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Related Manuals for SBG EKINOX Series
Summary of Contents for SBG EKINOX Series
- Page 1 EKINOX Series Tactical Grade MEMS Inertial Sensors Hardware Manual Document EKINOXV3HM.1.1 Support EMEA Revision 1.1 - Sep 25, 2019 support@sbg-systems.com Covers Hardware Ekinox V3 and above +33 1 80 88 43 70 Americas support@sbg-systems.com +1 (657) 549-5807...
- Page 2 Mar 12, 2019 Alexis Guinamard First public version © 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
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 Index Terminology................................6 1. Introduction................................ 7 1.1. Ekinox Overview............................8 2. Performance specification..........................9 2.1. Inertial measurement unit........................9 2.1.1. Accelerometers..................................9 2.1.2. Gyroscopes....................................9 2.2. Aiding sensors............................10 2.2.1. Ekinox D internal GNSS receiver............................10 2.2.2. - Page 4 EKINOX Series – Hardware Manual EKINOXV3HM.1.1 4.2.2. Connector pin out................................. 20 4.2.3. Electrical specifications................................. 21 4.3. Main connector............................21 4.3.1. Connector specifications................................ 21 4.3.2. Connector pin out................................. 22 4.3.3. Electrical specifications................................ 23 4.4. Auxiliary connector..........................24 4.4.1. Connector specifications............................... 24 4.4.2.
- Page 5 EKINOX Series – Hardware Manual EKINOXV3HM.1.1 6.4. Warranty, liability and return procedure....................37 7. Appendix A: Ordering codes and Accessories....................38 7.1. Ekinox variants............................38 7.2. Transport Cases............................38 7.2.1. CASE-EKI-01................................... 38 7.2.2. CASE-EKI-02..................................38 7.3. Associated Software..........................39 7.3.1. SW-AEK-SDK (Software Development Kit)........................... 39 7.3.2.
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Page 6: Terminology
EKINOX Series – Hardware Manual EKINOXV3HM.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
The Ekinox-E model can be connected to external aiding equipment such as two GNSS receivers, 1x ● DVL or odometer. SBG Systems has developed dedicated “split” cables to simplify the integration with external equipment. The Ekinox-D embeds a dual antenna, survey grade L1/L2 GNSS receiver that supports GPS, ●... -
Page 8: Ekinox Overview
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 1.1. Ekinox Overview The following diagram shows the basic organization of an Ekinox-A, E or D. On the Ekinox-A and E versions, this block diagram is slightly simplified as there is no embedded GNSS. -
Page 9: Performance Specification
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 2. Performance specification 2.1. Inertial measurement unit The IMU is the core component of an inertial navigation system. Leveraging on MEMS technology and an innovative proprietary integration, the Ekinox IMU delivers an exceptional performance while maintaining a reasonable cost. -
Page 10: Aiding Sensors
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 2.2. Aiding sensors Many different aiding sensors can be used to aid the Ekinox INS. 2.2.1. Ekinox D internal GNSS receiver The EKINOX-D embeds a survey grade GNSS receiver (L1/L2 GPS, GLONASS, GALILEO, BEIDOU), capable of SBAS, DGPS, and RTK positioning. -
Page 11: Orientation And Navigation Performance
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 2.3. Orientation and Navigation Performance All specifications are rated to 1σ, over -40°C to +75°C unless otherwise stated. These specifications have been obtained by field tests, using typical mission scenarios and comparison to reference units using post-processing. Outage performance validated by simulation of repeated, pure GNSS outages, separated by at least 200s of optimal GNSS condition, compared to a reference RTK trajectory. -
Page 12: Marine & Subsea Applications
0.01 m/s 0.02° 0.03° 2.3.5. Real time Performance monitoring The Extended Kalman filter provides feedback about its performance. The following validity levels thresholds are defined for the Ekinox series Threshold Comments Attitude Valid 0.3° / 0.07° AHRS / Normal INS mode Heading Valid 0.5°... -
Page 13: Mechanical Specifications
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 3. Mechanical specifications 3.1. Overview The Ekinox 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 14: Device Mechanical Alignment
● 3.1.4. Device label SBG Systems manufacturing process is based on EN-9100 system with individual and full traceability of every component and operation. Each Ekinox 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. -
Page 15: Ekinox A And E Mechanical Outline
