Ekinox Series

TACTICAL GRADE MEMS

InertialSystems

Motion Sensing & Navigation

AEROSPACEGROUNDMARINE

EKINOX SERIES R&D specialists usually compromise between

high accuracy and price. The Ekinox Series has been designed to bringrobust and cost-effective MEMS solutions to the FOG technology’slevel of accuracy. Ekinox Series opens a new world of opportunities.

ITAR
Free
0.02°
RMS

IMU
AHRS
MRUINSVG

Ekinox Series
Brings robust andcost-effective MEMS
to the Tactical GradeEkinox Series is a product range of high accuracy inertial systems. It has been
designed to bring robust, maintenance free, and cost-effective MEMS to thetactical grade. Thanks to a drastic selection of high end MEMS sensors, anadvanced calibration procedure, and powerful algorithm design, the Ekinox
Series achieves 0.02° heading accuracy.

» High Performance Inertial Systems» ITAR Free
» Cost-effective & Robust MEMS technology» Maintenance FreeKEY FEATURESAccuracy» Up to 4 connected equipment» Survey Grade triple band GNSS receiver(Ekinox-D)» 8 GB Data Logger» IP68 Enclosure

3D ORIENTATION
Roll, Pitch

0.02°
0.015°
0.01°

GNSS aiding
RTK aiding
Post-Processing

Heading

0.03°
0.02°
0.02°

Dual Antenna GNSS (baseline > 2 m)
Dual Antenna GNSS (baseline > 4 m)
Post-Processing» Web Interface & Ethernet» 200 Hz Output Rate
» Synchronize survey device with PTP Server

POSITION
Single Point L1/L2

1.2 m

SBAS

0.6 m

DGPS

0.4 m

RTK

0.01 m + 0.5 ppm

RTK 30s Outage

3m

Marine conditions

RTK 60s Outage

0.2% TD
3m

Marine conditions, DVL* aided
Automotive mode - With odometer

PPK**

0.01 m + 0.5 ppm

HEAVE
Real-time

5 cm or 5%

Whichever is greater, velocity aided

Wave period

0 to 20 s

Auto-adjusting

Delayed2 cm or 2.5%

Whichever is greater, velocity aided

Wave period

0 to 40 s* Depends on DVL performance. - TD: Travelled Distance.- Typical RMS values**Post-processing KinematicA Cutting-Edge Architecture

EKINOX2IMU

INTEGRATION at 1kHz

3 Axis Gyroscopes
3 Axis Accelerometers

GNSS 1GNSS 2OUTPUTSDATALOGGER
SerialEthernetCAN

DATA FUSION

Ekinox-A

Ekinox-E

Ekinox-D

Roll, Pitch, Heading

Extended Kalman
Filter at 200 Hz

Heave, Surge, Sway
IMU sensor data

ExternalAiding
Data-Navigation: Position, Velocity

INPUTS

SerialEthernet
CAN

Ekinox-A

Ekinox-E

Ekinox-D
Internal GNSS

GNSS Position/Velocity
GNSS True Heading
GNSS RTK Correct.

-Odometer-DVL-

Included

IncludedExternal Aiding Required

SoftwaresbgCenter

CONFIGURATION,REAL-TIME DISPLAY & REPLAY
Configuration is made easy through ourintuitive embedded web interface where
all parameters can be quickly displayedand adjusted.
The sbgCenter offers all the tools for realtime visualization (200 Hz) and replay ofthe records stored in the internal datalogger.

Embedded Web Interface

Specifications
SENSORS PERFORMANCEPRODUCT CODE INS standard product options

Accelerometers

Gyroscopes

A2A3Measurement range

8g

14 g

300 °/sRandom walk

7 µg/√Hz30 µg/√Hz0.14°/√hr

Bias in-run instability

2 μg

5 μg

< 0.5 °/hour

EKINOX-#-G4A#MODEL

INTERFACE
Aiding Sensors

2x GNSS, RTCM, DVL, Odometer, Gyro-compass

Protocols

Output: NMEA, ASCII, Binary, TSS, Simrad
Input: NMEA, Trimble, Novatel, Septentrio, Hemisphere,Veripos, Fugro, PD0, PD6

Output Rate

1 to 200 Hz

Logging Capacity

8 GB or 48h @ 200 Hz

Serial RS-232/422

Model D - 2 outputs / 4 inputs
Model A/E - 3 outputs / 5 inputs

CAN

1 CAN 2.0 A/B bus up to 1 Mbit/s

Pulses

Inputs: PPS, Event marker up to 1 kHz
Outputs: SyncOut, Trigger
5 inputs / 2 outputs

