Advanced Navigation Spatial OEM User manual
Spatial OEM Reference Manual
Spatial OEM Reference Manual
Page 2 of 88
Version 2.7
Table of Contents
1 Revision History..........................................................................................................................7
2 Foundation Knowledge..............................................................................................................10
2.1 GN ................................................................................................................................ 10
2.2 IN .....................................................................................................................................10
2.3 GN /IN ..........................................................................................................................10
2.4 AHR ................................................................................................................................. 10
2.5 The ensor Co-ordinate Frame..........................................................................................11
2.6 Roll, Pitch and Heading......................................................................................................11
2.6.1 Roll.............................................................................................................................11
2.6.2 Pitch........................................................................................................................... 12
2.6.3 Heading......................................................................................................................13
2.6.4 econd Right Hand Rule............................................................................................13
2.6.5 Rotation Order............................................................................................................14
2.7 Geodetic Co-ordinate ystem............................................................................................14
2.8 NED Co-ordinate Frame....................................................................................................16
2.9 ECEF Co-ordinate Frame..................................................................................................17
3 Introduction................................................................................................................................18
4 pecifications............................................................................................................................19
4.1 Mechanical Drawings.........................................................................................................19
4.2 Navigation pecifications...................................................................................................19
4.3 ensor pecifications........................................................................................................20
4.4 GN pecifications..........................................................................................................20
4.5 Communication pecifications...........................................................................................21
4.6 Hardware pecifications....................................................................................................21
4.7 Electrical pecifications.....................................................................................................22
4.8 Power Consumption...........................................................................................................22
4.9 ensor Calibration.............................................................................................................23
5 PCB Design and Integration......................................................................................................24
5.1 PCB Mechanical Mounting.................................................................................................24
5.2 Electrical Connector...........................................................................................................24
5.3 Connector Pin-out..............................................................................................................25
5.3.1 Interoperability with Different Voltage ystems...........................................................26
5.3.2 Reset Line..................................................................................................................26
5.3.3 Basic Connection.......................................................................................................27
5.4 Recommended Footprint...................................................................................................27
5.5 Power upply.....................................................................................................................29
5.6 U.FL RF Connector............................................................................................................30
5.7 Pin Protection....................................................................................................................30
6 Installation.................................................................................................................................31
6.1 Position and Alignment......................................................................................................31
6.1.1 Alignment...................................................................................................................31
6.2 GN Antenna..................................................................................................................32
6.3 Odometer........................................................................................................................... 33
6.4 Magnetics..........................................................................................................................33
6.5 Vibration.............................................................................................................................34
7 Operation.................................................................................................................................. 35
7.1 Filter................................................................................................................................... 35
7.2 Initialisation........................................................................................................................35
7.3 Hot tart.............................................................................................................................35
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7.4 Time...................................................................................................................................36
7.5 Heading ource.................................................................................................................36
7.5.1 Magnetic Heading......................................................................................................36
7.5.2 Velocity Heading.........................................................................................................36
7.5.3 External Heading........................................................................................................36
7.6 Magnetics..........................................................................................................................36
7.6.1 2D Magnetic Calibration.............................................................................................37
7.6.1.1 Using the patial Manager oftware...................................................................37
7.6.1.2 Using the Packet Protocol...................................................................................37
7.6.2 3D Magnetic Calibration.............................................................................................38
7.6.2.1 Using the patial Manager oftware...................................................................38