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 3.2. Ekinox A and E mechanical outline All dimensions are in mm. 3.2.1. Top view 100 ±0,30 4 HOLES 4,50 3.2.2. Right view 15/47... -
Page 16: Front View
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 3.2.3. Front view 3.2.4. Bottom view 91 ±0,10 4 H7 27,70 4 H7 16/47... -
Page 17: Ekinox D Mechanical Outline
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 3.3. Ekinox D mechanical outline All dimensions are in mm. 3.3.1. Top view 100 ±0,30 4 HOLES 4,50 3.3.2. Right view 17/47... -
Page 18: Front View
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 3.3.3. Front view 14,50 14,50 3.3.4. Bottom view 91 ±0,10 4 H7 27,70 4 H7 18/47... -
Page 19: Electrical Specifications
Each connector is different and fool proofed using a specific keying to avoid any misconnection. SBG Systems has selected high quality connectors designed for harsh environments. They offer an IP-68 protection when the plug is properly mounted. -
Page 20: Power Supply Connector
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 4.2. Power supply connector The Ekinox can be powered by a DC voltage from 9 to 36 Volts. For best robustness and to reduce power consumption, the internal power module is a high efficiency isolated DC/DC converter. -
Page 21: Electrical Specifications
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 4.2.3. Electrical specifications Recommended electrical specifications from -40°C to 75°C. Parameter Min. Typ. Max. Units Conditions Operating voltage Ekinox-A / E Power consumption Ekinox-D Allowable Input Voltage Ripple mV p-p Turn on threshold Under voltage lock out... -
Page 22: Connector Pin Out
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 S-104-A092-130 (Core Series version) ● 4.3.2. Connector pin out Connector's pin out is sorted by function rather than pin numbering. Pin # Name Description Shield Shield Connected to the mechanical ground Connected to the main connector electrical ground... -
Page 23: Electrical Specifications
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 4.3.3. Electrical specifications Recommended electrical specifications from -40°C to 75°C. All signals are referenced to GND_MAIN. Pins #3, #4 and #7 are internally connected. Parameter Conditions Min. Typ. Max. Units RS-232/RS-422 selector pin Input Voltage Range... -
Page 24: Auxiliary Connector
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 4.4. Auxiliary connector The external aiding connector is mainly used to connect aiding equipment to the Ekinox. It features the following connections: Up to two RS-232 or RS-422 ports that support full-duplex operations ●... -
Page 25: Electrical Specifications
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 Pin # Name Description Port C – RS-232/RS-422 – Tx- Port C serial output RS-232/RS-422 Port C – RS-422 – Tx+ Port C serial output RS-422 Sync In D Port D input synchronization Port D – RS-232/RS-422 – Rx+ Port D serial input RS-232/RS-422 Port D –... -
Page 26: Gps Antenna Connectors
GPS antenna LNA power requirements such as input voltage (must accepts 5 VDC) and input current (must be below 70 mA). SBG Systems has selected some high quality GPS antennas for different applications. Please refer to the section 7.5 GPS accessories to get more details on available antennas. -
Page 27: Typical Wiring
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 4.6. Typical wiring In this section, we briefly describe a few recommended wiring diagrams. 4.6.1. Power supply connection Concerning power supply, we recommend shielded cable, with at least AWG 24 wires. Power Supply Power Connector... -
Page 28: Main Interface Connection On Rs-422
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 4.6.3. Main interface connection on RS-422 Below is shown the main interface (Port A) connection, using a full duplex RS-422 connection. The recommended cable is a shielded twisted pairs AWG26 cable. Note the termination resistors (Usually 120 ohms) that can optionally be placed on receiver side to avoid communication errors in long distance communications. -
Page 29: Gnss Connection In Rs-232 Mode
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 4.6.5. GNSS connection in RS-232 mode For this typical connection, a shielded AWG 26 cable should be used. Depending on PPS signal strength, we do not recommend this cable to measure more than a few meters. For long distance, PPS signal and GPS NMEA signals should be separated in two cables for better noise immunity. -
Page 30: Typical Connection Topologies
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 4.7. Typical connection topologies The following use cases are presented to quickly show how to connect the Ekinox to various external materials in different applications. 4.7.1. Ekinox-D in advanced automotive application Here we present an advanced use case where the Ekinox-D sensor is used in a land survey application. The... -
Page 31: Ekinox-E In Marine Application
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 4.7.2. Ekinox-E in marine application In the next application example, the Ekinox is used for both vessel display and monitoring, as well as ship motion sensor for several third party equipment. Connections are made easy using Ethernet interface when available with external devices. -
