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MINIATURE HIGH PERFORMANCE
Inertial Sensors
Navigation, Motion & Heave Sensing
IMUAHRSMRU
INSVG
Ellipse Series
0.2°RMS
ITAR Free
ELLIPSE SERIES sets up new standard for miniature and cost-effective inertial systems with an extremely rugged design, cutting-edge sensors, enhanced capabilities, and advanced algorithms.
Ellipse-A Ellipse-E Ellipse-N Ellipse-D
Roll, Pitch: 0.2° RMS
Heading 1 ° RMS 0.5 ° RMS 0.5 ° RMS 0.2 ° RMS (Dual-antenna)
Heave: 10 cm or 10 %
Odometer aiding
DGPS corrections
Navigation Connection to External GNSS receiver
Internal GNSS receiver2 m GNSS accuracy
Survey-grade L1/L2 GNSS receiver
2 cm RTK GNSS Accuracy
Extreme Flexibility for High Demanding Applications
Ellipse Series
ACCURACY
» 0.2° Roll, Pitch, and Heading
» Up to 2 cm RTK GNSS Position (Model D)
» 10 cm Auto-Adaptative Heave
KEY FEATURES » Very low noise
gyroscopes
» GNSS receiver
» DGPS corrections
» IP 68 enclosure
» 200 Hz output rate
Payload Orientation & Positioning Data Georeferencing
- The Most Advanced Miniature Inertial Sensors
Ellipse inertial sensors provide outstanding orientation and position data in a small, light-weight, and rugged enclosure. Incredibly versatile, you can connect your own GPS or use the internal one, connect an odometer, receive differential GPS corrections, etc.
A little larger, the amazing Ellipse-D completes this state-of-the-art product line. It integrates a Survey-grade L1/L2 GNSS receiver with two antennas for unmatched heading and posi-tion accuracy.
Motion & Heave Monitoring
ELLI
PSE IMU
3 Axis Accelerometers
3 Axis Gyroscopes
3 Axis Magnetometers
Temperature Sensors
CPU
Calibration data1 kHz Coning & ScullingExtended Kalman Filter
Internal or External GNSS receiver
Odometer inputs
RS-232RS-422CAN 2.0
Pressure Sensor
The advanced FIR filters coupled with Coning & Sculling integrals provide efficient vibration rejection, while an Extended Kalman filter fuses inertial data with GNSS, or other aiding information.
An exclusive anti-jamming technology is also used to reject bad/false GPS measurements.
Every sensor is intensively tested and calibrated from -40 to 85°C for a robust performance in all conditions.
The magnetic calibration tool allows easy soft and hard magnetic disturbances compensation. A library is provided for a quick integration into your application.
Motion Profiles allow you to deeply tune your sensor to your application constraints.
Select a Motion Profile, and para-meters will automatically adjust to Kalman Filter, vibration level, dynamics, magnetic disturbance immunity, etc.
Getting the Best Performance from MEMS Technology
Advanced Filtering Calibration Motion Profiles
Dead Reckoning Pointing & Stabilization Orientation & Navigation
Ellipse is composed of:
» a calibrated MEMS-based Inertial
Measurement Unit (IMU) integrating
3 gyroscopes, 3 accelerometers, and
3 magnetometers;
» a GPS-GLONASS-BEIDOU receiver
(Model N);
» and a Pressure Sensor (Model N & E).
OEM version availableDepending on the model
Development Kit, all-in-one package for easy integration
The Development kit comes with your Ellipse.
It contains:
» A quick start guide and the user manual,
» The calibration report,
» A USB cable,
» A USB Key including software and tools
HardwareDevelopment Kit
The windows-based sbgCenter software allows:
» Real-time data visualization
» Easy configuration through motion profiles
» Data Analysis by zooming through time
» Export into Excel, Matlab, Google Earth formats
A C library, some code source examples as well as LabView & Matlab Plugins are provided to ease the integration.
SoftwaresbgCenter
As expert of inertial navigation, we are at your side, helping you to get the most of your sensor:
» Free technical support by phone and email
» Unlimited firmware updates
» Dedicated support platform (Knowledge center, support answers
archive, documentation, etc.)
» Custom Training on demand
SupportSupport Center
Dynamics Analysis AvionicsNavigation
PRODUCT CODE standard product options
ELLIPSE-#-G#A#-##
MODELA: AHRSE: Externally Aided INSN: INS with integrated
GNSSD: INS with integrated
dual antenna GNSS
ACCELEROMETER2: 8 g
3: 16 g
PACKAGINGB1 Box version 1
RS-232/422B2 Box version 2
RS-232 + CANL1 OEM version 1
TTLL2 OEM version 2
RS-232 + CANGYROSCOPE2: 100 °/s3: 200 °/s4: 450 °/s
5: 1,000 °/s
Specifications Preliminary
All parameters apply to full -40 to 85°C temperature range, unless otherwise stated. Full specifications can be found in the Ellipse User Manual available upon request.
