Introduction
The ER-GNSS/MINS-01 features a high-precision and reliable MEMS gyroscope and accelerometer. It integrates a dual-antenna, full-system, full-band positioning and orientation satellite module. With its integrated navigation fusion algorithm, it delivers continuous, accurate, and reliable positioning, attitude, and speed information, even under complex GNSS conditions. It offers a variety of communication interfaces and standardized user communication protocols, making it suitable for applications in aviation, land, marine, and more.
Features
- High reliability and high precision MEMS gyroscope (bias instability <0.02°/h) and large range high precision MEMS accelerometer (±60g, zero bias instability <2μg).
- The working temperature is -40℃~+80℃, and the temperature compensation of the gyroscope and accelerometer is carried out in the working temperature range, which has better bias performance.
- Built-in full-band full-system dual-antenna positioning and orientation GNSS module, which supports single-antenna high-precision positioning and velocity measurement, and supports dual-antenna fast orientation function.
- The system can provide extremely accurate integrated navigation information, attitude up to 0.01°, post-processing 0.004°, heading 0.05°, post-processing 0.01°
- Variety of data interface, more easy to install and use, support RS422/RS232 and CAN
- Precision aluminum alloy shell, high reliability, can be widely used in land, aviation, navigation.
Application areas
Wide UAV, flight data recorder, intelligent unmanned vehicle,
Urban mapping, hydrological survey,
Roadbed positioning and orientation,
Underwater vehicle, surface vessel.
Specifications
1.system parameter
| ER-GNSS/MINS-01A | |
| Roll & Pitch Accuracy | 0.01° |
| 0.004° (Post Processing) | |
| Heading | 0.05° Dual Antenna GNSS (baseline 2m) |
| 0.01° (Post Processing) | |
| Speed accuracy | 0.03m/s |
| Supply Voltage | 6~12V |
| Supply Consumption | 4W |
| Interface | 1Way-RS422 or 1Way-RS232 and 1Way-CAN |
| Vibration | 6.06g |
| Shock | 5000g,0.1ms |
| Operate Temp | -40℃~+80℃ |
| Storage Temp | -55℃~+95℃ |
| Weight | <240g |
| Size | 65mm*70mm*45.5mm |
| ER-GNSS/MINS-01B | |||
| Roll & Pitch Accuracy | 0.01° | ||
| 0.004° (Post Processing) | |||
| Heading | 0.05° Dual Antenna GNSS (baseline 2m) | ||
| 0.01° (Post Processing) | |||
| RTK 60 sec outage | Roll&Pitch | Heading Dual Antenna GNSS(baseline 2m) | Heading Dual Antenna GNSS(baseline 4m) |
| 0.01° | 0.05° | 0.03° | |
| Speed accuracy | 0.03m/s | ||
| Supply Voltage | 6~12V | ||
| Supply Consumption | 4W | ||
| Interface | 1Way-RS422 or 1Way-RS232 and 1Way-CAN | ||
| Vibration | 6.06g | ||
| Shock | 5000g,0.1ms | ||
| Operate Temp | -40℃~+80℃ | ||
| Storage Temp | -55℃~+95℃ | ||
| Weight | <240g | ||
| Size | 65mm*70mm*45.5mm | ||
2.sensor parameter
| Gyro Performance | ||
| Item | Parameter | Unit |
| Range | ±200 | deg/s |
| Bandwidth(-3dB) | 50 | Hz |
| Scale Factor at 25℃ | 40000 | LSB/deg/s |
| Scale Factor Repeatability (1σ) | <100 | ppm |
| Scale Factor VS Temperature (1σ) | 300 | ppm |
| Scale Factor Non-Linearity (1σ) | <300 | ppm |
| Bias Instability | <0.02 | deg/hr |
| Bias stability (10s 1σ) | <0.1 | deg/hr |
| Angular Random Walk | <0.005 | °/ √h |
| Noise Peak to Peak | <0.04 | deg/s |
| Accelerometer Performance | ||
| Item | Parameter | Unit |
| Range | ±60 | g |
| Bandwidth | >150 | Hz |
| Bias stability (10s 1σ) | <5 | μg |
| Bias stability (Allan) | <2 | μg |
| Monthly repeatability | <±0.03 | mg |
| Scale Factor Non-Linearity | <500 | ppm |
| Monthly repeatability | <±20 | ppm |
| Scale temperature coefficient | <40 | ppm/℃ |
| Second-order nonlinear coefficient | <10 | μg/g2 |
| Scale Factor | 20000000 | LSB/g |
| GNSS | |||||||
| Supported Navigation System | BDS/GPS/GLONASS/Galileo/QZSS | ||||||
| Main ANT Frequency | BDS:B1L, B2L, B3L
GPS:L1C/A, L2P(Y)/L2C, L5 GLONASS: L1, L2 Galileo: E1, E5a, E5b QZSS: L1, L2, L5 |
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| Slave ANT Frequency | BDS:B1L, B2L, B3L
GPS:L1C/A, L2C GLONASS: L1, L2 Galileo: E1, E5b QZSS: L1, L2 |
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| Position Accuracy (RMS) | Single point positioning | Horizontal | 1.5m | ||||
| Altitude | 2.5m | ||||||
| DGPS | Horizontal | 0.4m+1ppm | |||||
| Altitude | 0.8m+1ppm | ||||||
| RTK | Horizontal | 0.8cm+1ppm | |||||
| Altitude | 1.5cm+1ppm | ||||||
| Accuracy of observation (RMS) | |||||||
| BDS | GPS | GLONASS | Galileo | ||||
| B1I/L1 C/A/G1/E1 pseudo-range | 10cm | 10cm | 10cm | 10cm | |||
| B1I/L1 C/A/G1/E1 Carrier Phase | 1mm | 1mm | 1mm | 1mm | |||
| B3I/L2P(Y)/L2C/G2 pseudo-range | 10cm | 10cm | 10cm | 10cm | |||
| B3I/L2P(Y)/L2C/G2 Carrier Phase | 1mm | 1mm | 1mm | 1mm | |||
| B2I/L5/E5a/E5b pseudo-range | 10cm | 10cm | 10cm | 10cm | |||
| B2I/L5/E5a/E5b Carrier Phase | 1mm | 1mm | 1mm | 1mm | |||
| Time accuracy (RMS) | 20ns | ||||||
| Speed accuracy (RMS) | 0.03m/s | ||||||
| First positioning time | <30s | ||||||
| Initialization time | <5s | ||||||
| Data update rate | <20Hz | ||||||