Gyroscope

Range

±500°/s

Zero bias stability

For static test at room temperature, mean data was recorded with standard deviation of 0.01° / h

Zero bias repeatability

For static test at room temperature, repeatedly measuring gyro zero bias data with standard deviation of 0.01° / h

Bandwidth

100Hz (Customizable)

Accelerometer

Range

±8g

Zero bias stability

For static test at room temperature, record the accelerometer second mean data with standard deviation of 10 ug

Zero bias repeatability

Static test at room temperature, repeated measuring accelerometer zero bias data, standard deviation of 10 ug

Bandwidth

100Hz (Customizable)

channel

1408 channel

frequency point

BDS B1I、 B2I、 B3I、 B1C、 B2a；

GPS L1C/A、 L1C、 L2P (W)、 L2C、 L5；

GLONASS L1、 L2；Galileo E1、 E5a、 E5b；

QZSS L1, L2, L5

Single Point Location (RMS)

Level: 1.5m; elevation: 3.0m

DGPS(RMS)

Plane: 0.4m; elevation: 0.8m

RTK(RMS)

Level: 1cm + 1ppm; elevation: 1.5cm + 1ppm

Directional precision (RMS)

0.2 degrees / 1m baseline

Time accuracy (RMS)

20ns

Speed accuracy (RMS)

0.03m/s

cold boot

<20 Seconds

Differential data

RTCM 2.X/3.X CMR

Data update rate

20Hz

positional accuracy

1.5m (CEP single-point mode), 0.01m + 1ppm (CEP RTK mode)

Speed accuracy

0.01m/s

pitch

0.01° (RMS, dynamic), 0.005° (RMS, static)

roll

0.01° (RMS, dynamic), 0.005° (RMS, static)

yaw

0.015° (RMS, dynamic)

The gyroscope finds its north

Power on for 10 minutes, and the heading error is less than 0.03 degrees

working voltage

10V～28V DC

Power ripple

<50mV

maximum power dissipation

The power consumption of the normal temperature system is 12W, the maximum power consumption of high and low temperature is 15W, and the starting power is 30W

working temperature

-40℃～+60℃

storage temperature

-50～+100℃

outline dimension

179.6mm X 179.6mm X 145.0mm

weight

≤7000g

PIN NUM

Net Name

explain

1

POWER_IN

10V~28V power supply

2

GND

3

RS232_RXD1

INS COM1 Channel, combined navigation output, protocol configurable, maximum baud rate of 230400bps, also used to upgrade the navigation program, modify the protocol, etc.

4

RS232_TXD1

5

GND

6

RS422_A

INS COM2 Channel, combined navigation output, protocol configurable, the maximum baud rate of 921,600 bps, is also used to upgrade the navigation program, modify the protocol, etc.

7

RS422_B

8

RS422_Z

9

RS422_Y

10

CAN_H

The combination navigation output can be customized according to the requirements, and the highest baud rate is 1Mbps.

11

CAN_L

12

RS232_RXD2

GPS card output of COM1, independent communication port, the user can freely configure. Differential information input port.

Delivery protocol: GPGGA 1; receiving protocol: RTCMV3.2;

13

RS232_TXD2

14

GND

15

RS232_RXD3

CPU2 COM1 Channel, which can output navigation data and store external data. The highest port rate is 230400bps, also used to upgrade the CPU2 program.

Where PIN15 PIN16 can also be modified to INS COM1 RS422 external output by jumper.

16

RS232_TXD3

17

GND

18

INPUT

Universal IO port, 3.3V LVTTL, where the INPUT can be used as a pulse wheel speed input

19

OUTPUT

20

PPS+

Differential PPS signal, LVTTL-3.3V, users can only choose one of them for use on the ground. Frequency and pulse width can be configured.

21

PPS-

22

GND

PIN NUM

Net Name

explain

1

POWER_IN

10V~28V power supply, the main and auxiliary connectors can simultaneously supply power to the product, and the actual voltage is higher.

2

GND

3

RS232_RXD1

CPU2 COM1 Channel, which can output navigation data and store external data. The highest port rate is 230400bps, also used to upgrade the CPU2 program.

4

RS232_TXD1

5

GND

6

RS422_A1

CPU2 COM2 Channel, which can output navigation data and store external data. The highest port rate is 921,600 bps, which is also used to upgrade the CPU2 program.

7

RS422_B1

8

RS422_Z1

9

RS422_Y1

10

RS422_Z2

CPU2 COM3 Channel, you can output the navigation data. The highest port rate is 921,600 bps.

It can also be modified to the external output.

11

RS422_Y2

12

GND

13

RS422_Z2

CPU2 COM4 Channel, you can output the navigation data. The highest port rate is 921,600 bps.

It can also be modified to the external output.

14

RS422_Y2

15

GND

16

PPS+

Differential PPS signal, LVTTL-3.3V, the user can select only one of them to use. Frequency and pulse width are configurable.

17

PPS-