MSU105 Mini MEMS Integrated Inertial Navigation System

 

 

 

• Mobile mapping and engineering inspection
• Underwater high-precision navigation
• UAV attitude and flight control
• Vehicle and marine attitude reference
• SATCOM-on-the-move

 

 

Company MSU105 is a miniature, cost-effective MEMS integrated inertial navigation system targeting SATCOM-on-the-move, UAVs, and similar navigation, control, and measurement applications. It tightly integrates MEMS sensors and a full-band GNSS receiver chip within a compact form factor, delivering precise positioning and attitude measurement in a small package.

 

 

Company is a high-tech enterprise with full closed-loop capabilities from fiber winding equipment and coils to FOGs, fiber/MEMS inertial products, IMU circuits, software, and test equipment. End-to-end process control improves quality and reduces costs. Operating under ISO9001 with strict processes, it ensures product reliability and consistency.

 

 

 

 

Product Overview

The MSU105 Mini Integrated Navigation System is a compact, cost-effective MEMS inertial navigation system designed for navigation, control, and measurement applications represented by SATCOM-on-the-move and UAVs. The system integrates MEMS sensors and a full-band GNSS receiver chip within a small form factor, enabling compact positioning and attitude measurement.

 

Product Features

• High performance, compact size, low weight
• Full-band GNSS support, high positioning and heading accuracy in complex environments
• Ultra-low steady-state power consumption of 0.5 W
• Full-temperature calibration and compensation from -45°C to 80°C
• Optional adaptive attitude and heading algorithm
• Online software upgrade capability, lever-arm error compensation
• Self-correction algorithm during GNSS outages to maintain horizontal attitude accuracy
• RTK differential support

 

Applications

• SATCOM-on-the-Move
• Position and attitude reference for UAVs, land vehicles, ships, and vessels
• Attitude Control
• UAVs and USVs

 

 

Table 1 MSU105 Mini Integrated Navigation System Performance Specifications

MEMS Gyroscope
Range (°/s)°	±300
Full-Temp. Bias (°/h)°	≤360
Bias Stability (°/h, 10s avg.)°	≤10
Bias Instability (°/h, Allan)	≤3
Bias Repeatability (°/h)°	≤10
Angular Random Walk (°/√h)	≤0.3
Scale Factor Nonlinearity (ppm)	≤100
Cross-Axis Coupling (rad)	≤0.001
Bandwidth (Hz)	≥100
MEMS Accelerometer
Range (g)	±16
Bias (mg)	≤5
Bias Stability (µg, 10s avg.)	≤300
Bias Stability (µg, Allan)	≤50
Bias Repeatability (µg)	≤300
Velocity Random Walk (mm/s/√h)	≤50
Scale Factor Nonlinearity (ppm, ±1g)	≤300
Cross-Axis Coupling (rad)	≤0.001
Bandwidth (Hz)	≥100
Integrated Navigation Accuracy
Integrated Horizontal Position (m, 1σ)	3 m (Single Point), 0.02+1 ppm (RTK)
Integrated Vertical Position (m, 1σ)	5 m (Single Point), 0.03+1 ppm (RTK)
Integrated Horizontal Velocity (m/s, 1σ)	0.1
Integrated Vertical Velocity (m/s, 1σ)	0.15
Integrated Heading (°, 1σ, Real-Time)	0.2 (1m Baseline Dual Antenna), 0.5 (Single Antenna, Dynamic)
Integrated Horizontal Attitude (°, 1σ, Real-Time)	0.1° (Dual Antenna), 0.2° (Single Antenna)
Electrical/Mechanical Interface
Power Supply (V)	5 V (Ripple ≤ 100 mV)
Steady-State Power (W)	≤0.5
Startup Time (s)	≤3
Communication Interface	URAT
Max Update Rate (Hz)	100
Dimensions (mm×mm×mm)	41.5×35.5×9.5
Weight (g)	＜30
Operating Environment
Operating Temperature (°C)	-40～+85
Storage Temperature (°C)	-55～+85
Vibration (g, RMS)	20~2000HZ,4.08
Shock (g)	1000g/1ms
Reliability
MTBF(h)	10000

 

Technical Specifications

Mechanical Characteristics

The mechanical interface of the MSU105 Mini Integrated Navigation System is shown in the figure below:

Dimensions: 41.5 mm × 35.5 mm × 9.5 mm (L × W × H, excluding connectors).

Figure 2 MSU105 Mini Integrated Navigation System Mechanical Interface Diagram

 

Product Marking and Polarity

The product is placed horizontally with the arrow indicating the X direction. The output coordinate system is "Forward, Right, Down".

