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ELLIPSE2 AHRS & INS

– Hardware Manual

ELLIPSE2HM.1.3

Terminology

ADC: Analog to Digital Converter
AHRS: Attitude and Heading Reference System
CAN (Bus): Controller Area Network
DHCP: Dynamic Host Configuration Protocol
DVL: Doppler Velocity Log
EKF: Extended Kalman Filter
EEPROM: Electrically-Erasable Programmable Read-Only Memory
FIR: Finite Impulse Response (filter)
FTP: File Transfer Protocol
FS: Full Scale
FOG: Fiber Optic Gyroscope
GNSS: Global Navigation Satellite System
GPS: Global Positioning System
IIR: Infinite Impulse Response (filter)
IMU: Inertial Measurement Unit
INS: Inertial Navigation System
IP: Internet Protocol
LBL: Long Baseline
MAC (address): Media Access Control
MEMS: Micro Electro-Mechanical Systems
NED: North East Down (coordinate frame)
NA: Not applicable
NMEA (NMEA 0183): National Marine Electronics Association (standardized communication protocol)
PPS: Pulse Per Second (signal)
RAM: Random Access Memory
RMA: Return Merchandise Authorization
RMS: Root Mean Square
RTCM: Radio Technical Commission for Maritime Services (Protocol)
RTK: Real Time Kinematics
SI: International System of Units
TBD: To Be Defined
TCP: Transmission Control Protocol
UDP: User Datagram Protocol
UTC: Coordinated Universal Time
USBL: Ultra Short Base Line
VRE: Vibration Rectification Error
WGS84: World Geodetic System 1984
WMM: World Magnetic Model

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陕西威瑞仪器仪表有限公司主营全球知名：气象环境智能交通仪器、安防消防警用军用设备

TEL:029-88186182 WEB:www.go1go.com EMAIL:[email protected]

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Содержание ELLIPSE 2 AHRS

Страница 1: ...Inertial Sensors Hardware Manual intro Document ELLIPSE2HM 1 3 Revision 1 3 Nov 8 2018 Support EMEA support sbg systems com 33 1 80 88 43 70 Americas support sbg systems com 1 657 549 5807 TEL 029 88...

Страница 2: ...e section EL2DOC 7 Updated cover page presentation 1 1 Jan 2 2018 Alexis Guinamard EL2DOC 2 Fixed typo in Barometric sensor integration EL2DOC 3 Fixed CA ELI RS232 CAN 3M pinout description EL2DOC 5 F...

Страница 3: ...e 14 1 4 2 1 Land applications 14 1 4 2 2 Marine Subsea applications 14 1 4 2 3 Airborne applications 15 1 4 3 Ellipse D orientation and navigation performance 15 1 4 3 1 Land applications 15 1 4 3 2...

Страница 4: ...ctor specifications 30 2 2 6 2 Connector pin out 30 2 2 7 Auxiliary connector Ellipse D 30 2 2 7 1 Connector specifications 30 2 2 7 2 Connector pin out 30 2 2 8 Electrical specifications 31 2 2 8 1 E...

Страница 5: ...PSU 12V 1 5M 43 5 4 4 CA ELI RS232 CAN 3M 44 5 4 5 CA ELI RS422 3M 45 5 4 6 CA ELI SPLIT RS232 DB 0 5M 46 5 4 7 CA ELI SPLIT CAN DB 0 5M 46 5 4 8 CA ELI SPLIT AUX RS232 DB 0 5M 47 5 5 GNSS antennas 4...

Страница 6: ...ystem IP Internet Protocol LBL Long Baseline MAC address Media Access Control MEMS Micro Electro Mechanical Systems NED North East Down coordinate frame NA Not applicable NMEA NMEA 0183 National Marin...

Страница 7: ...ntenna heading for excellent heading performance in magnetic denied environments Targeting demanding application it is also capable of post processing thanks to the internal GNSS raw data output To ac...

Страница 8: ...12 57 57 In run bias instability g 3 14 14 Allan variance 25 C Vibration Rectification Error g g 200 50 50 Tested up to 3g RMS for A2 and 10g RMS for A3 A4 Bandwidth Hz 390 390 390 Internal low pass...

Страница 9: ...reliable and efficient way to observe heading Note Magnetometer use requires a specific in place calibration in order to compensate surrounding ferromagnetic materials and magnets Please refer to the...

Страница 10: ...ing under challenging environments Specification Remark Channels 72 Signal tracking GPS L1 C A GLONASS L10F GALILEO E1 B C QZSS L1 C A BeiDou B1l SBAS Horizontal position accuracy 2 0 m CEP GPS GLONAS...

Страница 11: ...st processing applications Specification Remark Channels 448 Signal tracking GPS L1 L2 L2C GLONASS L1 L2 GALILEO E1 B C E5b Beidou B1 B2 SBAS QZSS All constellations signals enabled by default Horizon...

