MSI100 MEMS_GNSS Inertial Navigation System
Tag nrho -band GNSS kev txhawb nqa, qhov chaw siab thiab azimuth raug
Ultra- siv hluav taws xob tsawg ntawm 3 W hauv kev ua haujlwm tsis tu ncua
Hauj lwm lawm
Lub ntsiab nta
- Tag nrho -band GNSS kev txhawb nqa, qhov chaw siab thiab azimuth raug
- Ultra- siv hluav taws xob tsawg ntawm 3 W hauv kev ua haujlwm tsis tu ncua
- Zero tshaj tawm hloov tshiab thiab tsheb txwv algorithms rau kev txhim kho autonomous navigation raug
Daim ntawv thov teb
- Tus cwj pwm tswj
- UAV & USV (Unmanned Aerial Vehicles & Unmanned Surface Vehicles)
- Kev Tshawb Fawb thiab Mapping
- Stabilized Platform
- Underwater Tsheb
- Mobile Satellite Kev Sib Txuas Lus
- Kev Tsav Tsheb Txawj Ntse
- Missile-yuav los tswj
Product Overview
MSI100 yog qhov kev ntseeg siab heev, tus nqi{1}} siv tau zoo MEMS GNSS/INS system tau siv dav hauv kev taw qhia, tswj thiab ntsuas thaj chaw uas sawv cev los ntawm tsheb, nkoj thiab UAVs. Nws txhawb ntau hom configurable. Nruab nrog lub siab -precision gyroscope tshwj xeeb ntawm Z-axis, chav tsev tswj xyuas qhov ntsuas qhov tseeb ntawm lub sijhawm ntev.
Cim Technology
Kev khav theeb tsim qauv tsim qauv, lub kaw lus IMU muaj qhov siab -MEMS gyros thiab accelerometers. Compact, txhim khu kev qha thiab ntau yam, nws haum rau ntau yam cab kuj navigation scenarios.
Nws ntau -sensor fusion lim txheej txheem GPS thiab MEMS INS cov ntaub ntawv. Muab piv rau lawv qhov tsis sib xws thiab MEMS sensor drift / bias, ib qho kev ua yuam kev ntawm tus qauv suav cov kev ua yuam kev hauv lub sijhawm.
Tiag - lub sij hawm ua yuam kev them nyiaj suppresses MEMS gyro ib qho kev sib tw, xa cov khoom ruaj khov siab - tus cwj pwm meej, nrawm thiab cov ntaub ntawv txoj hauj lwm rau kev ua haujlwm ntev - lub sij hawm navigation.
Performance Parameters
MSI100 MEMS_GNSS Ua ke Inertial Navigation System
|
MEMS Gyroscope |
|
|
Ntau yam (degree / s) degree |
500 |
|
Tag nrho -kub Bias (degree / h,3σ) |
Tsawg dua lossis sib npaug rau 360 (X, Y), Tsawg dua lossis sib npaug rau 60 (Z) |
|
Bias Stability (degree / h, 10s avg.) |
Tsawg dua lossis sib npaug rau 10 (XY), Tsawg dua lossis sib npaug rau 5 (Z) |
|
Bias Instability (degree / h, allan) |
Tsawg dua lossis sib npaug rau 2 (XY), Tsawg dua lossis sib npaug rau 0.5 (Z) |
|
MEMS Accelerometer |
|
|
Ntau yam (g) |
±16 |
|
Zero Offset (mg, 3σ) |
Tsawg dua los yog sib npaug li 5 |
|
Bias Stability (µg, 10s avg.) |
Tsawg dua los yog sib npaug li 100 |
|
Integrated Navigation Accuracy |
|
|
Lub taub hau sib xyaw (degree , 1σ, Real-time) |
0.15 (1m Baseline Dual- kav hlau txais xov) 0.5 (Tib kav hlau txais xov, Dynamic) |
|
Ua ke Kab rov tav cwj pwm (℃, 1σ, tiag -time) |
