ELLIPSE2 AHRS & INS
– Hardware Manual
ELLIPSE2HM.1.3
1. Introduction
The new Ellipse series is a line of miniature, high-performance
MEMS based Inertial Systems which achieve exceptional
orientation and navigation performance in a miniature 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 Ellipse-A version is an attitude and Heading Reference
System (AHRS), providing accurate orientation in dynamic
conditions.
●
The Ellipse-E, N and D models are Inertial Navigation
Systems (INS), providing both orientation and navigation
data. The use of GNSS data or other aiding equipment such
as odometer or internal barometric sensor can be used to
provide accurate navigation data, but also to improve orientation accuracy:
●
The Ellipse-E model can be connected to an external GNSS receiver.
●
The Ellipse-N model embeds an industrial GNSS receiver in a miniature package.
●
The Ellipse-D embeds a survey grade GNSS receiver with dual antenna 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 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 new Ellipse series (ELLIPSE2) is fully backward compatible with the first generation of Ellipse sensors.
1.1. Ellipse Overview
The following diagram shows the basic organization of an Ellipse-E or N. On the Ellipse-A version, this block
diagram is slightly simplify as there is no GPS, barometer inside.
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Figure 1.1: The Ellipse INS (N model)
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
GPS
Aiding Equipments
»
Dual Antenna GPS, GPS/GNSS, RTK
»
Odometer
BARO
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