SBG Systems EKINOX 2 Series User manual

EKINOX 2 Surface Series
Tactical Grade MEMS Inertial Sensors
Hardware Manual
Document EKINOX2HM.1.1
evision 1.1 - Apr 10, 2018
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EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
evision history
ev. Date Author Information
1.1 Apr 10, 2018 aphaël Siryani [EKI2HM-3] Added Qinertia Port Processing Software section
[EKI2HM-2] Updated company address
[EKI2HM-1] efined IMU sensor specifications
1 Jul 12, 2017 Alexis Guinamard First public 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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EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
Index
Terminology............................................................................................................................................................ 6
1. Introduction........................................................................................................................................................ 7
1.1. Ekinox 2 Overview...................................................................................................................................... 8
2. Performance specification................................................................................................................................ 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. Ekinox 2 N and D internal GNSS receiver............................................................................................................................... 10
2.2.2. External aiding sensors......................................................................................................................................................... 10
2.3. Orientation and Navigation Performance................................................................................................ 11
2.3.1. Common specifications........................................................................................................................................................... 11
2.3.2. Land applications................................................................................................................................................................... 11
2.3.3. Marine & Subsea applications............................................................................................................................................... 12
2.3.3.1. Heave performance....................................................................................................................................................... 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. EKINOX2 A and E mechanical outline..................................................................................................... 15
3.2.1. Top view.................................................................................................................................................................................. 15
3.2.2. ight view.............................................................................................................................................................................. 15
3.2.3. Front view.............................................................................................................................................................................. 16
3.2.4. Bottom view.......................................................................................................................................................................... 16
3.3. EKINOX2 N and D mechanical outline..................................................................................................... 17
3.3.1. Top view.................................................................................................................................................................................. 17
3.3.2. ight view.............................................................................................................................................................................. 17
3.3.3. Front view.............................................................................................................................................................................. 18
3.3.4. Bottom view.......................................................................................................................................................................... 18
4. Electrical specifications................................................................................................................................... 19
4.1. Overview................................................................................................................................................... 19
4.1.1. Ekinox2-A and E with external aiding only............................................................................................................................ 19
4.1.2. Ekinox 2 N and D with dual antenna GNSS........................................................................................................................... 19
4.2. Power supply connector......................................................................................................................... 20
4.2.1. Connector specifications....................................................................................................................................................... 20
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EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
4.2.2. Connector pin out................................................................................................................................................................. 20
4.2.3. Electrical specifications......................................................................................................................................................... 21
4.3. Main connector........................................................................................................................................ 21
4.3.1. Connector specifications........................................................................................................................................................ 21
4.3.2. Connector pin out................................................................................................................................................................. 22
4.3.3. Electrical specifications........................................................................................................................................................ 23
4.4. Auxiliary connector................................................................................................................................. 24
4.4.1. Connector specifications....................................................................................................................................................... 24
4.4.2. Connector pin out................................................................................................................................................................. 24
4.4.3. Electrical specifications........................................................................................................................................................ 25
4.5. GPS antenna connectors........................................................................................................................ 26
4.5.1. Electrical specifications......................................................................................................................................................... 26
4.5.2. GPS antenna advice.............................................................................................................................................................. 26
4.6. Typical wiring........................................................................................................................................... 27
4.6.1. Power supply connection....................................................................................................................................................... 27
4.6.2. Main interface connection on S-232.................................................................................................................................. 27
4.6.3. Main interface connection on S-422................................................................................................................................. 28
4.6.4. CAN Bus typical wiring......................................................................................................................................................... 28
4.6.5. GNSS connection in S-232 mode....................................................................................................................................... 29
4.6.6. Third party aiding equipment connected in S-422........................................................................................................... 29
4.6.7. Triggering external devices with the sync Out..................................................................................................................... 29
4.7. Typical connection topologies................................................................................................................. 30
