Product description
Introducing the FS100, a comprehensive system designed to provide high-precision measurement and control capabilities. This advanced system comprises several key components, including the Inertial Measurement Unit (IMU), Rotation Mechanism, Navigation Computer, GNSS Board, Navigation Software, DC Power Supply, and Mechanical Components.
The IMU, a crucial component of the FS100, consists of three high-precision fiber optic gyroscopes, three quartz flexure accelerometers, a navigation computer, a secondary power supply, and a data acquisition circuit. Leveraging a high-precision closed-loop fiber optic gyroscope, accelerometer, and high-end GNSS receiver board, the FS100 system employs cutting-edge multi-sensor fusion and navigation algorithms to deliver exceptional accuracy in attitude, velocity, and position information.
The FS100 system caters to various high-precision measurement and control requirements across multiple applications. Its key application areas include:
Large UAV Reference Inertial Guidance: The FS100 provides precise inertial guidance capabilities for large unmanned aerial vehicles (UAVs), ensuring optimal navigation and control.
Marine Compass: With its high precision and stability, the FS100 serves as an ideal compass solution for marine applications.
Self-Propelled Artillery Orientation: The FS100 system offers accurate orientation capabilities for self-propelled artillery systems, enabling precise targeting and control.
Vehicle-Based Positioning and Orientation: Utilizing the FS100, vehicles can achieve precise positioning and orientation, enhancing navigation and control in diverse environments.
High-Precision Mobile Measurement: The FS100 excels in high-precision mobile measurement scenarios, delivering accurate and reliable measurement data for a wide range of applications.
High-Precision Stable Platform: With its exceptional stability and precision, the FS100 is a perfect fit for high-precision stable platform applications, ensuring reliable and accurate performance.
Experience the pinnacle of high-precision measurement and control with the FS100, a comprehensive solution designed to meet the most demanding requirements in various industries.
MAIN FUNCTION
The system has combined inertial/satellite navigation mode and pure inertial mode.
Inertial guide built-in GNSS board, when GNSS is effective inertial guide can be combined with GNSS for navigation, and provide the combined position, altitude, speed, attitude, heading, acceleration, angular velocity and other navigation parameters to the user, while outputting GNSS position, altitude, speed and other information.
When GNSS is invalid, it can enter the pure inertial mode (i.e., it has never performed GPS fusion after power on, and if it loses lock again after fusion, it belongs to the combined navigation mode) After starting, it has accurate attitude measurement function, can output pitch and roll heading, and pure inertial can be static north finding.
The main functions include
l initial alignment function: inertial guide power on and wait for the satellite information is valid, the satellite is valid for 300s alignment, alignment is completed after the transfer to the combined navigation state inertial guide;
l combined navigation function: immediately after the initial alignment into the combined navigation state, inertial guidance using the internal GNSS board for combined navigation, can solve the carrier speed, position and attitude and other navigation information;
1.communication function: the inertial guide can output inertial guidance measurement information to the outside according to the protocol;
2.with the ability to upgrade software in situ on board: the navigation software can be upgraded through the serial port;
3.with self-detection capabilities, when the system failure, able to send invalid, warning information to the relevant equipment;
4.with wobble alignment function.
The inertial guidance workflow is shown in Figure 1 below.
Figure 1 Inertial guidance workflow diagram
PERFORMANCE INDEX
INSTRUCTIONS FOR USE
1、Product Composition
The inertial guidance mainly consists of inertial measurement unit, rotation mechanism, navigation computer, GNSS board, navigation software, DC power supply and mechanism parts. Among them, the inertial measurement unit consists of three high-precision fiber optic gyroscopes, three quartz flex accelerometers, navigation computer, secondary power supply, and data acquisition circuit, as shown in Figure 3 below.
The composition of the product is as follows Figure 1.
Figure 3 System Composition
2、Working Principle
The inertial measurement unit inside the inertial guide uses three high-precision fiber optic gyroscopes in orthogonal configuration to be sensitive to the angular motion of the carrier, and outputs a digital signal proportional to the angular rate of the carrier motion; three quartz flexural accelerometers in orthogonal configuration are sensitive to the linear acceleration of the carrier, and outputs a current signal proportional to it, and the current signal is converted into a digital signal by a conversion circuit. The inertial measurement unit outputs angular velocity and acceleration information externally.
The inertial measurement unit is mounted on the rotating mechanism to rotate with the rotating mechanism, and the reciprocal rotation of the rotating mechanism achieves the purpose of modulating the error of the inertial device.
The GNSS board receives the satellite information and sends the navigation result to the navigation computer after the navigation position is solved.
The navigation computer completes the gyroscope, accelerometer, GNSS data reception, system error compensation calculation, navigation solution, and sends real-time velocity, position, attitude and other navigation information through the interface circuit with a specified period.