7.6.2.2 Using the Packet Protocol...................................................................................38
7.6.3 Disabling Magnetometers...........................................................................................39
7.7 ensors Range..................................................................................................................39
7.8 Data Anti Aliasing...............................................................................................................39
7.9 Vehicle Profiles..................................................................................................................39
7.10 Odometer Pulse Length...................................................................................................39
7.10.1 Odometer Automatic Pulse Length Calibration Procedure........................................40
7.11 RAIM................................................................................................................................ 40
7.12 Underwater Navigation....................................................................................................40
7.12.1 DVL (Doppler Velocity Log) Peripheral.....................................................................40
7.12.2 U BL (Ultra-short Baseline) Peripheral....................................................................41
7.12.3 Depth........................................................................................................................ 41
7.12.4 DVL and U BL Combined ystems..........................................................................42
7.13 Heave.............................................................................................................................. 42
7.14 Temperature..................................................................................................................... 42
8 Interfacing..................................................................................................................................43
8.1 Communication..................................................................................................................43
8.1.1 Baud Rate..................................................................................................................43
8.2 External data......................................................................................................................43
8.3 GPIO Pins.......................................................................................................................... 43
8.3.1 1PP Output..............................................................................................................44
8.3.2 GN Fix Output........................................................................................................45
8.3.3 Odometer Input..........................................................................................................45
8.3.4 tationary Input..........................................................................................................45
8.3.5 Pitot Tube Input..........................................................................................................45
8.3.6 NMEA Input................................................................................................................45
8.3.7 NMEA Output.............................................................................................................46
8.3.8 Novatel GN Input...................................................................................................46
8.3.9 Topcon GN Input....................................................................................................46
8.3.10 Motec Output............................................................................................................46
8.3.11 ANPP Input...............................................................................................................46
8.3.12 ANPP Output............................................................................................................46
8.3.13 Disable Magnetometers............................................................................................47
8.3.14 Disable GN ..........................................................................................................47
8.3.15 Disable Pressure......................................................................................................47
8.3.16 et Zero Orientation Alignment.................................................................................47
8.3.17 ystem tate Packet Trigger....................................................................................47
8.3.18 Raw ensors Packet Trigger....................................................................................47
8.3.19 RTCM Differential GN Corrections Input..............................................................47
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8.3.20 Trimble GN Input..................................................................................................47
8.3.21 u-blox GN Input...................................................................................................47
8.3.22 Hemisphere GN Input..........................................................................................48
8.3.23 Teledyne DVL Input..................................................................................................48
8.3.24 Tritech U BL Input...................................................................................................48
8.3.25 Linkquest DVL Input.................................................................................................48
8.3.26 Pressure Depth Transducer Input.............................................................................48
8.3.27 Left Wheel peed ensor.........................................................................................48
8.3.28 Right Wheel peed ensor......................................................................................48
8.3.29 1PP Input...............................................................................................................48
9 Advanced Navigation Packet Protocol.......................................................................................50
9.1 Data Types.........................................................................................................................50
9.2 Packet tructure................................................................................................................50
9.2.1 Header LRC...............................................................................................................51
9.2.2 Packet ID....................................................................................................................51
9.2.3 Packet Length............................................................................................................51
9.2.4 CRC...........................................................................................................................51
9.3 Packet Requests................................................................................................................51
9.4 Packet Acknowledgement..................................................................................................52
9.5 Packet Rates.....................................................................................................................52
9.6 Packet ummary................................................................................................................52
9.7 ystem Packets.................................................................................................................54
9.7.1 Acknowledge Packet..................................................................................................54
9.7.1.1 Acknowledge Result............................................................................................55
