SBG Systems Apogee Surface Series User manual

Apogee Surface series
Ultimate Accuracy MEMS Inertial Sensors
User Manual
Document APOGEEHM.1.3
evision 1.3 - Apr 10, 2018
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Apogee Surface Series – Hardware Manual APOGEEHM.1.3
evision history
ev. Date Author Information
1.3 Apr 10, 2018 aphaël Siryani [APGHM-11] Fixed invalid product dimensions in inches
[APGHM-10] Updated company address
[APGHM-9] Added Qinertia Port Processing Software section
[APGHM-8] efined IMU sensor specifications
[APGHM-7] Added split cables accessories
1.2 Jul 12, 2017 Alexis Guinamard [APGHM-6] Add cover coordinate frame location specifications for IMU center of
measurement
[APGHM-4] emove obsolete virtual odometer data
1.1 Jun 9, 2016 Alexis Guinamard [EKIDOC-63] Added Apogee performance specifications
[EKIDOC-62] Split User Manuals in two new documents: Technical eference Manual and
Hardware Manual
[APGHM-2] Update support contact details
1 Mar 6, 2015 aphaël Siryani First preliminary version
© 2007 – 2018, SBG Systems SAS. All rights reserved. Information in this document is subject to change
without notice. Copy or redistribution of this document is forbidden without express authorization of SBG
Systems.
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Apogee Surface Series – Hardware Manual APOGEEHM.1.3
Index
Terminology............................................................................................................................................................ 6
1. Introduction........................................................................................................................................................ 7
1.1. Apogee Overview........................................................................................................................................ 8
2. Performance specifications.............................................................................................................................. 9
2.1. Inertial measurement unit........................................................................................................................ 9
2.1.1. Accelerometers......................................................................................................................................................................... 9
2.1.2. Gyroscopes............................................................................................................................................................................... 9
2.2. Aiding sensors......................................................................................................................................... 10
2.2.1. Apogee-N and D internal GNSS receiver............................................................................................................................... 10
2.2.2. External aiding sensors.......................................................................................................................................................... 11
2.3. Orientation and Navigation Performance................................................................................................ 11
2.3.1. Common specifications........................................................................................................................................................... 11
2.3.2. Marine & Subsea applications............................................................................................................................................... 11
2.3.2.1. Heave performance....................................................................................................................................................... 12
2.3.3. Land applications.................................................................................................................................................................. 12
2.3.4. Airborne applications............................................................................................................................................................ 12
2.3.5. eal time Performance monitoring...................................................................................................................................... 12
3. Mechanical specifications................................................................................................................................ 13
3.1. Overview................................................................................................................................................... 13
3.1.1. Main Specifications................................................................................................................................................................. 13
3.1.2. Device mechanical alignment................................................................................................................................................ 14
3.1.3. Origin of measurements........................................................................................................................................................ 14
3.1.4. Device label............................................................................................................................................................................. 14
3.2. Apogee-A and E mechanical outline....................................................................................................... 15
3.2.1. Front view............................................................................................................................................................................... 15
3.2.2. ight view.............................................................................................................................................................................. 15
3.2.3. Top view................................................................................................................................................................................. 16
3.2.4. Bottom view........................................................................................................................................................................... 17
3.3. Apogee-N and D mechanical outline...................................................................................................... 18
3.3.1. Front view............................................................................................................................................................................... 18
3.3.2. ight view.............................................................................................................................................................................. 18
3.3.3. Top view................................................................................................................................................................................. 19
3.3.4. Bottom View......................................................................................................................................................................... 20
4. Electrical specifications................................................................................................................................... 21
4.1. Overview................................................................................................................................................... 21
4.1.1. Apogee-A and E...................................................................................................................................................................... 21
