VN-200

GNSS / INS

Introduction

The VN-200 is a miniature, high performance GNSS-Aided Inertial Navigation System (GNSS/INS) that combines 3-axis gyros, accelerometers and magnetometers, a high-sensitivity GNSS receiver, and advanced Kalman filtering algorithms to provide optimal estimates of position, velocity, and attitude.

0.2°

Dynamic Heading

0.03°

Dynamic Pitch/Roll

5°/hr

Gyro In-Run Bias

< 0.04 mg

Accel In-Run Bias

±16 g

Accelerometer Range

±2,000˚/sec

Gyroscope Range

800 Hz

IMU Data

400 Hz

Navigation Data

500 mW

Power

PRODUCT BRIEF
USER MANUAL
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PRODUCT HIGHLIGHTS

Field Proven

Released in 2012, tens of thousands of units fielded

Ease of Availability

Made in the USA, ITAR-free, & ships within 1 business day

Ultra Low SWaP

< 11.3 cm3; < 16 grams; < 500 mW

User Configurable Messages

ASCII, NMEA-0183 & VectorNav Binary messages

Embedded 72-Channel GNSS receiver

The most compact, high-performance Industrial grade INS in the market

High Data Outputs

400 Hz Navigation data; 800 Hz IMU data

INS Filter

Coupled position, velocity and attitude data for optimal dynamic performance.

Overview

Introduced in 2012, the VN-200 was the world’s first GNSS-Aided Inertial Navigation System (GNSS/INS) in a single surface mount package. At the size of a postage stamp, the VN-200 SMD requires only a single 3.2-5.5V power supply, and can be directly embedded into a user’s electronics. 

The VN-200 Rugged is the “plug and play” version of the VN-200 SMD. Enclosed in a clamshell precision anodized aluminum enclosure, the VN-200 Rugged offers additional protection of the internal inertial sensors, GNSS receiver and electronics. Interfacing with the module is made through a locking 10-pin connector, as well as a MMCX connector for an external active GNSS antenna.

Packaging Options

VN-200 SMD Front_Small

SMD
Size: 24 x 22 x 3 mm
Power: 105 mA @ 3.3 V
Mass: 4 g

VN-200 Rugged Front_Small

Rugged
Size: 36 x 33 x 9 mm
Power: 80 mA @ 5 V
Mass: 16 g

Sensor Summary:

  • Continuous attitude solution over the complete 360° range of operation

  • True INS Filter, no mounting restrictions, modes of operation or constraints required

  • VectorNav Processing Engine (VPE) 2.0 for disturbance rejection, adaptive filtering, dynamic filter tuning

  • Hard/Soft Iron Compensation 

  • Coupled position, velocity and attitude estimates

  • Solid-State MEMS inertial sensors

  • Available with standard (@ 25° C) or full temperature compensation (-40° C to 85° C)

  • All sensors are individually calibrated for bias, scale factor, misalignment, and temperature over full operating range (-40° C to 85° C)

  • 1 x 72 Channel GNSS Receiver:

    • GPS L1 C/A

    • Galileo E1

    • SBAS: L1 C/A

  • Raw Psuedorange, Doppler and carrier phase outputs

  • Up to 1 kHz IMU Data

  • 400 Hz navigation and attitude data

    • Yaw/Pitch/Roll

    • Position and Velocity

  • Coning and sculling integrals (ΔV’s, Δθ’s)

  • Data output format: ASCII (VectorNav), NMEA-0183, Binary (VectorNav)

  • VectorNav Control Center freely available for easy setup, configuration and logging

  • ITAR-Free

Specifications

ATTITUDE

Range (Heading/Yaw, Roll)

± 180°

Range (Pitch)

± 90°

Heading (Magnetic)*1

2.0° RMS

Heading (INS)*2

0.2°, 1σ

Pitch/Roll (Static)

