This section presents the performance and the sensor component specifications for the calibrated Sirius series products. Each product has passed the Xsens calibration process individually. The Xsens calibration procedure calibrates for many parameters, including bias (offset), alignment of the sensors with respect to the PCB and to each other, and gain (scale factor). All calibration values are temperature dependent and temperature calibrated. The calibration values are stored in the non-volatile memory of the module.
In addition, some calibration parameters are continuously improved and/or re-estimated through the on-board sensor fusion algorithms during normal operation of the product.
|
Parameter |
Condition |
Xsens Sirius IMU |
Xsens Sirius VRU |
Xsens Sirius AHRS |
|
Roll/Pitch* |
Static [RMS] |
N/A |
0.2º |
0.2º |
|
Dynamic (car, 25m/s) [RMS] |
N/A |
0.25º |
0.25º |
|
|
Yaw* |
Dynamic (car, 25m/s) [RMS] |
N/A |
Unreferenced |
1º |
* Orientation estimates also include Uncertainty output
|
Gyroscope specification[1] |
Unit |
Value |
|---|---|---|
|
Standard full range |
[°/s] |
±300 |
|
In-run bias stability |
[°/h] |
7 |
|
Bandwidth (-3dB) |
[Hz] |
400 |
|
Noise density |
[°/s/√Hz] |
0.003 |
|
g-sensitivity (calibrated) |
[°/s/g] |
0.08 |
|
Non-linearity |
[%FS] |
0.06 |
|
Scale Factor variation |
[%] |
0.5 (typical) 1.5 (over life) |
|
Accelerometer[1] |
|
Unit |
Value |
|
|---|---|---|---|---|
|
Standard full range |
[g] |
±8 |
||
|
In-run bias stability |
[µg] |
15 |
||
|
Bandwidth (-3dB) |
[Hz] |
470 |
||
|
Noise density |
[µg/√Hz] |
15 |
||
|
Non-linearity |
[%FS] |
0.1 |
||
|
Magnetometer[1] |
Unit |
Value |
|
|---|---|---|---|
|
Standard full range |
[G] |
±8 |
|
|
Non-linearity |
[%] |
0.2 |
|
|
Total RMS noise |
[mG] |
1 |
|
|
Resolution |
[mG] |
0.25 |
|
|
Parameter[1] |
Unit |
Value |
|
|---|---|---|---|
|
on-orthogonality (accelerometer) |
[°] |
0.05 |
|
|
Non-orthogonality (gyroscope) |
[°] |
0.05 |
|
|
Non-orthogonality (magnetometer) |
[°] |
0.05 |
|
[1] As Xsens continues to update the sensors on the module, these specifications are subject to change.