SBG Ekinox Surface Series User manual

Ekinox Surface Series
Tactical Grade MEMS Inertial Sensors
Hardware Manual
Document EKINOXHM. .4
Revision .4 - Jun 9, 20 6
Support EMEA
[email protected]
[phone]
Americas
[email protected]
+ [phone]

Ekinox Surface Series – Hardware Manual EKINOXHM. .4
Revision history
Rev. Date Author Information
.4 Jun 9, 20 6 Alexis Guinamard [EKIDOC-62] Split User Manuals in two new documents: Technical Reference
Manual and Hardware Manual
[EKIHM-74] Update support contact details
.3. May 4, 20 5 Alexis Guinamard [EKIDOC-32] Add maintenance indications if used in marine conditions
[EKIDOC-33] Merged Ekinox INS and AHRS User Manuals
[EKIDOC-36] Added accessories weights when available
.3 Dec 22, 20 4 Alexis Guinamard [EKIDOC-26] Updated product codes in accessories section
[EKIDOC-25] Added Geoid model used (EGM-96) in Ekinox-N and Ekinox-D
.2 Mar 6, 20 4 Alexis Guinamard Fixed RTCM input diagram in connection topologies section
Added ShipMotionHP description and specifications
Added support for new input protocols (Septentrio SBF)
Added support for new output protocols (VBW, GST)
. Nov 8, 20 3 Alexis Guinamard Update for Firmware . – Added Ekinox D information.
Added DVL integration details.
Added augmented states description
Updated alignment procedures
May 6, 3 Alexis Guinamard First public version
© 2007 – 20 6, 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.
2/64

Ekinox Surface Series – Hardware Manual EKINOXHM. .4
Index
Terminology............................................................................................................................................................ 6
. Introduction....................................................................................................................................................... 8
. . Ekinox Overview......................................................................................................................................... 9
2. Performance specification............................................................................................................................... 0
2. . Inertial measurement unit....................................................................................................................... 0
2. . . Accelerometers....................................................................................................................................................................... 0
2. .2. Gyroscopes............................................................................................................................................................................. 0
2. .3. Magnetometers...................................................................................................................................................................... 2
2.2. Aiding sensors......................................................................................................................................... 3
2.2. . Ekinox N and D internal GNSS receiver.................................................................................................................................. 3
2.2.2. Internal magnetometer......................................................................................................................................................... 3
2.2.3. External aiding sensors......................................................................................................................................................... 4
2.3. Orientation and Navigation Performance............................................................................................... 4
2.3. . Common specifications.......................................................................................................................................................... 4
2.3.2. Land applications.................................................................................................................................................................. 4
2.3.3. Marine & Subsea applications............................................................................................................................................... 5
2.3.3. . Heave performance....................................................................................................................................................... 5
2.3.4. Airborne applications............................................................................................................................................................ 5
2.3.5. Real time Performance monitoring...................................................................................................................................... 5
3. Mechanical specifications................................................................................................................................ 7
3. . Overview.................................................................................................................................................... 7
3. . . Main Specifications................................................................................................................................................................. 7
3. .2. Device mechanical alignment................................................................................................................................................ 8
3. .3. Origin of measurements........................................................................................................................................................ 8
3. .4. Device label............................................................................................................................................................................. 8
3.2. EKINOX-A mechanical outline................................................................................................................. 9
3.2. . Front view............................................................................................................................................................................... 9
3.2.2. Right view.............................................................................................................................................................................. 9
3.2.3. Top view................................................................................................................................................................................ 20
3.2.4. Bottom view.......................................................................................................................................................................... 2
3.3. EKINOX-E mechanical outline................................................................................................................. 22
3.3. . Front view.............................................................................................................................................................................. 22
3.3.2. Right view............................................................................................................................................................................. 22
3.3.3. Top view................................................................................................................................................................................. 23
3.3.4. Bottom view.......................................................................................................................................................................... 24
3.4. EKINOX-N mechanical outline................................................................................................................ 25
3.4. . Front view.............................................................................................................................................................................. 25
3.4.2. Right view............................................................................................................................................................................. 25
3.4.3. Top view................................................................................................................................................................................ 26
3/64

