NavChip™ Series Datasheet by Thales Visionix - a Division of Thales Defense & Security, Inc.

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THALES
Page 1 of 11
PDS-0003 (C)
The information provided in this document is believed to be accurate, but is not guaranteed. Thales Defense
& Security Inc. reserves the right to change specifications at any time without notice.
©2020 Thales Defense & Security Inc. All rights reserved.
GENERAL DESCRIPTION
The NavChipSeries 3 is a high precision
MEMS 6-axis inertial measurement unit
(IMU). Using proprietary MEMS
technologies and advanced signal processing
techniques, the NavChip achieves a level of
performance, miniaturization, and
environmental ruggedness superior to other
IMUs of its size.
The NavChip is especially well-suited for
embedded applications where small size,
low cost, and low power consumption are
required. It is fully factory-calibrated and
temperature compensated over an operating
range of -40oC to +85oC.
APPLICATIONS
Augmented and Virtual Reality
Unmanned Systems
Robotics
Camera & Antenna Stabilization
Pedestrian Navigation
GPS/INS Integration
Aiming & Alignment
FEATURES
Fully-compensated  and V
outputs
Gyro bias in-run stability 4o/hr
Angular random walk 0.18o/hr
Accel bias in-run stability 0.006
mg
Velocity random walk 0.02m/s/hr
Full-scale angular rate of 2000o/s
Full-scale acceleration of ± 16g
Low power consumption 135mW
Selectable built-in test (BIT)
modes for commanded and
continuous diagnostic monitoring
Factory calibrated bias, scale
factor and misalignment (-40oC to
+85oC)
TTL UART, SPI or I2C data
output interfaces
Embedded temperature sensors
Selectable output data types and
rates (up to 1000 Hz)
Selectable AHRS output
External sync pin can accept
optional GPS pulse-per-second or
faster synchronization signal
Single supply operation 3.25V to
5.5V
Small 12.5 x 24.5 x 6.1 mm
Lightweight 3 g
Evaluation kits & adapter boards
available
NavChip Series 3
Precision 6-Axis MEMS Inertial Measurement Unit
Thales Defense & Security Inc. NavChip Inertial Measurement Unit
Page 2 of 11
PDS-0003 (C)
The information provided in this document is believed to be accurate, but is not guaranteed. Thales
Defense & Security Inc. reserves the right to change specifications at any time without notice.
©2020 Thales Defense & Security Inc. All rights reserved.
Contents
Electrical & Mechanical Specifications .......................................................................................................... 3
Functional Description ................................................................................................................................... 6
Mechanical Renderings .................................................................................................................................. 7
Mechanical Interface Description ................................................................................................................... 8
Mounting Recommendations .........................................................................................................................10
Ordering Information.....................................................................................................................................11
Usage and Liability Disclaimer .....................................................................................................................11
Electrical & Mechanical Specifications PARAMETER MIN MAX UNITS ESD CAUTION ESD (dutruum dIuh-rgo] mum-v. dcvla. Chargpc damn mi :Hnm acne; (In dismlvge wiham deredon Aiwougn m) pmdud femrex pmuw my woman pit m meuy dawuqe mr,‘ ("(u' on mm \ua‘eueu m mm mm" m ‘ZI‘ mmum- pvapn lSi} mrumlwm mwln ne- burn in mm unit-Imam!- mym-m or lrm 0| vmnnmiuy PARAMETER
Thales Defense & Security Inc. NavChip Inertial Measurement Unit
Page 3 of 11
PDS-0003 (C)
The information provided in this document is believed to be accurate, but is not guaranteed. Thales
Defense & Security Inc. reserves the right to change specifications at any time without notice.
©2020 Thales Defense & Security Inc. All rights reserved.
Electrical & Mechanical Specifications
ABSOLUTE MAXIMUM RATINGS
PARAMETER
MIN
MAX
UNITS
VDD to GND
-0.3
+6.0
V
Digital Inputs/Outputs to GND
-0.3
+3.3
V
Analog Inputs to GND
-0.3
+3.3
V
Operating Temperature Range
-40
+85
oC
Storage Temperature Range
-40
+85
oC
Stresses beyond those listed under “Absolute Maximum Ratings” may cause permanent damage to the device.
Functional operation of the device at these or any other conditions beyond those indicated in the operational section of
this specification is not implied. Exposure to absolute maximum rating conditions for extended periods may affect
device reliability.
