VN-200 GPS-Aided INS
A miniature, high performance GPS-Aided Inertial Navigation System (GPS/INS).
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- Description
- Specifications
Description
The VN-200 is a miniature, high-performance Inertial Navigation System (INS) that combines MEMS inertial sensors, a high-sensitivity GPS receiver, and advanced Kalman filtering algorithms to provide optimal estimates of position, velocity and orientation for industrial applications.
Key Benefits
- 0.3° Dynamic Heading
- 0.1° Dynamic Pitch/Roll
- 5°/hr Gyro In-Run Bias (typ.)
- 800 Hz IMU, 400 Hz Navigation Data
- ±16 g Accelerometer Range
- ±2000˚/sec Gyroscope Range
- Standard or Thermal Calibration
- Made in the USA & ITAR-Free
Small Form Factor
SMD and Rugged Packages
The VN-200 is available in two different packaging options: the surface mount device (SMD) and the “Rugged” module.
VN-200 SMD
Introduced in 2012, the VN-200 was the first GPS-Aided Inertial Navigation System (GPS/INS) in a single surface mount package. At the size of a postage stamp, the VN-200 SMD requires only a single 3.2-5.5V power supply, and can be directly embedded into a user’s electronics. Interface with the VN-200 SMD is made easy by using either the serial 3V TTL (UART) or the Serial Peripheral Interface (SPI).
Size: 24 x 22 x 3 mm
Power: 105 mA @ 3.3 V
Mass: 4 g
VN-200 Rugged
The VN-200 Rugged is the “plug and play” version of the VN-200 SMD. Enclosed in a clamshell precision anodized aluminum enclosure, the VN-200 Rugged offers additional protection of the internal MEMs sensors, GPS receiver and electronics.
The use of precision CNC milled aluminum parts ensures that the axis alignment provided by our factory calibration process is maintained during installation in its final configuration. Interfacing with the module is made through a locking 10-pin connector, as well as a MMCX connector for an external active GPS antenna.
Size: 36 x 33 x 9 mm
Power: 80 mA @ 5 V
Mass: 16 g
GPS/INS Kalman Filter
The VN-200 incorporates the latest advancements in Aerospace grade Kalman filter inertial navigation algorithms specifically tailored to solve problems typically faced by industrial users.
The VN-200 utilizes an on-board extended Kalman filter to optimally combine high bandwidth inertial measurements with high accuracy low bandwidth GPS measurements to provide high accuracy low latency position, velocity, and attitude measurements required for industrial control systems.
10-Axis MEMS IMU
Utilizing the latest advancements in MEMS technology, the VN-200 incorporates a wide assortment of inertial sensors including a 3-axis accelerometer, 3-axis gyroscope, 3-axis magnetometer, and a barometric pressure sensor. The VN-200 has been carefully designed to provide the highest performance achievable, by eliminating common error sources such as sensitivity to supply voltage variations and temperature dependent hysteresis.
To provide the highest level of accuracy, each VN-200 is individually tested and characterized over the full operating temperature range to determine the bias, sensitivity and cross-axis alignment for each individual sensor. Calibration coefficients are stored on the sensor and are fully temperature compensated in real-time onboard to ensure high accuracy measurements over the full operating temperature range.
Standard and Thermal Calibrations
MEMS inertial sensors are subject to several common sources of error: bias, scale factor, misalignments, temperature dependencies, and gyro g-sensitivity. To ensure the highest level of accuracy, all VectorNav sensors undergo a rigorous calibration process to minimize these error sources. Compensation parameters calculated during these calibrations are stored on each individual sensor and digitally applied to the real-time measurements.
This calibration process is performed over two different temperature options: at 25°C (Standard Calibration) or over the full thermal operating range of the VN-200 (-40°C to +85°C; Thermal Calibration). This calibration option is offered for the user to select upon purchase of any VN-200 product.
Standard Calibration
Single temperature calibration at 25°C (valid ±10°C)
Thermal Calibration
Calibration over full -40°C to +85°C temperature range
High Sensitivity GPS Receiver
The VN-200 incorporates an onboard high sensitivity 50-channel u-blox GPS receiver. A U.FL (VN-200 SMD) or MMCX (VN-200 Rugged) connector is provided for connection to an external active GPS antenna.
Receiver Type: 50-channel u-blox GPS L1 C/A
Update Rate: 5 Hz
Sensitivity: -159 dBm Tracking
Cold Start: 36 s
Additional Options
SMD Development Kit:
- Development board with pre-installed VN-200 SMD
- (2) micro USB to USB cables (2 & 3 m)
- (1) 1.8m (6ft) DB-9 Serial Cable
- (1) GPS Antenna
- (2) Coin Cell Batteries
- DIP stick
- CD with software development kit
- Product documentation
- Carrying case
Rugged Development Kit:
- VN-2oo Rugged Module
- (1) RS-232 Serial Adapter Cable
- (1) USB Adapter Cable
- (1) GPS Antenna
- Cable Connection Tool
- CD with software development kit
- Product documentation
- Carrying case
VN-200 Cabling & GPS Antenna
Custom Interfacing Cables and GPS Antenna: Custom cables of varying lengths and/or with certain pins broken out and certain variations of the GPS antenna are available upon request. Prices and lead times on such custom cables
and GPS antennas vary. Contact us to order.
Connectors: The VN-200 Rugged uses Harwin 10-pin locking connectors. The part numbers for these connectors are: Harwin M80-5001042: male connector on the VN-200 Rugged and Harwin M80-4861005: female connector used on VN-200 Rugged cables.
