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IMU Models
Qinertia supports SBG Systems IMU as well as several third party IMU manufacturers. The software comes with a large list of IMU models that should cover most usages from low end MEMS based IMU to very high end FOG or RLG navigation grade Inertial Measurement Unit.
Each IMU model has a unique identifier string such as ekinoxISubseaV3 that can be used in Command Line Interface (CLI) files or JSON processing files.
Qinertia doesn't offer an IMU model editor as it's a quite complicated task to correctly tune an IMU model. If you don't find your exact IMU model, you can still pickup an IMU that has similar performance.
If you think Qinertia is missing an important IMU model, please contact SBG Systems support@sbg-systems.com team.
SBG Systems INS
All SBG Systems INS feature high performance MEMS IMU except for the NAVSIGHT Horizon that is a FOG Inertial Measurement Unit. All SBG Systems IMU output body acceleration and rotation rates at 200 Hz to offer smooth INS solution with optimal accuracy.
| ELLIPSE Series | ||
|---|---|---|
ellipseV1 |
| The first generation ELLIPSE series is a miniature and affordable MEMS based Inertial Navigation System. It features low noise gyroscopes that enables machine control stabilization and real time navigation. |
ellipseV2 |
| The second generation ELLIPSE series is a miniature and affordable MEMS based Inertial Navigation System. Thanks to very low noise gyroscopes and ultra stable accelerometeres, the ELLIPSE is perfectly fitted for machine control and stabilization and entry level UAV survey. |
ellipseV3 |
| The third generation ELLIPSE series features an improved MEMS IMU combined with a game changer RTK GNSS receiver. The ELLIPSE-N and D opens new markets where the size, weight, power consumption and price is a key factor while offering high performance and robust RTK solution. Thanks to very low noise gyroscopes, ultra stable accelerometeres and L1/L2 RTK receiver the ELLIPSE is perfectly fitted for machine control and stabilization and entry level UAV survey. |
| EKINOX Series | ||
ekinoxAV1 |
| The EKINOX is an ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.05 roll/pitch accuracy. The surface housing is IP68 and is perfectly fitted for airborne, ground and between deck marine applications. |
ekinoxEV1 |
| The EKINOX is an ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.05 roll/pitch accuracy. The surface housing is IP68 and is perfectly fitted for airborne, ground and between deck marine applications. |
ekinoxNV1 |
| The EKINOX is an ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.05 roll/pitch accuracy. The surface housing is IP68 and is perfectly fitted for airborne, ground and between deck marine applications. |
ekinoxDV1 |
| The EKINOX is an ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.05 roll/pitch accuracy. The surface housing is IP68 and is perfectly fitted for airborne, ground and between deck marine applications. |
ekinoxAeV2 |
| The EKINOX2 is an ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.02 roll/pitch accuracy. The surface housing is IP68 and is perfectly fitted for airborne, ground and between deck marine applications. |
ekinoxNdV2 |
| The EKINOX2 is an ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.02 roll/pitch accuracy. The surface housing is IP68 and is perfectly fitted for airborne, ground and between deck marine applications. |
ekinoxMuElV2 |
| The EKINOX subsea is an ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.02 roll/pitch accuracy. The subsea housing is rated to 200 meters and is ideally suited to be pole mounted for multi-beam survey applications. |
ekinoxMuEdV2 |
| The EKINOX subsea is an ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.02 roll/pitch accuracy. The subsea housing is rated to 6000 meters and is ideally suited for underwater applications. |
| APOGEE Series | ||
apogeeAeV1 |
| The APOGEE is a high performance and ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.008 roll/pitch accuracy. The surface housing is IP68 and is perfectly fitted for airborne, ground and between deck marine applications. |
apogeeNdV1 |
| The APOGEE is a high performance and ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.008 roll/pitch accuracy. The surface housing is IP68 and is perfectly fitted for airborne, ground and between deck marine applications. |
apogeeMuElV1 |
| The APOGEE is a high performance and ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.008 roll/pitch accuracy. The subsea housing is rated to 200 meters and is ideally suited to be pole mounted for multi-beam survey applications. |
| NAVSIGHT Series | ||
ekinoxISurfaceV1 |
| The EKINOX-I v1 is an ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.02 roll/pitch accuracy. The surface housing is IP68 and is perfectly fitted for airborne, ground and between deck marine applications. |
ekinoxISubseaV1 |
| The EKINOX-I v1 is an ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.02 roll/pitch accuracy. The subsea housing is rated to 200 meters and is ideally suited to be pole mounted for multi-beam survey applications. |
