Based on external GPS data inertial navigation system

GNSSmobileindoor

Accurate localization, anywhere When it comes to outdoor (and indoor) autonomous vehicles, it’s essential to know precisely where the vehicle is located at all times – even in challenging or GNSS-denied environments. For these applications, we’ve introduced the Xsens Vision Navigator. Visual-inertial odometry Using dual RTK GNSS, an internal IMU and a camera, and visual-inertial odometry technology, the Xsens Vision Navigator provides accurate real-time navigation data, whether you’re in a forest, an urban environment, a warehouse, a tunnel or even underground. Position drift over distance With the Vision Navigator, position drift is distance-dependent as opposed to time-dependent – as commonly found in more traditional GNSS/INS devices. Thus, the Vision Navigator is able to cope with continuous GNSS disturbances or long-lasting GNSS outages. Specifications Sensor fusion performance Roll, pitch - <0.4 deg Yaw/heading - 0.4 deg (1 m antenna baseline) Position with RTK - 1 cm + 1 ppm Position during GNSS outage - 0.75% of distance travelled Velocity - 0.1 m/s Gyroscope Standard full range - 2000 deg/s Noise density - 0.003 deg/s/√Hz Accelerometer Standard full range - 16 g Noise density - 65 µg/√Hz Magnetometer - Onboard Barometer - Onboard GNSS receiver Brand - u-blox Model - ZED-F9P (2x, internal) RTK correction - RTCM 3.3 RTCM input port - Ethernet, Wi-Fi or serial Mechanical IP-rating (equivalent) - IP67 Dimensions - 129 × 113.6 × 30 mm Weight - 420 g Electrical Input voltage - 4.5 to 36 V Power consumption (typ.) - 7.5 W Interfaces / IO Interfaces - CAN, UART, Ethernet, Wi-Fi, USB-C Protocols - ASCII, NMEA and ROS Output frequency - Up to 100 Hz