LORD 6253-4220, User Manual

Page: 62 / 75

3DM
®
-GX5-25
User Manual
10. Specifications
General
Integrated
sensors
Triaxial accelerometer, triaxial gyroscope, triaxial
magnetometer, pressure altimeter, and temperature
sensors,
Data outputs
Inertial Measurement Unit (IMU) outputs: acceleration,
angular rate, magnetic field , ambient pressure, Delta-theta,
Delta-velocity
Computed outputs:
Extended Kalman Filter (EKF): filter status, timestamp,
attitude estimates (in Euler angles, quaternion, orientation
matrix), linear and compensated acceleration, bias
compensated angular rate, pressure altitude, gravity-free
linear acceleration, gyroscope and accelerometer bias, scale
factors and uncertainties, gravity and magnetic models, and
more.
Inertial Measurement Unit (IMU) Sensor Outputs
Accelerometer Gyroscope Magnetometer
Measurement
range
±8 g (standard)
±2
g, ±4 g, ±20 g,
±40 g (optional)
300°/sec
(standard)
±75, ±150,
±900 (optional)
±2.5 Gauss
Non-linearity ±0.02 fs ±0.02% fs ±0.3% fs
Resolution <0.1 m g <0.003°/sec --
Bias instability ±0.04 m g 8°/hr --
Initial bias error ±0.002 g ±0.04°/sec ±0.003 Gauss
Scale factor
stability
0.03% ±0.05% ±0.1%
Noise density 25 µg/√Hz (2
g)
0.005°/sec/√Hz
(300°/sec) 100
µGauss/√Hz
Alignment error ±0.05° ±0.05° ±0.05°
Adjustable
bandwidth
225 Hz (max) 250 Hz (max) -
Offset error over
temperature
0.06% (typ) 0.04% (typ) --
Gain error over
temperature
0.03% (typ) 0.03% (typ) --
Scale factor
non-linearity
(@ 25° C)
0.02% (typ)
0.06% (max) 0.02% (typ)
0.06% (max)
±0.0015
Gauss
Vibration
induced noise
--
0.072°/s RMS/ g
RMS
--
Vibration
rectification
error (VRE)
--
0.001°/s/ g
2
RMS
--
IMU filtering
Digital sigma-delta wide band anti-aliasing filter to digital
averaging filter (user adjustable) scaled into physical units.
Sampling rate 1 kHz 4 kHz 50 Hz
IMU data output
rate
1 Hz to 1 kHz
Pressure Altimeter
Range -1800 m to 10,000 m
Resolution < 0.1 m
Noise density 0.01 hPa RMS
Sampling rate 25 Hz
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