0.05℃(ob kav hlau txais xov), 0.1℃(ib kav hlau txais xov) |
|
Ntshiab Inertial Navigation raug |
|
|
Kab rov tav cwj pwm (℃, 1σ, tiag -lub sijhawm) |
0.05℃(zoo li qub), 0.5℃(dynamic) |
|
Lub taub hau (degree, 1σ, tiag-lub sijhawm) |
0.5℃(dynamic) |
|
Hluav taws xob / Mechanical Interface |
|
|
Lub zog (V) |
9 ~ 36 (Ripple Tsawg dua lossis sib npaug rau 100mV) |
|
Dimensions (hli × mm × mm) |
83*66*24 |
|
Qhov hnyav (g) |
160 ± 20 (lub cev) |
Taw qhia
Txheej txheem cej luam
MSI100 yog qhov kev ntseeg siab heev, tus nqi{1}} siv tau zoo MEMS inertial integrated navigation system uas tuaj yeem siv dav hauv kev taw qhia, kev tswj hwm, thiab ntsuas cov ntawv thov sawv cev los ntawm tsheb, nkoj, thiab tsheb tsis muaj neeg tsav tsheb. Cov khoom muaj ntau hom kev teeb tsa thiab, tshwj xeeb tshaj yog, ntiav -precision gyroscope ntawm Z-axis los xyuas kom meej ntev - lub sij hawm nqe lus ntsuas raug.
Nta
- Lub teeb siab -precision integrated navigation
- Hauv tsev tsim cov khoom tseem ceeb
- Kev ua haujlwm siab, me me, thiab qhov hnyav tsawg
- Siv siab -precision kaw-loop fiber optic gyroscopes
- Kev vibration thiab poob siab tsis kam, thiab electromagnetic cuam tshuam tsis kam
- Lub kaw lus tsim thiab txhim khu kev qha ua kom muaj kev ua haujlwm ib txwm nyob hauv ib puag ncig hnyav
- Muaj inertial/GNSS kev ua ke navigation muaj peev xwm
Daim ntawv thov
- Txoj hauj lwm thiab tus cwj pwm siv rau UAVs / unmanned tsheb / nkoj / nkoj
- Tus cwj pwm tswj
- Unmanned aerial tsheb, unmanned nto nkoj
- Kev Tshawb Fawb thiab Mapping
- Stabilized Platform
- Underwater Tsheb
- Kev sib txuas lus ntawm Tsiv
- Kev Tsav Tsheb Txawj Ntse
- Projectile -yuav tswj
Technical Parameters
Rooj 1MSI100 Performance Parameters
|
MEMS Gyroscope |
|
|
Ntau yam (degree / s) |
500 |
|
Tag nrho -kub Bias (degree / h,3σ) |
Tsawg dua lossis sib npaug rau 360 (X, Y), Tsawg dua lossis sib npaug rau 60 (Z) |
|
Bias Stability (degree / h, 10s avg.) |
Tsawg dua lossis sib npaug rau 10 (XY), Tsawg dua lossis sib npaug rau 5 (Z) |
|
Bias Instability (degree / h, allan) |
Tsawg dua lossis sib npaug rau 2 (XY), Tsawg dua lossis sib npaug rau 0.5 (Z) |
|
Bias Repeatability (degree / h) |
Tsawg dua lossis sib npaug rau 10 (XY), Tsawg dua lossis sib npaug rau 5 (Z) |
|
Angular Random Taug kev (degree / √h) |
Tsawg dua los yog sib npaug li 0.25 |
|
Scale Factor Nonlinearity (ppm) |
Tsawg dua los yog sib npaug li 100 |
|
Hla Coupling (rad) |
Tsawg dua lossis sib npaug li 0.001 |
|
Bandwidth (Hz) |
Ntau tshaj los yog sib npaug rau 100 |
|
MEMS Accelerometer |
|
|
Ntau yam (g) |
±16 |
|
Zero Offset (mg, 3σ) |
Tsawg dua los yog sib npaug li 5 |
|
Bias Stability (µg, 10s avg.) |
