BTSTC-INS0140

BTSTC-INS0140 inertial navigation system uses fiber optic gyroscope and quartz flexible accelerometer as inertial sensing devices, and integrates navigation computer, I/F conversion, DC power supply, satellite receiver and other supporting circuits.

cyj@btstc.com

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FOG-based INS

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BTSTC-INS0140 Inertial Navigation System

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BTSTC-INS0140

Details

Overview

It provides high-precision position, speed, heading, pitch, roll and other attitude reference information for airborne platforms, and to output carrier acceleration, angular velocity and position change information.

Fig. 1 BTSTC-INS0140 Inertial Navigation System

Technical specification

Table 1 Main technical parameters

Item		Unit	Indicators
Align	Heading (single antenna, static, 1 σ)	°	＜0.8
Align	Horizontal attitude (pitch angle, roll angle, 1σ)	°	＜0.03
GNSS/INS Integrated navigation accuracy	Horizontal position (single point positioning, 1 σ)	m	＜1.5
	Velocity, 1σ	m/s	＜0.1
	Heading (single antenna, dynamic post-convergence, 1σ)	°	＜0.2
	Horizontal attitude (pitch angle, roll angle, 1σ)	°	＜0.03
Pure inertial Navigation accuracy	Position, pure inertia 5min, CEP	m	＜300
	Position, pure inertia 60 min, CEP	nmile	＜6
	Heading, pure inertia 60 min	°	＜0.2
	Horizontal attitude, pure inertia 60 min	°	＜0.1
IMU Metrics	Gyro bias stability	°/h	＜0.3
	Random walk coefficient	°/	＜0.03
	Maximum range of angular velocity measurement	°	＞400
	Bias stability of accelerometer	ug	＜60
	Acceleration measurement range	g	±30
Communication interface	RS422/485/232 configurable intelligent communication port 9600bps~921600bps		Route 3
	RS232 monitoring communication port		Route 1
	GNSS data link communication port		Route 1
	Data update rate	Hz	Default 200
	INS solves the frequency	Hz	＞200
	GNSS update frequency	Hz	5
Electrical interface	Supply voltage	V	9~36
	Power consumption	W	<20
	RF antenna output		100mA@5V
Mechanical interface	Dimensions (excl. connectors)	mm	80 × 80 × 88
	Weight	g	<950
	Data interface		J30J-25ZK
	RF interface		SMA
Environmental adaptability	Operating temperature	℃	-40~60
	Storage temperature	℃	-45~70
	Waterproof standard		MIL-STD-810F, 506.4
	Vibration environment		GJB151 A Propeller Aircraft Platform
	Impact conditions		25 g, 11ms, half sine wave
	MTBF	h	>7000

Table 2 Technical parameters of three-axis integrated FOG

No.	Item	Unit	Indicators
1	Preparation time	s	≤2
2	Zero-bias stability (room temperature, 10 s smoothing, 1σ)	^(ο)/h	≤0.3(1σ)
3	Zero-bias stability (variable temperature, 10 s smoothing, 1σ)	^(ο)/h	≤0.6(1σ)
4	Zero-bias repeatability (1σ)	^(ο)/h	≤0.3
5	Random walk coefficient	^(ο)/√h	≤0.03
6	Scale factor nonlinearity	ppm	≤50
7	Gyroscope measuring range	^(ο)/s	±500

Table 3 Technical parameters of Quartz Flexible Accelerometer

No.	Item	Unit	Technical indicators
1	Enter the range	g	＞60
2	Bias	mg	≤20
3	Offset monthly stability (1σ)	μg	＜60
4	Bias Temperature Coefficient	μg/℃	＜30
5	Monthly stability of scale factor (1σ)	ppm	＜100
6	Scale factor temperature coefficient	ppm/℃	＜30
7	Operating temperature range	℃	-45～+80
8	Threshold	μg	＜5
9	Impact	g,ms	120g,4.5ms,1/2sin
10	Vibration	g,Hz	8grms(20~2000)Hz

