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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