MSN300 High Precision MEMS North Finder

MEMS Gyroscope

Range (°/s)

±200

Bias @ Full temp. (°/h,3σ)

≤0.6

Bias Stability (°/h,10ssmoothing)

≤0.1

Bias Instability (°/h,allan,typ)

≤0.02

Bias Repeatability (°/h)

≤0.1

Angular Random Walk (°/√h)

≤0.01

Scale Factor Nonlinearity (ppm)

≤100

Cross-Coupling (rad)

≤0.001

Bandwidth (Hz)

≥50

MEMS Accelerometer

Range (g)

±30

Bias @ Full temp. (mg,3σ)

≤3

Bias Stability (μg,10ssmoothing)

≤100

Bias Instability (μg,allan,typ)

≤50

Bias Repeatability (ug)

≤100

Velocity Random Walk (m/s/√h)

≤0.04

Scale Factor Nonlinearity (ppm,±1g)

≤100

Cross-Coupling (rad)

≤0.001

Bandwidth (Hz)

≥50

Navigation accuracy

North Finding Accuracy (°,1σ)

≤1*sec L (L for latitude)

Attitude Accuracy (°,1σ)

≤0.2

Physical Characteristics

Power Supply (V)

5~12 (Ripple ≤ 100mV)

Steady-state power(W)

≤2

Startup Time (s)

≤2

Update Rate (Hz,max)

200

Dimensions (mm×mm×mm)

Φ31.8 × 85

Weight (g)

145±10g

Operating Environment

Operating Temp. (℃)

-40～+120

Storage Temp. (℃)

-55～+85

Vibration (g,RMS)

6.06,20~2000Hz

Shock (g)

500g/1ms

Gyroscope

Range (°/s)

±200

Bias @Full temp. (°/h,3σ)

≤0.6

Bias Stability (°/h,10sSmoothing)

≤0.1

Bias Instability (°/h,allan,typ)

≤0.02

Bias Repeatability (°/h)

≤0.1

Angle Random Walk (°/√h)

≤0.01

Scale Factor Nonlinearity (ppm)

≤100

Cross-Axis Coupling (rad)

≤0.001

Bandwidth (Hz)

≥50

Accelerometer

Range (g)

±30

Bias @Full temp. (mg,3σ)

≤3

Bias Stability (μg,10sSmoothing)

≤100

Bias Instability (μg,allan,typ)

≤50

Bias Repeatability (ug)

≤100

Velocity Random Walk (m/s/√h)

≤0.04

Scale Factor Nonlinearity (ppm,±1g)

≤100

Cross-Axis Coupling (rad)

≤0.001

Bandwidth (Hz)

≥50

Navigation Accuracy

Auto North Finding Accuracy (°, 1σ)

≤1*secL(L for Latitude)

Attitude Accuracy (°, 1σ)

≤0.2

Physical Characteristics

Power Supply (V)

5~12(Ripple≤100mV)

Steady-State Power(W)

≤2

Startup Time (s)

≤2

Update Rate (Hz,max)

200

Dimensions (mm×mm×mm)

Φ31.8 × 85

Weight (g)

145±10g

Operating Environment

Operating Temperature (℃)

-40～+120

Storage Temperature (℃)

-55～+85

Vibration (g,RMS)

20~2000HZ,6.06

Shock (g)

500g/1ms

Color

Definition

Description

Remarks

Red

+5V

5V Power Supply

System Power Supply

(5V~12v)

Black

GND

Power Ground

Purple

DB9_RS_422 T+

Data Transmit+

North Finder Data Transmit / Firmware Update Configuration

Orange

DB9_RS_422 T-

Data Transmit−

Yellow

DB9_RS_422 R+

Data Receive+

Green

DB9_RS_422 R-

Data Receive−

White

TOV

Output Pulse

Data Synchronization

No.