The inertial guide has the function of self-seeking based on the "compass effect", which can measure the heading value indicated by the inertial guide; in addition, based on the accelerometer and gyroscope measurements, the horizontal attitude angle is calculated based on the static base state or reference velocity.
The working principle of the inertial guidance is shown in Figure 4.
Figure 4 Inertial guidance working principle diagram
Rotationally modulated inertial guidance is to add a translational mechanism and goniometric device to the outside of the Jetlink inertial guidance system. The navigation solution still uses the Jetlink inertial guidance algorithm, which directly solves the attitude of the inertial measurement unit and obtains the attitude information of the carrier according to the rotation angle of the inertial measurement unit relative to the carrier (obtained in real time by the goniometric device).
The following is an example to briefly illustrate the effect of rotation modulation.
Take the horizontal gyro zero offset as an example, suppose the zero offset of horizontal gyro X and Z are and respectively, and the inertial navigation direction angle is, then the equivalent gyro drift of north direction and east direction is
If the heading angle remains constant, there is a constant equivalent north and east gyro zero bias, and the integration yields dispersive attitude errors over time, which in turn cause navigation velocity and position errors;
If the heading angle , i.e., the heading angle varies periodically, the sine cosine integral period of the heading angle in the above equation is zero after integration, so the equivalent north and east gyro zero bias will not cause the attitude error dispersion with time, which plays the role of modulating the gyro zero bias, thus suppressing the navigation error. The modulation principle of the horizontal accelerometer zero bias is similar to this.
3、Size and weight
3.1、Size
The external dimension of the system is 199mm×180mm×219.5mm (L×W×H), and the external dimension diagram is shown in Figure 5 below.
Figure 5 Inertial guidance system form factor diagram
3.2、Weight
Not more than 8.0kg for a single set of inertial guides (optionally not more than 6.5kg for aero-type applications).
3、Power supply and electrical interface
4.1 、Power supply
Dual power supply is available, and the specific power supply characteristics are as follows:
Input voltage range from 24V to 36V;
Transient power consumption not more than 100W (<3s);
Rated power consumption is no more than 30W.
4.2、Electrical Interface
4.2.1、 Connector Definition
There are 5 connection sockets on the inertial guidance connector panel as shown in Figure 6 below, see Appendix 1 for each connector type and point definition.
The X1, X2 and X3 connector plugs are provided at delivery, and the user makes his own on-board cable. A 750mm length RF cable with TNC male connectors on both ends is provided for delivery.
4.2.2 \Motor interfaces and protocols
The electrical interfaces are as follows, and the inertial guide interface relationships are shown in Figure 7:
1.7-way RS422 interface, of which:
COM1: output navigation information to the user: this interface outputs navigation information externally, up to 100Hz, see Appendix 2 for communication protocols;
COM2: output IMU information to the user: this interface outputs IMU information to the outside, up to 200Hz;
COM3, COM4, COM5 are backup interfaces;
COM8 is the configuration and test interface.
2.2-channel RS232, of which COM6 can receive satellite differential information and COM9 is the GNSS board configuration interface;
3.1-channel USB interface, which can be used for internal storage data export.
Figure 7 Inertial guidance interface relationship
3、Inertial guidance workflow
After the inertial guide is powered on, the navigation software is loaded, and the system self-test is performed after loading. Self-test success, then enter the combined navigation process. Inertial guide workflow diagram is shown in Figure 8 below.
Figure 8 Inertial guidance workflow diagram
After entering the combined navigation process, the inertial guide waits for valid GNSS navigation information, including longitude, latitude, altitude, speed, etc. After successful binding, it enters the alignment state.
After 3min of alignment, the external output of navigation information such as heading, but the data state is invalid. After 5min of alignment, the alignment result is judged, if the alignment is successful, it is transferred to the navigation state, otherwise the external output of alignment failure fault state, continue the alignment, and when the alignment completion criterion is satisfied, the alignment failure state word is cleared and transferred to the combined navigation state.
When the alignment is completed, the alignment fault status word is cleared and the navigation state is transferred to the combined navigation state.
6、Installation and commissioning
6.1 、Coordinate system and direction definition
Body coordinate system - ("forward-right-down"): X-axis is forward along the longitudinal axis of the body, Y-axis is right along the horizontal axis of the body, and Z-axis is down along the vertical axis of the body;
Geographical coordinate system - ("east-north-sky"): eastward, northward and skyward are positive, respectively;
Navigation attitude angle direction - horizontal roll angle right roll is positive, pitch angle up is positive, yaw angle right deviation is positive.
