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Related Manuals for SBG Systems QUANTA Series
Summary of Contents for SBG Systems QUANTA Series
- Page 1 QUANTA series High performance OEM navigation systems Hardware Manual intro Document QUANTAHM.1.2 Support support@sbg-systems.com Revision 1.2 - May 15, 2020 +33 1 80 88 45 00 SBG Systems 1, avenue Eiffel 78420 Carrières-sur-Seine FRANCE...
- Page 2 April 23, 2019 Pre 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. 2/48...
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Page 3: Table Of Contents
Quanta series – Hardware Manual QUANTAHM.1.2 Index Terminology..................................6 1. Introduction.................................. 7 2. Performance specification............................8 2.1. Inertial measurement unit........................... 8 2.1.1. Accelerometers...................................... 8 2.1.2. Gyroscopes......................................8 2.2. Aiding sensors..............................9 2.2.1. Internal GNSS receiver..................................9 2.2.2. External sensors....................................10 2.2.2.1. - Page 4 Quanta series – Hardware Manual QUANTAHM.1.2 3.4.2.4. Odometer integration................................20 3.4.2.5. Third party equipment connection............................20 3.4.2.6. Synchronization input and output functions.......................... 20 3.4.3. Ethernet interface....................................21 3.4.4. CAN bus......................................21 3.4.5. LEDs integration....................................22 4. Quanta EXTRA IMU integration..........................23 4.1.
- Page 5 Quanta series – Hardware Manual QUANTAHM.1.2 10.2. Interfaces specifications..........................35 10.2.1. Power input....................................... 35 10.2.2. Ethernet......................................36 10.2.3. PORT A......................................36 10.2.4. PORT B......................................36 10.2.5. PORT C and PORT D..................................37 10.2.6. PORT E / Odometer input................................38 10.2.7. CAN........................................38 10.3.
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Page 6: Terminology
Quanta series – Hardware Manual QUANTAHM.1.2 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
– Hardware Manual QUANTAHM.1.2 1. Introduction Quanta series is a line of high performance inertial navigation systems. The highly integrated OEM package enables integration into a wide range or applications in all environments. Focusing on high performance application, its multi-frequency,... -
Page 8: Performance Specification
Quanta series – Hardware Manual QUANTAHM.1.2 2. Performance specification Performance specifications presented in this section may vary from one Quanta configuration to the other. 2.1. Inertial measurement unit As an IMU is the main component of an inertial navigation system, the Quanta IMU has been carefully designed to take full advantage and performance of MEMS technology. -
Page 9: Aiding Sensors
Many different aiding sensors can be used to aid the Quanta INS. 2.2.1. Internal GNSS receiver The Quanta series embed a high end, survey grade GNSS receiver that comes in dual antenna configuration. It features dual band, quad constellation tracking (all enabled by default) to provide reliable position even in harsh environments. -
Page 10: External Sensors
The odometer provides a reliable velocity information even during GPS outages. This increases significantly the dead reckoning accuracy. Quanta series handle quadrature output or compatible odometers in order to support forward and backward directions. -
