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Related Manuals for SBG ELLIPSE Series
Summary of Contents for SBG ELLIPSE Series
- Page 1 ELLIPSE SERIES High Performance, Miniature Inertial Sensors Hardware Manual Document ELLIPSE3HM.1.1 Support support@sbg-systems.com Revision 1.1 - Nov 16, 2020 Covers Hardware Ellipse V3 and above EMEA: +33 1 80 88 43 70 Americas: +1 (657) 549-5807 Asia: +65 98 643 776...
- Page 2 Jun 29, 2020 First official version of this document © 2007 – 2020, SBG Systems SAS. All rights reserved. Information in this document is subject to change without notice. Copy or redistribution of this document is forbidden without express authorization of SBG Systems.
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Page 3: Table Of Contents
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 Index Terminology................................6 1. Introduction................................ 7 1.1. Ellipse Overview............................7 1.2. Inertial measurement unit........................8 1.2.1. Accelerometers..................................8 1.2.2. Gyroscopes....................................8 1.3. Aiding sensors............................9 1.3.1. Internal Magnetometers................................9 1.3.2. Ellipse-N and Ellipse-D internal GNSS receiver........................10 1.3.3. - Page 4 ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 2.2. OEM units..............................28 2.2.1. Mechanical specifications..............................28 2.2.1.1. Overview..................................28 2.2.1.2. Specifications................................28 2.2.1.3. Origin of measurements.............................. 29 2.2.1.4. Sensor (body) coordinate frame..........................29 2.2.1.5. Ellipse-A and E OEM mechanical outline........................29 2.2.1.6. Ellipse-N and D OEM mechanical outline........................30 2.2.2.
- Page 5 ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 5.5.2. Triple Band Antenna with L-band – TW7972........................55 5.5.2.1. Performance specifications............................55 5.5.2.2. Mechanical drawing..............................56 5.5.2.3. SMA Cable................................... 56 5.5.2.4. Performance specifications............................57 5.5.2.5. Mechanical drawing..............................58 5.5.3. Helical Antenna – Maxtena M7HCT............................. 59 5.5.3.1.
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Page 6: Terminology
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 Terminology ADC: Analog to Digital Converter AHRS: Attitude and Heading Reference System CAN (Bus): Controller Area Network DHCP: Dynamic Host Configuration Protocol DVL: Doppler Velocity Log EKF: Extended Kalman Filter EEPROM: Electrically-Erasable Programmable Read-Only Memory... -
Page 7: Introduction
SDK. The Ellipse supports a proprietary protocol for best performance, but also standard protocols such as NMEA for direct integration into existing applications. The Ellipse series is fully backward compatible with the first and second generation of Ellipse sensors. 1.1. Ellipse Overview The following diagram shows the basic organization of an Ellipse. -
Page 8: Inertial Measurement Unit
Value Remarks Full scale ( g ) Marine: 8 The Ellipse series are available in three versions depending on Land/Air: 20 the application. High dynamics: 40 Scale factor stability (ppm) 1000... -
Page 9: Aiding Sensors
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 1.3. Aiding sensors Many different aiding sensors can be used to aid the Ellipse INS. 1.3.1. Internal Magnetometers A set of three Anisotropic Magneto-resistive magnetometers is embedded within the Ellipse. This technology provides a very high sensitivity compared to coil based technologies. -
Page 10: Ellipse-N And Ellipse-D Internal Gnss Receiver
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 1.3.2. Ellipse-N and Ellipse-D internal GNSS receiver The Ellipse-N and Ellipse-D embed a high performance GNSS receiver (L1/L2 GPS, GLONASS, GALILEO, BEIDOU), capable of DGNSS, SBAS and RTK positioning. The Ellipse-D also features a dual antenna heading delivering robust and accurate heading angle in the most challenging conditions. -
Page 11: Internal Barometric Altimeter
