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1、GPS aided Orientation SensorGPS辅助型组合导航系统The IG-500N is the world smallest GPS enhanced Attitude and Heading Reference System (AHRS). With its embedded Extended Kalman Filter, the IG-500N delivers unmatched precision for attitude and position measurements in very high dynamic conditions.IG-500N是世界上最小
2、的带有GPS辅助定位的姿态航向参考系统系统（AHRS）。IG-500N拥有嵌入式的扩展卡尔曼滤波器，使其在高速动态条件下能够提供无与伦比的姿态和方位测量精度。All in one: the IG-500N 集成所有功能于一体:IG-500NThe IG-500N includes a MEMS based Inertial Measurement Unit (IMU), a GPS receiver and a pressure sensor. It provides precise drift-free attitude and position, even in long time tur
3、ns. IG-500N由基于微机电系统(MEMS)的惯性测量单元(IMU)、GPS接收器和压力传感器组成。它能够在长时间内提供精确的无漂移的姿态信息和位置信息。This miniature Inertial Navigation System (INS) runs a real time, on board, Extended Kalman Filter that computes orientation, position and velocity data at high update rates, up to 100 Hz. 本微型惯性导航系统(INS)运行了一个实时的扩展卡尔曼滤波器，
4、能以最高达100 Hz的刷新频率来计算方向、位置和速度信息。The attitude accuracy is also improved, compared to traditional AHRS, by removing transient accelerations measured by the GPS receiver. 相比传统的姿态航向参考系统，IG-500N通过去除GPS接收机所测量的瞬时加速度的方法得到精度上的提高。Easy and fast integration 方便快捷的整合SBG Systems has designed a powerful and easy to u
5、se Development Kit for this product. In just a few seconds, you can start evaluating and configuring your new device. Integrating the IG-500N in your application is even easier. SBG Systems公司为IG-500N设计了一个强大、易于使用的系统开发工具包。仅在数秒之内, 你就可以开始评估和配置你的新设备。IG-500N能够非常方便地整合在你的应用中。Simplified Block Diagram Key Fea
6、tures 技术要点简易框图Key Features 主要特点l GPS enhanced 3d velocity, position and orientation at high update rate (100 Hz)高达100 Hz刷新率的GPS增强型三维速度、位置和方位输出l Accurate attitude even in high G maneuversl 即使在高G移动状态下都能够提供精确的姿态l Precise UTC referenced output精确的格林威治时间供参考输出l Embedded 4Hz GPS receiver & barometric sensor
7、嵌入式的4Hz GPS接收机及气压传感器l Wide inertial sensors range options宽幅惯性传感器范围选择l Calibrated over full temperature range -40 to 85C for bias, gain, misalignments, cross-axis and gyro-g 可在-40 to 85C全温度域内进行零偏、增益、失准、交叉轴和gyro-g的校准l Advanced and easy to use magnetometers compensation procedure for soft and hard iron
8、磁力计的软硬铁补偿程序先进而易于使用l Communication protocols: RS-232 and USB 通讯协议 : RS-232及USBl Very compact and lightweight design (46 grams)小巧轻便的设计(46克) l Very low power design down to 550 mW 最低至550 mW 的功耗设计l Robust and high precision aluminum enclosure 高精密度、结实的铝制外壳Fields of use 应用范围l Unmanned vehicles 无人机l Vehicl
9、e motion analysis 车辆运动分析l Aerospace 航天l Robotics 机器人l Marine industry 航海 Technical Specifications技 术 规 格Parameter 参数Specification规格Remarks 说明Attitude 姿态Sensing range测量范围360 in all axes所有轴向均为360Static accuracy静态精度 0.5 (Pitch, Roll横滚，俯仰) 1 (Heading航向)Stabilized Kalman Filter, Homogenous magnetic field
10、 稳定的卡尔曼滤波器，均匀的磁场环境下Dynamic accuracy动态精度 1.0RMSUnder good GPS availability 在GPS信号有效且良好的情况下Repeatability 重复性 0.2Resolution 分辨率 0.05output frequency输出频率0 to 500 Hz 0 to 100 HzCalibrated sensors only 仅对校准过的传感器Attitude, 3d velocity and position 姿态，三维速度和位置Standard Sensors标准传感器Accelerometers加速度计Gyroscopes陀
11、螺仪Magnetometers磁力仪Measurement range 测量范围 5 g300/s 1.2 GaussRefer to sensors options table 参考传感器选项表Non-linearity 非线性误差 0.2% of FS0.1% of FS 0.2% of FSBias stability零偏稳定性 5 mg 0.5/s 0.1 /s0.5 mGaussOver temperature range Kalman filter stabilized在整个温度范围内，稳定的扩展卡尔曼滤波器Scale factor stability比例因子稳定性 0.1% 0.
12、05% 0.5%Over temperature range在整个温度范围内Noise density噪声密度0.01 g/Hz0.05/s/Hz0 .01 mG/Hz Alignment error对准误差 0.1 0.1 0.1Bandwidth频带宽度50 Hz40 Hz500 HzAdditional software filter available 提供附加的软件滤波Sampling rate采样频率10 000 Hz10 000 Hz1 000 HzGPS ReceiverGPS接收器Receiver type接收器类型L1 frequency, C/A, Code, 16-Ch
13、annels, 4 Hz L1 频率，C/A 码，16通道，4HzPosition accuracy 位置精度2.0 meters with SBAS support在SBAS（卫星增强系统）支持下2.5 meters CEP (Horizontal accuracy) CEP（水平精度)5.0 meters SEP (Vertical accuracy) SEP（竖直精度）Acquisition time初始定位时间 3.5 s / 34 sHot start热启动/Cold start冷启动Tracking sensitivity 跟踪灵敏度-158 dBPressure Sensor压力
14、传感器Resolution分辨率6 PaPressure accuracy 压力精度 50 Pa Relative相对精度 200 Pa Absolute绝对精度Long term stability 长期稳定性100 Pa Over 12 months 超过12个月Update rate刷新频率9 HzCommunication通讯方面Output modes 输出模式Euler angles, Quaternion, Matrix,欧拉角，四元数，姿态矩阵3d velocity, 3d position,3d 速率，3d 方位Calibrated sensor data,校准后的传感器数据Raw sensor data传感器原始数据Each output can be enabled or disabled by the user 每一种输出方式用户可以自行开启或者关闭Interface options 接口选项Serial (RS-232 or TTL 3.3V)串行接口（RS-232 或者 TTL
