SBG IMU User manual


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  !
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5  !
"6+
"  6 
! $ % &  7#-!1899(:;<=:9''$*'"
7#-!28'99$*(>96*''
7#-!.899(*<=:9
7#- .8999?$+'**6<
7#- /8>*$ !!
7#-!/8'99(@@<(#*"$+''69"!
7#-!!8'99$2--6<1''(@@<(
7#-! 899A(>=A>AB>(A>='99C99(9
7#-!-899A(>=A>AB>(A>='+'(*
7#-!&8C(9*9'+699
7#- 4899A(>=A>AB>(A>='$D
7#- %8999'(D'*<
7#- 2899*A(>=A@=A:>A
7#- 899A(>=A@=A'$6*
 = 4 & &  7#- 18(@@<(#9':>"<
7#-&18999'+"6(*
- E-/ & &  7#--/8C*'C'(:*
7#--18CF9$*9999'+'C'
7#- &899>$6:A:'*''
7#--48999A(>=A(:(*"9
7#--%8"9*+#2&&'''
7#--28'9$*(>999(@@<(#9(@@<(#
& '  & &  7#-- 89999A(>AA:=A:>?A@<A>B0&C &3*
7#---8'"*G*6<
7#--&899'*;"''6*6'
7#-&%899'A(>=A:A<:HAA&-'*
7#-&/8C#2&&$9+
7#-&.8"(I+99=<'
7#-& 8999A(>=A@=A<JA<='
7#-&-8'99;>$99*9;*9%
7#448999A(>=A@=A(A-A?*'
-4 *-4 &-4  7#41899'$+''>$2&&
7#428A(>=A>AA-A@(B(AA@(:9'9
7#4.8999A(>=A>AA-A:@@:=9;*"
7#4!899H(D*'''
7#4 899A(>=A=:<:A=(ABA2'9.&G
7#4&8A(>AA==AB(@=>:H9K+
7#%48A(>AA:>A-9969
7#%%8'99>*96'<&C -&&C-.
7#%/899>'*6D'9"9
7#%1899>'*6"6$9+"+
7#%28C<*;69
7#%.8C+'<**+''F
7#%!899*9>9''
7#% 899$*69A(>=A@=A<JA:*
7#%-8999A(>=A=@A(<:A((?
7#%&89A(>=A=@A<((A(A(>=A=@AA:A(
7#/489A(>=AA<((A(>BA(>=AAA:A(>B
7#/%8>"9A(>=AA(A@=A(>BA(>=AA(<:A(>B
7#//8'99A(>AA<((A(>AAA:9999'9
7#/18'99A(>=A@=A<((A(>=A@=AA:9999'9
7#/28'99A(>=A>AA(:9''
7#/.899A(>=A@=A(<:9A(>AA(<:A=;@::('*
7#/!899*C.9C# "
7#/-899$*(>@*("='"9
7#/&89B@999"9L+9
7#1%8'99A(>=A>AA(:9B@''
7#128'9**9
7#1.8'B@9**9
;-1.

5  !
"  6 
-% "% &-%  7#1!8'9999A(>=A>AA=(@A
7#1 899996'*
7#1-89996**9''*
-/ E- &-%  7#1&8C9"9(69>*9
7#248999*"$+*<(?=M9<=((
7#2%8"9*''(DC
7#218999=@=<*9
7#228'99'++(?=M9<=((6"6*
-1 $1 &-%  7#2.8C9(:*"$+(@@<(
7#2!8C9"9A(>=A@=A(B(:AJ"$+C(@@<(
7#2 8999''(@@<('9
7#2-8999<=:('9*9*
7#2&8C9:-*69*99$$
7#.48C<6"*9
7#.%8'996'9'(@@<(6'9+'6"
7#./8C"9'A(>=A>A>=<:(AA>@
7#.2899A(>=A>AB@:HA:(=@99
7#..8C9:+='@*"$+9'('#;
-2 1 &-/  7#-!8999?*$*+ 1*9
7#.&8"$"99
7#. 899'9A(>=A@=A::
7#!%8999A(>=A>A(:((:A="9"<99
7#!/8999A(>=A>A(:((:A>=;*6(6*
7# %899:L(
7#!!8999<'+(*69*
7# 4899''(B:'*('
7#!-8C9<9'
7#!&8999B'909+B''3
7# /8999''+(*<'669*6"
7#! 8999(<''+*
7#!.899'*(''+*
7#!18"99'9NN6*$9*
7#.!8999<$B9999$*(>'
-. E/ &-1  7#-8*9('9(DC
7# 8999M<<:=<@<=>:'*9'
7#!8999A(>=A=@A@AB@*(?*
7#.8999A(>=A((@A><A=?*
7#28"96'-!99'96"'
7#18>'6996$*(>'
7#%8999F<:9
7#48999?B69'+'0A(>=A:A<:HA?B3
7#-&8999A(>=A@=A:AA:-?G*+''
7#--8999A(>=A>A=:<:A>@A(@(*9
7#- 8999<'+(*69*
7#-289990'3'''('#(
7#-%8C9"9'96A(>=A>A=:<:A>=
7# &8C9A(>=A@=A<((!-!19
7# 89999<<+='0A(>=A>AH>A=:A>=3
7# !8999<9
7# .8C99**9'
7# 28'9''9
-! +. &-2  7(?=># 48C9>*$69
7#-48C9><**
7(>=#-48999A(>=A@=A<((*9'69
7(?=># !8C9A(>=A(:JA:M;MA=?9
7(?=># &8999$9<9
7#-189999*9$99"6A(>=A@=A<JA<=
7(?=>#!28*9'9('(DC
!;-1.

