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RION/GPS integrated inertial sensor precise IMU with GPS MEMS INS 9 axis sensor/IMU560n system

RION/GPS integrated inertial sensor precise IMU with GPS MEMS INS 9 axis sensor/IMU560n system
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RION/GPS integrated inertial sensor precise IMU with GPS MEMS INS 9 axis sensor/IMU560n system - 1

IMU560 MEMS Combination Inertial Navigation System SPECIFICATIONS Model Number：IMU560 Description: MEMS combined inertial navigation system Production implementation standard reference ●Enterprise quality system standard：ISO9001:2008 standard (certification number: 128101) ●Inclination sensor production standard: GB/T 191 SJ 20873-2003 General specification for inclinometer and level ●Dip Sensor Metrology Calibration Standard: JJF1119-2004 Electronic Level Calibration Specification ●Gyro acceleration test standard: QJ 2318-92 gyro accelerometer test method ●Software Development Reference Standard: GJB 2786A-2009 General Requirements for Military Software Development ●Product environmental test test standard: GJB150 ●Electromagnetic anti-interference test standard: GB/T 17626 ●Version: Ver.10 ●Revisi

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RION/GPS integrated inertial sensor precise IMU with GPS MEMS INS 9 axis sensor/IMU560n system - 2

IMU560 MEMS Combination Inertial Navigation System product description The IMU560 series is a GPS/INS MEMS integrated navigation system built by RION.the inertial measurement unit (IMU) is precision calibrated throughout the temperature range to meet performance requirements in different environments. The multi-data Kalman filter fusion algorithm is realized by a built-in navigation computer, and outputs real-time accurate carrier posture, heading information, three-dimensional position and velocity information, and various inertial device information. The appearance is exquisite, the...

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RION/GPS integrated inertial sensor precise IMU with GPS MEMS INS 9 axis sensor/IMU560n system - 3

MEMS Combination Inertial Navigation System Appearance and installation axial Figure 1. Appearance of IMU560 IMU560 follows the NED coordinate system, right handed, The axial direction is shown in Figure 1. According to the rotation order of Z-Y-X, when the positive direction of the X-axis is directed to the front of the carrier, the angle of rotation around the Z-axis is the heading angle, the angle of rotation around the Y-axis is the pitch angle, and the angle of rotation around the X-axis is the roll angle. . Performance indicator requirements Table 1 Performance requirements

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RION/GPS integrated inertial sensor precise IMU with GPS MEMS INS 9 axis sensor/IMU560n system - 4

MEMS Combination Inertial Navigation System Acceleration sensitivity

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RION/GPS integrated inertial sensor precise IMU with GPS MEMS INS 9 axis sensor/IMU560n system - 5

MEMS Combination Inertial Navigation System Estimation accuracy 1 CT *Factory qualified test indicators 1. 1. Within ±100° /s, the symmetry and nonlinearity are required to be <200ppm, and the test angular rate is 0, ±0.1, ±0.2, ±0.5, ±1, ± 2, ±5±n*5, n = 1,2 , 3... 2. Measure within ±1g and full scale separately Use and installation instructions 1. The power supply should be 9-36V DC, the ripple is <50mV, and the current is at least 0.5A. If the power supply noise is large and the power supply line is long, please use a filter or an external voltage regulator. 2. The IMU...

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RION/GPS integrated inertial sensor precise IMU with GPS MEMS INS 9 axis sensor/IMU560n system - 6

IMU560 MEMS Combination Inertial Navigation System Product Size Signal definition

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RION/GPS integrated inertial sensor precise IMU with GPS MEMS INS 9 axis sensor/IMU560n system - 7

MEMS Combination Inertial Navigation System 1.1 Communication frame format The LEN data length Domain includes the number of bytes of the data Domain (Datas). The MSB is in the front and the LSB is in the back. The length 0 indicates no data Domain. The longest data Domain is 504 bytes long, and the longest frame byte is 512 bytes. B: The calculation of CRC starts from the CMD command Domain, including the length Domain and the data Domain. The MSB is first and the LSB is after. The CRC is calculated as follows: uintl6 calcCRC(const uint8 *pBuffer, uintl6 bufferSize) [ uintl6 poly =...

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RION/GPS integrated inertial sensor precise IMU with GPS MEMS INS 9 axis sensor/IMU560n system - 8

IMU560 MEMS Combination Inertial Navigation System 1.2 Data format and end mode The data output of the device is small endian mode (such as integer, floating point type, both low byte first and high byte last). 1. Communication mode The device has two communication modes: normal mode (question mode) and continuous mode (output data at a certain frequency). Normal mode (question and answer) operation can also be performed in continuous mode. 2.1 Normal mode In the normal mode, the user asks the device to send an inquiry or set an instruction, and the device responds one-on-one to the inquiry...

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RION/GPS integrated inertial sensor precise IMU with GPS MEMS INS 9 axis sensor/IMU560n system - 9

IMU560 MEMS Combination Inertial Navigation System 2. Output MASK and output BUFFER 2.1 Output MASK The IMU560 protocol uses output masks (uint32) to set the output data items and formats. The user can enable or disable the following data items:_

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RION/GPS integrated inertial sensor precise IMU with GPS MEMS INS 9 axis sensor/IMU560n system - 10

MEMS Combination Inertial Navigation System IMU_OUTPUT_BARO_P RESSURE 2.1.1 Attitude output IMU_OUT_EULER The attitude angles include Roll, Pitch and Yaw, represented by real32(float), 12 bytes, in units of radians. Storage format: 2.1.2 Calibrated sensor output IMU_OUTPUT_GYROSCOPES The calibrated three-axis gyro angular rates Gx, Gy and Gz, expressed in real32 (float), are 12 bytes in rad.S-1 (radians/second).

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RION/GPS integrated inertial sensor precise IMU with GPS MEMS INS 9 axis sensor/IMU560n system - 11

MEMS Combination Inertial Navigation System Gx IMU_OUTPUT_ACCELEROMETERS The calibrated triaxial accelerations Ax, Ay and Az are represented by real32 (float), 12 bytes, in m.S-2. Storage format: IMU_OUTPUT_TEMPERATURES Acceleration or gyro built-in temperature sensor and temperature sensor measured temperature, expressed in real32 (float), 8 bytes, the unit is ° C. Storage format: 2.1.3 Relevant time output IMU_OUTPUT_TIME_SINCE_RESET This time output represents the time since reset to now, uint32 integer, 4 bytes, in mS. Storage format: time 2.1.4 GPS Original output IMU_OUT_GPS_INFO This...

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RION/GPS integrated inertial sensor precise IMU with GPS MEMS INS 9 axis sensor/IMU560n system - 12

IMU560 MEMS Combination Inertial Navigation System 2.1.5 Kalman Filtered compensated navigation output IMU_OUTPUT_POSITION 3D position information WGS84 format: latitude high, expressed by real64 (double), 24 bytes, latitude and longitude units are degrees, height is m. Storage format: IMU_OUTPUT_VELOCITY The 3D speed is output in the order of the reference frame of the IMU560 (Northeast), expressed in real32 (float), 12 bytes, in m.S-1. Storage format: 2.2 Output BUFFER According to the different values of the output masks(uint32)K, the IMU560 will generate the corresponding output BUFFER....

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RION/GPS integrated inertial sensor precise IMU with GPS MEMS INS 9 axis sensor/IMU560n system - 13

MEMS Combination Inertial Navigation System 3. IMU560 Command list Function: It is used to save all setting parameters to EEPROM and has power-down saving function. There is no data domain, the frame format is as follows:

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