Tsawg dua los yog sib npaug li 100 |
|
Bias Stability (µg, allan) |
Tsawg dua los yog sib npaug li 50 |
|
Bias Repeatability (µg) |
Tsawg dua los yog sib npaug li 100 |
|
Kev nrawm nrawm (mm / s / √h) |
Tsawg dua los yog sib npaug li 40 |
|
Scale Factor Nonlinearity (ppm, ± 1g) |
Tsawg dua los yog sib npaug li 300 |
|
Hla Coupling (rad) |
0.001 |
|
Bandwidth (Hz) |
Ntau tshaj los yog sib npaug rau 100 |
|
Integrated Navigation Accuracy |
|
|
Kab rov tav txoj hauj lwm ua ke (m, 1σ) |
3m (Single Point), 0.02+1ppm (RTK) |
|
Ua ke ntsug txoj hauj lwm (m, 1σ)) |
5m (Single Point), 0.03+1ppm (RTK) |
|
Ua ke Kab rov tav Velocity (m / s, 1 σ) |
0.1 |
|
Ua ke Vertical Velocity (m / s, 1 σ) |
0.15 |
|
Lub taub hau sib xyaw (degree , 1σ, Real-time) |
0.15 (1m Baseline Dual-Antenna), 0.5 (Tib kav hlau txais xov, Dynamic) |
|
Ua ke Kab rov tav cwj pwm (℃, 1σ, tiag -time) |
0.05℃(2 kav hlau txais xov), 0.1℃(2 kav hlau txais xov) |
|
Ntshiab Inertial Navigation raug |
|
|
Kab rov tav tus cwj pwm (℃, 1σ, tiag -lub sijhawm) |
0.05℃(zoo li qub), 0.5℃(dynamic) |
|
Lub taub hau (degree, 1σ, tiag-lub sijhawm) |
0.5℃(dynamic) |
|
Kev ntsuas qhov tob (cm) |
5 |
|
Inertial / Odometer Integrated raug |
Tsawg dua lossis sib npaug li 0.001D (60s) |
|
Hluav taws xob / Mechanical Interface |
|
|
Lub zog (V) |
9 ~ 36 (Ripple Tsawg dua lossis sib npaug rau 100mV) |
|
Steady- lub xeev lub zog (W) |
3 |
|
Startup Sijhawm (s) |
2 |
|
Kev sib txuas lus Interface |
1RS-422 raws, 1RS-232 raws, 1CAN raws |
|
Hloov tshiab tus nqi (Hz) |
200 (Customizable) |
|
Dimensions (hli × mm × mm) |
83*66*24 |
|
Qhov hnyav (g) |
160 ± 20 (lub cev) |
|
Kev ua haujlwm ib puag ncig |
|
|
Ua haujlwm kub (degree) |
-40 ~ +85 |
|
Cia kub (degree) |
-55 +85 |
|
Kev vibration (g, Rms) |
20 ~ 2000HZ, 4.08 |
|
Kev poob siab (g) |
1000g / 1ms |
|
Kev ntseeg tau |
|
|
MTBF (h) |
100000 |
Nco tseg: Lub receiver tuaj yeem hloov tau nrog ib qho uas muaj satellite -raws li qhov muaj peev xwm sib txawv, nrog rau qhov tseeb qhov chaw zoo dua 10 cm.
Technical Specifications
Qauve
Qhov loj me: 83mm × 66mm × 24mm (L × W × H, tsis suav nrog cov khoom sib txuas), nrog rau ob qhov chaw pin qhov rau hauv qab.
Tag nrho lub cev hnyav (suav nrog GNSS kav hlau txais xov thiab feeder cable): Tsawg dua lossis sib npaug li 1.5Kg; navigation host hnyav 350g;
Daim duab 1MSI100 Mechanical Interface
GNSS receiver kav hlau txais xov muaj nyob rau hauv tus qauv qauv nrog qhov ntev: 110mm × 110mm × 171mm, thiab lub hauv paus yog ruaj siv 5 × M6 screws.
Daim duab 3 MSI100 Satellite Kav hlau txais xov Mechanical Interface
GNSS receiver kav hlau txais xov nta muaj zog sib nqus puag nrog qhov ntev ntawm 100mm × 100mm × 66mm.
