MotionReferenceUnits
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MRU
DatasheetRev.1.2
IP-67sealed
5%/5cmHeaveaccuracy
0.03m/secVelocityaccuracy
0.08degPitchandRollaccuracy
0.005m/sec2Accelerationaccuracy
0.0002deg/secAngularrateaccuracy
NMEA0183andTSS1outputdataformat
60cmreal-timehorizontalpositionaccuracy
5cmpostprocessinghorizontalpositionaccuracy
Datasheet
Revision1.2
MRU-B(Basic)
MRU-E(Enhanced)
MRU-P(Professional)
InertialLabs: Address:39959CatoctinRidgeStreet,PaeonianSprings,VA20129U.S.A.
Tel:+1(703)880-4222,Fax:+1(703)935-8377Website:www.inertiallabs.com
1
MRU
DatasheetRev.1.2
The Inertial Labs has developed Motion Reference Units (MRU) to meet requirements from marine and
hydrographic applications. MRU is enhanced, high-performance strapdown Motion Sensor, that determines
Pitch & Roll, Heave, Sway, Surge, Accelerations, Angular rates, Heading, Velocity and Positions for any
device on which it is mounted.
The Inertial Labs Motion Reference Units utilizes
solid state 3-axes each of precision accelerometers,
magnetometers, gyroscopes and barometric sensors
to provide accurate Heave, Sway, Surge, Pitch and
Roll of the device under measure.
Integration of very low noise gyroscopes output
provides high frequency, real-time measurement of
the Vessel, Ships, Helidecs, ROV, Marine antennas,
Cranes rotation about all three rotational axes.
Through a combination of proven sector expertise and a continued investment in technological innovation,
Inertial Labs delivers the optimum balance of price and performance ratio solutions for its customers.
KEY FEATURES AND FUNCTIONALITY
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State-of-the-art algorithms for Vessels, Ships, Active
Heave Compensators, Cranes, Helideck, ROV, AUV, DPS,
Buoys, Echo Sounders, Offshore Platforms
0.08 deg RMS Pitch & Roll dynamic accuracy
5% or 5 cm RMS (whichever is greater) Heave accuracy
0.005 m/sec2 linear acceleration accuracy
NMEA 0183, TSS1 output data formats
HYPACK software compatibility
Velocity and Horizontal positions output
Environmentally sealed (IP67), compact design
Our MRUs featuring developed few micro g Bias in-run stability Micro Electro Mechanical System (MEMS)based accelerometers. New generation of Inertial Labs 1 deg/hr Bias in-run stability MEMS-based
gyroscopes are an ideal solution for demanding marine applications, with their electronic nature negating
the problems associated with expensive mechanical gyro solutions, as well as those based on fiber optic
(FOG) technology.
Inertial Labs MEMS gyroscopes set the standard for the industry, with our high-end MRUs featuring gyros
that enable sector-leading accuracy and reliability standards.
Measured
Parameters
Heave (% / cm)
Pitch & Roll (deg)
Heading/Yaw (deg)
Velocity (meters/sec)
DGPS/RTK Positions (meters)
MRU-B *
MRU-E
MRU-P
Basic
Enhanced
Professional
+
+
+
+
+
+
+
+
+
+
* MRU-B1 (Heave or Pitch & Roll measurement) and MRU-B2 (Heave, Pitch & Roll measurements) are available
InertialLabs: Address:39959CatoctinRidgeStreet,PaeonianSprings,VA20129U.S.A.
Tel:+1(703)880-4222,Fax:+1(703)935-8377Website:www.inertiallabs.com
2
MRU
DatasheetRev.1.2
MRU Specifications
Parameter
MRU-B
Basic
Heave, Pitch & Roll,
Accelerations, Angular
rates, Barometric data,
Pulse Per Second (PPS)
Units
Output signals
Update rate
Start-up time
Full Accuracy Data (Warm-up Time)
Heave
Measurement range
Resolution
Accuracy, RMS
Pitch and Roll
Range: Pitch, Roll
Angular Resolution
Static Accuracy in whole Temperature Range
Dynamic Accuracy
Post processing accuracy (1)
Heading
Range
Angular Resolution
Static Accuracy in whole Temperature Range
Dynamic Accuracy
Post processing accuracy (1)
Positions, Velocity and Timestamps
Horizontal position accuracy (GPS L1), RMS
Horizontal position accuracy (SBAS), RMS
Horizontal position accuracy (DGPS), RMS
Horizontal position accuracy (post processing) (1)
Velocity accuracy, RMS
GNSS raw data rate
Timestamps accuracy
Gyroscopes
Measurement range
Bias in-run stability (RMS, Allan Variance)
Noise density
Accelerometers
Measurement range
Bias in-run stability (RMS, Allan Variance)
Noise density
Magnetometers
Measurement range
Bias in-run stability, RMS
Noise density, PSD
Pressure
Measurement range
