Inertial Sensors: IMU, GPS-INS, AHRS, MRU for UAVs & Robotics

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Inertial Labs is a leading designer and manufacturer of position and orientation tracking systems for unmanned vehicles, based on the fusion of inertial sensors with a range of other cutting-edge sensing technologies. With our engineering expertise, we create high-performance inertial sensor systems with small size and low power requirements.

Our products are ideal for a variety of unmanned systems applications, including motion tracking, weapon orientation tracking, payload stabilization, and inertial position tracking for GPS-denied environments.

Inertial Measurement Units (IMU)

IMU-NAV-100 Inertial Measurement Unit

High-performance navigation-grade IMU

The IMU-NAV-100 is a lightweight and compact IMU based on state-of-the-art MEMS sensor technologies, providing three-axis linear accelerations and angular rates with very low noise and high reliability.

Fully calibrated, temperature compensated, and mathematically aligned to an orthogonal coordinate system, the IMU-NAV-100 is highly accurate in both static and dynamic conditions.

Featuring continuous Built-in Test (BIT), configurable communications protocols, electromagnetic interference (EMI) protection, and flexible input power requirements, the unit is ideal for UAV, AUV & ROV navigation and control, platform orientation and stabilization, and more. It is available in two performance variants.

Specifications:

	IMU-NAV-100 Tactical A	IMU-NAV-100 Tactical S
Size	59.2 x 48.2 x 48.2 mm
Weight	155 g
Gyroscope Bias In-Run Stability	0.5 deg/hr	1 deg/hr
Gyroscope Noise ARW	0.1 deg/√hr	0.04 deg/√hr
Accelerometer Bias in-run Stability	0.003 mg
Accelerometer Noise VRW	0.008 m/sec/√hr
Pitch & Roll Accuracy	0.03 deg static 0.06 deg dynamic
Power Consumption	0.8W @ 5V
Operating temperature	-40 to +85 deg C

More Information: IMU-NAV-100 Inertial Measurement Unit

IMU-P Inertial Measurement Unit (IMU)

High Performance Industrial & Tactical Grade IMUs

The IMU-P is a light-weight and compact high performance Inertial Measurement Unit (IMU), designed for a number of applications including UAV and AUV/ROV navigation and control.

The unit contains three highly accurate Advanced MEMS gyroscopes and three ultra high performance accelerometers for precise linear acceleration and angular rate measurements.

The IMU-P is an ITAR free inertial solution, that is fully calibrated and compensated over its operating temperature range. Both Industrial and Tactical grade units are available.

Compact size (39 x 45 x 22 mm) and low weight (70 gram) – ideal for integrated system applications.

IMU-P Applications:

Antenna and Line of Sight Stabilization Systems
Motion Reference Units (MRU)
Motion Control Sensors (MCS)
Gimbals, EOC/IR, platforms orientation and stabilization
UAV & AUV/ROV navigation and control

Specifications:

	“Industrial” IMU-P	“Tactical” IMU-P
Gyroscope Bias in-run Stability	3 deg/hr	1 deg/hr
Gyroscopes noise density	0.006 deg/sec√Hz	0.004 deg/sec√Hz
Accelerometer Bias in-run Stability	0.015 mg	0.005 mg
Accelerometers noise density	0.03 mg√Hz	0.025 mg√Hz
Pitch & Roll static accuracy	0.05 deg	0.05 deg
Power Consumption	0.8 @ 5V	0.8 @ 5V
Operating temperature	-40 to +85 deg C	-40 to +85 deg C

More Information: IMU-P Inertial Measurement Units (IMU)

Kernel Inertial Measurement Units

Fully-integrated industrial and tactical-grade IMUs

The Kernel series of strapdown three-axis IMUs features the latest in MEMS sensor technology, providing a number of options to suit both industrial- and tactical-grade requirements.

Providing linear acceleration and angular rate outputs with three-axis MEMS accelerometers and gyroscopes, the fully-integrated IMUs are compact and lightweight and have been thoroughly tested to withstand large variations in temperature, high vibration, and shock.

