SBG Systems ELLIPSE 2 AHRS User manual

ELLIPSE 2 AHRS & INS
High Performance, Miniature Inertial Sensors
Hardware Manual
intro
ocument ELLIPSE2HM.1.3
Revision 1.3 - Nov 8, 2018
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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
Revision history
Rev. ate Author Information
1.3 Nov 8, 2018 Alexis Guinamard [EL2 OC-12] Integrate Septentrio receiver specifications in Hardware manual
[EL2 OC-11] Review marine performance specifications for Ellipse-E/N
[EL2 OC-10] Fixed ELLIPSE2-A port functions mapping definition
1.2 Apr 10, 2018 Raphaël Siryani [EL2 OC-8] Added Qinertia Port Processing Software section
[EL2 OC-7] Updated cover page presentation
1.1 Jan 2. 2018 Alexis Guinamard [EL2 OC-2] Fixed typo in Barometric sensor integration
[EL2 OC-3] Fixed CA-ELI-RS232-CAN-3M pinout description
[EL2 OC-5] Fix GNSS specifications (GALILEO)
[EL2 OC-6] Updated contact details
1.0 March 6, 2017 Alexis Guinamard First official version of this document
© 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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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
Index
Terminology............................................................................................................................................................ 6
1. Introduction........................................................................................................................................................ 7
1.1. Ellipse Overview.......................................................................................................................................... 7
1.2. Inertial measurement unit........................................................................................................................ 8
1.2.1. Accelerometers........................................................................................................................................................................ 8
1.2.2. Gyroscopes............................................................................................................................................................................... 8
1.3. Aiding sensors........................................................................................................................................... 9
1.3.1. Internal Magnetometers.......................................................................................................................................................... 9
1.3.2. Ellipse-N internal GNSS receiver........................................................................................................................................... 10
1.3.3. Ellipse- internal GNSS receiver (Rev 2)................................................................................................................................ 11
1.3.4. Ellipse- internal GNSS receiver (Rev 1)................................................................................................................................ 12
1.3.5. Internal barometric altimeter................................................................................................................................................ 13
1.3.6. External sensors..................................................................................................................................................................... 13
1.3.6.1. Third party GNSS receiver............................................................................................................................................. 13
1.3.6.2. Odometer...................................................................................................................................................................... 13
1.4. System Performance................................................................................................................................ 14
1.4.1. Ellipse-A orientation performance......................................................................................................................................... 14
1.4.1.1. Orientation specifications.............................................................................................................................................. 14
1.4.2. Ellipse-E/ N orientation and navigation performance......................................................................................................... 14
1.4.2.1. Land applications.......................................................................................................................................................... 14
1.4.2.2. Marine & Subsea applications...................................................................................................................................... 14
1.4.2.3. Airborne applications.................................................................................................................................................... 15
1.4.3. Ellipse- orientation and navigation performance............................................................................................................... 15
1.4.3.1. Land applications........................................................................................................................................................... 15
1.4.3.2. Marine & Subsea applications...................................................................................................................................... 16
1.4.3.3. Airborne applications.................................................................................................................................................... 16
1.4.4. Heave performance................................................................................................................................................................ 16
1.4.4.1. High performance Heave............................................................................................................................................... 16
1.4.4.2. General purpose Heave................................................................................................................................................. 16
2. Mechanical and Electrical specifications......................................................................................................... 17
2.1. Mechanical specifications......................................................................................................................... 17
2.1.1. Overview.................................................................................................................................................................................. 17
2.1.2. Specifications......................................................................................................................................................................... 17
2.1.3. evice mechanical alignment................................................................................................................................................ 18
2.1.4. Origin of measurements........................................................................................................................................................ 18
2.1.5. evice labels........................................................................................................................................................................... 18
2.1.6. Ellipse-A mechanical outline................................................................................................................................................. 19
2.1.6.1. Front view...................................................................................................................................................................... 19
2.1.6.2. Top view........................................................................................................................................................................ 19
2.1.6.3. Right view.................................................................................................................................................................... 20
