SBG Apogee Surface Series User manual

Apogee Surface series
Ultimate Accuracy MEMS Inertial Sensors
User Manual
Document APOGEEHM.1.7
evision 1.7 - Nov 30, 2022
Covers Hardware
Apogee -A and -E V2 and
above
Apogee -D V3 and above
Support EMEA
[email protected]
[phone]
Americas
[email protected]
[phone]

Apogee Series – Hardware Manual APOGEEHM.1.7
evision history
ev. Date Author Information
1.7 Nov 30, 2022 Mathieu Peyréga [APGHM-40] - Fix GNSS speed accuracy
[APGHM-39] - Update Hardware Manual to reflect C -67 and C -68
[APGHM-41] - Fix acronyms list
[APGHM-42] - Update Apogee block diagram to reflect write-only CAN
[APGHM-43] - eplace TBD by actual value in CA-AEK-SPLIT-AUX-0.5M
[APGHM-44] - Add Electric specifications (V3 hardware)
[APGHM-45] - emove No TK versions at 7.1
[APGHM-46] - Change mass and power consumption
[APGHM-37] - Typo and cut&paste artefacts
[APGHM-38] - GNSS eceiver velocity specification
[APGHM-47] - Add information on maximum number of pulses per second that the HPI
can receive from the Odometer
1.6 Jun 10, 2022 Alexis Guinamard [APGHM-25] Fixed Ship Motion HP latency to 150s
[APGHM-28] Specify TK performance according to baseline
[APGHM-30] Update orientation specifications after algorithms update
[APGHM-33] Transferred antennas section to support center
[APGHM-36] Accessories Update
1.5 Jul 2, 2020 Alexis Guinamard [APGHM-21] Add virtual odometer feature
[APGHM-23] Update heading performance for FW 3.0
1.4 Jul 19, 2019 Alexis Guinamard [APGHM-15] emoved Splitbox information
[APGHM-19] Added CA-AEK-SPLIT-MAIN2-0.5M specifications
[APGHM-18] emoved Apogee-N information
[APGHM-17] Updated product codes for V2 hardware
[APGHM-16] Updated electrical specifications for V2 hardware
[APGHM-13] Fix wrong description for SPLIT CABLES
[APGHM-20] Updated label&stickers documentation
1.3 Apr 10, 2018 aphaël Siryani [APGHM-11] Fixed invalid product dimensions in inches
[APGHM-10] Updated company address
[APGHM-9] Added Qinertia Port Processing Software section
[APGHM-8] efined IMU sensor specifications
[APGHM-7] Added split cables accessories
1.2 Jul 12, 2017 Alexis Guinamard [APGHM-6] Add cover coordinate frame location specifications for IMU center of
measurement
[APGHM-4] emove obsolete virtual odometer data
1.1 Jun 9, 2016 Alexis Guinamard [EKIDOC-63] Added Apogee performance specifications
[EKIDOC-62] Split User Manuals in two new documents: Technical eference Manual and
Hardware Manual
[APGHM-2] Update support contact details
1 Mar 6, 2015 aphaël Siryani First preliminary version
© 2007 – 2022, 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.
2/53

