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SPATIAL FOG陀螺仪

Spatial FOG光纤陀螺仪是一个坚固耐用的GPS辅助惯性导航系统和AHRS,即使在最苛刻的条件下提供精确的位置、速度、加速度和方Spatial FOG光纤陀螺仪IMUSpatial FOG光纤陀螺仪IMU向。它结合了超高精度光纤陀螺仪、加速度计、磁力计和一个压力传感器的RTK(实时差分)GNSS接收机。这些传感器集成在一起,结合负杂的融合算法,提供准确和可靠的导航和定位。

全球鹰无人机采用同等级的光纤陀螺仪SPATIAL FOG。

Spatial FOG is a ruggedized GPS aided inertial navigation system and AHRS that provides accurate position, velocity, acceleration and orientation under the most demanding conditions. It combines ultra high accuracy fibre optic gyroscopes, accelerometers, magnetometers and a pressure sensor with an RTK GNSS receiver. These are coupled in a sophisticated fusion algorithm to deliver accurate and reliable navigation and orientation.

应用Applications

Spatial FOG applications光纤陀螺仪IMU应用Spatial FOG applications光纤陀螺仪IMU应用

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

地下/室内导航UNDERGROUND NAVIGATION

Spatial FOG航位推算极低漂移率,地下GNSS不具备环境导航极佳选择。使用高解析度车轮速度编码器,可以不受限制地保持高精度定位。

Spatial FOG's extremely low drift rates in dead reckoning make it an excellent choice for navigation in underground environments where GNSS is not available. With the use of a high resolution wheel encoder the system is able to maintain high accuracy positioning indefinitely.

地理坐标GEOREFERENCING 

Spatial FOG极高精度定向和导航数据,是航空摄影地理坐标系统和云台指向与稳定应用极佳选择。

Spatial FOG's extremely accurate orientation and navigation data makes it a perfect choice for aerial photography georeferencing systems and camera gimbal pointing and stabilisation applications.

防务DEFENCE 

在GPS无法获取环境,地基防务运载器要求保持态势感知能力,Spatial FOG是理想选择。无GPS条件下,漂移率低至游走距离0.1%,Spatial FOG能长时间提供高精度数据。其热启动能力,使得运载器断电长至48小时并从离开位置继续导航,无需GPS或上电初始化。

Spatial FOG is ideal for ground based defence vehicles that require the ability to maintain situational awareness through sustained GPS denied environments. With a drift rate as low as 0.1% of distance travelled during GPS denied conditions, the system is able to provide accurate positioning data for extended periods. Its hot start capability allows the vehicle to power down for up to 48 hours and continue navigating from where it left off with no GPS or initialisation required on power up.

测绘SURVEYING 

Spatial FOG高精度横滚、仰俯和航向很适合测绘应用。它支持RTK实时差分,提供比标准GPS显著增强的定位精度,高至8mm。支持连接高解析度轮速传感器或里程表,在GPS中断期间保持高精度,在隧道和其它GPS信号缺失区域继续测绘。支持输出RINEX原始数据做后处理。

Spatial FOGl's high accuracy roll, pitch and heading make it well suited for surveying applications. It supports RTK which allows it to provide dramatically enhanced positioning accuracy over standard GPS with positioning accuracy of 8mm. The system supports connection of a high resolution wheel speed sensor or odometer which allows it to maintain accurate data through GPS outages and continue surveys through tunnels and other areas where GPS signals are not available. It also supports output of RINEX raw satellite data for post processing.

机器人ROBOTICS 

Spatial FOG高精度定向数据,适合机器人稳定系统,其定位、速度和加速度数据可做机器人导航。Spatial FOG高数据更新率,适合动态控制稳定平台,致力于安全与可靠。

Spatial FOG’s accurate orientation data allows for stabilization of robotic systems and its position, velocity and acceleration data can be used for robot navigation. Spatial FOG’s high update rate allows it to control dynamically unstable platforms and its focus on safety and reliability provides for piece of mind.