4.1.2. Apogee-N and D with embedded GNSS................................................................................................................................ 21
4.2. Power supply connector.......................................................................................................................... 22
4.2.1. Connector specifications....................................................................................................................................................... 22
4.2.2. Connector pin out................................................................................................................................................................. 22
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Apogee Surface Series – Hardware Manual APOGEEHM.1.3
4.2.3. Electrical specifications........................................................................................................................................................ 23
4.3. Main connector....................................................................................................................................... 23
4.3.1. Connector specifications....................................................................................................................................................... 23
4.3.2. Connector pin out................................................................................................................................................................. 24
4.3.3. Electrical specifications........................................................................................................................................................ 25
4.3.4. External aiding connector..................................................................................................................................................... 27
4.3.4.1. Connector specifications.............................................................................................................................................. 27
4.3.4.2. Connector pin out........................................................................................................................................................ 28
4.3.4.3. Electrical specifications.............................................................................................................................................. 28
4.4. GPS antenna connectors........................................................................................................................ 30
4.4.1. Connector specifications....................................................................................................................................................... 30
4.4.2. Electrical specifications......................................................................................................................................................... 31
4.4.3. GPS antenna advices............................................................................................................................................................. 31
4.5. Typical wiring........................................................................................................................................... 32
4.5.1. Power supply connection...................................................................................................................................................... 32
4.5.2. Main interface connection on S-232.................................................................................................................................. 32
4.5.3. Main interface connection on S-422................................................................................................................................. 33
4.5.4. CAN Bus typical wiring......................................................................................................................................................... 33
4.5.5. GNSS connection in S-232 mode....................................................................................................................................... 34
4.5.6. Third party aiding equipment connected in S-422........................................................................................................... 34
4.5.7. Triggering external devices with the sync Out..................................................................................................................... 35
4.6. Typical connection topologies................................................................................................................ 36
4.6.1. Apogee-D in advanced automotive application................................................................................................................... 36
4.6.2. Apogee-E in marine application........................................................................................................................................... 37
5. Interfaces specifications................................................................................................................................. 38
5.1. Overview.................................................................................................................................................. 38
5.2. Ethernet specifications........................................................................................................................... 38
5.2.1. Accessing the Apogee web page.......................................................................................................................................... 38
5.3. Serial interfaces...................................................................................................................................... 39
5.4. Supported protocols................................................................................................................................ 39
5.4.1. Connections Mapping............................................................................................................................................................ 40
5.4.1.1. Apogee A version.......................................................................................................................................................... 40
5.4.1.2. Apogee E version......................................................................................................................................................... 40
5.4.1.3. Apogee N / D versions................................................................................................................................................. 40
5.5. Internal Datalogger.................................................................................................................................. 41
5.6. CAN 2.0 A/B interface............................................................................................................................. 41
6. Important notices........................................................................................................................................... 42
6.1. Maintenance............................................................................................................................................ 42
6.2. Absolute maximum ratings.................................................................................................................... 42