Product Variations Available:
- USB Cable Rugged
- RS-232 Cable Rugged
- Pigtail Cable Rugged
- VN-200 GPS Antenna (Tallysman 2412)
About VectorNav
VectorNav Technologies is a leading developer and manufacturer of high performance inertial navigation systems using the latest in MEMS sensor and GPS/GNSS technology. Since its founding in 2008, VectorNav has provided systems integrators in the Military, Aerospace, Marine, and Robotics industries with inertial navigation solutions with best-in-class price to performance ratios. VectorNav Technologies is headquartered in Dallas, Texas, USA and is an AS9100 certified company.
| NAVIGATION | |
|---|---|
| Range (Heading, Roll) | ±180° |
| Range (Pitch) | ±90° |
| Static Accuracy (Heading, Magnetic)1 | 2.0° RMS |
| Static Accuracy (Pitch/Roll) | 0.5° RMS |
| Dynamic Accuracy (Heading, True Inertial) | 0.3° RMS |
| Dynamic Accuracy (Pitch/Roll) | 0.1° RMS |
| Static Accuracy (Pitch/Roll; after Dynamic Alignment) | 0.1 ° RMS |
| Angular Resolution | < 0.05° |
| Angular Repeatability | < 0.1° |
| Horizontal Position Accuracy | 2.5 m RMS |
| Horizontal Position Accuracy (w/ SBAS) | 2.0 m RMS |
| Vertical Position Accuracy | 5.0 m RMS |
| Vertical Position Accuracy (w/ Barometric Pressure Sensor) | 2.5 m RMS |
| Position Resolution | 1 mm |
| Velocity Accuracy | ±0.05 m/s |
| Velocity Resolution | 1 mm/s |
| Output Rate (IMU Data)2: | 800 Hz |
| Output Rate (Navigation Data): | 400 Hz |
| 1 Proper magnetic declination, suitable magnetic environment and valid hard/soft iron calibration required. 2 Rates of up to 1 kHz available upon request. |
|
| Output Modes (Combinations of):
– Euler Angles (Yaw, Pitch, Roll) Filtering: – Extended Kalman Filter (EKF) |
|
| GYROSCOPE | |
|---|---|
| Range: | ±2000 °/s |
| In-Run Bias Stability: | < 10 °/hr |
| Linearity: | < 0.1% FS |
| Noise Density: | 0.0035 °/s √Hz |
| Bandwidth: | 256 Hz |
| Alignment Error: | ±0.05° |
| Resolution | < 0.02 °/s |
| ACCELEROMETER | |
|---|---|
| Range: | ±16 g |
| In-Run Bias Stability | < 0.04 mg |
| Linearity: | < 0.5 ° FS |
| Noise Density: | < 0.14 mg/√Hz |
| Bandwidth: | 260 HZ |
| Alignment Error: | ±0.05 ° |
| Resolution | < 0.5 mg |
| MAGNETOMETER | |
|---|---|
| Range: | ±2.5 Gauss |
| Linearity: | < 0.1 % |
| Noise Density: | 140 μGauss/√Hz |
| Bandwidth: | 200 HZ |
| Alignment Error: | ±0.05 ° |
| Resolution: | 1.5 Milligauss |
| PRESSURE SENSOR | |
|---|---|
| Range: | 10 to 1200 mbar |
| Resolution: | 0.042 mbar |
| Accuracy: | ±1.5 mbar |
| Error Band: | ±2.5 mbar |
| Bandwidth: | 200 Hz |
| GPS | |
|---|---|
| Receiver Type: | 50 Channels, L1 Freq GPS C/A Code |
| Solution Update Rate: | 5 Hz |
| Time-to-First-Fix: | Cold/Warm Start: 36 s Hot Start: < 1 s |
| Tracking & Navigation Sensitivity: | -159 dBm |
| Requisition Sensitivity: | -159 dBm |
| Cold Start Sensitivity: | -141 dBm |
| Timepulse Signal Accuracy: | 30 nsec RMS |
| Acceleration Limit: | 4 g |
| Altitude Limit: | 50,000 m |
| Velocity Limit: | 500 m/s |
| ENVIRONMENT | |
|---|---|
| Operating Temp: | -40°C to 85°C |
| Storage Temp: | -40°C to 85°C |
| ELECTRICAL – Surface Mount Device | |
|---|---|
| Input Voltage (SMD): | 3.2 V to 5.5 V |
| Input Voltage (Dev Board): | 3.2V to 5.5 V |
| Baud Rate: | Up to 921600 |
| Current Draw***: | 105 mA @ 3.3V |
| Power Consumption***: | 445 mW |
| Digital Interface (SMD): | Serial TTL, SPI |
| Digital Interface (Dev Board): |
Serial TTL, SPI, RS-232, USB |
| *** Not including active antenna power consumption.
Software: |
|
| ELECTRICAL – Rugged | |
|---|---|
| Input Voltage: | 3.3 V to 17 V |
| Baud Rate: | Up to 921600 |
| Current Draw***: | 80 mA @ 5V |
| Power Consumption***: | 500 mW |
| Digital Interface: | Serial TTL, RS-232 |
| *** Not including active antenna power consumption.
Software: |
|
| PHYSICAL – Surface Mount Device | |
|---|---|
| Size (SMD): | 24 x 22 x 3 mm |
| Size (Development Board): | 76 x 76 x 14 mm |
| Weight (SMD): | 4 g |
| Weight (Development Board): | 45 g |
| Footprint (SMD): | 30-pin LGA |
| GPS Antenna Connector (SMD): | U.FL |
| Connector (Development Board): | RS-232 DB9, USB, and 30-pin 0.1″ header |
| GPS Antenna Connector (Development Board): | SMA |
| PHYSICAL – Rugged | |
|---|---|
| Size: | 36 x 33 x 9.5 mm |
| Weight: | 16 g |
| Connector: | Harwin M80-5001042 |
| GPS Antenna Connector: | MMCX |
