• info@sdra.co.ir
  • 021-66045467
  • 021-66012587

Introduction

Sepehr is a small size, high performance GPS-Aided Inertial Navigation System (GPS/INS) that combines MEMS inertial sensors, a high-sensitivity GPS receiver, and advanced Kalman filtering algorithms to provide optimal estimates of position, velocity, and attitude. The tactical grade3-axis accelerometers, gyroscopes and magnetometers with an enhanced filtering gurantee the best perfomance for navigation when GPS signal is not available.

Sepehr navigation system introduced in 3 classes with different IMU qualitiy used in different applications.

Overview

Small Size and Easy Installation

Sepehr navigation system is a “plug and play” device, enclosed in a Nickel-plated aluminum casing, with IP-67 protection for the internal MEMs sensors, GPS receiver and electronics. The back-plate of the box is CNC milled precisely to ensure that the axis alignment provided by our factory calibration process is maintained during installation in its final configuration. Interfacing with the module is made through 2 automatic locking 4 and 5-pin connectors, as well as a SMA connector for an external active GPS antenna. In normal operation, only 4-pin connection is required for power supply and data transfer. The 5-pin connector can be used for firmware upgrade, accessing the internal memory storage and for synchronizing with other systems. The system can be easily mounted with 4 rectangular formed M4 screws on a flat plate.

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Advanced Navigation Filter

The latest advancements in navigation grade Kalman filtering algorithms implemented in the Sepehr navigation system, ensure solving the problems typically faced by professional users. The extended Kalman filter optimally integrates high rate inertial measurements with high accuracy low rate GPS measurements to provide high accuracy low latency position, velocity, and attitude measurements required for guidance, control and autopilot systems.

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Plug and Play

Utilizing advanced navigation algorithms, Sepehr can operate in several navigations modes. The in-flight alignment helps the user to start the system on the fly. The system can estimate the initial conditions and turn-on biases with the internal algorithm to achieve the best estimation of position, velocity and atitude. Using the static alignment mode, one can start the operation in calm static situation and allow the internal algorithm to estimate initial conditions and sensor biases statically. Synchronizing with another navigations system, Sepehr can accept the initial condition directly in a transfer alignment process.

All of the navigation states are saved automatically on an internal memory storage with capacity of 220 hours. The internal memory can be accessed through USB connection.



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Graphical User Interface

Despite the output data protocol of the Sepehr navigation system being open, for first usage convenience, a powerful GUI has been designed for interfacing Sepehr through USB and RS-232 ports in Microsoft Windows ®. This GUI displays the raw IMU sensor and GPS data, as well as navigation data with graphs, maps and in Head-up display (HUD). The terminal page displays the raw messages directly from the Sepehr navigation system. Users can access the internal memory through the GUI, download data and perform clearation. Also the internal firmware can be upgraded easily through USB port.

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Specifications

Gyroscope
Dynamic range\( \pm 450 \ to \ \pm 480\deg /s\)
Non-linearity\(0.01\% \ FS\)
In-run bias stability \((1\sigma)\)\(5.1\deg /{\rm{hr}}\)
Angular random walk \((1\sigma)\)\(0.26{\raise0.5ex\hbox{$\scriptstyle ^\circ $}
\kern-0.1em/\kern-0.15em
\lower0.25ex\hbox{$\scriptstyle {\sqrt {{\rm{hr}}} }$}}\)

Accelerometer
Dynamic range\( \ge \pm 18g\)
Non-linearity\(0.1\% \ FS\)
In-run bias stability \((1\sigma)\)\(0.07 \ mg\)
Velocity random walk \((1\sigma)\)\(0.029{\raise0.5ex\hbox{$\scriptstyle {{\raise0.5ex\hbox{$\scriptstyle {\rm{m}}$}
\kern-0.1em/\kern-0.15em
\lower0.25ex\hbox{$\scriptstyle {\rm{s}}$}}}$}
\kern-0.1em/\kern-0.15em
\lower0.25ex\hbox{$\scriptstyle {\sqrt {{\rm{hr}}} }$}}\)

Magnetometer
Dynamic range\( \ge \pm 2.5G\)
Non-linearity\(0.5\% \ FS\)

Documentation

Sepehr Navigation System Datasheet
version 1.0.0
PDF; 589 Kb
Download
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Sepehr Navigation System Brochure
version 1.4.0
PDF; 1,140 Kb
Download
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Sepehr Navigation System User Manual
version 1.0.0
PDF; 3,870 Kb
Download
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SDRA Products Firmware Upgrade Manual
version 2.3.1
PDF; 589 Kb
Download

release notes
datasheet
catalog

Release notes:

Downloads

SUpdater
UI
USB Driver
Link to .Net framework