Page 11: Land Applications
Quanta series – Hardware Manual QUANTAHM.1.2 2.3.2. Land applications 2.3.2.1. Quanta All specifications are valid with DMI (odometer) aiding for typical land applications trajectories. Position Accuracy (m) Velocity Accuracy (m/s) Attitude Accuracy (°) Outage Positioning Mode Duration Horizontal Vertical Horizontal... -
Page 12: Quanta Mechanical And Electrical Integration
Quanta series – Hardware Manual QUANTAHM.1.2 3. Quanta Mechanical and Electrical integration 3.1. Quanta Mechanical specifications The table below summarizes all mechanical and environmental specifications. Item Specification Size 78.7 x 51.5 x 22.2 mm Weight 75g (internal IMU) 65 g (external IMU) Shocks 500 g for 0.3 ms... -
Page 13: Center Of Measurements Location
Quanta series – Hardware Manual QUANTAHM.1.2 3.1.2. Center of measurements location The symbol locates the center of measurements. 27,8 3.1.3. Drawings All dimensions are in mm. 3D models are available in CAD files upon request. 3.1.3.1. Top and bottom views... -
Page 14: Side View
Quanta series – Hardware Manual QUANTAHM.1.2 3.1.3.2. Side view 3.2. Quanta with External IMU Mechanical outline 3.2.1. Top and bottom views 51,5 40,5 Ant 2 Ant 1 Keep Out Area Keep Out Area Pin #39 Pin #1 Pin #40 Pin #2... -
Page 15: Side View
Quanta series – Hardware Manual QUANTAHM.1.2 20,3 Pin #5 Pin #1 Pin #6 Pin #10 3.2.2. Side view 3.3. Electrical specifications 3.3.1. Main Connector Connector Manufacturer Part number Description Quanta main connector ANTELEC AM2D-127-40-3.7-3.8-G-CMS-H25 Connector, Male, Vertical, 40 cts, 1.27mm pitch, SMD Mating connector Any DIL, 1.27mm pitch, SMD or TH connector... -
Page 16: Pin Out
Quanta series – Hardware Manual QUANTAHM.1.2 3.3.1.1. Pin out Pin # Signal Name Type Description Connection tips Power Input Main Power Supply Input Both VCC pins (Pin#1 and Pin#2) must be tied together. Power Input Main Power Supply Input Ground Signal Voltage Reference All ground pins must be connected. -
Page 17: Electrical Specifications
Quanta series – Hardware Manual QUANTAHM.1.2 Pin # Signal Name Type Description Connection tips LVTTL Input Synchronization Input D Leave unconnected if not used. SYNC_IN_D LVTTL Input Synchronization Input E Odometer B Leave unconnected if not used. SYNC_IN_E/ODO_B Channel Ground Signal Voltage Reference All ground pins must be connected. -
Page 18: External Imu Connector
Quanta series – Hardware Manual QUANTAHM.1.2 3.3.2. External IMU connector 3.3.2.1. Type Connectors Manufacturer Manufacturer P/N Description Processing Micro-Module NICOMATIC 201T10L Connector, Datamate L-Tek serie, Male, Vertical, 10 cts, 2.2A, 2mm pitch, SMD Mating board Connector HARWIN M80-8881005 Connector, Datamate L-Tek serie, Female, 10 cts, 24-28 AWG,... -
Page 19: Gnss Antenna Connectors
Quanta series – Hardware Manual QUANTAHM.1.2 Item Conditions Typical Unit Input resistance Ω RS-422 transmitters Differential output voltage Driver output current 3.3.3. GNSS antenna connectors The GNSS antenna connectors are located on the bottom of the GNSS receiver module. The connector type is UFL. Main antenna should be connected to ANTA and secondary antenna should be connected to ANTB. -
Page 20: Quanta Main Communication Interface
Quanta series – Hardware Manual QUANTAHM.1.2 3.4.2.1. Quanta main communication interface Port A is the main communication interface with the host computer, via sbgECom protocol. It can be used to get outputs as well as to configure the system. 3.4.2.2. Data output PORT A, B and C can be configured to output data in a very customized way. -
Page 21: Ethernet Interface