2.1.6.4. Bottom view................................................................................................................................................................. 20
2.1.7. Ellipse-E mechanical outline................................................................................................................................................... 21
2.1.7.1. Front view....................................................................................................................................................................... 21
2.1.7.2. Top view......................................................................................................................................................................... 21
2.1.7.3. Right view..................................................................................................................................................................... 22
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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
2.1.7.4. Bottom view.................................................................................................................................................................. 22
2.1.8. Ellipse-N mechanical outline................................................................................................................................................. 23
2.1.8.1. Front view...................................................................................................................................................................... 23
2.1.8.2. Top view........................................................................................................................................................................ 23
2.1.8.3. Right view.................................................................................................................................................................... 24
2.1.8.4. Bottom view................................................................................................................................................................. 24
2.1.9. Ellipse- mechanical outline................................................................................................................................................. 25
2.1.9.1. Front view...................................................................................................................................................................... 25
2.1.9.2. Top view........................................................................................................................................................................ 25
2.1.9.3. Right view..................................................................................................................................................................... 26
2.1.9.4. Bottom view................................................................................................................................................................. 26
2.2. Electrical specifications........................................................................................................................... 27
2.2.1. Ellipse-A without GPS aiding................................................................................................................................................. 27
2.2.2. Ellipse-E with external aiding only....................................................................................................................................... 27
2.2.3. Ellipse-N with embedded GNSS........................................................................................................................................... 27
2.2.4. Ellipse- with embedded dual antenna GNSS.................................................................................................................... 28
2.2.5. Main connector..................................................................................................................................................................... 28
2.2.5.1. Connector specifications.............................................................................................................................................. 28
2.2.5.2. Connector pin out for Ellipse B1 versions.................................................................................................................... 29
2.2.5.3. Connector pin out for Ellipse B2 versions................................................................................................................... 29
2.2.6. Auxiliary connector (Ellipse-E)............................................................................................................................................. 29
2.2.6.1. Connector specifications.............................................................................................................................................. 30
2.2.6.2. Connector pin out........................................................................................................................................................ 30
2.2.7. Auxiliary connector (Ellipse- ).............................................................................................................................................. 30
2.2.7.1. Connector specifications.............................................................................................................................................. 30
2.2.7.2. Connector pin out......................................................................................................................................................... 30
2.2.8. Electrical specifications......................................................................................................................................................... 31
2.2.8.1. Electrical specifications................................................................................................................................................ 31
2.2.9. GPS antenna connector (Ellipse-N and )........................................................................................................................... 32
2.2.9.1. GPS antenna advice for Ellipse-N................................................................................................................................ 32
2.2.9.2. GPS antenna advice for Ellipse- ............................................................................................................................... 33
3. Interfaces specifications................................................................................................................................. 34
3.1. Overview.................................................................................................................................................. 34
3.1.1. Interfaces availability and multiplexing................................................................................................................................ 34
3.2. Serial interfaces...................................................................................................................................... 35
3.2.1. Supported protocols.............................................................................................................................................................. 35
3.2.2. Ports functions Mapping...................................................................................................................................................... 35
3.2.2.1. Ellipse A version........................................................................................................................................................... 35
3.2.2.2. Ellipse E version........................................................................................................................................................... 36
3.2.2.3. Ellipse N....................................................................................................................................................................... 36
