Gyro Stabilized
Strapdown Heading Reference
SHR-E360
Description:
The SHR-E360 provides heading and sensor information. It includes a high accuracy
triaxial fluxgate magnetometer, a triaxial
accelerometer, and an angular rate gyro. This unit is a
"strapdown" or "body-axis" sensor. The sensitive axes of the SHR will stay at a constant
relationship with the vehicle and move as the vehicle moves. Since the fluxgate sensors rotate
with the unit, it must use its angle sensors to calculate the rotation back to level. This
function is similar to a mechanical gimbal except that the rotations are done using software.
The SHR-E360 has several advantages over using a traditional gimbal including: no bearings to
wear out, no fluid to leak and high shock survivability.
The SHR-E360 is gyro stabilized. This means that the SHR will provide better
performance in dynamic applications. The internal gyro allows the SHR to respond to short-term
movements while the fluxgate provides the long-term heading reference. This combination of
components allows for accurate data in a wider range of applications than a heading sensor without gyro
stabilization. The Watson Industries strapdown gyro solution provides a better magnetic heading than
other magnetic heading products using mechanical gimbals. A significant problem with mechanically
gimbaled compasses becomes apparent when trying to calibrate the heading sensor in the field.
With a strapdown system, the magnetometers are fixed with respect to the vehicle in which it is
mounted; Therefore, the constant soft and hard iron field distortions can be fully calibrated out.
Applications:
Strapdown systems provide superior performance in installations including
vehicles, ships, buoys, aircraft, UAVs, ROVs, and submersibles.
Features:
| • Solid State, Strapdown System |
| • Low Cost, Low Power |
| • Rugged, High Reliability |
| • Vibration Resistant |
| • Analog and RS-232 Serial Outputs |
| • PC Heading Calibration |
| • Two Year Limited Warranty |
| • Engineering Support |
Gyro Stabilized
Strapdown Heading Reference
SHR-E360 Specifications |
Attitude |
| Range: Bank | ±180° |
| Range: Elevation | ±90° |
| Resolution: | 0.02° | Binary mode (14 bit) |
| Analog Scale Factor: | 18°/V | ±10V Output |
| Accuracy: Static | ±0.3° |
Heading |
| Range: | 0° - 360° |
| Resolution: | 0.02° | Binary mode (14 bit) |
| Analog Scale Factor: | 18°/V | ±10V Output |
| † | Accuracy: Static | ±1.5° |
| * | Accuracy: Dynamic | ±2% |
Angular Rate |
| Range: Yaw | ±100°/sec |
| Resolution: | 0.01°/sec | Binary mode (14 bit) |
| Scale Factor Accuracy: | 1% |
| Bias: Yaw | < ±0.02°/sec |
| Non-Linearity: | < 0.03% | Full scale range |
| Bandwidth: | 20 Hz |
Acceleration |
| Range: X, Y, Z | ±10g |
| Resolution: | 4mg |
| Scale Factor Accuracy: | 1% |
| Bias: X, Y, Z | < ±5mg |
| Non-Linearity: | < 1% | Full scale range |
| Bandwidth: | 20 Hz |
Magnetic |
| Range: X, Y, Z | ±1000 mGauss |
| Resolution: | 0.1 mGauss | Binary mode (14 bit) |
| Scale Factor Accuracy: | 1% |
| Bias: X, Y, Z | < ±5 mGauss |
| Non-Linearity: | < 0.01% | Full scale range |
| Bandwidth: | 10 Hz |
Environmental |
| Temperature: Operating | -30°C to +60°C |
| Temperature: Storage | -55°C to +85°C |
| Vibration: Operating | 5g rms | 20 Hz to 2 kHz |
| Vibration: Survival | 10g rms | 20 Hz to 2 kHz |
| Shock: Survival | 500g | 10mS ½ sine wave |
Electrical |
| Frame Rate: | 71.1Hz | Maximum |
| Startup Time: Data | 5 sec |
| Startup Time: Fully operational | 10 sec |
| Input Power: | 10 to 30VDC | 4W |
| Input Current: | 380mA @ 12VDC | 190mA @ 24VDC |
| Digital Output: | RS-232 |
| Analog Output: | ±10VDC |
Physical |
| Axis Alignment: | < 0.25° |
| Size: Including Mounting Flanges | 3.24”W x 5.78”L x 2.6”H | 8.2 x 14.7 x 6.6 (cm) |
| Weight: | 27oz (1.7lb) | 770 grams (0.8Kg) |
| Connection: RS-232 | 9 pin female "D" subminiature |
| Connection: Power / Analog Outputs | 9 pin male "D" subminiature |
| * |
Actual accuracy can be calculated as the listed percentage multiplied by the change in value over the entire dynamic maneuver. |
| † |
Static heading accuracy is dependent on the magnetic environment. This sensor will meet or exceed this spec within the 48 contiguous United States. |
| Specifications are subject to change without notice. |
|
Strapdown Gyro SHR-E360 Dimensions |
 |
Connector Pinout:
| 9 Pin Female D-Sub |
| RS-232 Serial Connector |
| Pin |
Description |
| 1 |
No Connection |
| 2 |
TXD** |
| 3 |
RXD |
| 4 |
Shorted to pin 6 |
| 5 |
Signal Ground |
| 6 |
Shorted to pin 4 |
| 7 |
Shorted to pin 8 |
| 8 |
Shorted to pin 7 |
| 9 |
No Connection |
| **User receives data on this line |
|
|
| 9 Pin Male D-Sub |
| Power & Analog Output Connector |
| Pin |
Description |
| 1 |
Power Ground |
| 2 |
+12 or +24 VDC In |
| 3 - 5 |
No Connection |
| 6 |
Bank Analog Output |
| 7 |
Elevation Analog Output |
| 8 |
Heading Analog Output |
| 9 |
Signal Ground |
|
