TeKnol

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CompaNav-2T

CompaNav-2T is an integrated INS/GPS system designed specially for land applications. This ultra-compact low-power system works in any type of vehicle (manned or unmanned) providing a continious navigation solution with outstanding characteristics at a competitive total cost of ownership. It requires only DC power supply and any device capable of accepting RS232 data.

CompaNav-2T: Motion Detection and Navigation System

About

3-D Navigation and Positioning
Precise Inertial Heading Determination
Attitude Determination
Autonomous Motion Data Recording
INS/GPS aided positioning in city canyon
Motion Detection and Measurement
Autonomous Navigation in tunnels
Simplified map matching

Performance

During normal operation CompaNav-2T computes a three-dimensional navigation solution (including attitude and heading) based on integrated inertial data. This inertial solution is corrected using a Kalman filter, which processes GNSS measurements at a 1-Hz rate. This reduces inertial sensor errors and results in a robust navigation solution. The navigation solution remains accurate during periods of GNSS signal loss due to satellites obscuration (for example, during complex maneuvers) and high dynamics.

CompaNav-2T must complete both inertial system alignment and GNSS signal acquisition to output the integrated navigation solution with specified characteristics. If powered up with GNSS off, CompaNav-2T will operate as an AHRS, providing accurate roll and pitch data, which is fully time-independent.

Integrated Accuracy

	Units	GNSS On	GNSS Off
	Units	GNSS On	10 sec	40 sec	1 min	5 min
Position	m RMS	3 (*)	6-10	20-40	50-70	200
Velocity
X,Y Velocity	m/s RMS	0,3	0,4	0,8	1,0	1,5
Z Velocity	m/s RMS	0,2	0,3
Pitch and roll	deg RMS	0,4..0,5	0,5..0,6
Heading ()**	deg RMS	0,5	3 (10 min GNSS off)
Altitude	m	2	3
Notes () Applies to a standard configuration with high-sensitivity GPS receiver Globalstar BR-305 (positioning accuracy of 15 m RMS). (*) Heading is calculated as deviation from the track angle value which is output by GNSS receiver immediately after CompaNav-2T initialization. The increments are sensed by IMU.

Dynamic Ranges

		Range	Resolution
Roll, Pitch	deg	±180, ±90	0,05
Accelerations	g	±10	10-4
Heading	deg	0...360	0,1
Angular rate	deg/sec	±150	10-3
Max. calibrated altitude	m	6,000	0,2
(for barometric altimeter)	ft	18,000	1

Output Data

INS/GPS data 10 Hz	GPS data 1 Hz	Status flags 1 Hz
Latitude, longitude Pitch, roll, heading, magnetic heading Ground speed, vertical speed Altitude, barometric altitude G-load Specific force (XYZ) Angular velocity (XYZ) Velocity components (Eastern, Northern) Time in navigation mode Time after power-on Checksum	(NMEA GGA, GSA, RMC, GSV messages) Latitude, longitude Ground speed Course, UTC time, dat; Altitude NMEA GSA HDOP, VDOP, PDOP NMEA GSV satellites data NMEA GGA satellites data	No usable GPS data Motion detection (stop/move) NMEA RMC valid NMEA GGA quality Calculation mode (Static attitude/Car navigation) INS mode (nav./align.)

Key system features:

Complete navigation data output
More accurate positioning compared to GNSS
Fast cold start
Low size, low power, low cost
Fully digital output
Consistent navigation data
High responsive heading information
Dynamic attitude indication
Easy to integrate implementation

Architecture

CompaNav-2T consists of MEMS angular rate sensors and accelerometers, magnetometers, temperature sensors, and barometric altimeter.

Proprietary sensor fusion and navigation software runs on a high-speed microprocessor. It implements TeKnol-developed inertial strapdown system algorithm, which employs special quaternion algebra, time series analysis and proprietary optimal filtering mechanization. GNSS is integrated with IMU using loosely coupled technique to provide flexibility in the choice of GNSS receivers (NMEA interface is required). CompaNav-2T hardware is built entirely from commercial off-the shelf electronic and mechanical components.