Apogee Series – Hardware Manual APOGEEHM.1.7
Index
Terminology.............................................................................................................................................................. 6
1. Introduction........................................................................................................................................................... 7
1.1. Apogee Overview.......................................................................................................................................... 8
2. Performance specifications................................................................................................................................. 9
2.1. Inertial measurement unit...........................................................................................................................9
2.1.1. Accelerometers......................................................................................................................................................................... 9
2.1.2. Gyroscopes............................................................................................................................................................................... 9
2.2. Aiding sensors............................................................................................................................................ 10
2.2.1. Apogee-D internal GNSS receiver.......................................................................................................................................... 10
2.2.2. External aiding sensors.......................................................................................................................................................... 11
2.3. Orientation and Navigation Performance.................................................................................................11
2.3.1. Common specifications........................................................................................................................................................... 11
2.3.2. Marine & Subsea applications............................................................................................................................................... 11
2.3.2.1. Heave performance....................................................................................................................................................... 12
2.3.3. Land applications.................................................................................................................................................................. 12
2.3.4. Airborne applications............................................................................................................................................................ 12
2.3.5. eal time Performance monitoring...................................................................................................................................... 12
3. Mechanical specifications.................................................................................................................................. 13
3.1. Overview...................................................................................................................................................... 13
3.1.1. Main Specifications................................................................................................................................................................. 13
3.1.2. Device mechanical alignment................................................................................................................................................ 14
3.1.3. Origin of measurements........................................................................................................................................................ 14
3.2. Apogee-A / E mechanical outline.............................................................................................................15
3.2.1. Front view............................................................................................................................................................................... 15
3.2.2. ight view.............................................................................................................................................................................. 15
3.2.3. Top view................................................................................................................................................................................. 16
3.2.4. Bottom view........................................................................................................................................................................... 17
3.3. Apogee-D mechanical outline...................................................................................................................18
3.3.1. Front view............................................................................................................................................................................... 18
3.3.2. ight view.............................................................................................................................................................................. 18
3.3.3. Top view................................................................................................................................................................................. 19
3.3.4. Bottom View......................................................................................................................................................................... 20
4. Electrical specifications......................................................................................................................................21
4.1. Overview...................................................................................................................................................... 21
4.1.1. Apogee-A and E...................................................................................................................................................................... 21
4.1.2. Apogee-D with embedded GNSS........................................................................................................................................... 21
4.2. Power supply connector............................................................................................................................ 22
4.2.1. Connector specifications....................................................................................................................................................... 22
4.2.2. Connector pin-out................................................................................................................................................................. 22
4.2.3. Electrical specifications........................................................................................................................................................ 23
3/53

Apogee Series – Hardware Manual APOGEEHM.1.7
4.3. Main connector.......................................................................................................................................... 23
4.3.1. Connector specifications....................................................................................................................................................... 23
4.3.2. Connector pin-out................................................................................................................................................................. 24
4.3.3. Electrical specifications (V1 hardware)................................................................................................................................ 25
4.3.4. Electrical specifications (V2 hardware)................................................................................................................................ 26
4.3.5. Electrical specifications (V3 hardware)................................................................................................................................ 27
4.4. External aiding connector......................................................................................................................... 28
4.4.1. Connector specifications....................................................................................................................................................... 28
4.4.2. Connector pin-out................................................................................................................................................................. 28
4.4.2.1. Electrical specifications............................................................................................................................................... 29
4.5. GNSS antenna connectors........................................................................................................................30
4.5.1. Connector specifications....................................................................................................................................................... 30
4.5.2. Electrical specifications......................................................................................................................................................... 31
4.5.3. GNSS antenna advice............................................................................................................................................................ 31
4.6. Typical wiring............................................................................................................................................. 32
4.6.1. Power supply connection...................................................................................................................................................... 32
4.6.2. Main interface connection on S-232.................................................................................................................................. 32
4.6.3. Main interface connection on S-422................................................................................................................................. 33
4.6.4. CAN Bus typical wiring......................................................................................................................................................... 33
4.6.5. GNSS connection in S-232 mode....................................................................................................................................... 34
4.6.6. Third party aiding equipment connected in S-422........................................................................................................... 34
4.6.7. Triggering external devices with the sync Out..................................................................................................................... 35
4.7. Typical connection topologies................................................................................................................... 36
4.7.1. Apogee-D in advanced automotive application.................................................................................................................... 36
4.7.2. Apogee-E in marine application............................................................................................................................................ 37
5. Interfaces specifications................................................................................................................................... 38
5.1. Overview..................................................................................................................................................... 38
5.2. Ethernet specifications............................................................................................................................. 38
5.2.1. Accessing the Apogee web page.......................................................................................................................................... 38
5.3. Serial interfaces......................................................................................................................................... 39
5.4. Supported protocols.................................................................................................................................. 39
5.4.1. Connections Mapping............................................................................................................................................................ 40
5.4.1.1. Apogee-A version......................................................................................................................................................... 40
5.4.1.2. Apogee-E version......................................................................................................................................................... 40
5.4.1.3. Apogee-D..................................................................................................................................................................... 40
5.5. Internal Datalogger....................................................................................................................................41
5.6. CAN 2.0 A/B interface...............................................................................................................................41
6. Important notices.............................................................................................................................................. 42
6.1. Maintenance............................................................................................................................................... 42
6.2. Absolute maximum ratings......................................................................................................................42
6.3. Support...................................................................................................................................................... 43
6.4. Warranty, liability and return procedure..................................................................................................43
7. Appendix A: Ordering codes and Accessories...................................................................................................44
7.1. Apogee variants.......................................................................................................................................... 44
7.2. Transport Case............................................................................................................................................ 44
4/53