GYROSCOPE PERFORMANCE (3.3V, +25oC, unless otherwise specified)
PARAMETER
TYP1
MAX2
UNITS
Full Scale Range
± 2000
-
°/s
In-Run Bias Stability (Allan Variance), Class A
4
5
°/hr
In-Run Bias Stability (Allan Variance), Class B
5
10
°/hr
Bias Accuracy over Operating Temp Range, Class A
± 0.2
± 0.3
°/s
Bias Accuracy over Operating Temp Range, Class B
± 0.2
± 0.4
°/s
g Sensitive Bias
0.004
0.03
°/s/g
Scale Factor Accuracy over Operating Temp Range
± 0.05
± 0.4
%
Scale Factor Linearity3
0.01
0.05
%
Angle Random Walk
0.18
0.3
°/√hr
Axis Mutual Alignment Accuracy
± 0.03
± 0.2
degrees
ACCELEROMETER PERFORMANCE (3.3V, +25oC, unless otherwise specified)
PARAMETER
TYP
MAX
UNITS
Full Scale Range
± 16
-
g
In-Run Bias Stability (Allan Variance), Class A
0.006
0.01
mg
In-Run Bias Stability (Allan Variance), Class B
0.04
0.1
mg
Bias Accuracy over Operating Temp Range
± 3
± 15
mg
Scale Factor Accuracy over Operating Temp Range
± 0.09
± 0.2
%
Scale Factor Linearity4
0.06
0.2
%
Velocity Random Walk, Class A
0.02
0.02
m/s/√hr
Velocity Random Walk, Class B
0.03
0.05
m/s/√hr
Axis Mutual Alignment Accuracy
± 0.03
± 0.2
degrees
1
TYP Specs are mean values or 1σ for values that are nominally zero.
2
MAX Specs are maximum factory test limits unless otherwise specified.
3
Factory test up to 810 °/s
4
Factory test over ± 1g
MIN TYP UNITS PARAMETER MIN TYP MAX UNITS PARAMETER Nominal UNITS PARAMETER Nominal UNITS PARAMETER Nominal UNITS PARAMETER SYMBOL CONDITIONS MIN TYP MAX UNITS
Thales Defense & Security Inc. NavChip Inertial Measurement Unit
Page 4 of 11
PDS-0003 (C)
The information provided in this document is believed to be accurate, but is not guaranteed. Thales
Defense & Security Inc. reserves the right to change specifications at any time without notice.
©2020 Thales Defense & Security Inc. All rights reserved.
DIGITAL INPUTS/OUTPUTS
PARAMETER
MIN
TYP
MAX
UNITS
Logic “0” Input Voltage
0
-
0.6
V
Logic “1” Input Voltage
2.1
-
3
V
Logic “0” Output Voltage
-
0
0.4
V
Logic “1” Output Voltage
2.4
3
-
V
Logic “0” Input Current
-
± 2
-
A
Logic “1” Input Current
-
± 2
-
A
Input Capacitance
-
10
-
pF
TEMPERATURE SENSOR PERFORMANCE
PARAMETER
MIN
TYP
MAX
UNITS
Temperature Sensing Range
-40
-
+85
oC
Resolution
-
0.05
-
oC
Accuracy
-
± 2.5
± 3.5
oC
Repeatability
-
± 0.5
-
oC
FLASH MEMORY
PARAMETER
Nominal
UNITS
Endurance
10,000
Cycles
Data Retention
20
Years
TIMING
PARAMETER
Nominal
UNITS
Power-on Startup (including 0.5s bootloader timeout)
< 1.0
Seconds
Built In Test Time (commanded TBIT)
< 2.0
Seconds
PHYSICAL
PARAMETER
Nominal
UNITS
Size (W x L x H, including interconnect stack height)
12.5 x 24.5 x 6.1
mm
Weight
3
grams
RoHS Compliant
Yes
-
ELECTRICAL
PARAMETER
SYMBOL
CONDITIONS
MIN TYP MAX
UNITS
Supply Voltage Range
Vdd
3.25 3.3 5.5
V
Supply Current
Idd
after startup
40
mA
Internal power supply
decoupling capacitance
-
-
200
µF
UART INTERFACE
PARAMETER
MIN
TYP
MAX
UNITS
Baud rate
38,400
115,200
921,600
Bits per second
Baud rate deviation from nominal
-1.5
± 0.2
1.5
%
8 data bits, 1 start bit, no parity
-
-
-
-
‘1. Allan Deviation (deg/hr) ‘1 in“ «0'3 10'2 10" 1o" 101 102 1o3 Averaging Time (sec) ACCELEROMETER A_LLAN VARIANCE EXAMPLE _ in“ i 107‘ , Alien Deviation 1mg) 3 3 10'“ 10 3 10'2 io'1 10” 10‘ 102 10 Averaglng Time (sec) 10 c»
Thales Defense & Security Inc. NavChip Inertial Measurement Unit
Page 5 of 11
PDS-0003 (C)
The information provided in this document is believed to be accurate, but is not guaranteed. Thales
Defense & Security Inc. reserves the right to change specifications at any time without notice.
