MicroStrain Product Datasheet 3DM-CX5-GNSS/INS GNSS Aided Inertial Navigation System PRODUCT HIGHLIGHTS High-performance integrated multi-constellation GNSS receiver and advanced MEMS sensor technology provide direct inertial measurements, outputs in a small package Triaxial accelerometer, gyroscope, magnetometer, temperature sensors, and a pressure altimeter achieve the optimal combination of measurement qualities Dual on-board processors run a new Auto-Adaptive Extended Kalman Filter (EKF) for outstanding dynamic position, velocity, and attitude estimates The MicroStrain Sensing 3DM-CX5 family of high-performance, industrial-grade, board-level inertial sensors provide a wide FEATURES AND BENEFITS range of triaxial inertial measurements, computed attitude, and navigation solutions. BEST IN CLASS PERFORMANCE Fully calibrated, temperature-compensated, and The 3DM-CX5-GNSS/INS all-in-one navigation solution mathematically-aligned to an orthogonal coordinate system features a high-performance, integrated multi-constellation for highly accurate outputs GNSS receiver utilizing the GPS, GLONASS, BeiDou, and Galileo satellite constellations. Sensor measurements are fully High-performance, low-drift gyros with low noise density calibrated, temperature-compensated, and mathematically- and vibration rectification error aligned to an orthogonal coordinate system for highly accurate Accelerometer noise as low as 20 ug/Hz outputs. The auto-adaptive estimation filter algorithm produces highly accurate computed outputs under dynamic conditions. EASE OF USE Compensation options include automatic compensation for Sensor Connect enables simple device configuration, live magnetic anomalies, gyro and accelerometer noise, and noise data monitoring and recording effects. The computed outputs include pitch, roll, yaw, heading, position, velocity, and GNSS outputs- making it a complete Optional hardware development kit available GNSS/INS (GNSS Aided Inertial Navigation System) solution. The MSCL API allows easy integration with C++, Micro-Electro-Mechanical Systems (MEMS) technology provides Python, .NET, C , Visual Basic, LabVIEW and MATLAB a highly accurate, small, light-weight device. environments SensorConnect software is a user friendly program for device MIP open byte level communication protocol configuration. MIP Monitor (MicroStrain Internet Protocol) can Automatic magnetometer calibration and anomaly rejection also be used. Both packages provide for device configuration, eliminates the need for field calibration live data monitoring, and recording. Alternatively, the MIP Automatically compensates for vehicle noise and vibration Data Communications Protocol is available for development of custom interfaces and easy OEM integration.The sensor operates COST EFFECTIVE independent of computer platform, operating system, or coding language. Out-of-the box solution reduces development time Volume discounts APPLICATIONS Unmanned vehicle navigation Robotics GNSS-aided navigation system Platform stabilization, artificial horizon Satellite dish, radar, and antenna pointing 2020 Parker Hannifin MicroStrain Sensing. Document 8400-0118 Revision G. Subject to change without notice.GNSS Aided Inertial Navigation System Specifications General Computed Outputs Triaxial accelerometer, triaxial gyroscope, triaxial Position accuracy 2 m RMS horizontal, 5 m RMS vertical (typ) Integrated sensors magnetometer, pressure altimeter, temperature sensors, Velocity accuracy 0.1 m/s RMS (typ) and GNSS receiver EKF outputs: 0.25 RMS roll and pitch, 0.8 RMS Inertial Measurement Unit (IMU) outputs: acceleration, angular rate, magnetic field, ambient pressure, Delta-theta, heading (typ) Attitude accuracy CF outputs: 0.5 RMS roll, pitch, and heading (static, typ), Delta-velocity 2.0 roll, pitch, (dynamic, typ) Computed outputs Attitude heading range 360 about all axes