3.2.2.4. Ellipse version........................................................................................................................................................... 36
3.3. CAN 2.0 A/B interface............................................................................................................................. 37
4. Important notices........................................................................................................................................... 38
4.1. Absolute maximum ratings.................................................................................................................... 38
4.2. Maintenance........................................................................................................................................... 38
4.2.1. Cleaning................................................................................................................................................................................. 38
4.3. Support................................................................................................................................................... 39
4.4. Warranty, liability and return procedure................................................................................................ 39
5. Appendix A: Ordering codes and Accessories................................................................................................40
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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
5.1. Ellipse ordering codes.............................................................................................................................. 40
5.1.1. Ellipse- GNSS options.......................................................................................................................................................... 40
5.2. evelopment kits.................................................................................................................................... 41
5.2.1. K-ELI-[B, L]........................................................................................................................................................................... 41
5.2.2. K-ELI- ................................................................................................................................................................................. 41
5.3. Associated Software.............................................................................................................................. 42
5.3.1. SW-QINERTIA-LITE (GNSS/INS Post Processing Software)............................................................................................... 42
5.4. Cables...................................................................................................................................................... 43
5.4.1. CA-ELI-USB-3M..................................................................................................................................................................... 43
5.4.2. CA-ELI- -USB-3M................................................................................................................................................................ 43
5.4.3. CA-PSU-12V-1.5M.................................................................................................................................................................. 43
5.4.4. CA-ELI-RS232-CAN-3M........................................................................................................................................................ 44
5.4.5. CA-ELI-RS422-3M................................................................................................................................................................ 45
5.4.6. CA-ELI-SPLIT-RS232- B-0.5M............................................................................................................................................ 46
5.4.7. CA-ELI-SPLIT-CAN- B-0.5M................................................................................................................................................. 46
5.4.8. CA-ELI-SPLIT-AUX-RS232- B-0.5M.................................................................................................................................... 47
5.5. GNSS antennas....................................................................................................................................... 48
5.5.1. ANT-TAL-TW-32-2710-00-3000............................................................................................................................................ 48
5.5.1.1. Performance specifications.......................................................................................................................................... 48
5.5.1.2. Mechanical drawing..................................................................................................................................................... 48
5.5.2. ANT-ACM-G5ANT-1A196MNS-1............................................................................................................................................ 49
5.5.2.1. Performance specifications......................................................................................................................................... 49
5.5.2.2. Mechanical drawing.................................................................................................................................................... 49
5.5.3. High performance GNSS antennas...................................................................................................................................... 50
5.5.3.1. TNC Cables................................................................................................................................................................... 50
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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
Terminology
A C: Analog to igital Converter
AHRS: Attitude and Heading Reference System
CAN (Bus): Controller Area Network
HCP: ynamic Host Configuration Protocol
VL: oppler 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
NE : North East own (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
TB : To Be efined
TCP: Transmission Control Protocol
U P: User atagram 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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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
1. Introduction
The new Ellipse series is a line of miniature, high-performance
MEMS based Inertial Systems which achieve exceptional
orientation and navigation performance in a miniature and
affordable package. It includes an Inertial Measurement Unit (IMU)
and runs an on-board enhanced Extended Kalman Filter (EKF). The
Ellipse line is divided in a comprehensive set of sensors:
●The Ellipse-A version is an attitude and Heading Reference
System (AHRS), providing accurate orientation in dynamic
conditions.
●The Ellipse-E, N and models are Inertial Navigation
Systems (INS), providing both orientation and navigation
data. The use of GNSS data or other aiding equipment such
as odometer or internal barometric sensor can be used to
provide accurate navigation data, but also to improve orientation accuracy:
●The Ellipse-E model can be connected to an external GNSS receiver.
●The Ellipse-N model embeds an industrial GNSS receiver in a miniature package.
●The Ellipse- embeds a survey grade GNSS receiver with dual antenna heading for excellent
heading performance in magnetic denied environments. Targeting demanding application, it is
also capable of post-processing, thanks to the internal GNSS raw data output.
To achieve the best performance in every project, specific error models have been implemented to meet
applications requirements. Sensor configuration is made easy through the sbgCenter interface, provided in
the S K. The Ellipse supports a proprietary protocol for best performance, but also standard protocols such
as NMEA for direct integration into existing applications.