9.7.2 Request Packet..........................................................................................................55
9.7.3 Boot Mode Packet......................................................................................................55
9.7.3.1 Boot Mode Types................................................................................................55
9.7.4 Device Information Packet..........................................................................................56
9.7.5 Restore Factory ettings Packet................................................................................56
9.7.6 Reset Packet..............................................................................................................56
9.8 tate Packets.....................................................................................................................56
9.8.1 ystem tate Packet..................................................................................................57
9.8.1.1 ystem tatus.....................................................................................................57
9.8.1.2 Filter tatus.........................................................................................................58
9.8.1.3 Unix Time econds.............................................................................................59
9.8.1.4 Microseconds......................................................................................................59
9.8.2 Unix Time Packet.......................................................................................................59
9.8.3 Formatted Time Packet..............................................................................................60
9.8.4 tatus Packet.............................................................................................................60
9.8.5 Position tandard Deviation Packet...........................................................................61
9.8.6 Velocity tandard Deviation Packet............................................................................61
9.8.7 Euler Orientation tandard Deviation Packet.............................................................61
9.8.8 Quaternion Orientation tandard Deviation Packet....................................................62
9.8.9 Raw ensors Packet..................................................................................................62
9.8.10 Raw GN Packet...................................................................................................63
9.8.11 atellites Packet.......................................................................................................63
9.8.12 Detailed atellites Packet.........................................................................................64
9.8.12.1 Navigation ystem............................................................................................64
9.8.12.2 atellite Frequencies........................................................................................64
9.8.13 Geodetic Position Packet.........................................................................................65
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9.8.14 ECEF Position Packet..............................................................................................65
9.8.15 UTM Position Packet................................................................................................65
9.8.16 NED Velocity Packet.................................................................................................66
9.8.17 Body Velocity Packet................................................................................................66
9.8.18 Acceleration Packet..................................................................................................66
9.8.19 Body Acceleration Packet.........................................................................................67
9.8.20 Euler Orientation Packet...........................................................................................67
9.8.21 Quaternion Orientation Packet.................................................................................67
9.8.22 DCM Orientation Packet...........................................................................................68
9.8.23 Angular Velocity Packet............................................................................................68
9.8.24 Angular Acceleration Packet.....................................................................................69
9.8.25 External Position & Velocity Packet..........................................................................69
9.8.26 External Position Packet...........................................................................................70
9.8.27 External Velocity Packet...........................................................................................70
9.8.28 External Body Velocity Packet..................................................................................71
9.8.29 External Heading Packet..........................................................................................71
9.8.30 Running Time Packet...............................................................................................71
9.8.31 Local Magnetic Field Packet.....................................................................................72
9.8.32 Odometer tate Packet............................................................................................72
9.8.33 External Time Packet................................................................................................72
9.8.34 External Depth Packet..............................................................................................73
9.8.35 Geoid Height Packet.................................................................................................73
9.8.36 RTCM Corrections Packet........................................................................................73
9.8.37 External Pitot Pressure Packet.................................................................................73
9.8.38 Wind Estimation Packet............................................................................................74
9.8.39 Heave Packet...........................................................................................................74
9.9 Configuration Packets........................................................................................................75
9.9.1 Packet Timer Period Packet.......................................................................................75
9.9.1.1 UTC ynchronisation..........................................................................................75
9.9.1.2 Packet timer period.............................................................................................75
9.9.2 Packets Period Packet...............................................................................................76
9.9.2.1 Clear Existing Packets........................................................................................76
9.9.2.2 Packet Period.....................................................................................................76
9.9.3 Baud Rates Packet.....................................................................................................77
9.9.4 ensor Ranges Packet...............................................................................................77
9.9.4.1 Accelerometers Range........................................................................................77
9.9.4.2 Gyroscopes Range.............................................................................................78
9.9.4.3 Magnetometers Range.......................................................................................78
9.9.5 Installation Alignment Packet......................................................................................79
9.9.5.1 Alignment DCM...................................................................................................79