赛车MOTORSPORT 

Spatial FOG是赛车测量理想工具。速度与定向数据、滑动、转向过度和转向不足都能计算出来。计算速度和加速度数据可用来改善刹车和加速位置数据可测定优化轨迹位置偏差。Spatial FOG也支持数据输出到数据采集系统,如Dewesoft产品。

Spatial FOG is an excellent tool for performance measurement in motorsport. From the velocity and orientation data, slip, oversteer and understeer can be calculated. The velocity and acceleration data can be used to calculate improvements to braking and accelerating. Position can be used to determine the deviation from the optimum track position. Spatial FOG also supports data output to data acquisition systems such as Dewesoft products.

 

特征Features

极准确惯性性能 Extreme Inertial Performance

Spatial FOG采用KVH工业公司1750光纤陀螺仪IMU,提供极其准确的惯性数据,远超市面上的MEMS技术。这使得Spatial FOG达到很高Spatial FOG extreme inertial performacneSpatial FOG extreme inertial performacne的准确度和长时间失去GNSS信号时航位推算。尽管很高的精度,Spatial FOG性价比非常具有竞争力,标价比MEMS系统低。

Spatial FOG contains the KVH Industries 1750 fibre optic gyroscope (FOG) IMU, which provides extremely accurate inertial data far beyond the best MEMS technology available. This allows Spatial FOG to acheive very high accuracies and dead reckon without GNSS for extended periods of time. Despite the high accuracy FOG IMU, Spatial FOG has a very competitive price tag that is lower than many MEMS systems on the market.


实时差分GNSS接收器RTK GNSS Receiver

Spatial FOG包含一个三频Trimble RTK GNSS接收器,提供达8mm定位准确度,支持所有运行中的和未来的卫星导航系统,包括GPS、Spatial FOG with RTK GNSSSpatial FOG with RTK GNSSGLONASS、北斗和GALILEO。

Spatial FOG contains a triple frequency Trimble RTK GNSS receiver that provides up to 8mm accuracy positioning and supports all of the current and future satellite navigation systems, including GPS, GLONASS, GALILEO and BeiDou.

 

高级滤波Advanced Filter

Spatial FOG包含AN革命性的新的传感器融合滤波器技术。该过滤器是比典型的扩展卡尔曼滤波更智能化,能够从利用人类灵感的人工智能数据中, 明显提取更多信息。它为控制应用设计,拥有高水准的健康监测和预防不稳定,以确保数据Spatial FOG with 1000HZ filterSpatial FOG with 1000HZ filter稳定、可靠。

Spatial FOG contains Advanced Navigation's revolutionary sensor fusion filter. The filter is more intelligent than the typical extended kalman filter and is able to extract significantly more information from the data by making use of human inspired artificial intelligence. It was designed for control applications and has a high level of health monitoring and instability prevention to ensure stable and reliable data.

 

快速寻北电子罗盘Rapid North Seeking Gyrocompass

Spatial FOG具有革命性的寻北算法,在上电后短短10秒种热启动或10分钟冷启动提供准确的航向。Spatial FOG的寻北算法连续运行,操作不Spatial FOG rapid north seeking gyrocompassSpatial FOG rapid north seeking gyrocompass受速度或角运动影响。这使得Spatial FOG在不能使用磁力计和GNSS速度航向的环境中提供高准确度航向。

Spatial FOG features a revolutionary north seeking algorithm that is able to provide accurate heading in as little as 10 seconds after power on from a hot start and 10 minutes from a cold start. Spatial FOG's north seeking algorithm runs continuously while in operation and is not effected by velocities or angular movements. This allows Spatial FOG to provide high accuracy heading in environments where magnetometers and GPS aided heading cannot be used.

 

热启动Hot Start
Spatial FOG包含一个新一代电池备份系统,允许它从最后位置于2秒内热启动惯性导航,和在约3秒重新获得GNSS定位。电池备份系统在产品Spatial FOG hot startSpatial FOG hot start寿命周期持续工作,并提供48小时断电数据备份。AN的Spatial系列为全球唯一提供惯导热启动的GNSS/INS惯导产品。

Spatial FOG contains a next generation battery backup system that allows it to hot start inertial navigation from its last position in 2 seconds and obtain a GNSS fix in approximately 3 seconds. The battery backup system lasts for the lifetime of the product and will provide backup for 48 hours without power. Advanced Navigation's Spatial series are the only GNSS/INS in the world to provide hot start inertial navigation.

