Dual Antenna GPS-Aided Inertial Navigation System (INS‑D)
Magnetic heading fails near steel hulls, turrets, motors and high-current cabling. The INS-D sidesteps the problem entirely by deriving heading from the carrier-phase difference between two GNSS antennas. On a 2 m baseline it resolves 0.08° static and dynamic; on 1 m, 0.15°.
Receiver options
NovAtel OEM7720, Septentrio mosaic-H, or dual u-blox ZED-F9P. The OEM7720 tracks up to 555 channels with ALIGN heading, GRIT interference mitigation and spoofing detection; mosaic-H brings AIM+ anti-jamming. Post-processed heading reaches 0.03°.
Inertial performance
The tactical-grade IMU holds 1 deg/hr gyro in-run bias stability with angular random walk below 0.2 deg/√hr, optionally 0.08. Accelerometer in-run bias stability is 0.005 mg at ±8 g, with one-year repeatability of 1.0 mg. Pitch and roll: 0.05° static, 0.03° dynamic, 0.006° post-processed. Free-inertial land position drift stays at 0.2% DT.
Application fit
Heavy vehicle guidance, artillery and turret pointing, land vehicle navigation, fixed-wing platforms, and any integration where a magnetometer would be compromised by the host structure. Aiding inputs cover odometer, wheel sensor, encoder, DMI, DVL for marine work, and airspeed or wind sensors for aerial.
Physical and electrical
Enclosed: 120.5 × 53.2 × 49.3 mm, 320 g, IP67, MIL-STD-810G, MIL-STD-461F. OEM: 85.5 × 47.7 × 40.2 mm, 174 g. Supply 9–36 V DC, 5 W (6 W with logger), MIL-STD-1275 protection optional. Operating range -40 to +75 °C, storage to +85 °C.
Inertial Labs, a VIAVI Solutions company, supplies ROS, LabVIEW, Inertial Explorer and QINSy support alongside direct ArduPilot and PX4 integration.
Key features & functionality
- Excellent accuracy in GPS-Denied environments
- Tactical-grade IMU
- Support: ROS, LabVIEW, Waypoint Inertial Explorer, QINSy
- GPS, GLONASS, GALILEO, BEIDOU, SBAS, DGPS, RTK supported signals
- Fluxgate gyro-compensated compass to maintain free-inertial Heading (options)
- High-performance GNSS receivers
- Compatibility with LiDARs (Velodyne, RIEGL, FARO) and optical cameras
- Odometer, Wheel sensor, Airspeed sensor, Wind sensor aiding data
- Advanced, extendable, embedded Kalman Filter based sensor fusion algorithms
- State-of-the-art algorithms for different dynamic motions of Vessels, Ships, Helicopters, UAV, UUV, UGV, AGV, ROV,
Gimbals and Land Vehicles - Implemented ZUPT, ZARUPT, Tunnel Guide, GNSS tracking angle features
- Full temperature calibration, compact design, MIL-STD-810G/DO-160E
- Full integration with ArduPilot platform
INS-D Main Specifications
| Parameter | INS-D | INS-D OEM |
|---|---|---|
| Heading Accurasy | 0.08° (2m baseline) / 0.15° (1m baseline) | 0.08° (2m baseline) / 0.15° (1m baseline) |
| Position Accuracy | 1cm (RTK), 2.5cm (PPP), 60cm (SBAS) | 1cm (RTK), 2.5cm (PPP), 60cm (SBAS) |
| Pitch & Roll Accuracy | 0.03° dynamic, 0.05° static | 0.03° dynamic, 0.05° static |
| GNSS Constellations | BDS, GAL, GLO, GPS, QZSS | BDS, GAL, GLO, GPS, QZSS |
| Corrections | DGPS, PPK, PPP, RTK, SBAS | DGPS, PPK, PPP, RTK, SBAS |
| Type of IMU | MEMS, Tactical-grade | MEMS, Tactical-grade |
| Magnetometer | External Magnetic Compass (optional) | External Magnetic Compass (optional) |
| Other Features | All INS-B features + high-precision dual GNSS Heading (HDT) | All INS-B features + high-precision dual GNSS Heading (HDT) |
| Size (mm) | 120.5 x 53.2 x 49.3 | 85.5 x 47.7 x 40.2 |
| Weight (gram) | 320 | 184 |
Related Products
Trademark Legal Notice: All product names, logos, and brands are the property of their respective owners. All company, product, and service names used in this document are for identification purposes only. Use of these names, logos, and brands does not imply endorsement. ABS, BeiDou, Cobham Limited, EdgeTech, Galileo, GLONASS, GPS, Hexagon, HYPACK, IMAGENEX, Kongsberg Seatex, LabVIEW, Livox, Norbit, NovAtel, NovAtel Inertial Explorer, Ouster, Qinsy, Quanergy, QZSS, R2Sonic, RIEGL, ROCK Robotic, ROS, Septentrio, Ship Motion Control SMC, Teledyne TSS, u-blox, Velodyne, WAASP, Waypoint.