9.9.6 Filter Options Packet..................................................................................................80
9.9.6.1 Vehicle Types......................................................................................................81
9.9.7 Advanced Filter Parameters Packet...........................................................................81
9.9.8 GPIO Configuration Packet........................................................................................81
9.9.8.1 GPIO1 Functions................................................................................................82
9.9.8.2 GPIO2 Functions................................................................................................83
9.9.8.3 GPIO3 Functions................................................................................................84
9.9.8.4 GPIO4 Functions................................................................................................85
9.9.9 Magnetic Calibration Values Packet...........................................................................86
9.9.10 Magnetic Calibration Configuration Packet...............................................................86
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9.9.10.1 Magnetic calibration Actions..............................................................................87
9.9.11 Magnetic Calibration tatus Packet..........................................................................87
9.9.11.1 Magnetic Calibration tatus..............................................................................87
9.9.12 Odometer Configuration Packet...............................................................................88
9.9.13 et Zero Orientation Alignment Packet.....................................................................88
9.9.14 Heave Offset Packet.................................................................................................89
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Version 2.7
1 Revision History
Version Date Changes
2.7 27/03/2013 Added additional magnetic information, section 7.6
Added 1PP input, section 8.3.29
Updated detailed satellites packet, section 9.8.12
Corrected geoid height packet, section 9.8.35
2.6 29/01/2013 Added heave information, section 7.13
Added RTCM corrections packet, section 9.8.36
Added external pitot pressure packet, section 9.8.37
Added wind estimation packet, section 9.8.38
Added heave packet, section 9.8.39
Updated GPIO3 functions, section 9.9.8.3
Updated GPIO4 functions, section 9.9.8.4
Added heave configuration packet, section 9.9.14
2.5 07/12/2012 Added underwater navigation information, section 7.12
Added Linkquest DVL input, section 8.3.25
Added pressure depth transducer input, section 8.3.26
Added left wheel speed sensor input, section 8.3.27
Added right wheel speed sensor input, section 8.3.28
Added external time packet, section 9.8.33
Added external depth packet, section 9.8.34
Added geoid height packet, section 9.8.35
Updated GPIO functions tables, section 9.9.8
2.4 06/12/2012 Yaw terminology changed to heading for increased clarity
Reworded installation magnetics for increased clarity, section 6.4
Reworded initialisation for increased clarity, section 7.2
Reworded operation magnetics for increased clarity, section 7.6
Added vehicle profiles information, section 7.9
Updated NMEA output, section 8.3.7
Added Tritech U BL input, section 8.3.24
2.3 19/11/2012 Installation magnetics changed, section 6.4
Heading source added, section 7.5
Disabling magnetometers changed, section 7.6.3
GPIOs information updated, section 8.3
Added NMEA input GPGLL support, section 8.3.6
Added NMEA input GPHDT support, section 8.3.6
Added NMEA input HEHDT support, section 8.3.6
Updated NMEA output, section 8.3.7
Added RTCM corrections input, section 8.3.19
Added Trimble GN input, section 8.3.20
Added u-blox GN input, section 8.3.21
Added Hemisphere GN input, section 8.3.22
Added Teledyne DVL input, section 8.3.23
Updated GPIO functions table, section 9.9.8
2.2 30/10/2012 ensor specifications updated, section 4.3
Blurry recommended footprint fixed, section 5.4
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Version 2.7
Version Date Changes
2.1 28/10/2012 Regrouped integration information into section 5
Updated mechanical mounting, section 5.1
Added basic electrical connection, section 5.3.3
Updated recommended footprint information, section 5.4
Added pin protection, section 5.7
Fixed error in odometer state packet, section 9.8.32
2.0 18/10/2012 Added information on sensor calibration, section 4.9
Added odometer installation information, section 6.3
Updated filter description to clarify instability, section 7.1
Added hot start information, section 7.3
Added time information, section 7.4
Added odometer pulse length information, section 7.10
Added RAIM information, section 7.11
Updated Odometer input, section 8.3.3
Updated NMEA output, section 8.3.7
Added disable magnetometers GPIO function, section 8.3.13
Added disable GN GPIO function, section 8.3.14
Added disable pressure GPIO function, section 8.3.15
Added set zero alignment GPIO function, section 8.3.16
Added system state packet trigger GPIO function, section 8.3.17
Added raw sensors packet trigger GPIO function, section 8.3.18
Updated acknowledge packet, section 9.7.1
Added running time packet, section 9.8.30
Added local magnetic field packet, section 9.8.31
Added odometer state packet, section 9.8.32
Updated installation alignment packet, section 9.9.5
Fixed error in filter options packet, section 9.9.6
Updated GPIO configuration packet, section 9.9.8
Added odometer configuration packet, section 9.9.12
Added set zero orientation alignment packet, section 9.9.13
1.0 16/09/2012 1PP description updated, section 8.3.1
Corrected reset packet, section 9.7.6
Corrected external body velocity packet, section 9.8.28
Revised alignment packet, section 9.9.5
Grammar and spelling corrections
0.6 31/08/2012 Grammar corrections throughout
pelling corrections throughout
Updated 3D magnetic calibration, section 7.6.2
Updated cover page photo
0.5 28/08/2012 Corrected satellite indexes, section 9.8.12.1
Added navigation specifications, section 4.2
Added sensor specifications, section 4.3
Added GN specifications, section 4.4
Added communication specifications, section 4.5
Added hardware specifications, section 4.6
0.3 23/08/2012 Clarified anti aliasing, section 7.8
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Version 2.7
Version Date Changes
Added external data, section 8.2
Added GPIO information, section 8.3
Added GPIO configuration packet, section 9.9.8
0.2 11/08/2012 Magnetic calibration values packet corrected
Incorrect length fixed on several packets
Grammar corrections
you notice any mistakes or anything is not explained clearly.
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Version 2.7
2 oundation Knowledge
This chapter is a learning reference that briefly covers knowledge essential to understanding
patial and the following chapters. It explains the concepts in simple terms so that people
unfamiliar with the technology may understand it.
2.1 GNSS
GN stands for global navigation satellite system. A GN consists of a number of satellites in
space that broadcast navigation signals. These navigation signals can be picked up by a GN
receiver on the earth to determine that receiver’s position and velocity. For a long time the only
operational GN was the United tates GP . However the Russian GLONA is now fully
operational with similar performance to GP . The Chinese COMPA is in the process of
becoming operational and the European Union’s GALILEO should be operational within ten years.
GN is excellent for navigational purposes and provides fairly accurate position (2.5 metres) and
velocity (0.03 metres/second). The main drawback of GN is that the receiver must have a clear
signal from at least 4 satellites to function. GN satellite signals are very weak and struggle to
penetrate through buildings and other objects obstructing view of the sky. GN can also
occasionally drop out due to disturbances in the upper atmosphere.