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 1.3.3. Internal barometric altimeter The Ellipse-E, N and D embed a MEMS pressure sensor, used as altimeter. This pressure sensor is fully calibrated and temperature compensated making it ideal to measure accurately absolute pressure. -
Page 12: System Performance
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 1.4. System Performance σ All specifications are rated to 1 , over -40°C to +85°C (-40 to 185°F) unless otherwise stated. These specifications have been measured based on typical mission scenarios with simulated GNSS outages and compared to post processed RTK data of a high end FOG based INS. -
Page 13: Land Applications
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 1.4.2.2. Land applications All specifications are valid with DMI (odometer) aiding for typical land applications trajectories. Position Accuracy Velocity Accuracy Attitude Accuracy (°) Outage Positioning Duration Mode Horizontal Vertical Horizontal Vertical Roll / Pitch Heading 1.2 m... -
Page 14: Mechanical And Electrical Specifications
2. Mechanical and Electrical specifications 2.1. Box units 2.1.1. General specifications 2.1.1.1. Overview The Ellipse box units enclosure is composed of two anodized aluminum parts, one for the cover and one for the base plate. The device uses high quality alloys and connectors to offer a full IP-68 enclosure and a good resistance to harsh environments. -
Page 15: Device Mechanical Alignment
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 2.1.1.3. Device mechanical alignment For best measurement accuracy, a good mechanical alignment is required. During manufacturing, the Ellipse measurement frame has been carefully aligned to 0.05° with the base plate for roll, pitch and yaw angles. -
Page 16: Mechanical Outline
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 2.1.2. Mechanical outline 2.1.2.1. Ellipse-A mechanical outline All dimensions are in mm. Front view Figure 2.2: Ellipse-A front view Top view Figure 2.3: Ellipse-A top view Right view Figure 2.4: Ellipse-A right view 16/62... -
Page 17: Ellipse-E Mechanical Outline
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 Bottom view 4 Holes 3,40 Figure 2.5: Ellipse-A bottom view 2.1.2.2. Ellipse-E mechanical outline All dimensions are in mm. Front view 16,6 Figure 2.6: Ellipse-E front view Top view Figure 2.7: Ellipse-E top view... - Page 18 ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 Right view Figure 2.8: Ellipse-E right view Bottom view 2H8 1,5 4 Holes 3,40 2H8 1,5 Figure 2.9: Ellipse-E bottom view 18/62...
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Page 19: Ellipse-N Mechanical Outline
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 2.1.2.3. Ellipse-N mechanical outline All dimensions are in mm. Front view 16,6 Figure 2.10: Ellipse-N front view Top view Figure 2.11: Ellipse-N top view Right view Figure 2.12: Ellipse-N right view 19/62... -
Page 20: Ellipse-D Mechanical Outline
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 Bottom view 2 H8 1,5 4Holes 3,40 2H8 1,5 Figure 2.13: Ellipse-N bottom view 2.1.2.4. Ellipse-D mechanical outline All dimensions are in mm. Front view Figure 2.14: Ellipse-D front view Top view 20/62... - Page 21 ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 Figure 2.15: Ellipse-D top view Right view Figure 2.16: Ellipse-D right view Bottom view 2 H8 1,5 4 HOLES 3,40 2 H8 Figure 2.17: Ellipse-D bottom view 21/62...
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Page 22: Equipment Mounting
The Ellipse connectors are all placed on the front panel. The connectors are referenced and identified by laser marking on the enclosure. SBG Systems has selected high quality connectors designed for harsh environments. They offer an IP -68 protection when the plug is properly mounted. -
Page 23: Ellipse-N With Embedded Gnss Receiver
The connector on Ellipse box units is placed on the front panel. The connector is referenced and identified by laser marking on the enclosure. SBG Systems has selected high quality connectors designed for harsh environments. They offer an IP -68 protection rating when the plug is properly mounted. - Page 24 ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 Connector Manufacturer Part number Description ELLIPSE Box I/O connectors Fischer Connectors UR02W07 F010P BK1 E2AA Connector, UltiMate Serie, Receptacle, Sockets, 10 cts Mating connector Fischer Connectors UP01L07 M010S BK1 Z2ZA Connector, UltiMate Serie, Plug, Pins, 10 cts Note: The mating connector doesn't include the cable clamp sets.