The fully-calibrated units can be integrated into MRUs, AHRS and GNSS-INS, and are also ideal for a wide variety of drone and robotics applications such as autonomous vehicles, antenna and line of sight stabilizations systems, and vessel motion monitoring.

Specifications:

	Kernel-110	Kernel-120	Kernel-210	Kernel-220
Size	28.38 x 19.5 x 10.5 mm	28.38 x 19.5 x 10.5 mm	28.38 x 19.5 x 10.5 mm	28.38 x 19.5 x 10.5 mm
Weight	10 g	10 g	15 g	17 g
Measurement Ranges	±8 /±15/±40 g	±40/±90 g	±8 /±15/±40 g	±8/±15/±40/±90 g
Gyro Bias In-Run Stability	2 deg/hr	2 deg/hr	1 deg/hr	1 deg/hr
Gyro Noise (ARW)	0.3 deg/√hr	0.3 deg/√hr	0.2 deg/√hr	0.2 deg/√hr
Accelerometer Bias In-Run Stability	0.01/0.03/0.05 mg	0.05/1 mg	0.005/0.01/0.02 mg	0.005/0.01/0.02/1 mg
Pitch & Roll Accuracy	0.05 deg static 0.08 deg dynamic	0.05 deg static 0.08 deg dynamic	0.05 deg static 0.08 deg dynamic	0.05 deg static 0.08 deg dynamic

More Information: Kernel Inertial Measurement Units

Digital Tilt Sensors

OS3D-DTS Digital Tilt Sensor

High Accuracy, Miniature MEMS Digital Tilt Sensor

The OS3D-DTS is an ultra-high accuracy, miniature dual axis MEMS Digital Tilt Sensor, designed for precision tilt measuring. It includes tri-axial MEMS Gyroscopes and tri-axial high precision MEMS Accelerometers; and is equipped with an onboard processor and embedded inclination and tilt algorithms allowing for direct integration into systems without interfacing a PC.

The low-SWaP, ITAR-free OS3D-DTS is environmentally sealed (IP67) in a rugged enclosure, making it ideal for a wide range of unmanned applications, including UAVs, Robotics and Electro Optical Systems.

Digital Tilt Sensor Applications:

Robotics
Remote Weapons Stations (RWS) stabilization and pointing
Electro-Optical Systems (EOS) stabilization

Specifications:

Size	26.5×19.5×7.4mm
Weight	9 grams
Power Consumption	125 mW (typical)
Pitch & Roll Resolution	0.01 deg
Pitch & Roll Accuracy	0.05 deg
Bandwidth	up to 200 Hz
Operational Temperature Range	-40 to +85 deg C

More Information: OS3D-DTS Digital Tilt Sensor

Attitude and Heading Reference Systems (AHRS)

AHRS-10 – High Accuracy AHRS

The AHRS-10 is a high-accuracy AHRS that outputs absolute orientation (heading, pitch and roll) for both motionless and dynamic applications. It integrates precision 3-axis accelerometers, magnetometers and gyroscopes to provide absolute pitch and roll data, real time device rotation data and ongoing gyroscope corrections.

The AHRS-10 utilizes our high-performance Fluxgate Magnetometer technology for superior stability and repeatability, making it an ideal solution for unmanned systems applications where superior accuracy is required.

AHRS-10 Applications:

Point-to-point antenna stabilization and motion control
Antenna Reference Units (ARU)
Radar Reference Units (RRU)

Specifications:

Model	AHRS-10B	AHRS-10P
Size	90×27×26mm	90×27×26mm
Weight	77 grams	843 grams
Heading Accuracy	0.8 deg static, 1.0 deg dynamic	0.3 deg static, 0.6 deg dynamic
Pitch & Roll Accuracy	0.2 deg static, 0.5 deg dynamic	0.1 deg static, 0.3 deg dynamic
Gyroscope Bias in-run Stability	8 deg/hr	1 deg/hr
Accelerometer Bias in-run Stability	0.005 mg	0.005 mg
Magnetometer bias in-run stability	0.8 nT	0.2 nT

More Information: AHRS-10 Attitude and Heading Reference System

AHRS-II – Absolute Orientation AHRS

The AHRS-II is our family of next-generation AHRS featuring state-of-the-art algorithms for a wide range of dynamic motions of unmanned vehicles. Precision 3-axis accelerometers, magnetometers and gyroscopes provide heave, heading, pitch and roll data, as well as high-frequency real time device rotation data and ongoing gyroscope corrections.