4.7.1. Ekinox2-D in advanced automotive application................................................................................................................... 30
4.7.2. Ekinox2-E in marine application............................................................................................................................................ 31
5. Interfaces specifications................................................................................................................................. 32
5.1. Overview................................................................................................................................................... 32
5.2. Ethernet specifications........................................................................................................................... 32
5.2.1. Accessing the Ekinox web page............................................................................................................................................ 32
5.3. Serial interfaces...................................................................................................................................... 33
5.4. Supported protocols................................................................................................................................ 33
5.5. Synchronization Inputs and outputs...................................................................................................... 33
5.5.1. SYNC In A, B, C, D and E........................................................................................................................................................ 33
5.5.2. SYNC OUT A, B...................................................................................................................................................................... 34
5.6. Connections Mapping............................................................................................................................. 34
5.6.1. Ekinox2-A............................................................................................................................................................................... 34
5.6.2. Ekinox2-E.............................................................................................................................................................................. 34
5.6.3. Ekinox 2 N / D....................................................................................................................................................................... 34
5.7. Internal Datalogger.................................................................................................................................. 35
5.8. CAN 2.0 A/B interface............................................................................................................................ 35
6. Important notices........................................................................................................................................... 36
6.1. Maintenance............................................................................................................................................ 36
6.2. Absolute maximum ratings.................................................................................................................... 36
6.3. Support.................................................................................................................................................... 37
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EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
6.4. Warranty, liability and return procedure................................................................................................. 37
7. Appendix A: Ordering codes and Accessories................................................................................................. 38
7.1. Ekinox ordering codes.............................................................................................................................. 38
7.1.1. GNSS options matrix description........................................................................................................................................... 38
7.2. Transport Cases....................................................................................................................................... 38
7.2.1. CASE-EKI-01........................................................................................................................................................................... 38
7.2.2. CASE-EKI-02.......................................................................................................................................................................... 39
7.3. SplitBox for easy connection................................................................................................................... 39
7.3.1. SPLITBOX-STD........................................................................................................................................................................ 39
7.3.2. SPLITBOX-STD-S................................................................................................................................................................... 39
7.3.3. SPLITBOX-STD-T.................................................................................................................................................................... 39
7.4. Associated Software............................................................................................................................... 40
7.4.1. SW-AEK-SDK (Software Development Kit)........................................................................................................................... 40
7.4.2. SW-QINE TIA-P O (GNSS/INS Post Processing Software)...............................................................................................40
7.5. Cables....................................................................................................................................................... 41
7.5.1. CA-AEK-PW -PSU-1.5M......................................................................................................................................................... 41
7.5.2. CA-AEK-PW -3M................................................................................................................................................................... 41
7.5.3. CA-AEK-MAIN-ETH-2.5M....................................................................................................................................................... 41
7.5.4. CA-AEK-MAIN- S232-3M..................................................................................................................................................... 42
7.5.5. CA-AEK-MAIN- S422-3M..................................................................................................................................................... 43
7.5.6. CA-AEK-AUX-3M................................................................................................................................................................... 44
7.5.7. CA-AEK-SPLIT-MAIN-0.5M.................................................................................................................................................... 45
7.5.8. CA-AEK-SPLIT-AUX-0.5M..................................................................................................................................................... 46
7.6. GPS accessories....................................................................................................................................... 47
7.6.1. GNSS antennas....................................................................................................................................................................... 47
7.6.2. TNC Cables............................................................................................................................................................................. 47
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EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
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 Merchandise 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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EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
1. Introduction
Ekinox 2 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 a cutting edge Inertial Measurement Unit (IMU) and runs
an on-board enhanced Extended Kalman Filter (EKF). The Ekinox 2
line is divided in a comprehensive set of sensors:
●The Ekinox2-A version is a Motion eference Unit (M U) or
Attitude and Heading eference System (AH S), providing
accurate roll and pitch in dynamic conditions as well as heave,
surge and sway outputs. The Ekinox A can be connected to an
external GNSS receiver to benefit from absolute heading
measurement and improved roll and pitch performance.
●The Ekinox2-E, N and D models are Inertial Navigation
Systems (INS), providing both orientation and navigation data even during GNSS outages. Various
aiding sensors can be used to provide accurate navigation data in all conditions, but also to improve
orientation accuracy:
●The Ekinox2-E model can be connected to external aiding equipment such as two GNSS receivers,
1x DVL or odometer. SBG Systems has developed a powerful accessory, the SplitBox with an
integrated GNSS receiver to ease Ekinox-E setup and installation.