2.2 INS
IN stands for inertial navigation system. An inertial navigation system can provide position and
velocity similar to GN but with some big differences. The principle of inertial navigation is the
measurement of acceleration. This acceleration is then integrated into velocity. The velocity is then
integrated into position. Due to noise in the measurement and the compounding of that noise
through the integration, inertial navigation has an error that increases exponentially over time.
Inertial navigation systems have a very low relative error over short time periods but over long time
periods the error can increase dramatically.
2.3 GNSS/INS
By combining GN and IN together in a mathematical algorithm, it is possible to take advantage
of the benefits of GN long-term accuracy and IN short-term accuracy. This provides an overall
enhanced position and velocity solution that can withstand short GN drop outs.
2.4 AHRS
AHR stands for attitude and heading reference system. An AHR uses accelerometers,
gyroscopes and magnetometers combined in a mathematical algorithm to provide orientation.
Orientation consists of the three body angles roll, pitch and heading.
2.5 The Sensor Co-ordinate rame
Inertial sensors have 3 different axes: X, Y and Z and these determine the directions around which
angles and accelerations are measured. It is very important to align the axes correctly in
installation otherwise the system won't work correctly. These axes are marked on the top of the
device as shown in Illustration 1 below with the X axis pointing in the direction of the connectors,
the Z axis pointing down through the base of the unit and the Y axis pointing off to the right.
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When installed in an application the X axis should be aligned such that it points forwards and the Z
axis aligned so that it points down when level. A good way to remember the sensor axes is the right
hand rule, which is visualised in Illustration 2. You take your right hand and extend your thumb,
index and middle. Your thumb then denotes the X axis, your index denotes the Y axis and your
middle denotes the Z axis.
2.6 Roll, Pitch and Heading
Orientation can be described by the three angles roll, pitch and heading, these are known as the
euler angles. They are best described visually through the Illustrations below.
2.6.1 Roll
Roll is the angle around the X axis. ee Illustration 3 for the positive direction of roll and Illustration
4 for an example of a roll of 90 degrees.
Illustration 2: First right hand rule
Illustration 1: Bird's eye
view of Spatial showing
axes marked on top
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2.6.2 Pitch
Pitch is the angle around the Y axis. ee Illustration 5 for the positive direction of pitch and
Illustration 6 for an example of a pitch of 90 degrees.
Illustration 3: Spatial with lack
arrow indicating positive
direction of roll
Illustration 4: Spatial
after a roll of 90 degrees
Illustration 5: Spatial with with lack arrow indicating
positive direction of pitch Illustration 6: Spatial after a pitch of 90 degrees
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2.6.3 Heading
Heading is the angle around the Z axis. ee Illustration 7 for the positive direction of heading and
Illustration 8 for an example of a heading change of 90 degrees. 0 degrees heading is when the
positive X axis points North and 180 degrees heading is when the positive X axis points outh.
2.6.4 Second Right Hand Rule
The two right hand rules are often the best way to memorise the sensor axes and directions of
positive rotation. The first right hand rule gives the positive axis directions and is described in
section 2.5. The second right hand rule shown in Illustration 9 provides the direction of positive
rotation. To use it, point your thumb in the positive direction of that axis, then the direction that your
fingers curl over is the positive rotation on that axis.
Illustration 8: Spatial after a heading change of 90
degrees
Illustration 7: Spatial with lack arrow
indicating positive direction of heading
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2.6.5 Rotation Order
When multiple axes are rotated, to imagine the final orientation the three rotations must be
performed in the order heading first, then pitch and then roll. To deduce the final orientation the unit
should first be considered level with the X axis pointing north and the Z axis pointing down.
Heading is applied first, then pitch is applied and finally roll is applied to give the final orientation.
This can be hard for some people to grasp at first and is often best learned experimentally by
rotating spatial with your hand whilst watching the orientation plot in real time on the computer.
2.7 Geodetic Co-ordinate System
The geodetic co-ordinate system is the most popular way of describing an absolute position on the
Earth. It is made up of the angles latitude and longitude combined with a height relative to the
ellipsoid. Latitude is the angle that specifies the north to south position of a point on the Earth's
surface. Longitude is the angle that specifies the east to west position of a point on the Earth's
surface. The line of zero latitude is the equator and the line of zero longitude is the prime meridian.
