ELLIPSE2 Micro series
– Hardware Manual
ELLIPSEMHM.1.1
1.3.2. External sensors
1.3.2.1. Third party GNSS receiver
The Ellipse-E model does not include a GNSS receiver, but can be connected to an external GNSS module. All
GNSS receivers will provide velocity and position aiding.
Dual antenna receivers can also provide a True Heading aiding. RTK GPS receivers can be used to improve
positioning accuracy.
1.3.2.2. Odometer
In addition to the GNSS aiding, the Ellipse micro ‘E’ version includes two sync inputs that can be used as
odometer input. This can greatly improve performance in challenging environments such as urban canyons.
The odometer provides a reliable velocity information even during GPS outages. This increases significantly
the dead reckoning accuracy.
Warning: In a typical INS setup, one sync IN will be dedicated to PPS input and the second can be
used as odometer input. It means that the Ellipse Micro can only handle uni-directional odometers.
If you need direction detection please consider using the full featured Ellipse sensor instead of
Ellipse Micro.
Note: Odometer integration is made really simple as the Kalman filter will finely adjust odometer's
gain and will correct residual errors in the odometer alignment and lever arm.
1.4. AHRS specifications
All specifications are rated to 1 , over -40°C to +85°C (-40 to
σ
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.
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
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