Apogee Series – Hardware Manual APOGEEHM.1.7
7.2.1. CASE-AEK-01.......................................................................................................................................................................... 44
7.3. Associated Software.................................................................................................................................. 45
7.3.1. Inertial SDK............................................................................................................................................................................. 45
7.3.2. SW-QINE TIA-P O (GNSS/INS Post Processing Software)...............................................................................................45
7.4. Cables.......................................................................................................................................................... 46
7.4.1. CA-AEK-PW -PSU-1.5M......................................................................................................................................................... 46
7.4.2. CA-AEK-PW -3M.................................................................................................................................................................. 46
7.4.3. CA-AEK-MAIN-ETH-2.5M...................................................................................................................................................... 46
7.4.4. CA-AEK-MAIN- S232-3M...................................................................................................................................................... 47
7.4.5. CA-AEK-MAIN- S422-3M..................................................................................................................................................... 48
7.4.6. CA-AEK-AUX-3M.................................................................................................................................................................... 49
7.4.7. CA-AEK-SPLIT-MAIN-0.5M.................................................................................................................................................... 50
7.4.8. CA-AEK-SPLIT-MAIN2-0.5M.................................................................................................................................................. 51
7.4.9. CA-AEK-SPLIT-AUX-0.5M...................................................................................................................................................... 52
8. APPENDIX B: Packaging, labeling..................................................................................................................... 53
8.1. Board Identification................................................................................................................................... 53
5/53

Apogee Series – Hardware Manual APOGEEHM.1.7
Terminology
AH S: Attitude and Heading eference System
CAN (Bus): Controller Area Network
CM : Compact Measurement ecord (protocol)
DC: Direct Current
DGNSS: Dierential GNSS
DMI: Distance Measuring Instrument
DVL: Doppler Velocity Log
EKF: Extended Kalman Filter
EMI: Electro Magnetic Interferences
FI : Finite Impulse esponse (filter)
FTP: File Transfer Protocol
GND: Ground
GNSS: Global Navigation Satellite System
GPS: Global Positioning System
IMU: Inertial Measurement Unit
INS: Inertial Navigation System
IP: Internet Protocol / Ingress Protection
LNA: Low Noise Amplifier
MEMS: Micro Electro-Mechanical Systems
M U: Motion eference Unit
MTBF: Mean Time Between Failures
NA: Not applicable
NMEA (NMEA 0183): National Marine Electronics Association (standardized communication protocol)
PP: Post Processing
PPS: Pulse Per Second (signal)
oHS: isk Of Hazardous Substance
MA: eturn Merchandise Authorization
MS: oot Mean Square
TCM: adio Technical Commission for Maritime Services (Protocol)
TK: eal Time Kinematics
SBAS: Satellite Based Augmentation System
SDK: Software Development Kit
SP: Single Point
TCP: Transmission Control Protocol
UDP: User Datagram Protocol
UTC: Coordinated Universal Time
V E: Vibration ectification Error
WGS84: World Geodetic System 1984
6/53

