GNSS / INS

VN-210

The VN-210 is a tactical-grade, high-performance GNSS-Aided Inertial Navigation System (GNSS/INS) incorporating the latest inertial sensor and GNSS technology. The VN-210 combines a 3-axis accelerometer, a 3-axis gyro, a 3-axis magnetometer, a Multi-band GNSS receiver into a compact embedded module or ruggedized packaging option to deliver a high-accuracy position, velocity and attitude solution.

0.05˚- 0.1˚

Dynamic Heading

0.015˚

Dynamic Pitch/Roll

0.6°/hr

Gyro In-Run Bias

VN-210

The VN-210 is a tactical-grade, high-performance GNSS-Aided Inertial Navigation System (GNSS/INS) incorporating the latest inertial sensor and GNSS technology. The VN-210 combines a 3-axis accelerometer, a 3-axis gyro, a 3-axis magnetometer, and a Multi-band GNSS receiver into a compact ruggedized package to deliver a high-accuracy position, velocity, and attitude solution.

Multi-Band GNSS

Integrated L1/L2/E1/E5b GNSS Receiver

Rugged Device Design

IP-68, DO-160G, MIL-STD-1275E, MIL-STD-461G, MIL-STD-810G

External M-Code

Support for external SAASM / M-Code GPS (ICD-GPS-153)

High Data Rate

400 Hz Navigation Data
800 Hz IMU Data

VN-210 E

The VN-210E is a tactical-grade, high-performance GNSS-Aided Inertial Navigation System (GNSS/INS) incorporating the latest inertial sensor and GNSS technology. The VN-210E combines a 3-axis accelerometer, a 3-axis gyro, a 3-axis magnetometer, and a Multi-band GNSS receiver into a compact embedded module to deliver a high-accuracy position, velocity, and attitude solution.

Multi-Band GNSS

Integrated L1/L2/E1/E5b GNSS Receiver

High Data Rate

400 Hz Navigation Data
800 Hz IMU Data

Ultra-Low SWaP

31 x 31 x 12 mm
14 grams; < 1.5 W

External M-Code

Support for external SAASM / M-Code GPS (ICD-GPS-153)

VN-210 -S

The VN-210-S is a tactical-grade, high-performance GNSS-Aided Inertial Navigation System (GNSS/INS) that combines 3-axis gyros, accelerometers, and magnetometers, a tri-band L1/L2/L5/E1/E5a/b GNSS receiver, and advanced Kalman filtering algorithms to provide optimal estimates of position, velocity, and attitude. The VN-210-S is available in a precision-milled, anodized aluminum enclosure. For ultra-low SWaP applications, the VN-210E (Embedded) can be integrated externally with the GNSS receiver found inside the VN-210-S.

Tri-band GNSS

Integrated L1/L2/L5/E1/E5a/b GNSS Receiver

High Rate Data

400 Hz Navigation Data
800 Hz IMU Data

Ultra Low SWaP

56 x 56 x 31 mm
170 grams; < 3.3 W

Rugged Device Design

Designed to DO-160G, MIL-STD-1275E, MIL-STD-461G, MIL-STD-810G; IP-68 Rated

Specifications

ATTITUDE

Range (Heading/Yaw, Roll)

± 180°

Range (Pitch)

± 90°

Heading (Magnetic)*1

2.0° RMS

Heading (INS)*2

0.05°-0.1°, 1σ

Pitch/Roll (Static)

0.05° RMS

Pitch/Roll (INS)*3

0.015°, 1σ

Heading Mounting Misalignment (VN-210)*4

<0.05°, 1σ

Pitch/Roll Mounting Misalignment*4

<0.05°, 1σ

Angular Resolution

0.001°
POSITION/VELOCITY

Horizontal Position Accuracy*4

1.0 m RMS

Vertical Position Accuracy*4

1.5 m RMS

RTK Position Accuracy*6

0.01m + 1ppm CEP

Free Inertial Position Drift*7

0.5 cm/s²

Velocity Accuracy

< 0.02 m/s
*1With proper magnetic declination, suitable magnetic environment and valid hard/soft iron calibration.
*2Dependant on a number of factors, contact VectorNav to discuss expected performance in your application
*3With sufficient motion for dynamic alignment.
*4Constant on a per part basis. Can be calibrated out during system integration using boresighting or other alignment processes.
*5With SBAS, clear view of GNSS satellites, good multipath environment, compatible GNSS antenna, and as measured over a 24 hour period.
*6Measured using 1km baseline and patch antennas with good ground planes. Does not account for possible antenna phase center offset errors. ppm limited to baselines up to 20km.
*7Typical rate of growth in error of position estimates after loss of GNSS signal, provided INS full alignment prior to loss.