Figure4MSI100 Satellite Kav hlau txais xov Sib nqus Base
Product Identification thiab Polarity
Thaum cov khoom raug muab tso rau kab rov tav, xub taw qhia X kev taw qhia, thiab cov khoom sib koom ua ke yog "Forward, Right, Down" kev tswj hwm.
Daim duab 4 Coordinate System
Interface txhais
MSI100 sab nraud interface XS1 siv J30J-21ZKN-J. Cov kav hlau txais xov dual txuas yog tus qauv SMA txiv neej cov chaw nres nkoj, qhov twg S (sab laug) yog tus kav hlau txais xov pab thiab M (txoj cai) yog lub kav hlau txais xov loj. Lub sab nraud interface txhais tau pom nyob rau hauv cov lus hauv qab no:
Table3MSI100 Interface Cable Pin Number Txhais
|
Pin No. |
Pin txhais |
DB9 txhais |
Interface txhais |
Function Description |
|
1 |
Lub zog V hauv + |
Liab Clip V hauv + |
Input Range +9V ~ +36V |
System Power Input |
|
2 |
PowerGND |
Dub Clip GND |
GND |
Qhov System Power Ground |
|
4 |
SOUP |
Qauv: DB9-M4-7 |
M4: Tawm Sab Nraud CAN Bus Interface |
UA Data Output |
|
15 |
Nyob |
Qauv: DB9-M4-2 |
||
|
16 |
RS422_RX+ |
Qauv: DB9-M1-1 |
M1: Sab nraud Isolated RS422 Interface |
Cov ntaub ntawv tso zis, qhov system configuration upgrade |
|
5 |
RS422_RX- |
Qauv: DB9-M1-2 |
||
|
6 |
RS422_TX + |
Qauv: DB9-M1-3 |
||
|
17 |
RS422_TX - |
Qauv: DB9-M1-4 |
||
|
14 |
GGND |
Qauv: DB9-M1-5 |
||
|
7 |
RS232_TXD1 |
Qauv: DB9-M2-2 |
M2: Sab nraud Isolated RS232 Interface |
Ua tau -hauv GNSS Receiver Configuration |
|
19 |
RS232_RXD1 |
Qauv: DB9-M2-3 |
||
|
18 |
GGND |
Qauv: DB9-M2-5 |
||
|
21 |
RS232_TXD2 |
Qauv: DB9-M3-2 |
M3: Sab nraud Isolation RS232 Interface |
Navigation Data Output |
|
9 |
RS232_RXD2 |
Qauv: DB9-M3-3 |
||
|
10 |
GGND |
Qauv: DB9-M3-5 |
||
|
8 |
PPS_IN |
Cais Hlau |
PPS Isolated Input Signal |
TTL Qib |
|
11 |
GGND |
Cais Hlau |
GND |
Hauv av cais |
|
20 |
TOV_OUT |
Cais Hlau |
TOV Isolated Signal Output |
TTL Qib Default3.3VOutput, Optional5V |
|
3 |
GGND |
Cais Hlau |
GND |
Hauv av cais |
Tom qab cov khoom siv hluav taws xob poob qis dua qhov ntsuas hluav taws xob ua haujlwm ntawm lub cuab yeej, lub hwj chim -tawm lub sijhawm ua ntej lub hwj chim dua yuav tsum yog t OFF tsis pub tsawg tshaj 3s; Lub zog tsis txaus- lub sijhawm tawm tuaj yeem ua rau lub tshuab pib pib, latch- nce, lossis pib ua tsis tiav.
Kev sib txuas lus sab nraud
Combined Navigation Data Protocol
MSI100 outputs cov ntaub ntawv nyob rau hauv default timed broadcast hom ntawm qhov tso zis zaus ntawm 200Hz, nrog rau txhua cov ntaub ntawv thav duab muaj 164bytes, baud tus nqi 460800bps, 1start ntsis, 8 ntsis cov ntaub ntawv khoom, 1 nres cov khoom, tsis muaj parity. Rau ntau -byte variables, tus byte qis yog kis ua ntej, ua raws li cov byte siab. Cov txheej txheem kev sib txuas lus raug qhia hauv qab no; kev sib txuas lus raws tu qauv kuj tuaj yeem kho raws li cov neeg siv khoom xav tau.