5  !
"  6 
- -/ &-.  9<=+'
"9A(>=A<=A=:A '+'
999A(>=A<=AM('+'
'996"'*'
999(*90:B3
999*';C'9
-- "-2 &-!  999'69<69*9
999B@'''*
'999B@
999:9+<&9<'*
999>*'
- +1 &-!  "69
O &&/5 & +*6"969$P6*
6>'+9$69$996C'6G
Q+
.;-1.

5  !
9C
-9 -&
--:+'9 -&
---+' -&
- >'C+' --
- -B$P --
-  C$P --
- !'*"$ --
- !-"+' --
- ! "+' -
- !!9*'$+$$9" -
- .<99' -
-!(9 -!
-.>"9 -!
-2(69#**-.
-2- -.
-2 (6 -.
-2!#** -.
-1> -2
-1-' -2
$*(>+< -1
-9' -1
--999 -1
- @*'' -1
- -@* -/
-  9 -/
-!>>9 -%
-.* -4
-2+6;+6' -4
 A(>=A>@A>A& &
 -9$*(>9 &
 --9** &
 - ** &
 -!D9* -
  @*$0:$#'3
  -9*969"
   "*969" !
 !>9="" 2
 .>9"$+ /
 2'*9 4
 2-A(>=A>A(::A>:=0&-3 4
 2 A(>=A>A<=:A(::0& 3 4
 2!A(>=A>A(M<=:A(::0&!3 !&
 19 !&
 1-A(>=A>A=0&.3 !&
2;-1.

5  !
 /' !-
 /-A(>=A>A:A<(:(0&23 !-
 / A(>=A>A=:=A<=@(A0&/3 !
 /!A(>=A>AA@(:A@(B(A0&%3 !!
 /.A(>=A>AA(:0&43 !.
 %** !1
 %-A(>=A>A(:=(:(A=(@A0--3 !1
 % A(>=A>A(:=(:(A(E(>:A=(0- 3 !/
 %!A(>=A>A(:AA>@0-!3 !/
 4*$ !%
 4-A(>=A>A::AA>@0-.3 !%
 4 A(>=A>A>=<:(AA>@0-23 !4
 -&* .-
 -&-A(>=A>AA=(@A0-/3 .-
 -& A(>=A>AA-A@(B(AA@(:0-%3.
 -&!A(>=A>AA-A:@@:=0.13 .!
 -&.A(>=A>AA-A(E(>:A=(0-43 ..
 --B@* .2
 ---A(>=A>AB@A=(@A0!43 .2
 -- A(>=A>AB@A:@@:=0.&3 .1
 --!A(>=A>AB@A(E(>:A=(0.-3 .1
 - =9* ./
 - -A(>=A>A==A>=0 &3 ./
 -  A(>=A>A==A@(B(A0 -3 ./
 - !A(>=A>A==A(E(>:A=(0 3 .%
 - .A(>=A>A==A>A>=0.23 .%
 -!9* 2&
 -!-A(>=A>A:A=(@A0. 3 2&
 -! A(>=A>A:A@(B(A0.!3 2-
 -!!A(>=A>A:A(E(>:A=(0..3 2-
 -.* 2
 -.-A(>=A>A:A>=0 !3 2
 -. A(>=A>A>AA>=0 .3 2!
 -.!A(>=A>A>A=:<:A>=0 23 2.
 -2(6>* 22
 -2-A(>=A>A(:((:A>=0!13 22
 -2 A(>=A>A(:((:A=0!/3 22
 -1("* 21
 -1-A(>=A>AH>AA>=0 13 21
 -1 A(>=A>AH>A=:A>=0 /3 2/
 -/='* 24
 -/-A(>=A>A(A:@?(A0 43 24
 -/ A(>=A>A=:<:A>=0!&3 1&
 -/!A(>=A>A=:<:A>@A(@(0!23 1
 -%9"9* 1!
 -%-A(>=A>AB>(A>=0! 3 1!
 -% A(>=A>AB@:HA:(=@0!%3 1.
 -4@9 12
 -4-A(>=A>A(:(0!!3 12
 -4 A(>=A>A@>((A<<@H0!.3 1/
  &(:;<=:$*' 1%
  &-A(>=A>A<A(:0.13 1%
  & A(>=A>A<A<=:0./3 14
!A(>=A>@A@=A(>=A& /&
!-+='@*="" /&
! +='@*"$+ /-
!!9 /!
1;-1.

