3DM-GX3® -450 pages

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3DM-GX3-45

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Miniature GPS-Aided Inertial Navigation System (GPS/INS)

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Introduction

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Data Sheet

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The 3DM-GX3® -45 high-performance, miniature GPS-Aided Inertial

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Navigation System (GPS/INS) combines MEMS inertial sensors, a

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highly-sensitive embedded GPS receiver, and a complex Extended

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Kalman Filter to generate optimal position, velocity, and attitude (PVA)

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estimates. This combination of technologies creates better short-

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term GPS-out performance, sustained-G attitude performance, and

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provides higher rate PVA data than typical GPS and AHRS sensors.

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Raw GPS data, IMU data, and filtered INS data are time-aligned and

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available as user-defined packets (either by polling or continuous

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stream).

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Features & Benefits

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on-board Extended Kalman Filter for optimal position, velocity,

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and attitude (PVA) estimation, even under high g maneuvers

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smallest, lightest, lowest power GPS/INS available on the market

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fully temperature compensated over operational range

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calibrated for sensor misalignment, gyro G-sensitivity, and

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gyro scale factor non-linearity to third order; gyro in-run bias is

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estimated and compensated by the Kalman filter

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improved performance under vibration, as inertial sensors are

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sampled at 30 kHz and digitally filtered and scaled into physical

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units; coning and sculling integrals are computed at 1 kHz

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RS-232 and USB 2.0 communication interfaces

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MIP protocol provides fully customizable data output: Kalman

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filter solution at 100 Hz, inertial data up to 1000 Hz, and GPS data

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up to 4 Hz with individual data quantity control

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accepts external GPS and heading updates for improved

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navigational performance

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full world magnetic model

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versions available from 1.7 g to 50 g and 507s to 12007s

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rugged aluminum enclosure with precision alignment holes

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ROHS compliant

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Applications

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primary and/or secondary GPS-aided navigation system

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location tracking of vehicles or personnel

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unmanned vehicle navigation

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platform stabilization, artificial horizon

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antenna, satellite and camera pointing

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biomechanics, biomedical animation

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robotics, automotive, marine, military

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heavy equipment, container handling

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virtual reality, computer science

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reconnaissance, surveillance and target acquisition system

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Product Overview

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The 3DM-GX39 -45 offers a range of navigation-related output

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quantities, including estimated position, velocity, and attitude (PVA),

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position, velocity, and attitude uncertainties, bias-compensated

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angular rate, and linear acceleration. Fully-calibrated inertial

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measurements include acceleration, angular rate, magnetic field,

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deltaTheta and deltaVelocity vectors, Euler angles (pitch, roll, and

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heading), rotation matrix and quaternion. Unprocessed GPS data

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quantities include LLH position, NED velocity, ECEF position and

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velocity, DOP data, UTC time, GPS time, clock info, GPS fix, and SVI. All

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quantities are fully temperature compensated and are mathematically

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aligned to an orthogonal coordinate system.The angular rate

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quantities are further corrected for g-sensitivity and scale factor

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non-linearity to third order. The 3DM-GX39 -45 architecture has been

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carefully designed to substantially eliminate common sources of error

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such as hysteresis induced by temperature changes and sensitivity to

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supply voltage variations. Gyro drift is eliminated in AHRS mode by

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referencing magnetic North and Earth's gravity and compensating for

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gyro bias. On-board coning and sculling compensation allows for use

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of lower data output rates while maintaining performance of a fast

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internal sampling rate. The 3DM-GX39 -45 is initially sold as a starter

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kit consisting of an INS module, RS-232 or USB communication and

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power cable, software CD, user manual, and quick start guide.

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triaxial gyros

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triaxial accels

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triaxial mags —»-

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5 temperature

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sensors

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sensor signal

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conditioners

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multiplexer

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16bitA/D

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EEPROM

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calibration data

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user settable

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parameters

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AHRS

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MCU

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PPS (pulse

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per second)

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GPS receiver

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GPS/INS

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Kalman filter

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MCU

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USB 2.0

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RS-232

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Í MicroStraiiî Little Sensors, Big Ideas.

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www.microstrain.com

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