SBG Systems Exinox Subsea Series, Руководство по оборудованию

Страница: 8 / 42

Ekinox Subsea – Hardware Manual EKINOXSUBSEAHM.1.4
2. Performance specification
2.1. Inertial measurement unit
As an IMU is the main component of an inertial navigation system, the Ekinox IMU has been carefully
designed to take full advantage and performance of MEMS technology.
2.1.1. Accelerometers
The Ekinox IMU embeds a set of 3 MEMS capacitive accelerometers. Coupled with advanced filtering
techniques and sculling integrals, these accelerometers will provide consistent performance, even in
vibrating environment.
A1 A3 Remarks
Full scale (
g)
2 10
One year bias stability (µ
g)
300 1500
In run bias instability (µ
g)
10 40 Allan variance – @ 25°C
Velocity Random Walk (µ
g/√hz)
18 100 Allan variance – @ 25°C
Gain (ppm) 300 300
Linearity (% of FS) 0.05 0.05
Noise (µ
g)
90 450 Over 1 to 25 Hz band
Bandwidth (Hz) 100 100 Attenuation < 3 dB
Resolution (m g) 0.1 0.6
Sampling rate (kHz) 5 5
Orthogonality (°) 0.03 0.03
2.1.2. Gyroscopes
The set of 3 high end tactical grade MEMS gyroscopes is sampled at 1 000 KHz. An efficient FIR filter and
coning integrals computations ensures best performance in vibrating environments.
G4 Remarks
Full scale (°/s) 400 Specified performance, saturates at 450°/
s
One year bias stability (°/hr) < 300 Total composite bias
In run bias instability (°/hr) < 3 Allan variance – @ 25°C
Angular Random Walk (°/hr/√hz) < 30 Allan variance – @ 25°C
Gain (ppm) 300
Linearity (% of FS) 0.05
Noise (°/s) 0.3 Over 1 to 25 Hz band
Bandwidth (Hz) 100 Attenuation < 3 dB
Resolution (°/s) 0.03125
Sampling rate (kHz) 1
8/42