Illustration 10 shows how latitude and longitude angles are used to describe a position on the
surface of the Earth.
Illustration 9: Second right hand rule
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Latitude and longitude give the 2D point on the surface of the Earth. These are combined with
height to give the 3D position on the Earth.
Height is the height above the WG 84 reference ellipsoid. The WG 84 reference ellipsoid is a
model used to approximate sea level across the Earth. Therefore the height should be considered
approximately relative to sea level. Due to the approximate nature of the WG 84 model, the
WG 84 height will not be the same as the actual sea level. For example, in Australia, the WG 84
height at sea level is 9 metres at some points.
2.8 NED Co-ordinate rame
The NED (North East Down) co-ordinate frame is used to express velocities and relative positions.
The origin of the co-ordinate frame can be considered the current position. From that origin, the
north axis points true north and parallel to the line of latitude at that point. The east axis points
perpendicular to the north axis and parallel to the line of longitude at that point. The down axis
points directly down towards the centre of the Earth. ee Illustration 12 for a graphical
representation of the NED co-ordinate frame at a position on the Earth.
Illustration 11: World map showing latitudes and longitudes
Equator
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2.9 ECE Co-ordinate rame
The ECEF (Earth-centred earth-fixed) co-ordinate frame is a Cartesian co-ordinate frame used to
represent absolute positions on the Earth. It's origin is at the centre of the Earth. ECEF is an
alternative to the geodetic co-ordinate frame. It is represented by the three axes X, Y and Z which
are presented graphically in Illustration 12. ECEF positions can be retrieved from Advanced
Navigation products however the geodetic system is used as the default.
Illustration 12: Graphic showing geodetic, NED and ECEF co-ordinates
Z
Y
X
North
East
ecef
ecef
ecef
Latitude
Longitude
Down
North Pole
outh Pole
Equator
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3 Introduction
patial is a miniature GN /IN & AHR system that provides accurate position, velocity,
acceleration and orientation under the most demanding conditions. It combines temperature
calibrated accelerometers, gyroscopes, magnetometers and a pressure sensor with an advanced
GN receiver. These are coupled in a sophisticated fusion algorithm to deliver accurate and
reliable navigation and orientation.
patial can provide amazing results but it does need to be set up properly and operated with an
awareness of it’s limitations. Please read through this manual carefully to ensure success within
your application.
The patial Manager software is downloadable from the software section. It allows patial to be
easily configured and tested. It is referenced throughout this manual.
If you have any questions please contact [email protected].
Attention
patial OEM is an Electrostatic ensitive Device and must be handled with care.
Precautions against static must be taken when handling patial OEM.
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4 Specifications
4.1 Mechanical Drawings
Illustration 13: Mechanical drawings of Spatial OEM
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4.2 Navigation Specifications
Parameter Value
Horizontal Position Accuracy 2.0 m
Vertical Position Accuracy 3.0 m
Horizontal Position Accuracy (with DGN ) 0.6 m
Vertical Position Accuracy (with DGN ) 1.0 m
Velocity Accuracy 0.05 m/s
Roll & Pitch Accuracy ( tatic) 0.1 °
Heading Accuracy ( tatic) 0.5 °
Roll & Pitch Accuracy (Dynamic) 0.2 °
Heading Accuracy (Dynamic with GN ) 0.2 °
Heading Accuracy
(Dynamic, magnetic only)
0.8 °
Orientation Range Unlimited
Hot tart Time 500 ms
Internal Filter Rate 1000 Hz
Output Data Rate Up to 1000 Hz
Ta le 1: Navigation specifications
4.3 Sensor Specifications
Parameter Accelerometers Gyroscopes Magnetometers Pressure
Range
(dynamic)
2 g
4 g
16 g
250 °/s
500 °/s
2000 °/s
2 G
4 G
8 G
10 to 120 KPa
Noise Density 150 ug/√Hz 0.008 °/s/√Hz 210 uG/√Hz 0.56 Pa/√Hz
Non-linearity < 0.05 % < 0.05 % < 0.05 % -
Bias tability 60 ug 3 °/hr - 100 Pa/yr
cale Factor
tability
< 0.05 % < 0.05 % < 0.05 % -
Cross-axis
Alignment Error
< 0.05 ° < 0.05 ° 0.05 ° -
Bandwidth 400 Hz 400 Hz 110 Hz 50 Hz
Ta le 2: Sensor specifications
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