Quanta series – Hardware Manual QUANTAHM.1.2 3.4.3. Ethernet interface The micro module can be interfaced with other Ethernet peripherals in different ways. When the connection involves a long distance communication (typically, when there is a cable), the first implementation is required. When the device is located on the same electronic board, it is possible to select an easy circuit with capacitors. -
Page 22: Leds Integration
Quanta series – Hardware Manual QUANTAHM.1.2 3.4.5. LEDs integration The Quanta module integrates LED output pins to ensure basic HMI functions: GNSS status LEDs ● INS status LEDs ● The LEDs output pins are defined as 1 = LED ON; 0V = LED OFF. For each, a LED A signal corresponds to a GREEN light and LED B corresponds to a RED light. -
Page 23: Quanta Extra Imu Integration
Quanta series – Hardware Manual QUANTAHM.1.2 4. Quanta EXTRA IMU integration 4.1. Reference coordinate frame Figure 4.1: Quanta Extra IMU coordinate frame 4.2. Mechanical specifications The table below summarizes all mechanical and environmental specifications. Item Specification Size 83.5 x 72.5 x 50 mm... -
Page 24: Mechanical Outline
Quanta series – Hardware Manual QUANTAHM.1.2 4.2.1. Mechanical outline All dimensions are in mm. 3D models are available in CAD files upon request. The symbol locates the center of measurements. 4.2.1.1. Top and bottom views 22,3 72,5 65,5 4 H8... -
Page 25: Electrical Specifications
Quanta series – Hardware Manual QUANTAHM.1.2 4.3. Electrical specifications 4.3.1. Connector specification Connectors Manufacturer Manufacturer P/N Description IMU connector NICOMATIC 221V10F25 Connector, Board mounted, Horizontal,10 pin contacts, M2 screws assembly Mating Connector NICOMATIC 202S10 Connector, Male, 10cts, 2mm pitch, Jackscrews, Straight, 24-28 AWG conductors... -
Page 26: Electrical Specifications
Quanta series – Hardware Manual QUANTAHM.1.2 4.3.3. Electrical specifications Item Conditions Typical Unit Power supply Input voltage Power consumption RS422 / RS485 selection pin Input voltage range RS-422 Receivers Receiver Common Mode range Input differential threshold -200 -125 Input hysteresis Input resistance Ω... -
Page 27: Important Notices
SBG Systems for the installation, repair or maintenance of the product; b) to repair damage caused by improper use or connection to incompatible equipment, and specifically, the opening of the housing of the equipment under warranty shall cause the warranty to be automatically canceled. -
Page 28: Appendix A: Ordering Codes And Accessories
Quanta series – Hardware Manual QUANTAHM.1.2 6. Appendix A: Ordering codes and Accessories 6.1. Processing modules hardware codes QUANTA product is identified by both hardware and software options. The hardware code identifies only the hardware configuration while a license system enable various permissions and capabilities. The following table... -
Page 29: Quanta Dev Kit
Quanta series – Hardware Manual QUANTAHM.1.2 6.2.2. QUANTA DEV KIT The Development Kit is an essential accessory that provides an easy access to every feature of a Quanta product, thanks to the development board and included cables accessories. Standard connectors on the dev board can be directly interfaced with your application (DB-9 for serial ports &... -
Page 30: Gnss Antennas And Associated Cables
Quanta series – Hardware Manual QUANTAHM.1.2 6.3. GNSS antennas and associated cables 6.3.1. ANT-MAX-M7HCT-A-SMA This GNSS L1/L2/E5b antenna is particularly adapted for precision UAV applications, thanks to an ultra compact design, low power consumption and no ground plane requirement. This antenna provides a dual frequency tracking on GPS, GLONASS, GALILEO and BEIDOU. -
Page 31: Ant-Acm-G5Ant-1A196Mns-1