Bias in-run stability (RMS, Allan Variance)
Noise density
Environment
Operating temperature
Storage temperature
MTBF
Vibration
Electrical
Supply voltage
Power consumption
Output Interface
Output data format
Hz
sec
sec
Units
meters
meters
% (meters)
Units
deg
deg
deg
deg RMS
deg RMS
Units
deg
deg
deg
deg RMS
deg RMS
Units
meters
meters
meters
meters
meters/sec
Hz
milliseconds
Units
deg/sec
deg/hr
deg/sec√Hz
Units
g
mg
mg√Hz
Units
Gauss
nT
nT√Hz
Units
hPa
Pa
Pa/√Hz
Units
deg C
deg C
hours
Units
V DC
Watts
-
Compliance to EMCD, immunity/emission
Connector (2)
Physical
Size
Weight
Enclosure material
(1)
(2)
Units
mm
gram
1 … 200 (user settable)
<1
10
MRU-B
±300
0.01
5 (0.05)
MRU-B
±90, ±180
0.01
0.05
0.08
0.03
MRU-B
MRU-B
<5
MRU-B
±450
1
0.004
MRU-B
±8
0.005
0.015
MRU-B
MRU-B
300 – 1100
2
0.8
MRU-B
-40 to +70
-50 to +85
55,500
IEC 60945/EN 60945
MRU-B
9 to 36
1
RS-232, RS-422, RS-485
Binary, TSS-1, NMEA
0183 ASCII characters
IEC 60945/EN 60945
Binder Series 723
MRU-E
Enhanced
Heave, Heading, Pitch &
Roll, Accelerations,
Angular rates, Barometric
data, Pulse Per Second
(PPS)
1 … 200 (user settable)
<1
10
MRU-E
±300
0.01
5 (0.05)
MRU-E
±90, ±180
0.01
0.05
0.08
0.03
MRU-E
0 to 360
0.01
0.3
0.6
0.1
MRU-E
<5
MRU-E
±450
1
0.004
MRU-E
±8
0.005
0.015
MRU-E
±1.6
0.2
0.3
MRU-E
300 – 1100
2
0.8
MRU-E
-40 to +70
-50 to +85
55,500
IEC 60945/EN 60945
MRU-E
9 to 36
1.4
RS-232, RS-422, RS-485
Binary, TSS-1, NMEA
0183 ASCII characters
IEC 60945/EN 60945
Binder Series 723
MRU-P
Professional
Heave, Heading, Pitch &
Roll, Positions, Velocity,
Accelerations, Angular rates,
Barometric data, Pulse Per
Second (PPS)
1 … 200 (user settable)
<1
30
MRU-P
±300
0.01
5 (0.05)
MRU-P
±90, ±180
0.01
0.05
0.08
0.03
MRU-P
0 to 360
0.01
0.2
0.4
0.1
MRU-P
1.5
0.6
0.4
0.05
0.03
20
<5
MRU-P
±450
1
0.004
MRU-P
±8
0.005
0.015
MRU-P
±1.6
0.2
0.3
MRU-P
300 – 1100
2
0.8
MRU-P
-40 to +70
-50 to +85
55,500
IEC 60945/EN 60945
MRU-P
9 to 36
2.6
RS-232, RS-422, RS-485
Binary, TSS-1, NMEA 0183
ASCII characters
IEC 60945/EN 60945
Binder Series 723 & TNC
120 x 50 x 53
220
Anodized Aluminum
120 x 50 x 53
280
Anodized Aluminum
120 x 50 x 53
320
Anodized Aluminum
Post-processing results using third party software
Cable with pigtail wires or with Souriau 851-36RG 16-26s50 connector are the options
InertialLabs: Address:39959CatoctinRidgeStreet,PaeonianSprings,VA20129U.S.A.
Tel:+1(703)880-4222,Fax:+1(703)935-8377Website:www.inertiallabs.com
3
MRU
DatasheetRev.1.2
Inertial Labs MRU key performance
Heave accuracy
Real-time Heave accuracy = 3 cm @ 10 sec wave
Real-time Heave accuracy = 5 cm @ 20 sec wave
Pitch & Roll dynamic accuracy
Real-time Pitch accuracy = ±0.05 deg @ 20 sec wave
Real-time Roll accuracy = ±0.049 deg @ 20 sec wave
InertialLabs: Address:39959CatoctinRidgeStreet,PaeonianSprings,VA20129U.S.A.
Tel:+1(703)880-4222,Fax:+1(703)935-8377Website:www.inertiallabs.com
4
MRU
DatasheetRev.1.2
Biasin-runstability=5μg
Biasin-runstability=1deg/hr
InertialLabs: Address:39959CatoctinRidgeStreet,PaeonianSprings,VA20129U.S.A.
Tel:+1(703)880-4222,Fax:+1(703)935-8377Website:www.inertiallabs.com
5
MRU
DatasheetRev.1.2
MRU models and part numbers
MRU-B/E/P - G450 - A8 - TMGA - C1 - V1.1/V1.2/V1.3
model
Model
gyro range
Gyroscopes
measurement range
acc range
calibration
Accelerometers
measurement range
Temperature
calibration
Aluminum
case
Interfaces
MRU
G450
A8
TMGA
C1
V1.1
±450 deg/sec
±8 g
YES
YES
RS-232
V1.2
V1.3
RS-422
RS-485
MRU electrical interface
Pin
A
B
C
D
E
F
G
H
J
K
L
M
MRU-P mechanical interface drawing
3.
4.
interfaces
B/E/P
MRU-B and MRU-E mechanical interface drawing
Notes:
1.
2.
case
Signal
RS422 – A
RS422 – B
RS422 – Y
RS422 – Z
Power
Ground
RS232 – RX
RS232 – TX
PPS
GPIO
Do not connect
Do not connect
All dimensions are in millimeters.
All dimensions within this drawing are subject to change without notice. Customers should obtain final
drawings before designing any interface hardware.
Data connector type: Binder Series 723. Male receptacle, 12 pin, shielded, rear-mounting
GNSS connector type (MRU-P): TNC-Female
InertialLabs: Address:39959CatoctinRidgeStreet,PaeonianSprings,VA20129U.S.A.
Tel:+1(703)880-4222,Fax:+1(703)935-8377Website:www.inertiallabs.com
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