The 1.8 firmware series is a major update that adds several important new features, performance improvements and bug fixes.

The main new features and additions are listed below:

  • Up to now, ELLIPSE INS was continuously estimating and refining mechanical installation parameters such as GNSS primary and secondary lever arm antennas. Even if this behavior is great for ease of use, with the 1.7 release, it’s now possible to select the best behavior according to your use case and stop online lever arm estimation.
  • This can reduce the alignment time while improving the accuracy and stability of the system.
  • If you can’t measure precisely the lever arm (<2 cm) , you can use Qinertia to do it automatically
  • To better address the automotive market, the ELLIPSE can now output, over the CAN bus, several new quantities such as the velocity expressed in the vehicle frame (body), the slip angle as well as the curvature (turn radius).
  • Now, the ELLIPSE is also able to use vehicle’s odometer directly through the OBDII connector. This makes the ELLIPSE an outstanding INS for self driving cars and autonomous vehicles with incredible accuracy even in very dense urban environments.
  • Doppler Velocity Log (DVL) aiding has also been added to the ELLIPSE to enable INS grade subsea navigation at a very affordable price.
  • Finally, preparatory work has been done to fully support air data aiding. This new aiding source aims to improve ELLIPSE attitude and dead reckoning accuracy in case of GNSS drop out. The ELLIPSE is now able to receive and process external true air speed and barometric altitude. This a work in progress feature so please contact SBG Systems support team for more information

This new firmware release also contains bug fixes to improve the overall product stability and remains fully backward compatible with previous firmware revisions.

Firmware Download

You can download the ELLIPSE firmware package compatible with ELLIPSE v1 and v2.

Please use the sbgFirmwareUpdater tool to update your device firmware and refer to the the firmware upgrade procedure for a step-by-step guide.

Download Firmware Archive

All changes for release 1.8.112-stable


  • [ELIFW-416] - Fix settings migration issue that fails when upgrading from firmware 1.1
  • [ELIFW-414] - Updated built in bootloader to version 1.9.125-stable to fix RS-422 mode

All changes for release 1.7.1436-stable

New Feature

  • [ELIFW-294] - Possibility to output data at 40Hz with the Ellipse
  • [ELIFW-323] - Add Air data aiding parsing and output logs
  • [ELIFW-338] - Add CAN odometer aiding module and configuration
  • [ELIFW-352] - Add baseline length field in SBG_ECOM_LOG_GPS#_HDT log
  • [ELIFW-355] - Add CAN output message with track, slip and curvature indications
  • [ELIFW-356] - Add CAN output message with vehicle body velocity
  • [ELIFW-358] - Add asynchronous IMU Short output log message
  • [ELIFW-360] - Add support for Quanta IMU integration
  • [ELIFW-391] - Add INDYN NMEA like message output for marine applications
  • [ELIFW-402] - Add compatibility support Crossbow AHRS500 series


  • [ELIFW-316] - Improved WGS48 to NED transformation precision, resulting in better performance
  • [ELIFW-319] - Implement DVL aiding based on Teledyne PD6 format
  • [ELIFW-365] - Implement fixed lever arms mode for precision application and reduced alignment time
  • [ELIFW-377] - Now SBG_ECAN_MSG_ODO_VELOCITY doesn't use float anymore
  • [ELIFW-380] - Fix invalid reported CAN bus status following an error
  • [ELIFW-388] - Add support for Novatel log HEADING2
  • [ELIFW-396] - Added SBG_ECOM_CMD_GNSS_1_INSTALLATION command to set/get GNSS lever arm
  • [ELIFW-410] - Updated leap second value to 18s


  • [ELIFW-59] - Fixed pressure sensor status displaying zero
  • [ELIFW-297] - Now, reported yaw standard deviation is set to 180° in VG mode
  • [ELIFW-353] - Fix ship motion output heave velocity value that was always set to zero
  • [ELIFW-354] - Fix UTC sync issue after GNSS loss leading to time stamp not aligned on plain seconds
  • [ELIFW-368] - Fix clock alignment status that couldn't return to free running
  • [ELIFW-400] - Updated SBG_ECAN_MSG_PRESSURE_# to SBG_ECAN_MSG_AIR_DATA_# and added airspeed

Removed Feature

  • [ELIFW-395] - Drop support for deprecated PRDID(6) PSBGI(9) PASHR(10) for SBG_ECOM_CLASS_LOG_NMEA_0