VN-210

GNSS / INS

The VN-210 is a tactical-grade, high-performance GNSS-Aided Inertial Navigation System (GNSS/INS) incorporating the latest inertial sensor and GNSS technology. The VN-210 combines a 3-axis accelerometer, a 3-axis gyro, a 3-axis magnetometer, a Multi-band GNSS receiver into a compact embedded module or ruggedized packaging option to deliver a high-accuracy position, velocity and attitude solution.

0.05˚- 0.1˚

Dynamic Heading

0.015˚

Dynamic Pitch/Roll

< 1°/hr

Gyroscope In-Run Bias

< 10 µg

Accelerometer In-Run Bias

±15 g

Accelerometer Range

±490˚or ±2000˚/s

Gyroscope Range

800 Hz

IMU Data

400 Hz

Navigation Data

< 2.7 W

Power

VN-210 Overview

The VN-210 is a tactical-grade, high-performance GNSS-Aided Inertial Navigation System (GNSS/INS) incorporating the latest inertial sensor and GNSS technology. The VN-210 combines a 3-axis accelerometer, a 3-axis gyro, a 3-axis magnetometer, and a Multi-band GNSS receiver into a compact ruggedized package to deliver a high-accuracy position, velocity, and attitude solution.
Multi-Band GNSS

Integrated L1/L2/E1/E5b GNSS Receiver

Rugged Device Design

IP-68, DO-160G, MIL-STD-1275E, MIL-STD-461G, MIL-STD-810G

Ultra Low SWaP

56 x 56 x 31 mm
155 grams; < 2.7 W

High Data Rate

400 Hz Navigation Data
800 Hz IMU Data

Specifications

ATTITUDE

Range (Heading/Yaw, Roll)

± 180°

Range (Pitch)

± 90°

Heading (Magnetic)*1

2.0° RMS

Heading (INS)*2

0.05°-0.1°, 1σ

Pitch/Roll (Static)

0.05° RMS

Pitch/Roll (INS)*3

0.015°, 1σ

Heading Mounting Misalignment (VN-210)*4

<0.05°, 1σ

Pitch/Roll Mounting Misalignment*4

<0.05°, 1σ

Angular Resolution

0.001°
POSITION/VELOCITY

Horizontal Position Accuracy*4

1.0 m RMS

Vertical Position Accuracy*4

1.5 m RMS

RTK Position Accuracy*6

0.01m + 1ppm CEP

Free Inertial Position Drift*7

0.5 cm/s2

Velocity Accuracy

< 0.02 m/s
*1With proper magnetic declination, suitable magnetic environment and valid hard/soft iron calibration.
*2Dependant on a number of factors, contact VectorNav to discuss expected performance in your application
*3With sufficient motion for dynamic alignment.
*4Constant on a per part basis. Can be calibrated out during system integration using boresighting or other alignment processes.
*5With SBAS, clear view of GNSS satellites, good multipath environment, compatible GNSS antenna, and as measured over a 24 hour period.
*6Measured using 1km baseline and patch antennas with good ground planes. Does not account for possible antenna phase center offset errors. ppm limited to baselines up to 20km.
*7Typical rate of growth in error of position estimates after loss of GNSS signal, provided INS full alignment prior to loss.

Range

±15 g

In-Run Bias Stability

< 10 μg

Noise Density

0.04 mg/√Hz

Bandwidth

240 Hz

Cross-Axis Sensitivity

±0.05 °

Range*1

±490 °/s

In-Run Bias Stability

< 1 °/hr (0.4-0.7°/hr typ.)

Noise Density

5 °/hr /√Hz

Bandwidth

240 Hz

Cross-Axis Sensitivity

< 0.05 °
*1Contact VectorNav for Extended Range Gyro Option

Range

±2.5 Gauss

In-Run Bias Stability

-

Noise Density

140 μGauss/√Hz

Bandwidth

200 HZ

Cross-Axis Sensitivity

±0.05 °

Receiver Type

184-Channel, L1/L2/E5b GNSS

Time-to-First-Fix (Cold)

24 s

Time-to-First-Fix (Hot)

2 s

Altitude Limit

50,000 m

Velocity Limit

500 m/s

Size

56 x 56 x 31 mm

Weight

155 g

Interface Connector

Circular Push-Pull Fischer UltiMate (10-pin x 2; Size 7)

GNSS Connector

SMA

Input Voltage

12 to 34 V

Current Draw*1

110mA @ 24 V

Power*1

< 2.7 W

Digital Interface*2

RS-422

Baud Rate

Up to 921,600

GNSS PPS

30ns RMS, 60 ns 99%

Input

Sync-In

Output

Sync-Out
*1 Not including active antenna power consumption.
*2 VN-210: Optional RS-232 on Primary Port