Quanta series – Hardware Manual QUANTAHM.1.2 6.3.2. ANT-ACM-G5ANT-1A196MNS-1 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 provides GPS L1/L2 tracking as well as GLONASS and BEIDOU and GALILEO. -
Page 32: Appendix B: Packaging, Labeling
7. APPENDIX B: Packaging, labeling 7.1. Board Identification SBG Systems manufacturing process is based on EN-9100 system with individual and full traceability of every component and operation. Each board is identified by a unique serial number which is used to trace all operations during the product lifetime such as manufacturing, calibration, tests and repairs. -
Page 33: Appendix C: Safety Information
Quanta series – Hardware Manual QUANTAHM.1.2 8. APPENDIX C: Safety Information Warning: ESD Sensitive Devices Electronic equipment such as discrete components, hybrid devices, integrated circuits, printed circuit assemblies can be permanently damaged or destroyed when near or in contact with electro-statically charged objects. -
Page 34: Appendix D: Environmental Statements
Quanta series – Hardware Manual QUANTAHM.1.2 9. APPENDIX D: Environmental Statements 9.1. RoHS statement Quanta product line comply with European Union (EU) Directive 2002/95/EC on the restriction of the use of certain hazardous substances in electrical and electronic equipment (RoHS Directive). -
Page 35: Appendix E: Development Board Specifications
Quanta series – Hardware Manual QUANTAHM.1.2 10. APPENDIX E: Development board specifications 10.1. Board overview The evaluation board has been designed to test and configure the Quanta product without any electronics development, thanks to standard connectors and cables. Following connectors provide easy access to the board functionalities:... -
Page 36: Ethernet
Quanta series – Hardware Manual QUANTAHM.1.2 Jumpers between X6 and X7 on position 1 and 2: Internal power supply ● Jumpers between X6 and X7 on position 3 and 4: External power supply. Apply Quanta power supply at XY ●... -
Page 37: Port C And Port D
Quanta series – Hardware Manual QUANTAHM.1.2 When the jumpers are removed, user can access to the direct Quanta signals with following pin definition: Pin # Definition (at TTL side) PORT B TX PORT B RX SYNC IN B SYNC OUT B Quanta electrical specifications apply when accessing directly at the TTL outputs. -
Page 38: Port E / Odometer Input
Quanta series – Hardware Manual QUANTAHM.1.2 10.2.6. PORT E / Odometer input The PORT E is an alternative port that can also be used as an odometer input for some applications. It can only be accessed directly at the TTL level, through the DIL connector X15. -
Page 39: Default Switches Configuration
Quanta series – Hardware Manual QUANTAHM.1.2 10.3. Default switches configuration 39/48... -
Page 40: Schematics
10.4. Schematics MPZ2012S102AT000 VDD_USB VDD_IO PORT A Micro-USB A Connector PORTA DIL Connector VCCIO VCCIO PORTA.RX_O PORTA.TX_O VDD_IO 3V3OUT 3V3OUT VDD_USB PORTA.TX_O RTS# RR S# PORTA.TX PORTA.RX_O CTS# CTS# PORTA.RX SYNC_IN_A FT230XQ-R SYNC_OUT_A USBDM USBDM CBUS0 CBUS0 LED_PORTA.TX M20-9990545 M20-9990545 USBDP USBDP CBUS1... - Page 41 VDD_+5V 100nF 100nF PORT B 100nF Sub-D 9 Male Connector PORT B DIL Connector with RS232 interface 100nF V- VV SP3232EUEY-L 100nF X12A SYNC_IN_B_RS232 PORTB.TX* PORTB.TX* PORTB.TX_RS232 PORTB.RX_RS232 PORTB.TX T1IN T1OUT PORTB.RX* SYNC_OUT_B* SYNC_OUT_B_RS232 PORTB.TX_RS232 PORTB.RX T2IN T2OUT SYNC_IN_B* SYNC_OUT_B_RS232 SYNC_IN_B SYNC_OUT_B* PORTB.RX*...
- Page 42 VDD_+5V 100nF 100nF PORT C Sub-D 9 Male Connector PORT C DIL Connector with RS232 interface 100nF 100nF V- VV X12B SP3232EUEY-L 100nF SYNC_IN_C_RS232 PORTC.RX_RS232 PORTC.TX* PORTC.TX_RS232 PORTC.TX PORTC.RX* PORTC.TX* PORTC.TX_RS232 PORTC.RX T1IN T1OUT SYNC_IN_C* SYNC_IN_C T2IN T2OUT PORTC.RX* PORTC.RX_RS232 R1OUT R1IN M20-9990445...
