SBG Systems公司Ellipse-A是一款小型化、高性能基于MEMS 的姿態(tài)參考系統(tǒng)。它包括了一個慣性測量單元（IMU）和運行一個增強(qiáng)的擴(kuò)展卡爾曼濾波（EKF），提供姿態(tài)（俯仰，橫滾，航向）、升沉等數(shù)據(jù)。Ellipse-A 共有3 個版本，BOX 版、小尺寸OEM 版以及體積小的Micro版，BOX版和OEM版只是在封裝以及接口外形有區(qū)別，Micro 版將慣導(dǎo)的接口做成通用接口，方便接線以及調(diào)試，三者測量精度方面無區(qū)別。

SBG Systems公司Ellipse-A航姿參考系統(tǒng)AHRS特點
（1）極低噪音的陀螺儀
（2）1~200Hz 的數(shù)據(jù)輸出頻率
（3）-40~85℃全溫范圍測試以及校準(zhǔn)
（4）有眾多的測量運動模型可供選擇（飛機(jī)、無人機(jī)、車輛、船、重型機(jī)械等）

SBG Systems公司Ellipse-A航姿參考系統(tǒng)AHRS參數(shù)指標(biāo)
（1）加速度計指標(biāo)
參數(shù)                                                                           指標(biāo)                                                                            備注
量程（g）                                            海洋：8，陸/空：20，高動態(tài)：40                    Ellipse系列針對不同應(yīng)用有三種不同版本可選
標(biāo)度因數(shù)穩(wěn)定性（ppm）                                             1000                                                                 一年加速老化后
非線性（ppm of FS）                                                 1500                                                                     zui佳配適直線
一年零偏穩(wěn)定性（mg）                                                 5                                                                         一年加速老化后

速度隨機(jī)游走（μg/√hz）                                             57
運行時零偏不穩(wěn)定性（μg）                                         14                                                                     Allan variance @ 25°C
VRE（震動整流誤差）（μg/g2）                                 50                                 測試的zui大有效值:A2 版為3g RMS；A3、A4 版為10g RMS
帶寬（Hz）                                                                390                                                                     內(nèi)部低通濾波器衰減<3dB
采樣率（kHz）                                                             4                                                                         高 級抗混疊FIR 濾波器
正交性（°）                                                                0.05

（2）陀螺儀指標(biāo)
參數(shù)                                                                                指標(biāo)                                                                            備注
量程（°/s）                                                        海洋：450；陸/空：450；高動態(tài)：1000              Ellipse 針對不同的應(yīng)用有三中不同版本可選
標(biāo)度因數(shù)穩(wěn)定性（ppm）                                                  500                                                                     一年加速老化后
非線性（ppm of FS）                                                         50
一年零偏穩(wěn)定性（°/s）                                                       0.4                                                                     一年加速老化后
角度隨機(jī)游走（°/√hr）                                                      0.18                                                                 Allan variance @ 25°C
運行時零偏不穩(wěn)定性（°/hr）                                                 8                                                                    Allan variance @ 25°C
VRE（震動整流誤差）（°/h/g2）                                         <1                                                                     zui大測試到10g RMS
帶寬（Hz）                                                                         133                                                                         內(nèi)部陀螺帶寬
采樣率（kHz）                                                                     10                                                                         高 級抗混疊FIR濾波器
正交性（°）                                                                         0.05
（3）磁力儀指標(biāo)
參數(shù)                                                                                    指標(biāo)                                                                            備注
量程（Gauss）                                                                    50
標(biāo)度因數(shù)穩(wěn)定性（%）                                                         0.5
噪音（m Gauss）                                                                 3 頻率                                                                    1~25Hz
零偏穩(wěn)定性（m Gauss）                                                       1
帶寬（Hz）                                                                         22                                                                             3dB衰減
分辨率（m Gauss）                                                             1.5
采樣率（Hz）                                                                      100
正交性（°）                                                                         0.1                                                                         用戶磁校準(zhǔn)之后
系統(tǒng)性能
升沉性能（海洋版）
實時升沉信號                                                                                備注
范圍           50 米

周期        0~15s
精度海洋版：5cm 或5%                             以較高者為準(zhǔn)：速度輔助可用，或者無轉(zhuǎn)彎或變速
模式實時，自動調(diào)整

SBG Systems公司Ellipse-A航姿參考系統(tǒng)AHRS機(jī)械參數(shù)規(guī)格
1. 機(jī)械參數(shù)
參數(shù)                                                 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
沖擊                                                                        100g, 6ms 半正弦                                                                   <2000g
操作震動                                                 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
外殼材質(zhì)                                        陽極氧化鋁                                    鋁，導(dǎo)電表面處理                                           鋁
IP等級                                            IP68(1 小時@2 米)                                 N/A                                                       N/A
操作溫度                                            -40~85℃                                 -40~78℃                                                         -40~85℃
存儲溫度                                                                                                                    -40~85℃
濕度                                                            密封，無限制98%-                                                                                    無冷凝
MTBF（平均故障時間）                                                                                        50000 小時
校準(zhǔn)周期                                                                                                        不需要，免維護(hù)
2. 產(chǎn)品視圖