©2020 Thales Defense & Security Inc. All rights reserved.
GYROSCOPE ALLAN VARIANCE EXAMPLE
ACCELEROMETER ALLAN VARIANCE EXAMPLE
Functional Descrigtion Accals
Thales Defense & Security Inc. NavChip Inertial Measurement Unit
Page 6 of 11
PDS-0003 (C)
The information provided in this document is believed to be accurate, but is not guaranteed. Thales
Defense & Security Inc. reserves the right to change specifications at any time without notice.
©2020 Thales Defense & Security Inc. All rights reserved.
Functional Description
The NavChip is a miniature precision IMU that outputs compensated  and V data and is factory
calibrated over a -40oC to +85oC temperature range.
The NavChip implements UART, SPI and I2C communication interfaces. The UART interface is capable of
operating at baud rates ranging from 38400 baud to 921600 baud. All of the interfaces support user-selectable
data output rates up to 1000 Hz. The NavChip communication protocol is packet-based and enables the user
to configure the device, receive data, and monitor the device’s status. See the NavChip Interface Control
Document (ICD) for details on the operation of these interfaces.
Figure 1 depicts the NavChip's internal processing. The NavChip performs data acquisition and processing
at a precise 1000 Hz rate. Compensation is performed to correct the sensors’ biases, scale factors,
misalignments, etc. Data is output at 200 Hz (5 msec period) by default, but a user may change the output
period to select other rates as described in the ICD.
The NavChip’s internal sampling may optionally be synchronized to a precision external clock reference
such as a GPS pulse-per-second (PPS) signal. Any periodic signal whose period is an integer number of
milliseconds between 1 and 1000 can be used for synchronization. Refer to the ICD for timing requirements
and details on how to configure NavChip for external synchronization.
Factory calibration corrects for misalignments between the sensor axes resulting in highly orthogonal
measurement axes. Alignment of these IMU “intrinsic” axes relative to a host platform (such as a robot,
UAV, or camera) will be affected by the precision of the mounting of the NavChip onto the mating board as
well as the mounting of the mating board in the host platform.
NavChip provides registers for programming a boresight matrix which rotates the  and V vectors from
the NavChip’s internal (intrinsic) reference frame to the vehicle’s body frame. This allows customers to
compensate for “extrinsic” misalignment angles (the rotation between the intrinsic axes and the host
platform). An extrinsic calibration tool is available which will allow the user to determine the boresight
matrix relative to a reference jig having two orthogonal surfaces and load it into the NavChip.
The acceleration measurements are computed relative to a coordinate origin point at 1.5mm below the center
of the bottom surface of NavChip (i.e. the center of the NavChip footprint on the mating board).
accels
gyros
Sensor
readout
electronics
Numerical
integration
Factory
calibration
compensation
Optional user
boresight matrix
(extrinsic rotation)
compensation
Output
packet
formatting
and
transmission
Temperature
Self-test info
Figure 1: Functional block diagram
Mechan cal Renderings ®—> mt: fist: Lily-mi > ' Dnnomosm man) Drouomovru mm H 75,73 rinuufi c»
Thales Defense & Security Inc. NavChip Inertial Measurement Unit
Page 7 of 11
PDS-0003 (C)
The information provided in this document is believed to be accurate, but is not guaranteed. Thales
Defense & Security Inc. reserves the right to change specifications at any time without notice.
©2020 Thales Defense & Security Inc. All rights reserved.
