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FSI400 FOG_GNSS Combined Inertial Navigation System

FSI400 FOG_GNSS Combined Inertial Navigation System

High-precision closed-loop fiber-optic gyroscope
Internal vibration-damping design
Long-duration autonomous navigation

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Description
Main Features

 

  • High-precision closed-loop fiber-optic gyroscope
  • Internal vibration-damping design
  • Long-duration autonomous navigation
  • RTK high-precision navigation can be connected
  • Vibration and shock resistance and electromagnetic interference resistance
  • Sealed and reliable design
  • Offshore differential positioning
product-352-254

 

Application Fields

 

  • Aircraft navigation
  • Attitude reference / track control for drones / vehicles / ships / boats

 

Product Overview

 

FSI400 is a highly reliable, cost-effective fiber-optic inertial/satellite integrated navigation system, widely applicable in fields such as high-precision vehicle-mounted platforms and long-endurance UAVs, as well as navigation, control, and measurement. The system uses closed-loop fiber optic gyroscopes (FOG) and high-precision accelerometers, combined with a professional GNSS board, to achieve real-time navigation output. The system output is compatible with mainstream post-processing software to obtain higher-precision navigation results and serve as a benchmark for research platforms.

 

Unique Technology

 

The system inherits the modular design philosophy of similar products and adopts high-precision silicon optical gyroscopes and high-precision MEMS accelerometers. Through multi-sensor fusion algorithm processing, the main inertial navigation data and GPS position and velocity are input into the filter, while the INS position, velocity, and attitude are also used as inputs to the filter. By comparing the difference between the two, the filter establishes an error model to estimate INS errors and uses these errors to correct the inertial navigation results, thereby obtaining integrated navigation results for velocity, position, and attitude. The inertial navigation system can provide different configuration modes to suit different carriers, such as airborne, vehicle-mounted, and shipborne.

 

Performance Parameters

 

FSI400 FOG_GNSS Combined Inertial Navigation System

Fiber Optic Gyroscope

Range (°/s)

±300

Full-temperature Bias (°/h,, 3σ)

≤0.01

Bias Stability (°/h, 10s smoothing)

≤0.01

Bias Instability (°/h, allan)

≤0.001

MEMS Accelerometer

Range (g)

±20

Full-temperature Bias (mg,3σ)

≤0.1

Bias Stability (μg,10ssmoothed)

≤10

Bias Instability (μg, allan, typ)

≤1

Navigation Accuracy

Self-align North-seeking Accuracy (°, 1σ)

≤0.06secL (1mil)

Pure Inertial Accuracy (1σ)

≤1 nautical mile/1 hour

Electrical/Mechanical Interface

Power Supply (V)

18~36(ripple ≤100mV)

Dimensions (mm×mm×mm)

212 × 155 × 125

Weight (g)

≤5000

product-507-831

 

Introduction

 

Overview

FSI400 uses ultra-high-precision fiber-optic gyroscopes and quartz flexure accelerometers, and is combined with a professional GNSS board. Processed by specially designed data fusion software, it can provide accurate positioning, attitude determination, and dynamic information such as three-dimensional acceleration and angular velocity. It can be widely used on scientific research platforms such as aircraft, unmanned vehicles, unmanned ships, and unmanned aerial vehicles, serving as a reference navigation system.

 

Features

The main features of FSI400 are as follows:

  • High-precision closed-loop fiber-optic gyroscope
  • Internal vibration-damping design
  • Long-duration autonomous navigation
  • RTK high-precision navigation can be connected
  • Vibration and shock resistance and electromagnetic interference resistance
  • Sealed and reliable design
  • Offshore differential positioning

 

Composition

FSI400 mainly consists of a three-axis fiber optic gyroscope, a three-axis accelerometer, information processing circuitry, navigation software, system structural components, system test cables, and system test software.

The following outputs are provided by default:

  • Three-dimensional angular velocity
  • Three-dimensional acceleration
  • Gyroscope temperature
  • Accelerometer temperature
  • Integrated navigation position, velocity, and attitude information
  • Satellite receiver positioning, speed measurement, and status information
  • UTC time

 

Application

Aircraft navigation

Attitude reference / track control for drones / vehicles / ships / boats

 

Product Performance

Parameters

Table1 System performance parameters

Fiber Optic Gyroscope

Range (°/s)

±300

Full-temperature Bias (°/h,, 3σ)

≤0.01

Bias Stability (°/h, 10s avg.)

