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I3700

inertial integrated navigation system plant

I3700

I3700 is an integrated navigation system (GNSS/INS) composed of high-performance MEMS sensors, high-precision GNSS systems and high-performance microprocessors. The built-in self-developed high-reliability integrated navigation algorithm can output the speed, position, attitude and other information of the measured carrier in real time. Users can also externally connect RTCM differential correction data to achieve high-precision RTK positioning. The IP68 waterproof shell-type package can be easily integrated into the user's system. Product model information is as follows:

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I3700
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1

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Description

1. Product specification

1) Combined Navigation Accuracy Index

Lost lock time	Positioning mode	Position accuracy	Speed accuracy	Pitch/roll accuracy	Heading accuracy
3s	Odometer access	1cm	0.03m/s	0.1°	0.2°
10s		1m	0.1m/s	0.1°	0.2°
60s		6m	0.1m/s	0.2°	0.35°

The sensor was in RTK positioning mode before losing lock.

2) Inertial sensor parameters

IMU	Accelerometer	Gyro	Geomagnetic field	Remark
Measuring range	±6g	500°/s	±8Gauss
Resolution	0.001g	0.001°/s	0.25mg
Bandwidth	150Hz	120Hz	TBD	1
Bias stability	30uG	2.5°/h	TBD
Random walk	0.028m/s√h	0.3°/√h	TBD
Full temperature zero bias change	<0.015°/s/℃	<0.2mg/℃	TBD	1

3) GNSS parameters

Index	describe	Remark
Aisle	1408 channels
Frequency	BDS B1I/B2I/B3I GPS L1 C/A/L2P(Y)/L2C/L5 Galileo E1/E5a/E5b GLONASS L1/L2 QZSS L1/L2/L5
Cold start	<30s
Hot Start	<2s
RTK start time	<5s
Single point positioning accuracy RMS	Level 1.5m Elevation 2.5m
SBAS	Level 0.4m Elevation 0.8m
RTK positioning accuracy RMS	Horizontal 0.8cm+1ppm Height 1.5cm+1ppm
Orientation accuracy	0.2° /1m baseline
update rate	20Hz
Maximum speed	500m/s
maximum height	50000m

4) Mechanical and electrical parameters

Parameter	Condition	I3700
Input voltage	25℃	6-36V DC
Power consumption	25℃	<1.8W
Size	Aviation plug interface	75X60X25.2mm
Weight	Aviation plug interface	180g
Shell material		Aluminum alloy
Operating temperature		-40-85℃
Certification		CE、 ROHS、 IP68

5) Interface resources

Parameter	Describe
COM1	Sensor data input and output interface, connected to the user host
COM2	Differential data input interface output GPGGA
RS-422	Sensor data input and output interface, connected to the user host
CAN1	Sensor data input and output, odometer data input
CAN2	reserve
PPS	Timing signal PPS duty cycle 50%
SYNC	Synchronous input and output pins
Hardware interface	12pin aviation plug
Data Update	Maximum 100Hz(IMU), 100Hz(GNSS/INS)

Users can choose the appropriate hardware interface according to product requirements

6) Data input/output

Parameter	Describe
Data output	NMEA/RTCM/Novtel SPAN binary protocol
Data content	Euler angles, quaternions, velocity, position, acceleration, angular velocity, etc.
Fusion algorithm	EKF
External sensor support	Odometer, GNSS, DTU, etc.

7) Interface electrical parameters

Parameter	Condition	Minimum value	Typical value	Maximum value	Unit
Interface RS-232
Input voltage		-13.6	-	13.6	V
Input voltage threshold V_IL		0.6	1.2	-	V
Input voltage threshold V_IH		-	1.5	2.4	V
Input resistance		3	5	7	kΩ
Output impedance		300	-	-	Ω
Baud rate		9600/115200/230400/256000/460800/921600 Default 115200
Interface CAN2.0
Output voltage	CAN H	2.75	3.5	4.5	V
Output voltage	CAN L	0.5	1.5	2.25	V
Differential output voltage		1.5	-	3	V
Stealth output voltage		2	2.5	3	V
Maximum input voltage	CAN H,CAN L	-42	-	42	V
Baud rate		125K/250K/500K/1000K (default 500K)
Interface RS-422
Differential output voltage		2	-	3.2	V
Common mode output voltage		-	-	3	V
Differential input threshold		-0.2	-	0.2	V
Input lag		-	25	-	mV
Input resistance		12	15	-	kΩ
SYNC IN
Input voltage		-	-	3.6	V
ESD		-15	-	15	kV
SYNC OUT/PPS
Output voltage		-	3.3	-	V
Output current		-	30	-	mA

2. Product dimension

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Hardware  - High-performance array IMU  - Factory-calibrated with temperature compensation from -40 to 85℃, with scale factor, cross-axis, and zero bias calibrated - The gyroscope zero-bias instability is as high as 2.5°/h - The zero bias instability of the accelerometer is as high as 30ug - Multiple interfaces such as UART (TTL)/CAN - Integrated Temperature Sensor - Small surface-mount package, easy to integrate - RoHS and CE certification - Full-constellation, full-frequency RTK-GNSS system, dual-antenna direction finding Software - Adaptive extended Kalman fusion algorithm, capable of up to 100Hz output with low latency - Dual-antenna directional 0.2° 1m baseline - It has excellent suppression effect on linear acceleration - Timing accuracy of 20ns - Single-point positioning with an accuracy of 1.5 meters - RTK positioning accuracy is 1cm - Speed accuracy: 0.03m/s - Cold start time < 30s - Hot start time < 2s - Supports multiple protocols such as binary, NMEA, J1939, and more - Rich user configuration instructions - Multi-functional GUI, easy to operate - Supports multiple routines such as ROS and C  

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