ELLIPSE2 AHRS & INS
– Hardware Manual
ELLIPSE2HM.1.3
1.4. System Performance
All specifications are rated to 1 , over -40°C to +85°C (-40 to
σ, over -40°C to +85°C (-40 to
185°F) unless otherwise stated.
These specifications have been measured based on typical mission scenarios with simulated GPS outages
and compared to post processed RTK data of a high end FOG based INS.
1.4.1. Ellipse-A orientation performance
1.4.1.1. Orientation specifications
Performance
Remarks
Measurement range
360° in all axes, no mounting limitation
Roll / Pitch accuracy
< 0.1°
Low dynamic conditions – No long term accelerations
Yaw Accuracy
0.8°
Clean magnetic environment – Magnetic calibration performed
1.4.2. Ellipse-E/ N orientation and navigation performance
For each application, the accuracy parameters are defined in different positioning modes, explained below:
●
SP refers to Single Point mode and is the default L1 GPS / GLONASS fix quality
●
RTK stands for Real Time Kinematics with a typical 1 cm accuracy position
●
Odometer Aiding is specified when an odometer provides velocity (automotive applications)
1.4.2.1. Land applications
All specifications are valid with DMI (odometer) aiding for typical land applications trajectories.
Outage
Duration
Positioning Mode
Position Accuracy
Velocity Accuracy
Attitude Accuracy (°)
Horizontal
Vertical
Horizontal
Vertical
Roll / Pitch
Heading
No Outage
SP
2 m
2.5 m
0.1 m/s
0.1 m/s
0.1 °
0.3 °
RTK
0.02 m
0.04 m
0.05 m/s
0.05 m/s
0.1 °
0.3 °
10 s
SP
2.5 m
3 m
0.2 m/s
0.2 m/s
0.1 °
0,3 °
RTK
0.8 m
0.8 m
0.15 m/s
0.15 m/s
0.1 °
0.3 °
60 s
SP
9 m
6 m
0.1 m/s
0.1 m/s
0.1 °
0.5 °
RTK
7 m
4 m
0.1 m/s
0.1 m/s
0.1 °
0.5 °
1.4.2.2. Marine & Subsea applications
Outage
Duration
Positioning Mode
Position Accuracy
Velocity Accuracy
Attitude Accuracy (°)
Horizontal
Vertical
Horizontal
Vertical
Roll / Pitch
Heading
No outage
SP
2 m
2.5 m
0.1 m/s
0.1 m/s
0.1 °
0.8 °
RTK / Dual
antenna GPS
0.02 m
0.04 m
0.05 m/s
0.05 m/s
0.1 °
0.2 °
10 s
SP
3 m
3.5 m
0.2 m/s
0.2 m/s
0.15°
0.8 °
RTK / Dual
antenna GPS
1 m
1 m
0.15 m/s
0.15 m/s
0.15°
0.3 °
14/50
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