FSI301 FOG_GNSS Combined Inertial Navigation System

Fiber Optic Gyroscope

Range (°/s)

±300

Full-temperature Bias (°/h, 3σ)

≤0.03

Bias Stability (°/h, 10 s avg.)

≤0.03

Bias Instability (°/h, allan)

≤0.006

MEMS Accelerometer

Range (g)

±30

Full-temperature Bias (mg, 3σ)

≤0.5

Bias Stability (μg, 10s avg.)

≤10

Bias Instability (μg, allan, typ)

≤3

Navigation Accuracy

North-seeking Accuracy(°,1σ)

≤0.1secL

Electrical/Mechanical Interface

Power Supply (V)

18~36 (ripple ≤100mV)

Dimensions (mm×mm×mm)

177*132*99

Weight (g)

≤3500

Fiber Optic Gyroscope

Range (°/s)

±300

Full-temperature Bias (°/h, 3σ)

≤0.03

Bias Stability (°/h, 10 s avg.)

≤0.03

Bias Instability (°/h, allan)

≤0.006

Bias Repeatability (°/h)

≤0.03

Angle Random Walk (°/√h)

≤0.003

Scale Factor Nonlinearity (ppm)

≤30

Cross-coupling (rad)

≤0.001

Bandwidth (Hz)

≥200Hz

MEMS Accelerometer

Range (g)

±30

Full-temperature Bias (mg, 3σ)

≤0.5

Bias Stability (μg, 10s avg.)

≤10

Bias Instability (μg, allan, typ)

≤3

Bias Repeatability (µg)

≤10

Velocity Random Walk (m/s/√h)

≤0.01

Scale Factor Nonlinearity (ppm, ±1g)

≤100

Cross-coupling (rad)

≤0.001

Bandwidth (Hz)

≥200Hz

Navigation Accuracy

North-seeking Accuracy(°,1σ)

0.1secL

Combination Horizontal Position (m, 1σ)

≤2(single point), ≤0.02+1ppm (RTK)

Combination Heading Position (m,1σ)

≤3 (single point), ≤0.03+1ppm (RTK)

Combination Horizontal Velocity (m/s, 1σ)

≤0.05

Combination Vertical Velocity (m/s, 1σ)

≤0.1

Combination Heading (°, 1σ))

≤0.1 (dynamic)

≤0.05 (RTK, dynamic)

Combination Horizontal Attitude (°, 1σ)

≤0.01 (single-point, dynamic)

≤0.007 (RTK, dynamic)

Pure Inertial Accuracy (1σ)

1nmile/30min

Depth Measurement Accuracy

≤5 cm (marine environment)

Electrical/Mechanical Interface

Power Supply (V)

18~36 (ripple ≤100mV)

Steady-state Power (W)

≤15

Startup Time (s)

≤2

Communication Interface

RS422/RS232/USB/CAN

Update Rate (Hz)

200

Dimensions (mm×mm×mm)

177*132*99

Weight (g)

3500

Operating Environment

Operating Temperature (°C)

-40 to +60

Storage Temperature (°C)

-55 to +85

Vibration (g, Rms)

20~2000HZ, 6.06

Shock (g)

100g/1ms

Reliability

MTBF (h)

75000+

Serial No.

Pin number

Description

Meaning

External connection method

1

27

VIN

External 24V power supply

Red clip

2

28

VIN

3

1

GND

Black clip

4

2

GND

5

44

LCJ_G5V

External odometer interface (incremental odometer)

Separate wire

6

45

LCJ_GGND

7

19

LCJ_B

8

20

LCJ_A

9

32

INS_RS422_RX+

External inertial navigation RS422 main interface, can be used to configure the protocol and upload core0 navigation software.

DB9-M1-1

10

6

INS_RS422_RX-

DB9-M1-2

11

4

INS_RS422_TX+

DB9-M1-3

12

30

INS_RS422_TX-

DB9-M1-4

13

3

GGND1

DB9-M1-5

14

33

JK_COMM1_RX+

ExternalRS422isolated interface, can be used to configure protocols, uploadcore1interface software