6.3. Support................................................................................................................................................... 43
6.4. Warranty, liability and return procedure................................................................................................ 43
7. Appendix A: Ordering codes and Accessories................................................................................................. 44
7.1. Apogee ordering codes............................................................................................................................. 44
7.2. Transport Case......................................................................................................................................... 44
7.2.1. CASE-APG-01......................................................................................................................................................................... 44
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Apogee Surface Series – Hardware Manual APOGEEHM.1.3
7.3. SplitBox for easy connection................................................................................................................... 45
7.3.1. SPLITBOX-STD........................................................................................................................................................................ 45
7.3.2. SPLITBOX-STD-S................................................................................................................................................................... 45
7.3.3. SPLITBOX-STD-T.................................................................................................................................................................... 45
7.4. Associated Software............................................................................................................................... 46
7.4.1. SW-AEK-SDK (Software Development Kit)........................................................................................................................... 46
7.4.2. SW-QINE TIA-P O (GNSS/INS Post Processing Software)............................................................................................... 46
7.5. Cables....................................................................................................................................................... 47
7.5.1. CA-AEK-PW -PSU-1.5M......................................................................................................................................................... 47
7.5.2. CA-AEK-PW -3M................................................................................................................................................................... 47
7.5.3. CA-AEK-MAIN-ETH-2.5M...................................................................................................................................................... 47
7.5.4. CA-AEK-MAIN- S232-3M..................................................................................................................................................... 48
7.5.5. CA-AEK-MAIN- S422-3M..................................................................................................................................................... 49
7.5.6. CA-AEK-AUX-3M................................................................................................................................................................... 50
7.5.7. CA-AEK-SPLIT-MAIN-0.5M..................................................................................................................................................... 51
7.5.8. CA-AEK-SPLIT-AUX-0.5M...................................................................................................................................................... 52
7.6. GPS accessories....................................................................................................................................... 53
7.6.1. GNSS antennas...................................................................................................................................................................... 53
7.6.2. TNC Cables............................................................................................................................................................................. 53
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Apogee Surface Series – Hardware Manual APOGEEHM.1.3
Terminology
ADC: Analog to Digital Converter
AH S: Attitude and Heading eference System
CAN (Bus): Controller Area Network
DHCP: Dynamic Host Configuration Protocol
DVL: Doppler Velocity Log
EKF: Extended Kalman Filter
EEP OM: Electrically-Erasable Programmable ead-Only Memory
FI : Finite Impulse esponse (filter)
FTP: File Transfer Protocol
FS: Full Scale
FOG: Fiber Optic Gyroscope
GNSS: Global Navigation Satellite System
GPS: Global Positioning System
II : Infinite Impulse esponse (filter)
IMU: Inertial Measurement Unit
INS: Inertial Navigation System
IP: Internet Protocol
LBL: Long Baseline
MAC (address): Media Access Control
MEMS: Micro Electro-Mechanical Systems
NED: North East Down (coordinate frame)
NA: Not applicable
NMEA (NMEA 0183): National Marine Electronics Association (standardized communication protocol)
PPS: Pulse Per Second (signal)
AM: andom Access Memory
MA: eturn Merchandize Authorization
MS: oot Mean Square
TCM: adio Technical Commission for Maritime Services (Protocol)
TK: eal Time Kinematics
SI: International System of Units
TBD: To Be Defined
TCP: Transmission Control Protocol
UDP: User Datagram Protocol
UTC: Coordinated Universal Time
USBL: Ultra Short Base Line
V E: Vibration ectification Error
WGS84: World Geodetic System 1984
WMM: World Magnetic Model
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Apogee Surface Series – Hardware Manual APOGEEHM.1.3
1. Introduction
Apogee series is a line of very high performance, MEMS based
Inertial Systems which achieve exceptional orientation and
navigation performance in a compact and affordable package. It
includes an Inertial Measurement Unit (IMU) and runs an on-board
enhanced Extended Kalman Filter (EKF). The Apogee line is divided
in a comprehensive set of sensors:
●The Apogee-A version is a Motion eference Unit (M U) /
Attitude and Heading eference System (AH S), providing
accurate orientation in dynamic conditions as well as heave,
surge and sway data.
●The Apogee-E, N and D models are Inertial Navigation
Systems (INS), providing both orientation and navigation
data even during GNSS outages. GNSS or other aiding
equipments such as odometer or DVL can be used to provide
accurate navigation data in all conditions, but also to improve orientation accuracy:
●The Apogee-E model can be connected to external aiding equipment such as GNSS receivers.
SBG Systems has developed a powerful accessory, the SplitBox with an integrated GNSS receiver
to ease Apogee-E setup and installation.
●The Apogee-N embeds a very high performance survey grade L1/L2/L5 GNSS receiver. It supports
GPS, GLONASS, BEIDOU, GALLILEO constellations as well as Terrastar and Veripos PPP corrections
thanks to two integrated L-Band demodulators. If also features the world's leading TK engine
delivering sub centimeter accuracy with very high availability and fast reacquisition time.
●The Apogee-D adds to the Apogee-N a robust dual antenna based true heading to delivery
accurate measurements even in low dynamic conditions (such as in marine applications). The use
of a dual antenna heading also reduce dramatically the initial alignment time compared to
traditional gyro compassing solutions.
