Ellipse-A航姿参考系统AHRS

SBG Systems公司Ellipse-A是一款小型化、高性能基于MEMS 的姿态参考系统。它包括了一个惯性测量单元（IMU）和运行一个增强的扩展卡尔曼滤波（EKF），提供姿态（俯仰，横滚，航向）、升沉等数据。Ellipse-A 共有3 个版本，BOX 版、小尺寸OEM 版以及体积小的Micro版，BOX版和OEM版只是在封装以及接口外形有区别，Micro 版将惯导的接口做成通用接口，方便接线以及调试，三者测量精度方面无区别。

SBG Systems公司Ellipse-A航姿参考系统AHRS特点
（1）极低噪音的陀螺仪
（2）1~200Hz 的数据输出频率
（3）-40~85℃全温范围测试以及校准
（4）有众多的测量运动模型可供选择（飞机、无人机、车辆、船、重型机械等）

SBG Systems公司Ellipse-A航姿参考系统AHRS参数指标
（1）加速度计指标
参数                                                                           指标                                                                            备注
量程（g）                                            海洋：8，陆/空：20，高动态：40                    Ellipse系列针对不同应用有三种不同版本可选
标度因数稳定性（ppm）                                             1000                                                                 一年加速老化后
非线性（ppm of FS）                                                 1500                                                                     zui佳配适直线
一年零偏稳定性（mg）                                                 5                                                                         一年加速老化后

速度随机游走（μg/√hz）                                             57
运行时零偏不稳定性（μg）                                         14                                                                     Allan variance @ 25°C
VRE（震动整流误差）（μg/g2）                                 50                                 测试的zui大有效值:A2 版为3g RMS；A3、A4 版为10g RMS
带宽（Hz）                                                                390                                                                     内部低通滤波器衰减<3dB
采样率（kHz）                                                             4                                                                         高 级抗混叠FIR 滤波器
正交性（°）                                                                0.05

（2）陀螺仪指标
参数                                                                                指标                                                                            备注
量程（°/s）                                                        海洋：450；陆/空：450；高动态：1000              Ellipse 针对不同的应用有三中不同版本可选
标度因数稳定性（ppm）                                                  500                                                                     一年加速老化后
非线性（ppm of FS）                                                         50
一年零偏稳定性（°/s）                                                       0.4                                                                     一年加速老化后
角度随机游走（°/√hr）                                                      0.18                                                                 Allan variance @ 25°C
运行时零偏不稳定性（°/hr）                                                 8                                                                    Allan variance @ 25°C
VRE（震动整流误差）（°/h/g2）                                         <1                                                                     zui大测试到10g RMS
带宽（Hz）                                                                         133                                                                         内部陀螺带宽
采样率（kHz）                                                                     10                                                                         高 级抗混叠FIR滤波器
正交性（°）                                                                         0.05
（3）磁力仪指标
参数                                                                                    指标                                                                            备注
量程（Gauss）                                                                    50
标度因数稳定性（%）                                                         0.5
噪音（m Gauss）                                                                 3 频率                                                                    1~25Hz
零偏稳定性（m Gauss）                                                       1
带宽（Hz）                                                                         22                                                                             3dB衰减
分辨率（m Gauss）                                                             1.5
采样率（Hz）                                                                      100
正交性（°）                                                                         0.1                                                                         用户磁校准之后
系统性能
升沉性能（海洋版）
实时升沉信号                                                                                备注
范围           50 米

周期        0~15s
精度海洋版：5cm 或5%                             以较高者为准：速度辅助可用，或者无转弯或变速
模式实时，自动调整

SBG Systems公司Ellipse-A航姿参考系统AHRS机械参数规格
1. 机械参数
参数                                                 BOX版                                            OEM版                                                MICRO版
尺寸                                        46mm*45mm*24mm                 29.5mm*25.5mm*11mm                 26.8mm*18.8mm*9.5mm
重量                                                  45g                                                     8g                                                     10g
冲击                                                                        100g, 6ms 半正弦                                                                   <2000g
操作震动                                                 8g RMS – 20Hz to 2 kHz as per MIL-STD-810G   3g RMS – 20Hz to 2 kHz A2  8g RMS – 20Hz to 2 kHz A3/A4
外壳材质                                        阳极氧化铝                                    铝，导电表面处理                                           铝
IP等级                                            IP68(1 小时@2 米)                                 N/A                                                       N/A
操作温度                                            -40~85℃                                 -40~78℃                                                         -40~85℃
存储温度                                                                                                                    -40~85℃
湿度                                                            密封，无限制98%-                                                                                    无冷凝
MTBF（平均故障时间）                                                                                        50000 小时
校准周期                                                                                                        不需要，免维护
2. 产品视图