GPS-AIDED
INERTIAL NAVIGATION SYSTEM
Embedded Navigation Solutions
VN-200 GPS/INS
High-Performance
Embedded Navigation
The VN-200 is the world’s smallest & lightest, high-performance GPS-Aided Inertial Navigation System (GPS/INS). Combining an advanced GPS
module with the latest in MEMS inertial & pressure sensor technology, the
patented VN-200 provides unprecedented opportunities for embedded
navigation in a footprint no larger than a postage stamp.
PRODUCT OVERVIEW
VECTOR PROCESSING ENGINE (VPE)
On-board Extended Kalman filter running at 400 Hz,
On-board Extended Kalman filter
IMU data available at 1 kHz
Automatic filter initialization & dynamic alignment
Continuous attitude solution over the complete 360°
GPS delay compensation
range of motion
Real-time sensor bias drift compensation
Coupled position, velocity & attitude estimates
All inertial data synchronized to GPS time
Dynamic accuracy better than 0.3° in heading, 0.1° in
Automatic transitioning between AHRS and INS Modes
pitch/roll
On-board World Magnetic & Gravity Reference Models
On-board pressure sensor & u-blox GPS receiver
VPE Toolboxes
Compatible with external GPS, pressure or magnetic
Advanced disturbance rejection
measurements
Adaptive signal filtering
Individually calibrated for bias, scale factor, misalign-
Dynamic filter tuning
ment, & gyro g-sensitivity
On-board Hard & Soft Iron compensation
Available with standard (at +25°C) or full temperature
VN-200 SIMPLIFIED BLOCK DIAGRAM
compensation (-40°C to +85°C)
Miniature, self-locking U.FL & MMCX connectors for
GPS antenna
Coning & sculling integrals (ΔV’s, ΔΘ’s)
User configurable messages using simple VectorNav
binary protocol
Serial TTL, SPI & USB communication interfaces
Surface mount package (30-pin LGA)
Dimensions: 24 x 22 x 3 mm; Weight: 4 grams
Rugged package (10-pin Harwin connector)
Timing & Sensor Sampling
3-Axis Gyros
Calibration Compensation
3D Velocity
(ECEF, NED)
3-Axis Mags
GPS Delay Compensation
Bias Compensated
Angular Rates
Pressure Sensor
VPE 2.0 Toolboxes
Bias Compensated
Acceleration
GPS Module
Dimensions: 36 x 33 x 9.5 mm; Weight: 16 grams
Tel +1.512.772.3615
Yaw, Pitch & Roll
Quaternion, DCM
3-Axis Accels
www.vectornav.com
Extended Kalman Filtering
3D Position
(LLA, ECEF, NED)
Gravity, Linear
Acceleration
Calibrated Sensor
Measurements
[email protected]
TECHNICAL SPECIFICATIONS
Navigation
Horizontal Position Accuracy:
Horizontal Position Accuracy (w/SBAS):
Vertical Position Accuracy:
Vertical Position Accuracy (w/Barometer):
Velocity Accuracy:
Dynamic Accuracy (Heading, True Inertial):
Dynamic Accuracy (Pitch/Roll):
Static Accuracy (Heading, Magnetic)1:
Static Accuracy (Pitch/Roll):
Angular Resolution:
Repeatability:
Max Output Rate (IMU Data)2:
Max Output Rate (Navigation Data):
2.5 m RMS
2.0 m RMS
5.0 m RMS
2.5 m RMS
±0.05 m/s
0.3 ° RMS
0.1 ° RMS
2.0 ° RMS
0.5 ° RMS
< 0.05 °
< 0.1 °
1 kHz
400 Hz
Gyro
Range:
In-Run Bias Stability:
Linearity:
Noise Density:
Bandwidth:
Alignment Error:
±2000 °/s
< 10 °/hr
< 0.1 % FS
0.0035 °/s /√Hz
256 Hz
±0.05 °
Accelerometer
Range:
In-Run Bias Stability:
Linearity:
Noise Density:
Bandwidth:
Alignment Error:
±16 g
<0.04 mg
< 0.5 % FS
0.14 mg/√Hz
260 Hz
±0.05 °
Magnetometer
Range:
Linearity:
Noise Density:
Bandwidth:
Alignment Error:
±2.5 Gauss
< 0.1 %
140 µGauss/√Hz
200 Hz
±0.05 °
GPS
Receiver Type:
Solution Update Rate:
Time-to-First-Fix (Cold/Warm Start):
Time-to-First-Fix (Hot Start):
Altitude Limit:
Velocity Limit:
Pressure Sensor
Range:
Resolution:
Accuracy:
Error Band:
Bandwidth:
Environment
Operating Temp:
Storage Temp:
Electrical:
SMD
50 Channels, L1
GPS C/A Code
5 Hz
36 s
<1s
50,000 m
500 m/s
• GPS Antenna
RS-232 Interfaces
• Cable Connection Tool
• 30-Pin Header
• Carrying Case
• SMA Connector for GPS Antenna
• Software Development Kit
• Software Development Kit
APPLICATIONS
UAVs, UAS, Manned Aircraft
Camera/Platform Stabilization
Marine Antenna Stabilization
Gimbaled Payloads
SATCOM, SOTM, VSAT
Ground Vehicles/Robotics
Smart Weapons
Motorsports
DEVELOPMENT TOOLS
Sensor Explorer GUI: Powerful and user-friendly GUI allows you to
performance for your application.
Rugged
36 x 33 x 9.5 mm
16 g
10-pin Harwin
MMCX
With proper magnetic declination, suitable magnetic environment and
valid hard/soft iron calibration.
Default 800 Hz.
Not including active antenna power consumption.
Tel +1.512.772.3615
Mount Part with USB &
Rugged
SMD
3
• USB & Serial Adapter Cables
Online Library: A large collection of inertial navigation knowledge and
Physical:
2
• Pre-Soldered VN-200 Surface
-40°C to +85°C
-40°C to +85°C
3.3 V to 17 V
80 mA @ 5 V
500 mW
Serial TTL, RS-232
1
VN-200 Rugged Development Kit
display sensor output as a 3D object, graph inertial data, configure sensor
3.2 V to 5.5 V
105 mA @ 3.3 V
445 mW
Serial TTL, SPI
24 x 22 x 3 mm
4g
30-pin LGA
U.FL
VN-200 Development Board
10 to 1200 mbar
0.042 mbar
±1.5 mbar
±2.5 mbar
200 Hz
Input Voltage:
Current Draw3:
Max Power Consumption3:
Digital Interface:
Size:
Weight:
Connector:
GPS Antenna Connector:
DEVELOPMENT KITS
settings, perform data-logging, & more.
Software Development Kit: Interface via C/C++, .NET & MATLAB development environments.
application notes is available on our website to help maximize VN-200
Engineering Support: Dedicated and responsive engineering support
team with combined experience in sensing, guidance, navigation, and
controls.
Custom Solutions Available: Application-specific modeling & algorithm
development; controls & closed-loop navigation solutions; custom
form-factors & packaging; integration with other external sensors;
displays, GUIs & other software packages; tailored calibrations; custom
communication protocols.
www.vectornav.com
© 2016 VectorNav Technologies, LLC. All rights reserved.
Specifications subject to change without notice. Version 12-0003-R5
[email protected]