MS/01
MRU · VIEW 3/4
MRU · VIEW 3/4MS-21
Motion reference unit · MRU
PRODUCTS / INERTIAL DEVICES
Vessel movement.
In measurable quantities.
Gyrocompass MSG-25 and MS series sensors. MEMS accelerometers and gyroscopes, measurement processing and data transfer to the on-board system.
New
GYROCOMPASS
MSG-25
Determination of the course and parameters of the vessel's movement. A separate page contains the composition, published parameters and integration details.
Information about MSG-25 ↗MS series sensors.
WHAT THE DEVICE MEASURES
From the sensing element
to navigation data.
- IMU
- Inertial measurements: gyroscopes and accelerometers; the original classification also lists a magnetometer.
- MRU
- Movement of the vessel: roll, pitch, yaw and heave.
- VRU / AHRS
- Orientation by corners; for AHRS - also a course.
- GNSS / INS
- Inertial measurements combined with satellite receiver data: position, speed and time.
TECHNICAL DATA
Options.
According to executions and conditions.
The source catalog tables are saved by partition. Static and dynamic errors are shown separately; The composition of the data is determined by the design of the device.
Detailed technical parameters of MS-XX
| Name of parameter/characteristic | MS-21 MRU | MC-22 MRU | MS-21 GNSS MRU | MS-21 GNSS-mini | Note |
|---|---|---|---|---|---|
| 1 Orientation determination | |||||
| 1.1 Measuring range of roll/pitch/heading angles* | ±180° | ±180° | ±180° | ±180° | *) |
| 1.2 Resolution, all axes | 0,0001° | 0,0001° | 0,0001° | 0,0001° | |
| 1.3 Noise at roll/pitch angles (RMS), in a 10 Hz band | 0,005° | 0,001° | 0,005° | 0,005° | |
| 1.4 Error in determining roll/pitch angles, statics 30 min (RMS) | 0,005° | 0,003° | 0,003° | 0,003° | |
| 1.5 Error in determining roll/pitch angles, dynamics at ±30°, 10 min (RMS) | 0,008° | 0,005° | 0,008° | 0,008° | |
| 2 Determination of angular velocities (ωx, ωy, ωz) | **) | ||||
| 2.1 Range of measured angular velocities (along the roll, pitch and heading axes) | ± 2000°/sec | ± 2000°/sec / even without G.O. sensor | ± 2000°/sec | ± 2000°/sec | G.O. – rough count |
| 2.2 Stability of gyroscope bias (in run bias) (Allan variance standard deviation) | 0.1°/hour | 0.1°/hour | 0.1°/hour | 0.1°/hour | |
| 2.3 Angular velocity noise in the 10 Hz band (rms value) | 0,006 °/c | 0,003 °/c | 0,006 °/c | 0,006 °/c | |
| 2.4 Gyro scale factor error (RMS) | 0,1% | 0,04% | 0,1% | 0,1% | |
| 2.5 Total angular velocity error in the range: / ±12 °/s / ±50 °/s / ±100 °/s | 0,014°/c / 0,051°/c / 0,100°/c | 0,006 °/c / 0,021 °/c / 0,041 °/c | 0,014°/c / 0,051°/c / 0,100°/c | 0,014°/c / 0,051°/c / 0,100°/c | |
| 3 Determination of linear accelerations | |||||
| 3.1 Acceleration measurement range | ±16 g | ±16 g / (without G.O.) | ±16 g | ±16 g | At Customer's request possible / range ±32 g |
| 3.2 Accelerometer bias stability (in run bias) (Allan variance standard deviation) | 0,05 mg | 0,05 mg | 0,05 mg | 0,05 mg | |
| 3.3 Linear acceleration noise in 10 Hz band (RMS) | 0,14 mg | 0,05 mg | 0,14 mg | 0,14 mg | |
| 3.4 Accelerometer scale factor (RMS) error | 0,1 % | 0,04% | 0,1 % | 0,1 % | |
| 4 Definition of heave | |||||
| 4.1 Measuring range of relative vertical movements | ± 200 m | ± 200 m | ± 200 m | ± 200 m | |