Accelerometers Gyroscopes Magnetometers
Measurement range
± 8 g ± 450 °/s ± 8 Gauss
Scale factor stability
< 0.1 % < 0.05 % < 0.5 %
Non-linearity < 0.2 % FS < 0.05 % FS < 0.1 % FSBias stability ± 5 mg ± 0.2 °/s ± 0.5 mGaussRandom walk/Noise density
100 µg/√Hz (X,Y) 150 µg/√Hz (Z) 0.18 °/√hr 200 µg/√Hz
Bias in-run instability*
20 µg 8 °/h -
VRE 7 mg/g2 RMS 0.001 °/s/g2 RMS -Alignment error < 0.05 ° < 0.05 ° < 0.1 °Bandwidth 250 Hz 133 Hz 110 Hz
* Allan Variance, @ 25 °C
SENSORS SPECIFICATIONS
Sensing range 360 ° in all axes, no mounting limitationRoll / Pitch 0.2 °Heading 1 ° Internal Magnetometers*
< 0.5 ° GPS aided**< 0.2 ° Dual Antenna GPS*** (> 1 m baseline)
Velocity*** Model N: 0.1 m/sModel D: 0.03 m/s
Position*** Model N: 2 mModel D: Single point L1/L2 1.2 m SBAS 0.6 m DGPS 0.4 m RTK 2 cm + 2 ppm
Heave accuracy 10 cm or 10%Heave period Up to 15 s Automatically adjusts to the wave period
*Under homogenous magnetic field** Under regular acceleration, or automotive motion*** Under good GNSS availability
ACCURACY (RMS)
Engine, update rate Model N: 72-channel L1 C/A GPS, GLONASS, QZSS, BeiDou, SBAS, 10HzModel D: 120-CHANNEL GPS L1, L2, L2C GLONASS L1, L2, BEIDOU B1, B2, GALILEO E1, SBAS, QZSS, 5 HZ
Cold start / Hot start Model N: 26 s / < 1 sModel D: < 50 s / < 35 s
Sensitivity (Model N) - 167 dBm
INTERNAL GNSSInput voltage 5 - 36 VPower consumption Model A&E: TBD
Model N: < 800 mWModel D: < 2.8 W
Specified temperature -40 to 85 °C, -40 to 185 °FShock limit 2,000 gOperating vibration 3 g RMS (20 Hz to 2 k Hz per MIL-STD 810G)MTBF 50,000 hours
ELECTRICAL & ENVIRONMENTAL SPECIFICATIONS
Box OEM model A & N
Size models A, E, N: 46 x 45 x 24 mm1.8 x 1.77 x 0.9 ”
34 x 34 x 13 mm1.34 x 1.34 x 0.51 ”
models D: 100 x 65 x 38 mm3.93 x 2.55 x 1.49 ”
Weight A: 45 g / 0.1 lbsN: 47 g / 0.1 lbsE: 49 g / 0.1 lbsD: 210 g / 0.46 lbs
12 g / 0.02 lbs12 g / 0.02 lbs--
IP Rating IP68 -
MECHANICAL SPECIFICATIONS
Resolution 2.5 Pa / 20 cm / < 1 ftPressure accuracy ± 50 Pa / ± 150 Pa
PRESSURE SENSOR (models N, E, D)
Available data Euler angles, quaternion, velocity, position, heave, calibrated sensor data, delta angles & velocity, barometric data, status, GPS data, UTC time, etc.
Aiding sensors (models N, E, D)
GNSS, Odometer, RTCM
Output rate Up to 200 HzMain Serial Interface RS-232, RS-422, USB - up to 921,600 bpsSerial protocols Binary eCom protocol, NMEA, ASCII, TSSCAN interface CAN 2.0A/B - up to 1 Mbit/sPulses Inputs: Events, PPS, Odometer input (Direction
or quadrature)Outputs: Synchronization (PPS), Virtual odo-meterModel A, N, D - 2 inputs / 1 outputModel E - 4 inputs / 2 outputs
INTERFACES
www.sbg-systems.com
SBG Systems EMEA (Headquarters) Phone: +33 1 80 88 45 00 E-mail: [email protected]
SBG Systems North America Phone: +1 (773) 754 3272 E-mail: [email protected]
SBG Systems is a leading supplier of MEMS-based inertial motion sensing solutions. The company provides a wide range of inertial solutions from miniature to high accu-racy. Combined with cutting-edge calibration techniques and advanced embedded algo-rithms, SBG Systems products are ideal solutions for industrial & research projects such as unmanned vehicle control, antenna tracking, camera stabilization, and surveying applications.
V0.7 - September – All rights reserved © 2014 SBG Systems