Range

±15 g

In-Run Bias Stability

< 10 μg

Noise Density

< 0.04 mg/√Hz

Bandwidth

200 Hz

Cross-Axis Sensitivity

±0.05°

Range*1

±490°/s (Optional ±2000°/s)

In-Run Bias Stability

< 1°/hr (0.6°/hr typ.)

Noise Density

5°/hr /√Hz

Bandwidth

210 Hz

Cross-Axis Sensitivity

< 0.05°
*1Contact VectorNav for Extended Range Gyro Option

Range

±2.5 Gauss

In-Run Bias Stability

-

Noise Density

140 μGauss/√Hz

Sample Rate

250 HZ

Cross-Axis Sensitivity

±0.05°

Receiver Type

184-Channel, L1/L2/E5b GNSS

Time-to-First-Fix (Cold)

29 s

Time-to-First-Fix (Hot)

1 s

Altitude Limit

50,000 m

Velocity Limit

500 m/s

Size

56 x 56 x 31 mm

Weight

155 g

Interface Connector

Circular Push-Pull Fischer UltiMate (10-pin x 2; Size 7)

GNSS Connector

SMA

Input Voltage

12 to 34 V

Current Draw*1

110mA @ 24 V

Power*1

< 2.7 W

Digital Interface*2

RS-422

Baud Rate

Up to 921,600

GNSS PPS

30ns RMS, 60 ns 99%

Input

Sync-In

Output

Sync-Out
*1 Not including active antenna power consumption.
*2 VN-210: Optional RS-232 on Primary Port

Operating Temperature

-40° to +85° C

Storage Temperature

-40° to +85° C

MTBF

> 21,000 hours

Specifications

Range (Heading/Yaw, Roll)

± 180°

Range (Pitch)

± 90°

Heading (Magnetic)*1

2.0° RMS

Heading (INS)*2

0.05°-0.1°, 1σ

Pitch/Roll (Static)

0.05° RMS

Pitch/Roll (INS)*3

0.015°, 1σ

Heading Mounting Misalignment (VN-210E)*4

0.15°, 1σ

Pitch/Roll Mounting Misalignment*4

<0.05°, 1σ

Angular Resolution

0.001°

Horizontal Position Accuracy*5

2.5 m RMS

Vertical Position Accuracy*5

2.5 m RMS

RTK Position Accuracy*6

0.01m + 1ppm CEP

Free Inertial Position Drift*7

0.5 cm/s2

Velocity Accuracy

< 0.02 m/s
*1With proper magnetic declination, suitable magnetic environment and valid hard/soft iron calibration.
*2Dependant on a number of factors, contact VectorNav to discuss expected performance in your application
*3With sufficient motion for dynamic alignment.
*4Constant on a per part basis. Can be calibrated out during system integration using boresighting or other alignment processes.
*5With SBAS, clear view of GNSS satellites, good multipath environment, compatible GNSS antenna, and as measured over a 24 hour period.
*6Measured using 1km baseline and patch antennas with good ground planes. Does not account for possible antenna phase center offset errors. ppm limited to baselines up to 20km.
*7Typical rate of growth in error of position estimates after loss of GNSS signal, provided INS full alignment prior to loss.

Range

±15 g

In-Run Bias Stability

< 10 μg

Noise Density

0.04 mg/√Hz

Bandwidth

200 Hz

Cross-Axis Sensitivity

±0.05°

Range*1

±490°/s

In-Run Bias Stability

< 1°/hr (0.6°/hr typ.)

Noise Density

5°/hr /√Hz

Bandwidth

210 Hz

Cross-Axis Sensitivity

< 0.05°
*1Contact VectorNav for Extended Range Gyro Option

Range

±2.5 Gauss

In-Run Bias Stability

-

Noise Density

140 μGauss/√Hz

Bandwidth

200 HZ

Cross-Axis Sensitivity

±0.05°

Receiver Type

184-Channel, L1/L2/E5b GNSS

Time-to-First-Fix (Cold)

29 s

Time-to-First-Fix (Hot)

1 s

Altitude Limit

50,000 m

Velocity Limit

500 m/s

Interface Connector

24-pin CLR

GNSS Connector

U. FL

Size

31 x 31 x 12 mm

Weight

14 g

Baud Rate

Up to 921,600

GNSS PPS

30ns RMS, 60 ns 99%

Input

Sync-In

Output

Sync-Out

Input Voltage

3.2 V to 3.5 V

Current Draw*1

280mA @ 3.3 V

Power*1

1 W

Digital Interface

(2) Serial TTL
*1Not including active antenna power consumption.