- Page 43 VDD_+5V 100nF 100nF PORT D 100nF PORT D DIL Connector Sub-D 9 Male Connector with RS232 interface 100nF V- VV SP3232EUEY-L 100nF PORTD.TX* PORTD.TX_RS232 T1IN T1OUT PORTD.TX* SYNC_IN_D_RS232 PORTD.TX T2IN T2OUT PORTD.RX* PORTD.RX_RS232 PORTD.RX SYNC_IN_D* PORTD.RX* PORTD.RX_RS232 PORTD.TX_RS232 SYNC_IN_D R1OUT R1IN SYNC_IN_D* SYNC_IN_D_RS232...
- Page 44 VDD_+5V Termination Resistor Sub-D 9 Male 120 Ohm Connector 100nF DIL Connector CAN_L VREF VREF CANH SN65HVD1050DR M20-9990445 CANL CAN_H M20-9990445 M20-9990445 JUMPER1 SHIELD 178-009-613R491 JUMPER2 JUMPER3 JUMPER4 881545-2 881545-2 881545-2 881545-2 RIMU-DK-UAV-Mk1_CAN.SchDoc SBG-Systems Title: 1, Avenue Eiffel Size: Author: R.Bellissent Version - Rev.
- Page 45 ETHERNET RJ45 Connector TRCT3 TRD3- TRD3+ ETHERNET TRD2+ ETH.TX_P ETH.TX_P TX_P LINE1 TRD2- ETH.TX_N ETH.TX_N TX_N TRCT2 LINE2 TRCT4 C3 100nF SP3374NUTG TRD4+ ETHERNET TRD4- ETH.RX_N ETH.RX_N RX_N TRD1- LINE3 ETH.RX_P ETH.RX_P RX_P TRD1+ LINE4 TRCT1 C4 100nF LEDY- LEDY+ LEDO- LEDCOM+ LEDG-...
- Page 46 VDD_+5V LED1A LED1B LED2A LED2B HSMF-C165 HSMF-C165 BC846B BC846B BC846B BC846B GNSS_LED_A GNSS_LED_B INS_LED_A INS_LED_B RIMU-DK-UAV-Mk1_LEDS.SchDoc SBG-Systems Title: 1, Avenue Eiffel Size: Author: R.Bellissent Version - Rev. 78420, CARRIERES-SUR-SEINE Date: 17/07/2019 Time: 16:48:00 Sheet: FRANCE File: D:\hardware\projects\RIMU\RIMU-DK-UAV\RIMU-DK-UAV-Mk1_LEDS.SchDoc CONFIDENTIAL 46/48...
- Page 47 Vin 6 - 36 V MPZ2012S102AT000 Inner Inner BOOST BOOST Outer Outer LT8610ABEMSE#PBF 694106301002 10uF 10uF 100k 100nF EN/UV VDD_+5V VDD_+5VR IHLP2525CZER100M11 SYNC 47uF 47uF BIAS BIAS M20-9990445 M20-9990445 TR/SS 374k 10pF INTVCC JUMPER11 JUMPER12 88.7k 2.2nF 60.4k 881545-2 881545-2 VDD_+5VR VDD_+5VR VDD_+5VR...
- Page 48 ETHERNET_PORT.RX_P RX_P ETHERNET_PORT.RX_N ETHERNET RX_N ETHERNET_PORT.RX_P ETHERNET_PORT.TX_P TX_P ETHERNET_PORT.RX_N ETHERNET_PORT.TX_N TX_N GPIO9/SPI_MOSI/INS_LED_A GPIO7/SPI_SCK/GNSS_LED_A GPIO10/SPI_CS1/INS_LED_B GPIO8/SPI_MISO/GNSS_LED_B PORTA.TX PORTA.RX SYNC_IN_A SYNC_OUT_B SYNC_OUT_A PORTC.TX PORTC.RX PORTB.TX PORTB.RX SYNC_IN_C SYNC_IN_B PORTD.TX PORTE.TX AF2D-127-40-G-CMS-H4 PORTD.RX PORTE.RX/ODO_A SYNC_IN_D SYNC_IN_E/ODO_B RIMU-UAV-Mk1_AF2D-127-40-G-CMS-H4.SchDoc SBG-Systems Title: 1, Avenue Eiffel Size: Author: R.Bellissent Version...
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