Inertial Systems 8_18_02

New
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VG
SOLID-STATE VERTICAL GYRO
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Roll and Pitch Angle Measurement
in High Dynamic Environments
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High Stability MEMS Sensors
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High Range Gyro and Accel Options
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Enhanced Performance Using
Kalman Filter Algorithm
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EMI & Vibration Resistant
Applications
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UAV Control
VG400CC
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Platform Stabilization
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Avionics
The VG400CC is a high performance,
solid-state vertical gyro intended for
airborne applications such as UAV
control, Avionics, and Platform
Stabilization. This high reliability,
strap-down inertial system provides
attitude measurement with static and
dynamic accuracy that exceeds
traditional spinning mass vertical gyros.
The VG400CC achieves its excellent
performance by employing proprietary
Kalman Filter algorithms to determine
stabilized roll and pitch angles in
static and dynamic conditions. The
Kalman Filter implementation results
in a continuous on-line gyro bias
calibration, and an adaptive attitude
measurement that is stabilized by the
long term gravity reference. Output
data is provided in both analog and
digital (RS-232) formats.
This VG400CC series product builds
on the performance of the VG400CB
series. It features higher performance
sensors, including new silicon MEMS
gyroscopes with wider bandwidth and
Each Inertial System comes with a
improved bias stability. New design
User’s Manual offering helpful hints
features in the VG400CC Series reduce
on programming, installation, and
sensitivity to vibration and EMI.
product information. In addition,
Crossbow’s GYRO-VIEW software is
included to assist you in system
development and evaluation, and allows you to perform data acquisition.
inertial systems
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Document Part Number: 6020-0022-01
c r o s s b o w t e c h n o l o g y, i n c
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41 daggett drive
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san jose, ca 95134-2109
C
VG400CC-100 VG400CC-200
Physical
Size
> 75
<1
< 60
Continuous Update Mode
15 Pin "D" Connector Male Pinout
Under static conditions
1
± 180, ± 90
± 0.5
2.0
< 0.1
± 180, ± 90
± 1.0
2.5
< 0.1
3
10
Pin
±2
<± 8.5
<1
<1
< 0.25
> 25
< 0.1
± 10
<± 12
<1
<1
< 1.25
> 25
< 0.5
-40 to +71
-55 to +85
6
1000
-40 to +71
-55 to +85
6
1000
20 Hz - 2 KHz random
1 ms half sine wave
9 to 30
< 250
<3
RS-232
± 4.096
0 to 5.0
9 to 30
< 250
<3
RS-232
± 4.096
0 to 5.0
at 12 VDC
See “Digital Data Format”
Pins 8, 9, 10, 12, 13, 14
Pins 5, 6, 7
Scaled sensor mode
Angle mode
-3 dB point
Typical
-3 dB point
3.0 x 3.75 x 3.2
3.0 x 3.75 x 3.2
7.62 x 9.53 x 8.13 7.62 x 9.53 x 8.13
< 1.4
< 1.4
< 0.64
< 0.64
15 pin sub-miniature “D” male
4
11
5
12
6
13
7
14
8
15
Signal
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
± 200
<± 1.0
<± 0.05
<1
< 0.3
< 0.05
> 10
< 4.5
Connector
2
9
± 100
<± 1.0
<± 0.05
<1
< 0.3
< 0.025
> 10
< 2.25
(in)
(cm)
(lbs)
(kg)
Weight
> 75
<1
< 60
Remarks
RS-232 Transmit Data
RS-232 Receive Data
Input Power
Ground
X-axis accel voltage1
Y-axis accel voltage1
Z-axis accel voltage1
Roll-axis angular rate2
Pitch-axis angular rate2
Yaw-axis angular rate2
NC – Factory use only
Roll angle/X-axis acceleration3
Pitch angle/Y-axis acceleration3
Not used/Z-axis acceleration3
NC – Factory use only
Notes
1 The accelerometer voltage outputs are taken
directly from the accelerometers without
compensation or scaling.
2 The angular rate analog outputs are scaled to
represent degrees/second. Outputs are created
by a D/A converter.
3 Actual output depends on VG measurement
mode.
Pin Diagram
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Includ. mounting flanges
Includ. mounting flanges
inertial systems
Specifications
Performance
Update Rate (Hz)
Start-up Time Valid Data (sec)
Fully Stabilized Data (sec)
Attitude
Range: Roll, Pitch (°)
Static Accuracy (°)
Dynamic Accuracy (° rms)
Resolution (°)
Angular Rate
Range: Roll, Pitch, Yaw (°/sec)
Bias: Roll, Pitch, Yaw (°/sec)
Bias: Roll/Pitch (°/sec)
Scale Factor Accuracy (%)
Non-Linearity (% FS)
Resolution (°/sec)
Bandwidth (Hz)
Random Walk (°/hr1/2)
Acceleration
Input Range: X/Y/Z (g)
Bias: X/Y/Z (mg)
Scale Factor Accuracy (%)
Non-Linearity (% FS)
Resolution (mg)
Bandwidth (Hz)
Random Walk (m/s/hr1/2)
Environment
Operating Temperature (°C)
Non-Operating Temperature (°C)
Non-Operating Vibration (g rms)
Non-Operating Shock (g)
Electrical
Input Voltage (VDC)
Input Current (mA)
Power Consumption (W)
Digital Output Format
Analog1 Range (VDC)
Notes
1
All DAC analog outputs are fully buffered and are designed to interface directly to data acquisition
equipment.
Specifications subject to change without notice
Tri-axial
Accelerometer
RS-232
14-bit A/D
Tri-axial
Gyroscope
CPU + EEPROM
Calibration
Algorithm
Digital
Output
12-bit
DAC
Analog
Output
Temp Sensor
Roll and
Pitch Angle
XYZ
Acceleration
3-axis
Angular Rate
Vertical Gyro Block Diagram
Ordering Information
Model
Description
VG400CC-100
VG400CC-200
Gyro (°/sec)
Solid State Vertical Gyro
Solid State Vertical Gyro
±100
± 200
Accel (g)
±2
± 10
CALL FACTORY FOR OTHER CONFIGURATIONS
Document Part Number: 6103-0022-01
phone: 408.965.3300
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f a x : 4 0 8 . 3 2 4 .4 8 4 0
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e - m a i l : i n f o @ x b o w. c o m
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web: www.xbow.com
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