Operating Temperature

-40° to +85° C

Storage Temperature

-40° to +85° C

MTBF

> 22,000 hours

Specifications

Range (Heading/Yaw, Roll)

± 180°

Range (Pitch)

± 90°

Heading (Magnetic)*1

2.0° RMS

Heading (INS)*2

0.05°-0.1°, 1σ

Pitch/Roll (Static)

0.05° RMS

Pitch/Roll (INS)*3

0.015°, 1σ

Heading Mounting Misalignment*4

<0.05°, 1σ

Pitch/Roll Mounting Misalignment*4

<0.05°, 1σ

Angular Resolution

0.001°

Horizontal Position Accuracy*5

0.6 m RMS

Vertical Position Accuracy*5

0.8 m RMS

RTK Position Accuracy*6

1 cm + 1 ppm CEP

Free Inertial Position Drift*7

0.5 cm/s2

Velocity Accuracy

< 0.02 m/s
*1With proper magnetic declination, suitable magnetic environment and valid hard/soft iron calibration.
*2Dependant on a number of factors, contact VectorNav to discuss expected performance in your application
*3With sufficient motion for dynamic alignment.
*4Constant on a per part basis. Can be calibrated out during system integration using boresighting or other alignment processes.
*5With SBAS, clear view of GNSS satellites, good multipath environment, compatible GNSS antenna, and as measured over a 24 hour period.
*6Dependant on atmospheric conditions, baseline length, GNSS antenna, multipath conditions, satellite visibility and geometry.
*7Typical rate of growth in error of position estimates after loss of GNSS signal, provided INS full alignment prior to loss.

Range

±15 g

In-Run Bias Stability

< 10 μg

Noise Density

< 0.04 mg/√Hz

Bandwidth

200 Hz

Cross-Axis Sensitivity

±0.05°

Range*1

±490°/s (Optional ±2000°/s)

In-Run Bias Stability

< 1°/hr (0.6°/hr typ.)

Noise Density

5°/hr /√Hz

Bandwidth

210 Hz

Cross-Axis Sensitivity

< 0.05°
*1Contact VectorNav for Extended Range Gyro Option

Range

±2.5 Gauss

Noise Density

140 μGauss/√Hz

Sample Rate

250 Hz

Cross-Axis Sensitivity

±0.05°

Receiver Type

448 Channel L1/L2/L5/E1/E5a/b GNSS

Time-To-First-Fix (Cold)

< 45 s

Time-To-First-Fix (Hot)

20 s

Altitude Limit

50,000 m

Velocity Limit

500 m/s

Size

56 x 56 x 31 mm

Weight

170 g

Interface Connector

Circular Push-Pull Fischer UltiMate (10-pin x 2; Size 7)

GNSS Connector

SMA

Baud Rate

Up to 921,00

GNSS PPS

30ns RMS, 60 ns 99%

Input

Sync-In

Output

Sync-Out

Input Voltage

12 to 34 V

Current Draw*1

135 mA @ 24 V

Power*1

< 3.3 W

Digital Interface*2

RS-422
*1Not including active antenna power consumption.
*2VN-210: Optional RS-232 on Primary Port

Operating Temperature

-40° to +85° C

Storage Temperature

-40° to +85° C

Documentation and Resources

VN-210 User Manual
TECHNICAL
VN-210E User Manual
TECHNICAL
VN-210 & VN-210E Datasheet
TECHNICAL
VN-210-S Datasheet
TECHNICAL
VN-210 Mechanical Drawing
TECHNICAL
VN-210 STEP File
TECHNICAL
VN-210E Mechnical Drawing
TECHNICAL
VN-210E STEP File
TECHNICAL
VectorNav Product Brochure
SALES
VN-210 Product Brief
SALES
VN-210-S Product Brief
SALES
VN-210 Purchasing Guide
SALES
VectorNav Tactical Embedded Brochure
SALES

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