 

高可靠性ReliabilitySpatial FOG high reliabilitySpatial FOG high reliability

Spatial FOG 是为可靠性至关重要的关键任务控制应用打造的。它除了以安全为导向的实时操作系统之外,所有软件基于容错安全标准设计和测试。硬件受反极、电压过载、浪涌保护,所有外部接口静电和短路保护。GNSS包含RAIM ,排除了人为故障和卫星信号篡改。Spatial FOG包含一个MEMS IMU备份,可以无缝地退到主IMU失败前的状态。

Spatial FOG has been designed from the ground up for mission critical control applications where reliability is very important. It is built on top of a safety oriented real time operating system and all software is designed and tested to safety standards with fault tolerance in place. The hardware is protected from reverse polarity, overvoltage, surges, static and short circuits on all external interfaces. The GNSS contains RAIM, which excludes both malfunctioning, and tampered satellite signals. Spatial FOG contains a backup MEMS IMU, which it can seamlessly fall back to should the primary IMU fail.


高数据更新率High Update RateSpatial FOG high data update rateSpatial FOG high data update rate

Spatial FOG内部滤波1000Hz运行,数据通过高速RS232或RS422 接口也可以这样的速度输出。可用于控制动态不稳定平台。

Spatial FOG's internal filter runs at 1000Hz and data can also be output at this rate over high speed RS232 or RS422. This allows for control of dynamically unstable platforms.


外设Peripherals

Spatial FOG拥有两个通用输入输出引脚和两个辅助RS232/RS422接口,支持广泛的外设数量。包括地面车辆基于里程表输入、水下导航DVLSSpatial FOG peripheralsSpatial FOG peripherals和USBLs、NMEA输入/输出等等。支付集成费用,可以添加定制外设。

Spatial FOG features two general purpose input output pins and two auxiliary RS232/RS422 ports that support an extensive number of peripherals. Including odometer based input for ground vehicles, DVLs and USBLs for underwater navigation, NMEA input/output and more. For an integration fee, custom peripheral devices can be added.

 

规格书SPECIFICATIONS

NAVIGATION导航
Horizontal Position Accuracy水平定位准确度 0.8 m
Vertical Position Accuracy高程定位准确度 1.5 m
Horizontal Position Accuracy(with SBAS)水平定位SBAS准确度 0.5 m
Vertical Position Accuracy(with SBAS)高程定位SBAS准确度 0.8 m
Horizontal Position Accuracy(with RTK or Kinematica PPK)水平定位RTK或PPK准确度 0.008 m
Vertical Position Accuracy(with RTK or Kinematica PPK)高程定位RTK或PPK准确度 0.015 m
Velocity Accuracy速度准确度 0.007 m/s
Roll & Pitch Accuracy横滚、俯仰准确度 0.01 °
Heading Accuracy航向准确度 0.05 °
Roll & Pitch Accuracy(Kinematica Post Processing)横滚、俯仰Kinematica后处理准确度 0.005 °
Heading Accuracy(Kinematica Post Processing)航向准确度Kinematica后处理 0.01 °
Heave Accuracy升沉准确度 2 % or 0.02 m(whichever is greater)取较大值     
Orientation Range定向测量范围 Unlimited不限
Hot Start Time热启动时间 2 s
Internal Filter Rate内部滤波率 1000 Hz
Output Data Rate数据数据更新率 Up to 1000 Hz
 
SENSORS传感器
Sensor传感器 Accelerometers加速度计     Gyroscopes陀螺仪   Magnetometers磁力计   Pressure压力表  
Range测量范围 ±10 g ±490 °/s ±8 G 10 to 120 KPa
Bias Instability零偏不稳定性 15 ug 0.05 °/hr - 10 Pa
Initial Bias零偏 < 1 mg < 1 °/hr - < 100 Pa
Initial Scaling Error初始刻度误差 < 0.03 % < 0.01 % < 0.07 % -
Scale Factor Stability刻度因素稳定性 < 0.04 % < 0.02 % < 0.09 % -
Non-linearity非线性度 < 0.03 % < 0.005 % < 0.08 % -
Cross-axis Alignment Error横坐标对齐误 差     < 0.04 ° < 0.02 ° < 0.05 ° -
Noise Density噪音密度 120 ug/√Hz 0.7 °/hr/√Hz 210 uG/√Hz 0.56 Pa/√Hz
Bandwidth带宽 200 Hz 440 Hz 110 Hz 50 Hz
 