OptoAHRSTM-II works through the use of reference images. A reference image is literally a picture of the horizon in a given direction. Within the reference image the system identifies a constellation of identifiable features.

AHRS-II Applications:

Antenna pointing systems
Geospatial systems

Specifications:


Model	AHRS-II-P	OptoAHRS-II
Size	120 x 50 x 53 mm	132 x 60 x 47 mm
Weight	220g	600g
Heading Accuracy	0.3 deg	<0.2 deg
Pitch & Roll Accuracy	0.1 deg	0.08 deg
Gyroscope Bias in-run Stability	1 deg/hr	1 deg/hr
Accelerometer Bias in-run Stability	0.005 mg	0.005 mg
Magnetometer Bias in-run Stability	0.2 nT	0.1 nT

More Information: AHRS-II Attitude and Heading Reference System

miniAHRS – Miniature AHRS

The miniAHRS is a lightweight, compact AHRS that is ideal for integration into small drones and unmanned systems. The device combines 3-axis accelerometers, magnetometers and gyroscopes to provide absolute pitch and roll data, real-time three-axis rotation measurement, and ongoing gyroscope corrections.

The miniAHRS features advanced Kalman filter-based sensor fusion techniques as well as state-of-the-art algorithms for the dynamic motions of different unmanned vehicles and robotic platforms in land, sea and air domains.

miniAHRS Applications:

Low-SWaP UAVs and unmanned systems
Weapons systems fire control

Specifications:

Size	53 x 19 x 13 mm
Weight	20g
Heading Accuracy	0.3 deg static, 0.6 deg dynamic
Pitch & Roll Accuracy	0.1 deg static, 0.2 deg dynamic
Gyroscope Bias in-run Stability	<4 deg/hr
Accelerometer Bias in-run Stability	0.005, 0.02, 0.03 mg (±8/±15/±40 g measurement ranges)
Magnetometer Bias in-run Stability	8 μGauss

More Information: miniAHRS – Miniature AHRS

GPS-Aided Inertial Navigation Systems

GPS-INS for Unmanned Vehicles

Our family of GPS-Aided Inertial Navigation Systems combines support for multi-GNSS constellation signals (L1 & L2 GPS, GLONASS, GALILEO and BEIDOU) with state-of-the-art 3-axis accelerometers, magnetometers and gyroscopes to provide accurate position, velocity, heave and absolute orientation data for both unmanned aircraft and ground robotics. Both single- and dual-antenna GPS-INS are available.

Single-Antenna GPS-INS

Our single-antenna GPS-aided INS is available in three models. Both the INS-P and INS-U incorporate an embedded high-precision gyro-compensated magnetic compass for enhanced heading performance in GNSS-denied environments, even under highly challenging environmental conditions.

The INS-U also features an integrated Air Data Computer (ADC) that outputs parameters such as static and dynamic pressure, airspeed, Mach number and angle of attack.

Specifications:


Model	INS-B (Basic)	INS-P (Professional)	INS-U
Size	120 x 50 x 53 mm	120 x 50 x 53 mm	82.0 x 40 x 26 mm
Weight	220g	280g	< 200g
Position Accuracy	1.5 m (GPS L1) 1.2 m (GPS L1&L2) 0.6 m (SBAS) 0.4 m (DGPS) 0.05 m (PP) 0.01 m + 1 ppm (RTK)	1.5 m (GPS L1) 1.2 m (GPS L1&L2) 0.6 m (SBAS) 0.4 m (DGPS) 0.05 m (PP) 0.01 m + 1 ppm (RTK)	1.5 m (GPS L1) 1.2 m (GPS L1&L2) 0.6 m (SBAS) 0.025 m (PPP) 0.01 m + 1 ppm (RTK)
Heading Accuracy (static \| dynamic)	1 deg \| 0.1 deg	0.4 deg \| 0.1 deg	0.3 deg \| 0.6 deg
Velocity Accuracy	0.03 m/sec	0.03 m/sec	0.05 m/sec
Pitch & Roll Accuracy (dynamic)	0.1 deg	0.1 deg	0.08 deg
Gyroscope Bias in-run Stability	1 deg/hr	1 deg/hr	2 deg/hr
Accelerometer Bias in-run Stability	0.005 mg	0.005 mg	0.01 mg (±8g) 0.03 mg (±15g) 0.05 mg (±40g)