DB9-M2-1

15

7

JK_COMM1_RX-

DB9-M2-2

16

5

JK_COMM1_TX+

DB9-M2-3

17

31

JK_COMM1_TX-

DB9-M2-4

18

8

GGND1

DB9-M2-5

19

17

BY_COMM2_RX+

External spare RS422 isolated interface

DB9-M3-1

20

42

BY_COMM2_RX-

DB9-M3-2

21

41

BY_COMM2_TX+

DB9-M3-3

22

16

BY_COMM2_TX-

DB9-M3-4

23

18

GGND1

DB9-M3-5

24

10

INS_RS232_TXD

External inertial navigation RS232 isolated interface, can be used to configure protocols and output externally 232 Protocol

DB9-M4-2

25

36

INS_RS232_RXD

DB9-M4-3

26

34

GGND1

DB9-M4-5

27

9

IMU_RS232_TXD

External IMU RS232 Isolated Interface

DB9-M5-2

28

35

IMU_RS232_RXD

DB9-M5-3

29

29

GGND1

DB9-M5-5

30

15

GPS_CFG_TXD

External GPS RS232 configuration interface, supports differential positioning.

DB9-M6-2

31

40

GPS_CFG_RXD

DB9-M6-3

32

39

GGND1

DB9-M6-5

33

11

PPS_OUT+

PPS second-pulse output isolated interface (differential & single-ended TTL)

DB9-M7-1

34

37

PPS_OUT-

DB9-M7-2

35

43

GGND1

DB9-M7-7

36

12

IO_IN

PPS pulse input isolated interface (PPS+ can be reused as single-ended LVTTL output)

DB9-M8-9

37

13

PPS_IN+

DB9-M8-3

38

38

PPS_IN-

DB9-M8-4

39

14

GGND1

DB9-M8-5

40

22

CAN1H

External CAN bus isolated interface1

DB9-M9-7

41

47

CAN1L

DB9-M9-2

42

48

GGND2

DB9-M9-3

43

21

CAN2H

External CAN bus isolated interface2

DB9-M10-7

44

46

CAN2L

DB9-M10-2

45

25

USB_DM

USB interface

Separate wire

46

51

USB_DP

47

26

USB_GND

48

23

ETH_TXD_P

100Mbps Ethernet interface

Separate wire

49

49

ETH_TXD_N

50

24

ETH_RXD_P

51

50

ETH_RXD_N

Serial No.

First byte order

Number of bytes

Signal Name

Dimensional unit or content

Equivalent

Interface 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 passed: 0x12

self-test error: 0x1F

coarse alignment: 0x33

fine alignment: 0x35

pure inertial navigation: 0x41

zero-velocity correction: 0x43

Velocity + position combined: 0x44

Velocity + position + heading combined: 0x45

Vehicle-constrained navigation: 0x46

Odometer combined navigation: 0x47

during self-calibration: 0x51, 0x53, 0x55

Self-calibration completed, criteria valid: 0x56

Self-calibration 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 gyroscope angular velocity

[-1000, 1000]°/s,

0.0000005

Average within the output period

10

19

4

Y gyroscope angular velocity

[-1000, 1000]°/s,

0.0000005

Average within the output period

11

23

4

Z gyroscope angular velocity

[-1000, 1000]°/s,

0.0000005

Average within the output period

12

27

4

X accelerometer acceleration

[-400m/s²,400m/s²]

0.000001

Average within the output period

13

31

4

Y accelerometer acceleration

[-400m/s²,400m/s²]

0.000001

Average within the output period

14

35

4

Z accelerometer acceleration

[-400m/s²,400m/s²]

0.000001

Average within the 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

West of north is positive

23

61

2

Pitch angle

[-85,85] you

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 upward 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 time of week in 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 the data time

-

-

50

155

4

Fractional part of the data time

-

-

51

159

4

Reserved

-

1

52

163

1

Checksum

Low 8 bits of the sum of the data length and the data bytes

1

Serial No.

Byte start index

Number of bytes

Content

Equivalent

Range

Unit

Remark

1

0

1

0x55

1

Frame header

2

1

1

0xAA

1

Frame header

3

2

1

36

1

Data length

4

3

4

PCnum

1

1 ms 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

Year Month Day

-

-

-

Bit0~bit4: day 0-31

Bit5~bit8: month 0~12

Bit9~bit15: year 0~99

For example, 1100011110011111

represents December 31, 2099

13

35

4

Timestamp

0.1

-

ms

(h*3600+m*60+s)*10000

Example: 110011011111111001011111111111

Represents: 23h59min59.9999s

14

39

1

Checksum

1

[0,255]

Low 8 bits of the cumulative sum of bytes at indices (2–38)