Ekinox Surface Series – Hardware Manual EKINOXHM. .4
3.5. EKINOX-D mechanical outline................................................................................................................. 27
3.5. . Front view............................................................................................................................................................................... 27
3.5.2. Right view............................................................................................................................................................................. 27
3.5.3. Top view................................................................................................................................................................................ 29
3.5.4. Bottom view......................................................................................................................................................................... 30
4. Electrical specifications................................................................................................................................... 3
4. . Overview................................................................................................................................................... 3
4. . . Ekinox-A.................................................................................................................................................................................. 3
4. .2. Ekinox-E with external aiding only........................................................................................................................................ 3
4. .3. Ekinox-N with embedded GNSS........................................................................................................................................... 32
4. .4. Ekinox-D with dual antenna GNSS....................................................................................................................................... 32
4.2. Power supply connector.......................................................................................................................... 33
4.2. . Connector specifications....................................................................................................................................................... 33
4.2.2. Connector pin out................................................................................................................................................................. 34
4.2.3. Electrical specifications........................................................................................................................................................ 34
4.3. Main connector....................................................................................................................................... 34
4.3. . Connector specifications....................................................................................................................................................... 35
4.3.2. Connector pin out................................................................................................................................................................. 36
4.3.3. Electrical specifications........................................................................................................................................................ 36
4.4. Auxiliary connector................................................................................................................................. 39
4.4. . Connector specifications....................................................................................................................................................... 39
4.4.2. Connector pin out................................................................................................................................................................. 40
4.4.3. Electrical specifications........................................................................................................................................................ 40
4.5. GPS antenna connectors........................................................................................................................ 42
4.5. . Connector specifications....................................................................................................................................................... 42
4.5.2. Electrical specifications........................................................................................................................................................ 43
4.5.3. GPS antenna advices............................................................................................................................................................ 43
4.6. Typical wiring.......................................................................................................................................... 44
4.6. . Power supply connection...................................................................................................................................................... 44
4.6.2. Main interface connection on RS-232................................................................................................................................. 44
4.6.3. Main interface connection on RS-422................................................................................................................................. 45
4.6.4. CAN Bus typical wiring......................................................................................................................................................... 45
4.6.5. GNSS connection in RS-232 mode....................................................................................................................................... 46
4.6.6. Third party aiding equipment connected in RS-422........................................................................................................... 46
4.6.7. Triggering external devices with the sync Out..................................................................................................................... 47
4.7. Typical connection topologies................................................................................................................. 48
4.7. . Ekinox-D in advanced automotive application..................................................................................................................... 48
4.7.2. Ekinox-E in marine application............................................................................................................................................. 49
5. Interfaces specifications................................................................................................................................. 50
5. . Overview.................................................................................................................................................. 50
5.2. Ethernet specifications.......................................................................................................................... 50
5.2. . Accessing the Ekinox web page............................................................................................................................................ 50
5.3. Serial interfaces...................................................................................................................................... 52
4/64