To achieve the best performance in every project, specific error models have been implemented to meet
applications requirements and to adapt the Apogee to your vehicle. Sensor configuration is made easy
through the modern embedded web interface.
The Windows based sbgCenter application also provides a very powerful and easy to use tool to monitor,
analyze, record, playback and export all measurements, status and information of your Apogee.
Finally, the 8 Go embedded data-logger enables seamless post processing workflow with Inertial Explorer
software for the most demanding applications.
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Figure 1.1: The Apogee INS (D model)

Apogee Surface Series – Hardware Manual APOGEEHM.1.3
1.1. Apogee Overview
The following diagram shows the basic organization of an Apogee-A, E, N or D. On the Apogee-A and E
versions, this block diagram is slightly simplified as there is no embedded GNSS.
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Figure 1.2: Apogee simplified block diagram
IMU DATA FUSION
Coning & Sculling
integrals @ 1 kHz
3 Axis
Gyroscopes
3 Axis
Accelerometers
EKF and output
@ 200 Hz
POWE
ETHE NET
FTP
CAN
SE IAL
Data loggerGNSS
A B C D
Aiding Equipments
» Navigation: 2x TK GPS/GNSS
» Heading: Dual Antenna GPS/GNSS
» Velocity: Odometer, DVL

Apogee Surface Series – Hardware Manual APOGEEHM.1.3
2. Performance specifications
2.1. Inertial measurement unit
As an IMU is the main component of an inertial navigation system, the Apogee IMU has been carefully
designed to take full advantage and performance of MEMS technology.
2.1.1. Accelerometers
The Apogee 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 emarks
Full scale ( g )± 2 ± 10
Scale factor stability (ppm) < 300 < 300 1 year composite stability
Non-Linearity (ppm of FS) < 200 < 100 esidual over temperature range
One year bias stability (m g )< 1 < 2 Total composite bias
Velocity andom Walk (µ g /√hz) < 15 < 85 Allan variance – @ 25°C
In run bias instability (µ g )< 2 < 15 Allan variance – @ 25°C
Vibration ectification Error (µ g / g ²) < 800 < 125 20 Hz – 2 kHz
Bandwidth (Hz) > 200 > 200 Attenuation of 3 dB
Orthogonality (°) < 0.02 < 0.02 Over temperature range
2.1.2. Gyroscopes
The set of 3 high end tactical grade MEMS gyroscopes is sampled at 1 000 KHz. An efficient FI filter and
coning integrals computations ensures best performance in vibrating environments.
G3 emarks
Full scale (°/s) ± 200
Scale factor stability (ppm) < 300 1 year composite stability
Non-Linearity (ppm of FS) < 100 esidual over temperature range
One year bias stability (°/hr) 50 Total composite bias
In run bias instability (°/hr) < 0.08 Allan variance – @ 25°C
Angular andom Walk (°/√hr) < 0.012 Allan variance – @ 25°C
Bandwidth (Hz) > 100 Attenuation of 3 dB
Orthogonality (°) < 0.02 Over temperature range
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Apogee Surface Series – Hardware Manual APOGEEHM.1.3
2.2. Aiding sensors
Many different aiding sensors can be used to aid the Apogee INS.
2.2.1. Apogee-N and D internal GNSS receiver
The Apogee-N and D embed a very high end, survey grade GNSS receiver that comes in a single antenna
configuration for the Apogee-N or in dual antennas option for the Apogee-D.
It features L1/L2/L5 and L-Band signals tracking and uses GPS, GLONASS, BEIDOU and GALILEO
constellations to provide very accurate and reliable measurements even in harsh environments.
The internal dual L-Band demodulator supports Terrastar and Veripos Precise Point Positioning (PPP)
services to delivery world wide, with no specific infrastructure, a positioning accuracy better than 10 cm.
