GNSS inertial navigation system

standardindooroutdoor

Accurate localization, anywhere When it comes to outdoor (and indoor) autonomous vehicles, it’s essential to know precisely where the vehicle is located at all times – even in challenging or GNSS-denied environments. For these applications, we’ve introduced the Xsens Vision Navigator. Visual-inertial odometry Using dual RTK GNSS, an internal IMU and a camera, and visual-inertial odometry technology, the Xsens Vision Navigator provides accurate real-time navigation data, whether you’re in a forest, an urban environment, a warehouse, a tunnel or even underground. Position drift over distance With the Vision Navigator, position drift is distance-dependent as opposed to time-dependent – as commonly found in more traditional GNSS/INS devices. Because of this, the Vision Navigator is able to cope with continuous GNSS disturbances or long-lasting GNSS outages. Specifications Sensor fusion performance Roll, pitch <0.4 deg Yaw/heading 0.4 deg (1 m antenna baseline) Position with RTK 1 cm + 1 ppm Position during GNSS outage 0.75% of distance travelled Velocity 0.1 m/s Sensing components Gyroscope Standard full range 2000 deg/s Noise density 0.003 deg/s/√Hz Accelerometer Standard full range 16 g Noise density 65 µg/√Hz Magnetometer Onboard Barometer Onboard GNSS receiver Brand u-blox Model ZED-F9P (2x, internal) RTK correction input RTCM 3.3 RTCM input port Ethernet, Wi-Fi or serial System specifications Mechanical IP-rating (equivalent) IP67 Dimensions 129 × 113.6 × 30 mm Weight 420 g Electrical Input voltage 4.5 to 36 V Power consumption (typ.) 7.5 W Interfaces / IO Interfaces UART, Ethernet, Wi-Fi, USB-C