Ekinox Surface Series – Hardware Manual EKINOXHM. .4
5.4. Supported protocols................................................................................................................................ 52
5.5. Connections Mapping............................................................................................................................. 53
5.5. . . Ekinox A version............................................................................................................................................................ 53
5.5. .2. Ekinox E version........................................................................................................................................................... 53
5.5. .3. Ekinox N / D versions................................................................................................................................................... 53
5.6. Internal Datalogger................................................................................................................................. 54
5.7. CAN 2.0 A/B interface............................................................................................................................. 54
6. Important notices........................................................................................................................................... 55
6. . Maintenance............................................................................................................................................ 55
6.2. Absolute maximum ratings.................................................................................................................... 55
6.3. Support................................................................................................................................................... 56
6.4. Warranty, liability and return procedure................................................................................................ 56
7. Appendix A: Ordering codes and Accessories.................................................................................................57
7. . Ekinox ordering codes............................................................................................................................... 57
7.2. Transport Cases........................................................................................................................................ 57
7.2. . CASE-EKI-0 ............................................................................................................................................................................ 57
7.2.2. CASE-EKI-02.......................................................................................................................................................................... 58
7.3. SplitBox for easy connection................................................................................................................... 58
7.3. . SPLITBOX-STD........................................................................................................................................................................ 58
7.3.2. SPLITBOX-STD-S................................................................................................................................................................... 58
7.3.3. SPLITBOX-STD-T.................................................................................................................................................................... 58
7.4. Associated Software............................................................................................................................... 59
7.4. . SW-AEK-SDK (Software Development Kit)........................................................................................................................... 59
7.4.2. SW-NOV-PP-GPS-IMU-U (Post-processing suite)............................................................................................................... 59
7.5. Cables....................................................................................................................................................... 60
7.5. . CA-AEK-PWR-PSU- .5M........................................................................................................................................................ 60
7.5.2. CA-AEK-PWR-3M.................................................................................................................................................................. 60
7.5.3. CA-AEK-MAIN-ETH-2.5M...................................................................................................................................................... 60
7.5.4. CA-AEK-MAIN-RS232-3M...................................................................................................................................................... 6
7.5.5. CA-AEK-MAIN-RS422-3M..................................................................................................................................................... 62
7.5.6. CA-AEK-AUX-3M.................................................................................................................................................................... 63
7.6. GPS accessories....................................................................................................................................... 64
7.6. . GNSS antennas...................................................................................................................................................................... 64
7.6.2. TNC Cables............................................................................................................................................................................. 64
5/64

Ekinox Surface Series – Hardware Manual EKINOXHM. .4
Terminology
ADC: Analog to Digital Converter
AHRS: Attitude and Heading Reference System
CAN (Bus): Controller Area Network
DHCP: Dynamic Host Configuration Protocol
DVL: Doppler Velocity Log
EKF: Extended Kalman Filter
EEPROM: Electrically-Erasable Programmable Read-Only Memory
FIR: Finite Impulse Response (filter)
FTP: File Transfer Protocol
FS: Full Scale
FOG: Fiber Optic Gyroscope
GNSS: Global Navigation Satellite System
GPS: Global Positioning System
IIR: Infinite Impulse Response (filter)
IMU: Inertial Measurement Unit
INS: Inertial Navigation System
IP: Internet Protocol
LBL: Long Baseline
MAC (address): Media Access Control
MEMS: Micro Electro-Mechanical Systems
NED: North East Down (coordinate frame)
NA: Not applicable
NMEA (NMEA 0 83): National Marine Electronics Association (standardized communication protocol)
PPS: Pulse Per Second (signal)
RAM: Random Access Memory
RMA: Return Merchandize Authorization
RMS: Root Mean Square
RTCM: Radio Technical Commission for Maritime Services (Protocol)
RTK: Real Time Kinematics
SI: International System of Units
TBD: To Be Defined
TCP: Transmission Control Protocol
UDP: User Datagram Protocol
UTC: Coordinated Universal Time
USBL: Ultra Short Base Line
VRE: Vibration Rectification Error
WGS84: World Geodetic System 984
6/64

Ekinox Surface Series – Hardware Manual EKINOXHM. .4
WMM: World Magnetic Model
7/64