This latest generation GNSS receiver also features very accurate TK positioning with the world's leading
signal availability and minimal re-acquisition time after a GPS outage. With a refresh rate of 20Hz, this
receiver provides best accuracy and reliability in harsh GNSS environments thanks to a very advanced auto
mitigating algorithms that detects and eliminates multipath situations or Inmarsat / Iridium jamming.
Specification emark
Channels 448
Signal tracking GPS: L1, L2, L2C, L5
GLONASS: L1, L2, L2CA
Galileo: E1, E5ab, E6
Beidou B1, B2, B3
SBAS, QZSS
L-Band
Galileo and Beidou signals are available in
option
Horizontal position accuracy Single point L1/L2/L5 1.0 m PPP support is available in option and
requires a valid subscription from a third
party PPP service provided.
TK positioning mode available in option
SBAS / DGPS 0.6 m / 0.4 m
PPP (Terrastar, Veripos) 10 cm
TK 0.6 cm + 0.5 ppm
Velocity accuracy 0.8 cm/s MS
True Heading Accuracy 0.2 °
0.1 °
0.05 °
1m baseline
2m baseline
4m baseline
Baseline should not exceed 10m
Standalone GNSS heading accuracy
Velocity limit 515 m/s Due to export licenses
Time to First Fix Cold start / Hot start < 45 s / < 15 s
Signal reacquisition L1/L2/L5 < 1.0 s
Max Output frequency 20 Hz
Diff. Corrections input TCM V2.2, V2.3, V3.0, V3.1
CM 2.0, CM +
Sent via serial PO T D
Available Options SW-SEP-Ax4-PPP Adds Terrastar & Veripos support
SW-SEP-Ax4- TK Adds eal Time Kinematics support
SW-SEP-Ax4- AW Adds AW data output for post processing
SW-SEP-Ax4-BEIDOU Adds Beidou constellation support
SW-SEP-Ax4-GALILEO Adds Galileo constellation support
Note: All these specifications reflect the intrinsic GNSS receiver accuracy. Please refers to section 2.3
Orientation and Navigation Performance for complete Apogee accuracy specifications.
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Apogee Surface Series – Hardware Manual APOGEEHM.1.3
2.2.2. External aiding sensors
The Apogee-A accepts a single external GNSS receiver connection to improve orientation performance.
The Apogee-E, N and D models accepts up to two external GNSS receivers to provide navigation data and
improve orientation performance In addition, a DVL or an odometer can be connected on Apogee-E/N/D as
velocity aiding inputs.
2.3. Orientation and Navigation Performance
All specifications are rated to 1-Sigma, over -20°C to +60°C unless otherwise stated.
These specifications have been obtained by field tests, using typical mission scenarios and comparison to
reference units using post-processing. Outage performance validated by simulation of repeated, pure GNSS
outages, separated by at least 200s of optimal GNSS condition, compared to a reference TK trajectory.
Performance parameters may be affected in multi-path and poor GNSS reception environments such as
Urban canyons.
For each application, we present the specified accuracy for the following positioning modes:
●SP: Single Point mode and is the default L1/L2 GNSS fix quality
●TK: eal Time Kinematics with a typical 1 cm accuracy position
●PP: Post Processed data using Inertial Explorer with at least Precise Point Positioning data
2.3.1. Common specifications
Performance emarks
Measurement range 360° in all axes, no mounting limitation Solid state sensors
Orientation noise < 0.005° MS Static conditions
2.3.2. Marine & Subsea applications
All specifications are valid with dual antenna aiding for typical marine survey trajectories.