≤0.01

Bias Instability (°/h, allan)

≤0.001

Bias Repeatability (°/h)

≤0.01

Angular Random Walk (°/√h)

≤0.0005

Scale Factor Nonlinearity (ppm)

≤10

Cross-coupling (rad)

≤0.001

Bandwidth (Hz)

≥200Hz

MEMS Accelerometer

Range (g)

±20

Full-temperature Bias (mg,3σ)

≤0.1

Bias Stability (μg,10s avg.)

≤10

Bias Instability (μg, allan, typ)

≤1

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

Navigation Accuracy

Self-alignment North-seeking Accuracy (°, 1σ)

≤0.06secL (1mil)

Pure Inertial Accuracy (1σ)

≤1 nautical mile/1 hour

Depth Measurement Accuracy (cm)

≤5(marine environment)

Combination Horizontal Position (m,1σ)

≤2(single point)
≤0.02+1ppm(RTK)

Combination Vertical 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)
≤0.03(RTK, dynamic)

Combination Horizontal Attitude (°,1σ)

≤0.008(single point, dynamic)
≤0.005(RTK, dynamic)

Electrical/Mechanical Interface

Power Supply (V)

18~36(ripple ≤100mV)

Steady-state Power (W)

≤18

Startup Time (s)

≤2

Communication Interface

RS422/RS232

Update Rate (Hz)

200

Dimensions (mm×mm×mm)

212 × 155 × 125

Weight (g)

≤5000

Operating Environment

Operating Temperature (°C)

-40 ~ +70

Storage Temperature (°C)

-55 to +85

Vibration (g, Rms)

20~2000HZ, 6.06

Shock (g)

100g/1ms

Reliability

MTBF (h)

20000

 

Electrical Characteristics

The product's external connector plug uses sealed J29A-25Zk connector; the pin definitions are as follows:

Table1Pin Definition of FSI400

J29A-25Zk pin number

Connector definition

Remarks

1,2

+ (9~36) COME

Power supply positive

3,4

+(9~36)VGND

5

INS_RS422_1_TX+

M1Channel

RS422interface

(configuration, upgrade, output)

6

INS_RS422_1_TX-

7

INS_RS422_1_RX+

8

INS_RS422_1_RX-

9

DGND

10

INS_RS422_2_TX+

M2Channel

RS422interface

outputs IMUprotocol (55AC)

11

INS_RS422_2_TX-

12

INS_RS422_2_RX+

13

INS_RS422_2_RX-

14

DGND

15

GPS_RS232_TXD

M4Channel

RS232interface

Directly connected to the GNSS board card

Output GNSS raw observations

16

GPS_RS232_RXD

17

DGND

18

TTL_IN+

External satellite receiver mode

PPS signal input

20

DGND

21

INS_RS422_3_TX+

M3Channel

RS422interface

Real-time integrated navigation output

22

INS_RS422_3_TX-

23

INS_RS422_3_RX+

24

INS_RS422_3_RX-

25

DGND

After the power supply voltage drops below the device operating threshold voltage, the power-off hold time tOFF before powering on again must not be less than 3s; an insufficient power-off interval may cause abnormal device startup, latch-up, or initialization failure.

 

External Communication

FSI400 is defined in the wiring diagram above, there are 3 channels of RS422output, 1 channel ofRS232output, and one channel of PPS in.

 

M1Channel Output

The M1channel is the main configuration port of the device, an RS422communication interface, with functions such as configuration, software upgrade, and output configuration protocol; it can be configured to output other protocols. The output protocol currently configured for this channel is the standard IMU protocol.

The general IMU protocol outputs IMU data by default in timed broadcast mode, with a default output frequency of200Hz; each frame of data 40bytes, baud rate 460800bps,1bit start bit,8data bits,1stop bits, no parity. For multi-byte variables, the low byte is sent first, then the high byte.

Table1GeneralIMUProtocol

No.