| 4.2 Error in determining relative vertical movements in real time (RMS) | no more than 5% of the vessel's lifting height in rough seas | no more than 5% of the vessel's lifting height in rough seas | 5% | 5% | |
| 4.3 Error in determining vertical speed (RMS) | 0.01 m/s | 0.01 m/s | 0.01 m/s | 0.01 m/s | |
| 5 Physical parameters | |||||
| 5.1 Weight, kg, no more | 1,0 | 1,5 | 1,0 | 1,0 | |
| 5.2 Overall dimensions, mm. | 155x91x50 | 165x115x75 | 155x91x58 | 155x91x58 | |
| 5.3 Supply voltage, V | 9-48 DC | 9-48 DC | 9-48 DC | 9-48 DC | |
| 5.4 Degree of protection | IP-67 | IP-67 | IP-67 | IP-67 |
Main accuracy characteristics
| Model | MS-21 MRU | MC-22 MRU / does not require calibration | MS-21 GNSS MRU | MC-22-GNSS/INS MRU |
|---|---|---|---|---|
| Roll/pitch: | ||||
| static | 0,005° | 0,005° | 0,003° | 0,005° |
| dynamic | 0,01° | 0,01° | 0,01° | 0,008° |
| Course | — | — | 0.01° (sec latitude) | 0,1° |
| Processing algorithm | XKF | XKF modified | ||
| Coordinates and speed | — | 1 m, 0.05 m/s | ||
| Determination of heave | no more than 5% of the vessel's lifting height in rough seas | |||
Weight, dimensions and kit
| MS-21 MRU | MC-22 MRU / does not require calibration | MS-21 GNSS MRU | MC-22-GNSS/INS MRU | |
|---|---|---|---|---|
| Housing | AMg-5 | |||
| Weight, kg | 1,0 | 1,5 | 1,0 | 1,6 |
| Dimensions, mm | 155,3x91x49,5 | 156,3x115x78 | 155x91x58 | 156,3x115x78 |
| Instrument connector type | SNTs-127-19 | SNTs-127-19 | SNTs-127-19 | SNTs-127-19, BNC SMA UHF |
| Composition * | standard | standard | standard | standard X |
Magnetometers and barometers
GNSS receiver
| Receiver model | MS-21 GNSS MRU | MC-22-GNSS/INS MRU |
|---|---|---|
| Datum (coordinate system) | WGS84 | WGS84 |
| Refresh rate | 1 sec | 1 sec |
| Error in determining coordinates in the horizon | 2.5 m | 2.5 m |
| Speed error | 0.5 m/s | 0.5 m/s |
| Ready time (cold start) | 30 s | 30 s |
| Navigation options | ||
| Azimuth | 0,15/R° | 0,15/R° |
| Distance between antennas | 2 m | 2 m |
| Roll/pitch | 0.4/R° in dynamics | 0.4/R° in dynamics |
Performance characteristics
| MS-21 MRU | MC-22 MRU / does not require calibration | MS-21 GNSS MRU | MC-22-GNSS/INS MRU | |
|---|---|---|---|---|
| Power supply | input voltage 9-48 V DC | |||
| Consumption power | no more than 5 W | no more than 5 W | no more than 5 W | no more than 5 W |
| Ingress protection | IP67 | IP67 | IP67 | IP67 |
| Operating temperature range | -40 to +80 °C | -40 to +80 °C | -40 to +80 °C | -40 to +80 °C |
| Vibration and shock | no more than 2 g | |||
| Housing material | marine aluminum AMg-5 | |||
| Frequency of information delivery | 0 to 200 Hz | |||
| Interfaces | Ethernet, RS232, RS422/485, USB2 | |||
| Synchronization options | on the first beat | PPS | ||
| Protocols | NMEA183, TSS1, EM-3000, binary, MRU2 | |||
The original catalog contains several editions of tables with different names and meanings. When selecting, check the parameters of a specific design. For MS-21 the course is described as relative - from the position when turned on.
CONNECTION / ADDITIONAL EQUIPMENT
Between sensor
and on-board system.
KRK
Switching distribution box for power supply and interfacing of the MS series.
- Overvoltage protection.
- Galvanic isolation RS232 / RS422 / RS485 and Ethernet.
- Indication of device operation.
- Optional power supply.
KRKU
Universal box with power supply, protection, interface decoupling and parameter visualization.