Table 4 Technical Specifications of Receiver

Frequency point	BDS B1/B2/B3 GPS L1/L2 GLONASS L1/L2 Galileo E1/E5b
Initialization time	< 5 seconds (typical)
Single Point Positioning (RMS)	Plane: 1.5m Elevation: 3.0 m
Data update rate	5Hz
Time accuracy (RMS)	20ns
Velocity Accuracy (RMS)	0.03m/s

Table 5 I/F Conversion Circuit Index

No.	Content	Unit	Indicators
1	Number of conversion channels	——	3
2	Current measurement range	mA	up to ± 80 (Customizable)
3	Full-scale output frequency	kHz	512
4	Zero bias	nA	±200
5	Zero-bias temperature coefficient	nA/℃	＜
6	Scale factor non-linearity	——	＜5×10^-5
7	Small signal deviation	pulse/s	1
8	I/F Scale Factor Temperature Coefficient	ppm/℃	15

Structural dimensions(mm)

Overall dimension: 80 ± 0.1 × 80 ± 0.1 × 88 ± 0.1,

Weight: less than 950 g,

Installation dimension: (mm) 72 ± 0.1 × 72 ± 0.1 (L × W),

hole position: Φ4.2 × 4,

Fig. 2 Structural dimension of BTSTC-INS0140 INS

Electrical interface

1. Power supply

The navigation system is powered by a DC power supply with a wide DC voltage of 9V ~ 36V and a nominal power supply voltage of 24V. The steady-state power consumption is less than 20W, the transient power consumption is less than 50 W, and the transient width is less than 1 ms.

Table 6 Power Supply Requirements

No.	Name	Request
1	Voltage range	+9V~+36V
2	Power ripple (Vpp)	20mV
3	Supply power	>50W

2. Definition of connector and core point

1 LF connector and 1 SMA RF connector are used for the external data power connection of the navigation system, as shown in the figure below.

Fig. 3 BTSTC-INS0140 Connector

The low-frequency connector is X1, which is J30J rectangular aviation connector.
X2 is a high-frequency connector, which is connected to the GNSS positioning antenna and adopts the SMA female socket.

Table 7 Definition of Core Point

No.	Content	Remark
1	24V input
2	24V GND
3	JKTxD Monitor 232 Send
4	DGND Digital Ground
5	JKRxD Monitor 232 Receive
6	DGND Digital Ground	Flight control communication serial port
7	COM0Ty + 422 Send +
8	COM0Ry + 422 receive +/232 receive	Flight control communication serial port
9	COM0Ty-422 Send-/232 Send	Flight control communication serial port
10	COM0Ry-COM0422 Receive-
11	GPSTxD GPS 232 Send
12	GPSRxD GPS 232 Receive
13	GPS 1PPS output 3.3 V
14	DGND Digital Ground
15	AIO _ OUT A-channel I/O output
16	PPS1 TTL 3.3/5V IN	Anti-jamming module input
17	COM2Ty-422 Send-	Anti-jamming module input
18	COM2Ry-422 Receive-	Anti-jamming module input
19	COM2Ty + 422 Send +	Anti-jamming module input
20	COM2Ry + 422 Receive +	Anti-jamming module input
21	COM1Ty + 422 Send +
22	COM1Ry + 422 receive +/232 receive
23	COM1Ty-422 Send-/232 Send
24	COM1Ry-422 receive-
25	DGND Digital Ground/GND _ 2

Table 8 Electrical Signal Characteristics

Item	Unit	Minimal	Typical	Max
25 ℃ steady state power consumption	W		18	30
Startup power consumption -40℃~60℃	W		40	50
Data valid time	s		2	3
RS422 baud rate error	%			0.1
RS422 input impedance	Ω		120

Communication protocol

The communication protocol is optional. The default configuration of the communication serial port in this system is COM0 RS232 to output STD8B protocol. At the same time, it receives the correction information from the flight control to the inertial navigation. The baud rate is the start bit of the 460800,1 bit, 8 data bits, and 1stop bit. There is no parity check.

