Pola-v2 MEMS Inertial/ Satellite Integrated Navigation System

Pola MEMS Inertial/Satellite Integrated Navigation System is a cost-effective measurement device for navigation, control and state measurement. The system adopts high-reliability silicon micro MEMS gyroscope and speedometer, guarantees measurement accuracy through multiple compensation techniques, and adopts strict process to ensure that the angular motion and line motion parameters of the carrier can be accurately measured under harsh environment.

Description

Features

  • Wide application. GPS/BD2 dual-mode satellite navigation system with high tracking sensitivity, except for those suitable for open area. It can also be used in complex environments such as streets and jungles.
  • Multiple combination modes. Vertical gyro, zero speed correction, inertial /GPS/BD2 multiple combination and multiple mode automatic switch, realizing high reliability parameter output, with the function of external auxiliary equipment combination.
  • Adaptable. Silicon micro MEMS devices, with strong anti-shock resistance, and working in full range of -40 °C ~ + 60 °C.
  • Excellent performance indicators. The combined navigation horizontal attitude is 0.2° (rms), the position accuracy is better than 15m (rms), the speed accuracy is better than 0.15m/s (rms), the volume is 45mm×45mm×30mm, and the weight is not more than 100g.
  • User friendly. Support RS-422, RS-232 multi-channel serial port, adjustable output bandwidth, adjustable output protocol, online uploader/parameter, 9V ~ 40V wide voltage power supply.

Application

  • Vehicle navigation system
  • Antenna stabilization platform
  • Attitude reference system
  • Guidance control system
  • Measurement of vehicle attitude
  • Pipeline inspection system
  • Orientation system
  • Drilling system
  • Mobile mapping system

Performance specifications

Table 1: Main performance indexes of the system

Gyro
Range ±400 °/s
Zero bias 30 °/h
Zero offset stability 30 °/h
Zero bias repeatability 100 °/h
Scale factor nonlinearity 1000 ppm
bandwidth 50 Hz ~ 200 Hz
Speedometer
Range ±10 g
Zero bias 1 mg
Zero offset stability 1 mg
Zero bias repeatability 1 mg
Scale factor nonlinearity 1000 ppm
Receiver
Frequency Range BD2 B1/ GPS L1
Gain 60 s
Axial ratio 10 s
Position accuracy 15 m (rms)
Speed accuracy 0.15 m/s(rms)
Antenna
Frequency Range 1568 ± 10 MHz
Gain >3 (dBi)
Axial ratio <7 (dB)
Standing wave <2
Polarization mode Right-handed polarization
Transmission impedance 50 Ω
Antenna cover material ABS
Installation method Magnetic
Interface form SMA
Antenna ruler (mm) 50 mm ×51 mm ×15.6 mm
Working temperature (°C) -40 °C ~ 85 °C
cable length RG174-3m(Optional)
Weight (g) 68±2 g
waterproof Fully waterproof
Electrical/mechanical interface
power supply 9 V~40 V
Rate <2.5 W
Start time 3 s
Communication Interface 1 路 RS-422θ1 路 RS-232
Update rate 100 Hz~1000 Hz
Dimensions (without mounting ears) 45 mm×45 mm×30 mm
Installation size (including mounting ears) 58 mm×45 mm×30 mm
Weight <100 g
Operating Condition
Operating temperature -40 °C~60 °C
Vibration 6.06 g(rms)
Shock 9 g/11ms; 1000 g/1ms
Composite navigation performance
Position accuracy 15 m (rms)
Speed accuracy 0.15 m/s (rms)
Horizontal posture 0.2° (rms)
Heading accuracy Typical vehicle environment 1° (rms, depending on carrier dynamics)

External communication

  • Low frequency connector: Y34M-11SH
  • Rf connector: SMA

Table 2: system external point definition

No. Definition Remarks
1 VCC 9V ~ 40V
2 GND GND
3 RS232RXD INS receive
4 RS232TXD INS send
5 RS232GND GND
6 RS422-1-R+ INS receive +
7 RS422-1-R- INS receive –
8 RS422-1-T- INS send –
9 RS422-1-T+ INS send +
10 Receiver 232 TXD Receiver send
11 Receiver 232 GND GND

The system’s external RS-422/RS-232 communication protocol can be customized according to user requirements. The default RS-422 communication rate of the system is 921600bps, the data period is 1ms, the default baud rate of RS-232 communication is 115200bps, and the data period is 10ms.

Table 3: System Communication Protocol

Section No. Format Content Unit Resolution Description
1 Unsigned Char 0x55 ˉ ˉ Frame header
2 Unsigned Char 0xAA ˉ ˉ Frame header
3 Unsigned Char 0x44 ˉ ˉ Data length
4~7 Unsigned Int ˉ ms 1 Navigation time
8~11 ˉ ˉ ˉ ˉ System reserved word
12~15 ˉ ˉ °/s IEEE 32 bit X angular rate
16~19 ˉ ˉ °/s IEEE 32 bit Y angular rate
20~23 ˉ ˉ °/s IEEE 32 bit Z angular rate
24~27 ˉ ˉ m/s2 IEEE 32 bit X acceleration
28~31 ˉ ˉ m/s2 IEEE 32 bit Y acceleration
32~35 ˉ ˉ m/s2 IEEE 32 bit Z acceleration
36~39 ˉ ˉ m/s IEEE 32 bit North speed
40~43 ˉ ˉ m/s IEEE 32 bit Speed
44~47 ˉ ˉ m/s IEEE 32 bit East speed
48~51 ˉ ˉ m IEEE 32 bit height
52~55 Int ˉ ° 1e-7 Twist
56~59 Int ˉ ° 1e-7 latitude
60~63 ˉ ˉ ° IEEE 32 bit scroll
64~67 ˉ ˉ ° IEEE 32 bit course
68~71 ˉ ˉ ° IEEE 32 bit Pitch
72 Unsigned Char ˉ ˉ ˉ Checksum
Notes:
1. The total frame length is N, and the data length in the frame is N-4;2. The roll angle range (-180, 180) is positive for right turn; the range of heading angle (-180, 180) is positive for north to west, and the head for pitch angle (-90 90) is positive.3. XYZ is the carrier coordinate system, the X axis points to the longitudinal axis of the carrier, and XYZ points to the front, the right, and the right direction of the carrier.4. The checksum takes the 3rd to 71st bytes of the accumulated sum and takes the lower eight bits.