SPEEDBOX Specification

SPEEDBOX Accuracy Specification

	SPEEDBOX	SPEEDBOX-INS	SPEEDBOX-INS + GPS2 RTK
Typical Position Accuracy¹	3m	2m	3cm
Optimum Position Accuracy¹	1m	1m	2cm
Typical Acceleration Accuracy	0.1 m/s²	0.01 m/s²	0.01 m/s²
Typical Speed Accuracy	0.02m/s	0.015 m/s	0.015 m/s
Distance Accuracy² 1σ	3cm in 40m	3cm in 40m	3cm in 40m
Typical Gyro Accuracy	n/a	0.01^o/s	0.01^o/s
Yaw Accuracy³ 1σ	n /a	0.08^o	0.08^o
Roll / Pitch Accuracy³ 1σ	n /a	0.04^o	0.04^o
Gradient Accuracy⁴ 1σ	0.015^o	0.015^o	0.015^o
Heading Accuracy⁴ 1σ	0.01^o	0.01^o	0.01^o

	SPEEDBOX	Options
	SPEEDBOX	IMU	RTK	IMU/ RTK	INS Tactical
Typical Position Accuracy¹	3m	3m	3m	3m	2m
Optimum Position Accuracy¹	1m	1m	1m	1m	1m
Typical Acceleration Accuracy	0.1 m/s²	0.05m/s²	0.1 m/s²	0.05m/s²	0.01 m/s²
Typical Speed Accuracy	0.02m/s	0.015 m/s	0.02 m/s	0.015 m/s	0.015 m/s
Distance Accuracy² 1σ	3cm in 40m	3cm in 40m	3cm in 40m	3cm in 40m	3cm in 40m
Typical Gyro Accuracy	n/a	0.1^o/S	n/a	0.1^o/s	0.01^o/s
Yaw Accuracy³ 1σ	n /a	n /a	0.2^o	0.2^o	0.08^o
Roll / Pitch Accuracy³ 1σ	n /a	n /a	0.6^o	0.6^o	0.04^o
Gradient Accuracy⁴ 1σ	0.015^o	0.015^o	0.015^o	0.015^o	0.015^o
Heading Accuracy⁴ 1σ	0.01^o	0.01^o	0.01^o	0.01^o	0.01^o

Notes:

50% CEP.
Straight-line testing through laser traps, including harsh acceleration and braking.
Unfiltered 200Hz output during dynamic manouvering with good GPS lock.
Assumes good GPS lock, 20Hz measurements filtered over a 2s window.

	SPEEDBOX	Options
	SPEEDBOX	IMU	RTK	IMU/ RTK	INS Tactical
Output Rates:
Speed	200Hz	200Hz	200Hz	200Hz	200Hz
Acceleration	200Hz	200Hz	200Hz	200Hz	200Hz
Position	20Hz	20Hz	20Hz	20Hz	200Hz
Gyro Rates	n/a	200Hz	n/a	200Hz	200Hz
Yaw/Pitch/Roll	n/a	n/a	20Hz¹	20Hz¹	200Hz
Heading/Gradient	20Hz	20Hz	20Hz	20Hz	200Hz
GPS Receiver	Race Technology PurePhase, 20Hz output rate
Accelerometer:
Range	±2g²	±18g	±2g²	±18g	±5g
Resolution³	1mg	3.33mg	1mg	3.33mg	1.3e- 5mg
3dB Bandwidth	40Hz	33Hz	40Hz	33Hz	100Hz
Gyro:
Range	n/a	±300^o/s	n/a	±300^o/S	±300^o/s
3dB Bandwidth	40Hz	33Hz	40Hz	33Hz	100Hz
Sensor Orientation:
Pulse Output, Either:
Speed Pulse	0-5V, 10-100uS high time or 50% duty cycle, 1-400 pulses per meter. 12ms latency (SPEEDBOX INS) Frequency range DC- 50kHz
Time Pulse	0-5V, 1Hz @ 50% duty cycle, rising edge synchronised to GPS & UTC time, accuracy better than 200ns.
Analog Output	Up to 4, -5 to 5V @ 50ohm load, -10 to 10V @ infinite impedence
Analog Input	Up to 4, 0-20V single ended, 16bit resolution
Trigger Input	±20µs timing accuracy, Input levels. Low<0.5v, High>2.1v, biased to 2.5v
Latency⁴	CAN 30 or 150ms, pulse 12ms (INS), DAC <4ms
Power Requirement:
Voltage	9-30V (9 - 15V for SPEEDBOX- MINI)
Power Consumption	2.7W	3W	3W	3.4W	4.7W
Weight⁵	800g
Dimensions⁵	199mm x 135mm x 43mm 160mm x 111 mm x 27mm (SPEEDBOX- MINI)
Temperature range'	Main unit -20 to 70 degrees C, INS sensor -40 to 85 degrees C
Antenna	3.3v, active

Notes:

Either roll or pitch is available for the RTK option, not both simultaneously.
A 6g factory option is available (resolution 2.94mg).
This is the measurement resolution of the sensor, available internally to the SPEEDBOX for calculations. Depending on the output message chosen, the full resolution may not be available in the output.
Latency of the speed output, or all INS system outputs, compared to their timestamp, or when output using DAC.
Weight and dimensions are for the base unit only excluding protruding connectors, and excluding any antennas. Please refer to the detailed drawings for further clarification.