Figure 4 Vehicle Coordinate System Definition

 

Interface Definition

The external interface of the MSU105 Mini Integrated Navigation System is a Molex 501568-1007 receptacle, and the GNSS RF interface is a standard MMCX connector. The external interface definitions are listed in the following table:

Table 3 MSU105 Mini Integrated Navigation System Interface Cable Pin Definition

Pin	Pin Definition	Interface Definition	Function Description
1	Power Vin+	Input Range: 5 V	Power Input
2	Power GND	GND	Power Ground
3	UART1_TX	UART1 TX	LVTTL Level
4	UART1_RX	UART1 RX	LVTTL Level
5	UART2_TX	UART2 TX	LVTTL Level
6	UART2_RX	UART2 RX	LVTTL Level
7	IMU_TX	UART3 TX	LVTTL Level
8	IMU_RX	UART3 RX	LVTTL Level
9	PPS_OUT	PPS Signal Output	LVTTL Level
10	TOV_OUT	IMU Acquisition Sync Output	LVTTL Level

After the supply voltage drops below the device operating threshold, the power-off hold time tOFF must be at least 3 s before re-powering; insufficient power-off interval may cause startup abnormalities, latch-up, or initialization failure.

External Communication

 

Protocol 1: Integrated Navigation Data Protocol

The MSU105 Mini Integrated Navigation System outputs data in a default timed broadcast mode at 200 Hz with a frame length of 164 bytes, a baud rate of 460800 bps, 1 start bit, 8 data bits, 1 stop bit, and no parity. Data transmission uses a little-endian (LSB first) format. The typical communication protocol is shown below, and it can also be customized according to user requirements.

Table 3 Integrated Navigation System Output Communication Protocol

No.	Start Byte Offset	Byte Length	Signal Name	Unit or Content	Scaling	Interface Precision 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: 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 OK: 0x12; Self-Test 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-Aided Navigation: 0x47; Self-Calibration in Progress: 0x51, 0x53, 0x55; Self-Calibration Completed, Criteria Valid: 0x56; Self-Calibration OK, Flash Write Successful: 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 Velocity	[-1000,1000]°/s,	0.0000005	Average within output cycle
10	19	4	Y Gyro Angular Velocity	[-1000,1000]°/s,	0.0000005	Average within output cycle
11	23	4	Z Gyro Angular Velocity	[-1000,1000]°/s,	0.0000005	Average within output cycle
12	27	4	X Accelerometer Acceleration	[-400m/s2,400m/s2]	0.000001	Average within output cycle
13	31	4	Y Accelerometer Acceleration	[-400m/s2,400m/s2]	0.000001	Average within output cycle
14	35	4	Z Accelerometer Acceleration	[-400m/s2,400m/s2]	0.000001	Average within output cycle
15	39	4	Integrated Longitude	(-180,180]deg	0.0000001
16	43	4	Integrated Latitude	[-90,90]deg	0.0000001
17	47	4	Integrated Altitude	[-500,16384]m	0.00001
18	51	2	Integrated North Velocity	[-1310,1310]m/s	0.005
19	53	2	Integrated Up Velocity	[-1310,1310]m/s	0.005
20	55	2	Integrated 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	Positive north to west
23	61	2	Pitch Angle	[-85,85]deg	0.006
24	63	4	GNSS Longitude	(-180,180]deg	0.0000001
25	67	4	GNSS Latitude	[-90,90]deg	0.0000001
26	71	4	GNSS Altitude	[-500,16384]m	0.00001
27	75	2	GNSS North Velocity	[-1310,1310]m/s	0.005
28	77	2	GNSS Up Velocity	[-1310,1310]m/s	0.005
29	79	2	GNSS East Velocity	[-1310,1310]m/s	0.005
30	81	1	Temperature	[-127,127]	1
31	82	1	Positioning and Heading Validity	/	1	bits[3:0], Receiver Positioning Status: 00: No Fix; 01: Single Point Positioning; 02: Float Solution; 03: Fixed Solution; bits[7:4], Heading Signal: 00: No Heading; 01: Single Point Heading; 02: Float Heading; 03: Fixed Heading.
32	83	4	GNSS Week Second Time
33	87	1	Year
34	88	1	Month
35	89	1	Day
36	90	1	Number of Satellites in Fix	[0,255]	1
37	91	2	GNSS 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	Up Acceleration
43	127	4	AF	m/s2	1	Forward Acceleration
44	131	4	AR	m/s2	1	Right 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	Primary Frequency	na	1
49	151	4	Data Time Integer Part	-	-
50	155	4	Data Time Fractional Part	-	-
51	159	4	Reserved	-	1
52	163	1	Checksum	Lower 8 bits of the cumulative sum of data length and data bytes	1

 

Precautions

• Strictly follow the pinout arrangement to avoid incorrect connections when using the product;
• This product is a precision measurement device. Avoid impacts, collisions, or other conditions beyond the product tolerance range during handling;
• The mounting of the product has a significant impact on angular velocity measurement. To avoid introducing installation errors, the mounting surface should be flat and level;
• To ensure measurement accuracy, the product must be mounted firmly and securely to avoid errors introduced by looseness;
• During installation and use, pay attention to ESD protection. Wearing an anti-static wrist strap is recommended;
• Follow this manual strictly during operation. Verify that the external environment matches the usage requirements. Do not disassemble the product, modify its internal structure, or perform unauthorized operations if issues arise. Please contact our technical personnel promptly for any questions.

 

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