Apogee Series – Hardware Manual APOGEEHM.1.7
1. Introduction
Apogee series is a line of very high performance, MEMS based
Inertial Systems which achieve exceptional orientation and
navigation performance in a compact and aordable package. It
includes an Inertial Measurement Unit (IMU) and runs an on-board
enhanced Extended Kalman Filter (EKF). The Apogee line is divided
in a comprehensive set of sensors:
●The Apogee-A version is a Motion eference Unit (M U) /
Attitude and Heading eference System (AH S), providing
accurate orientation in dynamic conditions as well as heave,
surge and sway data. It can be coupled with an external GNSS
receiver for optimal orientation accuracy.
●The Apogee-E version is an Inertial Navigation System (INS).
It provides accurate orientation in dynamic conditions as well
as heave, surge and sway data and can be connected to an
external GNSS receiver.
●The Apogee-D is an Inertial Navigation Systems (INS) that embeds a dual antenna, triple frequency
(L1/L2/L5) survey grade GNSS receiver. Thanks to the four constellations support (GPS, GLONASS,
BEIDOU, GALILEO), it provides an excellent position accuracy in all environments. The GNSS receiver
also features the world's leading TK engine delivering sub centimeter accuracy with very high
availability and fast re-acquisition time. The dual antenna operation enables accurate measurements
even in low dynamic conditions (such as in marine applications). The use of a dual antenna heading
also reduce dramatically the initial alignment time compared to traditional gyro compassing solutions.
To achieve the best performance in every project, specific error models have been implemented to meet
applications requirements and to adapt the Apogee 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 Apogee.
Finally, the 8GB embedded data-logger enables seamless post processing work-flow with Qinertia post-
processing software for the most demanding applications.
7/53
Figure 1.1: The Apogee-D model

Apogee Series – Hardware Manual APOGEEHM.1.7
1.1. Apogee Overview
The following diagram shows the basic organization of an Apogee. On the Apogee-A and E versions, this
block diagram is slightly simplified as there is no embedded GNSS.
8/53
Figure 1.2: Apogee simplified block diagram
IMU DATA FUSION
Coning & Sculling
integrals @ 1 kHz
3 Axis
Gyroscopes
3 Axis
Accelerometers
EKF and output
@ 200 Hz
POWE
ETHE NET
FTP
CAN
SE IAL
Data loggerGNSS
A B C D
Aiding Equipments
» Navigation: 2x TK GPS/GNSS
» Heading: Dual Antenna GPS/GNSS
» Velocity: Odometer, DVL

Apogee Series – Hardware Manual APOGEEHM.1.7
2. Performance specifications
2.1. Inertial measurement unit
As an IMU is the main component of an inertial navigation system, the Apogee IMU has been carefully
designed to take full advantage and performance of MEMS technology.
2.1.1. Accelerometers
The Apogee V2 and V3 IMU embeds a set of 3 MEMS capacitive accelerometers. Coupled with advanced
filtering techniques and high frequency integration, these accelerometers will provide consistent
performance, even in vibrating environment.
A3 emarks
Full scale (g)± 10
Velocity andom Walk (µg/√hz) 30 Allan variance – @ 25°C
In run bias instability (µg)7 Allan variance – @ 25°C
Bandwidth (Hz) 100 Attenuation of 3dB
Orthogonality (°) < 0.02 Over temperature range
2.1.2. Gyroscopes
The Apogee V2 and V3 IMUs embeds 3 high performance MEMS gyroscopes. The specifications are listed
below:
G3 emarks
Full scale (°/s) ± 200
In run bias instability (°/hr) 0.05 Allan variance – @ 25°C
Angular andom Walk (°/√hr) 0.012 Allan variance – @ 25°C
Bandwidth (Hz) 100 Attenuation of 3dB
Orthogonality (°) < 0.02 Over temperature range
9/53