Dual-Antenna GPS-INS

Our dual-antenna GPS-aided INS models provide enhanced accuracy for unmanned vehicle positioning and heading in both static and dynamic conditions.

Specifications:


Model	INS-BU	INS-D	INS-DL	INS-DU	INS-DM
Size	120 x 50 x 53 mm	120 x 50 x 53 mm	120 x 50 x 53 mm	120 x 50 x 53 mm	160.4 x 141.2 x 61.1 mm
Weight	320g	320g	320g	320g	1345g typical (depends on configuration)
Horizontal Position Accuracy	1.5 m (GPS L1) 1.2 m (GPS L1 & L2) 0.005 m (PP) 0.01 m + 1 ppm (RTK)	1.5 m (GPS L1) 1.2 m (GPS L1 & L2) 0.6 m (SBAS) 0.4 m (DGPS) 0.005 m (PP) 0.01 m + 1 ppm (RTK)	1.5 m (GPS L1) 1.2 m (GPS L1 & L2) 0.4 m (DGPS) 0.005 m (PP) 0.01 m + 1 ppm (RTK)	1.5 m (GPS L1) 1.2 m (GPS L1 & L2) 0.005 m (PP) 0.01 m + 1 ppm (RTK)	1.2 m (SP) 0.6 m (SBAS) 0.4 m (DGPS) 0.005 m (PP) 0.01 m + 1 ppm (RTK)
Heading Accuracy (static \| dynamic)	0.6 deg \| 0.3 deg	0.15 m \| 0.08 m (1m \| 2m baseline)	0.2 m \| 0.08 m (1m \| 2m baseline)	0.2 m \| 0.2 m (2m baseline) 0.4 m \| 0.4 m (1m baseline)	0.15 deg \| 0.15 deg (1m baseline) 0.08 deg \| 0.08 deg (2m baseline)
Velocity Accuracy	0.05 m/sec	0.03 m/sec	0.03 m/sec	0.05 m/sec	0.03 m/sec or 0.05 m/sec (depending on receiver)
Pitch & Roll Accuracy (dynamic)	0.03 deg RMS	0.08 deg RMS	0.1 deg RMS	0.2 deg RMS	0.01 – 0.05 deg (depending on IMU)
Gyroscope Bias in-run Stability	2 deg/hr	1 deg/hr	3 deg/hr	<2 deg/hr	0.25 – 2 deg/hr (depending on IMU)
Accelerometer Bias in-run Stability	0.01 mg (±8 g)	0.005 mg (±8 g)	0.005 mg (±8 g)	0.005 mg (±8 g)	0.003 – 0.025 mg (depending on IMU)

OEM INS Solutions

OEM versions of our INS-B, INS-D and INS-DL industrial and tactical grade GPS-aided INS are also available. Measuring just 85 x 47 x 36 mm and weighing from 115 to 160g, they can be easily integrated onto SWaP-conscious platforms.

The INS-DH-OEM is a next-generation dual antenna GPS-aided INS that features state-of-the-art sensor fusion, navigation and guidance algorithms, and incorporates an advanced NovAtel GNSS receiver and Honeywell HG4930 IMU.

