RT3102

	Higher Accuracy Unit: RT3022 Lower Cost Unit: RT3202

The RT3102 Inertial and GPS Navigation System is an advanced six-axis inertial navigation system that incorporates an L1 GPS receiver for position and a second GPS Receiver for accurate Heading measurements. The RT3102 delivers better than 0.4m positioning under dynamic conditions using differential corrections and 0.1° Heading using a 2m separation between the GPS antennas.

The RT3102 Inertial and GPS Navigation System includes three angular rate sensors (gyros), three servo-grade accelerometers, the GPS receiver and all the required processing in one very compact box. The RT3102 works as a stand alone, autonomous unit and requires no user input before it starts operating.

The outputs from the RT3102 Inertial and GPS Navigation System are derived from the measurements of the accelerometers and gyros. Using the inertial sensors for the main outputs gives the RT3102 system a fast update rate (100Hz) and a wide bandwidth. All the outputs are computed in realtime with a very low latency.

The RT3102 Inertial and GPS Navigation System outputs its real-time measurements over CANbus, RS232 and Ethernet. Optional outputs can be made over Analogue.

The internal processing includes the strapdown algorithms (using a WGS-84 earth model), Kalman filtering and in-flight alignment algorithms. The internal Pentium-class processor runs QNX real-time operating system to ensure that the outputs are always delivered on time. The Kalman filter monitors the performance of the system and updates the measurements using GPS. By using the measurements from GPS, the RT3102 system is able to maintain highly accurate measurements and correct its inertial sensor errors.

The second GPS receiver in the RT3102 measures the difference in position compared to the primary GPS receiver using the carrier-phase observations from both. The heading from the inertial navigation system is used in a tightly coupled manner to solve the ambiguities. The use of two GPS receivers enables the RT3102 to deliver very accurate measurements of heading even when the vehicle’s dynamics are low.

To obtain measurements accurate to 0.4m, the RT3102 requires differential corrections from a suitable base-station. The RT-Base-20 can provide suitable corrections for the RT3102.

All the members of the RT3000 share a common platform; lots of documentation is available about the RT3000 Family and applies to the RT3102. Use the following links to obtain more information on the RT3000 products.

	Overview Get and overview of the RT3000 family.			Operation Operation of the RT3000 is very easy. Learn why.
	Technologies Learn more about the technologies used in the RT3000.			Output Formats Learn more about the output formats of the RT3000.
	Measurements Learn more about the measurements made by the RT3000.			Connectivity Learn more about how to connect your RT3000 to your current system.