The new Ellipse series (ELLIPSE2) is fully backward compatible with the first generation of Ellipse sensors.
1.1. Ellipse Overview
The following diagram shows the basic organization of an Ellipse-E or N. On the Ellipse-A version, this block
diagram is slightly simplify as there is no GPS, barometer inside.
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Figure 1.1: The Ellipse INS (N model)
Figure 1.2: Ellipse simplified block diagram
Sensors sampling &
Calibration
Coning & Sculling
integrals @ 1 kHz
EKF and output
@ 200 Hz
IMU ATA FUSION
3 Axis
Gyroscopes
3 Axis
Accelerometers
3 Axis
Magnetometers
POWER
CAN
SERIAL
GPS
Aiding Equipments
» ual Antenna GPS, GPS/GNSS, RTK
»
Odometer
BARO
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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
1.2. Inertial measurement unit
As an IMU is the main component of an inertial navigation system, the new Ellipse IMU has been carefully
designed to take full advantage and performance of MEMS technology.
1.2.1. Accelerometers
The new Ellipse IMU embeds 3 high performance, industrial grade MEMS accelerometers. Coupled with a
cutting edge calibration, advanced filtering techniques and sculling integrals, these accelerometers will
provide excellent performance, even in highly vibrating environment.
The A2 version is dedicated to marine applications requiring high performance heave measurements, while
the A3 version is suitable to all other applications.
A2 A3 A4 Remarks
Full scale ( g )8 16 40
Scale factor stability (ppm) 1000 1000 1000 After one year accelerated aiging
Non-Linearity (ppm of FS) 6300 1500 1500 Best Fit Straight Line
One year bias stability (m g )2 5 5 After one year accelerated aiging
Velocity Random Walk (µ g /√hz) 12 57 57
In run bias instability (µ g )3 14 14 Allan variance – @ 25°C
Vibration Rectification Error (µ g / g ²) 200 50 50 Tested up to 3g RMS for A2 and 10g RMS
for A3/A4
Bandwidth (Hz) 390 390 390 Internal low pass filters attenuation < 3 dB
Sampling rate (kHz) 4 4 4 Advanced anti-aliasing FIR filter
Orthogonality (°) 0.05 0.05 0.05
1.2.2. Gyroscopes
The set of 3 high end industrial grade MEMS gyroscopes is sampled at 10 KHz. An efficient FIR filter and
coning integrals computations ensures best performance in vibrating environments.
G4 range is suitable to most applications, while the G5 is adapted for high dynamic applications.
G4 G5 Remarks
Full scale (°/s) 450 1000
Scale factor stability (ppm) 500 500 After one year accelerated aiging
Non-Linearity (ppm of FS) 50 50
One year bias stability (°/s) 0.2 0.4 After one year accelerated aiging
Angular Random Walk (°/√hr) 0.15 0.18 Allan variance – @ 25°C
In run bias instability (°/hr) 7 8 Allan variance – @ 25°C
Vibration Rectification Error (°/h/g²) < 1 < 1 Tested up to 10g RMS
Bandwidth (Hz) 133 133 Internal Gyro bandwidth
Sampling rate (kHz) 10 10 Advanced anti-aliasing FIR filter
Orthogonality (°) 0.05 0.05
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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
1.3. Aiding sensors
Many different aiding sensors can be used to aid the Ellipse INS.
1.3.1. Internal Magnetometers
A set of three Anisotropic Magneto-resistive magnetometers is embedded within the Ellipse. This
technology provides a very high sensitivity compared to coil based technologies.
Although part of the Ellipse internal IMU, the magnetometer is in fact considered as an “aiding sensor” and
is not mandatory for proper operation.
Nevertheless, in many applications such AHRS applications, airborne or several marine applications, this
magnetometer is still a reliable and efficient way to observe heading.
Note: Magnetometer use requires a specific in place calibration in order to compensate surrounding
ferromagnetic materials and magnets. Please refer to the Ellipse Hard and Soft Iron Calibration
Manual for more information about this.
