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Related Manuals for SBG Systems EKINOX Series
Summary of Contents for SBG Systems EKINOX Series
- Page 1 EKINOX Series Tactical Grade MEMS Inertial Sensors Hardware Manual Document EKINOXV3HM.1.4 Support EMEA Revision 1.4 - Nov 30, 2022 support@sbg-systems.com Covers Hardware Ekinox -A and -E V3 and +33 1 80 88 43 70 above Ekinox -D V4 and above Americas support@sbg-systems.com...
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Page 2: Revision History
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 Revision history Rev. Date Author Information Mar 24, 2025 Mathieu Peyréga [EK3HM-22] - Update the maximum odometer pulse rate to 1MHz [EK3HM-23] - CA-AEK-SPLIT-AUX-0.5M mention MAIN connector instead of AUX [EK3HM-24] - Support for new GNSS variants (GNSS specs, HW codes) Nov 30, 2022 Mathieu Peyréga... -
Page 3: Table Of Contents
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 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. External aiding sensors................................. 10 2.3. Orientation and Navigation Performance....................12 2.3.1. - Page 4 EKINOX Series – Hardware Manual EKINOXV3HM.1.4 4.2.2. Connector pin-out.................................. 21 4.2.3. Electrical specifications................................ 22 4.3. Main connector............................22 4.3.1. Connector specifications............................... 22 4.3.2. Connector pin-out................................. 23 4.3.3. Electrical specifications................................ 24 4.4. Auxiliary connector............................25 4.4.1. Connector specifications............................... 25 4.4.2. Connector pin-out................................. 25 4.4.3.
- Page 5 EKINOX Series – Hardware Manual EKINOXV3HM.1.4 6.4. Warranty, liability and return procedure....................39 7. Appendix A: Ordering codes and Accessories....................40 7.1. Ekinox variants............................40 7.2. Transport Cases............................40 7.2.1. CASE-EKI-01................................... 40 7.2.2. CASE-AEK-01..................................40 7.3. Associated Software..........................41 7.3.1. Inertial SDK..................................... 41 7.3.2. SW-QINERTIA-PRO (GNSS/INS Post Processing Software)....................41 7.4.
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Page 6: Terminology
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 Terminology AHRS: Attitude and Heading Reference System CAN (Bus): Controller Area Network CMR: Compact Measurement Record (protocol) DC: Direct Current DGNSS: Differential GNSS DMI: Distance Measuring Instrument DVL: Doppler Velocity Log EKF: Extended Kalman Filter... -
Page 7: Introduction
Ekinox. Finally, the 8 GB embedded data-logger enables seamless post processing work-flow with Qinertia post- processing software for the most demanding applications. The third generation of Ekinox remains fully compatible with previous Ekinox series. 7/48... -
Page 8: Ekinox Overview
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 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.1.4 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.1.4 2.2. Aiding sensors Many different aiding sensors can be used to aid the Ekinox INS. All the Ekinox-D versions embeds a survey grade dual antenna GNSS receiver with a common set of core features (L1/L2/L5 GPS, GLONASS, GALILEO, BEIDOU), capable of SBAS, DGNSS, and RTK positioning. With a configured refresh rate of 5 Hz, this receiver provides best accuracy and reliability in harsh GNSS... - Page 11 EKINOX Series – Hardware Manual EKINOXV3HM.1.4 Note: All these specifications reflect the intrinsic GNSS receiver accuracy. Please refers to section 2.3 Orientation and Navigation Performance for complete Ekinox accuracy specifications. The Ekinox-A accepts a single external GNSS receiver connection to improve orientation performance. It can be a dual antenna receiver for precise heading output.
