MSI100 MEMS_GNSS Inertial Navigation System
Full-band GNSS support, high positioning and azimuth accuracy
Ultra-low power consumption of 3 W under steady operation
Description
Main Features
- Full-band GNSS support, high positioning and azimuth accuracy
- Ultra-low power consumption of 3 W under steady operation
- Zero velocity update and vehicle constraint algorithms for improved autonomous navigation accuracy
Application Fields
- Attitude Control
- UAV & USV (Unmanned Aerial Vehicles & Unmanned Surface Vehicles)
- Surveying and Mapping
- Stabilized Platform
- Underwater Vehicles
- Mobile Satellite Communication
- Intelligent Driving
- Missile-borne Control
Product Overview
MSI100 is a highly reliable, cost-effective MEMS GNSS/INS system widely applied in navigation, control and measurement fields represented by vehicles, vessels and UAVs. It supports multiple configurable modes. Equipped with a high-precision gyroscope specifically on the Z-axis, the unit maintains accurate heading measurement over long durations.
Unique Technology
Boasting mature modular design, the system's IMU consists of high-precision MEMS gyros and accelerometers. Compact, reliable and versatile, it fits various carrier navigation scenarios.
Its multi-sensor fusion filter processes GPS and MEMS INS data. Comparing their discrepancies and MEMS sensor drift/bias, a dedicated error model computes system errors in real time.
Real-time error compensation suppresses MEMS gyro integral drift, delivering stable high-precision attitude, velocity and position data for sustained long-term navigation performance.
Performance Parameters
MSI100 MEMS_GNSS Combined Inertial Navigation System
|
MEMS Gyroscope |
|
|
Range (°/s)° |
500 |
|
Full-temperature Bias (°/h,3σ) |
≤360 (X, Y), ≤60 (Z) |
|
Bias Stability (°/h, 10s avg.) |
≤10 (XY), ≤5 (Z) |
|
Bias Instability (°/h, allan) |
≤2 (XY), ≤0.5 (Z) |
|
MEMS Accelerometer |
|
|
Range (g) |
±16 |
|
Zero Offset (mg,3σ) |
≤5 |
|
Bias Stability (µg, 10s avg.) |
≤100 |
|
Integrated Navigation Accuracy |
|
|
Combined Heading (°, 1σ, Real-time) |
0.15 (1m Baseline Dual-Antenna) 0.5 (Single Antenna, Dynamic) |
|
Combined Horizontal Attitude (°, 1σ, real-time) |
0.05° (dual antenna), 0.1° (single antenna) |
|
Pure Inertial Navigation Accuracy |
|
|
Horizontal Attitude (°, 1σ, real-time) |
0.05° (static), 0.5° (dynamic) |
|
Heading (°, 1σ, real-time) |
0.5° (dynamic) |
|
Electrical/Mechanical Interface |
|
|
Power (V) |
9~36 (Ripple ≤100mV) |
|
Dimensions (mm×mm×mm) |
83*66*24 |
|
Weight (g) |
160±20 (Body) |
Introduction
Overview
MSI100 is a highly reliable, cost-effective MEMS inertial integrated navigation system that can be widely used in navigation, control, and measurement applications represented by vehicles, vessels, and unmanned aerial vehicles. The product offers different configuration modes and, in particular, employs a high-precision gyroscope on the Z-axis to ensure long-term heading measurement accuracy.