Apogee Series – Hardware Manual APOGEEHM.1.7
2.2. Aiding sensors
Many dierent aiding sensors can be used to aid the Apogee INS.
2.2.1. Apogee-D internal G SS receiver
The Apogee-D embed a very high end, survey grade GNSS receiver with dual antenna heading capability.
It features L1/L2/L5 signals tracking and uses GPS, GLONASS, BEIDOU and GALILEO constellations to
provide very accurate and reliable measurements even in harsh environments.
This latest generation GNSS receiver also features very accurate TK positioning with the world's leading
signal availability and minimal re-acquisition time after a GNSS outage. With a refresh rate of 20Hz, this
receiver provides best accuracy and reliability in harsh GNSS environments thanks to a very advanced auto
mitigating algorithms that detects and eliminates multi-path situations or Inmarsat / Iridium jamming.
The internal dual L-Band demodulator supports Fugro Marinestar™ PPP services to delivery world wide, with
no specific infrastructure, a positioning accuracy better than 10cm.
Specification emark
Channels 544
Signal tracking GPS: L1 C/1, L2, L2C, L5
GLONASS: L1 C/A, L2
C/A, L2P, L3
GALILEO: E1, E5a, E5b
Beidou: B1I, B1C, B2a, B2I,
B3I
QZSS: L1 C/A, L2C, L5
SBAS
integrated L-band
All constellations & signals enabled by
default
Horizontal position accuracy Single Point L1/L2/L5 1.2m TK enabled by default
SBAS / DGNSS 0.6m / 0.4m
TK 0.6cm + 0.5ppm
Velocity Accuracy 0.03m/s MS
True Heading Accuracy 0.15°
0.03°
1m baseline
5m baseline
Velocity limit 515m/s Due to export licenses
Time to First Fix Cold start < 45s
Hot start < 20s
Signal reacquisition L1/L2/L5 < 1s
Output frequency PVT: 5Hz (Max 20Hz)
AW data: 1Hz (Max 100Hz)
Di. Corrections TCM V2.x, V3.x
CM V2.0, CM +
Sent via serial PO T D
Note: All these specifications reflect the intrinsic GNSS receiver accuracy. Please refers to section 2.3
Orientation and Navigation Performance for complete Apogee accuracy specifications.
10/53

Apogee Series – Hardware Manual APOGEEHM.1.7
2.2.2. External aiding sensors
The Apogee-A accepts a single external GNSS receiver connection to improve orientation performance.
The Apogee-E, N and D models accepts 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 Apogee-E/N/D as
velocity aiding inputs.
Maximum supported odometer pulse rate is 10kHz
2.3. Orientation and Navigation Performance
All specifications are rated to 1σ, over -20°C to +60°C unless otherwise stated.
These specifications have been obtained by field tests, using typical mission scenarios and comparison to
reference units using post-processing. Outage performance validated by simulation of repeated, pure GNSS
outages, separated by at least 200s of optimal GNSS condition, compared to a reference TK trajectory.
Performance parameters may be aected in multi-path and poor GNSS reception environments such as
urban canyons.
For each application, we present the specified accuracy for the following positioning modes:
●SP: Single Point mode which is the default L1/L2/L5 GNSS fix quality
●TK: eal Time Kinematics with a typical 1cm accuracy position
●PPK: Post Processed data using Qinertia with at least Precise Point Positioning data
2.3.1. Common specifications
Performance emarks
Measurement range 360° in all axes, no mounting limitation Solid state sensors
Orientation noise < 0.002° MS Static conditions
2.3.2. Marine & Subsea applications
All specifications are valid with dual antenna aiding for typical marine survey trajectories.
Outage
Duration Positioning Mode Position Accuracy (m) Velocity Accuracy (m/s) Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical oll / Pitch Heading
0s
SP 1.0m 1.0m 0.02m/s 0.01m/s 0.01° 0.02° (baseline > 2m)
0.01° (baseline > 4m)
TK 0.01m + 0.5ppm 0.015m + 1ppm 0.01m/s 0.01m/s 0.008°
PPK 0.01m+ 0.5ppm 0.015m + 1ppm 0.01m/s 0.01m/s 0.005° 0.01°
10s
SP 1.2m 1.1m 0.03m/s 0.015m/s 0.01° 0.03° (baseline > 2m)
0.02° (baseline > 4m)
TK 0.17m 0.1m 0.02m/s 0.015m/s 0.008°
PPK 0.03m 0.02m 0.015m/s 0.01m/s 0.005° 0.015°
60s
SP 5.0m 2.0m 0.15m/s 0.075m/s 0.015° 0.05° (baseline > 2m)
0.04° (baseline > 4m)
TK 4.0m 0.75m 0.15m/s 0.075m/s 0.012°
PPK 0.15m 0.05m 0.04m/s 0.03m/s 0.008° 0.025°
11/53

