ELLIPSE2 AHRS & INS
– Hardware Manual
ELLIPSE2HM.1.3
1.2. Inertial measurement unit
As an IMU is the main component of an inertial navigation system, the new Ellipse IMU has been carefully
designed to take full advantage and performance of MEMS technology.
1.2.1. Accelerometers
The new Ellipse IMU embeds 3 high performance, industrial grade MEMS accelerometers. Coupled with a
cutting edge calibration, advanced filtering techniques and sculling integrals, these accelerometers will
provide excellent performance, even in highly vibrating environment.
The A2 version is dedicated to marine applications requiring high performance heave measurements, while
the A3 version is suitable to all other applications.
A2
A3
A4
Remarks
Full scale (
g)
8
16
40
Scale factor stability (ppm)
1000
1000
1000
After one year accelerated aiging
Non-Linearity (ppm of FS)
6300
1500
1500
Best Fit Straight Line
One year bias stability (m
g)
2
5
5
After one year accelerated aiging
Velocity Random Walk (µ
g/√hz)
12
57
57
In run bias instability (µ
g)
3
14
14
Allan variance – @ 25°C
Vibration Rectification Error (µ
g/g²)
200
50
50
Tested up to 3g RMS for A2 and 10g RMS
for A3/A4
Bandwidth (Hz)
390
390
390
Internal low pass filters attenuation < 3 dB
Sampling rate (kHz)
4
4
4
Advanced anti-aliasing FIR filter
Orthogonality (°)
0.05
0.05
0.05
1.2.2. Gyroscopes
The set of 3 high end industrial grade MEMS gyroscopes is sampled at 10 KHz. An efficient FIR filter and
coning integrals computations ensures best performance in vibrating environments.
G4 range is suitable to most applications, while the G5 is adapted for high dynamic applications.
G4
G5
Remarks
Full scale (°/s)
450
1000
Scale factor stability (ppm)
500
500
After one year accelerated aiging
Non-Linearity (ppm of FS)
50
50
One year bias stability (°/s)
0.2
0.4
After one year accelerated aiging
Angular Random Walk (°/√hr)
0.15
0.18
Allan variance – @ 25°C
In run bias instability (°/hr)
7
8
Allan variance – @ 25°C
Vibration Rectification Error (°/h/g²)
< 1
< 1
Tested up to 10g RMS
Bandwidth (Hz)
133
133
Internal Gyro bandwidth
Sampling rate (kHz)
10
10
Advanced anti-aliasing FIR filter
Orthogonality (°)
0.05
0.05
8/50
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