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
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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.
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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
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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
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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
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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
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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.
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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.
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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
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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.
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