SBG Systems EKINOX Series User manual

EKINOX Series
Tactical Grade MEMS Inertial Sensors
Hardware Manual
Document EKINOXV3HM.1.
Revision 1. - Jun 14, 0
Covers Hardware Ekinox V3 and above
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EKINOX Series – Hardware Manual EKINOXV3HM.1.
Revision history
Rev. Date Author Information
1.3 Jun 14, 0 Alexis Guinamard [EK3HM-5] Ekinox hardware manual wrong connector on split cable picture
[EK3HM-4] Accessories Update
[EK3HM-6] Fixed Ship Motion HP latency to 150s
[EK3HM-10] Specify RTK performance according to baseline
[EK3HM-1 ] Update orientation specifications after algorithms update
[EK3HM-13] Transferred antennas section to support center
[EK3HM- ] Wrong description on automotive connection example
1.1 Sep 5, 019 Alexis Guinamard [EK3HM-1] Updated Ordering codes
1 Mar 1 , 019 Alexis Guinamard First public version
© 007 – 0 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 Series – Hardware Manual EKINOXV3HM.1.
Index
Terminology............................................................................................................................................................ 6
1. Introduction........................................................................................................................................................ 7
1.1. Ekinox Overview......................................................................................................................................... 8
. Performance specification................................................................................................................................ 9
.1. Inertial measurement unit........................................................................................................................ 9
.1.1. Accelerometers......................................................................................................................................................................... 9
.1. . Gyroscopes............................................................................................................................................................................... 9
. . Aiding sensors......................................................................................................................................... 10
. .1. Ekinox D internal GNSS receiver............................................................................................................................................ 10
. . . External aiding sensors......................................................................................................................................................... 10
.3. Orientation and Navigation Performance................................................................................................ 11
.3.1. Common specifications........................................................................................................................................................... 11
.3. . Land applications................................................................................................................................................................... 11
.3.3. Marine & Subsea applications............................................................................................................................................... 1
.3.3.1. Heave performance....................................................................................................................................................... 1
.3.4. Airborne applications............................................................................................................................................................ 1
.3.5. Real time Performance monitoring...................................................................................................................................... 1
3. Mechanical specifications................................................................................................................................ 13
3.1. Overview................................................................................................................................................... 13
3.1.1. Main Specifications................................................................................................................................................................. 13
3.1. . Device mechanical alignment................................................................................................................................................ 14
3.1.3. Origin of measurements........................................................................................................................................................ 14
3.1.4. Device label............................................................................................................................................................................. 14
3. . Ekinox A and E mechanical outline......................................................................................................... 15
3. .1. Top view.................................................................................................................................................................................. 15
3. . . Right view.............................................................................................................................................................................. 15
3. .3. Front view.............................................................................................................................................................................. 16
3. .4. Bottom view.......................................................................................................................................................................... 16
3.3. Ekinox D mechanical outline.................................................................................................................... 17
3.3.1. Top view.................................................................................................................................................................................. 17
3.3. . Right 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. Ekinox-A and E with external aiding only.............................................................................................................................. 19
4.1. . Ekinox D with dual antenna GNSS........................................................................................................................................ 19
4. . Power supply connector......................................................................................................................... 0
4. .1. Connector specifications....................................................................................................................................................... 0
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EKINOX Series – Hardware Manual EKINOXV3HM.1.
4. . . Connector pin out................................................................................................................................................................. 0
4. .3. Electrical specifications......................................................................................................................................................... 1
4.3. Main connector........................................................................................................................................ 1
4.3.1. Connector specifications........................................................................................................................................................ 1
4.3. . Connector pin out.................................................................................................................................................................