Byte Start Index

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

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 rateY

0.000001

[-2000,2000]

°/s

  

7

15

4

Angular rateZ

0.000001

[-2000,2000]

°/s

  

8

19

4

AccelerationX

0.000001

[-40,40]

m/s2

  

9

23

4

AccelerationY

0.000001

[-40,40]

m/s2

  

10

27

4

AccelerationZ

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 example1100011110011111

represents2099year12month31day

13

35

4

timestamp

0.1

-

ms

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

Example:0011 0011 0111 1111 1001 0111 1111 1111

Represents:23h59min59.9999s

14

39

1

Checksum

1

[0,255]

  

subscript (2～38) low-order byte of the byte cumulative sum8bit

 

M2 channel output

M2This channel is the output port of the second channel, with no configuration or upgrade function, and outputs the M PV4_IMU protocol. The protocol is as follows

Table 2 IMU data format table

Bytes

Format

Description

0

U8

Header 0x55

1

U8

Header 0xAC

2~3

U16

GPS Week

4~11

double

m-second

12~15

float

Gyro X, deg/s

16~19

float

Gyro Y, deg/s

20~23

float

Gyro Z, deg/s

24~27

float

ACC X, m/s2

28~31

float

Founded j, m/bad

32~35

float

Founded g, m/bad

36~37

U16

ODO count

38~39

U16

CAN BUS DATA,0.01m/s

40~41

I16

Temperature, 0.5/LSB

42

U8

IMU status

43

U8

Checksum, unsigned char adding from Byte2~Byte42

115200-8-N-1, little-endian, output rate: 200Hz

Note:

IMU status

Bit1 PPS Normal0 Error 1 – When PPS has a trailing 0, the subsequent one will not skip1.

Bit2 TIME (sow) Normal0 Error1 When SOW has a trailing value0, subsequent values will not jump1.

Bit3 IMU1 Normal0 Error1

Bit4 IMU2 error (if have) Normal0 Error1

Bit5 ODONormal0 Error1

Bit6 CAN Normal0 Error1

Bit7~8 static status 0 1 2 3 Stationary0 Slight1 Moderate2 Severe 3

The coordinate system is right-front-up, representing angular rate of change and acceleration. After decoding, it becomes front-right-down, and also becomes radian increments and velocity increments.

When there are no satellites at startup GPS-WEEKis0, m-second starts from0the beginning and increases, with the data propagated.

After the satellites are valid, GPS-WEEK and m-second only need to be synchronized with the board card.

 

M3 channel output

The M3 channel is the third-channel output port, with no configuration or upgrade function, and outputs the real-time integrated navigation protocol. The real-time integrated navigation protocol outputs data by default in a timed broadcast manner, with 164 bytes per frame, an output frequency of 200Hz, a baud rate of 460800bps, 1 start bit, 8 data bits, 1 stop bit, and no parity. For multi-byte variables, the low byte is sent first and then the high byte. A typical communication protocol is shown in Table 3.

Table3Autonomous Driving Positioning Terminal Communication Protocol

No.

First Byte Order

Number of Bytes

Signal Name

Measurement Unit or Content

Equivalent

Interface Accuracy Description

1

0

1

Frame Header 1

Content: 55H

1

8-bit unsigned integer

2

1

1

Frame Header 2

Content: AAH

1

8-bit unsigned integer

3

2

1

Data length

Content: 160H

1

8-bit unsigned integer

4

3

4

PCNum

-

1

Unsigned 16-bit integer

5

7

1

System status word

-

1

Self-test error: 0x1F; greater than 0x41 indicates a user-available state (integrated navigation state)

6

8

1

Real-time status word

-

1

Telemetry backup

7

9

2

Device status word

-

1

Telemetry backup

8

11

4

Process status word

-

1

Telemetry backup

9

15

4

X gyroscope angular velocity

[-500,500]°/s,

0.0000005

Transient value

10

19

4

Y-axis gyroscope angular velocity

[-500,500]°/s,

0.0000005

Transient value

11

23

4

Z-axis gyroscope angular velocity

[-500,500]°/s,

0.0000005

Transient value

12

27

4

X-axis acceleration

[-80m/s2,80m/s2]

0.000001

Transient value

13

31

4

Y-axis acceleration

[-80m/s2,80m/s2]

0.000001

Transient value

14

35

4

Z-axis acceleration

[-80m/s2,80m/s2]

0.000001

Transient value

15

39

4

Combined longitude

[-180,180]deg

0.0000001

  

16

43

4

Integrated latitude

[-90,90]deg

0.0000001

  

17

47

4

Integrated altitude

[-1000,16384]m

0.00001

  

18

51

2

Integrated north velocity

[-300,300]m/s

0.005

  

