The 2.x firmware introduces support for new ELLIPSE Series 3 hardware. It brings many performance improvements by taking advantage of a more powerful 64 bit CPU allowing double precision computations and more complex algorithms.

A lot of code has been reworked to improve the overall quality, stability, reliability of the sensor and especially regarding how the time is managed.

The main new features and additions are listed below:

  • Adds support for new ELLIPSE Series 3 hardware
  • Improved accuracy and performance with an updated Extended Kalman Filter using double precision numbers for all operations for ELLIPSE Series 3 hardware. This also improve the filter stability and reliability in difficult conditions and during low dynamics.
  • This firmware includes the latest World Magnetic Model to cover the 2020 to 2025 time frame
  • Improved UTC and PPS time management to better cop with noisy PPS signals

Firmware Compatibility

This firmware is compatible and intended to work with the following applications and libraries versions:

  • Inertial SDK 7.1 and above
  • sbgCenter 3.3 and above
  • sbgECom 3.1 and above

ELLIPSE Compatibility

This firmware is compatible with all ELLIPSE versions and hardware revisions.

Firmware Download

It is recommended to download and install the Inertial SDK 7.1 to easily update your device firmware. Indeed, the Inertial SDK 7.1 is shipped with this firmware and all compatible tools, application and libraries.

Once your have installed the Inertial SDK, please refer to the the firmware upgrade procedure for a step-by-step guide.

You can also download below the firmware file only according to your ELLIPSE hardware generation. To determine your ELLIPSE hardware generation, simply check the product label.

If you see on the label HW: 3.x you have an ELLIPSE Generation 3 otherwise you have an ELLIPSE Generation 1 or 2.

Download Firmware (ELLIPSE v1 & v2) Download Firmware (ELLIPSE v3)

Changes for release 2.3.677-stable

New Features

  • [ELIFW-381] - Add Air data aiding support in navigation and vertical gyro modes

  • [ELIFW-501] - Added specific NMEA like output log WASSP

  • [ELIFW-521] - Add a global option to output either standard (81 chars) NMEA messages or extended

  • [ELIFW-522] - Add an option to always output time even if invalid in NMEA messages

  • [ELIFW-533] - Add support for ELLIPSE hardware rev 1 & 2


  • [ELIFW-539] - Improved RMC message compatibility with Velodyne Lidars

  • [ELIFW-546] - Updated on-board 3D magnetic calibration to accept up to 500 points

  • [ELIFW-547] - Increase the number of points used for an on-board 2D magnetic calibration

Bug Fixes

  • [ELIFW-529] - Error when trying to change the validity thresholds with an old sbgCenter/sbgECom

  • [ELIFW-534] - Fix PSBGI message that was not generated

  • [ELIFW-535] - Prevent heading alignment in case GNSS is not allowed as aiding source