BW SENSING GI420 Series User manual

GI420 Serials
High Precision MEMS Integrated
Navigation System
Technical Manual

GI420
High Precision MEMS Integrated Navigation System
Applications
●Antenna stabilization platform,drone flight control
●Navigation and control of AGV
●Attitude measurement and orientation reference
BW-GI420 is a high-precision MEMS sensor with high reliability and stability.It also has the
measurement accuracy of the medium and low precision fiber optic gyroscope and the excellent
environmental characteristics of the MEMS system.It is coupled with high precision GPS system to
provide high-precision position information.
BW - GI420 carry the newest integrated navigation sensor fusion algorithm engine. And this
optimal design is developed for solving the multipath interference. It can meet the requirements
of long time, high precision and high reliability navigation application in the complex environment
of city and field. Our product has good expansibility, BW-GI420 can be added an external GNSS/
odometer/DVL/barometric altitude meter and other many kinds of sensors. Because of this, we can
use the multi-sensor data fusion technology to combine the info of inertial measurement, satellite
navigation, odometer and other senors' data to improve the adaptability and diversity of the
system.
BW - GI420 integrated navigation system use tight coupling technique to combine the high
precision, professional level, double antenna, multi-channel single frequency carrier phase and
pseudo - range GPS receiver and high precision MEMS inertial measurement unit, so it has smaller
volume, lighter weight, higher performance, lower cost and other advantages.
Introduction
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GI420
High Precision MEMS Integrated Navigation System
Interface
characteristics
Power supply
Electrical interface
Data update rate
Environment
Operating temperature
Storage temperature
Size
Weight
Connector
-40°C ~ +60°C
-55°C ~ +85°C
60×62× 34 mm
≤100 g
J30J-15TJL
Physical
characteristics
Attitude accuracy
(2m baseline)
Satellite signal loss
Rolling attitude accuracy
Pitch attitude accuracy
0.1 deg
1 deg /5min
≤0.2 deg
≤0.2 deg
Combined external
GPS
Speed accuracy
Single point positioning accuracy
Directional accuracy
0.1m/s
DGPS accuracy 0.5m
/RTK accuracy 2cm
0.1deg,（2m baseline ）
Measuring range
Azimuth
Roll angle
Pitch angle
Angular velocity
Acceleration
±180 deg
±90 deg
±90 deg
±300 deg/s
±4 g
9~36 VDC, ≤3 W @ 24VDC
RS422
100 Hz @ 115,200 baud rate
Performance Specifications
Specifications
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GI420
High Precision MEMS Integrated Navigation System
Product Size：L60×W62×H34 （mm)
Product Size
BEWIS SENSING TECHNOLOGY LLC
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Note: Unfilled dimensional tolerances are performed in accordance with GB/T1804-2000 Class C.

GI420
High Precision MEMS Integrated Navigation System
BEWIS SENSING TECHNOLOGY LLC
www.bwsensing.com Tel: [phone]
Product installation
The correct installation method can avoid measurement error. The inertial measurement unit
produces an absolutely smooth surface by grinding on the underside and measuring surface for
installation .The following points should be made when installing the sensor:
Finally,after the product is tightly attached,screws should be used to fix the IMU to ensure tight
fixation,smooth conduct and stable rotation.Measurement errors caused by acceleration and
vibration should be voided.Bear in mind that the screw only plays a fixed role and doe not have a
positioning function.The screw hole of the IMU is processed into an elliptical shape for easy
adjustment.
First of all, to ensure that the sensor mounting surface and the measured surface completely close,
the measured surface should be as horizontal as possible, so that we can reduce installation error.
Secondly,when the product is installed,the bottom surface of the IMU and the body should be
coincident,and it is gently pushed to make the measurement surface of the IMU coincide with that of
the machine body,so that both surfaces are tightly attached,and there is no angle in Fig.A and
Fig.C.The correct installation is shown in Fig.B and Fig.D.
the measured surface the measured surface
C D
the measured surface the measured surface
AB
uneven surface
generates the
angle
uneven surface
generates the
angle

