FSI206 FOG Strapdown Inertial Navigation System

Fiber Optic Gyroscope

Range (° /s)

±500

Bias Stability (° /h, 10s)

0.5

Bias Instability (°/h, allan, typ)

≤0.05

Bias Repeatability (°/h,6 times power-up)

0.5

FM Accelerometer

Range (g)

30

Full-temperature Bias (mg,3σ)

0.5

Integrated Navigation Accuracy

Self North-seeking Accuracy(°,1σ)

1secL

Pure Inertial Accuracy (1σ)

300m/300s

Combined heading accuracy (° ,1 σ, real-time)

0.5

Combined horizontal attitude (° ,1σ, real-time))

0.06

Combined horizontal position (m ,1 s)

3(single point), 0.02+1ppm (RTK)

Satellite Receiver (Built-In)

Satellite Mode

GPS：L1/L2/L5

BeiDou：B1/B2/B3

GLONASS：L1/L2

Electrical / Mechanical Interfaces

Power (V)

12~36VDC (recommended 24V)

Steady-state Power (W)

10W

Dimensions (mm×mm×mm)

65×70×63

Weight (g)

≤500

No.

Component

Quantity

Model

Remarks

1

High-Precision Inertial Navigation System

1

FS206

2

Connector Plug

1

J20JD-21TJL

Male Connector

3

Receiver Board

1

Optional

4

GNSS Antenna

2

BT-800S

Optional Magnetic Base or Screw Fastening

5

GNSS antenna cable

2

TNC male - SMA male

Optional 5 m

Fiber Optic Gyroscope

Range (° /s)

±500

Bias (° /h)

≤1

Bias Stability (° /h, 10s avg.)

≤0.5

Bias Instability (°/h, allan, typ)

≤0.05

Bias Repeatability (°/h,6 times power-up)

≤0.5

Angle Random Walk (°/√h)

≤0.05

Scale Factor Nonlinearity (ppm)

≤200

Cross Coupling (rad)

≤0.001

Bandwidth (Hz)

≥200

FM Accelerometer

Range (g)

±30

Full-temperature Bias (mg,3σ)

≤0.5

Bias Stability (μg,10s smoothed)

≤10

Bias Instability (μg, allan,typ)

≤3

Bias Repeatability (ug)

≤10

Velocity Random Walk (m/s/√h)

≤0.01

Scale Factor Nonlinearity (ppm, ±1g)

≤100

Cross Coupling (rad)

≤0.001

Bandwidth (Hz)

≥200Hz

Integrated Navigation Accuracy

Self North-seeking Accuracy(°,1σ)

≤1secL

Pure Inertial Accuracy (1σ)

≤300m/300s

Combined Heading Accuracy (° ,1 σ, real-time)

0.5

Combined Horizontal Attitude (° ,1σ, real-time))

0.06

Combined Horizontal Position (m ,1σ)

3(single point), 0.02+1ppm (RTK)

Combined Vertical Position (m ,1σ)

5(single point), 0.03+1ppm (RTK)

Combined Horizontal Velocity (m/s,1σ)

0. 1

Combined Vertical Velocity (m/s,1σ)

0.15

Satellite Receiver (Built-In)

Timing accuracy

20ns

Cold Start Positioning Time

≤40s

Startup Time

≤2s

Positioning Data Update Rate

10Hz

Operating Altitude

10000m

Satellite Mode

GPS：L1/L2/L5

BeiDou：B1/B2/B3

GLONASS：L1/L2

Electrical / Mechanical Interfaces

Power (V)

12~36VDC (recommended 24V)

Steady-state Power (W)

≤10W

Startup Time (s)

3

Communication Interface

RS-422

Update Rate (Hz, max)

1000(IMU),200(INS)

Dimensions (mm×mm×mm)

65×70×63

Weight (g)

≤500

Operating Environment

Operating Temperature

-40~70

Storage Temperature

-55~85

Vibration

20~2000HZ, 6.06

Shock

100/1ms

Contacts

PIN Definition

External DB9

Type

Remarks

1.

+ VIN

External 24V Power Supply

Power Supply

Red Clip

2.

GND

Power Supply

Black Clip

3.

COM1_Rx+

External RS422 non-isolated interface 1

Receives the aircraft's main inertial navigation system

DB9-M1-1

4.

COM1_Rx -

DB9-M1-2

5.

COM1_Tx+

Send integrated navigation information

DB9-M1-3

6.

COM1_Tx -

DB9-M1-4

7.

GND

DB9-M1-5

8.

COM2_Tx+

External RS422 non-isolated interface 2

Send the raw data output by the inertial navigation IMU

DB9-M2-3

9.

COM2_Tx -

DB9-M2-4

10.

GND

DB9-M2-5

11.