Apogee Series – Hardware Manual APOGEEHM.1.7
2.3.2.1. Heave performance
eal Time Heave Delayed Heave (ShipMotionHP) emark
ange 50 meters 50 meters Automatic adjustment to every sea conditions
Period 0 to 20s 0 to 40s
Accuracy 5cm or 5% 2cm or 2% Whichever is greater; Velocity aided heave
Mode eal time, auto tuning Fixed 150s delay On board computation
2.3.3. Land applications
All specifications are valid with DMI (odometer) aiding for typical land mapping trajectories.
Outage
Duration Positioning Mode Position Accuracy (m) Velocity Accuracy (m/s) Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical oll / Pitch Heading
No Outage
SP 1.0m 1.0m 0.02m/s 0.01m/s 0.01° 0.03°
TK 0.01m + 0.5ppm 0.015m + 1ppm 0.01m/s 0.01m/s 0.008° 0.02°
PPK 0.01m + 0.5ppm 0.015m + 1ppm 0.01m/s 0.01m/s 0.005° 0.01°
10s
SP 1.1m 1.0m 0.03m/s 0.02m/s 0.01° 0.04°
TK 0.05m 0.05m 0.02m/s 0.02m/s 0.008° 0.03°
PPK 0.02m 0.02m 0.015m/s 0.01m/s 0.005° 0.015°
60s / 1km
SP 1.5m 1.3m 0.03m/s 0.02m/s 0.015° 0.06°
TK 0.5m 0.3m 0.02m/s 0.02m/s 0.012° 0.06°
PPK 0.1m 0.05m 0.02m/s 0.015m/s 0.008° 0.025°
2.3.4. Airborne applications
All specifications are valid with dual antenna aiding for typical aerial survey trajectories.
Positioning Mode Position Accuracy (m) Velocity Accuracy (m/s) Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical oll / Pitch Heading
SP 1.0m 1.0m 0.02m/s 0.01m/s 0.01° 0.02° (baseline > 2m)
0.01° (baseline > 4m)
TK 0.01m + 0.5ppm 0.015 + 1ppm 0.01m/s 0.01m/s 0.008°
PPK 0.01m + 0.5ppm 0.015 + 1ppm 0.01m/s 0.01m/s 0.005° 0.01°
2.3.5. Real time Performance monitoring
The Extended Kalman filter provides feedback about its performance. The following validity levels
thresholds are defined for the Apogee series:
Threshold Comments
Attitude Valid 0.3° / 0.025° AH S / Normal INS mode
Heading Valid 0.5° / 0.08° AH S / Normal INS mode
Velocity Valid 0.2m/s Total velocity error (3D)
Position Valid 1m Total position error (3D)
Note: The thresholds are less accurate in AH S mode, when there is no GNSS aiding available. Full
performance can be reached with GNSS aiding.
12/53