GI420
High Precision MEMS Integrated Navigation System
Debugging software
Software usage steps：
①
②
③
Ensure that the inertial navigation is absolutely static,correctly connect the serial port hardware of
the integrated navigation,and connect the power supply.
Select the computer serial port and baud rate and click to connect to the serial port.
Enter the correct geographic latitude,click Inertial Navigation Start→Command Input,the working
status on the screen shows static alignment,and the working state becomes INS navigation.At this
time,the inertial navigation enters the working state and can be used.
Electrical connections
Data cable RS422 interface definition, DB9 female:
DB9 connector pin Interface definition Remarks
1 R+Receive +
2 R-Receive -
3 T+Transmit +
4 T-Transmit -
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GI420
High Precision MEMS Integrated Navigation System
Protocol
After the system is powered on, the normal operating time is 20Hz frequency, RS422 communication 115200bps,
n, 8, 1 broadcast broadcast navigation data, 48 bytes per frame data as shown in the following table:
Navigaon data
Byte number Content Data type Byte count
1-2 Frameheader: 0X5A0X A5 Byte 2
3
Workingstatus:0- Monitoring
status,1-Stacalignment,2-INS
navigaon
Byte 1
4-5 Ineralpitchangle([-90,90]
degrees) in units of 0.01 degrees
Short int (low byte first,high byte
last)
2
6-7
Ineralguiderollangle
([-180,180]degrees), unit 0.01
degree
2
8-9
Ineralazimuth([-180,180]
degrees),northto eastis -, north
to west is +, unitis 0.01degrees
2
10-11
neralX-axisangularvelocity
Wx(degree/s) in units of 0.01
deg/s
2
12-13
neral Y-axis angular velocity
Wy(degree/s) in units of 0.01
deg/s
2
14-15
neral Z-axis angular velocity
Wx(degree/s) in units of 0.01
deg/s
2
16-17 Ineral X-axis acceleraon Ax(m/
s / s), unit0.01m / s/ s 2
18-19 Ineral Y-axisacceleraonAy (m /
s / s), unit 0.01m / s/ s 2
20-21 Ineral Z-axis acceleraon Az (m /
s / s), unit0.01m / s/ s 2
22-23 Speed aer GPS satellite
posioning, unit 0.1 m / sec 2
24-25
GPS trackangle([-180,180]
degrees), north to the east is -,
north to west is +, the unit is 0.1
degrees
2
26-27 GPS satellite number 2
28-29 GPS altude, unit 0.1 m 2
30-33 Latude aer GPS satellite
posioning, unit degree
Float(low byte first, high byte
aer), value range [-90,90]
degrees, the north latude is +
and the south latude is -.
4
34-37 Longitude aer GPS satellite
posioning, unit degree
Float (low byte first, high byte
aer), value range[-180,180]
degrees, east longitude is +,west
4
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GI420
High Precision MEMS Integrated Navigation System
Executive standard
●Enterprise Quality System Standard: ISO9001:2008 Standard(Certificate No.:10114Q16846ROS)
●CE certification (certificate number: 3854210814)
●ROHS (certificate number: SO81426003)
●GJB 2426A-2004 Fiber Optic Gyro Test Method
●GBT 18459-2001 sensor main static performance index calculation method
●JF 1059-1999 Evaluation and Expression of Measurement Uncertainty
●GBT 14412-2005 mechanical vibration and shock mechanical installation of accelerometer
●General requirements for GJB 450A-2004 equipment reliability
●Quality control of key parts and important parts of GJB 909A
●GJB 899 Reliability Qualification and Acceptance Test
●GJB 150-3A high temperature test
●GJB 150-4A low temperature test
●GJB 150-8A rain test
●GJB 150-12A dust test
●GJB 150-16A vibration test
●GJB 150-18A impact test
●GJB 150-23A Tilt and Swing Test
●GB/T 17626-3A RF electromagnetic radiation immunity test
●GB/T 17626-5A surge (hit) impulse immunity test
●GB/T 17626-8A power frequency magnetic field immunity test
●GB/T 17626-11A voltage dips, short interruptions and voltage changes immunity
●GB/T 2423.22-2012 Environmental testing Part 2:test method Test N:temperature
change（IEC 60068-2-14:2009,IDT）
●GB/T 10125-2012Artificial atmosphere corrosion test Salt spray test（ISO 9227:2006,IDT）
BEWIS SENSING TECHNOLOGY LLC
www.bwsensing.com Tel: [phone]

GI420
High Precision MEMS Integrated
Navigation System
Wuxi Bewis Sensing Technology LLC
Address: Building 30, No. 58 Xiuxi Road, Binhu District, Wuxi City
Hotline: [phone]
Tel: [phone]-801
Email: [email protected]
Website: www.bwsensing.com