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Page 12: Orientation And Navigation Performance
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 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 200 s of optimal GNSS condition, compared to a reference RTK trajectory. -
Page 13: Marine & Subsea Applications
0.015 m + 1 ppm 0.01 m/s 0.01 m/s 0.01° 0.02° 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 14: Mechanical Specifications
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 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 15: Device Mechanical Alignment
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 For best measurement accuracy, a good mechanical alignment is required. During manufacturing, the Ekinox measurement frame has been carefully aligned to 0.02° with the base plate for roll, pitch and yaw angles. To ease the yaw alignment (X axis), the base plate features two alignment holes Ø 4 mm H8 that guarantees with two taper pins Ø... -
Page 16: Ekinox-A And E Mechanical Outline
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 3.2. Ekinox-A and E mechanical outline All dimensions are in mm. 100 ±0,30 4 HOLES 4,50 16/48... -
Page 17: Front View
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 91 ±0,10 4 H7 27,70 4 H7 17/48... -
Page 18: Ekinox-D Mechanical Outline
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 3.3. Ekinox-D mechanical outline All dimensions are in mm. 100 ±0,30 4 HOLES 4,50 18/48... -
Page 19: Front View
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 14,50 14,50 91 ±0,10 4 H7 27,70 4 H7 19/48... -
Page 20: Electrical Specifications
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 4. Electrical specifications 4.1. Overview The Ekinox connectors are all placed on the front panel. The connectors are referenced and identified by laser marking on the enclosure. Each connector is different and fool proofed using a specific keying to avoid any misconnection. -
Page 21: Power Supply Connector
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 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 22: Electrical Specifications
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 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 23: Connector Pin-Out
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 S-104-A092-130 (Core Series version) ● 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 Connected to the main connector electrical ground... -
Page 24: Electrical Specifications
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 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 Threshold Low... -
Page 25: Auxiliary Connector
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 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 26: Electrical Specifications
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 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 27: Gnss Antenna Connectors
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 4.5. GNSS antenna connectors To connect external GNSS antennas, the Ekinox-D versions feature two TNC connectors that provide IP-68 protection even unmated. The internal GNSS receiver only supports active GNSS antennas. Any standard coax cable with a TNC male connector can be used with the Ekinox. However, care should be taken to select a high quality coaxial cable with low loss in case of long cable. -
Page 28: Electrical Specifications
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 Recommended electrical specifications for GNSS antenna selection from -40°C to 71°C. Parameter Specifications Remark, conditions Antenna connector TNC female IP-68 when connected Input impedance 50 Ω LNA supply voltage 5 VDC ±5 % LNA supply current < 150 mA... -
Page 29: Typical Wiring
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 4.6. Typical wiring In this section, we briefly describe a few recommended wiring diagrams. Concerning power supply, we recommend shielded cable, with at least AWG 24 wires. Power Supply Power Connector +12 to 36V DC SHIELD Shield is the mechanical ground. -
Page 30: Main Interface Connection On Rs-422
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 Below is shown the main interface (Port A) connection, using a full duplex RS-422 connection. The recommended cable is a shielded twisted pairs AWG 26 cable. Note the termination resistors (Usually 120 Ω) that can optionally be placed on receiver side to avoid communication errors in long distance communications. -
Page 31: Gnss Connection In Rs-232 Mode
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 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 GNSS NMEA signals should be separated in two cables for better noise immunity. -
Page 32: Typical Connection Topologies
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 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. Here we present an advanced use case where the Ekinox-D sensor is used in a land survey application. The... -
Page 33: Ekinox-E In Marine Application
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 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 34: Interfaces Specifications
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 5. Interfaces specifications 5.1. Overview The Ekinox features the following interfaces: An Ethernet Interface ● 1 to 5 Physical RS-232/RS-422 serial ports (Port A to Port E). ● Internal data logger ● CAN bus ●... -
Page 35: 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: Output log trigger: All received pulses generate events that can generate specific Logs output. Any ●... -
Page 36: Sync Out A, B
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 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 200 Hz / 4 = 50 Hz. -
Page 37: Internal Datalogger
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 5.7. Internal Datalogger The Ekinox includes an internal datalogger capable of storing all data at 200 Hz 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 38: Important Notices
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 6. 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 39: Support
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 6.3. Support Our goal is to provide the best experience to our customers. If you have any question, comment or problem with the use of your product, we would be glad to help you, so feel free to contact us: support@sbg- systems.com... -
Page 40: Appendix A: Ordering Codes And Accessories
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 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. Ekinox Variant Hardware Code Product Name EKINOX-A-G4A3 EKINOX-A - Land Air AHRS... -
Page 41: Associated Software
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 7.3. Associated Software The SBG Systems Inertial SDK is very helpful to configure, playback recorded logs, export data to text files or third party software and even develop custom code for the Ekinox. It contains the following items: sbgCenter analysis software ●... -
Page 42: Cables
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 7.4. Cables 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. ● 12 V output ● No IP rating ●... -
Page 43: Ca-Aek-Main-Rs232-3M
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 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 ● 1 open end ●... -
Page 44: Ca-Aek-Main-Rs422-3M
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 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 ● 1 open end ●... -
Page 45: Ca-Aek-Aux-3M
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 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 ● 3 m AWG 26 shielded cable with twisted pairs ●... -
Page 46: Ca-Aek-Split-Main-0.5M
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 This cable provides a robust and easy access interfaces available on the EKINOX MAIN connector using standard plugs. The cable has following characteristics: 1 x Fischer Core Series S-104-A092-130 that connects on MAIN connector ●... -
Page 47: Ca-Aek-Split-Main2-0.5M
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 This cable provides a robust and easy access interfaces available on the EKINOX MAIN connector using standard plugs. The cable has following characteristics: 1 x Fischer Core Series S-104-A092-130 that connects on MAIN connector ●... -
Page 48: Ca-Aek-Split-Aux-0.5M
EKINOX Series – Hardware Manual EKINOXV3HM.1.4 This cable provides a robust and easy access serial ports available on the EKINOX connector using standard DB-9 plugs. The cable has following characteristics: 1 x Fischer Core Series S-104-A092-130 that connects on AUX connector ●...
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