관성 측정 시스템(INS) 기술 사양
Navion® i2 기술 사양
| NAVION i2 | |
|---|---|
| NAVIGATION | |
| Standalone (horizontal positioning) | 1.2 m |
| Standalone (vertical positioning) | 1.9 m |
| SBAS (horizontal positioning) | 0.6 m |
| SBAS (vertical positioning) | 0.6 m |
| RTK (horizontal positioning) | 0.01 m |
| RTK (vertical positioning) | 0.025 m |
| Velocity accuracy | 0.015 m/s |
| Roll & Pitch accuracy (dynamic) | 0.03 ° |
| Heading accuracy (dynamic with GNSS) | 0.08 ° |
| Slip angle accuracy | 0.08 ° |
| Hot start time | < 20 s |
| Output data rate | Up to 100 Hz |
| GNSS | |
| Supported navigation systems | GPS L1, L2, L5; GLONASS L1, L2, L3 BeiDou B1, B2 Galileo E1, AltBOC, E5a, E5b NavlC (IRNSS) L5 |
| Supported SBAS systems | SBAS L1, L5 QZSS L1, L2, L5 |
| ADDITIONAL FEATURES | |
| PPS output | ✓ |
| Dual antenna heading | ✓ |
| RTK positioning | ✓ |
| HARDWARE | |
| Interface | Ethernet (10/100), CAN, 2x RS232 (RTK, NMEA) |
| Communication ports | Ethernet (10/100) |
| Operating voltage | 9 to 36 V |
| Power consumption | 3.5 Watts |
| Operating temperatures | -40 °C to 71 °C (0.8 °C/min Max) |
| Environmental protection | IEC 60529 IP68 |
| Input protection | -40 to 100 V |
| Shock limit | 40 g for 11 msec (MIL-STD-810G) |
| Dimensions | 102 mm x 81 mm x 48 mm |
| Weight | 310 g |
| INERTIAL SENSORS | |
| Accelerometer | ✓ |
| Gyroscope | ✓ |
| Magnetometer | ✓ |
| Pressure sensor | ✓ |
| APPLICATIONS | |
| Synchronisation and timing with DEWESoft DAQ | ✓ |
| Simple positioning | ✓ |
| Brake/Acceleration test | ✓ |
| Vehicle dynamics | ✓ |
| Lane change | ✓ |
| Circle drive | ✓ |
| Chassis development | ✓ |
| Advanced driver assistance systems testing | ✓ |
| Comfort testing | ✓ |
| Pass by Noise | ✓ |
| FuSi | ✓ |
| Orientation of different object | ✓ |
DS-IMU1 기술 사양
| DS-IMU1 | |
|---|---|
| NAVIGATION | |
| Standalone (horizontal positioning) | 2 m |
| Standalone (vertical positioning) | 3 m |
| SBAS (horizontal positioning) | ✗ |
| SBAS (vertical positioning) | ✗ |
| RTK (horizontal positioning) | 0.02 m |
| RTK (vertical positioning) | 0.03 m |
| Velocity accuracy | 0.05 m/s |
| Roll & Pitch accuracy (dynamic) | 0.1 ° |
| Heading accuracy (dynamic with GNSS) | 0.2 ° |
| Slip angle accuracy | 0.3 ° |
| Hot start time | 0.5 s |
| Output data rate | Up to 100 Hz |
| GNSS | |
| Supported navigation systems | GPS L1C/A, GLONASS L1OF, BeiDou B1I |
| Supported SBAS systems | ✗ |
| ADDITIONAL FEATURES | |
| PPS output | ✓ |
| Dual antenna heading | ✗ |
| RTK positioning | ✓ (only HW v7+, no additional license) |
| HARDWARE | |
| Interface | USB & RS232 |
| Communication ports | USB & RS232 |
| Operating voltage | 5 to 36 V *USB powered |
| Power consumption | 100 mA @ 5 V |
| Operating temperatures | -40 °C to 85 °C |
| Environmental protection | IP 67 - MIL-STD 810G |
| Input protection | ±40 V |
| Shock limit | 2000 g |
| Dimensions | 30 x 40,6 x 24 mm |
| Weight | 37 g |
| INERTIAL SENSORS | |
| Accelerometer | ✓ |
| Gyroscope | ✓ |
| Magnetometer | ✓ |
| Pressure sensor | ✓ |
| APPLICATIONS | |
| Synchronisation and timing with DEWESoft DAQ | ✓ |
| Simple positioning | ✓ |
| Brake/Acceleration test | ✓ |
| Vehicle dynamics | Simple |