Ethernet

Full Duplex (10/100 Base T)
PTP Grand Master ClockNTRIP v1/v2 client

ENVIRONMENTAL SPECIFICATIONS
Operating Vibrations

20 Hz to 2 kHz as per MIL-STD-810G
Accelerometer 8 g: 3 g RMS
Accelerometer 14 g: 8 g RMS

IP Rating

IP68

Operating Temperature-40 to 75°C / -40 to 167°F

MTBF

50,000 hours

EMC

EN60945PHYSICAL CHARACTERISTICS
GPSEkinox-A/E

Ekinox-D-L1/L2/L5 Single or Dual Antenna
GNSS receiver
544 channels, GPS, GLONASS,GALILEO, BEIDOU

Weight

400 grams
0.88 pounds

600 grams
1.32 pounds

Dimensions (L x W x H)

10 x 8.6 x 5.8 cm
3.9 x 3.4 x 2.2 ”

10 x 8.6 x 7.5 cm
3.9 x 3.4 x 2.9 “Power Consumption

<3W

<6W

Supply Voltage

9 to 36 VDC

9 to 36 VDC

Typical RMS values. All specifications subject to change without notice.

A: AHRS
E: INS
D: INS withinternal GNSSGYROSCOPES
4: 300 °/s 

ACCELEROMETERS
2: 8 g3: 14 g

Applications

AEROSPACE Ready-to-use INS/GPS (Ekinox-D)

Mid-sized & large UAV

 Designed for harsh environments

Avionics

 Temperature calibrated (-40 to 75°C)

LiDAR

 Unmatched precision in high vibration

Gyro-stabilized camera

conditions (MIL-STD-810G)

Flight data recorder Robust IP68 enclosureLAND

 All-in-one solution with Dual Antenna GPS,Car motion

RTK GNSS, and odometer

Unmanned Ground Vehicle

 Ethernet & CAN connectivity

Camera and 3D scanner Precise Time Protocol (PTP) for time synchronization

SATCOM antenna

 Low latency (2 ms)

Machine Control

 Very low noise on Attitude & Navigation dataMARINE Integrated Dual Antenna GPS for True Heading

Hydrography
Motion monitoring
Performance sailing(Ekinox-D)
 Real-time Auto adjusting heave on 4 monitoring
pointsOffshore NMEA, TSS & Simrad protocols

Targeting system Ethernet & Web interface

SUBSEA Compact and low-power consumption

AUV, ROV Real-time data fusion with DVL, etc.

SONAR, LiDAR, Camera Up to 4 simultaneously connected equipment

Seamless Integration
STARTING BOX

NEED A CUSTOM PACKAGE?

The selected Ekinox model is shippedwith a quick start guide and its own calibration report.

Every industry has its own constraints.
Our Sales Engineers will work with you
to recommend the right solution foryour project, or for an entirely custom
design.

A set of software tools is included such as
the sbgCenter application, API C libraries
with code examples, etc.
A robust and waterproof transport case isfitted to contain other ordered items suchas cables, GNSS antennas, etc.

SBG SYSTEMS SERVICES
Support – Training - Custom Design

SBG Systems is a leading supplier of inertial motion sensing solutions. The company provides
a wide range of inertial solutions from miniature to high accuracy. Combined with cuttingedge calibration techniques and advanced embedded algorithms, SBG Systems products are
ideal solutions for industrial & research projects such as unmanned vehicle control, antenna
tracking, camera stabilization, and surveying applications.

TEST RESULTS

PRODUCTS

Ekinox Test Results

TESTENVIRONMENT

Navsight Marine Solution

Hydrographic Test ResultMARINEMARINEMotion &Navigation Solution

Ekinox Series

Ekinox-A

PRODUCTON TESTMotion Sensor

FOR HYDROGRAPHICAPPLICATIONS
Ellipse-E

Hydrographic Survey Offshore of Pornic, France. Data collected with an Ekinox-Dand an R2Sonic 2024 multibeam sonar. Courtesy of CADDEN.

Ekinox-D

TEST CONDITIONSTESTED PRODUCTS

Ekinox-A Motion Sensor
TESTED PERFORMANCE

Heave, Roll, and Pitch
PLACE

Brest (France) at the IFREMER
Institute
CONDITIONS

Sea conditions simulated on aHexapod

FULL REPORT : Send an email tocontact@sbg-systems.com to receive thecomplete version of this test.

The test session simulated acomplete 6 degrees of freedom (DOF).
The hexapod reproduced various seaconditions while providing accurate
reference data. A wide range of heave
frequencies and amplitudes havebeen initiated as well as periods inthe range of 5 to 12 s.
The test included eight sessions offive minutes tests and an additional
fifteen minutes test to check longer
operation periods.

Special thanks to IFREMER Instituteand Mr. Pierre Merriaux (IRSEEM andESIGELEC) who conducted this performance test.

