 Applications
- 3-D Navigation and Positioning
- Attitude and Heading Determination
- Predictive Flight Guidance and Control
- Autonomous Flight Data Recording
- Motion Detection and Measurement
- Stand-by Avionics Instruments
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System functionality
CompaNav-2 can substitute almost all conventional instruments found in traditional cockpits such as:
- Navigation system
- Course indicator
- Magnetic compass
- Artificial horizon
- Ground speed indicator
- Barometric altimeter
- Climb rate indicator
- G-meter
- Turn coordinator
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Performance
During normal operation CompaNav-2 computes a three-dimensional navigation solution (including attitude and heading) based on integrated inertial data. This inertial solution is corrected using a Kalman filter, which processes GNSS measurements at a 1-Hz rate. This reduces inertial sensor errors and results in a robust navigation solution.
The navigation solution remains accurate during periods of GNSS signal loss due to satellites obscuration (for example, during complex maneuvers) and high dynamics.
CompaNav-2 must complete both inertial system alignment and GNSS signal acquisition to output the integrated navigation solution with specified characteristics. If powered up with GNSS off, CompaNav-2 will operate as an AHRS, providing accurate roll and pitch data, which is fully time-independent.
Integrated Accuracy
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Units |
GNSS On |
GNSS Gap 5min |
GNSS Off |
| Position |
m RMS |
6 (*) |
500 (**) |
Not available |
| Velocity |
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| X,Y Velocity |
m/s RMS |
0,2 |
3 |
Not available |
| Z Velocity |
m/s RMS |
0,25 |
0,3 |
0,4 |
| Pitch and roll |
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| Straight Horizontal Flight |
deg RMS |
0,2...0,3 |
0,2...0,3 |
0,3…0,5 |
| Normal Maneuvre (***) |
deg RMS |
0,3…0,5 |
0,3…0,5 |
0,7…1 |
| Complex Maneuvre (***) |
deg RMS |
1 |
1 |
2 |
| Heading (****) |
deg RMS |
0,4 |
0,4 |
2 |
| Altitude |
m |
2 |
2 |
6 |
Notes (*) Applies to a standard configuration with GPS receiver Garmin GPS35 (positioning accuracy of 15 m RMS).
(**) Assumes straight level flight prior to and during GPS gap.
(***) Normal is “pitch and roll less 45 deg”, complex is “pitch and roll 45 deg…75 deg”.
(****) Heading is calculated as deviation from the track angle value which is output by GNSS receiver immediately after CompaNav-2 initialization.
The increments are sensed by IMU. |
Dynamic Ranges
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Range |
Resolution |
| Roll, Pitch |
deg |
±180, ±90 |
0,05 |
| Accelerations |
g |
±10 |
10-4 |
| Heading |
deg |
0...360 |
0,1 |
| Angular rate |
deg/sec |
±150 |
10-3 |
| Max. calibrated altitude |
m |
6,000 |
0,2 |
| (for barometric altimeter) |
ft |
18,000 |
1 |
Architecture
CompaNav-2 consists of MEMS angular rate sensors and accelerometers, magnetometers, temperature sensors, and barometric altimeter.
Proprietary sensor fusion and navigation software runs on a high-speed microprocessor. It implements TeKnol-developed inertial strapdown system algorithm, which employs special quaternion algebra, time series analysis and proprietary optimal filtering mechanization. GNSS is integrated with IMU using loosely coupled technique to provide flexibility in the choice of GNSS receivers (NMEA interface is required).
For optimal performance in the main aviation applications (aircraft or helicopter), VIT introduced corresponding algorithm modes, which account for specific motion characteristics and are included in every navigation software. The default mode setting is stored in non-volatile memory and is activated at power-up. The third mode - autonomous - is used in laboratory for unit testing and main performance characteristics verification.
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