Features
- Lightweight high-precision integrated navigation
- Domestically produced core components
- High performance, small size, and low weight
- Uses high-precision closed-loop fiber optic gyroscopes
- Vibration and shock resistance, and electromagnetic interference resistance
- Sealed and reliable design ensures normal operation in harsh environments
- Has inertial/GNSS integrated navigation capability
Application
- Position and attitude reference for UAVs / unmanned vehicles / vessels / boats
- Attitude Control
- Unmanned aerial vehicles, unmanned surface vessels
- Surveying and Mapping
- Stabilized Platform
- Underwater Vehicle
- Communication on the Move
- Intelligent Driving
- Projectile-borne Control
Technical Parameters
Table1MSI100 Performance Parameters
|
MEMS Gyroscope |
|
|
Range (°/s) |
500 |
|
Full-temperature Bias (°/h,3σ) |
≤360 (X, Y), ≤60 (Z) |
|
Bias Stability (°/h, 10s avg.) |
≤10 (XY), ≤5 (Z) |
|
Bias Instability (°/h, allan) |
≤2 (XY), ≤0.5 (Z) |
|
Bias Repeatability (°/h) |
≤10 (XY), ≤5 (Z) |
|
Angular Random Walk (°/√h) |
≤0.25 |
|
Scale Factor Nonlinearity (ppm) |
≤100 |
|
Cross Coupling (rad) |
≤0.001 |
|
Bandwidth (Hz) |
≥100 |
|
MEMS Accelerometer |
|
|
Range (g) |
±16 |
|
Zero Offset (mg,3σ) |
≤5 |
|
Bias Stability (µg, 10s avg.) |
≤100 |
|
Bias Stability (µg, allan) |
≤50 |
|
Bias Repeatability (µg) |
≤100 |
|
Velocity Random Walk (mm/s/√h) |
≤40 |
|
Scale Factor Nonlinearity (ppm, ±1g) |
≤300 |
|
Cross Coupling (rad) |
0.001 |
|
Bandwidth (Hz) |
≥100 |
|
Integrated Navigation Accuracy |
|
|
Combined Horizontal Position (m, 1σ) |
3m (Single Point), 0.02+1ppm (RTK) |
|
Combined Vertical Position (m, 1σ)) |
5m (Single Point), 0.03+1ppm (RTK) |
|
Combined Horizontal Velocity (m/s, 1σ) |
0.1 |
|
Combined Vertical Velocity (m/s, 1σ) |
0.15 |
|
Combined Heading (°, 1σ, Real-time) |
0.15 (1m Baseline Dual-Antenna), 0.5 (Single Antenna, Dynamic) |
|
Combined Horizontal Attitude (°, 1σ, real-time) |
0.05° (2 antenna), 0.1° (2 antenna) |
|
Pure Inertial Navigation Accuracy |
|
|
Horizontal attitude (°, 1σ, real-time) |
0.05° (static), 0.5° (dynamic) |
|
Heading (°, 1σ, real-time) |
0.5° (dynamic) |
|
Depth Measurement Accuracy (cm) |
5 |
|
Inertial / Odometer Integrated Accuracy |
≤0.001D (60s) |
|
Electrical/Mechanical Interface |
|
|
Power (V) |
9~36 (Ripple ≤100mV) |
|
Steady-state Power (W) |
3 |
|
Startup Time (s) |
2 |
|
Communication Interface |
1RS-422 channels,1RS-232 channels,1CAN channels |
|
Update Rate (Hz) |
200 (Customizable) |
|
Dimensions (mm×mm×mm) |
83*66*24 |
|
Weight (g) |
160±20 (Body) |
|
Operating Environment |
|
|
Operating Temperature (℃) |
-40 ~ +85 |
|
Storage Temperature (℃) |
-55 +85 |
|
Vibration (g, Rms) |
20~2000HZ, 4.08 |
|
Shock (g) |
1000g/1ms |
|
Reliability |
|
|
MTBF (h) |
100000 |
Note: The receiver can be replaced with one that has satellite-based differential capability, with positioning accuracy better than 10 cm.
Technical Specifications
Structure
Dimensions: 83mm×66mm×24mm (L×W×H, excluding connectors), with two positioning pin holes on the bottom surface.
Entire system weight (including GNSS antenna and feeder cable): ≤1.5Kg; navigation host weight＜350g;
Figure1MSI100 Mechanical Interface
The GNSS receiver antenna is available in a standard model with dimensions: 110mm×110mm×171mm, and the base is secured using5×M6 screws.
Figure3 MSI100 Satellite Antenna Mechanical Interface
The GNSS receiver antenna features a strong magnetic base with dimensions of 100mm×100mm×66mm.
Figure4MSI100 Satellite Antenna Magnetic Base
Product Identification and Polarity
When the product is placed horizontally, the arrow indicates the X direction, and the output coordinate system is the "Forward, Right, Down" coordinate system.