Warning: Note that magnetometer sampling design makes it impossible to reject signal frequencies
above 75Hz. User should ensure that high frequency noise is not disturbing magnetometers at the
sensor's location.
Specifications Remarks
Full scale (Gauss) 50
Scale factor stability (%) 0,5
Noise (mGauss) 3 Over 1 to 25 Hz band
Bias stability (m Gauss) 1
Bandwidth (Hz) 22 -3dB attenuation
Resolution (mGauss) 1.5
Sampling rate (Hz) 100
Orthogonality (°) 0.1 After user magnetic calibration
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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
1.3.2. Ellipse-N internal GNSS receiver
The Ellipse-N embeds an industrial GNSS receiver (L1 GPS + GLONASS, GPS + GALILEO, or GPS + BEI OU),
capable of GPS positioning using either SBAS or third party base station. With a refresh rate of 5Hz, this
receiver has an excellent sensitivity for continuous tracking under challenging environments.
Specification Remark
Channels 72
Signal tracking GPS L1 C/A
GLONASS L10F
GALILEO E1 B/C
QZSS L1 C/A
Bei ou B1l
SBAS
Horizontal position accuracy 2.0 m CEP GPS + GLONASS + SBAS or GPS
Velocity accuracy 0.1 m/s RMS
Sensitivity Tracking & Navigation;
Cold start:
-167dBm
-148dBm
Time to First Fix Cold start < 26 s
Hot start < 1.5s
Output frequency 5 Hz
iff. corrections RTCM 2.3 Sent via PORT
Operational limits ynamics: < 4 g
Velocity: 500 m/s
Altitude: 50 000 m
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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
1.3.3. Ellipse- internal GNSS receiver (Rev 2)
The revision 2 of Ellipse- embeds a survey grade GNSS receiver (L1/L2 GPS, GLONASS, GALILEO, BEI OU),
capable of SBAS, GPS, and RTK positioning. It also features a built in interference mitigation tool for
advanced applications. 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, L2, L2C
GLONASS: L1, L2
GALILEO: E1 B/C, E5b
Beidou B1, B2,
SBAS, QZSS
All constellations & signals enabled by
default
Horizontal position accuracy Single point L1/L2 1.2 m RTK precision available in option
SBAS / GPS 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
2m baseline
Velocity limit 515 m/s ue to export licenses
Time to First Fix Cold start < 45 s
Hot start < 20s
Signal reacquisition 1s
Output frequency 5 Hz
iff. Corrections RTCM V2.x, V3.x
CMR V2.0, CMR+
Sent via serial PORT C
Options RTK
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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
1.3.4. Ellipse- internal GNSS receiver (Rev 1)
The hardware revision 1 of Ellipse- embeds a survey grade GNSS receiver (L1/L2 GPS, GLONASS, BEI OU),
capable of SBAS, GPS, and RTK positioning. With a refresh rate of 5Hz, this receiver provides best accuracy
and reliability in harsh GNSS environments.
Specification Remark
Channels 120
Signal tracking GPS: L1, L2, L2C
GLONASS: L1, L2
Beidou B1, B2,
SBAS, QZSS
GPS L1/L2, SBAS, QZSS in standard.
Other signals available in option
Horizontal position accuracy Single point L1 1.5 m RTK precision available in option
Single point L1/L2 1.2 m
SBAS / GPS 0.6 m / 0.4 m
RTK 1 cm + 1ppm
Velocity accuracy 0.03 m/s RMS
True Heading Accuracy 0.2°
0.1°
1m baseline
2m baseline
Baseline should not exceed 3m
Velocity limit 515 m/s ue 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
iff. Corrections RTCA, RTCAOBS2
RTCM V2.3, V3
CMR, CMR+
Sent via serial PORT C
Options BEI OU, GLONASS, RTK
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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
1.3.5. Internal barometric altimeter
The Ellipse-N and E models embed a MEMS pressure sensor, used as altimeter. This pressure sensor is fully
calibrated and temperature compensated making it ideal to measure accurately absolute pressure.