Extended Kalman Filter (EKF): filter status, GNSS timestamp, LLH position, NED velocity, attitude estimates Attitude resolution < 0.01 (in Euler angles, quaternion, orientation matrix), linear and Attitude repeatability 0.2 (typ) compensated acceleration, bias compensated angular rate, pressure altitude, gyroscope and accelerometer bias, scale Calculation update rate 500 Hz factors and uncertainties, gravity and magnetic models, and Data outputs Computed data EKF outputs: up to 500 Hz more. output rate CF oututs: up to 500 Hz Complementary Filter (CF): attitude estimates (in Euler Global Navigation Satellite System (GNSS) Outputs angles, quaternion, orientation matrix) stabilized, north and 72-channel GPS/QZSS L1 C/A, GLONASS L10F, BeiDou up vectors, GNSS correlation timestamp Receiver type B1, SBAS L1 C/A:WAAS, EGNOS, MSAS Galileo E1B/C Global Positioning System outputs (GPS) GNSS data output rate 1 Hz to 4 Hz Global Navigation Satellite System outputs (GNSS): Cold start: 27 second, reacquisition: 1 second LLH position, ECEF position and velocity, NED velocity, Time-to-first-fix hot start: <1 second UTC time, GNSS time, SV.GNSS protocol access mode Tracking: -164 dBm, cold start: -147 dBm available. Sensitivity hot start: - 156 dBm Inertial Measurement Unit (IMU) Sensor Outputs Velocity accuracy 0.1 m/sec Accelerometer Gyroscope Magnetometer Heading accuracy 0.5 8 g (standard) 2 300/sec (standard) Horizontal position GNSS: 2.5 m CEP Measurement g, 4 g, 20 g, 40 75, 150, 900 8 Gauss accuracy SBAS: 2.0 m CEP range g (optional) (optional) Time pulse 30 nsec RMS signal accuracy < 60 nsec 99% Non-linearity 0.02% fs 0.02% fs 0.3% fs Acceleration limit 4 g Resolution 0.02 mg (+/- 8 g <0.003/sec (300 dps -- Altitude limit 50,000 meters Bias instability 0.04 mg 8/hr -- Velocity limit 500 m /sec (972 knots) Initial bias error 0.002 g 0.04/sec 0.003 Gauss Operating Parameters Scale factor stability 0.03% 0.05% 0.1% USB 2.0 (full speed) TTL serial (3.0 V dc, 9,600 bps to 0.005/sec/Hz Communication Noise density 20 g/Hz (2 g) 400 Gauss/Hz 921,600 bps, default 115,200) (300/sec) Power source + 3.2 to 5.2 V dc Alignment error 0.05 0.08 0.05 Power consumption 500 mW (typ) Adjustable bandwidth 225 Hz 250 Hz -- Operating temperature -40C to +85C Offset error over 0.06% (typ) 0.04% (typ) -- temperature Mechanical shock limit 500g/1ms absolute maximum survivability.* Gain error over 0.03% (typ) 0.03% (typ) -- MTBF 400,094 hours (Telcordia method, GM/35C) temperature Vibration Physical Specifications -- 0.072/s RMS/g RMS -- induced noise Dimensions 38 mm x 24 mm x 9.7 mm (VRE) Vibration -- 0.001/s/g2 RMS -- rectification error Weight 8 grams Digital sigma-delta wide band anti-aliasing filter to digital IMU filtering Enclosure material Aluminum averaging filter (user adjustable) scaled into physical units. Sampling rate 1 kHz 4 kHz 100 Hz Regulatory compliance CE, REACH, ROHS 1 Hz to 500 Hz (standard mode) Integration IMU data output rate 1 Hz to 1000 Hz (sensor direct mode) Data/power: Samtec FTSH Series Pressure Altimeter Connectors GNSS antenna: MMCX type Connectivity kit: Micro-D9 Range -1400 m to 10,000 m (1260-260 hPa) SensorConnect and MIP Monitor software included Software Resolution 0.01 hPa RMS Windows XP/Vista/7/8/10 compatible Data Communications Protocol compatibility across GX3, GX4, RQ1, GQ4, GX5 Relative Accuracy 0.1 hPa over the range 800-1000 hPa T= 25C Protocol (DCP CX5 and CV5 product families Sampling rate 25 Hz Software development MicroStrain Communication Library (MSCL) open source kit (SDK) license includes full documentation and sample code. * Note: Repeated exposure to > 2x full scale can result in permanent damage. Parker Hannifin Corporation phone: +1.802.862.6629 MicroStrain Sensing email: sensing sales LORD.com 459 Hurricane Lane sensing support LORD.com Williston, VT 05495 USA www.microstrain.com www.parker.com