Table 4 MSI100 Output Communication Protocol
|
Tsis muaj. |
Thawj Byte Order |
Tus lej Bytes |
Lub Npe Lub Npe |
Chav tsev lossis Cov ntsiab lus |
Sib npaug |
Kev piav qhia |
|
1 |
0 |
1 |
Frame Header 1 |
Cov ntsiab lus: 55H |
1 |
8 ntsis unsigned integer |
|
2 |
1 |
1 |
Ncej Header 2 |
Cov ntsiab lus: AAH |
1 |
8 ntsis unsigned integer |
|
3 |
2 |
1 |
Cov ntaub ntawv ntev |
Cov ntsiab lus: A0H |
1 |
8 ntsis unsigned integer |
|
4 |
3 |
4 |
PCNum |
Interrupt counter |
1 |
32 ntsis unsigned integer |
|
5 |
7 |
1 |
System status lo lus |
- |
1 |
Tus kheej- kuaj xyuas: 0x10 Tus kheej-kos dhau: 0x12 Tus kheej- kuaj qhov yuam kev: 0x1F Kev sib xyaw ua ke: 0x33 Kev sib raug zoo: 0x35 Ntshiab inertial navigation: 0x41 Zero tshaj tawm hloov tshiab: 0x43, Velocity + Kev sib koom ua ke: 0x44 Velocity + Position + Heading integration: 0x45 Tsheb Constraint Navigation: 0x46 Odometer integrated navigation: 0x47 Thaum nws tus kheej -calibration: 0x51,0x53,0x55 Tus kheej-calibration tiav, cov qauv siv tau: 0x56 Self-calibration tau sau rau Flash ua tiav: 0x57 Tus kheej -calibration yuam kev: 0x5F. |
|
6 |
8 |
1 |
Tiag -time status lo lus |
- |
1 |
|
|
7 |
9 |
2 |
Reserved byte |
- |
1 |
|
|
8 |
11 |
4 |
Reserved byte |
- |
1 |
|
|
9 |
15 |
4 |
X Gyro angular tus nqi |
[-1000,1000]℃/s, |
0.0000005 |
Tus nqi nruab nrab nyob rau hauv lub sij hawm tso zis |
|
10 |
19 |
4 |
Y Gyro Angular Rate |
[-1000,1000]℃/s, |
0.0000005 |
Tus nqi nruab nrab nyob rau hauv lub sij hawm tso zis |
|
11 |
23 |
4 |
Z Gyro Angular tus nqi |
[-1000,1000]℃/s, |
0.0000005 |
Tus nqi nruab nrab nyob rau hauv lub sij hawm tso zis |
|
12 |
27 |
4 |
XAccelerometer Acceleration |
[-400m/s2,400m/s2] |
0.000001 |
Tus nqi nruab nrab nyob rau hauv lub sij hawm tso zis |
|
13 |
31 |
4 |
YAccelerometer Acceleration |
[-400m/s2,400m/s2] |
0.000001 |
Tus nqi nruab nrab nyob rau hauv lub sij hawm tso zis |
|
14 |
35 |
4 |
ZAccelerometer Acceleration |
[-400m/s2,400m/s2] |
0.000001 |
Tus nqi nruab nrab nyob rau hauv lub sij hawm tso zis |
|
15 |
39 |
4 |
Ua ke Longitude |
[-180,180] deg |
0.0000001 |
|
|
16 |
43 |
4 |
Ua ke Latitude |
[-90,90] deg |
0.0000001 |
|
|
17 |
47 |
4 |
Ua ke Altitude |
[-500,16384]m |
0.00001 |
|
|
18 |
51 |
2 |
Ua ke North Velocity |
[-1310,1310]m/s |
0.005 |
|
|
19 |
53 |
2 |
Combined Up Velocity |
[-1310,1310]m/s |
0.005 |
|
|
20 |
55 |
2 |
Ua ke East Velocity |
[-1310,1310]m/s |