The Ellipse converts this absolute pressure into altitude using the Standard Atmosphere model, assuming a
constant temperature gradient over altitude, and a sea pressure level of 1013,25 hPa.
Barometer specifications
Pressure sensor Specification Remarks – Conditions
Resolution 1.2 Pa 10 cm resolution
Pressure accuracy
± 50 Pa
± 200 Pa
± 350 Pa
Relative – [25°C], 700...1100 hPa
Absolute – [0...50°C], 450...1100 hPa
Absolute – [-20...85°C], 450...1100 hPa
Long term stability < 100 Pa/yr
Update Rate 100 Hz
1.3.6. External sensors
1.3.6.1. Third party GNSS receiver
The Ellipse-E model does not include a GNSS receiver, but can be connected to an external GNSS module. All
GNSS receivers will provide velocity and position aiding. In some applications such as automotive ones, the
GPS course can also be used as heading reference input.
ual antenna systems can also provide a True Heading aiding. RTK GPS receivers can be used to improve
positioning accuracy.
1.3.6.2. Odometer
In addition to the GNSS aiding, the Ellipse-N and E versions includes an odometer input which can greatly
improve performance in challenging environments such as urban canyons. The odometer provides a reliable
velocity information even during GPS outages. This increases significantly the dead reckoning accuracy.
The Ellipse handles quadrature output or compatible odometers in order to support forward and backward
directions.
Note: Odometer integration is made really simple as the Kalman filter will finely adjust odometer's
gain and will correct residual errors in the odometer alignment and lever arm.
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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
1.4. System Performance
All specifications are rated to 1 , over -40°C to +85°C (-40 to 185°F) unless otherwise stated.
These specifications have been measured based on typical mission scenarios with simulated GPS outages
and compared to post processed RTK data of a high end FOG based INS.
1.4.1. Ellipse-A orientation performance
1.4.1.1. Orientation specifications
Performance Remarks
Measurement range 360° in all axes, no mounting limitation
Roll / Pitch accuracy < 0.1° Low dynamic conditions – No long term accelerations
Yaw Accuracy 0.8° Clean magnetic environment – Magnetic calibration performed
1.4.2. Ellipse-E/ N orientation and navigation performance
For each application, the accuracy parameters are defined in different positioning modes, explained below:
●SP refers to Single Point mode and is the default L1 GPS / GLONASS fix quality
●RTK stands for Real Time Kinematics with a typical 1 cm accuracy position
●Odometer Aiding is specified when an odometer provides velocity (automotive applications)
1.4.2.1. Land applications
All specifications are valid with MI (odometer) aiding for typical land applications trajectories.
Outage
uration Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical Roll / Pitch Heading
No Outage SP 2 m 2.5 m 0.1 m/s 0.1 m/s 0.1 ° 0.3 °
RTK 0.02 m 0.04 m 0.05 m/s 0.05 m/s 0.1 ° 0.3 °
10 s SP 2.5 m 3 m 0.2 m/s 0.2 m/s 0.1 ° 0,3 °
RTK 0.8 m 0.8 m 0.15 m/s 0.15 m/s 0.1 ° 0.3 °
60 s SP 9 m 6 m 0.1 m/s 0.1 m/s 0.1 ° 0.5 °
RTK 7 m 4 m 0.1 m/s 0.1 m/s 0.1 ° 0.5 °
1.4.2.2. Marine & Subsea applications
Outage
uration Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical Roll / Pitch Heading
No outage
SP 2 m 2.5 m 0.1 m/s 0.1 m/s 0.1 ° 0.8 °
RTK / ual
antenna GPS 0.02 m 0.04 m 0.05 m/s 0.05 m/s 0.1 ° 0.2 °
10 s
SP 3 m 3.5 m 0.2 m/s 0.2 m/s 0.15° 0.8 °
RTK / ual
antenna GPS 1 m 1 m 0.15 m/s 0.15 m/s 0.15° 0.3 °
14/50
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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
Note: In case of standalone dual antenna GNSS system use, heading accuracy parameters listed in
“RTK / ual antenna GPS” lines may apply.
