N AVIGATION & C ONTROL
iNAT-M200
Precise MEMS Based Inertial Navigation System with
Tightly or Loosely Coupled INS/GNSS Data Fusion
iNAT-M200 is a member of the advanced iNAT
series (iMAR Navigation and Timing) and one of
the smallest powerful MEMS based INS/GNSS
inertial navigation, measurement, surveying and
control systems on the market for applications on
the surface (land/sea) and in the air. It provides
all kinematic measurements like acceleration,
angular rate, attitude, true heading, velocity and
position of the target vehicle in real-time with an
data update rate of up to 500 Hz.
 robust, compact, light weight system, 750 grams
 based on high grade MEMS Gyro, Accel
technology and L1/L2 GNSS with optional dualantenna heading and RTK support
 GPS, GLONASS, GALILEO and Beidou ready
 Odometer / wheel sensor aiding capability
 output of angular rate, acceleration, attitude, true
heading, CoG, velocity and position in realtime with
up to 500 Hz (adjustable)
 several processing modes (options): Standard
mode with 1 m position accuracy and RTK mode
with 0.02 m position accuracy
 interfaces: UART RS232 & RS422 / CAN / Ethernet
/ USB for realtime data output and RS232 for
DGPS/RTK correction input
 up to 32 GByte internal memory
The iNAT-M200 provides system performance
and system reliability which is required in
standard tasks of navigation, guidance and
control, vehicle motion dynamics testing, trajectory surveying and platform control tasks for
cars, trucks, naval vessels, civil and military aircrafts etc.
GNSS
pos & vel
INS
Output
iNAT-M200/SL~: loosely coupled INS/GNSS
GNSS
raw data
INS
Output
iNAT-M200/ST~: tightly coupled INS/GNSS
The iNAT-M200 is delivered with the Windows
based configuration software iXCOM-CMD. All
output data can be displayed and stored online
on the user’s notebook, tablet or process computer. With iREF-GNSS, iMAR also provides a
GNSS reference station to provide RTK corrections for centimeter level accuracy on demand.
Two different classes of sensor performance are
available, iNAT-M200/~~N and iNAT-M200/~~C.
Depending on the application and required
realtime accuracy (1 m GNSS or 2 cm RTK with
GBAS correction data), the iNAT-M200/ST~
(with tightly coupled data fusion) or the iNATM200/SL~ (with loosely coupled data fusion) is
selected.
Air or Sea or Land,
with or w/o RTK
resp. postproc:
loosely coupling
Air or Land without
RTK resp. with or
w/o post-proc:
tightly coupling
Most difficult environment, urban canyons
and with RTK:
deeply coupling
iNAT-M200/SL~
iNAT-M200/ST~
iTraceRT-M200/SD~
In urban canyons often the number of observable
satellites is quite limited and therefore the iNATM200/ST~ supports a tightly coupled data fusion
which also improves the accuracy of the inertial
solution if even less than 4 satellites (down to 1
satellite) are available. This processing provides
a significant better and more robust position and
velocity result compared to a standard loosely
coupled GNSS solution.
For land vehicles additionally an odometer aiding
capability is available as an option.
 iMAR
20.12.2015
rev. 2.04
DocNo.: DOC141218097
A powerful postproc software is available to allow
post-mission processing including a multi station
GNSS correction data solution and a direct visualisation in Google Earth™.
With iTraceRT-M200/SD~ the same hardware is
also available with deeply coupled INS/GNSS
data fusion.