4.3.3. Electrical specifications........................................................................................................................................................ 3
4.4. Auxiliary connector................................................................................................................................. 4
4.4.1. Connector specifications....................................................................................................................................................... 4
4.4. . Connector pin out................................................................................................................................................................. 4
4.4.3. Electrical specifications........................................................................................................................................................ 5
4.5. GPS antenna connectors........................................................................................................................ 6
4.5.1. Electrical specifications......................................................................................................................................................... 6
4.5. . GPS antenna advice.............................................................................................................................................................. 6
4.6. Typical wiring........................................................................................................................................... 7
4.6.1. Power supply connection....................................................................................................................................................... 7
4.6. . Main interface connection on RS- 3 .................................................................................................................................. 7
4.6.3. Main interface connection on RS-4 ................................................................................................................................. 8
4.6.4. CAN Bus typical wiring......................................................................................................................................................... 8
4.6.5. GNSS connection in RS- 3 mode....................................................................................................................................... 9
4.6.6. Third party aiding equipment connected in RS-4 ........................................................................................................... 9
4.6.7. Triggering external devices with the sync Out..................................................................................................................... 9
4.7. Typical connection topologies................................................................................................................. 30
4.7.1. Ekinox-D in advanced automotive application..................................................................................................................... 30
4.7. . Ekinox-E in marine application.............................................................................................................................................. 31
5. Interfaces specifications................................................................................................................................. 3
5.1. Overview................................................................................................................................................... 3
5. . Ethernet specifications........................................................................................................................... 3
5. .1. Accessing the Ekinox web page............................................................................................................................................ 3
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. . SYNC OUT A, B...................................................................................................................................................................... 34
5.6. Connections Mapping............................................................................................................................. 34
5.6.1. Ekinox-A................................................................................................................................................................................. 34
5.6. . Ekinox-E................................................................................................................................................................................ 34
5.6.3. Ekinox-D................................................................................................................................................................................ 34
5.7. Internal Datalogger.................................................................................................................................. 35
5.8. CAN .0 A/B interface............................................................................................................................ 35
6. Important notices........................................................................................................................................... 36
6.1. Maintenance............................................................................................................................................ 36
6. . Absolute maximum ratings.................................................................................................................... 36
6.3. Support.................................................................................................................................................... 37
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EKINOX Series – Hardware Manual EKINOXV3HM.1.
6.4. Warranty, liability and return procedure................................................................................................. 37
7. Appendix A: Ordering codes and Accessories................................................................................................. 38
7.1. Ekinox variants......................................................................................................................................... 38
7. . Transport Cases....................................................................................................................................... 38
7. .1. CASE-EKI-01........................................................................................................................................................................... 38
7. . . CASE-AEK-01......................................................................................................................................................................... 38
7.3. Associated Software............................................................................................................................... 39
7.3.1. Inertial SDK............................................................................................................................................................................. 39
7.3. . SW-QINERTIA-PRO (GNSS/INS Post Processing Software)................................................................................................39
7.4. Cables....................................................................................................................................................... 40
7.4.1. CA-AEK-PWR-PSU-1.5M........................................................................................................................................................ 40
7.4. . CA-AEK-PWR-3M.................................................................................................................................................................. 40
7.4.3. CA-AEK-MAIN-ETH- .5M...................................................................................................................................................... 40
7.4.4. CA-AEK-MAIN-RS 3 -3M...................................................................................................................................................... 41
7.4.5. CA-AEK-MAIN-RS4 -3M..................................................................................................................................................... 4
7.4.6. CA-AEK-AUX-3M.................................................................................................................................................................... 43
7.4.7. CA-AEK-SPLIT-MAIN-0.5M.................................................................................................................................................... 44
7.4.8. CA-AEK-SPLIT-MAIN -0.5M................................................................................................................................................. 45
7.4.9. CA-AEK-SPLIT-AUX-0.5M...................................................................................................................................................... 46
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EKINOX Series – Hardware Manual EKINOXV3HM.1.
Terminology
ADC: Analog to Digital Converter
AHRS: Attitude and Heading Reference System
CAN (Bus): Controller Area Network
DHCP: Dynamic Host Configuration Protocol
DVL: Doppler Velocity Log
EKF: Extended Kalman Filter
EEPROM: Electrically-Erasable Programmable Read-Only Memory
FIR: Finite Impulse Response (filter)
FTP: File Transfer Protocol
FS: Full Scale
FOG: Fiber Optic Gyroscope
GNSS: Global Navigation Satellite System
GPS: Global Positioning System
IIR: Infinite Impulse Response (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)
RAM: Random Access Memory
RMA: Return Merchandise Authorization
RMS: Root Mean Square
RTCM: Radio Technical Commission for Maritime Services (Protocol)
RTK: Real 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
VRE: Vibration Rectification Error
WGS84: World Geodetic System 1984
WMM: World Magnetic Model
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EKINOX Series – Hardware Manual EKINOXV3HM.1.
1. Introduction
Ekinox 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
line is divided in a comprehensive set of sensors:
●The Ekinox-A version is a Motion Reference Unit (MRU) or
Attitude and Heading Reference System (AHRS), 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 Ekinox-E 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 Ekinox-E model can be connected to external aiding equipment such as two GNSS receivers, 1x
DVL or odometer. SBGSystems has developed dedicated “split” cables to simplify the integration
with external equipment.
