一、Ellipse-E產(chǎn)品概述
SBG Systems公司Ellipse-E是一款小型化、高性能基于MEMS 的慣性導(dǎo)航產(chǎn)品，通過外接輔助定位設(shè)備來實現(xiàn)zhuo越的位置以及導(dǎo)航數(shù)據(jù)。它包括了一個慣性測量單元（IMU）和運(yùn)行一個增強(qiáng)的擴(kuò)展卡爾曼濾波（EKF），Ellipse-E在連接外部GNSS 接收機(jī)后，提供姿態(tài)（俯仰，橫滾，航向）、深沉以及導(dǎo)航數(shù)據(jù)。除此之外，Ellipse-E 還可以外接里程計等輔助進(jìn)一步提高產(chǎn)品測量的精度。Ellipse-E 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-E外部輔助組合導(dǎo)航系統(tǒng)特點(diǎn)

• 極低噪音的陀螺儀（1）極低噪音的陀螺儀
• 可外接GNSS 接收機(jī)
• 可外接里程計等輔助設(shè)備
• 1~200Hz 的數(shù)據(jù)輸出頻率
• -40~85℃全溫范圍測試以及校準(zhǔn)
• 有眾多的測量運(yùn)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-E外部輔助組合導(dǎo)航系統(tǒng)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(yùn)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(yùn)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/磁場計指標(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

（4）內(nèi)部氣壓高度計指標(biāo)
Ellipse-E，N 和D嵌入了MEMS壓力傳感器，用作高度計。這種壓力傳感器進(jìn)行了全溫校準(zhǔn)和溫度補(bǔ)償，使它成為精 確測量絕壓壓力的理想選擇。Ellipse使用標(biāo)準(zhǔn)大氣模型將絕壓壓力轉(zhuǎn)換為高度，假設(shè)高度上的溫度梯度恒定，海壓水平為1013,25百帕。
壓力傳感器                                                   參數(shù)                                                        備注
分辨率                                                        1.2Pa                                                 10 cm 分辨率
                                                                    ±50 Pa                                         相對-[25°C]，700…1100 hPa
 壓力精度                                                     ±200 Pa                                         絕值-[0…50°C]，450…1100 hPa
                                                                    ±350 Pa                                         對值-[-20…85°C]，450…1100 hPa

長期穩(wěn)定性                                                  <100 Pa/yr
更新速率                                                        100 Hz
（5）外部傳感器
1 第三方全球?qū)Ш叫l(wèi)星系統(tǒng)GNSS接收機(jī)
Ellipse-E 不含內(nèi)部接收機(jī)，但是可以連接至外部GNSS 模塊。所有GNSS接收機(jī)都能提供速度和位置輔助。雙天線系統(tǒng)也可以提供真航向輔助。RTK GPS 接收機(jī)也可以用于提升定位精度。
2 里程計
Ellipse-E，N 和D 都支持里程計輔助輸入，可以大大提升具有挑戰(zhàn)性的環(huán)境（如城市峽谷）中的產(chǎn)品性能。即使在GPS 中斷的期間，里程也能提供可靠的速度信息。這大大提高了航位推算的準(zhǔn)確性。Ellipse處理正交輸出或兼容的里程計，以支持前進(jìn)和后退方向，它也能夠通過OBD-II 連接器（CAN 總線里程表）直接使用車輛的里程表。這使得Ellipse 成為自動駕駛汽車和無人駕駛車輛的出色慣性導(dǎo)航系統(tǒng)，即使在非常密集的城市環(huán)境中也具有很高的精度。
注：里程計集成非常簡單，因為卡爾曼濾波器將精細(xì)地調(diào)整里程計的增益，并將糾正里程計對準(zhǔn)和杠桿臂的殘余誤差。

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                                                  47g                                                     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