technical modifications reserved w/o notice
N AVIGATION & C ONTROL
Technical Data iNAT-M200 (typical, rms):
Rate
 400 °/s
 300 °/s
Bias Stability1:
< 0.5 °/h
< 10 °/h
Bias day-to-day2:
< 0.07 °/s
< 0.2 °/s
Angles (Attitide, Hdg.):
Range:
Acceleration
Attit./Heading
 10 g
 10 g
< 0.3 mg
< 0.5 mg
< 5 mg
< 10 mg
unlimited
unlimited
Position (horizontal plane) 4:
Velocity:
Noise:
Resolution:
Linearity error:
Scale factor error:
0.2 °/sqrt(hr) 200 µg/ Hz
0.75 °/sqrt(hr) 500 µg/ Hz
< 0.001 °/s < 100 µg
< 0.02 %
< 0.05 %
< 0.2 %
< 0.2 %
< 0.1 %
< 0.15 %
< 0.3 %
< 0.3 %
INS / GNSS / ODO proc.:
Data Processing Rate:
Data Output Rate:
Synchronisation:
Output:
Inputs:
Graphical User Interface:
Power Supply:
Temperature and shock:
Mass, size:
Deliverables:
Options:
Part Numbers:
Position
unlimited
unlimited
Velocity
Height
515 m/s
515 m/s
18’288 m
18’288 m
0.03° / 0.1° RP/Y3
(INS / GNSS)
0.05° / 0.12° RP/Y
(after 10s GNSS outage)
0.15° / 0.5° RP/Y³
(INS / GNSS)
0.25° / 0.6° RP/Y
(after 10 s GNSS outage)
+/- 0.02 m CEP (INS/GNSS RTK)5
+/- 0.05 m CEP (INS/RTK
+/- 0.4 m CEP (INS/DGNSS)
+/- 2
m CEP (INS/GNSS)
0.05 m/s (INS/GNSS)
0.1 m/s (INS/GNSS)
0.03 °
0.1 °
0.01 °
< 0.1 %
< 0.2 %
< 0.1 %
< 0.3 %
< 0.05 m
< 0.05 m
< 0.01 m
< 0.05 m/s
< 0.1 m/s
< 0.05 m/s
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integrated advanced 15+ state INS/GNSS Kalman filter data fusion
up to 500 Hz; PPS timing accuracy better 10 ns
1...500 Hz; all data available in real time
PPS output, Trigger I/Os, SYNC I/F (RS422 level)
USB, 2 x CAN, 4 x UART RS232/422, Ethernet 100 Mbit/s
DGPS/RTK correction data from base station, if available (RS232);
odometer (A or A/B at RS422 level) as an option
MS Windows based software iXCOM-CMD for configuration and data readout
9...34 V DC, approx. 7 W (depends on options)
-40...+71 °C (outer case temperature); 60 g, 11 ms
approx 750 grams , approx. 102 x 125 x 65 mm
- MEMS based INS with integrated L1L2 GNSS receiver, GNSS antenna
- MS Windows or LINUX based GUI software iXCOM-CMD
- SW-Development Kit with DLL (with SDK under Qt)
- L1L2 RTK accuracy of the integrated GNSS receiver
- dual-antenna GNSS based true heading support (iNAT-M200/S~~-DA, iATTHEMO-B/C)
allows heading determination even at standstill condition with typ. 0.2° at 1 m baseline
- internal data storage (up to 32 GByte)
- Odometer interface for velocity aiding during longer GPS outages
(position error then limited to approx. 0.2 % of longitudinal distance travelled)
- specific algorithms for heave, dead-reckoning, pedestal control etc.
(also customized solutions)
P/N 00190-00001-0~~~:
iNAT-M200/S#N
# = L: loosely coupled
P/N 00190-00002-0~~~:
iNAT-M200/S#C
# = T: tightly coupled # = D: deeply coupled
iMAR Navigation GmbH  Im Reihersbruch 3  D-66386 St. Ingbert / Germany
Phone: +49-(0)-6894-9657-0  Fax: +49-(0)-6894-9657-22
www.imar-navigation.de  [email protected]
1
after algorithm converging under motion with GPS aiding (minimum of AllanVariance curve)
values without sufficient INS/GNSS data fusion conditions; the bias are estimated / compensated during GNSS aiding under motion
automatically (Kalman filter); iNAT-M200-STN provides 10 deg/hr bias stability for several hours duration at const. temperature
3
RPY = Roll / Pitch / Yaw (azimuth = -yaw);
4
GNSS based altitude deviation is abut 1.5 times of GNSS based horizontal error
5
dependent on trajectory and satellite constallation
 iMAR 20.12.2015
rev. 2.04 DocNo.: DOC141218097
technical modifications reserved w/o notice
2