Table of Contents
Related Manuals for SBG INS
Summarization of Contents
Introduction and Basics
Types Definitions
Defines scalar and complex data types used for variables format.
Complex Data Types
Explains vector objects, matrix objects, and revision number interpretation.
Software Revision Type
Details the software revision scheme and handling compatibility.
Conventions and Units
Defines SI units and the device coordinate frame (North East Down).
Interfaces Configuration
Serial, Ethernet and Data-logger Interfaces
Describes serial, Ethernet, and data-logger interface capabilities.
CAN Interface
Details the CAN protocol implementation and specifications.
sbgECom Binary Protocol
General Protocol Description
Overview of the sbgECom binary protocol for compact and secure communications.
CRC Definition
Explains the 16-bit CRC computation used for message integrity.
Messages Classes
Lists and describes the different message classes within the sbgECom protocol.
Commands Overview
Lists all available sbgECom commands for device configuration.
SBG_ECOM_CLASS_CMD_0: Commands
Introduction to sbgECom Commands
Explains the bi-directional communication principle for configuration.
Acknowledge Frame
Describes the acknowledge frame structure and error codes.
Large Buffers Transmission
Details the sub-protocol for transferring large data buffers.
Commands Availability
Shows command availability across different product families.
Sensor Parameter Configuration
Init Parameters Configuration
Configures initial position and date for gravity and magnetic declination.
Motion Profile Configuration
Sets the motion profile ID for device operation.
IMU Alignment and Lever Arm
Configures IMU alignment and lever arm in the vehicle frame.
Aiding Assignment Configuration
Assigns aiding sources like GNSS, DVL, Odometer to specific ports.
Magnetometer and GNSS Configuration
Magnetometer Configuration
Sets magnetometer model ID and rejection modes.
Magnetometer Calibration
Details the on-board magnetic calibration process.
GNSS Configuration
Configures GNSS receiver model ID and installation parameters.
DVL, Odometer, and Airdata Configuration
DVL Configuration
Sets DVL model ID, installation, and rejection modes.
Odometer Configuration
Configures odometer parameters, lever arm, and CAN settings.
Airdata Configuration
Sets AirData model ID, lever arm, and rejection modes.
Interface and Event Configuration
Interfaces Configuration
Configures UART and CAN bus interfaces.
Ethernet Configuration
Sets up Ethernet IP configuration and modes.
Events Configuration
Configures synchronization input and output settings.
Output Configuration
Configures message output ports and modes.
Advanced Settings and API
Advanced Configuration
Configures time reference and GNSS/NMEA options.
Validity Thresholds Configuration
Sets thresholds for position, velocity, attitude, and heading precision.
Licenses and Features
Details sensor features and license application.
GET/POST sbgInsRestApi
Explains REST API access for configuration via serial links.
SBG_ECOM_CLASS_LOG_ECOM_0: Binary Logs
Binary Output Logs Overview
Provides an overview of available binary output logs.
Binary Output Logs Availability
Details which binary logs are available per product type.
General Information and Time
Combines device status, communications, and aiding information.
UTC and GPS Time
Provides UTC time reference and time correspondence.
Inertial Sensor Data and EKF Outputs
Inertial Sensor Data
Outputs calibrated accelerometers, gyroscopes, delta angles and velocities.
EKF Output Logs
Provides EKF computed 3D attitude, velocity, and position data.
Euler Angles
Presents computed orientation in Euler angles format.
Navigation, Position, Velocity
Outputs WGS84 position, velocity, and their accuracy parameters.
Aiding Sensors Outputs
GNSS Velocity, Position, and Heading
Provides GNSS velocity, position, and true heading data.
Odometer and Airdata Outputs
Outputs odometer velocity and airdata (pressure, altitude, airspeed).
Doppler Velocity Log and Depth Sensor
Stores DVL velocity data and depth sensor measurements.
USBL Position and Event Markers
Retrieves USBL position data and logs synchronization events.
SBG_ECOM_CLASS_LOG_ECOM_1: High Rate Logs
Output Logs Overview
Lists special output logs generated at high update rates.
Fast Internal IMU Data
Provides IMU data (accel, gyro) at 1 KHz rate.
NMEA Protocol Description
NMEA Sentences Format
Defines the structure and fields of NMEA sentences.
NMEA Types Conventions
Explains conventions for integers, decimal numbers, and time.
Standard NMEA Logs
Describes quality indicators and DOP computation for standard NMEA logs.
NMEA Logs Availability
Details availability of standard NMEA logs across products.
Proprietary NMEA Logs
Proprietary NMEA Logs Overview
Lists proprietary NMEA messages for navigation and attitude.
PRDID, PSBGI, PASHR Messages
Describes RDI, SBG Systems, and proprietary NMEA messages.
WASSP, PSBGB, Ixblue Messages
Details WASSP, PSBGB, and Ixblue proprietary NMEA logs.
Trimble GGK Message
Describes the Trimble GGK message format for position data.
Third Party Logs Description
Third Party Logs Overview
Lists third-party logs supported by SBG Systems.
Third Party Logs Availability
Shows availability of third-party logs across products.
TSS1, KVH, Teledyne RDI Logs
Describes TSS1, KVH, and Teledyne RDI PD0/PD6 log formats.
Simrad, Konsberg, Crossbow, ADA Logs
Details Simrad, Konsberg, Crossbow, and ADA third-party logs.
Input Protocols
Input Protocols Support
Details support for third-party equipment and protocols.
NMEA, UBX, and Novatel Protocols
Describes NMEA, UBX, and Novatel protocols for aiding data.
Septentrio, Trimble, Teledyne RDI Protocols
Details Septentrio, Trimble, and Teledyne RDI protocols for aiding.
Crossbow AHRS-500 Air Data
Explains the Crossbow AHRS-500 air data aiding packet.
CAN Protocol Specifications
CAN Protocol Introduction and Conventions
Covers CAN protocol intro, conventions, and message identification.
CAN Output Logs Overview
Provides an overview of available CAN messages.
CAN Messages Availability
Details CAN message availability across products.
General Status Output (CAN)
Outputs general status information via CAN messages.
CAN Data Outputs
Inertial Data Output (CAN)
Outputs IMU calibrated accelerometers and gyroscopes via CAN.
EKF Output Data (CAN)
Provides EKF computed attitude, position, and velocity via CAN.
GNSS Outputs (CAN)
Outputs GNSS velocity, position, and heading via CAN.
Event Markers (CAN)
Logs synchronization events via CAN messages.
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