Страница 12: ...S L1 L2 SBAS QZSS in standard Other signals available in option Horizontal position accuracy Single point L1 1 5 m RTK precision available in option Single point L1 L2 1 2 m SBAS DGPS 0 6 m 0 4 m RTK...

Страница 13: ...include a GNSS receiver but can be connected to an external GNSS module All GNSS receivers will provide velocity and position aiding In some applications such as automotive ones the GPS course can al...

Страница 14: ...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 wi...

Страница 15: ...th a typical 1 cm accuracy position Odometer Aiding is specified when an odometer provides velocity automotive applications PPK refers to the Post processing Kinematic solution 1 4 3 1 Land applicatio...

Страница 16: ...Heading SP 1 2 m 1 5 m 0 03 m s 0 03 m s 0 1 0 2 RTK 0 02 m 0 04 m 0 03 m s 0 03 m s 0 1 0 2 PPK 0 01 m 0 02 m 0 02 m s 0 02 m s 0 05 0 1 1 4 4 Heave performance 1 4 4 1 High performance Heave The fo...

Страница 17: ...used with a waterproof GPS antenna cable this connector offers an IP 68 protection Note 1 If you are planing to use Ellipse internal magnetometers please make sure that you don t use ferromagnetic mat...

Страница 18: ...G Systems manufacturing process is based on EN 9100 system with individual and full traceability of every component and operation Each Ellipse is identified by a unique serial number that can be used...

Страница 19: ...Ellipse A mechanical outline All dimensions are in mm 2 1 6 1 Front view 2 1 6 2 Top view 19 50 Figure 2 3 Ellipse A front view 8 30 15 10 4 50 24 0 50 Figure 2 4 Ellipse A top view 38 38 2 50 46 45 T...

Страница 20: ...3 2 1 6 3 Right view 2 1 6 4 Bottom view 20 50 Figure 2 5 Ellipse A right view 7 05 Figure 2 6 Ellipse A bottom view 34 17 50 0 01 3 38 0 05 39 0 05 2 H8 1 5 2 H8 1 5 4 HOLES 3 40 28 20 5 05 TEL 029 8...

Страница 21: ...lipse E mechanical outline All dimensions are in mm 2 1 7 1 Front view 2 1 7 2 Top view 21 50 Figure 2 7 Ellipse E front view 8 30 8 30 0 50 4 50 15 10 24 Figure 2 8 Ellipse E top view 45 38 38 2 50 4...

Страница 22: ...3 2 1 7 3 Right view 2 1 7 4 Bottom view 22 50 Figure 2 9 Ellipse E right view 7 05 Figure 2 10 Ellipse E bottom view 17 50 0 01 2 H8 1 5 39 0 05 3 4 HOLES 3 40 34 38 0 05 2 H8 1 5 28 20 5 05 TEL 029...

Страница 23: ...e N mechanical outline All dimensions are in mm 2 1 8 1 Front view 2 1 8 2 Top view 23 50 Figure 2 11 Ellipse N front view 8 30 8 30 0 50 4 50 15 10 24 Figure 2 12 Ellipse N top view 38 38 6 60 2 50 4...

Страница 24: ...2 1 8 3 Right view 2 1 8 4 Bottom view 24 50 Figure 2 13 Ellipse N right view 7 05 Figure 2 14 Ellipse N bottom view 39 0 05 2 H8 1 5 2 H8 1 5 4 HOLES 3 40 3 17 50 0 01 38 0 05 34 28 20 5 05 TEL 029...

Страница 25: ...LLIPSE2HM 1 3 2 1 9 Ellipse D mechanical outline All dimensions are in mm 2 1 9 1 Front view 2 1 9 2 Top view 25 50 Figure 2 15 Ellipse D front view Figure 2 16 Ellipse D top view TEL 029 88186182 WEB...

Страница 26: ...AHRS INS Hardware Manual ELLIPSE2HM 1 3 2 1 9 3 Right view 2 1 9 4 Bottom view 26 50 Figure 2 17 Ellipse D right view Figure 2 18 Ellipse D bottom view TEL 029 88186182 WEB www go1go com EMAIL sxvery...

Страница 27: ...mounted Note The Ellipse development kit cables are not designed to offer an IP 68 protection Contact SBG Systems to get further support about IP 68 protection 2 2 1 Ellipse A without GPS aiding 2 2...

Страница 28: ...n or event marker input pins Single or dual channel Odometer input Miscellaneous RS 232 input PORT B for RTCM data input on Ellipse N A Synchronization output signal for time stamping and to trigger s...

Страница 29: ...n RS 232 mode 2 2 5 3 Connector pin out for Ellipse B2 versions Pin Name Description 1 SYNC IN A ODO B Multi function input May be used as clock event or odometer input 2 SYNC IN B PORT B RX ODO A Mul...

Страница 30: ...onnections An RS 232 RS 422 port for RTCM corrections input An additional RS 232 input for upward compatibility A synchronization input signal used for internal clock synchronization data time stampin...

