IG-500A

3D Orientation Heave

ACCURACY

0.35

INDUSTRIAL GRADE

Attitude and Heading Reference System

IG-500 SERIES When size and performance matter, professionals trust the proven MEMS-based IG-500 series. After many years of success, the IG-500 Series is recognized for its high performance and reliability.

IG-500A - The Most Efficient Miniature AHRS

KEY FEATURES From 0.35 Attitude Accuracy

Precise 3D orientation even in dynamic conditions High update rate @200 Hz NMEA/ASCII output

Precise 3D orientation

SyncIn and SyncOut signals available

MINIATURE AND ROBUST

Compact and lightweight 40 grams Low power design down to 400 mW Robust aluminum enclosure

3 Axis 3 Axis 3 Axis

3D Orientation CPU
1k Hz coning Kalman Filter Calibration data
RS-232 RS-422 CAN 2.0

Gyroscopes Accelerometers

Euler Matrix Quaternion

16 bits A/D 12 bits A/D

Sensors
3D Angular Rate 3D Acceleration 3D Magnetic field

Magnetometers Temperature Sensors

Heave

The IG-500A is a miniature Attitude and Heading Reference System (AHRS). It is composed of: a MEMS-based Inertial Measurement Unit (IMU) integrating 3 gyroscopes, 3 accelerometers, and 3 magnetometers, an on board Extended Kalman Filter(EKF).

COMPENSATION OF MAGNETIC DISTURBANCES

The magnetometer calibration tool compensates both soft and hard iron effects using a powerful algorithm. A calibration library is provided to be integrated in your system. You can easily calibrate your sensor in real conditions to obtain the most efficient compensation.

THE MOST ADVANCED CALIBRATION TECHNIQUES

To ensure high data integrity, the IG-500A is calibrated from -40 to 85C for bias, gain, linearity, misalignments, cross-axis and gyro-g. Every sensor is then intensively tested and shipped with its own calibration report.

HIGH IMMUNITY TO VIBRATIONS

The IG-500A is especially reliable in vibrating environments. Each accelerometer is calibrated, and powerful algorithms have been designed to filter vibrations such as a 1 k Hz coning and a FIR filtering.

Select & Tune to your application

MOTION PROFILES
Motion Profiles adjust automatically to: Kalman Filter parameters, Vibration level, Dynamic model, Magnetic disturbance immunity, etc. In a few clicks, Motion Profiles tune your sensor to your application constraints.

ROV
Ideal for Compass replacement, the IG-500A provides robust orientation and heading data thanks in particular to the compensation of magnetic interferences.

BUOY
Additionally to offer 3D orientation over 360, the IG-500A includes a heave feature. Miniature, low consumption, and robust, this AHRS is perfect for Buoys.

MACHINE CONTROL
Whether mounted on graders, dozers, or excavators, the accurate and costeffective IG-500A measures in real-time blades position, tilt, pitch, yaw, and acceleration.

VIRTUAL REALITY / INDOOR

By providing data at 200 Hz and by handling magnetic interferences; the lightweight and powerful IG-500A is the right sensor for virtual reality and indoor positioning applications.

Example: If you want to install the IG-500 sensor in an airplane, select the Aircraft High Dynamics motion profile and all parameters will be automatically adjusted.

Development kit
The Development Kit which comes with your IG-500A sensors contains: A quick start guide and the user manual, The calibration report of your IG-500A, A USB converter cable, Useful software and tools:
A C library and some code sources examples The Magnetometer Calibration Tool LabView & Matlab plugins The sbgCenter configuration & analysis software The sbgUpdater that automatically alerts you and install the new software version.