19

53

2

Integrated vertical velocity

[-300,300]m/s

0.005

  

20

55

2

Integrated east velocity

[-300,300]m/s

0.005

  

21

57

2

Roll angle

[-180,180]deg

0.006

  

22

59

2

Heading angle

[0,360]deg

0.006

Unsigned 16-bit integer, positive starting east of north

23

61

2

Pitch angle

[-90,90]deg

0.006

  

24

63

4

Receiver longitude

[-180,180]deg

0.0000001

  

25

67

4

Receiver latitude

[-90,90]deg

0.0000001

  

26

71

4

Receiver altitude

[-1000,16384] m

0.00001

  

27

75

2

Receiver north velocity

[-300,300]m/s

0.005

  

28

77

2

Receiver vertical velocity

[-300,300]m/s

0.005

  

29

79

2

Receiver east velocity

[-300,300]m/s

0.005

  

30

81

1

Temperature

℃

1

  

31

82

1

Receiver positioning status

-

1

bit0-3: Original receiver positioning flag; bit4-7: directional signal.

32

83

4

Seconds of day

s

0.001

  

33

87

1

year

  

1

  

34

88

1

month

  

1

  

35

89

1

day

  

1

  

36

90

1

Number of positioning satellites

  

1

  

37

91

2

Track angle

[0.360]deg

0.006

Unsigned 16-bit integer, positive starting east of north

38

93

2

Dual-antenna heading

[0.360]deg

0.006

Unsigned 16-bit integer, positive starting east of north

39

95

2

Backup Information 1

-

1

  

40

97

2

Backup Information 2

-

1

  

41

99

2

Backup Information 3

-

1

  

42

101

2

Backup Information 4

-

1

  

43

103

2

Backup Information 5

-

1

  

44

105

2

Number of Orientation Satellites

-

1

  

45

107

1

Backup Information 6

-

1

  

46

108

1

Backup Information 7

-

1

  

47

109

1

Backup Information 8

-

1

  

48

110

1

Backup Information 9

-

1

  

49

111

4

100 mega second count

-

1

Unsigned 16-bit integer

50

115

4

Backup Information 10

-

1

  

51

119

4

Backup Information 11

-

1

  

52

123

4

Backup Information 12

-

1

  

53

127

4

Backup Information 13

-

1

  

54

131

4

Backup Information 14

-

1

  

55

135

4

Backup Information 15

-

1

  

56

139

4

Backup Information 16

-

1

  

57

143

4

Backup Information 17

-

1

  

58

147

4

Backup Information 18

-

1

  

59

151

4

Backup Information 19

s

1

  

60

155

4

Backup information 20

s

1

  

61

159

4

Backup information 21

-

1

  

62

163

1

Checksum

Data length and the low 8 bits of the byte sum of the data

1

  

 

M 4-Channel Output

M4The channel is the GNSS board direct-connection output port, RS232 output, output baud rate is460800. The current output protocol is the Unicore board protocol. The output format is configured as follows:

<GPGGA COM1 1

<GLOEPHEMB COM1 260

<GALEPHEMB COM1 270

<BD2EPHEMB COM1 290

<GPSEPHEMB COM1 300

RANGECMPB COM1 1

Outputs 1 s of raw observation values in binary compressed format. Outputs binary ephemeris data, including GPS, BDS, GLA, and GLO. The baud rate is 460800.

 

Real-time Navigation Working Mode

a) Power-on self-test

After the product is powered on, it performs a self-test. The self-test time is no more than15s. If the self-test fails, the process terminates. If the self-test succeeds, it enters standby mode.

b) Standby

The standby time is no more than 10s. If valid satellite information is available during standby, the satellite information is acquired and the system enters alignment. If the satellite information is invalid, the position information stored in flash is used to enter alignment.

c) Alignment

The alignment time is no greater than 300s. During the alignment process, the carrier is required to remain stationary. After alignment is completed, it automatically enters the navigation state.

d) Navigation

During the navigation phase, when GNSS is valid, the inertial navigation system and GNSS RTK perform integrated navigation. When GNSS is invalid, the inertial navigation system performs autonomous navigation.

 

Structure

The system adopts an aluminum alloy structure, is lightweight, and has very high structural strength, with resistance to vibration and shock.

product-507-831

Figure1SystemOverall Structural Dimensions

 

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