MOUNTING ON THEHEXAPOD
All tested sensors were mechanically strapped on the Hexapod
platform which provides accurate
6 degrees of freedom.
Precision alignment ensured a0.1° alignment accuracy on rolland pitch angles.

TESTED PERFORMANCE

Roll, Pitch, Heading, and Heave
DATE, PLACE

October 28th and 29th 2014 inPornic, France.
GET THE FULL REPORT: Send anemail to sales@sbg-systems.com toreceive the complete version of thistest.

The test performed a typical survey
path. Each leg of the survey path wasabout 550 meters long. A warm-up
period and sensor calibration wasperformed during the first minutes
before running the survey.
Attitude performance was compared
to a reference, a very high accuracy
fiber optic gyro compass. This gyrocompass provided much higher
accuracy roll and pitch than the tested
products. Heading accuracy, though,was comparable, so measured
heading performance should beconsidered more as a consistency
check than as an absolute accuracy
measurement.
Heave performance was compared
to a tide compensated RTK altitude
outputted from the Ekinox-D.

Courtesy of Cadden

TESTED PRODUCTS

Ellipse-E, inertial navigation
system connected to aHemisphere VS330 GNSS withtwo antennas.
Ekinox-D, inertial navigation
system integrating a bifrequency GNSS receiver with
two antennas.
Both products received RTK
corrections during the test.

TEST CONDITIONSThis test was conducted on a 9
meter survey vessel, equipped withan R2Sonic SONIC 2024 multibeam
echosounder.

Navigation, Motion & Heave

QINSy software was used for realtime acquisition and data processing.

Special thanks to the CADDEN company
who conducted this test.
Extremely easy to set up, and highly versatile, theNAVSIGHT MARINE SOLUTION makes hydrographers’
surveying tasks easier on both shallow and deep waters.

MarineHydrography

Ekinox Test Results

TESTENVIRONMENTPRODUCTON TEST

Navsight Marine

Ekinox Test Results

AUTOMOTIVEAEROSPACE

Ekinox Series

Ekinox-N

Ekinox Series

Ekinox Land
Solution

Inertial Navigation
SystemReal time GPS data

Real time Ekinox INS output

Test 1 - Countryside
Tested Equipment
Ekinox-D, Inertial Navigation System with integrated Dual Antenna
GNSS receiver.

RTK GNSS base station
with a SATEL RF modem
to transmit differential
corrections to the Ekinox.

Odometer connected tothe Ekinox-D for velocity
aiding.

TEST CONDITIONSResults

TESTED PRODUCTWhen entering in a small village downtown, the Radio was not able to send
enough corrections to maintain RTK positioning accuracy. Spikes and jumps areobserved on GPS data (in red on the picture above). The Ekinox data fusion (inblue) behaved exactly as expected in these situations and maintained optimal
positioning accuracy. As there is no long outages in such environment, the useof an odometer is not required.

Ekinox-N Inertial Navigation
System with embedded GNSS
receiver.

REAL-TIME 3D ORIENTATION(RMS)

PLACE

RollPitchYaw

0.028°

0.032°

0.14°

Roll and Pitch are more accurate than
the announced accuracy (0.05°). Witha baseline of 1.2m, Heading accuracy
is within expectations (0.2° with 1 mbaseline). A better heading accuracy
could be achieve with a larger baseline.

REAL-TIME POSITIONTESTED PERFORMANCE

Real-time and Post-processed
Roll, Pitch, and Altitude
Magdeburg, Germany

Northing

Easting

Altitude

2.0 cm

2.7 cm3 cm

RMS errors observed here are closeto what is achievable when RTK datareception is poor.

AutomotiveCONDITIONSSurvey-type flight under mixed
weather conditions with someturbulence.

FULL REPORT: Send an email tosales@sbg-systems.com to receive
the complete version of this test.

A higher grade inertial device is used
as reference unit. This FOG-based
AHRS integrates very high accuracy
gyroscopes (0.005°/√h), so theEkinox roll and pitch, real-time, andpost-processed data can be comparedto the reference unit’s real time data.
Inertial Explorer® software was used
for Ekinox data post-processing.
As the reference does not provide
navigation information, no position
data was available for comparison.
The GPS antenna of the aircraft wasconnected to the Ekinox through asplitter.

Special thanks to SOMAG AG Jena and
GeoFly GmbH for their cooperation and formaking these tests possible.

MOUNTING
For precise comparison, the Ekinox
was installed on the same stabilized
mount as the reference inertial device.
As the Ekinox was not in a strapdown
configuration (the GPS antenna
lever arm was changing over time),
performance had been slightlydecreased.

Aerospace

SBG Systems EMEA (Headquarters)
Phone: +33 1 80 88 45 00
E-mail: sales@sbg-systems.com

SBG Systems North America
Phone: +1 (657) 845-1771
E-mail: sales.usa@sbg-systems.com

www.sbg-systems.com

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