This chapter describes all sensors and navigation system performance specifications.

Note

Performance specifications are specified in RMS unless otherwise stated.


Inertial Measurement Unit specifications

As an IMU is the main component of an inertial navigation system, the new Ellipse IMU has been carefully designed to take full advantage and performance of MEMS technology.

ParameterGyroscope specificationAccelerometer specification
Sensor RangeMarine±450 °/s±8 g
Land/Air±450 °/s±20 g
High dynamics±1000 °/s±40 g
Random Walk0.18 °/√h57 μg/√hz
In run bias Instability8 °/hr14 μg

You can find the full specifications of the IMU on this page.

GNSS receiver specifications

The Ellipse-N and Ellipse-D embed a GNSS aiding sensor with the following specifications:

ItemSpecificationRemarks / condition
Signal tracking
  • GPS: L1C/A, L2C
  • GLONASS: L10F, L20F
  • Galileo: E1, E5b
  • Beidou: B1I, B2I
  • QZSS: L1C/A, L2C
  • SBAS
All constellations and signals enabled by default
Horizontal position accuracy

Single point: 1.5 m

SBAS: 1.0 m

RTK: 1 cm + 1ppm


Velocity accuracy0.05 m/s
Dual antenna heading accuracy0.55° (baseline > 0.5m)Ellipse-D only
0.4° (baseline > 1m)
0.3° (baseline > 2m)
Time to first fixCold start < 24 s
Output frequency5 Hz
Differential corrections inputRTCM V3.3Sent on any serial port

Note

GNSS performance depends on atmospheric conditions, baseline length, GNSS antenna, multipath conditions, satellite visibility and geometry.

Ellipse AHRS orientation performance


PerformanceRemarks
Measurement Range360° in all axes, no mounting limitation
Roll / Pitch Accuracy<0.1°Low dynamic conditions - No long term accelerations
Yaw Accuracy 0.8°Clean magnetic environment - Magnetic calibration performed

Ellipse INS orientation and navigation performance

This section applies to ELLIPSE E, N and D sensors, with GNSS aiding available.

  • SP refers to Single Point mode and is the default standalone L1/L2 fix quality
  • RTK stands for Real Time Kinematics with a typical 1 cm accuracy position
  • PPK stands for Post-Processed Kinematics using Qinertia

Land applications

All specifications are valid with DMI (odometer) aiding for typical land application trajectories.

Outage DurationPositioning ModePosition AccuracyVelocity Accuracy

Attitude Accuracy (°)

HorizontalVerticalHorizontalVerticalRoll / PitchHeading
No OutageSP1.2 m 1.5 m0.05 m/s0.05 m/s0.1°0.2°
RTK0.01 m0.02 m0.03 m/s0.03 m/s0.05°
PPK0.01 m0.02 m0.02 m/s0.02 m/s0.03°0.1°
10 sSP1.7 m2 m0.1 m/s0.1 m/s0.1°0.2°
RTK0.8 m0.8 m0.1 m/s0.1 m/s0.05°
PPK0.1 m0.1 m0.05 m/s0.05 m/s0.05°0.1°
60 sSP7 m7 m0.1 m/s0.1 m/s0.15°0.3°
RTK5.5 m5 m0.1 m/s0.1 m/s0.1°
PPK1 m1 m0.1 m/s0.1 m/s0.08°0.2°

Airborne applications

Positioning ModePosition AccuracyVelocity Accuracy

Attitude Accuracy (°)

HorizontalVerticalHorizontalVerticalRoll / PitchHeading
SP1.2 m1.5 m0.05 m/s0.05 m/s0.1°

0.2° Dynamic

or Dual antenna baseline > 2m

RTK0.01 m0.02 m0.03 m/s0.03 m/s0.05°
PPK0.01 m0.02 m0.02 m/s0.02 m/s0.03°0.1°

Marine & Subsea applications

Outage DurationPositioning ModePosition AccuracyVelocity Accuracy

Attitude Accuracy (°)

HorizontalVerticalHorizontalVerticalRoll / PitchHeading
No OutageSP1.2 m1.5 m0.05 m/s0.05 m/s0.1°

0.8° magnetic heading

0.5° Dual antenna baseline > 0.5m

0.2° Dual antenna baseline > 2m

RTK0.01 m0.02 m0.03 m/s0.03 m/s0.05°
PPK0.01 m0.02 m0.02 m/s0.02 m/s0.03°0.1°
10 sSP3 m 3.5 m0.15 m/s0.15 m/s0.1°

0.8° magnetic heading

0.5° Dual antenna baseline > 0.5m

0.2° Dual ant, baseline > 2m

RTK1 m1 m0.1 m/s0.1 m/s0.05°
PPK0.1 m0.1 m0.05 m/s0.05 m/s0.05°0.1°

Heave performance (Marine version)


Real Time HeaveRemark
Range50 meters
Period0 to 15 s
Accuracy5 cm (or 5% of swell)Whichever is greater; Velocity aiding available, or no turn or speed change.
ModeReal time, auto tuning

Note

Ship motion recordings including Heave information are only available in Ellipse marine versions.