Specifications:

Size	85.5 x 67.5 x 52.0 mm
Weight	280g
Horizontal Position Accuracy	1.2 m (GPS L1 & L2) 0.6 m (SBAS) 0.4 m (DGPS) 0.025 m (TerraStar-C Pro) 0.005 m (PP) 0.01 m + 1 ppm (RTK)
Heading Accuracy	0.2 deg (2m baseline) / 0.1 deg (PPK)
Velocity Accuracy	0.03 m/sec
Pitch & Roll Accuracy (dynamic)	0.03 deg RMS
Gyroscope Bias in-run Stability	0.25 deg/hr
Accelerometer Bias in-run Stability	0.025 mg

INS Applications:

UAV/drone flight control systems in GPS-denied environments
Remote sensing
Low altitude photogrammetry
Law enforcement
Autonomous Vehicle Navigation Systems
Aerial Inspections – roads, bridges, power lines
Surveying / 3D mapping
Precision Agriculture
Military inspections
ADAS – Advanced Driver-Assistance Systems

More Information: GPS-Aided Inertial Navigation Systems (GPS-INS)

Two and Three Axis Gyroscopes (TAG)

Tactical-grade multi-axis Gyros for stabilization & pointing

The TAG-200 and TAG-300 are tactical-grade two- and three-axis MEMS gyroscopes designed for stabilization and pointing.

With low SWaP, noise and latency as well as a wide bandwidth, they are ideal for complex unmanned systems applications.

TAG gyros are engineered to withstand the harshest environments, with no moving parts and tested to MIL-STD-810 levels of shock and vibration. They are factory-calibrated over the entire operation temperature range, and precision-machined to ensure extremely low non-orthogonality and misalignment between sensitive elements.

TAG Multi-Axis Gyro Applications:

Remote Weapons Stations (RWS) stabilization and pointing
Electro-Optical Systems (EOS) image stabilization
Offsetting UGV and land vehicle pitch and roll.

Specifications:

Number of Axis	Two (TAG-200); Three (TAG-300)
Size	39 x 45 x 22 mm
Weight	70g
Power Consumption	0.8 W @ 5V
Measurement Range:	±450, ±950, ±2000 deg/sec
Data update rate:	2000 Hz
Bias in-run stability:	2 deg/hr (Allan Variance, RMS)
Noise (ARW):	0.08 deg/√hr

More Information: TAG Multi-Axis Gyros

Motion Reference Units (MRU)

High Performance Motion Sensors

Our Motion Reference Units are high-performance strapdown motion sensors specifically designed for marine applications such as ROVs. Utilizing precision solid state 3-axis accelerometers, magnetometers, gyroscopes and barometric sensors, the units output highly accurate position, velocity, acceleration, heading, pitch & roll, and heave, sway & surge data.

The Motion Reference Units are available in three different models – Basic, Enhanced and Professional – to provide desired levels of accuracy and stability as well as the required outputs for your particular application.

MRU Applications:

Marine surveys
Hydrography
Bathymetry

Video: MRU Qualification Tests

Model Comparison: Measured Parameters


Model	MRU-B (Basic)	MRU-E (Enhanced)	MRU-P (Professional)
Heave (% / cm)
Pitch & Roll (deg)
Heading / Yaw (deg)
Velocity (meters / sec)
DGPS / RTK Positions (meters)

Specifications

Model	MRU-B (Basic)	MRU-E (Enhanced)	MRU-P (Professional)
Size	120 x 50 x 53 mm	120 x 50 x 53 mm	120 x 50 x 53 mm
Weight	220g	280g	320g
Position Accuracy	N/A	N/A	0.01 m + 1 ppm (RTK)
Heave accuracy	5% / 5cm	5% / 5cm	5% / 5cm
Heading Accuracy (static \| dynamic)	N/A	0.6 deg \| 0.1 deg	0.4 deg \| 0.1 deg
Velocity Accuracy	N/A	N/A	0.03 m/sec
Pitch & Roll Accuracy (dynamic)	0.08 deg \| 0.03 deg	0.08 deg \| 0.03 deg	0.08 deg \| 0.03 deg
Gyroscope Bias in-run Stability	1 deg/hr	1 deg/hr	1 deg/hr
Accelerometer Bias in-run Stability	0.005 mg	0.005 mg	0.005 mg

More Information: Motion Reference Units

Wave Sensors (WS)

High performance Wave, Direction & Motion Sensors

The WS-E (Enhanced) and WS-PD (Professional Dual) are high-performance strapdown wave direction and motion sensors that provide accurate wave characteristics as well as heave, sway, surge, pitch and roll data for USVs and other floating marine platforms.