Figure4 Coordinate System
Interface Definition
MSI100 external interface XS1 uses J30J-21ZKN-J. The dual-antenna connectors are standard SMA male ports, where S (left) is the auxiliary antenna and M (right) is the main antenna. The external interface definition is shown in the following table:
Table3MSI100 Interface Cable Pin Number Definition
|
Pin No. |
Pin Definition |
DB9 Definition |
Interface Definition |
Function Description |
|
1 |
Power V in + |
Red Clip V in + |
Input Range+9V~+36V |
System Power Input |
|
2 |
PowerGND |
Black Clip GND |
GND |
System Power Ground |
|
4 |
SOUP |
DB9-M4-7 |
M4:Isolated External CAN Bus Interface |
CAN Data Output |
|
15 |
LIVE |
DB9-M4-2 |
||
|
16 |
RS422_RX+ |
DB9-M1-1 |
M1: External Isolated RS422 Interface |
Data output, system configuration upgrade |
|
5 |
RS422_RX- |
DB9-M1-2 |
||
|
6 |
RS422_TX+ |
DB9-M1-3 |
||
|
17 |
RS422_TX- |
DB9-M1-4 |
||
|
14 |
GGND |
DB9-M1-5 |
||
|
7 |
RS232_TXD1 |
DB9-M2-2 |
M2: External Isolated RS232 Interface |
Built-in GNSS Receiver Configuration |
|
19 |
RS232_RXD1 |
DB9-M2-3 |
||
|
18 |
GGND |
DB9-M2-5 |
||
|
21 |
RS232_TXD2 |
DB9-M3-2 |
M3 : External Isolation RS232 Interface |
Navigation Data Output |
|
9 |
RS232_RXD2 |
DB9-M3-3 |
||
|
10 |
GGND |
DB9-M3-5 |
||
|
8 |
PPS_IN |
Separate Wire |
PPS Isolated Input Signal |
TTL Level |
|
11 |
GGND |
Separate Wire |
GND |
Isolated Ground |
|
20 |
TOV_OUT |
Separate Wire |
TOV Isolated Signal Output |
TTL Level Default3.3VOutput, Optional5V |
|
3 |
GGND |
Separate Wire |
GND |
Isolated Ground |
After the supply voltage drops below the device's operating threshold voltage, the power-off hold time before powering on again must be t OFF no less than 3s; insufficient power-off intervals may cause abnormal device startup, latch-up, or initialization failure.
External Communication
Combined Navigation Data Protocol
MSI100 outputs data in default timed broadcast mode at an output frequency of 200Hz, with each data frame consisting of164bytes, baud rate 460800bps,1start bits,8bit data bits,1stop bits, no parity. For multi-byte variables, the low byte is transmitted first, followed by the high byte. The typical communication protocol is shown below; the communication protocol can also be customized according to user requirements.
Table 4 MSI100 Output Communication Protocol
|
No. |
First Byte Order |
Number of Bytes |
Signal Name |
Unit or Content |
Equivalent |
Description |
|
1 |
0 |
1 |
Frame Header1 |
Content: 55H |
1 |
8bit unsigned integer |
|
2 |
1 |
1 |
Frame Header2 |
Content: AAH |
1 |
8bit unsigned integer |
|
3 |
2 |
1 |
Data length |
Content: A0H |
1 |
8bit unsigned integer |
|
4 |
3 |
4 |
PCNum |
Interrupt counter |
1 |
32bit unsigned integer |
|
5 |
7 |
1 |
System status word |
- |
1 |
Self-checking: 0x10 Self-check passed: 0x12 Self-check error: 0x1F Coarse alignment: 0x33 Fine alignment: 0x35 Pure inertial navigation: 0x41 Zero velocity update: 0x43, Velocity + Position integration: 0x44 Velocity + Position + Heading integration: 0x45 Vehicle Constraint Navigation:0x46 Odometer integrated navigation:0x47 During self-calibration:0x51,0x53,0x55 Self-calibration complete, criterion valid:0x56 Self-calibration result written to Flash successfully:0x57 Self-calibration error:0x5F. |
|
6 |
8 |
1 |
Real-time status word |
- |
1 |
|
|
7 |
9 |
2 |
Reserved byte |
- |
1 |
|
|
8 |
11 |
4 |
Reserved byte |
- |
1 |
|
|
9 |
15 |
4 |
X Gyro angular rate |
[-1000,1000] °/s, |
0.0000005 |
Mean value within output period |
|
10 |
19 |
4 |
Y Gyro Angular Rate |
[-1000,1000] °/s, |
0.0000005 |
Mean value within output period |
|
11 |
23 |
4 |
Z Gyro Angular Rate |
[-1000,1000] °/s, |
0.0000005 |
Mean value within output period |
|
12 |
27 |
4 |
XAccelerometer Acceleration |
[-400m/s2,400m/s2] |
0.000001 |
Mean value within output period |