Outage
Duration Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical oll / Pitch Heading
0 s
SP 1.0 1.0 0.02 0.01 0.01 0.04 (baseline > 2m)
0.025 (baseline > 4m)
TK 0.01 0.03 0.01 0.01 0.008
PPK 0.01 0.02 0.01 0.01 0.005 0.02
10 s
SP 1.2 1.1 0.03 0.015 0.01 0.04 (baseline > 2m)
0.025 (baseline > 4m)
TK 0.17 0.1 0.02 0.015 0.008
PPK 0.03 0.02 0.015 0.01 0.005 0.02
60 s
SP 5.0 2.0 0.15 0.075 0.015 0.05 (baseline > 2m)
0.04 (baseline > 4m)
TK 4.0 0.75 0.15 0.075 0.012
PPK 0.15 0.05 0.04 0.03 0.008 0.025
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Apogee Surface Series – Hardware Manual APOGEEHM.1.3
2.3.2.1. Heave performance
eal Time Heave Delayed Heave (ShipMotionHP) emark
ange 50 meters 50 meters Automatic adjustment to every sea conditions
Period 0 to 20 s 0 to 40 s
Accuracy 5 cm or 5% 2 cm or 2 % Whichever is greater; Velocity aided heave
Mode eal time, auto tuning Fixed 450s delay On board computation
2.3.3. Land applications
All specifications are valid with DMI (odometer) aiding for typical land mapping trajectories.
Outage
Duration Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical oll / Pitch Heading
No Outage
SP 1.0 1.0 0.02 0.01 0.01 0.04
TK 0.01 0.03 0.01 0.01 0.008 0.04
PPK 0.01 0.02 0.01 0.01 0.005 0.02
10 s
SP 1.1 1.0 0.03 0.02 0.01 0.04
TK 0.05 0.05 0.02 0.02 0.008 0.04
PPK 0.02 0.02 0.015 0.01 0.005 0.02
60 s / 1km
SP 1.5 1.3 0.03 0.02 0.015 0.06
TK 0.5 0.3 0.02 0.02 0.012 0.06
PPK 0.1 0.05 0.02 0.015 0.008 0.025
2.3.4. Airborne applications
All specifications are valid with dual antenna aiding for typical aerial survey trajectories.
Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical oll / Pitch Heading
SP 1.0 1.0 0.02 0.01 0.01 0.04 (baseline > 2m)
0.025 (baseline > 4m)
TK 0.01 0.03 0.01 0.01 0.008
PPK 0.01 0.02 0.01 0.01 0.005 0.02
2.3.5. eal time Performance monitoring
The Extended Kalman filter provides feedback about its performance. The following validity levels
thresholds are defined for the Apogee series:
Threshold Comments
Attitude Valid 0.3° / 0.025° AH S / Normal INS mode
Heading Valid 0.5° / 0.08° AH S / Normal INS mode
Velocity Valid 0.2m/s Total velocity error (3D)
Position Valid 1m Total position error (3D)
Note: The thresholds are less accurate in AH S mode, when there is no GNSS aiding available. Full
performance can be reached with GNSS aiding.
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Apogee Surface Series – Hardware Manual APOGEEHM.1.3
3. Mechanical specifications
3.1. Overview
The Apogee enclosure is composed of two anodized aluminum parts, one for the cover and one for the base
plate. The device uses high quality alloys and connectors to offer a full IP-68 enclosure and a good
resistance to harsh environments.
The cover part is made of 5083 aluminum alloy for its resistance to both seawater and industrial chemical
environments. In addition, this material offers a nice visual aspect.
The base plate is made of 7075 aluminum alloy to ensure best durability and accuracy. Indeed, this alloy
offers an incredible mechanical strength to guarantee the base plate integrity and accuracy during device
installation.
The cover and base plates are sealed together by four M3 stainless steel A4 screws (3016L). The Apogee
should be installed to the host interface using four M4 stainless steel A4 screws.
The Apogee connectors are high quality Fischer connectors that offer IP-68 protection even unconnected.
The Apogee-N and D versions also include TNC connectors to plug the GPS antennas.
Warning: The Apogee surface model is not designed for prolonged operation in salt water
environments. Check section Maintenance for more details about operation in sea water
environments.
3.1.1. Main Specifications
The table below summarizes all mechanical and environmental specifications.
