VN-210 GNSS/INS
Manufacturer: VectorNav Technologies
Description:
The VN-210 is a tactical-grade, high performance GNSS- Aided Inertial Navigation System (GNSS/INS) that combines 3-axis gyros, accelerometers and magnetometers, a Multi-band L1/L2/E1/E5b GNSS receiver, and advanced Kalman filtering algorithms to provide optimal estimates of position, velocity, and attitude. The VN-210 utilizes VectorNav's proprietary onboard Extended Kalman Filter (EKF) to optimally combine high bandwidth inertial sensor measurements with high-accuracy, low bandwidth GNSS measurements to provide high-accuracy, low latency position, velocity, and attitude measurements.
Features:
- Industry-Leading INS: The VN-210 features VectorNav's proprietary Extended Kalman Filter INS algorithm, which is proven to excel under the most challenging dynamic conditions.
- Robust Positioning: With support for RTK, PPK & SAASM/M-Code GPS, the VN-210 can be configured to meet the positioning requirements of a wide variety of applications.
- True Inertial Navigation System: No mounting orientation restrictions or configuration modes; Automatic filter initialization and dynamic alignment.
- Software Compatibility: The VN-210 and VN-210E share a common communication protocol with the entire VectorNav product line.
- Ease of Availibility: ITAR-free and Made in the USA; short lead times.
- User Configurable Messages: ASCII and VectorNav Binary messages.
Performance Specifications
ATTITUDE
- Range (Heading/Yaw, Roll): ± 180°
- Range (Pitch): ± 90°
- Heading (Magnetic)2: 2.0° RMS
- Heading (INS)3,4: 0.05° to 0.1°, 1σ
- Pitch/Roll (Static): 0.05° RMS
- Pitch/Roll (INS)4: 0.015°, 1σ
- Heading Mounting Misalignment (VN-210)5: 0.05°, 1σ
- Heading Mounting Misalignment (VN-210E)5: 0.15°, 1σ
- Pitch/Roll Mounting Misalignment5: < 0.05°, 1σ
- Angular Resolution: 0.001°
POSITION/VELOCITY
- Horizontal Position Accuracy6: 1.0 m RMS
- Vertical Position Accuracy6: 1.5 m RMS
- RTK Position Accuracy7: 0.01 m + 1 ppm CEP
- Free Inertial Position Drift8: 0.5 cm/s²
- Velocity Accuracy: < 0.02 m/s
IMU Specifications
| ACCELEROMETER | GYROSCOPE | MAGNETOMETER | |
| Range9 | ±15 g | ±490°/s | ±2.5 Gauss |
| In-Run Bias Stability (Allan Variance) | < 10 μg | < 1°/hr (0.4-0.7°/hr typ.) | - |
| Noise Density | < 0.04 mg/√Hz | 5 °/hr /√Hz | 140 µGauss/√Hz |
| Bandwidth | 240 Hz | 240 Hz | 200 Hz |
| Cross-Axis Sensitivity | ±0.05 ° | < 0.05 ° | ±0.05 ° |
1. Contact VectorNav for ARINC 429 option.
2. With proper magnetic declination, suitable magnetic environment and valid hard/soft iron calibration.
3. Dependant on a number of factors, contact VectorNav to discuss expected performance in your application.
4. With sufficient motion for dynamic alignment.
5. Constant on a per part basis. Can be calibrated out during system integration using boresighting or other alignment processes.
6. Dependant on SBAS, clear view of GNSS satellites, good multipath environment, compatible GNSS antenna, and measurement duration period.
7. Dependant on atmospheric conditions, baseline length, GNSS antenna, multipath conditions, satellite visibility and geometry.
8. Typical rate of growth in error of position estimates after loss of GNSS signal, provided INS full alignment prior to loss.
9. Contact VectorNav for Extended Range Gyro Option.
