VN-210 GNSS-Aided INS

The VN-210 is a high-performance Inertial Navigation System (INS) that combines Tactical Grade MEMS inertial sensors, a high-sensitivity GNSS receiver, and advanced Kalman filtering algorithms to provide optimal estimates of position, velocity, and orientation for industrial and military applications.
VectorNav VN-210


Each individual VN-210 sensor undergoes a robust calibration and acceptance testing process at VectorNav's manufacturing facility. VectorNav regularly conducts comprehensive testing on all products to verify continued conformance to all performance specifications.

Range (Heading, Roll) ±180°
Range (Pitch) ±90°
Static Heading Accuracy (Magnetic*) 2.0° RMS
Static Accuracy (Pitch/Roll) < 0.05° RMS
Dynamic Accuracy (Heading, True Inertial) < 0.1° RMS
Dynamic Accuracy (Pitch/Roll)
< 0.03° RMS
Horizontal Position Accuracy 2.5 m RMS
Horizontal Position Accuracy (w/ SBAS) 2.0 m RMS
Vertical Position Accuracy 5.0 m RMS
Velocity Accuracy < 0.05 m/s
Output Rate (IMU Data) 800 Hz
Output Rate (Navigation Data) 400 Hz

* With proper magnetic declination, suitable magnetic
  environment and valid hard/soft iron calibration.

Range ±490 °/s
In-Run Bias Stability < 1 °/hr
Noise Density 3.24 °/hr √Hz
Bandwidth 240 Hz
Range ±15 g
In-Run Bias Stability < 10 μg
Noise Density < 0.04 mg/√Hz
Bandwidth 240 HZ
Range ±2.5 Gauss
Noise Density 140 μGauss/√Hz
Bandwidth 200 Hz
Receiver Type 72 Channels, L1, GNSS
Solution Update Rate 5 Hz
Time-to-First-Fix Cold/Warm Start: 26 s
Hot Start: < 1 s
Altitude Limit 50,000 m
Velocity Limit 500 m/s
Operating Temperature -40°C to 85°C
Storage Temperature -40°C to 85°C
IP Rating IP 68 per IEC 60529
Input Voltage +12 to +36 VDC (MIL-STD-1275E)
Power Consumption < 2.5 watts
IMU Data Output Rate 800 Hz
INS Solution Output Rate 400 Hz
Primary Interface* RS-422 + 3 sync I/O pins
Expansion Interface* RS-422

* Contact VectorNav for RS-232 interface options and

Size 56 X 56 X 31 mm
Weight 190 g
Connector Circular Push-Pull Fischer UltiMate (10-pin x 2; Size 7)
GPS Antenna Connector SMA
Serial Protocols VectorNav Binary, VectorNav ASCII, NMEA
Data Outputs - Euler Angles (Yaw, Pitch, Roll)
- Quaternion
- Position
- Velocity
- Coning & sculling integrals (ΔV’s,

- Direction Cosine Matrix
- Acceleration, Angular Rate and
  Magnetic Field
Filtering - Extended Kalman Filter
- User Configurable Tuning

- Active Disturbance Rejection
- Adaptive Filtering
External Sensors Supported GNSS, Magnetometer
Synchronization Sync-In, Sync-Out I/O pins
- GPS PPS, 30 ns RMS, 60 ns