BW SENSING GI540 Series Bedienungsanleitung

GI540 Serials

High Precision FOG Integrated

Navigation System

Technical Manual

GI540

High Precision FOG Integrated Navigation System

Applications

●Antenna stabilization platform,drone flight control

●Navigation and control of AGV

●Attitude measurement and orientation reference

BW-GI540 is a high-performance high-precision fiber micro-inertial navigation system developed

by Bewis for aviation mapping, unmanned aerial vehicles, sea-based and roadbed fields. Built-in

three-axis gyroscope (single-axis fiber, dual-axis MEMS) The three-axis accelerometer includes a

BD/GPS/GLONAS three-mode receiver that measures the speed, position, and attitude of the

carrier.

The BW-GI540 is equipped with a new integrated navigation sensor fusion algorithm engine. It is

optimized for multipath interference and can meet the needs of long-term, high-precision and

high-reliability navigation applications in urban and outdoor complex environments. The product

supports a variety of sensors such as GNSS/odometer/DVL/barometric altimeter and has excellent

scalability. It combines inertial measurement with satellite navigation and odometer information

through multi-sensor data fusion technology. These can greatly improve the system's geographical

adaptability.

BW-GI540 integrated navigation system adopts coupling technology. It combines high-precision,

professional-grade, multi-channel, dual-antenna single-frequency carrier phase and pseudo-range

GPS receivers with high-precision fiber inertial measurement units.It has the characteristics of small

size, light weight and high performance.

Introduction

BEWIS SENSING TECHNOLOGY LLC

www.bwsensing.com Tel: +86 510 8573 7158

GI540

High Precision FOG Integrated Navigation System

Interface

characteristics

Power supply

Electrical interface

Data update rate

Environment

Operating temperature

Storage temperature

Size

Weight

Connector

-40°C ~ +60°C

-55°C ~ +85°C

Φ89mm×118 mm(designable)

≤600 g

Y11P-1210ZK10

Physical

characteristics

Attitude accuracy

(2m baseline)

Satellite signal loss

Rolling attitude accuracy

Pitch attitude accuracy

0.1 deg

0.15deg /5min；1.5 deg /1h

≤0.8 deg

Combined external

GPS

Speed accuracy

Single point positioning accuracy

Directional accuracy

0.1m/s

DGPS accuracy 0.5m

/RTK accuracy 2cm

0.1deg,（2m baseline ）

Measuring range

Azimuth

Roll angle

Pitch angle

Angular velocity

Acceleration

±180 deg

±90 deg

±300 deg/s

±4 g

9~36 VDC, ≤8 W @ 24VDC

RS422

100 Hz @ 115,200 baud rate

Performance Specifications

Specifications

BEWIS SENSING TECHNOLOGY LLC

www.bwsensing.com Tel: +86 510 8573 7158

GI540

High Precision FOG Integrated Navigation System

Product Size

Product Size：Φ89× 118（mm)

BEWIS SENSING TECHNOLOGY LLC

www.bwsensing.com Tel: +86 510 8573 7158

Note: Unfilled dimensional tolerances are performed in accordance with GB/T1804-2000 Class C.

GI540

High Precision FOG Integrated Navigation System

BEWIS SENSING TECHNOLOGY LLC

www.bwsensing.com Tel: +86 510 8573 7158

Product installation

The correct installation method can avoid measurement error. The inertial measurement unit

produces an absolutely smooth surface by grinding on the underside and measuring surface for

installation .The following points should be made when installing the sensor:

Finally,after the product is tightly attached,screws should be used to fix the IMU to ensure tight

fixation,smooth conduct and stable rotation.Measurement errors caused by acceleration and

vibration should be voided.Bear in mind that the screw only plays a fixed role and doe not have a

positioning function.The screw hole of the IMU is processed into an elliptical shape for easy

adjustment.

First of all, to ensure that the sensor mounting surface and the measured surface completely close,

the measured surface should be as horizontal as possible, so that we can reduce installation error.

Secondly,when the product is installed,the bottom surface of the IMU and the body should be

coincident,and it is gently pushed to make the measurement surface of the IMU coincide with that of

the machine body,so that both surfaces are tightly attached,and there is no angle in Fig.A and

Fig.C.The correct installation is shown in Fig.B and Fig.D.

the measured surface the measured surface

C D

the measured surface the measured surface

uneven surface

generates the

angle

uneven surface

generates the

angle

GI540

High Precision FOG Integrated Navigation System

Debugging software

Software usage steps：

①

②

③

Ensure that the inertial navigation is absolutely static,correctly connect the serial port hardware of

the integrated navigation,and connect the power supply.

Select the computer serial port and baud rate and click to connect to the serial port.

