Precision Inertial Sensors and Systems: IMU, GPS-INS, AHRS, MRU

Inertial Labs
Inertial Labs

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.

IMU-P Inertial Measurement Units (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 Inertial Measurement Unit for UAVs

IMU-P Industrial and Tactical Grade IMUs

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

OS3D-FG Orientation Sensor

Miniature AHRS for Unmanned Vehicles

The OS3D-FG is a miniature Attitude and Heading Reference System (AHRS) designed for real-time orientation tracking applications. It fuses data from tri-axial MEMS gyroscopes, tri-axial MEMS accelerometers and tri-axial fluxgate magnetometers using an onboard Digital Signal Processor and state-of-the-art algorithms.

The OS3D-FG is ideal for a wide range of small unmanned vehicles, including UAVs, ROVs and ground robotics.

OS3D-FG UAV Orientation Sensor

AHRS Orientation Sensor Applications:

  • Robotics
  • Small gimbals and EOS stabilization
  • Marine antenna stabilization systems
  • Small Unmanned Underwater Vehicles, ROV
  • Quadrotor Helicopters and micro UAV

Specifications:

Size 45×16×14.5mm
Weight 12 grams
Power Consumption 0.15W
Output Data Rate up to 2000 Hz
Heading Accuracy 0.5 deg static, 1.5 deg dynamic
Attitude Accuracy 0.2 deg static, 0.7 deg dynamic
Gyroscope Bias in-run Stability 10 deg/hr
Accelerometer Bias in-run Stability 0.15 mg

More Information: OS3D-FG Orientation Sensor

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-FG 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.

OS3D-DTS MEMS Digital Tilt Sensor

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.

AHRS-10 UAV AHRS

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

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 Attitude and Heading Reference System

AHRS-II Applications:

  • Antenna pointing systems
  • Geospatial systems

Specifications:

 AHRS-II UAV AHRS  OptoAHRS-II UAV AHRS
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

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.

Three different models of INS are available – Basic, Professional and Dual Antenna – to provide desired levels of accuracy and stability for your particular unmanned systems application.

INS Applications:

UAV GPS-Aided Inertial Navigation Systems

  • 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

Specifications:

 INS-B Inertial Navigation System  INS-B Inertial Navigation System  INS-D Inertial Navigation System
Model INS-B (Basic) INS-P (Professional) INS-D, INS-DL (Dual Antenna)
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 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)
0.4 m (DGPS)
0.05 m (PP)
0.01 m + 1 ppm (RTK)
Heading Accuracy
(static | dynamic)
1 deg | 0.1 deg 0.4 deg | 0.1 deg 0.08 deg | 0.08 deg
(2m baseline)
Velocity Accuracy 0.03 m/sec 0.03 m/sec 0.03 m/sec
Pitch & Roll Accuracy
(dynamic)
0.1 deg 0.1 deg 0.1 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

Dual Antenna GPS-Aided INS OEMOEM versions of our industrial and tactical grade dual antenna, GPS-aided INS are also available. Weighing just 115 g and measuring 85 x 47 x 36 mm, they can be easily integrated onto SWaP conscious platforms.

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.

Motion Reference Units

MRU Applications:

  • Marine surveys
  • Hydrography
  • Bathymetry

Video: MRU Qualification Tests

Model Comparison: Measured Parameters

 MRU-B UAV Motion Reference Unit  MRU-B UAV Motion Reference Unit  MRU-P UAV Motion Reference Unit
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.

High performance Wave Sensors

Wave Sensor Applications:

  • Ocean monitoring on buoys, USVs and AUVs

Model Comparison: Measured Parameters

 WS-E (Enhanced) Wave Sensor  WS-PD (Professional Dual) Wave Sensor
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

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