MicroStrain Sensing Product Datasheet 3DM-GX5-GNSS/AHRS Attitude and Heading Reference System with GNSS PRODUCT HIGHLIGHTS High-performance integrated multi-constellation GNSS receiver and advanced MEMS sensor technology provide direct inertial measurements, and computed attitude and heading outputs in a small package Triaxial accelerometer, gyroscope, magnetometer, temperature sensors, and a pressure altimeter achieve the optimal combination of measurement qualities Economical combination of AHRS and GNSS outputs for The MicroStrain Sensing 3DM-GX5 family of high- use in customer supplied Kalman Filters performance, industrial-grade inertial sensors provides a wide range of triaxial inertial measurements, computed attitude, FEATURES AND BENEFITS and navigation solutions. BEST IN CLASS PERFORMANCE In all models, the Inertial Measurement Unit (IMU) includes Fully calibrated, temperature-compensated, and direct measurement of acceleration and angular rate, and mathematically-aligned to an orthogonal coordinate is fully temperature-compensated and calibrated over the system for highly accurate outputs operating temperature. The use of Micro-Electro-Mechanical High-performance, low-drift gyros with low noise density System (MEMS) technology allows for highly accurate, small, and Vibration Rectification Error lightweight devices. Accelerometer noise as low as 20 ug/Hz SensorConnect software is a user friendly program for device configuration. MIP Monitor (MicroStrain Internet EASE OF USE Protocol) can also be used. Both packages provide for SensorConnect enables simple device configuration, live device configuration, live data monitoring, and recording. data monitoring, and recording Alternatively, the MIP Data Communications Protocol is The MSCL API allows easy integration with C++, available for development of custom interfaces and easy OEM Python, .NET, C , Visual Basic, LabVIEW and MATLAB integration. environments.Robust, forward compatible MIP packet The sensor operates independent of computer platform, protocol operating system, or coding language. MIP open byte level communication protocol COST EFFECTIVE Out-of-the box solution reduces development time Volume discounts APPLICATIONS Unmanned vehicle navigation Robotics GNSS-aided attitude and heading measurement Platform stabilization, artificial horizon Satellite dish, radar, and antenna pointing 2020 Parker Hannifin MicroStrain Sensing. Document 8400-0092 Revision K. Subject to change without notice.Attitude and Heading Reference System (AHRS) with GNSS Specifications General Computed Outputs Triaxial accelerometer, triaxial gyroscope, triaxial CF outputs: 0.5 roll, pitch, and heading (static, typ), Attitude accuracy Integrated Sensors magnetometer, pressure altimeter, temperature sensors, 2.0 roll, pitch, and heading (dynamic, typ) and GNSS receiver Attitude heading range 360 about all axes Inertial Measurement Unit (IMU) outputs: acceleration, Attitude resolution < 0.01 angular rate, magnetic field, ambient pressure, Delta-theta, Delta-velocity Attitude repeatability 0.2 (typ) COMPUTED OUTPUTS Calculation update rate 500 Hz Complementary Filter (CF): attitude estimates (in Euler Computed data Data Outputs CF outputs: 1 Hz to 500 Hz angles, quaternion, orientation matrix) stabilized, north and output rate up vectors, GNSS correlation timestamp Global Navigation Satellite System (GNSS) Outputs Global Navigation Satellite System outputs (GNSS): LLH 72-channel GPS/QZSS L1 C/A, GLONASS L10F, BeiDou Receiver type position, ECEF position and velocity, NED velocity, UTC time, B1, SBAS L1 C/A:WAAS, EGNOS, MSAS Galileo E1B/C GNSS time, SV. GNSS protocol access mode available. GNSS data output rate 1 Hz to 4 Hz Inertial Measurement Unit (IMU) Sensor Outputs Cold start: 27 second, reacquisition: 1 second Time-to-first-fix hot start: <1 second Accelerometer Gyroscope Magnetometer Tracking: -164 dBm, cold start: -147 dBm Sensitivity 8 g (standard) 300/sec (standard) hot start: - 156 dBm Measurement 2 g, 4 g, 20 g, 75, 150, 900 8 Gauss range Velocity accuracy 0.1 m/sec 40 g (optional) (optional) Non-linearity 0.02 % fs 0.02% fs 0.3% fs Heading accuracy 0.5 Horizontal GNSS: 2.5 m CEP Resolution 0.02 mg (+/- 8 g) <0.003/sec (300 dps) -- position accuracy SBAS: 2.0 m CEP Bias instability 0.04 mg 8/hr -- Time pulse 30 nsec RMS signal accuracy < 60 nsec 99% Initial bias error 0.002 g 0.04/sec 0.003 Gauss Acceleration limit 4 g Scale factor stability 0.03% 0.05% 0.1% Altitude limit 50,000 meters 0.005/sec/Hz Noise density 20 g/Hz (2 g) 400 Gauss/Hz (300/sec) Velocity limit 500 m /sec (972 knots) Alignment error 0.05 0.08 0.05 Operating Parameters Bandwidth 225 Hz 250 Hz -- USB 2.0 (full speed) Communication RS232 (9,600 bps to 921,600 bps, default 115,200) Offset error 0.06% (typ) 0.04% (typ) -- over temperature Power source +4 to + 36 V dc Gain error 0.03% (typ) 0.03% (typ) -- Power consumption 700 mW (typ), 800 mW (max) over temperature Vibration Operating temperature -40C to +85C -- 0.072/s RMS/g RMS -- induced noise Mechanical shock limit 500g/1ms absolute maximum survivability.* Vibration rectification 2 -- 0.001/s/g RMS -- error (VRE) MTBF 396,193 hours (Telcordia method, GM/35C) Digital sigma-delta ADC sampled at 1kHz and 4kHz. 4kHz Physical Specifications data averaged to 1kHz nominal sampling rate. Scaled into IMU filtering physical units at 1kHz. User adjustable IIR filter available for Dimensions 44.2 mm x 36.6 mm x 11.1 mm 1kHz data. Coning and sculling integrals computed at 1kHz. Weight 20 grams Sampling rate 1 kHz 4 kHz 100 Hz Enclosure material Aluminum IMU data output rate 1 Hz to 1 kHz Regulatory compliance CE, REACH, ROHS Pressure Sensor Integration Altitude Range 1260-260 mB (hPa) (-500 to 10,000m) Connectors Data/power: 9 pin Micro-D. GNSS antenna: MMCX type Resolution 0.01 hPa RMS SensorConnect and MIP Monitor software included Software Windows XP/Vista/7/8/10 compatible Relative Accuracy 0.1 mB, over the range 800-1000mB T=25C Data Communications Protocol compatibility across GX3, GX4, RQ1, GQ4, GX5 Sampling rate 25 Hz Protocol (DCP) CX5 and CV5 product families (API) Application MicroStrain Communication Library (MSCL) open source Programming Interface license includes full documentation and sample code. *Prolonged exposure to >2x full scale range can result in permanent damage. See manual for details Parker Hannifin Corporation phone: +1.802.862.6629 MicroStrain Sensing email: sensing sales LORD.com 459 Hurricane Lane sensing support LORD.com Williston, VT 05495 USA www.microstrain.com www.parker.com