Byte Start

Byte Count

Content

Equivalent

Range

Unit

Remarks

1

0

1

0x55

1

Frame Header

2

1

1

0xAA

1

Frame Header

3

2

1

92

1

Data Length

4

3

4

PC num

1

5ms

5ms Counter Value

5

7

1

System Operating

Status

-

-

-

16 (0x10): Self-Test In Progress;

18 (0x12): Self-Test Passed:

31 (0x1F): Self-Test Error:

51 (0x33): Coarse Alignment:

53 (0x35): Fine Alignment

65 (0x41): Navigating

67 (0x43): Zero Velocity Correction

6

8

1

Output Channel Status Word

-

-

-

0: Swinging North Finding Channel

1: Pure Static North Finding Channel

7

9

1

Over-Range Status

-

-

-

After the product enters alignment, within one navigation cycle of 5ms,

bit0: X gyroscope over-range set to 1;

bit1: Y gyroscope over-range set to 1;

bit2: Z gyroscope over-range set to 1;

Bit3: X accelerometer over-range set to 1;

Bit4: Y accelerometer over-range set to 1;

Bit5: Z accelerometer over-range set to 1;

After re-alignment, the above statuses are cleared to 0.

8

10

1

Command Response Status

0x10: Command response successful, continuously send 5 packets.

0x1F: Command error, continuously send 5 packets, alerting user to check command configuration (output data or command out of range), original process unchanged.

Note: After receiving a normal command, feedback 5 packets of 0x10 status, soft reset. After receiving an error command, feedback 5 packets of 0x1f status, continue maintaining the original status.

9

11

2

Total North Finding Time

1

-

s

10

13

2

Remaining North Finding Time

1

s

11

15

4

Angular Rate X

0.0000005

°/s

Average value within the output period (forward)

12

19

4

Angular Rate Y

0.0000005

°/s

Average value within the output period (upward)

13

23

4

Angular Rate Z

0.0000005

°/s

Average value within the output period (rightward)

14

27

4

Acceleration X

0.000001

m/s2

Average value within the output period (forward)

15

31

4

Acceleration Y

0.000001

m/s2

Average value within the output period (upward)

16

35

4

Acceleration Z

0.000001

m/s2

Average value within the output period (rightward)

17

39

4

Integrated Longitude

0.0000001

°

Instantaneous value at output time (Int)

18

43

4

Integrated Latitude

0.0000001

°

Instantaneous value at output time (Int)

19

47

2

Integrated Altitude

0.5

m

Instantaneous value at output time (Short)

20

49

2

Integrated North Velocity

0.04

m/s

Instantaneous value at output time

21

51

2

Integrated Up Velocity

0.04

m/s

Instantaneous value at output time

22

53

2

Integrated East Velocity

0.04

m/s

Instantaneous value at output time

23

55

2

Gravity Tool Face Angle

0.006

[0,360]

°

Instantaneous value at output timeUint16

24

57

2

Azimuth Angle

0.006

[0,360]

°

North to East is positive

Instantaneous value at output timeUint16

25

59

2

Inclination Angle

0.006

[0,180]

°

Instantaneous value at output timeUint16

26

61

1

Gyroscope Temperature

1

℃

Instantaneous value at output time

27

62

1

Accelerometer Temperature

1

℃

Instantaneous value at output time

28

63

4

Quaternion q0

In North-Up-East coordinate system.

IEEE 32-bit float, little-endian.

29

67

4

Quaternion q1

Same as above

30

71

4

Quaternion q2

-

-

Same as above

31

75

4

Quaternion q3

-

Same as above

32

79

6

IMU Over-Range Counter

1

1

If 1 over-range occurs in a 5ms navigation cycle, increment by 1. After accumulating to 255, restart counting. If re-aligned, restart counting. Little-endian format, in order of Gx Gy Gz Ax Ay Az, each axis is Uint8.

