EKINOX 2 Subsea
– Hardware Manual
EKINOX2SUBSEAHM.1.2
2. Performance specification
2.1. Inertial measurement unit
The IMU is the core component of an inertial navigation system. Leveraging on MEMS technology and an
innovative proprietary integration, the EKINOX 2 IMU delivers an exceptional performance while
maintaining a reasonable cost.
2.1.1. Accelerometers
The EKINOX 2 IMU contains a set of 3 MEMS capacitive accelerometers. Coupled with advanced filtering
techniques and sculling integrals, these accelerometers will provide quartz performance level. Thanks to a
very low VRE, the performance is maintained in highly vibrating environments.
A2
Remarks
Full scale (
g)
± 8
Velocity Random Walk (µ
g/√hz)
7
Allan variance – @ 25°C
In run bias instability (µ
g)
2
Allan variance – @ 25°C
Vibration Rectification Error (µ
g/g²)
<200
VRE – 20 Hz – 2 kHz
Bandwidth (Hz)
433
Attenuation of 3 dB
Orthogonality (°)
< 0.02
Over temperature range
2.1.2. Gyroscopes
The set of 3 high end tactical grade MEMS gyroscopes is sampled at 2.3 kHz. A specific integration design
as well advanced signal processing (FIR filters, coning integrals) ensure best performance in vibrating
environments.
G4
Remarks
Full scale (°/s)
± 300
In run bias instability (°/hr)
0.5
Allan variance – @ 25°C
Angular Random Walk (°/√hr)
0.14
Allan variance – @ 25°C
Bandwidth (Hz)
60
Attenuation of 3 dB
Orthogonality (°)
< 0.02
Over temperature range
2.2. External Aiding sensors
The Ekinox2-M accepts a single external GNSS receiver connection to improve orientation performance
The Ekinox2-U accepts up to two external GNSS receivers to provide navigation data and improve
orientation performance In addition, a DVL can be connected on Ekinox2-U as velocity aiding input.
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