ELLIPSE2 Micro series
– Hardware Manual
ELLIPSEMHM.1.1
1. Introduction
The Ellipse2 Micro series is a line of sub-miniature, high-
performance MEMS based Inertial Systems which achieve
exceptional orientation and navigation performance in a tiny and
affordable package. It includes an Inertial Measurement Unit (IMU)
and runs an on-board enhanced Extended Kalman Filter (EKF). The
Ellipse line is divided in a comprehensive set of sensors:
●
The Ellipse2 Micro IMU is an Inertial Measurement Unit that
can be used for high performance motion monitoring, thanks
to its factory calibrated gyroscopes, accelerometers and
magnetometer outputs.
●
The Ellipse2 Micro AHRS version is an attitude and Heading Reference System (AHRS), providing
accurate orientation in dynamic conditions.
●
The Ellipse2 Micro INS is an Inertial Navigation System (INS), providing both orientation and
navigation data. An external GNSS data can be connected to the Ellipse2 Micro, and other aiding
equipment such as odometer can be used to provide accurate navigation data under harsh conditions,
but also to improve orientation accuracy:
To achieve the best performance in every project, specific error models have been implemented to meet
applications requirements. Sensor configuration is made easy through the sbgCenter interface, provided in
the SDK. The Ellipse supports a proprietary protocol for best performance, but also standard protocols such
as NMEA for direct integration into existing applications.
The Ellipse2 Micro series is fully compatible with the larger size Ellipse modules as it shares the same
communication protocol.
1.1. Ellipse Micro Overview
The following diagram shows the basic organization of an Ellipse Micro module.
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Figure 1.1: The Ellipse Micro
Figure 1.2: Ellipse simplified block diagram
Sensors sampling &
Calibration
Coning & Sculling
integrals @ 1 kHz
EKF and output
@ 200 Hz
IMU
DATA FUSION
3 Axis
Gyroscopes
3 Axis
Accelerometers
3 Axis
Magnetometers
POWER
CAN
SERIAL
Aiding Equipments
»
Dual Antenna GPS/GNSS, RTK
»
Odometer