Страница 31: ...6 V High level threshold 2 0 V Input resistance 3 5 7 k RS 422 Receivers Input differential threshold 200 125 50 mV Input hysteresis 25 mV Input resistance 96 k RS 232 Transmitters Output range 5 5 5...

Страница 32: ...lipse N embeds a high sensitivity GNSS receiver that supports L1 GPS and GLONASS signals For best performance and robustness please use low noise and high gain active GPS antennas that support the fre...

Страница 33: ...e 5 0 VDC LNA supply current 70 mA Minimum antenna gain 15 dB Maximum antenna gain 45 dB In order to enable proper heading measurements L1 L2 GPS antennas are required and tracking other constellation...

Страница 34: ...y and capabilities Port Available models Available package options Tx Rx capability RS 232 422 configuration Cable software defined Other functions multiplexing PORT A All All Tx Rx Cable RS 422 avail...

Страница 35: ...ition to the native sbgECom binary protocol other third party or standard protocols are also supported such as NMEA RTCM TSS1 Ublox Binary protocol and others 3 2 2 Ports functions Mapping Due to the...

Страница 36: ...utput RTCM input 3 2 2 4 Ellipse D version On Ellipse D the PORT C output capabilities are limited to some standard NMEA messages direct output from GNSS receiver This is sufficient for many LIDAR syn...

Страница 37: ...mentation and especially timing settings complies with the CAN in Automation CiA DS 102 standard The Ellipse supports the following standard CAN bus bitrates 1 000 kBit s 500 kBit s 250 kBit s 125 kBi...

Страница 38: ...C 40 to 185 F Storage temperature range 40 to 85 C 40 to 185 F Table 2 Absolute maximum ratings 4 2 Maintenance The Ellipse will not require any specific maintenance when properly used In the case yo...

Страница 39: ...ructions Customer shall be responsible for the packaging and the shipment of the defective product to the repair center notified by SBG Systems the cost of such shipment being borne by Customer This w...

Страница 40: ...GLONASS BEIDOU F GPS GLONASS BEIDOU GALILEO G For instance ELLIPSE2 D G4A2 B1 B1SA provides GPS GLONASS L1 L2 tracking Standalone DGPS mode Note It is still possible to add new licenses after you pur...

Страница 41: ...code Description DK ELI B Development kit for Ellipse A E and N in Box versions B1 or B2 DK ELI L Development Kit for Ellipse series OEM versions L1 or L2 5 2 2 DK ELI D The Development Kit is an esse...

Страница 42: ...SBG Systems inertial navigation systems performance by post processing inertial data with raw GNSS observable in both forward and backward directions Key Features Tight Coupling INS GNSS fusion Achiev...

Страница 43: ...nection of an Ellipse D device to any PC It includes in the USB plug a RS 232 to USB converter and a 2 1mm jack DC power input connector Weight 110g 5 4 3 CA PSU 12V 1 5M This 1 5 meters long AC DC in...

Страница 44: ...nal Ellipse D 1 GREEN SYNC IN A ODO B SYNC IN A ODO B SYNC IN C NC 2 BLUE SYNC IN B PORT B RX ODO A SYNC IN B PORT B RX ODO A SYNC IN D SYNC IN D 3 RED VIN VIN PORT D RX PORT D RX 4 BLACK GND GND GND...

Страница 45: ...1 GREEN SYNC IN A ODO B SYNC IN A ODO B SYNC IN C NC 2 BLUE SYNC IN B PORT B RX ODO A SYNC IN B PORT B RX ODO A SYNC IN D SYNC IN D 3 RED VIN VIN PORT D RX PORT D RX 4 BLACK GND GND GND GND 5 N A Int...

Страница 46: ...RT E RX 3 PORT A TX 3 PORT E TX 4 4 SYNC OUT A 5 GND 5 GND 6 6 7 7 8 8 SYNC IN B 9 9 The DC Jack plug is wired with VCC on the central pin and GND on the outer pin 5 4 7 CA ELI SPLIT CAN DB 0 5M This...

Страница 47: ...ELLIPSE E and D models It can be used for data output as well as connecting external GNSS receiver or sending RTCM corrections to ELLIPSE D The cable is composed of the following elements 1x UP01L07 M...

Страница 48: ...ormance specifications Parameter Specification Architecture Dual Quadrature Feeds One LNA per feed line mid section High rejection SAW filter LNA Gain 28 dB Noise figure 1dB VSWR at LNA output 1 5 1 P...

Страница 49: ...ecifications Parameter Specification LNA Gain 32dB Noise figure 3dB Power consumption 50 mA Antenna gain at zenith 100mm ground plane GPS L1 Galileo E1 E2 3 2 dBic GPS L2 Beidou B2 3 dBic GLONASS L1 3...

Страница 50: ...d in high demanding applications Dimensions 146mm h 62 5mm Weight 420g 5 5 3 1 TNC Cables Finally to connect the high performance GNSS antennas to an Ellipse sensor TNC cables can be provided All TNC...

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