Apogee Series – Hardware Manual APOGEEHM.1.7
3. Mechanical specifications
3.1. Overview
The Apogee 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 oer a full IP-68 enclosure and a good
resistance to harsh environments.
The cover part is made of 6061 aluminum alloy for its resistance to both seawater and industrial chemical
environments. In addition, this material oers a nice visual aspect.
The base plate is made of 7075 aluminum alloy to ensure best durability and accuracy. Indeed, this alloy
oers an incredible mechanical strength to guarantee the base plate integrity and accuracy during device
installation.
The cover and base plates are sealed together by four M3 stainless steel A4 screws (3016L). The Apogee
should be installed to the host interface using four M4 stainless steel A4 screws.
The Apogee connectors are high quality Fischer connectors that oer IP-68 protection even unconnected.
The Apogee-D version also include TNC connectors to plug the GNSS antennas.
Warning: The Apogee is not designed for prolonged operation in salt water environments. Check
section Maintenance for more details about operation in sea water environments.
3.1.1. Main Specifications
The table below summarizes all mechanical and environmental specifications.
Item E D
Height 58mm (2.28”) 75mm (2.95“)
Width 130mm (5.12”) 130mm (5.12”)
Depth 100mm (3.94”) 100mm (3.94”)
Weight 685g (1.5lb) 899g (1.98lb)
Shocks 500g for 0.3 ms
Operating Vibrations 8g MS – 20Hz to 2kHz as per MIL-STD-810G (A3 range options)
Environmental Specifications
Enclosure Anodized Aluminum
IP rating IP-68 (24 hours at 2 meters)
Specified temperature -20°C to 60°C (-40°F to 140 °F)
Operating temperature -40°C to 71°C (-40°F to 160°F)
Storage -40°C to 85°C (-40°F to 185°F)
Humidity Sealed, no limit
MTBF (computed) 50000 hours
Calibration interval None required, maintenance free
13/53

Apogee Series – Hardware Manual APOGEEHM.1.7
3.1.2. Device mechanical alignment
For best measurement accuracy, a good mechanical alignment is required. During manufacturing, the
Apogee measurement frame has been carefully aligned to 0.02° with the base plate for roll, pitch and yaw
angles.
To ease the yaw alignment (X axis), the base plate features two alignment holes Ø 4mm H8 that
guarantees with two taper pins Ø 4mm h7 a yaw alignment better than ±0.04°.
Note: The base plate is the same for the Apogee-A, E, and D models.
3.1.3. Origin of measurements
The Apogee oers the possibility to output data at dierent measurement points.
The default center of measurement is located on top of Apogee enclosure, on the coordinate frame center
drawing. It is represented on the mechanical outlines by the symbol. This point is defined to simplify
installation.
Alternatively, user can select between two other center of measurement points:
●Alignment hole (aligned to the bottom of the base plate)
●Bare IMU center of measurement, represented by the symbol.
14/53

Apogee Series – Hardware Manual APOGEEHM.1.7
3.2. Apogee-A / E mechanical outline
All dimensions are in mm.
3.2.1. Front view
3.2.2. Right view
15/53
0,50
7
58
25
44
12 12
23,30

Apogee Series – Hardware Manual APOGEEHM.1.7
3.2.3. Top view
16/53
108 130 3,75
91
100
82
17

Apogee Series – Hardware Manual APOGEEHM.1.7
3.2.4. Bottom view
17/53
119
4 H8 2,5
6
4 H8 2,5
60 ±0,05
108 ±0,10 130 ±0,30
91 ±0,10
100 ±0,30
4 HOLES 4,50
36,40
11,30
90,30
77,70

Apogee Series – Hardware Manual APOGEEHM.1.7
3.3. Apogee-D mechanical outline
All dimensions are in mm.
3.3.1. Front view
3.3.2. Right view
18/53
58
0,50
7
75
14,50 14,50
25
43
12 12
23,30

Apogee Series – Hardware Manual APOGEEHM.1.7
3.3.3. Top view
19/53
108 130 3,75
14,50
82
91
100
17

Apogee Series – Hardware Manual APOGEEHM.1.7
3.3.4. Bottom View
20/53
119
4 H8 2,5
6
4 H8 2,5
60 ±0,05
108 ±0,10 130 ±0,30
91 ±0,10
100 ±0,30
4 HOLES 4,50
36,40
11,30
90,30
77,70