COM2_PPS_IN+

PPS differential input interface, non-isolated

Composite pulse input

DB9-M3-1

12.

COM2_PPS_IN-

DB9-M3-2

13.

COM3_PPS_OUT+

PPS differential output interface, non-isolated

Differential pulse-per-second output

DB9-M3-3

14.

COM3_PPS_OUT-

DB9-M3-4

15.

GND

DB9-M3-5

16.

COM3_Rx+

External RS422 non-isolated interface 4

DB9-M4-1

17.

COM3_Rx -

DB9-M4-2

18.

GND

DB9-M4-5

19.

RS232_TXD1

External RS232 non-isolated interface 1

Debug port, upgrade firmware

DB9-M5-2

20.

RS232_RXD1

DB9-M5-3

21.

GND

DB9-M5-5

Content

Source

Electro-optical pod

Target

IMU (including processing board)

Transmission period

Frame rate 200HZ

Transmission rate

460800bps

Serial No.

Symbol

Number of bytes

Content

Data Definition

1

Head1

1

Frame Header 1

0xEB

2

Head2

2

Frame Header 2

0x90

3

3~4

Reserved

4

ωYaw

5~6

Main inertial navigation Z-axis angular rate

Int16, resolution 300/215, unit: °/s, pointing downward, right turn is positive.

5

ωPitch

7~8

Main INS X-axis angular rate

Int16, resolution 300/215, unit: °/s, pointing to the right, nose-up is positive.

6

ωRoll

9~10

Main INS Y-axis angular rate

Int16, resolution 300/215, unit: °/s, pointing forward, right roll is positive.

7

Stars

11

Number of positioning satellites

8

PDOP

12

Navigation accuracy factor

1-100

9

NOSE

13

Main INS status

0x11, integrated navigation data valid;

0x22, pure inertial navigation data valid;

0x33, navigation data invalid;

0x44, alignment data;

Note: 0x11 and 0x22 indicate the main INS is valid; 0x33 and 0x44 indicate the main INS is invalid. All information.

10

Yaw

14~15

Main INS yaw angle

Low byte first, then high byte

16 bit unsigned integer

0~ 359.99º

LSB = 0.01º (north is0, east is 90º)

11

Pitch

16~17

Main INS pitch angle

Low byte first, then high byte

16 bit signed integer

-89.99 º~+89.99º

LSB = 0.01º (positive for upward tilt)

12

Roll

18~19

Main INS roll angle

Low byte first, then high byte

16 bit signed integer

-179.99 º~+179.99 º

LSB = 0.01º (right roll is positive)

13

Lon

20~23

Main INS longitude

LSB =0.001", east longitude is positive, low byte first then high byte32 signed integer, Note: the resolution unit is arcseconds.

14

Years

24~27

Main INSLatitude

LSB =0.001",north latitude is positive, low byte first, then high byte32 bit signed integer

Note: The resolution unit is arcseconds.

15

ALt1

28~29

Main INSAltitude

LSB =1m, low byte first, then high byte

16 Signed integer,-300m--10000m

16

30~31

Reserved

17

Hdg

32~33

Main INSGround speed direction

LSB =0.01 ° , 0 °~359.99 °(positive east of north) low byte first, then

high byte,16 bit unsigned integer

18

Vg

34~35

Main INS ground speed

LSB =0.01m/s, low byte first, then high byte,16 bit unsigned integer

, 0--650m/s

19

See

36~37

Main INS upward speed

(upward is positive),16 bit signed integer, -200m/s --200m/s,

LSB=200m/s/215 ,

20

GPS relative position X

38

Main INS relative to the pod X-axis position

8 Signed value, -128 to127 indicates -12.8 to 12.7 meters, resolution

0.1 meters. With the center of the pod sphere as the origin, the pod points toward the main INS, with aircraft right X, forward Y, and up Z as the coordinate system.

21

GPS relative position Y

39

Main INS relative to the pod Y-axis position

22

GPS relative position Z

40

Main INS relative to the pod Z-axis position

23

Alt2

41~42

Barometric altitude

16 Signed integer in two bytes, low byte first then high byte range: -300m~10000m

LSB=1m (not used)

24

Ve

43~44

Main INS Eastward velocity

-200m/s --200m/s, LSB=200m/s/ ( 215-1 ) ,

25

Vn

45~46

Main INS Northward velocity

-200m/s --200m/s, LSB=200m/s/ ( 215-1 ),

26

Status2

47

BeiDou status

UTC time valid flag.

0x55: positioning;

0xAA: no positioning.

