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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EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
2.3. Orientation and Navigation Performance
All specifications are rated to 1σ, over -40°C to +75°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 GPS 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 < 0.02° MS Static
2.3.2. 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 Heading
0 s
SP 1.20 m 1.2 m 0.05 m/s 0.05 m/s 0.03° 008°
TK 0.01 m 0.02 m 0.02 m/s 0.02 m/s 0.02° 0.06°
PP 0.01 m 0.02 m 0.01 m/s 0.01 m/s 0.015° 0.03°
10 s
SP 1.5 m 1.4 m 0.05 m/s 0.05 m/s 0.05° 0.1°
TK 0.15 m 0.1 m 0.03 m/s 0.03 m/s 0.03° 0.08°
PP 0.03 m 0.03 m 0.015 m/s 0.01 m/s 0.015° 0.03°
60 s / 1km
SP 4 m 2,5 m 0.1 m/s 0.1 m/s 0.1° 0.2°
TK 3 m 0.75 m 0.1 m/s 0.1 m/s 0.1° 0.15°
PP 0.4 m 0.1 m 0.03 m/s 0.02 m/s 0.03° 0.05°
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EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
2.3.3. 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 1.20 m 2.0m 0.05 m/s 0.05 m/s 0.03° 0.08 (baseline > 2m)
0.05 (baseline > 4m)
TK 0.01 m 0.02m 0.02 m/s 0.02 m/s 0.02°
PP 0.01 m 0.02 m 0.01 m/s 0.01 m/s 0.015° 0.03°
10 s
SP 2.2 m 2.5m 0.1 m/s 0.05 m/s 0.1° 0.1° (baseline > 2m)
0.08° (baseline > 4m)
TK 0.3 m 0.1m 0.05m/s 0.03 m/s 0.1°
PP 0.05 m 0.03 m 0.02 m/s 0.01 m/s 0.02° 0.03°
30 s
SP 4.0m 2.5 m 0.3m/s 0.15 m/s 0.15° 0.15° (baseline > 2m)
0.13° (baseline > 4m)
TK 3.0 m 0.75 m 0.25 m/s 0.1 m/s 0.15°
PP 1.0 m 0.3 m 0.05 m/s 0.03 m/s 0.04° 0.05°
2.3.3.1. 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% 2.5 cm or 2.5 % Whichever is greater; Velocity aided heave
Mode eal time, auto tuning Fixed 450s delay On board computation
2.3.4. Airborne applications
Specifications evaluated with a dual antenna heading source.
Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical oll Heading
SP 1.20 m 2.0m 0.05 m/s 0.05 m/s 0.03° 0.08° (baseline > 2m)
0.05° (baseline > 4m)
TK 0.02m 0.02m 0.02 m/s 0.02 m/s 0.02°
PP 0.01 m 0.02 m 0.01 m/s 0.01 m/s 0.02° 0.03°
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 Ekinox series
Threshold Comments
Attitude Valid 0.3° / 0.07° AH S / Normal INS mode
Heading Valid 0.5° / 0.2° 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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EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
3. Mechanical specifications
3.1. Overview
The Ekinox 2 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 Ekinox
should be installed to the host interface using four M4 stainless steel A4 screws.
The Ekinox 2connectors are high quality Fischer connectors that offers IP-68 protection even unconnected.
The Ekinox2-N and D versions also include TNC connectors to plug the GPS antennas.
Warning: The Ekinox 2 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.
Mechanical Specifications
A / E N / D
Height 5.8 cm (2,28”) 7.5 cm (2.9”)
Width 10 cm (3,94”) 10 cm (3,94”)
Depth 8.6 cm (3,39”) 8.6 cm (3,39”)
Weight 435 g (1.0 lb) 610 g (1.3 lb)
Shocks 500 g for 0.3 ms
Operating Vibrations 3g MS – 20Hz to 2 kHz as per MIL-STD-810G (A2 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)
Operating temperature -40 to 75°C (-40 to 167°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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EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
3.1.2. Device mechanical alignment
For best measurement accuracy, a good mechanical alignment is required. During manufacturing, the
Ekinox 2 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 Ekinox A, E, N and D models.
3.1.3. Origin of measurements
The Ekinox 2 offers the possibility to output data at different measurement points.
The default center of measurement is located on top of Ekinox 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 Ekinox 2 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.
You can find on the back side of the Ekinox 2 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.
In addition, the Ekinox 2 packaging includes a second label that provides other useful information such as
installed firmware version or GNSS options in the case of an EKINOX2-D.
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Figure 3.1: Ekinox2 device label sample Figure 3.2: Ekinox2 packaging label sample

EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
3.2. EKINOX2 A and E mechanical outline
All dimensions are in mm.
3.2.1. Top view
3.2.2. ight view
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100 ±0,30
86 ±0,30 3,75
4 HOLES 4,50
82
17
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EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
3.2.3. Front view
3.2.4. Bottom view
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0,50
7
58
12 12
25
44
38 ±0,01
75
64 ±0,10
91 ±0,10
4 H7 2,5
6
4 H7 2,5
28,80
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EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
3.3. EKINOX2 N and D mechanical outline
All dimensions are in mm.
3.3.1. Top view
3.3.2. ight view
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100 ±0,30
86 ±0,30
3,75
4 HOLES 4,50
14,40
82
17
26,10

EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
3.3.3. Front view
3.3.4. Bottom view
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0,50
7
58
75
14,50 14,50
25
12 12
43
38 ±0,01
75
64 ±0,10
91 ±0,10
4 H7 2,5
6
4 H7 2,5
28,80
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EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
4. Electrical specifications
4.1. Overview
The Ekinox 2 connectors are all placed on the front panel. The connectors are referenced and identified by
laser marking on the enclosure. Each connector is different and fool proofed using a specific keying to avoid
any misconnection.
SBG Systems has selected high quality connectors designed for harsh environments. They offer an IP-68
protection when the plug is properly mounted.
4.1.1. Ekinox2-A and E with external aiding only
Ekinox2-A and E share the same form factor.
4.1.2. Ekinox 2 N and D with dual antenna GNSS
Ekinox2-N and D share the same form factor.
On the N model, only the ANT 1 connector will be used for GNSS position tracking.
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Figure 4.1: Ekinox 2 AH S or INS with external aiding
Power supply
External aiding
connector
Main connector
Figure 4.2: Ekinox 2 INS with integrated GNSS receiver
Secondary
GPS Antenna
External aiding
connector
Power supply
Primary
GPS Antenna
Main connector

EKINOX 2 Surface Series – Hardware Manual EKINOX2HM.1.1
4.2. Power supply connector
The Ekinox 2 can be powered by a DC voltage from 9 to 36 Volts. For best robustness and to reduce power
consumption, the internal power module is a high efficiency isolated DC/DC converter.
Apply a constant power supply to VIN+ and VIN- pins. The shield is directly connected to the device
mechanical enclosure. It should not be used as the ground return signal.
4.2.1. Connector specifications
The power supply uses a 2 ways male AluLite Fischer connector which is compatible with the Fischer Core
Series. The exact receptacle reference is: AL1731-DBPU-103-Z051PB11-12G13
This size 103 connector mates with the following plugs references in AluLite or Core Series. Alternative
plugs can be found if required (eg short plug). Don't forget that these two references don't include the cable
clamp sets.
●AL1731-S-103-Z051S 11-11 (AluLite version)
●S-103-Z051-130 (Core Series version)
Note: Although Fischer connectors are IP68 and specified to operate from -40°C to +75°C, the plug
should be connected at temperatures above -20°C and in a dry environment.
Warning: The power receptacle uses male connectors for obvious security reasons. Please make sure
that you order the correct plug reference.
4.2.2. Connector pin out
Pin # Name Description
Shield Shield Connected to mechanical ground
1VIN+ Connected to the power supply
2VIN- Connected to the electrical ground
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Figure 4.3: Power receptacle front view
Figure 4.4: Power plug top view