1.4.2.3. Airborne applications
Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical Roll / Pitch Heading
SP 2 m 2.5 m 0.1 m/s 0.1 m/s 0.1 ° 0.5 °
RTK 0.02 m 0.04 m 0.05 m/s 0.05 m/s 0.1 ° 0.4 °
1.4.3. Ellipse- orientation and navigation performance
For each application, the accuracy parameters are defined in different positioning modes, explained below:
●SP refers to Single Point mode and is the default L1/L2 GPS fix quality
●RTK stands for Real Time Kinematics with a typical 1 cm accuracy position
●Odometer Aiding is specified when an odometer provides velocity (automotive applications)
●PPK refers to the Post-processing Kinematic solution
1.4.3.1. Land applications
All specifications are valid with MI (odometer) aiding for typical land applications trajectories.
Outage
uration Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical Roll / Pitch Heading
No outage
SP 1.2 m 1.5 m 0.03 m/s 0.03 m/s 0.1 ° 0.2 °
RTK 0.02 m 0.04 m 0.03 m/s 0.03 m/s 0.1 ° 0.2 °
PPK 0.01 m 0.02 m 0.02 m/s 0.02 m/s 0.05 ° 0.1 °
10 s
SP 1.7 m 2 m 0.1 m/s 0.1 m/s 0.1 ° 0.2 °
RTK 0.8 m 0.8 m 0.1 m/s 0.1 m/s 0.1 ° 0.2 °
PPK 0.1 m 0.1 m 0.05 m/s 0.05 m/s 0.05° 0.1°
60 s
SP 7 m 7 m 0.1 m/s 0.1 m/s 0.15 ° 0.4 °
RTK 5,5 m 5 m 0.1 m/s 0.1 m/s 0.15 ° 0.4 °
PPK 1 m 1 m 0.1 m/s 0.1 m/s 0.08° 0.2°
15/50
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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
1.4.3.2. Marine & Subsea applications
Outage
uration Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical Roll / Pitch Heading
No outage
SP 1.2 m 1.5 m 0.03 m/s 0.03 m/s 0.1 ° 0.2 °
RTK 0.02 m 0.04 m 0.03 m/s 0.03 m/s 0.1 ° 0.2 °
PPK 0.01 m 0.02 m 0.02 m/s 0.02 m/s 0.05 ° 0.1 °
10 s
SP 3 m 3.5 m 0.2 m/s 0.2 m/s 0.15 ° 0.3 °
RTK 1 m 1 m 0.15 m/s 0.15 m/s 0.15 ° 0.3 °
PPK 0.1 m 0.1 m 0.05 m/s 0.05 m/s 0.05° 0.1°
1.4.3.3. Airborne applications
Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical Roll / Pitch Heading
SP 1.2 m 1.5 m 0.03 m/s 0.03 m/s 0.1 ° 0.2 °
RTK 0.02 m 0.04 m 0.03 m/s 0.03 m/s 0.1 ° 0.2 °
PPK 0.01 m 0.02 m 0.02 m/s 0.02 m/s 0.05 ° 0.1 °
1.4.4. Heave performance
1.4.4.1. High performance Heave
The following performance parameters apply only to Ellipse units in the A2 version (high performance
option).
Real Time Heave Remark
Range 50 meters
Period 0 to 15 s
Accuracy 5 cm or 5% Whichever is greater; Velocity aiding available, or no turn or
speed change.
Mode Real time, auto tuning
1.4.4.2. General purpose Heave
The following performance parameters apply to all Ellipse sensors in the A3 version (general purpose).