Table 9 Format of STD8B message (from inertial navigation to flight control)

No.	Format	Content	Unit	Description
1	UINT8	0xEB	—	Frame header
2	UINT8	0x90	—	Frame header
3	UINT8	——	—	Frame length N, total number of data bytes from frame header to checksum
4	UINT8	0xD1	—	Frame ID
5	UINT32	——	—	Frame count
6	UINT8	——	—	Status
7	float	——	rad	Pitch Angle
8	float	——	rad	Roll Angle
9	float	——	rad	Heading angle
10	float	——	°	Flight Path Angle
11	float	——	rad/s	Pitch rate
12	float	——	rad/s	Roll rate
13	float	——	rad/s	Heading angular rate
14	INT32	——	10^(-7)°	Longitude
15	INT32	——	10^(-7)°	Latitude
16	INT32	——	0.01m	High air pressure
17	INT32	——	0.01m	GPS high
18	INT32	——	0.01m	Filter high
19	float	——	m/s	Northbound speed
20	float	——	m/s	Eastbound speed
21	float	——	m/s	Earthward velocity
22	float	——	m/s	Airspeed
23	float	——	m/s²	Northward acceleration
24	float	——	m/s²	Eastward acceleration
25	float	——	m/s²	Ground acceleration
26	UINT8	——	—	Number of satellites
27	UINT16	——	0.01m	Horizontal precision factor
28	UINT16	——	0.01m	Vertical precision factor
29	UINT8	——	—	GPS status
30	UINT8	——	h	GPS time
31	UINT8	——	m	GPS minutes
32	UINT8	——	s	GPS seconds
33	INT8	——	℃	Temperature
34	INT16	——	°	Dual antenna heading
35	INT16	——	°	Standard deviation of course
36	UINT8	——	—	Sensor status
37	UINT8	——	100ms	Internal GPS sampling interval
28	UINT8	——	100ms	External GPS sampling interval
39	float	——	m/s	GPS northbound velocity
40	float	——	m/s	GPS eastbound velocity
41	float	——	m/s	GPS ground speed
42	UINT16	——	—	Milliseconds in GPS seconds
43	UINT8	——	—	GPS days within a week
44	UINT16	——	—	GPS Week
45	UINT8	——	—	AHRS status
46	float	——	rad	Pitch Angle
47	float	——	rad	Roll Angle
48	float	——	rad	Heading angle
49	UINT8	——	—	Checksum low byte
50	UINT8	——	—	Checksum high byte

Table 10 Correction information (from flight control to inertial navigation)

Byte	Definition	Explain	Data type
0-1	Frame header	0x90EB
2	Length	0x18
3	ID	0xA2
4-7	Frame count		U32
8	Status	Bit 0: airspeed status Bit2: barometer status 1: Fault 0: OK	U8
9-12	Barometric pressure and high altitude	Unit: 0.01 m	S32
13-16	Airspeed	Unit: 0.1m/s	S32
17	Command word	0 x00: None 0 X11: group 0 x22: pure habit 0X33: Atmospheric combination enabled 0 x44: Atmosphere combination off	U8
18	Reserve 1		U8
19	Reserved 2		U8
20	Reserved 3		U8
21	Reserved 4		U8
22-23	Checksum

Reliability

Table 11 Reliability Prediction of Components of Inertial Navigation System

No.	Object	λ _ifailure rate (10 ^-6/H)
1	Accelerometers (3)	39.97
2	Fiber-optic gyroscope	41.44
3	DC power supply	16.31
4	Navigation computer	15.21
5	Electrical system	1.285
6	GNSS board	21.91
System	Work failure rate	136.1250
System	MTBF	7346.19h

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