Ekinox Surface Series – Hardware Manual EKINOXHM. .4
. Introduction
Ekinox series is a line of very high performance, MEMS based
Inertial Systems which achieve exceptional orientation and
navigation performance in a compact and affordable package. It
includes an Inertial Measurement Unit (IMU) and runs an on-board
enhanced Extended Kalman Filter (EKF). The Ekinox line is divided
in a comprehensive set of sensors:
●The Ekinox-A version is a Motion Reference Unit (MRU) or
Attitude and Heading Reference System (AHRS), providing
accurate orientation in dynamic conditions as well as heave,
surge and sway outputs. The Ekinox A can be connected to an
external GNSS receiver to improve orientation performance.
●The Ekinox-E, N and D models are Inertial Navigation Systems (INS), providing both orientation and
navigation data even during GNSS outages. GNSS and other aiding equipments such as odometer or
DVL can be used to provide accurate navigation data in all conditions, but also to improve orientation
accuracy:
●The Ekinox-E model can be connected to external aiding equipment such as two GNSS receivers.
SBG Systems has developed a powerful accessory, the SplitBox with an integrated GNSS receiver
to ease Ekinox-E setup and installation.
●The Ekinox-N embeds a high performance survey grade L /L2 GNSS receiver. It supports GPS,
GLONASS, BEIDOU, GALLILEO constellations. If also features RTK positioning capability delivering
sub centimeter accuracy with high availability and fast reacquisition time.
●The Ekinox-D adds to the Ekinox-N a robust dual antenna based true heading to delivery accurate
measurements even in low dynamic conditions (such as in marine applications). The use of a dual
antenna heading also reduces 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 Ekinox to your vehicle. Sensor configuration is made easy
through the modern embedded web interface.
The windows based sbgCenter application also provides a very powerful and easy to use tool to monitor,
analyze, record, playback and export all measurements, status and information of your Ekinox.
Finally, the 8 Go embedded data-logger enables seamless post processing work-flow with Inertial Explorer
software for the most demanding applications.
8/64
Figure . : The Ekinox INS (N model)

Ekinox Surface Series – Hardware Manual EKINOXHM. .4
. . Ekinox Overview
The following diagram shows the basic organization of an Ekinox-A, E, N or D. On the Ekinox-A and E
versions, this block diagram is slightly simplified as there is no embedded GNSS.
9/64
Figure .2: Ekinox simplified block diagram
IMU DATA FUSION
Coning & Sculling
integrals @ kHz
3 Axis
Gyroscopes
3 Axis
Accelerometers
3 Axis
Magnetometers
EKF and output
@ 200 Hz
POWER
ETHERNET
FTP
CAN
SERIAL
Data loggerGPS
A B C D
Aiding Equipments
» Navigation: RTK GPS/GNSS, DVL
» Heading: Dual Antenna GPS/GNSS, Magnetometer
» Velocity: Odometer, DVL

Ekinox Surface Series – Hardware Manual EKINOXHM. .4
2. Performance specification
2. . Inertial measurement unit
As an IMU is the main component of an inertial navigation system, the Ekinox IMU has been carefully
designed to take full advantage and performance of MEMS technology.
2. . . Accelerometers
The Ekinox IMU embeds a set of 3 MEMS capacitive accelerometers. Coupled with advanced filtering
techniques and sculling integrals, these accelerometers will provide consistent performance, even in
vibrating environment.
A A2 A3 A4 Remarks
Full scale ( g )2 5 0 30
One year bias stability (µ g )300 750 500 4500
In run bias instability (µ g )0 25 40 00 Allan variance – @ 25°C
Velocity Random Walk (µ g /√hz) 8 45 00 280 Allan variance – @ 25°C
Gain (ppm) 300 300 300 300
Linearity (% of FS) 0.05 0.05 0.05 0.05
Noise (µ g )90 225 450 350 Over to 25 Hz band
Bandwidth (Hz) 00 00 00 00 Attenuation < 3 dB
Resolution (m g )0. 0.25 0.6 .7
Sampling rate (kHz) 5 5 5 5
Orthogonality (°) 0.03 0.03 0.03 0.03
2. .2. Gyroscopes
The set of 3 high end tactical grade MEMS gyroscopes is sampled at 000 KHz. An efficient FIR filter and
coning integrals computations ensures best performance in vibrating environments.
G4 Remarks
Full scale (°/s) 400 Specified performance, saturates at 450°/
s
One year bias stability (°/hr) < 300 Total composite bias
In run bias instability (°/hr) < 3 Allan variance – @ 25°C
Angular Random Walk (°/hr/√hz) < 30 Allan variance – @ 25°C
Gain (ppm) 300
Linearity (% of FS) 0.05
Noise (°/s) 0.3 Over to 25 Hz band
Bandwidth (Hz) 00 Attenuation < 3 dB
Resolution (°/s) 0.03 25
Sampling rate (kHz)
0/64