GNSS全球导航卫星系统
Model型号 Trimble BD930
Supported Navigation Systems卫星系统 GPS L1, L2,L5
GLONASS L1, L2
GALILEO E1,E5
BeiDou B1,B2
Supported SBAS Systems支持星基区域增强系统

WAAS
EGNOS
MSAS
GAGAN
QZSS

Update Rate数据更新率 20 Hz
Hot Start First Fix热启动时间 3 s
Cold Start First Fix冷启动时间 30 s
Horizontal Position Accuracy水平位置准确度 1.2 m
Horizontal Position Accuracy(with SBAS)水平位置准确度SBAS 0.5 m
Horizontal Position Accuracy(with RTK)水平位置准确度RTK 0.008 m
Velocity Accuracy速度准确度 0.007 m/s
Timing Accuracy授时准确度 20 ns
Acceleration Limit加速度限制 11 g
COMMUNICATION通信
Interface接口 RS422 (RS232 optional)
Speed速度 4800 to 10M baud
Protocol协议 AN Packet Protocol or NMEA
Peripheral Interface辅助接口 2x GPIO and 2x Auxiliary RS232
GPIO Level通用接口电平 5 V or RS232
GPIO Functions通用接口功能 1PPS
Odometer里程表
Stationary
Pitot Tube皮托管
NMEA input/output
Novatel GNSS input
Trimble GNSS input
AN Packet Protocol input/output
Packet Trigger Input数据包触发输入
Event Input事件输入
HARDWARE硬件
Operating Voltage 9 to 36 V
Input Protection -40 to 100 V
Power Consumption(typical)功耗 6.6W
Hot Start Battery Capacity热启动电池容量 > 48 hrs
Hot Start Battery Charge Time热启动充电时间 30 mins
Hot Start Battery Endurance热启动电池寿命 > 10 years
Operating Temperature工作温度 -40 °C to 75 °C
Environmental Protection环境认证 IP67
MIL-STD-810G
MTBF平均无故障时间 > 36,000 hrs
Shock Limit冲击 40 g
Vibration震动 12 g
Dimensions尺寸 90x90x88 mm
Weight重量 655 grams

 

测试与应用:

Spatial FOG做的558公里航位推算(纯惯性)测试 http://url.cn/bA903j 

澳大利亚东海岸558公里航长途驱车航位推算(Dead Reckoning)测试。测试时间为8小时17分钟,涉及复杂的地形与超过800米的高度变化。Spatia FOG演绎了市场领先的性能,漂移距离只有航程的0.1%(564米)。

下载Download

1.用户手册Spatial FOG Reference Manual: Spatial-FOG-Reference-Manual-v2.1.pdf

2. Spatial FOG 3D Model PDF

3.Spatial FOG 3D Model:Spatial-FOG.STEP

4. SPATIAL FOG MANAGER V4.3 (WINDOWS & LINUX):Spatial FOG Manager is the software provided for testing, configuration and logging with Spatial FOG. Please see the Spatial FOG reference manual for more information. Java is required to run this program. Released 17th August 2015.

5.SPATIAL FOG MANAGER V4.2 (MAC):Spatial FOG Manager is the software provided for testing, configuration and logging with Spatial FOG. Please see the Spatial FOG reference manual for more information. Released 2nd April 2015.

6.SPATIAL FOG SDK V4.0:The Spatial FOG SDK provides example source code for interfacing with Spatial FOG through the AN Packet Protocol. The languages provided are C/C++, Java, and .Net C#.

7.SPATIAL FOG FIRMWARE V2.1:The firmware for all hardware versions of Spatial FOG. This can be loaded onto Spatial FOG using the Spatial FOG Manager software. The changelog can be found in the Spatial FOG reference manual. Released 2nd April 2015.

8.SPATIAL MANAGER FOR ANDROID:Spatial Manager for Android is available in the Android play store. A bluetooth dongle is required which can be purchased by contacting sales@aitcl.com