5  !
!!-" /!
!! :>9<: /1
!. /%
!.-:99 /%
!. 69 /4
!2(?'* %&
!2-(* %-
!2 I9 %
!2!"*'"+ %!
!2."*+ %.
!19*' %2
!1-* %2
!1 *$9 %2
!1!"+ %1
!1.' %/
!12:9* %4
!119 %4
!1/=9"+ 4&
!1%999'9 4-
!14''B+@* 4
!1-&'6 4
!1--@' 4!
!/* 4.
!/-("D 4.
!/ ** 42
!/!:> 42
.A(>=A>@A@=A(>=A- 41
.-='@*="" 41
. ='@*"$+ 41
.!9 4/
!(<9' 4%
!-( 4%
!--(+'" 44
!---*$ 44
!-- $ 44
!--!:" 44
! A(>=A>@A@=A(A& -&&
! -I+9 -&&
!  =<' -&&
! !(@*="" -&-
! .(@*"$+ -&
! 2* -&!
! 1>* -&.
! /B:* -&2
! %F* -&1
! 4:* -&1
! -&:* -&/
! --B* -&%
! - <:* -&%
! -!=:* -&4
!!A(>=A>@A@=A(A- --&
!!-(@*="" --&
/;-1.

5  !
!! (@*"$+ --&
!!!<* ---
!!.<* --
!!2<* --!
!!1<* --.
!!/<* --2
!!%C$< --1
!!4C$<:= --/
!!-&C$<@ --%
!!--C$<=>: --4
!!- C$H - &
!!-!:$? - -
.:69<+@*9' -
.-A(>=A>@A@=A:A<:HA& -
.--:69<+@*="" -
.- :69<+@*"$+ - !
.-!:- - .
.-.?B - 1
.-2:9+#<& - 1
.-19(-&&&9(!&&& - /
.-/?$*'6+@* 1 - %
.-%=@=<* -!&
.-4>$#2&&<D -!-
.--&<D -!!
.--->$6:A: -!2
.-- ?$*$+@*0?3 -!1
2'' -!%
2--'<'' -!%
2- $*(>'< -!%
2-!(< -!4
2-.M' -.&
2-2"+< -.&
2-1'$+' -.-
2-/:$=$+' -.-
2-%:9+<&' -.-
2-4:9+<1' -.-
2--&>$#2&& -.
1>'' -.!
1-9 -.!
1 >"9'' -.!
1 -99 -.!
1  B*9 -.!
1 !*9 -.!
1!='@* -.!
1!->*="" -.!
1! *"$+ -.1
%;-1.

5  !
1!!' -.%
1!.:>' -.4
1!2' -2&
1!1(?' -2-
1!1-(? -2-
1!1 =9 -2-
1!1!<9 -2
1!1.B+ -2!
1!/"=' -2.
1!%"*+ -22
1!4*' -21
1!-&=9' -2/
1!--' -2%
1!- '6' -24
1!-!-9 ' -1&
1!-!-B+ -1&
1!-! < -1-
1!-!!:9* -1
1!-.("D -1!
/'' -1.
4;-1.

5  !
-9
:6'6'9''''9$+(@@<((?=M
<=((B:9I:'9
69(?=M<=((B:9I:'99*6
<'9:6'966966
'*9*(@@<(66696"'
66+69969"969*
99*969"
--:+'9
---+'
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:+' '
D :6+'9*9*"$9$#DR:6+'6'#99G
9696'9*G
( :6+'9*'"$9*'$(6"'9R:6
+'6'#99G9696'9*G
$ %$$&C&&@(&C&-:(
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1. 1.$*9*
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 ! $**'99(((/2.
9$ 1.$9$*'99(((/2.
"978 $6"$*6
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