Item A / E N /D
Height 58 mm (2.28 ”) 75 mm (2.95 “)
Width 130 mm (5.12”) 130 mm (5.12”)
Depth 100 mm (3.94”) 100 mm (3.94”)
Weight 685 g (1.5 lb) 865 g (1.94 lb)
Shocks 500 g for 0.3 ms
Operating Vibrations 1g MS – 20Hz to 2 kHz as per MIL-STD-810G (A1 range options)
8g MS – 20Hz to 2 kHz as per MIL-STD-810G (A3 range options)
Environmental Specifications
Enclosure Anodized Aluminum
IP rating IP-68 (24 hours at 2 meters)
Specified temperature -20 to 60°C (-4 to 140 °F)
Operating temperature -40 to 71°C (-40 to 160°F)
Storage -40 to 85°C (-40 to 185°F)
Humidity Sealed, no limit
MTBF (computed) 50.000 hours
Calibration interval None required, maintenance free
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Apogee Surface Series – Hardware Manual APOGEEHM.1.3
3.1.2. Device mechanical alignment
For best measurement accuracy, a good mechanical alignment is required. During manufacturing, the
Apogee measurement frame has been carefully aligned to 0.02° with the base plate for roll, pitch and yaw
angles.
To ease the yaw alignment (X axis), the base plate features two alignment holes Ø 4 mm H8 that
guarantees with two taper pins Ø 4 mm h7 a yaw alignment better than ±0.04°.
Note: The base plate is the same for the Apogee A, E, N and D models.
3.1.3. Origin of measurements
The Apogee offers the possibility to output data at different measurement points.
The default center of measurement is located on top of Apogee enclosure, on the coordinate frame center
drawing. It is represented on the mechanical outlines by the symbol. This point is defined to simplify
installation.
Alternatively, user can select between two other center of measurement points:
●Alignment hole (aligned to the bottom of the base plate)
●Bare IMU center of measurement, represented by the symbol.
3.1.4. Device label
SBG Systems manufacturing process is based on EN-9100 system with individual and full traceability of
every component and operation. Each Apogee is identified by a unique serial number that can be used to
trace all operations during the product lifetime such as manufacturing, calibration, tests and repairs.
In addition to a unique serial number, a product code is used to define exactly the device type and options.
Finally, the Apogee features an Ethernet interface and a unique MAC address is required to identify the
device on a network.
You can find on the right side of the Apogee a laser printed label that hold all these identification
information. This label also includes a data-matrix code that encodes the device unique serial number.
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Figure 3.1: Apogee device label sample

Apogee Surface Series – Hardware Manual APOGEEHM.1.3
3.2. Apogee-A and E mechanical outline
All dimensions are in mm.
3.2.1. Front view
3.2.2. ight view
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0,50
7
58
25
44
12 12
23,30

Apogee Surface Series – Hardware Manual APOGEEHM.1.3
3.2.3. Top view
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108 130 3,75
91
100
82
17

Apogee Surface Series – Hardware Manual APOGEEHM.1.3
3.2.4. Bottom view
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119
4 H8 2,5
6
4 H8 2,5
60 ±0,05
108 ±0,10 130 ±0,30
91 ±0,10
100 ±0,30
4 HOLES 4,50
36,40
11,30
90,30
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Apogee Surface Series – Hardware Manual APOGEEHM.1.3
3.3. Apogee-N and D mechanical outline
All dimensions are in mm.
3.3.1. Front view
3.3.2. ight view
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58
0,50
7
75
14,50 14,50
25
43
12 12
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Apogee Surface Series – Hardware Manual APOGEEHM.1.3
3.3.3. Top view
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108 130 3,75
14,50
82
91
100
17

Apogee Surface Series – Hardware Manual APOGEEHM.1.3
3.3.4. Bottom View
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119
4 H8 2,5
6
4 H8 2,5
60 ±0,05
108 ±0,10 130 ±0,30
91 ±0,10
100 ±0,30
4 HOLES 4,50
36,40
11,30
90,30
77,70