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Page 25: Auxiliary Connector (Ellipse-E)
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 Connector pin out for Ellipse B2 versions Pin # Name Description SYNC IN A – ODO B Multi function input. May be used as clock/event, or odometer input SYNC IN B – PORT B RX - ODO A Multi function input. -
Page 26: Electrical Specifications For Box Units
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 2.1.5.3. Electrical specifications for BOX units Recommended electrical specifications from -40°C to 85°C. Item Conditions Typical Unit Power supply Input voltage range Model A – @12V Model E – @12V Model N – @12V without GNSS antenna. -
Page 27: Absolute Maximum Ratings For Box Units
In order to enable proper measurements, L1/L2 GPS antennas are required, and tracking other constellations is recommended for optimal performance. SBG Systems has selected some GNSS antennas for different applications. Please refer to the section 5.5 GNSS antennas to get more details on available antennas. -
Page 28: Oem Units
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 2.2. OEM units All dimensions are expressed in millimeters using the International System of Units (SI) conventions. 2.2.1. Mechanical specifications 2.2.1.1. Overview The Ellipse OEM units enclosure is made of aluminum surface treated for conductive finish. -
Page 29: Origin Of Measurements
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 2.2.1.3. Origin of measurements The center of measurement for acceleration, velocity and position is represented on the mechanical outlines by the symbol. It is referenced to the base plate fine alignment hole. 2.2.1.4. Sensor (body) coordinate frame This frame is attached to the IMU. -
Page 30: Ellipse-N And D Oem Mechanical Outline
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 Top and Bottom views 25,50 21,50 Figure 2.27: Ellipse-A/E top view Figure 2.28: Ellipse-A/E Bottom view Right and sectional views Figure 2.27: Ellipse-A/E right view Figure 2.28: Ellipse-A/E sectional view 2.2.1.6. Ellipse-N and D OEM mechanical outline All dimensions are in mm. - Page 31 ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 Top and bottom views 25,50 4x M2x0.4 Threaded Holes 21,50 10,75 7,00 Figure 2.31: Ellipse-D top view Figure 2.32: Ellipse-D Bottom view Right and sectional views Figure 2.33: Ellipse-D right view Figure 2.34: Ellipse-D sectional view Note: Please note that only one UFL connector is available for the Ellipse-N OEM version.
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Page 32: Electrical Specifications
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 2.2.2. Electrical specifications Main Main Secondary Antenna Connector Connector Antenna Connector Figure 2.35: Ellipse INS with dual antenna GNSS receiver (OEM version) Note: Only the Main Antenna Connector is available for the N version. - Page 33 ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 Connector specifications The connector on Ellipse OEM units is placed under the device. SBG Systems has selected high quality and high density connectors to offer a compact and robust integration. Connector Supplier Part number...
- Page 34 ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 Connector Pin out for ELLIPSE OEM Signal Name Type Description Connection tips Ground return signal All ground pins must be connected Ground return signal All ground pins must be connected Ground return signal All ground pins must be connected...
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Page 35: Electrical Specifications For Oem Units
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 RESERVED Reserved, do not connect Leave unconnected or tie to GND for better EMC RESERVED Reserved, do not connect Leave unconnected or tie to GND for better EMC RESERVED Reserved, do not connect Leave unconnected or tie to GND for better EMC... -
Page 36: Absolute Maximum Ratings For Oem Units
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 2.2.2.3. Absolute maximum ratings for OEM units Item Rating All pins to signal GND -0.3 to 6 V All input pins clamp current -50 mA All output pins clamp current 50 mA VDD, EN ESD Rating - Human-body model (HBM), per ANSI/ESDA/JEDEC JS-001 ±1500 V... - Page 37 In order to enable proper heading measurements, L1/L2 GPS antennas are required, and tracking other constellations is recommended for optimal performance. SBG Systems has selected some high quality GNSS antennas for different applications. Please refer to the section 5.5 GNSS antennas to get more details on available antennas.
