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
Support EMEA
[email protected]
[phone]
Americas
[email protected]
[phone]
陕西威瑞仪器仪表有限公司 主营全球知名：气象环境智能交通仪器、安防消防警用军用设备
TEL:[phone] WEB:www.go1go.com EMAIL:[email protected]

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.
2/50
陕西威瑞仪器仪表有限公司 主营全球知名：气象环境智能交通仪器、安防消防警用军用设备
TEL:[phone] WEB:www.go1go.com EMAIL:[email protected]

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
3/50
陕西威瑞仪器仪表有限公司 主营全球知名：气象环境智能交通仪器、安防消防警用军用设备
TEL:[phone] WEB:www.go1go.com EMAIL:[email protected]

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
4/50
陕西威瑞仪器仪表有限公司 主营全球知名：气象环境智能交通仪器、安防消防警用军用设备
TEL:[phone] WEB:www.go1go.com EMAIL:[email protected]

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
5/50
陕西威瑞仪器仪表有限公司 主营全球知名：气象环境智能交通仪器、安防消防警用军用设备
TEL:[phone] WEB:www.go1go.com EMAIL:[email protected]

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
6/50
陕西威瑞仪器仪表有限公司 主营全球知名：气象环境智能交通仪器、安防消防警用军用设备
TEL:[phone] WEB:www.go1go.com EMAIL:[email protected]

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.
7/50
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
陕西威瑞仪器仪表有限公司 主营全球知名：气象环境智能交通仪器、安防消防警用军用设备
TEL:[phone] WEB:www.go1go.com EMAIL:[email protected]

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
8/50
陕西威瑞仪器仪表有限公司 主营全球知名：气象环境智能交通仪器、安防消防警用军用设备
TEL:[phone] WEB:www.go1go.com EMAIL:[email protected]

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
9/50
陕西威瑞仪器仪表有限公司 主营全球知名：气象环境智能交通仪器、安防消防警用军用设备
TEL:[phone] WEB:www.go1go.com EMAIL:[email protected]

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
10/50
陕西威瑞仪器仪表有限公司 主营全球知名：气象环境智能交通仪器、安防消防警用军用设备
TEL:[phone] WEB:www.go1go.com EMAIL:[email protected]