| Lane change | Simple |
| Circle drive | ✓ |
| Chassis development | ✗ |
| Advanced driver assistance systems testing | Simple |
| Comfort testing | Simple |
| Pass by Noise | Simple |
| FuSi | Simple |
| Orientation of different object | ✓ |
관성 센서 사양
| Accelerometer | Gyroscope | |
|---|---|---|
| Range (dynamic) | 16g in all axes | 490 deg/s in all axes |
| Noise density | 0.02 m/s/√hr | 0.15 °/√hr |
| Bias repeatability | 1 mg (1σ) | 65 °/h (1σ) |
| Bias stability | 20 μg (1σ) | 3 °/hr (1σ) |
| Scale Factor Repeatability | 2501 ppm (1σ) | 1400 ppm (1σ) |
| Cross-axis alignment error | < 0.05 ° | < 0.05 ° |
| Bandwidth | 200Hz at 90° phase, 400Hz at -3dB (Output frequency dependent) | 200Hz at 90° phase, 400Hz at -3dB (Output frequency dependent) |
모든 듀이소프트 내비게이션 기기 사양 비교
| ECAT-GPS-JUNCTION | DS-GPS-CLOCK | Embedded GNSS Receiver (SBOX, 10 Hz) | Embedded GNSS Receiver (SBOX, 100 Hz) | DS-VGPS-HS/HSC | DS-IMU1 | NAVION i2 | DS-GYRO1 | DS-GYRO3 | |
|---|---|---|---|---|---|---|---|---|---|
| SENSOR TYPE | |||||||||
| GNSS Receiver (Navigation) | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | - | - |
| Dual Antenna (stationary heading determination) | - | - | - | - | - | - | ✓ | - | - |
| Inertial Sensor (IMU) | - | - | - | - | - | ✓ | ✓ | ✓ | ✓ |
| Inertial Navigation (INS) | - | - | - | - | - | ✓ | ✓ | - | - |
| NAVIGATION | |||||||||
| Standalone (horizontal positioning) | 2.5 m | 2.5 m | 2.5 m | 1.2m | 1.2 m | 2 m | 1.2 m | - | - |
| Standalone (vertical positioning) | 3 m | 3 m | 3 m | 1.8m | 1.8 m | 3 m | 1.9 m | - | - |
| SBAS (horizontal positioning) | 1 m | 1 m | 1 m | 0.8 m (WAAS, EGNOS 0.3 m) | 0.8 m (WAAS, EGNOS 0.3 m) | - | 0.6 m | - | - |
| SBAS (vertical positioning) | 3 m | 3 m | 3 m | 1.2 m (WAAS, EGNOS 0.5 m) | 1.2 m (WAAS, EGNOS 0.5 m) | - | 0.6 m | - | - |
| RTK (horizontal positioning) (see 1.) | - | - | - | 0.02 m | 0.02 m | 0.02 m | 0.01 m | - | - |
| RTK (vertical positioning) (see 1.) | - | - | - | 0.02 m | 0.02 m | 0.03 m | 0.025 m | - | - |
| Velocity accuracy | 0.05 m/s | 0.05 m/s | 0.05 m/s | 0.02 m/s | 0.02 m/s | 0.05 m/s | 0.015 m/s | - | - |
| Roll & Pitch accuracy (dynamic) | - | - | - | - | - | 0.1 ° | 0.03 ° | 0.6 ° | 0.03 ° |
| Heading accuracy (dynamic with GNSS) | - | - | - | - | - | 0.2 ° | 0.08 ° | 1.0 ° | 0.08 ° |
| Slip angle accuracy | - | - | - | - | - | 0.3 ° | 0.08 ° | - | 0.08 ° |
| Hot start time | < 3 s | < 3 s | < 3 s | < 10 s | < 10 s | 0.5 s | < 20 s | 0.5 s | < 1 s |
| Output data rate | 10 Hz | 10 Hz | 10 Hz | 100Hz | 20/100 Hz | Up to 100 Hz | Up to 100 Hz | up to 500 Hz | Up to 1800 Hz |
| GNSS | |||||||||
| Supported navigation systems (see 2.) | GPS L1, GLONASS L1 | GPS L1, GLONASS L1 | GPS L1, GLONASS L1 | GPS L1, L2* GLONASS L1, L2* | GPS L1, L2* GLONASS L1, L2* | GPS L1C/A, GLONASS L1OF, BeiDou B1I | GPS L1, L2, L5; GLONASS L1, L2, L3 BeiDou B1, B2 Galileo E1, AltBOC, E5a, E5b NavlC (IRNSS) L5 | - | - |
| Supported SBAS systems | SBAS L1 | SBAS L1 | SBAS L1 | WAAS, EGNOS, MSAS, GAGAN, QZSS | WAAS, EGNOS, MSAS, GAGAN, QZSS | - | SBAS L1, L5 QZSS L1, L2, L5 | - | - |
| ADDITIONAL FEATURES | |||||||||
| PPS output | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | - |
| IRIG B DC output | ✓ | ✓ | - | - | ✓ (HSC only) | - | - | - | - |
| Dual antenna heading | - | - | - | - | - | - | ✓ As standard | - | - |
| RTK positioning (see 1.) | - | - | - | ✓ | ✓ | ✓ (only HW v7+, no additional license) | ✓ As standard | - | - |
| HARDWARE | |||||||||
| Interface | eCAT | USB | Integrated, uses Serial COM3 | Integrated, uses Serial COM3 | VGPS HS: RS232 VGPS-HSC: USB, CAN, Analog, Digital | USB & RS232 | Ethernet (10/100), CAN, 2x RS232 (RTK, NMEA) | USB | USB + CAN output |
| Operating voltage | 5V power by eCAT | 5 V *USB powered | 5V | 5V | 9 to 36 V | 5 to 36 V *USB powered | 9 to 36 V | 4 to 36 V *USB powered | 4 to 36 V *USB powered |
| Power consumption | - | 400 mA @ 5 V | - | - | 250 mA @ 12 V | 100 mA @ 5 V | 3.5 Watts -> 300 mA @ 12 V | 65 mA @ 5 V | 100 mA @ 5 V |
| Operating temperatures | -40 °C to 85 °C | -5 °C to 75 °C | Device spec | Device spec | 0 °C to 60 °C | -40 °C to 85 °C | -40 °C to 71 °C (0.8 °C/min Max) | -40 °C to 85 °C | -40 °C to 85 °C |
| Environmental protection | IP 67 | not IP rated | not IP rated | not IP rated | not IP rated | IP 67 | IEC 60529 IP68 | IP 68 | IP 68 |
| Input protection | Polarity & short overvoltage protection | Polarity & short overvoltage protection | - | - | Polarity & short overvoltage protection | ±40 V | -40 to 100 V | ±40 V | ±40 V |
| Shock limit | SIST EN 60068-2-27:2009 (100 g, 6 ms) | MIL-STD 810 F | - | - | MIL-STD 810 F | 2000 g - MIL-STD 810G | 40 g for 11 msec (MIL-STD-810G) | 2000 g - MIL-STD 810G | 40g, 11ms per MIL-STD-810G |
| Dimensions | Standard Krypton slice | 115 x 93 x 35 mm | - | - | 115 x 93 x 35 mm | 30 x 40,6 x 24 mm | 102 mm x 60 mm x 48 mm | 30 x 40,6 x 24 mm | 60 x 45 x 27 mm |
| Weight | 1,5 kg | 330 g | - | - | 740 g | 37 g | 310 g | 25 g | 55 g |
| INERTIAL SENSORS | |||||||||
| Accelerometer | - | - | - | - | - | ✓ | ✓ | ✓ | ✓ |
| Gyroscope | - | - | - | - | - | ✓ | ✓ | ✓ | ✓ |
| Magnetometer | - | - | - | - | - | ✓ | ✓ | ✓ | - |
| Pressure sensor | - | - | - | - | - | ✓ | ✓ | - | - |
| APPLICATIONS | |||||||||
| Synchronisation and timing with DEWESoft DAQ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | - |
| Simple positioning | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | - | - |
| Brake/Acceleration test | - | - | - | ✓ | ✓ | ✓ | ✓ | - | - |
| Vehicle dynamics | - | - | - | - | - | Simple | ✓ | - | - |
| Lane change | - | - | - | ✓ | ✓ | Simple | ✓ | - | - |
| Circle drive | - | - | - | ✓ | ✓ | ✓ | ✓ | - | - |
| Chassis development | - | - | - | - | - | - | ✓ | - | - |
| Advanced driver assistance systems testing | - | - | - | ✓ | ✓ | Simple | ✓ | - | - |
| Comfort testing | - | - | - | - | - | Simple | ✓ | - | - |
| Pass by Noise | - | - | - | ✓ | ✓ | Simple | ✓ | - | - |
| FuSi | - | - | - | ✓ | ✓ | Simple | ✓ | - | - |
| Orientation of different object | - | - | - | - | - | ✓ | ✓ | ✓ | ✓ |
| 1.) Optional fixed license with VGPS and 100Hz embedded receiver. NAVION i2 and IMU1 supplied with RTK licence by default | |||||||||
| 2.) L2* and L5* frequencies require an RTK licence. BeiDou and GALILEO are separate licences for each constellation. | |||||||||
| *All navigation specifications are valid in open sky conditions! | |||||||||