|
13 |
31 |
4 |
YAccelerometer Acceleration |
[-400m/s2,400m/s2] |
0.000001 |
Mean value within output period |
|
14 |
35 |
4 |
ZAccelerometer Acceleration |
[-400m/s2,400m/s2] |
0.000001 |
Mean value within output period |
|
15 |
39 |
4 |
Combined Longitude |
[-180,180]deg |
0.0000001 |
|
|
16 |
43 |
4 |
Combined Latitude |
[-90,90]deg |
0.0000001 |
|
|
17 |
47 |
4 |
Combined Altitude |
[-500,16384]m |
0.00001 |
|
|
18 |
51 |
2 |
Combined North Velocity |
[-1310,1310]m/s |
0.005 |
|
|
19 |
53 |
2 |
Combined Up Velocity |
[-1310,1310]m/s |
0.005 |
|
|
20 |
55 |
2 |
Combined East Velocity |
[-1310,1310]m/s |
0.005 |
|
|
21 |
57 |
2 |
Roll Angle |
[-90,90]deg |
0.006 |
|
|
22 |
59 |
2 |
Heading Angle |
[-180,180]deg |
0.006 |
North-by-West is positive |
|
23 |
61 |
2 |
Pitch Angle |
[-85,85]deg |
0.006 |
|
|
24 |
63 |
4 |
Satellite Longitude |
(-180,180]deg |
0.0000001 |
|
|
25 |
67 |
4 |
Satellite Latitude |
[-90,90]deg |
0.0000001 |
|
|
26 |
71 |
4 |
Satellite Altitude |
[-500,16384]m |
0.00001 |
|
|
27 |
75 |
2 |
Satellite North Velocity |
[-1310,1310]m/s |
0.005 |
|
|
28 |
77 |
2 |
Satellite Ground Speed |
[-1310,1310]m/s |
0.005 |
|
|
29 |
79 |
2 |
Satellite East Velocity |
[-1310,1310]m/s |
0.005 |
|
|
30 |
81 |
1 |
Temperature |
[-127,127] |
1 |
|
|
31 |
82 |
1 |
Positioning and Heading Validity |
/ |
1 |
bit0-3, receiver positioning flag: 00 Not positioning, 01 Single point positioning, 02 Float solution positioning, 03 Fixed solution positioning; bit4-7, heading signal: 00 Not heading, 01 Single-point heading, 02 Float solution heading, 03 Fixed solution heading. |
|
32 |
83 |
4 |
Satellite time of week (seconds) |
|||
|
33 |
87 |
1 |
Year |
|||
|
34 |
88 |
1 |
Month |
|||
|
35 |
89 |
1 |
Day |
|||
|
36 |
90 |
1 |
Number of positioning satellites |
[0,255] |
1 |
|
|
37 |
91 |
2 |
Satellite track angle |
[-180,180]deg |
0.006 |
|
|
38 |
93 |
2 |
Dual-Antenna Heading |
[-180,180]deg |
0.006 |
|
|
39 |
95 |
2 |
Reserved |
|||
|
40 |
97 |
14 |
Reserved |
|||
|
41 |
111 |
12 |
Reserved |
|||
|
42 |
123 |
4 |
AU |
m/s2 |
1 |
Upward acceleration |
|
43 |
127 |
4 |
AF |
m/s2 |
1 |
Forward acceleration |
|
44 |
131 |
4 |
AR |
m/s2 |
1 |
Rightward acceleration |
|
45 |
135 |
4 |
heave |
m |
1 |
Relative heave displacement |
|
46 |
139 |
4 |
Filtered output |
na |
1 |
|
|
47 |
143 |
4 |
Filtered input |
na |
1 |
|
|
48 |
147 |
4 |
Main frequency |
na |
1 |
|
|
49 |
151 |
4 |
Integer part of data time |
- |
- |
|
|
50 |
155 |
4 |
Fractional part of data time |
- |
- |
|
|
51 |
159 |
4 |
Reserved |
- |
1 |
|
|
52 |
163 |
1 |
Checksum |
Data length and low 8 bits of data byte sum |
1 |
Precautions
- Pay attention to the product's electrical interface definition; when in use, strictly follow the pin arrangement to avoid incorrect connections.
- This product is a precision measurement device. During operation, take care to avoid impacts, collisions, and other conditions that exceed the product's tolerance range.
- The installation of the product has a significant effect on angular velocity measurement. To avoid introducing installation errors, the mounting surface must have good flatness.
- To ensure measurement accuracy, the product must be installed securely and reliably to prevent measurement errors caused by looseness.
- During installation and use of the product, attention should be paid to electrostatic protection. Wearing an anti-static wrist strap is recommended.
- Please operate strictly in accordance with the requirements of this manual and confirm that the external environment is consistent with the usage requirements. If a problem occurs, do not remove the cover or alter the internal structure of the product. If you have any issues, please contact our technical staff promptly.
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