Enter the correct geographic latitude,click Inertial Navigation Start→Command Input,the working

status on the screen shows static alignment,and the working state becomes INS navigation.At this

time,the inertial navigation enters the working state and can be used.

Electrical connections

Data cable RS422 interface definition, DB9 female:

DB9 connector pin Interface definition Remarks

1 R+Receive +

2 R-Receive -

3 T+Transmit +

4 T-Transmit -

BEWIS SENSING TECHNOLOGY LLC

www.bwsensing.com Tel: +86 510 8573 7158

GI540

High Precision FOG Integrated Navigation System

Protocol

After the system is powered on, the normal operating time is 20Hz frequency, RS422 communication 115200bps,

n, 8, 1 broadcast broadcast navigation data, 48 bytes per frame data as shown in the following table:

Navigaon data

Byte number Content Data type Byte count

1-2 Frameheader: 0X5A0X A5 Byte 2

Workingstatus:0- Monitoring

status,1-Stacalignment,2-INS

navigaon

Byte 1

4-5 Ineralpitchangle([-90,90]

degrees) in units of 0.01 degrees

Short int (low byte ﬁrst,high byte

last)

6-7

Ineralguiderollangle

([-180,180]degrees), unit 0.01

degree

8-9

Ineralazimuth([-180,180]

degrees),northto eastis -, north

to west is +, unitis 0.01degrees

10-11

neralX-axisangularvelocity

Wx(degree/s) in units of 0.01

deg/s

12-13

neral Y-axis angular velocity

Wy(degree/s) in units of 0.01

deg/s

14-15

neral Z-axis angular velocity

Wx(degree/s) in units of 0.01

deg/s

16-17 Ineral X-axis acceleraon Ax(m/

s / s), unit0.01m / s/ s 2

18-19 Ineral Y-axisacceleraonAy (m /

s / s), unit 0.01m / s/ s 2

20-21 Ineral Z-axis acceleraon Az (m /

s / s), unit0.01m / s/ s 2

22-23 Speed aer GPS satellite

posioning, unit 0.1 m / sec 2

24-25

GPS trackangle([-180,180]

degrees), north to the east is -,

north to west is +, the unit is 0.1

degrees

26-27 GPS satellite number 2

28-29 GPS altude, unit 0.1 m 2

30-33 Latude aer GPS satellite

posioning, unit degree

Float(low byte ﬁrst, high byte

aer), value range [-90,90]

degrees, the north latude is +

and the south latude is -.

34-37 Longitude aer GPS satellite

posioning, unit degree

Float (low byte ﬁrst, high byte

aer), value range[-180,180]

degrees, east longitude is +,west

BEWIS SENSING TECHNOLOGY LLC

www.bwsensing.com Tel: +86 510 8573 7158

GI540

High Precision FOG Integrated Navigation System

Executive standard

●Enterprise Quality System Standard: ISO9001:2008 Standard(Certificate No.:10114Q16846ROS)

●CE certification (certificate number: 3854210814)

●ROHS (certificate number: SO81426003)

●GJB 2426A-2004 Fiber Optic Gyro Test Method

●GBT 18459-2001 sensor main static performance index calculation method

●JF 1059-1999 Evaluation and Expression of Measurement Uncertainty

●GBT 14412-2005 mechanical vibration and shock mechanical installation of accelerometer

●General requirements for GJB 450A-2004 equipment reliability

●Quality control of key parts and important parts of GJB 909A

●GJB 899 Reliability Qualification and Acceptance Test

●GJB 150-3A high temperature test

●GJB 150-4A low temperature test

●GJB 150-8A rain test

●GJB 150-12A dust test

●GJB 150-16A vibration test

●GJB 150-18A impact test

●GJB 150-23A Tilt and Swing Test

●GB/T 17626-3A RF electromagnetic radiation immunity test

●GB/T 17626-5A surge (hit) impulse immunity test

●GB/T 17626-8A power frequency magnetic field immunity test

●GB/T 17626-11A voltage dips, short interruptions and voltage changes immunity

●GB/T 2423.22-2012 Environmental testing Part 2:test method Test N:temperature

change（IEC 60068-2-14:2009,IDT）

●GB/T 10125-2012Artificial atmosphere corrosion test Salt spray test（ISO 9227:2006,IDT）

BEWIS SENSING TECHNOLOGY LLC

www.bwsensing.com Tel: +86 510 8573 7158

GI540

High Precision FOG Integrated

Navigation System

Wuxi Bewis Sensing Technology LLC

Address: Building 30, No. 58 Xiuxi Road, Binhu District, Wuxi City

Hotline: 400-618-0510

Tel: +86 510 85737178-801

Email: [email protected]

Website: www.bwsensing.com

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