 About
- 3-D Navigation and Positioning
- Precise Inertial Heading Determination
- Attitude Determination
- Autonomous Motion Data Recording
- INS/GPS aided positioning in city canyon
- Motion Detection and Measurement
- Autonomous Navigation in tunnels
- Simplified map matching
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Performance
During normal operation CompaNav-2T 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-2T 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-2T 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 Off |
| 10 sec |
40 sec |
1 min |
5 min |
| Position |
m RMS |
3 (*) |
6-10 |
20-40 |
50-70 |
200 |
| Velocity |
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| X,Y Velocity |
m/s RMS |
0,3 |
0,4 |
0,8 |
1,0 |
1,5 |
| Z Velocity |
m/s RMS |
0,2 |
0,3 |
| Pitch and roll |
deg RMS |
0,4..0,5 |
0,5..0,6 |
| Heading (**) |
deg RMS |
0,5 |
3 (10 min GNSS off) |
| Altitude |
m |
2 |
3 |
Notes
(*) Applies to a standard configuration with high-sensitivity GPS receiver Globalstar BR-305 (positioning accuracy of 15 m RMS).
(**) Heading is calculated as deviation from the track angle value which is output by GNSS receiver immediately after VITCAPAS 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 |
Output Data
| INS/GPS data 10 Hz |
GPS data 1 Hz |
Status flags 1 Hz |
Latitude, longitude
Pitch, roll, heading, magnetic heading
Ground speed, vertical speed
Altitude, barometric altitude
G-load
Specific force (XYZ)
Angular velocity (XYZ)
Velocity components (Eastern, Northern)
Time in navigation mode
Time after power-on
Checksum |
(NMEA GGA, GSA, RMC, GSV messages)
Latitude, longitude
Ground speed
Course, UTC time, dat;
Altitude
NMEA GSA HDOP, VDOP, PDOP
NMEA GSV satellites data
NMEA GGA satellites data |
No usable GPS data
Motion detection (stop/move)
NMEA RMC valid
NMEA GGA quality
Calculation mode (Static attitude/Car navigation)
INS mode (nav./align.) |
Key system features
- Complete navigation data output
- More accurate positioning compared to GNSS
- Fast cold start
- Low size, low power, low cost
- Fully digital output
- Consistent navigation data
- High responsive heading information
- Dynamic attitude indication
- Easy to integrate implementation
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Architecture
CompaNav-2T 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 VIT-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).CompaNav-2T hardware is built entirely from commercial off-the shelf electronic and mechanical components.
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