The Wave Sensors can be interfaced with external GNSS receivers, gyro compasses and Doppler Velocity Logs (DVL), and can output spectral data as a complete set of Fourier coefficients and energies.

Wave Sensor Applications:

Ocean monitoring on buoys, USVs and AUVs

Model Comparison: Measured Parameters


Model	WS-E	WS-PD
Wave Height (meters)
Wave Period (sec)
Wave Direction (deg)
Heave, Surge, Sway (%/meters)
Pitch & Roll (deg)
Gyro-magnetic Heading (deg)
High Precision GNSS Heading (HDT) (deg)
DGPS/RTK Position (meters)

Specifications

Model	WS-E	WS-PD
Size	120 x 50 x 53 mm
Weight	320g
Position Accuracy	External Source	40 cm (DGPS) 1 cm (RTK)
Wave Period Accuracy	1% / 0.1 sec
Wave Height Accuracy	5% / 0.05 m
Wave Direction Accuracy	1 deg	0.5 deg
Pitch & Roll Accuracy	0.02 deg
Heading Accuracy	0.6 deg	0.05 deg

More Information: Wave Sensors

RMCU – Railway Motion Control Unit

The RMCU is a high-performance strapdown system specially designed to determine absolute orientation (heading, pitch and roll) and parameters of motion (angular rates and linear acceleration) for railway platforms in both static and dynamic situations.

The system is compliant with EN 45545, EN 50155 and EN 50011 railway standards and features state-of-the-art embedded algorithms for different railway platforms.

RMCU Applications:

Railway crack detection analysis
Safer and more reliable components for the railway industry
Aiding data for robust railway navigation systems

Specifications:

Size	129 x 53 x 49 mm
Weight	120g
Heading Accuracy	0.3 deg static, 0.6 deg dynamic
Pitch & Roll Accuracy	0.05 deg static, 0.08 deg dynamic
Gyroscope Bias in-run Stability	<4 deg/hr
Accelerometer Bias in-run Stability	0.005, 0.02, 0.03 mg (±8/±15/±40 g measurement ranges)
Magnetometer Bias in-run Stability	8 μGauss

More Information: RMCU – Railway Motion Control Unit

RESEPI – Remote Sensing Payload Instrument

Flexible LiDAR point cloud solution for UAVs

RESEPI is a high-accuracy LiDAR point cloud generation solution designed for Inertial Labs partners and sellers to white-label, allowing them to customize both the hardware and software with their own branding and focus on their core competencies without worrying about additional development.

Built around a Linux-based processing platform, the modular system includes Inertial Labs’ own high-performance dual-antenna GPS-aided inertial navigation system (INS) with a dual-use NovAtel RTK/PPK GNSS receiver, as well as Wi-Fi communications and an embedded cellular modem for in-flight RTCM RTK corrections.

RESEPI supports a wide range of leading LiDAR scanners from providers such as Velodyne Lidar, Quanergy, Livox, Hesai and Ouster, as well as RGB and thermal cameras for combined photogrammetry and point cloud generation.

Thanks to Inertial Labs’ cutting-edge orientation and positioning technology, RESEPI produces extremely thin point clouds even at a high AGL. RESEPI’s software suite features fully-automated RTK LAS file generation, as well as a one-click command line interface for post-processing.

RESEPI is ideal for a wide range of UAV remote sensing applications, including:

Mapping and Scanning
Precision Agriculture
Simultaneous Localization and Mapping (SLAM) Algorithm Development
Infrastructure and Utilities Inspection
Construction Site Monitoring

Specifications:

Weight (without LiDAR)	0.37 kg
Power Consumption (with VLP-16 LiDAR)	12W
Position Accuracy	0.5 cm (PPK estimated) / 1 cm + 1 ppm (RTK)
Attitude Accuracy	<0.01 deg Pitch & Roll, <0.05 deg Heading
Point Cloud Precision	3 – 5 cm (dependent on LiDAR, taken on the same target @ 50 m AGL)
Max Altitude	200m AGL