33

85

1

Reserved

1

UInt8

34

86

1

Heading Correction Count

1

UInt8

35

87

2

Gravity Vector Sum

0.006

m/s2

Little-Endian FormatUint16

36

89

2

Gyro Tool Face Angle

0.006

[0,360]

°

Little-Endian FormatUint16

37

91

2

Horizontal Component of Earth Rotation Angular Rate

0.006

°/h

Little-Endian FormatUint16

38

93

1

Vertical Mode Flag

1

UInt8,

0: Horizontal Mode;

1: Vertical Launch Mode;

39

94

1

Output Protocol Format

1

0xFF: General Petroleum North Finder Protocol

40

95

1

Checksum

1

Lower 8 bits of the cumulative sum of bytes at indices (2-94)

First Byte

Byte Count

Signal Name

Dimension/Unit or Content

Equivalent

Interface Accuracy Description

1

1

Frame Header 1

Content: 55H

1

8-bit unsigned integer

2

1

Frame Header 2

Content: AAH

1

8-bit unsigned integer

3

1

Data Length

Content: 24H

1

8-bit unsigned integer

4

4

Loaded Longitude

[-180,180]deg

0.0000001

Little-Endian Format

5

4

Loaded Latitude

[-90,90]deg

0.0000001

Little-Endian Format

6

4

Loaded Altitude

m

1

IEEE 32-bit float

Little-Endian Format

7

4

Reserved 1

NA

1

-

8

2

Data Validity Mode

NA

1

bit0: 1 = LLA information valid;

bit1: 1 = Loaded heading information valid;

bit2: 1 = Alignment time valid

bit3: 1 = Baud rate and period valid

bit4: 1 = Installation misalignment angle valid

bit5: 1 = Attitude angle write and transfer to navigation valid

All bit values of 0 indicate invalid.

9

2

Reserved 2

NA

10

2

Reserved 3

NA

11

1

Output Baud Rate Configuration

NA

1

0：9600bps;

1:38400;

2：115200;

3:230400;

4:460800;

12

1

Output Period

NA

1

0：5ms

1:10ms

2：20ms;

3:50ms;

4:100ms;

5:200ms;

6:500ms：

7:1s;

8:2s;

9:5s;

13

2

2

(1)Roll Installation Misalignment Angle between INS and Target Point (Usr Trans Roll)

(2)Transfer to Navigation Roll Angle Roll

0.006

[-180~180]

Whenbit4is1, and command is 0xAAcommand, this angle represents (1)Installation Misalignment Angle

Whenbit5is1, and command is 0xBBcommand, this angle represents (2)Attitude angle written for transfer to navigation

14

2

2

(1)Yaw Installation Misalignment Angle between INS and Target Point (Usr Trans Yaw)

(2)Transfer to Navigation Heading Angle Yaw

0.006

The value range is[-180~180], therefore when writing the theoretical heading angle, north-to-east should be positive and north-to-west should be negative

15

2

2

(1)Pitch Installation Misalignment Angle between INS and Target Point Usr Trans Pitch (2)Transfer to Navigation Pitch Angle Pitch

0.006

[-180~180]

16

2

Reserved 4

NA

17

2

User Command

NA

1

16-bit unsigned integer;
0) 0x0000: No command

1) 0x0011: Start static self north finding command;
2) 0x0066: Write LLA to flash command;

3) 0x0077: Write alignment time to flash command;

4) 0x0099: Write baud rate and output frequency to flash command;

5)0x00AA:Write attitude installation misalignment angle to flash command;

6)0x00BB:Write attitude angle for transfer to navigation

Other invalid values: do not respond to command;

18

2

Alignment Time

[120,6553.5]

0.1

16-bit unsigned integer;

(1) Under the static self north finding command, the alignment time value = coarse alignment time (30s) + fine alignment time. The time should not be less than 120s.

19

1

Checksum

Lower 8 bits of the cumulative sum of all bytes from Data Length (including Data Length) to the byte before Checksum

1

Lower 8 bits of the cumulative sum of bytes at indices (2-38)