0.5° RMS

Pitch/Roll (INS)*2

0.03°, 1σ

Heading Mounting Misalignment (Rugged)*3

0.15°, 1σ

Pitch/Roll Mounting Misalignment*3

<0.1°, 1σ

Angular Resolution

0.001°
POSITION/VELOCITY

Horizontal Position Accuracy

2.5 m RMS

Horizontal Position Accuracy (Typical)4*

1.0 m RMS

Vertical Position Accuracy

2.5 m RMS

Vertical Position Accuracy (Typical)*4

1.5 m RMS

Free Inertial Position Drift*5

3.0 cm/s2

Velocity Accuracy

< 0.05 m/s

Heave Accuracy

5% or 5 cm

Delayed Heave Accuracy

2% or 2 cm
*1With proper magnetic declination, suitable magnetic environment and valid hard/soft iron calibration.
*2With sufficient motion for dynamic alignment.
*3Constant on a per part basis. Can be calibrated out during system integration using boresighting or other alignment processes.
*4With SBAS, clear view of GNSS satellites, good multipath environment, compatible GNSS antenna, and as measured over a 24 hour period.
*5Typical rate of growth in error of position estimates after loss of GNSS signal, provided INS full alignment prior to loss.

Range

±16 g

In-Run Bias Stability

< 0.04 mg

Noise Density

< 0.14 mg/√Hz

Bandwidth

230 Hz

Cross-Axis Sensitivity

±0.05°

Range

±2000°/s

In-Run Bias Stability

< 10°/hr (5°/hr typ.)

Noise Density

0.0035 °/s √Hz

Bandwidth

265 Hz

Cross-Axis Sensitivity

< 0.05°

Range

±2.5 Gauss

In-Run Bias Stability

-

Noise Density

140 μGauss/√Hz

Bandwidth

200 Hz

Cross-Axis Sensitivity

±0.05 °

Range

10 to 1200 mbar

In-Run Bias Stability

-

Noise Density

-

Bandwidth

200 Hz

Cross-Axis Sensitivity

-

Receiver Type

72 Channel, L1 GNSS

Solution Update Rate

5 Hz

Time-to-First-Fix (Cold)

29 s

Time-to-First-Fix (Hot)

1 s

Altitude Limit

50,000 m

Velocity Limit

500 m/s
Surface Mount Device

Size

24 x 22 x 3 mm

Weight

4 g

Interface Connector

30-pin LGA

GNSS Connector

U.FL
Rugged

Size

36 x 33 x 9.5 mm

Weight

16 g

Interface Connector

10-pin Harwin

GNSS Connector

MMCX
Surface Mount Device

Input Voltage

3.2 V to 5.5 V

Current Draw*1

105mA @ 3.3 V

Power 1*1

445 mW

Digital Interface

Serial TTL, SPI

Baud Rate

Up to 921,600

GNSS PPS

30 ns RMS, 60 ns 99%

Input

Sync-In

Output

Sync-Out
Rugged

Input Voltage

3.3 to 17 V

Current Draw*1

80 mA @ 5 V

Power 1*1

500 mW

Digital Interface

Serial TTL, RS-232

Baud Rate

Up to 921,600

GNSS PPS

30 ns RMS, 60 ns 99%

Input

Sync-In

Output

Sync-Out
*1Not including active antenna power consumption.

Operating Temperature

-40° to +85° C

Storage Temperature

-40° to +85° C

MTBF (Rugged)

> 150,000 hours

MTBF (SMD)

> 240,000 hours

DOCUMENTATION AND RESOURCES

TECHNICAL

VN-200 User Manual

DOWNLOAD

VN-200 Datasheet

DOWNLOAD

VN-200 SMD EaglePCB File

DOWNLOAD

VN-200 Rugged STEP File

DOWNLOAD

VN-200 Rugged Mechanical Drawing

DOWNLOAD
SALES

VectorNav Brochure

DOWNLOAD

VN-200 Product Brief

DOWNLOAD

VN-200 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-200 SMD Development Kit

The VN-200 SMD Development Kit is a complete set of hardware and software designed to help you explore the device's features and start application development quickly and easily. Kits include a VN-200 surface mount module soldered to a development board, evaluation software, GPS antenna, cables, printed manuals, and device drivers.

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VN-200 Rugged Development Kit

The VN-200 Rugged Development Kit is a complete set of hardware and software designed to help you explore the device's features and start application development quickly and easily. Kits include a VN-200 Rugged module, development board, evaluation software, GPS antenna, cables, printed manuals, and device drivers.

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VECTORNAV INERTIAL NAVIGATION PRIMER

Everything you need to know about inertial navigation.

READ

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