Mechanical Renderings
Figure 2: NavChip Mechanical dimensions
X
Y
Coordinate Frame
(Relative to Top View, Below)
Figure 2: Dimensions (mm)
Mechanical Interface Description P1 11 DF40C-40DP-0.4V(51) Pin M2 DF40C-40DS-OAV(51) Pin M1 NOTE: PINS M1-M4 ARE STRUCTURAL SUPPORT ONLY Pin 39 PIN M3 Pln 40 Pm 40 Pin M4 Table l: J 1 Pin Functional Descri lions
Thales Defense & Security Inc. NavChip Inertial Measurement Unit
Page 8 of 11
PDS-0003 (C)
The information provided in this document is believed to be accurate, but is not guaranteed. Thales
Defense & Security Inc. reserves the right to change specifications at any time without notice.
©2020 Thales Defense & Security Inc. All rights reserved.
Mechanical Interface Description
The NavChip has two high density and high contact reliability interface connectors that allow users to design
the device directly into their system. The two connectors designated “P1” and “J1” have different genders
to avoid mis-assembly when plugging the NavChip in.
Connector “J1” is a 40-pin interconnect that is used only to supply ground to the NavChip’s RF shield,
provide access to I2C communication, and secure mounting of the NavChip.
Connector “P1” is a 40-pin interconnect that carries all other electrical interfaces between the NavChip and
the user’s board. Please note that P1 actually has 44 pins; the outermost 4 pins are used for structural support
only and do not carry any signals. Refer to Figure 3 below for more information regarding pin numbering.
IMPORTANT: DO NOT CONNECT ANY SIGNALS TO THE NC PINS. DOING SO MAY
DAMAGE THE NAVCHIP OR CAUSE IT TO MALFUNCTION.
Table 1: J1 Pin Functional Descriptions
PIN
PIN NAME
PIN TYPE
PIN DESCRIPTION
1
GND
Ground
Power Ground
2
GND
Ground
Power Ground
3-12
NC
-
Reserved for Factory Use
13*
I2C3_SCL
Input
I2C SCL
14*
I2C3_SDA
Input/Output
I2C SDA
15-38
NC
-
Reserved for Factory Use
39
GND
Ground
Power Ground
40
GND
Ground
Power Ground
*Use pull-up resistor to Vdd with a value appropriate for your design.
Figure 3: J1/P1 Connector
Table 2: P1 Pin Functional Descri lions PIN PIN NAME PIN TYPE PIN DESCRIPTION
Thales Defense & Security Inc. NavChip Inertial Measurement Unit
Page 9 of 11
PDS-0003 (C)
The information provided in this document is believed to be accurate, but is not guaranteed. Thales
Defense & Security Inc. reserves the right to change specifications at any time without notice.
©2020 Thales Defense & Security Inc. All rights reserved.
Table 2: P1 Pin Functional Descriptions
PIN
PIN NAME
PIN TYPE
PIN DESCRIPTION
1
Vlogic
Output
3V logic reference output (25mA max.)
2
Vlogic
Output
3V logic reference output
3-8
NC
-
Reserved for Factory Use
9-10
GND
Ground
Ground
11
SPI_SCK
Input
SPI CLK
12
SPI_SCK
Input
SPI CLK
13
SPI_SDO
Output
MISO
14
SPI_SDO
Output
MISO
15
SPI_SDI
Input
MOSI
16
SPI_SDI
Input
MOSI
17-21
NC
-
Reserved for Factory Use
22
Vin
Power
3.25V to 5.5V
23-24
NC
-
Reserved for Factory Use
25
TTL_RX
Input
UART receiver
26
TTL_RX
Input
UART receiver
27
TTL_TX
Output
UART transmitter
28
TTL_TX
Output
UART transmitter
29
SYNC_IN
Input
TTL sync input to external rising edge signal
30
SYNC_IN
Input
TTL sync input to external rising edge signal
31
GND
Ground
Ground
32
Vin
Power
3.25V to 5.5V
33
NC
-
Reserved for Factory Use
34
NC
-
Reserved for Factory Use
35
DRDY
Output
Data Ready
36
DRDY
Output
Data Ready
37
SPI_CS
Input
SPI Chip Select (active-low)
38
SPI_CS
Input
SPI Chip Select (active-low)
39-40
GND
Ground
Ground
Note: It is recommended to connect identical signals across connector for redundancy.
Mount 9 Recommendat ons ‘ Q \NSTALL DFADC-ADDP-O.4V(5|) \NSVALL DFAOC-40D80.4V(51| CI 1 “We” DETAIL A ,/°““‘N SCALE 20: 1 _3§._.+ B E ‘ g x ‘ =' a» DETAILB ,, ,,g 1 "LCE SCALE2011 1 3.05 wX ‘ I Q — (‘3 — I :I J; .; DETAILC SCALE 20 : ‘ o
Thales Defense & Security Inc. NavChip Inertial Measurement Unit
Page 10 of 11
PDS-0003 (C)
The information provided in this document is believed to be accurate, but is not guaranteed. Thales
Defense & Security Inc. reserves the right to change specifications at any time without notice.