●The Ekinox2-N embeds a survey grade L1/L2 GNSS receiver that supports GPS, GLONASS and
BEIDOU constellations. If also features TK positioning, delivering centimeter accuracy with high
availability and fast re-acquisition time.
●The Ekinox2-D adds a robust L1/L2 dual antenna heading to delivery accurate measurements even
in low dynamic conditions (such as in marine applications). The use of a dual antenna heading also
reduces 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 Ekinox 2 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 Ekinox.
Finally, the 8 Go embedded data-logger enables seamless post processing work-flow with Inertial Explorer
software for the most demanding applications.
The second generation of Ekinox remains fully compatible with previous Ekinox series.
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Figure 1.1: The Ekinox2-E model

EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
1.1. Ekinox 2 Overview
The following diagram shows the basic organization of an Ekinox2-A, E, N or D. On the Ekinox2-A and E
versions, this block diagram is slightly simplified as there is no embedded GNSS.
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Figure 1.2: Ekinox 2 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

EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
2. Performance specification
2.1. Inertial measurement unit
The IMU is the core component of an inertial navigation system. Leveraging on MEMS technology and an
innovative proprietary integration, the EKINOX 2 IMU delivers an exceptional performance while
maintaining a reasonable cost.
2.1.1. Accelerometers
The EKINOX 2 IMU contains a set of 3 MEMS capacitive accelerometers. Coupled with advanced filtering
techniques and sculling integrals, these accelerometers will provide quartz performance level. Thanks to a
very low V E, the performance is maintained in highly vibrating environments.
A2 A3 emarks
Full scale ( g )± 8 ± 14
Velocity andom Walk (µ g /√hz) 7 40 Allan variance – @ 25°C
In run bias instability (µ g )2 10 Allan variance – @ 25°C
Vibration ectification Error (µ g / g ²) <200 <50 V E – 20 Hz – 2 kHz
Bandwidth (Hz) 433 433 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 2.3 kHz. A specific integration design
as well advanced signal processing (FI filters, coning integrals) ensure best performance in vibrating
environments.
G4 emarks
Full scale (°/s) ± 300
In run bias instability (°/hr) 0.5 Allan variance – @ 25°C
Angular andom Walk (°/√hr) 0.14 Allan variance – @ 25°C
Bandwidth (Hz) 60 Attenuation of 3 dB
Orthogonality (°) < 0.02 Over temperature range
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EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
2.2. Aiding sensors
Many different aiding sensors can be used to aid the Ekinox 2 INS.
2.2.1. Ekinox 2 N and D internal GNSS receiver
The Ekinox 2 N embeds a high performance GNSS receiver (L1/L2 GPS, GLONASS and BEIDOU), capable of
centimeter accuracy using TK solution. This receiver provides reliable and accurate position measurements
even in challenging GPS environments.
The Ekinox 2 D enables the dual antenna operation in the embedded GNSS receiver.
Specification emark
Channels 120
Signal tracking GPS: L1, L2, L2C
GLONASS: L1, L2
Beidou B1, B2,
SBAS, QZSS
Horizontal position accuracy Single point L1 1.5 m TK precision available in option
Single point L1/L2 1.2 m
SBAS / DGPS 0.6 m / 0.4 m
TK 1 cm + 1ppm
Velocity accuracy 0.03 m/s MS
True Heading Accuracy 0.2°
0.1°
0.05°
1m baseline
2m baseline
4m baseline
Velocity limit 515 m/s Due to export licenses
Time to First Fix Cold start < 50 s
Hot start < 35s
Signal reacquisition L1 < 0.5 s
L2 < 1.0 s
Output frequency 5 Hz
Diff. Corrections TCA, TCAOBS2
TCM V2.3, V3
CM , CM +
Sent via serial PO T D
Options BEIDOU, TK, AIM
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.
2.2.2. External aiding sensors
The Ekinox2-A accepts a single external GNSS receiver connection to improve orientation performance.
The Ekinox2-E, N and D models accept 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 Ekinox2-E/N/D as
velocity aiding inputs.
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