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Page 38: Interfaces Specifications
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 3. Interfaces specifications 3.1. Overview The Ellipse features up to five serial interfaces (Port A to Port E) which provide all the main features of the Ellipse: Configuration, data input, data output. In addition, the Ellipse supports CAN 2.0A/B connectivity to output log messages. Due to the CAN implementation and limitations (payload limited to 8 bytes), the CAN interface is not handled like the other interfaces. -
Page 39: Oem Units
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 3.1.1.2. OEM units Port Available model Function Other functions / multiplexing ● ● ● ● PORT A LVTTL Tx/Rx ● ● ● PORT B LVTTL Rx Multiplexed with Sync IN B and ODO A ●... -
Page 40: Serial Interfaces
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 3.2. Serial interfaces The Ellipse box units features up to 3 physical RS-232/RS-422 serial connections (PORT A, B, and E) on Ellipse-A, Ellipse-N and Ellipse-D models and up to 5 (PORT A, B, C, D and E) for Ellipse-E model. These serial ports have different uses as described in the next sections. -
Page 41: Ellipse A Version
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 3.2.2.1. Ellipse A version PORT A PORT E ● Binary commands (sbgECom) ● ● Regular outputs (sbgECom, NMEA or third party output) ● Legacy protocol output (sbgCom) ● 1KHz IMU output 3.2.2.2. Ellipse E version... -
Page 42: Can 2.0 A/B Interface
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 3.3. CAN 2.0 A/B interface The main port contains a CAN 2.0 A/B interface that supports transfer rate at up to 1 Mbits/s. This CAN interface is mainly used to output log messages. By default, the CAN interface is disabled. -
Page 43: Important Notices
The Ellipse will not require any specific maintenance when properly used. In the case you observe sub- optimal performance, please contact SBG Systems support. Nevertheless, if you would like to maintain your sensor performance to the highest level, SBG Systems can provide a maintenance service with regularly planned checkups and calibrations. -
Page 44: Support
In order to avail itself of this warranty, Customer must notify SBG Systems of the defect before expiry of the warranty period and take all steps necessary to enable SBG Systems to proceed. Upon reception of required information (Sensor serial number, defect description), SBG Systems will issue an RMA and will provide return instructions. -
Page 45: Appendix A: Hardware Code And Accessories
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 5. Appendix A: Hardware code and Accessories 5.1. Ellipse hardware code The following diagram shows the different sensors and interfaces options available. Application G4A2: Marine G4A3: Land Air G5A4: High dynamics ELLIPSE-#-G#A#-## Ellipse type Com. -
Page 46: Development Kits
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 5.2. Development kits The Development Kit is an essential accessories that should be used along with the Ellipse series. The following Development kits are available for Box and OEM units. PRODUCT DESCRIPTION DK Ellipse A and E - Box Ellipse Development Kit: USB to RS-232 cable, 3 meters. -
Page 47: Associated Software
5.3.1. SW-QINERTIA-LITE (GNSS/INS Post Processing Software) Qinertia is a 100% in-house post-processing software solution. This full-featured software enhances SBG Systems inertial navigation systems performance by post processing inertial data with raw GNSS observable in both forward and backward directions. Key Features: Tight Coupling INS/GNSS fusion ●... -
Page 48: Cables
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 5.4. Cables 5.4.1. CA-ELI-USB-3M This 3 meters long cable provides an easy connection of an Ellipse device to any PC. It includes in the USB plug a RS-232 to USB converter, and provides power to the Ellipse sensor. -
Page 49: Ca-Eli-Rs232-Can-3M
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 5.4.4. CA-ELI-RS232-CAN-3M This cable provides access to the Ellipse Main and Aux connectors. It's designed to communicate in RS-232 with the Ellipse B1 versions, but can also be used with the Ellipse B2 versions and Aux connectors. It has the following characteristics: Figure 5.5 : CA-ELI-RS232-CAN-3M... -
Page 50: Ca-Eli-Rs422-3M
