EULER-NAV Aided INS Light
Miniature GNSS-aided Inertial Navigation System
Summary
EULER-NAV Miniature Aided INS Light is the same hardware as the EULER-NAV Baro-Inertial AHRS. The device can receive GNSS position and velocity information from up to 3 external GNSS receivers and fuse it with IMU mesurements to provide continuous and reliable position, velocity, and attitude information.
Output
- Position, velocity, attitude
- Angular rates, specific force
- Pressure altitude
- Magnetic heading
Sensor redundancy
Customizable software
Size 40x40x25 mm
Interfaces
- CAN
- RS232
IMU performance
Gyroscope
- 0.1 deg/sqrt(h) random walk
- 3 deg/h bias instability
Accelerometer
- 0.04 m/s/sqrt(h) random walk
- 20 ug bias instability
Going Live
Electrical and environmental
Supply voltage: 5 to 28 V
Сurrent consumption: 0.1 A
Operating temperature: -40 to +80 °C
Environmental protection: IP67 (provided that static pressure tube is properly connected)
External GNSS data input via CAN
EULER-NAV AINS Light receives GNSS data in the form of the following CANaerospace frames at maximum 10Hz. "Redundancy channel" value equals to 0, 1, and 2 for the first, the second, and the third external GNSS receivers, respectively.
| Frame ID | Data | Units | Data type |
| 1036 + 65536 * (Redundancy channel) | GPS aircraft latitude | deg | DOUBLEL/DOUBLEH |
| 1037 + 65536 * (Redundancy channel) | GPS aircraft longitude | deg | DOUBLEL/DOUBLEH |
| 1038 + 65536 * (Redundancy channel) | GPS aircraft height above ellipsoid | m | FLOAT |
| 1046 + 65536 * (Redundancy channel) | GPS vertical figure of merit | m | FLOAT |
| 1047 + 65536 * (Redundancy channel) | GPS horizontal figure of merit | m | FLOAT |
| 1048 + 65536 * (Redundancy channel) | GPS mode of operation | - | SHORT |
| 1130 + 65536 * (Redundancy channel) | True east velocity | m/s | FLOAT |
| 1131 + 65536 * (Redundancy channel) | True north velocity | m/s | FLOAT |
| 1132 + 65536 * (Redundancy channel) | True up velocity | m/s | FLOAT |
Reference GNSS setup
The reference multi-receiver test setup used for development is built of 3 u-blox M9N receivers and a STM32F4 discovery board.
Reference set of three GNSS receivers with CAN output
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