6.2\ Mounting
The inertial guide mounting elements are as follows (without shock absorbers):
1.Four protruding mounting planes on the mounting end face of the inertial guide with a height of 1mm and a flatness of 0.01mm, and mounting holes on the four corners of the inertial guide with a through hole diameter of 6.5mm;
2.Require the mounting base plate in the installation area of not less than 205mm * 185mm flatness better than 0.015mm, the thickness of the base plate is not less than 10mm;
3.Inertial guide arrow direction is inertial navigation direction, the arrow is parallel to the carrier longitudinal axis when installed;
4.Inertial guide bottom surface has two positioning pin holes, used to ensure that after disassembly and repeat installation of the heading installation accuracy, near the connector end for a word waist hole, the other end for the round hole; inertial guide installation base plate hole position and positioning pin size shown in the figure below, where the positioning pin in the installation pin into the base plate; inertial guide installation base of the right vertical surface can also be used as a mounting surface to ensure that after disassembly and repeat installation of the heading installation accuracy;;
5.The use of 4 × M6 screws to fix the inertial guide on the mounting base plate, the depth of the thread on the mounting base plate is not less than 10mm, the installation is stable;
6.Inertial guide tail connector direction space of not less than 150mm;
7.Satellite antenna center point and inertial guide installation center point relative position fixed, need user measurement given, measurement accuracy better than 20mm.
6.3、 debugging
The commissioning steps of the inertial guide are as follows:
1.Install or place the inertial guide on a stable and thermally conductive mounting table;
2.Connect the inertial conductor cable, communication cable and antenna feeder, place the antenna in an open and unobstructed location; connect the com1 port in the communication cable to the test computer to facilitate real-time collection of fiber optic inertial guidance navigation information; DC regulated power supply to 28V, the supply current is not less than 3A;;
3.Check the circuit is connected after the inertial guide power supply, wait for about 20s after the com1 port that can receive the data;
4.Inertial guidance alignment 300s after the transition to the navigation state, com1 port can receive effective navigation information;
5.Static navigation 1h, statistics 1h attitude accuracy, attitude and level to meet the indicators to go, the inertial guidance is working properly;
6.After debugging, the inertial guide power off.
7、 Use and operation
7.1、 Combined navigation working mode
The steps for use are as follows:
1.Install the inertial guide correctly according to the requirements in the section "Installation";
2.Connect the inertial conductor cable, communication cable and antenna feeder, the antenna is installed in the correct position; each cable is connected to the user equipment correctly; DC power supply 24V~36V, power supply current is not less than 3A;
3.Check the circuit is connected after the inertial guide power supply, wait about 20s after the inertial guide to send information to the outside;
4.Inertial guide waiting for valid satellite information, if the satellite information is valid, then start to align; align 300s after switching to the navigation state, send navigation information;
5.Inertial guide power off at the end of use.
8、 Maintenance and repair
8.1 、Maintenance content
It is recommended that the inertial guide quarterly power on, each power on time more than 1h, if there is a fault, need to accurately record the fault state, timely report to the contractor maintenance or repair.
In order to ensure that the inertial guide accuracy to meet the requirements of use, every 2a (tentative) for a parameter calibration, tentative calibration needs to return to the factory for calibration.
8.2 、Requirements for test and use personnel
The personnel engaged in the test and use of inertial guidance, need to carefully read the technical documents and operating instructions, proficient in the operation of this specialty, proficient in the use of equipment and tools related to the operation of this specialty.
8.3、 Inertial guide use precautions
Inertial guide use process need to pay attention to the following matters:
1.Inertial guide power supply interval of not less than 30s, to avoid repeated power up for a short time, otherwise it may cause internal inertial devices burned;
2.Inertial guide is a precision instrument, should avoid dropping, collision and extrusion;
3.Inertial guide with internal rotating mechanism devices, the work process will have a slight motor rotation sound, is a normal phenomenon.
9 、Fault Analysis and Troubleshooting
The possible faults of the inertial guide, the causes of the faults and the troubleshooting methods are shown in the following table.
Table 2 Fault analysis and troubleshooting
10 、Transport and storage
The inertial guide is equipped with a special packing box. Inertial guide in the process of individual transportation must use the box; in the disassembly and handling should be carefully placed, avoid collision, overturning, knocking and rain, and acid, alkali and other corrosive substances, volatile substances, flammable and explosive substances are strictly prohibited in the transport together. Well-packaged inertial guide can be suitable for highway, railroad, waterway, air transport, etc.
In order to make the inertial guide as high as possible to maintain high precision and a long service life, should try to choose a better storage environment, in general, storage should be consistent with: the temperature of 5 ℃ ~ 40 ℃, relative humidity is not more than 80%, no corrosive substances in the warehouse.
11、Appendix
Appendix 1 Connector Model and Point Definition
Table 1 Connector model number (Type II)
Appendix 2 COM1 port to send external navigation information
Table 5 COM1 port external sending navigation information protocol
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