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 5.4.5. CA-ELI-RS422-3M This cable provides access to the Ellipse Main and Aux connectors. It's designed to communicate in RS-422 with the Ellipse B1 versions, but can also be used with the Ellipse B2 versions and Aux connectors. It has the following characteristics: 1x UP01L07 M010S BK1 Z2ZA connector... -
Page 51: Ca-Eli-Split-Rs232-Db-0.5M
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 5.4.6. CA-ELI-SPLIT-RS232-DB-0.5M This cable provides an easy access through standard DB-9 plugs, to the different functions accessible on the ELLIPSE Main port. The cable is composed of the following elements: 1x UP01L07 M010S BK1 Z2ZA connector ●... -
Page 52: Ca-Eli-Split-Aux-Rs232-Db-0.5M
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 Cable wiring of the two DB-9 connectors is the following: Pin on DB-9 Function Pin on DB-9 Function “SYNC/PORT A” “CAN” SYNC IN A PORT A RX CAN L PORT A TX SYNC OUT A... -
Page 53: Gnss Antennas
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 5.5. GNSS antennas 5.5.1. Dual Band Antenna – TW8889 These high performance antennas have been especially chosen for their excellent performance/size compromise. The TW8889 provides a multi-constellation tracking, featuring GPS L1/ L2, GLONASS G1/G2/G3, BEIDOU B1/B2, GALILEO E1/E5b, as well as SBAS (WAAS/EGNOS/MSAS) signals tracking. -
Page 54: Mechanical Drawing
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 5.5.1.2. Mechanical drawing Figure 5.11: Tallysman 33-7882-07 mechanical drawing 54/62... -
Page 55: Triple Band Antenna With L-Band - Tw7972
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 5.5.2. Triple Band Antenna with L-band – TW7972 These high performance antennas have been especially chosen for their excellent performance/size compromise. The TW7972 provides a multi-constellation tracking, featuring GPS L1/ L2/L5, GLONASS G1/G2/G3, BEIDOU B1/B2/B2a, GALILEO E1/E5a/E5b, L-Band correction, as well as SBAS (WAAS/EGNOS/MSAS) signals tracking. -
Page 56: Mechanical Drawing
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 5.5.2.2. Mechanical drawing 40 mm 6-32 UNC 3 mm deep Figure 5.13: Tallysman 7972 mechanical drawing 5.5.2.3. SMA Cable Finally, to connect the high performance GNSS antennas to an Ellipse sensor, Coax cables can be provided. -
Page 57: Performance Specifications
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 Triple Band Antenna with L-band – TW3972 These high performance antennas have been especially chosen for their excellent performance/size compromise, and it is really suitable for marine applications or permanent roof mounting. The TW3972 provides a multi-constellation tracking, featuring GPS L1/... -
Page 58: Mechanical Drawing
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 5.5.2.5. Mechanical drawing Figure 5.15: Tallysman TW3972 mechanical drawing 58/62... -
Page 59: Helical Antenna - Maxtena M7Hct
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 5.5.3. Helical Antenna – Maxtena M7HCT This GNSS L1/L2 antenna is especially selected to be compliant with Ellipse-D requirements in both terms of signal tracking and small size / weight. This antenna is an active multi-frequency, high-accuracy, GNSS antenna for the L1/L2 GPS, Galileo, Beidou and GLONASS bands. -
Page 60: Sma Cable
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 5.5.3.3. SMA Cable Finally, to connect the high performance GNSS antennas to an Ellipse sensor, Coax cables can be provided. All Coax cables are sealed. The following lengths: Product code Description – Remarks Photo... -
Page 61: Appendix B: Ordering Information
ELLIPSE Series – Hardware Manual ELLIPSE3HM.1.1 6. Appendix B: Ordering Information Please find all the Ordering information for the Ellipse series sensors here after: Product name Hardware Code 100-2489 ELLIPSE-A | Marine AHRS ELLIPSE-A-G4A2-B1 100-2490 ELLIPSE-A | Marine AHRS - CAN... -
Page 62: Appendix C: Device Labels
ELLIPSE3HM.1.1 7. Appendix C: Device labels SBG Systems manufacturing process is based on EN-9100 system with individual and full traceability of every component and operation. Each Ellipse is identified by a unique serial number that can be used to trace all operations during the product lifetime such as manufacturing, calibration, tests and repairs.
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