AHRS-INA

Specifications

AHRS-INA
SDI AHRS-INA is a high-performance strapdown system that determines the full angular
orientation of any vehicle or other carrier in 3D space. The SDI AHRS-INA estimates vehicle
orientation angles with high accuracy for both motionless and moving vehicles. Also short
magnetic disturbances do not influence the SDI AHRS-INA heading accuracy. Specially
designed software allows for simple field calibration of the SDI AHRS-INA to eliminate
magnetic deviations caused by soft- and hard-iron materials of a vehicle.
FEATURES
- High-accuracy heading,
pitch and roll angles during
dynamic motion
- 3-axis gyro, accelerometer
and magnetometer outputs
- Fully compensated over
wide temperature range
- Small dimensions - Low power consumption
- Shock & vibration resistant - Environmentally sealed case
- RS-232 serial outputs (USB outputs are optional)
APPLICATIONS
- Land vehicle control
- Remotely operated vehicles
- Avionics systems
- Platform stabilization
- Robotics
The SDI AHRS-INA has a sensor unit that consists of three gyros, three accelerometers and a
high-accuracy triaxial fluxgate magnetometer. The AHRS-INA uses gyros to measure absolute
angular rates of the AHRS-INA carrier. The vehicle orientation angles (heading, pitch and roll)
are calculated through special integration of the gyro outputs. The accelerometers are used to
determine initial attitude of the AHRS-INA and to assist in providing corrections to the gyros`
drifts in tilt (pitch, roll) during operation. The magnetometers are used to determine initial
alignment of the AHRS-INA in azimuth and to correct gyro drifts in heading during operation.
AHRS-INA Performance Characteristics
Performance
Data
Update Rate Hz                              1…..100 (usersettable)
Start‐up Time sec                                                     < 1
Full Accuracy Data (Warm‐up Time) sec                  < 60
HeadingRange (deg)                                            0 to 360
Static Accuracy at NormalConditions (Tc=25°C)deg RMS 0.2
Static Accuracy in TemperatureRange deg RMS          0.5
Dynamic Accuracy deg RMS                                      0.7
Noise (at 100Hz output) deg RMS                             0.02
Resolution (deg)                                                        0.01
Attitude
Range: Pitch, Roll deg                                     ±90, ±180
Static Accuracy at Normal
Conditions (Tc=25°C) deg RMS                             0.04
Static Accuracy in Temperature
Range deg RMS                                                        0.1
Dynamic Accuracy deg RMS                                     0.4
Noise (at 100Hz output) deg RMS                            0.02
Resolution deg                                                         0.01
Angular Rate
Input Range: Yaw, Pitch, Roll deg/sec                      ±300
Bias deg/sec RMS                                                    0.02
Scale Factor Accuracy %                                          0.2
Non‐Linearity % FS                                                0.1
Random Walk deg/sqrt(hr)                                        6
Resolution deg/sec                                                    0.01
Bandwidth Hz                                                           40
Linear acceleration
Input Range: X/Y/Z g                                               ±2
Bias mg RMS                                                           0.3
Scale Factor Accuracy %                                        < 0.1
Non‐Linearity % FS                                               0.2
Random Walk m/s/sqrt(hour)                                   0.06
Resolution mg                                                         < 10
Bandwidth Hz                                                         40
Environment
Operating Temperature deg C                         – 40 to +70
Non‐Operating Temperature deg C               – 55 to +85
Electrical
Input Voltage VDC                                           +5.5 to +6.5
Input Current mA                                                < 110
Power Consumption W
0.66 (at 6V
powering)
Digital Output Format RS                              ‐232
Physical
Size(with mounting lugs) mm                          128 x 31 x 29
Weight kg                                                       0.22
Connector
5‐Pin Binder
719 (Male)