Page 32: Interfaces Specifications
Note 2: For more details about the Ethernet interface capabilities, please read the Ellipse Ekinox and Apogee Technical Reference Manual. Browser Compatibility: SBG Systems recommend using latest version of Chrome, Safari or FireFox web browser. Due to Internet Explorer limitations, only versions 9 and above are supported. -
Page 33: Serial Interfaces
Ekinox and Apogee Firmware Reference Manual. 5.5. Synchronization Inputs and outputs The Ekinox series integrate a set of Sync Inputs and outputs. These logic pins can have different functions: 5.5.1. SYNC In A, B, C, D and E Output log trigger: All pulses received generate events that can generate specific Logs output. Any ●... -
Page 34: Sync Out A, B
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 5.5.2. SYNC OUT A, B These output pins can be used for two functions: Main loop divider: This event is activated at the sensor sample time, but its frequency is divided by ● the output divider. If the divider is set to 4, pulse output frequency will be 200Hz / 4 = 50Hz. -
Page 35: Internal Datalogger
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 5.7. Internal Datalogger The Ekinox includes an internal datalogger capable of storing all data at 200Hz for 48 hours. The internal datalogger is composed of a high speed memory buffer and an 8 GB flash storage. To allow high bandwidth and to reduce power consumption, the memory buffer is saved to the flash storage ten times per second. -
Page 36: Important Notices
6.1. Maintenance The Ekinox does not require particular maintenance when operated in normal conditions. 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 37: 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 38: Appendix A: Ordering Codes And Accessories
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 7. Appendix A: Ordering codes and Accessories 7.1. Ekinox variants The following Ekinox variants are available to order. Please contact your sales representative for more information. Navsight Variant EKINOX-A | Land Air AHRS EKINOX-A | Marine MRU... -
Page 39: Associated Software
7.3.2. SW-QINERTIA-PRO (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 40: Cables
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 7.4. Cables 7.4.1. CA-AEK-PWR-PSU-1.5M This cable is an international AC/DC adapter to power up the Ekinox or the SplitBox. 110 / 250 V input with UK, US and EU plugs. ● 12V output ●... -
Page 41: Ca-Aek-Main-Rs232-3M
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 7.4.4. CA-AEK-MAIN-RS232-3M This cable is designed to mate with the MAIN connector and provides RS-232 communication with PORT A as well as other MAIN connector pins access. 1 x Fischer Core Series S-104-A092-130 ●... -
Page 42: Ca-Aek-Main-Rs422-3M
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 7.4.5. CA-AEK-MAIN-RS422-3M This cable is designed to mate with the MAIN connector and provides RS-422 communication with PORT A as well as other MAIN connector pins access. 1 x Fischer Core Series S-104-A092-130 ●... -
Page 43: Ca-Aek-Aux-3M
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 7.4.6. CA-AEK-AUX-3M This cable is designed to mate with the AUX connector and provides access to all AUX connector pins. 1 x Fischer Core Series S-104-A092-230 ● 1 open end ● IP-68 rating ●... -
Page 44: Ca-Aek-Split-Main-0.5M
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 7.4.7. CA-AEK-SPLIT-MAIN-0.5M This cable provides a robust and easy access interfaces available on the EKINOX MAIN connector using standard plugs. Figure 7.10: CA-AEK-SPLIT-MAIN-0.5M – Lengths not to scale The cable has following characteristics: 1 x Fischer Core Series S-104-A092-130 that connects on MAIN connector ●... -
Page 45: Ca-Aek-Split-Main2-0.5M
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 7.4.8. CA-AEK-SPLIT-MAIN2-0.5M This cable provides a robust and easy access interfaces available on the EKINOX MAIN connector using standard plugs. Figure 7.11: CA-AEK-SPLIT-MAIN2-0.5M – Lengths not to scale The cable has following characteristics: 1 x Fischer Core Series S-104-A092-130 that connects on MAIN connector ●... -
Page 46: Ca-Aek-Split-Aux-0.5M
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 7.4.9. CA-AEK-SPLIT-AUX-0.5M This cable provides a robust and easy access serial ports available on the EKINOX connector using standard DB-9 plugs. Figure 7.12: CA-AEK-SPLIT-AUX-0.5M – Lengths not to scale The cable has following characteristics: 1 x Fischer Core Series S-104-A092-130 that connects on MAIN connector ●... -
Page 47: Gps Accessories
EKINOX Series – Hardware Manual EKINOXV3HM.1.1 7.5. GPS accessories 7.5.1. GNSS antennas The following GPS antennas are recommended for Ekinox-D operations: Product code Description Photo ANT-ACM-G5ANT-3AMT1 L1/L2 GPS + GLONASS Magnetic Mount – TNC Connector Dimensions : Ø88.9mm; h=24.66mm Weight : 360g...
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