ekinoxISurfaceV2 |
| The EKINOX-I v2 is an ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.01 roll/pitch accuracy. The surface housing is IP68 and is perfectly fitted for airborne, ground and between deck marine applications. |
ekinoxISubseaV2 |
| The EKINOX-I v2 is an ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.01 roll/pitch accuracy. The subsea housing is rated to 200 meters and is ideally suited to be pole mounted for multi-beam survey applications. |
pulse40V1 |
| The PULSE40 is an ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.01 roll/pitch accuracy. This is the OEM version of EKINOX-I v2 and is perfect for tight system level integrations. |
apogeeISurfaceV1 |
| The APOGEE-I is a high performance and ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.008 roll/pitch accuracy. The surface housing is IP68 and is perfectly fitted for airborne, ground and between deck marine applications. |
apogeeISubseaV1 |
| The APOGEE-I is a high performance and ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.008 roll/pitch accuracy. The subsea housing is rated to 200 meters and is ideally suited to be pole mounted for multi-beam survey applications. |
apogeeIOemV1 |
| The APOGEE-I is a high performance and ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.008 roll/pitch accuracy. This OEM version is perfect for tight system level integrations. |
horizonV1 |
| The HORIZON is an ITAR free FOG based Inertial Measurement Unit that offers ultimate navigation performance for the most demanding applications. Thanks to closed loop accelerometers and FOG gyroscopes, HORIZON can maintain centimetric level accuracy even during GNSS outages and is perfect for single antenna applications such as aerial mapping. |
| QUANTA Series | ||
quantaStdV1 |
| Quanta is an ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.02 roll/pitch accuracy. This all in one package very small and lightweight OEM INS system is perfectly fitted for UAV survey applications. |
quantaExtraV1 |
| Quanta Extra is a high performance and ITAR free MEMS based Inertial Measurement Unit able to provide better than 0.008 roll/pitch accuracy. Quanta Extra brings ultra high performance survey INS in a very small and lightweight package. |
Third Party IMU
Qinertia supports several third party IMU ranging from low cost MEMS based IMU to very high end FOG and RLG navigation grade IMU. The MEMS and FOG/RLG IMUs have been split into two tables as the gyroscope bias is not expressed and measured using the same way. It thus doesn't make sens to compare side by side the gyroscope bias instability (used for MEMS gyroscopes) to a bias stability (used for high performance FOG/RLG units).
All the IMU have a nominal output frequency so Qinertia can easily warn a user if the data rate is lower than the expected frequency. However, Qinertia can process INS solutions at any rate starting from 100 Hz and you can safely select and IMU with a 200 Hz output frequency even if your data are only at 100 Hz.
MEMS IMU
| identifier | Manufacturer | Data Rate | Instability | Description |
|---|---|---|---|---|
| Analog Device | 200 Hz | 6.5°/h | Low end OEM MEMS IMU |
| Septentrio | 200 Hz | 7°/h | OEM MEMS INS based on ELLIPSE Micro IMU |
| Epson | 200 Hz | 3.5°/h | Miniature MEMS based IMU |
| Epson | 125 Hz | 3.5°/h | Miniature MEMS based IMU |
| Epson | 200 Hz | 0.8°/h | Miniature MEMS based IMU |
| Honeywell | 100 Hz | 1°/h | Miniature MEMS based IMU with quartz accelerometers |
| Honeywell | 100 Hz | 2 °/h | Miniature cost effective MEMS based IMU |
| Honeywell | 100 Hz | 0.4°/h | High performance MEMS based IMU |
| NG LITEF | 200 Hz | 0.4°/h | Rugged high performance MEMS IMU |
| Novatel | 100 Hz | 0.4°/h | Survey grade MEMS IMU |
| Sensonor | 125 Hz | 0.5°/h | Rugged miniature MEMS IMU |
Gyroscope Instability
MEMS gyroscopes performance is expressed as a bias instability and computed using an Allan Deviation method at constant temperature. It only reflects the gyroscope noise characteristic at constant temperature but has nothing to do with the bias in run stability.
FOG/RLG IMU
| identifier | Manufacturer | Data Rate | Stability | Description |
|---|---|---|---|---|
| Ixblue | 200 Hz | 0.01°/h | High End closed loop FOG IMU with quartz accelerometers |
| Honeywell | 100 Hz | 1°/h | Tactical grade RLG IMU with quartz accelerometers |
| iMar Navigation | 200 Hz | 0.75°/h | Closed loop FOG IMU with MEMS accelerometers |
| NG LITEF | 200 Hz | 0.05°/h | High End closed loop FOG IMU with MEMS accelerometers |
| KVH | 200 Hz | 2°/h | Cost effective open loop FOG IMU with MEMS accelerometers |
| KVH | 100 Hz | 20°/h | Cost effective open loop FOG IMU with MEMS accelerometers |
| Northrop Grumman | 200 Hz | 1°/h | Miniature closed loop FOG IMU with MEMS accelerometers |
Gyroscope Stability
For FOG and RLG units the gyroscope performance is expressed as a composite bias stability that includes all effects such as warmup bias, long term repeatability as well as variation over temperature. It thus can't be compared to MEMS bias instabilities.