VN-110 IMU/AHRS

Overview

The VN-110 is a tactical-grade Inertial Measurement Unit (IMU) and Attitude Heading Reference System (AHRS) designed for demanding military and aerospace applications. It integrates advanced 3-axis accelerometers, gyroscopes, and magnetometers into a compact, robust package, delivering precise sensor measurements and real-time 3D orientation across a full 360° range.

Packaging Options

• VN-110: Precision-milled, anodized aluminum enclosure.
• VN-110E: Ultra-compact, board-mount option for SWaP-C constrained applications.

Both models are certified to MIL-STD and DO-160G standards, ensuring reliability in the harshest environments.

Key Features

• Real-Time 3D Orientation: Continuous attitude solution over the complete 360° range.
• Advanced Sensor Fusion: Kalman Filter for real-time gyro bias estimation and compensation.
• Disturbance Rejection: VectorNav Processing Engine (VPE) 2.0 for adaptive signal filtering and dynamic filter tuning.
• Magnetic & Gravity Models: Integrated World Magnetic Model (WMM2016) and World Gravity Model (EGM96).
• Hard & Soft Iron Compensation: Real-time and manual 2D/3D calibration.
• User Configurable Messaging: Supports ASCII and VectorNav Binary protocols.
• Software Compatibility: Common communication protocol across the VectorNav product line.
• Ease of Availability: ITAR-free, made in the USA, with short lead times.

Performance Highlights

• Gyro In-Run Bias Stability: 0.6°/hr
• Accelerometer In-Run Bias Stability: < 10 μg
• Pitch/Roll Accuracy: 0.05°
• Gyro Noise Density (ARW): 5°/hr/√Hz
• Accelerometer Noise Density (VRW): < 0.04 mg/√Hz
• IMU Data Rate: Up to 800 Hz
• Low SWaP (VN-110E): 31 x 31 x 12 mm, 12 grams, < 1 W power consumption

Performance Beyond Specifications

• Continuous Attitude Solution: Reliable operation over the full 360° range.
• Disturbance Rejection: VPE for magnetic and acceleration disturbance rejection.
• External Inputs: Supports external magnetometers and velocity measurements (e.g., airspeed, GPS).
• Comprehensive Calibration: Individually calibrated for bias, scale factor, misalignment, and temperature (-40°C to +85°C).

Environmental & Mechanical Specifications

• VN-110: IP68 rated, vibration and shock resistant (MIL-STD-810G), temperature tested (DO-160G), EMI & radiation compliant (MIL-STD-461G), electrical protection (MIL-STD-1275E).
• VN-110E: 24-pin, 1mm pitch board-to-board interface connector.

Sensor Specifications

• Attitude Range: Heading/Yaw, Roll: ±180°; Pitch: ±90°
• Heading Accuracy (Magnetic): 2.0° RMS
• Pitch/Roll Accuracy (Static): 0.05° RMS
• Pitch/Roll Accuracy (Dynamic): 1.0° RMS
• Angular Resolution: 0.001°

Accelerometer

• Range: ±15 g
• In-Run Bias Stability: < 10 μg
• Noise Density: < 0.04 mg/√Hz
• Bandwidth: 200 Hz
• Cross-Axis Sensitivity: ±0.05°

Gyroscope

• Range: ±490°/s (Optional ±2000°/s)
• In-Run Bias Stability: < 1°/hr (0.6°/hr typical)
• Noise Density: 5°/hr/√Hz
• Bandwidth: 210 Hz
• Cross-Axis Sensitivity: < 0.05°

Magnetometer

• Range: ±2.5 Gauss
• Noise Density: 140 µGauss/√Hz
• Bandwidth: 200 Hz
• Cross-Axis Sensitivity: ±0.05°

Electrical & Interface Details

• VN-110: Input Voltage 12–34 V, Current Draw 80 mA @ 24 V, Power < 2 W, 10-pin circular push-pull interface.
• VN-110E: Input Voltage 3.2–3.5 V, Current Draw 280 mA @ 3.3 V, Power < 1 W, 24-pin board-to-board interface.

Size & Weight

• VN-110: 56 x 56 x 23 mm, 125 g
• VN-110E: 31 x 31 x 12 mm, 12 g

Reliability

• Operating Temperature: -40°C to +85°C
• Storage Temperature: -40°C to +85°C
• MTBF: > 45,000 hours (both models)
• Robust Calibration & Testing: Each unit is individually calibrated and tested at VectorNav’s AS9100 certified facility.

Additional Information

• Data Output Rates: IMU up to 800 Hz, Attitude up to 400 Hz.
• Primary Interface (VN-110): RS-422 (Optional RS-232)
• Auxiliary Interface (VN-110): RS-422
• VN-110E Interface: Two Serial TTL
• Synchronization: Sync-in and Sync-out supported.
• Software: Free VectorNav Control Center GUI for sensor setup, configuration, and data logging.