Operating Temperature

-40° to +85°C

Storage Temperature

-40° to +85°C

MTBF

> 25,000 hours

VN-210 EMBEDDED Overview

The VN-210E is a tactical-grade, high-performance GNSS-Aided Inertial Navigation System (GNSS/INS) incorporating the latest inertial sensor and GNSS technology. The VN-210E combines a 3-axis accelerometer, a 3-axis gyro, a 3-axis magnetometer, and a Multi-band GNSS receiver into a compact embedded module to deliver a high-accuracy position, velocity, and attitude solution.
Multi-Band GNSS

Integrated L1/L2/E1/E5b GNSS Receiver

High Data Rate

400 Hz Navigation Data
800 Hz IMU Data

Ultra-Low SWaP

31 x 31 x 12 mm
14 grams; < 1.5 W

External M-Code

Support for external SAASM / M-Code GPS (ICD-GPS-153)

Specifications

Range (Heading/Yaw, Roll)

± 180°

Range (Pitch)

± 90°

Heading (Magnetic)*1

2.0° RMS

Heading (INS)*2

0.05°-0.1°, 1σ

Pitch/Roll (Static)

0.05° RMS

Pitch/Roll (INS)*3

0.015°, 1σ

Heading Mounting Misalignment (VN-210E)*4

0.15°, 1σ

Pitch/Roll Mounting Misalignment*4

<0.05°, 1σ

Angular Resolution

0.001°

Horizontal Position Accuracy*5

2.5 m RMS

Vertical Position Accuracy*5

2.5 m RMS

RTK Position Accuracy*6

0.01m + 1ppm CEP

Free Inertial Position Drift*7

0.5 cm/s2

Velocity Accuracy

< 0.02 m/s
*1With proper magnetic declination, suitable magnetic environment and valid hard/soft iron calibration.
*2Dependant on a number of factors, contact VectorNav to discuss expected performance in your application
*3With sufficient motion for dynamic alignment.
*4Constant on a per part basis. Can be calibrated out during system integration using boresighting or other alignment processes.
*5With SBAS, clear view of GNSS satellites, good multipath environment, compatible GNSS antenna, and as measured over a 24 hour period.
*6Measured using 1km baseline and patch antennas with good ground planes. Does not account for possible antenna phase center offset errors. ppm limited to baselines up to 20km.
*7Typical rate of growth in error of position estimates after loss of GNSS signal, provided INS full alignment prior to loss.

Range

±15 g

In-Run Bias Stability

< 10 μg

Noise Density

0.04 mg/√Hz

Bandwidth

240 Hz

Cross-Axis Sensitivity

±0.05 °

Range*1

±490 °/s

In-Run Bias Stability

< 1 °/hr (0.4-0.7°/hr typ.)

Noise Density

5 °/hr /√Hz

Bandwidth

240 Hz

Cross-Axis Sensitivity

< 0.05 °
*1Contact VectorNav for Extended Range Gyro Option

Range

±2.5 Gauss

In-Run Bias Stability

-

Noise Density

140 μGauss/√Hz

Bandwidth

200 HZ

Cross-Axis Sensitivity

±0.05 °

Receiver Type

184-Channel, L1/L2/E5b GNSS

Time-to-First-Fix (Cold)

24 s

Time-to-First-Fix (Hot)

2 s

Altitude Limit

50,000 m

Velocity Limit

500 m/s

Interface Connector

24-pin CLR

GNSS Connector

U. FL

Size

31 x 31 x 12 mm

Weight

14 g

Baud Rate

Up to 921,600

GNSS PPS

30ns RMS, 60 ns 99%

Input

Sync-In

Output

Sync-Out

Input Voltage

3.2 V to 3.5 V

Current Draw*1

420mA @ 3.3 V

Power*1

< 1.5 W

Digital Interface

(2) Serial TTL
*1Not including active antenna power consumption.

Operating Temperature

-40° to +85°C

Storage Temperature

-40° to +85°C

MTBF

> 45,000 hours

VN-210-S Overview

The VN-210-S is a tactical-grade, high-performance GNSS-Aided Inertial Navigation System (GNSS/INS) that combines 3-axis gyros, accelerometers, and magnetometers, a tri-band L1/L2/L5/E1/E5a/b GNSS receiver, and advanced Kalman filtering algorithms to provide optimal estimates of position, velocity, and attitude. The VN-210-S is available in a precision-milled, anodized aluminum enclosure. For ultra-low SWaP applications, the VN-210E (Embedded) can be integrated externally with the GNSS receiver found inside the VN-210-S.