●The Ekinox-D embeds a dual antenna, survey grade L1/L GNSS receiver that supports GPS,
GLONASS GALILEO and BEIDOU constellations. If features RTK positioning as well as RAW data
support in standard for centimeter precision in real time or post-processing. The dual antenna
enables precise heading in low dynamic applications.
To achieve the best performance in every project, specific error models have been implemented to meet
applications requirements and to adapt the Ekinox 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 Qinertia post-
processing software for the most demanding applications.
The third generation of Ekinox remains fully compatible with previous Ekinox series.
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Figure 1.1: The Ekinox-E model

EKINOX Series – Hardware Manual EKINOXV3HM.1.
1.1. Ekinox Overview
The following diagram shows the basic organization of an Ekinox-A, E or D. On the Ekinox-A and E versions,
this block diagram is slightly simplified as there is no embedded GNSS.
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Figure 1. : Ekinox simplified block diagram
IMU DATA FUSION
Coning & Sculling
integrals @ 1 kHz
3 Axis
Gyroscopes
3 Axis
Accelerometers
EKF and output
@ 00 Hz
POWER
ETHERNET
FTP
CAN
SERIAL
Data loggerGNSS
A B C D
Aiding Equipments
» Navigation: x RTK GPS/GNSS
» Heading: Dual Antenna GPS/GNSS
» Velocity: Odometer, DVL

EKINOX Series – Hardware Manual EKINOXV3HM.1.
. Performance specification
.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 IMU delivers an exceptional performance while maintaining a
reasonable cost.
.1.1. Accelerometers
The Ekinox 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 VRE, the performance is maintained in highly vibrating environments.
A A3 Remarks
Full scale ( g )± 8 ± 14
Velocity Random Walk (µ g /√hz) 7 40 Allan variance – @ 5°C
In run bias instability (µ g )10 Allan variance – @ 5°C
Vibration Rectification Error (µ g / g ²) < 00 <50 VRE – 0 Hz – kHz
Bandwidth (Hz) 433 433 Attenuation of 3 dB
Orthogonality (°) < 0.0 < 0.0 Over temperature range
.1. . Gyroscopes
The set of 3 high end tactical grade MEMS gyroscopes is sampled at .3 kHz. A specific integration design
as well advanced signal processing (FIR filters, coning integrals) ensure best performance in vibrating
environments.
G4 Remarks
Full scale (°/s) ± 300
In run bias instability (°/hr) 0.5 Allan variance – @ 5°C
Angular Random Walk (°/√hr) 0.14 Allan variance – @ 5°C
Bandwidth (Hz) 60 Attenuation of 3 dB
Orthogonality (°) < 0.0 Over temperature range
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EKINOX Series – Hardware Manual EKINOXV3HM.1.
. . Aiding sensors
Many different aiding sensors can be used to aid the Ekinox INS.
. .1. Ekinox D internal GNSS receiver
The EKINOX-D embeds a survey grade GNSS receiver (L1/L GPS, GLONASS, GALILEO, BEIDOU), capable of
SBAS, DGPS, and RTK positioning. With a refresh rate of 5Hz, this receiver provides best accuracy and
reliability in harsh GNSS environments. The standard RAW data output enables highest performance in
post-processing applications.
Specification Remark
Channels 448
Signal tracking GPS: L1, L , L C
GLONASS: L1, L
GALILEO: E1 B/C, E5b
Beidou B1, B ,
SBAS, QZSS
All constellations & signals enabled by
default
Horizontal position accuracy Single point L1/L 1. m RTK precision available in option
SBAS / DGPS 0.6 m / 0.4 m
RTK 1 cm + 1ppm
Velocity accuracy 0.03 m/s RMS
True Heading Accuracy 0.15°
0.1°
1m baseline
m baseline
Velocity limit 515 m/s Due to export licenses
Time to First Fix Cold start < 45 s
Hot start < 0s
Signal reacquisition 1s
Output frequency 5 Hz
Diff. Corrections RTCM V .x, V3.x
CMR V .0, CMR+
Sent via serial PORT C
Options RTK
Note: All these specifications reflect the intrinsic GNSS receiver accuracy. Please refers to section .3
Orientation and Navigation Performance for complete Ekinox accuracy specifications.
. . . External aiding sensors
The Ekinox-A accepts a single external GNSS receiver connection to improve orientation performance. It can
be a dual antenna receiver for precise heading output.
The Ekinox-E 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 Ekinox-E/D as
velocity aiding inputs.
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