Low-cost MEMS Integrated Navigation System

ER-GNSS/MINS-05:
1. High reliability and low cost MEMS gyroscope and accelerometer;
2. Built-in full-band full-system dual-antenna positioning and orientation GNSS module;
3. Variety of data interface, support RS422/RS232 and CAN.

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Introduction

Low-cost MEMS Integrated Navigation System

Introduction
ER-GNSS/MINS-05 is a low-cost integrated navigation system that significantly reduces hardware costs. Through technology and system optimization, it accurately balances and compensates key indicators such as accuracy, reliability, and stability under cost constraints, providing a truly low-cost navigation solution for automation, unmanned systems, precision agriculture and other fields.

It deeply integrates inertial and satellite data, outputs full-parameter navigation information including position, speed, attitude, and heading, and achieves centimeter-level positioning accuracy and 0.03m/s speed measurement accuracy, 0.1° real-time heading accuracy (0.05° after post-processing), and 0.1° attitude accuracy (0.03° after post-processing). When the GNSS signal is lost or interfered, the INS maintains navigation output through short-term calculation to avoid positioning interruption.

Reduce the cost of expensive inertial devices, use highly reliable and low-cost MEMS gyroscopes and accelerometers, and perform temperature compensation for gyroscopes and accelerometers within the operating temperature range of -40℃~+80℃, which is different from the high cost of traditional high-end devices, while reducing hardware costs and ensuring core performance.

Built-in full-band full-system dual-antenna GNSS module, a single machine can simultaneously achieve three functions: positioning, speed measurement, and orientation. Single-antenna positioning and speed measurement meet the needs of mainstream scenarios such as unmanned systems and agricultural plant protection drones; dual-antenna rapid orientation provides a reliable benchmark for autonomous vehicle steering decisions and aircraft formation coordination.

Equipped with a variety of communication interfaces and providing standardized user communication protocols, with the core advantages of "balanced performance, controllable costs, and full parameter information", it can meet a variety of applications such as aviation and land.

Feature
1.The system can provide accurate integratednavigation information, with attitude up to 0.1°, post-processing 0.03°, heading 0.1°, post-processing 0.05°.
2.Maintain high-precision navigation for a short time in an environment where the satellite signal is lost.
3.High reliability and low cost MEMS gyroscope (bias instability <2°/h) and MEMS accelerometer (bias instability <25ug).
4.The working temperature is -40℃~+80℃, and the temperature compensation of the gyroscope and accelerometer is carried out in the working temperature range, which has better zero bias performance.
5.Built-in full-band full-system dual-antenna positioning and orientation GNSS module, supporting single-antenna high-precision positioning and velocity measurement, supporting dual-antenna fast orientation function.
6.Supports RTK and can adaptively identify RTCM.
7.Variety of data interface, more easy to install and use, support RS422/RS232 and CAN.
8.Precision aluminum alloy shell, high reliability, can be widely used in land, navigation

Application areas
UAV, flight recorders, intelligent unmanned vehicles,
roadbed positioning and orientation, waterway detection, precision agriculture, ROV navigation

Specifications

1. System parameter

ER-GNSS/MINS-05
Roll & Pitch Accuracy	0.1°
	0.03°(Post Processing)
Heading	0.1°Dual Antenna GNSS(baseline 1m)
	0.05°(Post Processing)
Speed accuracy	0.03m/s
RTK 30 sec outage	Roll&Pitch	Heading
	0.03°	0.06°
	Position(X/Y)	Altitude(Z)
	1.0m	0.5m
RTK 60 sec outage	Roll&Pitch	Heading
	0.1°	0.2°
	Position(X/Y)	Altitude(Z)
	15m	3m
Alignment Time	3min (Dual Antenna GNSS)

2. Sensor parameter

Gyro Performance
Item	Parameter	Unit
Range	±450	deg/s
Full temperature bias	≤36	°/h
Angle random walk	≤0.15	°/ √h
Bias instability	≤2	°/h
Bias stability (1σ)	≤8	°/h
Bias repeatability (1σ)	≤8	°/h
Scale factor non-linearity	≤50	ppm
Bandwidth	472	Hz

Accelerometer Performance
Item	Parameter	Unit
Range	±16	g
Full temperature bias	≤3	mg
Rate random walk	≤0.025	m/s/√h
Bias instability	≤0.025	mg
Bias stability (1σ)	≤0.2	mg
Bias repeatability (1σ)	≤0.2	mg
Scale factor non-linearity (±1g)	0.1	%FS
Bandwidth	333	Hz

Barometer
Parameter	value	Unit
Pressure range	10~1200	mbar
Accuracy 25℃,750mbar	±1.5	mbar
Error band,-20℃~+85℃,450~1100mabr	±2.5	mbar
Temperature	-40℃~+85℃	\
Long-term stability	±1	mbar/year

Magnetometer
Sensor Filed Range	±2	gauss
Sensitivity	11000	LSB/G
Temperature Sensor Sensitivity	14	LSB/℃
Field Resolution	1.2	mgauss
X-Y-Z Orthogonality	90±1	Degree

GNSS
Supported Navigation System	BDS/GPS/GLONASS/Galileo/QZSS
Main ANT Frequency	BDS:B1L, B2L, B3L GPS:L1C/A, L2P(Y)/L2C, L5 GLONASS: L1, L2 Galileo: E1, E5a, E5b QZSS: L1, L2, L5
Slave ANT Frequency	BDS:B1L, B2L, B3L GPS:L1C/A, L2C GLONASS: L1, L2 Galileo: E1, E5b QZSS: L1, L2
Position Accuracy (RMS)	Single point positioning	Horizontal		1.5m
	Single point positioning	Altitude		2.5m
	DGPS	Horizontal		0.4m+1ppm
	DGPS	Altitude		0.8m+1ppm
	RTK	Horizontal		0.8cm+1ppm
	RTK	Altitude		1.5cm+1ppm
Accuracy of observation (RMS)
	BDS	GPS	GLONASS	Galileo
B1I/L1 C/A/G1/E1 pseudo-range	10cm	10cm	10cm	10cm
B1I/L1 C/A/G1/E1 Carrier Phase	1mm	1mm	1mm	1mm
B3I/L2P(Y)/L2C/G2 pseudo-range	10cm	10cm	10cm	10cm
B3I/L2P(Y)/L2C/G2 Carrier Phase	1mm	1mm	1mm	1mm
B2I/L5/E5a/E5b pseudo-range	10cm	10cm	10cm	10cm
B2I/L5/E5a/E5b Carrier Phase	1mm	1mm	1mm	1mm
Time accuracy (RMS)	20ns
Speed accuracy (RMS)	0.03m/s
First positioning time	<30s
Initialization time	<5s
Data update rate	<20Hz

Power ＆ Interface
Supply Voltage	5~12V
Supply Consumption	4W
Interface	1Way-RS422 or 1Way-RS232 and 1Way-CAN and 2Way-TTL(NMEA out and RTCM in)
Environment
Operate Temp	-40℃~+80℃
Storage Temp	-55℃~+95℃
Dimension & Weight
Weight	<240g
Size	65mm70mm45.5mm