Real Time Heave Remark
Range 50 meters
Period 0 to 15 s
Accuracy 10 cm or 10% Whichever is greater; Velocity aiding available, or no turn or
speed change.
Mode Real time, auto tuning
16/50
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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
2. Mechanical and Electrical specifications
2.1. Mechanical specifications
All dimensions are expressed in millimeters using the International System of Units (SI) conventions.
2.1.1. Overview
The Ellipse 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 Ellipse-N and E versions include a sophisticated venting system maintain IP-68 protection while
allowing ambient pressure measurements to be performed.
The Ellipse connectors are high quality Ultimate Fischer connectors that offers IP-68 protection even
unconnected. The Ellipse-N version also includes a SMA connector to connect the GPS antenna. When used
with a waterproof GPS antenna cable, this connector offers an IP-68 protection.
Note 1: If you are planing to use Ellipse internal magnetometers, please make sure that you don't
use ferromagnetic materials to mount the device.
2.1.2. Specifications
The table below summarizes all mechanical and environmental specifications.
Item Specification Remarks
Size A, E, N: 46 x 45 x 24 mm (1.8 x 1.77 x 0.9”)
: 67 x 87 x 31.5 mm (2.64 x 3.43 x 1.24“)
Weight A: 45 g / 0.1 lbs
N: 47 g / 0.1 lbs
E: 49 g / 0.1 lbs
: 180g / 0.4 lbs
Shocks < 2 000 g
Operating Vibrations 3g RMS – 20Hz to 2 kHz as per MIL-ST -810G (A2 ranges)
8g RMS – 20Hz to 2 kHz as per MIL-ST -810G (A3/A4 ranges)
Specified performance
Environmental Specifications
Enclosure Anodized Aluminum
IP rating IP-68 (1 hour at 2 meters)
Operating temperature A, E, N:
:
-40 to 85°C (-40 to 185°F)
-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
17/50
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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
2.1.3. evice mechanical alignment
For best measurement accuracy, a good mechanical alignment is required. uring manufacturing, the Ellipse
measurement frame has been carefully aligned to 0.05° with the base plate for roll, pitch and yaw angles.
To ease the yaw alignment (X axis), the base Ellipse A, E and N plate features two alignment holes Ø 2mm
H8 that guarantees with two taper pins Ø 2mm h7 a yaw alignment better than ±0.05°. The Ellipse-
provides similar alignment holes but with 3mm diameter.
2.1.4. Origin of measurements
The center of measurement for acceleration, velocity and position is represented on the mechanical outlines
by the symbol. It is referenced to the base plate fine alignment hole.
2.1.5. evice labels
SBG Systems manufacturing process is based on EN-9100 system with individual and full traceability of
every component and operation. Each Ellipse 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 + hardware revision number are used to define exactly
the device hardware and options.
You can find on the back side of the Ellipse 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 Ellipse packaging includes a second label that provides other useful information such as
installed firmware version or GNSS options in the case of an ELLIPSE- .
18/50
Figure 2.1: Ellipse device label sample Figure 2.2: Ellipse packaging label sample
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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
2.1.6. Ellipse-A mechanical outline
All dimensions are in mm.
2.1.6.1. Front view
2.1.6.2. Top view
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Figure 2.3: Ellipse-A front view
8,30
15,10
4,50
24
0,50
Figure 2.4: Ellipse-A top view
38
38
2,50
46
45
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ELLIPSE2 AHRS & INS – Hardware Manual ELLIPSE2HM.1.3
2.1.6.3. Right view
2.1.6.4. Bottom view
20/50
Figure 2.5: Ellipse-A right view
7,05
Figure 2.6: Ellipse-A bottom view
34
17,50 ±0,01
3
38 ±0,05
39 ±0,05
2 H8 1,5
2 H8 1,5
4 HOLES 3,40
28,20
5,05
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