The sbgCenter
Configure Analyse Export

IG-500A - Specifications
PARAMETER SPECIFICATIONS
Aerospace
2.0 RMS 2.0 RMS < 0.05 -

REMARKS
Underwater
0.35 RMS 0.8 RMS < 0.05 Solid state sensors Depends on sensors options Homogenous magnetic field Whichever is greater

MECHANICAL DRAWING
All dimensions are in millimeters Side view

Performance
Roll/Pitch (Dynamic) Heading (Dynamic) Resolution Heave Sensing range

Marine
0.45 RMS 1.0 RMS < 0.05 10 cms or 10 %

36,40 22

360 in all axes, no mounting limitation

Inertial Sensors
Measurement range Non-linearity Initial bias error Bias in-run stability Scale factor stability Noise density Alignment error Bandwidth Sampling rate

Accelerometers
5g < 0.2 % 5 mg 0.06 mg < 0.1 % 0.25 mg/ Hz < 0.05 250 Hz 10,000 Hz

Gyroscopes
300 /s < 0.05 % 0.5 /s 20 /hr < 0.05 % 0.05 /s/ Hz < 0.05 240 Hz 10,000 Hz

Magnetometers
1.2 Gauss < 0.2 % 0.5 mGauss < 0.5 % 0.01 mG/ Hz < 0.1 500 Hz 1,000 Hz 1 k Hz gyroscopes coning integrals Advanced anti-aliasing FIR filters Refer to sensors options table % of full scale Over temperature range Allan variance - constant temperature Top view

35,80

Over temperature range

M3

Communication
Available data Euler angles, quaternion, rotation matrix, heave, calibrated sensor data, delta angles, device status, etc. 200 Hz for orientation RS-232, RS-422, TTL 3.3V, or USB. Binary proprietary protocol and NMEA/ASCII CAN 2.0A/B up to 1 Mbit/s Each output can be enabled or disabled by the user. Output rate is user selectable. 500 Hz in IMU mode only RS-422 only for S and O packages. USB using an external adapter Only available for S and O packages

49,40

Output rate Serial interface CAN interface

PRODUCT CODE

: standard product options

IG-500A-G#A#P#-#
GYROSCOPES
2: 75 /s 3: 150 /s 4: 300 /s 5: 600 /s 6: 1200 /s 1: 2 g

Physical
Dimensions OEM Dimensions box Weight OEM Weight box Specified temperature Storage temperature Shock limit Operating vibration 27 x 30 x 14 mm, 1.1 x 1.2 x 0.6 36 x 49 x 22 mm, 1.4 x 1.9 x 0.9 36 x 49 x 25 mm, 1.4 x 1.9 x 1 8 grams, 0.02 pounds 40 grams, 0.09 pounds 44 grams, 0.1 pounds -40 to 85C, -40 to 185F -40 to 85C, -40 to 185F 1,000 g (Powered); 2,000 g (Unpowered) 3 g RMS (20 Hz to 2 k Hz per MIL-STD 810G) Shocks can affect performance Valid for 18g accelerometers B package S package Non-condensing environment B package S package

2: 5 g 3: 18 g

PROTOCOL MODE
1: RS-232 2: Serial TTL 3: CAN 2.0A/B 4: RS-422

Electrical
Operating voltage Power consumption SyncOut, Trigger SyncIn, Time pulse In Start-up time 3.3 V to 30 V 400 mW @ 5.0 V Open drain pull-up voltage: -0.3 to 25 V Low level < 0.8 V High level > 2.2 V <1s High efficiency DC/DC converter Open drain, use a pull-up resistor Input range: 20V Input delay: < 150 ns Valid data

PACKAGING

B: Box small size S: Box with Sync O: OEM version

OEM VERSION

www.sbg-systems.com

SBG Systems EMEA (Headquarters) Phone: +33 1 80 88 45 00 E-mail: contact@sbg-systems.com

SBG Systems North America Phone: +1 (773) 754 3272 E-mail: contact.usa@sbg-systems.com

Rev 2.3 Specifications are subject to change without notice - March 2013 - All rights reserved 2013 SBG Systems

ACCELEROMETERS