©2020 Thales Defense & Security Inc. All rights reserved.
Mounting Recommendations
The NavChip is designed to allow an end user the ability to integrate the device directly into their circuit
card. Two high performance interface connectors allow users to easily install the NavChip while ensuring
excellent performance from the device.
Please follow these layout guidelines for optimal performance in your application:
1. Refer to Figure 2: NavChip Mechanical Dimensions for clearances required for proper mounting.
2. It is recommended that no components are placed under the NavChip
3. Separation and alignment of the connector footprint is critical. Variance from the specified 8mm
separation will induce un-calibrated stresses into the NavChip and may effect performance
4. Connectors are high retention strength so please use care when separating the NavChip from the
mating connectors. It is important to subject both ends of the device to equal force when removing
it.
5. Only handle the NavChip in an ESD controlled environment. Proper ESD guidelines (i.e. a grounded
strap) should be used when handling the device.
Figure 4: Recommended PCB Footprint
Ordering Information NAVCHIP PART NUMBER Usage and Liability Disclaimer sales@Ihalesvisionix.com
Thales Defense & Security Inc. NavChip Inertial Measurement Unit
Page 11 of 11
PDS-0003 (C)
The information provided in this document is believed to be accurate, but is not guaranteed. Thales
Defense & Security Inc. reserves the right to change specifications at any time without notice.
©2020 Thales Defense & Security Inc. All rights reserved.
Ordering Information
Please reference to the following part numbers when ordering your desired NavChip configuration.
NAVCHIP
PART NUMBER
NavChip, Class A
V15206-17-02
NavChip, Class B
V15206-17-01
Usage and Liability Disclaimer
Thales Defense & Security Inc. (TDSI) products are sold pursuant to TDSI’s terms and conditions of sale.
Information furnished herein is believed to be accurate; however, no responsibility is assumed by TDSI from
its use or for any infringements of patents or other rights of third parties that may result from its use or the use
of TDSI products. TDSI reserves the right to make changes, corrections, modifications or improvements to
this document and to the products described herein at any time, without notice. TDSI makes no warranty,
representation or guarantee, either express or implied, regarding the information in this document or the
suitability of its products for any particular purpose and specifically disclaims any and all liability, including
without limitation consequential or incidental damages. Unless expressly indicated otherwise in a separate
writing by TDSI, no license is granted by implication or otherwise under any intellectual property right of TDSI
or any third party, including but not limited to any patent or patent rights, copyright or trademark rights.
TDSI products are not intended for any application in which the failure of the product could result in
personal injury, death or severe property damage. TDSI sensors should not be used or sold for use
in any conventional or mass-destructive weapons or any other weapons or life-threatening
applications, nor in safety-critical applications such as life-support equipment, transportation,
aerospace and nuclear instruments, undersea equipment, or any other applications where unexpected
behavior of the sensors could cause bodily harm. Should Buyer purchase or use TDSI products for any
such unintended or unauthorized application, Buyer shall indemnify and hold TDSI and its officers, employees,
subsidiaries, affiliates, and distributors harmless against any and all claims, costs, damages, expenses, and
reasonable legal fees arising out of, directly or indirectly, any claim of severe property damage, personal injury,
bodily harm or death associated with such unintended or unauthorized use, even if such claim alleges that
TDSI was negligent regarding the design or manufacture of the part.
Resale of TDSI products with provisions different from the statements and/or technical features set forth in
this document shall immediately void any warranty granted by TDSI for the TDSI product or service described
herein and shall not create or extend in any manner whatsoever, any liability of TDSI. Thales Defense &
Security and the Thales logo are trademarks or registered trademarks of TDSI in various countries. Information
in this document supersedes and replaces all information previously supplied.
©2020 Thales Defense & Security Inc. All rights reserved.
Contact us at +1 781 541 7650 or sales@thalesvisionix.com for more details on using Thales Defense &
Security Inc. technology or becoming a distribution partner.
Thales Defense & Security, Inc.
700 Technology Park Drive
Billerica, MA 01821 USA
T: +1 781 541 6330
F: +1 781 541 6329
www.thalesvisionix.com
www.intersense.com

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