27

GPSUTC

48~51

UTC time

GPSUTC time synchronized with GPS data, day milliseconds

28

Command

52

Command

0x5A: static alignment

0x5B: Dynamic alignment

0xAB: Realign (responds at any time)

0x6A: Start calibration

Default:00

29

azimpod

53~54

Azimuth frame angle

16 bit unsigned integer, low byte first, then high byte

Range0 to36000 Indicates0 ～+360 ,positive to the right, resolution 0.01 °.

30

pitchpod

55~56

Pitch frame angle

16 Bit signed integer, low byte first then high byte

Range-18000～+18000 indicates-180 ～+180 , positive upward, resolution 0.01 °.

31

Flag bit

57

Main inertial navigation update flag bit

0: not updated

1: updated

32

Flag bit

58

Frame angle update flag bit

0: not updated

1: updated

33

Verification

59

Verification

1 to58-byte cumulative sum low8 bits

34

Frame tail

60

0x5A

No.

First Byte Order

Byte Count

Signal Name

Unit or Content

Equivalent

Port Accuracy Description

1

0

1

Header 1

Content：55H

1

8-bit unsigned integer

2

1

1

Header 2

Content：AAH

1

8-bit unsigned integer

3

2

1

Data length

Content：A0H

1

8-bit unsigned integer

4

3

4

PCNum

Interrupt Counter

1

32-bit unsigned integer

5

7

1

System status word

-

1

Self-test in progress: 0x10

Self-test successful: 0x12

Self-test error: 0x1F

Coarse alignment: 0x33

Fine alignment: 0x35

Pure inertial navigation: 0x41

Zero velocity update: 0x43

Velocity + position fusion: 0x44

Velocity + position + heading fusion: 0x45

Vehicle constraint navigation: 0x46

Odometer-assisted navigation: 0x47

6

8

1

Realtime status word

-

1

7

9

2

Spare byte

-

1

8

11

4

Spare byte

-

1

9

15

4

X gyro angle speed

[-1000,1000] °/s,

0.0000005

Average value during output cycle

10

19

4

Y gyro angle speed

[-1000,1000] °/s,

0.0000005

Average value during output cycle

11

23

4

Z gyro angle speed

[-1000,1000] °/s,

0.0000005

Average value during output cycle

12

27

4

X accelerometer

[-400m/s²,400m/s²]

0.000001

Average value during output cycle

13

31

4

Y accelerometer

[-400m/s²,400m/s²]

0.000001

Average value during output cycle

14

35

4

Z accelerometer

[-400m/s²,400m/s²]

0.000001

Average value during output cycle

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 Vertical 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

Yaw angle

[-180,180] deg

0.006

Northwest is considered 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 Vertical Velocity

[-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 orientation validity.

/

1

bit0-3, Receiver Positioning Flag:

- 00: No positioning

- 01: Single-point positioning

- 02: Float solution positioning

- 03: Fixed solution positioning

bit4-7, Orientation Signal:

- 00: No orientation

- 01: Single-point orientation

- 02: Float solution orientation

- 03: Fixed solution orientation

32

83

4

Satellite week-based time in seconds

33

87

1

Year

34

88

1

Month

35

89

1

Day

36

90

1

Number of positioning satellite

[0,255]

1

37

91

2

Satellite track angle

[-180,180] deg

0.006

38

93

2

Dual antenna heading/yaw

[-180,180] deg

0.006

39

95

2

Reserved

40

97

14

Reserved

41

111

40

Reserved

42

151

4

Integer part of data time

-

-

43

155

4

Fractional part of data time

-

-

44

159

4

Reserved

-

1

45

163

1

Checksum

Data length and the lower 8 bits of the byte accumulated sum

1

Content

Source

IMU (including processing board)

Target

Photoelectric gimbal gyroscope

Transmission period

Frame rate 2K

Transmission rate

921600bps

Serial number

Byte start

initial corner mark

Number of bytes

Content

Equivalent

Range

Unit

Remarks

1

0

1

0x55

1

Frame Header

2

1

1

0xAA

1

Frame Header

3

2

1

32

1

Data Length

4

3

4

PCnum

1

Frame count value

5

7

4

Angular rate X

0.000001

[-2000,2000]

/s

6

11

4

Angular rate Y

0.000001

[-2000,2000]

/s

7

15

4

Angular rate Z

0.000001

[-2000,2000]

/s

8

19

4

Acceleration X

0.000001

[-40,40]

m/s²

9

23

4

Acceleration Y

0.000001

[-40,40]

m/s²

10

27

4

Acceleration Z

0.000001

[-40,40]

m/s²

11

31

2

System temperature

0.008

[-120,120]

℃

12

33

2

Version number

-

-

-

Initial version V1.00.00, for a major version upgrade it becomes V1.01.00; for a minor version upgrade V1.00.01

13

35

1

Checksum

1

[0 ,255]

Subscript (2~38) low byte of the checksum

8 bit