Specifications

General

 

Accels

Gyros

Measurement range

±5 g

±300°/sec

Non-linearity

±0.03 % fs

±0.03 % fs

In-run bias stability

±0.02 mg

5°/hr

Initial bias error

±0.001 g

±0.05°/sec

Scale factor stability

±0.05 %

±0.05 %

Noise density

50 µg/√Hz

0.002°/sec/√Hz

Alignment error

±0.05°

±0.05°

Bandwidth (maximum)

250 Hz

160 Hz

Sampling rate

10 kHz

10 kHz

Resolution

<0.04 mg

<0.0025°/sec

Vibration rectification error (Typical)

0.025%

0.001°/s/g2 rms

Vibration induced noise

0.06°/srms/g2 rms

4 stage filtering

analog low pass filter, digital sigma-delta anti-alias filter, user adjustable low pass filter, coning & sculling at 1000 Hz

 

Options

Gyroscopes

 ±75°/sec, ±150°/sec,  ±900°/sec

 

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

SMA type

Data output rate

1 Hz to 4 Hz

 

*contact factory for availability of standard (heaterless) model

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How To Order

To discuss configuration for your specific system requirements, please use our contact sales page.

For large quantity orders or OEM discussions, please contact Michael_Robinson@LORD.COM.

If you are outside the US, please contact one of our distributors.