Tri-band GNSS

Integrated L1/L2/L5/E1/E5a/b GNSS Receiver

High Rate Data

400 Hz Navigation Data
800 Hz IMU Data

Ultra Low SWaP

56 x 56 x 31 mm
170 grams; < 3.3 W

Rugged Device Design

Designed to DO-160G, MIL-STD-1275E, MIL-STD-461G, MIL-STD-810G; IP-68 Rated

Specifications

Range (Heading/Yaw, Roll)

± 180°

Range (Pitch)

± 90°

Heading (Magnetic)*1

2.0° RMS

Heading (INS)*2

0.05°-0.1°, 1σ

Pitch/Roll (Static)

0.05° RMS

Pitch/Roll (INS)*3

0.015°, 1σ

Heading Mounting Misalignment*4

<0.05°, 1σ

Pitch/Roll Mounting Misalignment*4

<0.05°, 1σ

Angular Resolution

0.001°

Horizontal Position Accuracy*5

0.6 m RMS

Vertical Position Accuracy*5

0.8 m RMS

RTK Position Accuracy*6

1 cm + 1 ppm CEP

Free Inertial Position Drift*7

0.5 cm/s2

Velocity Accuracy

3 cm/s
*1With proper magnetic declination, suitable magnetic environment and valid hard/soft iron calibration.
*2Dependant on a number of factors, contact VectorNav to discuss expected performance in your application
*3With sufficient motion for dynamic alignment.
*4Constant on a per part basis. Can be calibrated out during system integration using boresighting or other alignment processes.
*5With SBAS, clear view of GNSS satellites, good multipath environment, compatible GNSS antenna, and as measured over a 24 hour period.
*6Dependant on atmospheric conditions, baseline length, GNSS antenna, multipath conditions, satellite visibility and geometry.
*7Typical rate of growth in error of position estimates after loss of GNSS signal, provided INS full alignment prior to loss.

Range

±15 g

In-Run Bias Stability

< 10 μg

Noise Density

< 0.04 mg/√Hz

Bandwidth

240 Hz

Cross-Axis Sensitivity

±0.05 °

Range*1

±490°/s

In-Run Bias Stability

< 1°/hr (0.4-0.7°/hr typ.)

Noise Density

5 °/hr /√Hz

Bandwidth

240 Hz

Cross-Axis Sensitivity

< 0.05 °
*1Contact VectorNav for Extended Range Gyro Option

Range

±2.5 Gauss

In-Run Bias Stability

-

Noise Density

140 μGauss/√Hz

Bandwidth

200 Hz

Cross-Axis Sensitivity

±0.05 °

Receiver Type

448 Channel L1/L2/L5/E1/E5a/b GNSS

Time-To-First-Fix (Cold)

< 45 s

Time-To-First-Fix (Hot)

20 s

Altitude Limit

50,000 m

Velocity Limit

500 m/s

Size

56 x 56 x 31 mm

Weight

170 g

Interface Connector

Circular Push-Pull Fischer UltiMate (10-pin x 2; Size 7)

GNSS Connector

SMA

Baud Rate

Up to 921,00

GNSS PPS

30ns RMS, 60 ns 99%

Input

Sync-In

Output

Sync-Out

Input Voltage

12 to 34 V

Current Draw*1

135 mA @ 24 V

Power*1

< 3.3 W

Digital Interface*2

RS-422
*1Not including active antenna power consumption.
*2VN-210: Optional RS-232 on Primary Port

Operating Temperature

-40° to +85°C

Storage Temperature

-40° to +85°C

DOCUMENTATION AND RESOURCES

TECHNICAL

VN-210 User Manual

DOWNLOAD

VN-210E User Manual

DOWNLOAD

VN-210 & VN-210E Datasheet

DOWNLOAD

VN-210-S Datasheet

DOWNLOAD

VN-210 Mechanical Drawing

DOWNLOAD

VN-210 STEP File

DOWNLOAD

VN-210E Mechnical Drawing

DOWNLOAD

VN-210E STEP File

DOWNLOAD
SALES

VectorNav Product Brochure

DOWNLOAD

VectorNav Tactical Embedded Brochure

DOWNLOAD

VN-210 Purchasing Guide

DOWNLOAD

SOFTWARE

CONTROL CENTER

The new VectorNav Control Center provides you with a wide assortment of tools to visualize and inspect the wealth of data made available by your VectorNav sensor

DOWNLOAD

PROGRAMMING LIBRARY

The VectorNav programming library consolidates all of the varied programming libraries into a single downloadable package. Currently included programming libraries are:

C, C++, Labview, Matlab, .Net, Python, Unity

DOWNLOAD

EAGLE PCB FILES

The EAGLE Library contains footprints and parts for your schematics and layouts for CadSoft's EAGLE PCB software

DOWNLOAD

Development Kits

VN-210E Development Kit

Everything you need to get started with the VN-210E. The kit includes a development board, VN-210E, GNSS antenna, and interface cables. Please contact us for pricing and availability.

VN-210 Development Kit

Everything you need to get started with the VN-210. The kit includes a VN-210, GNSS antenna, and interface cables. Please contact us for pricing and availability.

VECTORNAV INERTIAL NAVIGATION PRIMER

Everything you need to know about inertial navigation.

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