0.005 |
|
|
21 |
57 |
2 |
Roll Angle |
[-90,90] deg |
0.006 |
|
|
22 |
59 |
2 |
Heading Angle |
[-180,180] deg |
0.006 |
North-los ntawm-West yog qhov zoo |
|
23 |
61 |
2 |
Pitch Angle |
[-85,85] deg |
0.006 |
|
|
24 |
63 |
4 |
Satellite Longitude |
(-180,180] deg |
0.0000001 |
|
|
25 |
67 |
4 |
Satellite Latitude |
[-90,90] deg |
0.0000001 |
|
|
26 |
71 |
4 |
Satellite Qhov siab |
[-500,16384]m |
0.00001 |
|
|
27 |
75 |
2 |
Satellite North Vev xaib |
[-1310,1310]m/s |
0.005 |
|
|
28 |
77 |
2 |
Satellite av ceev |
[-1310,1310]m/s |
0.005 |
|
|
29 |
79 |
2 |
Satellite East Velocity |
[-1310,1310]m/s |
0.005 |
|
|
30 |
81 |
1 |
Kub |
[-127,127] |
1 |
|
|
31 |
82 |
1 |
Positioning thiab Heading validity |
/ |
1 |
bit0-3, receiver positioning chij: 00 Tsis positioning, 01 Ib qho point positioning, 02 Float solution positioning, 03 Kev daws teeb meem ruaj khov; bit4-7, kab lus qhia: 00 Tsis mus, 01 Ib qho - taw tes taw qhia, 02 Float solution heading, 03 Cov ntsiab lus daws teeb meem. |
|
32 |
83 |
4 |
Satellite lub sij hawm ntawm lub lim tiam (seconds) |
|||
|
33 |
87 |
1 |
Xyoo |
|||
|
34 |
88 |
1 |
Lub hli |
|||
|
35 |
89 |
1 |
Hnub |
|||
|
36 |
90 |
1 |
Number of positioning satellites |
[0,255] |
1 |
|
|
37 |
91 |
2 |
Satellite khiav lub kaum sab xis |
[-180,180] deg |
0.006 |
|
|
38 |
93 |
2 |
Dual- Kav hlau txais xov taub hau |
[-180,180] deg |
0.006 |
|
|
39 |
95 |
2 |
Khaws tseg |
|||
|
40 |
97 |
14 |
Khaws tseg |
|||
|
41 |
111 |
12 |
Khaws tseg |
|||
|
42 |
123 |
4 |
AU |
m/s2 |
1 |
Upward acceleration |
|
43 |
127 |
4 |
AF |
m/s2 |
1 |
Forward acceleration |
|
44 |
131 |
4 |
AR |
m/s2 |
1 |
Txoj cai acceleration |
|
45 |
135 |
4 |
siab |
m |
1 |
Relative heave displacement |
|
46 |
139 |
4 |
Lim tawm |
na |
1 |
|
|
47 |
143 |
4 |
Lim tawm tswv yim |
na |
1 |
|
|
48 |
147 |
4 |
Main zaus |
na |
1 |
|
|
49 |
151 |
4 |
Ib feem ntawm cov ntaub ntawv sijhawm |
- |
- |
|
|
50 |
155 |
4 |
Fractional ib feem ntawm cov ntaub ntawv sijhawm |
- |
- |
|
|
51 |
159 |
4 |
Khaws tseg |
- |
1 |
|
|
52 |
163 |
1 |
Checksum |
Cov ntaub ntawv ntev thiab qis 8 ntsis ntawm cov ntaub ntawv byte sum |
1 |
Cov kev ceev faj
- Them mloog mus rau cov khoom siv hluav taws xob interface txhais; thaum siv, nruj me ntsis ua raws li tus pin kev npaj kom tsis txhob muaj kev sib txuas tsis raug.
- Cov khoom no yog cov cuab yeej ntsuas precision. Thaum lub sijhawm ua haujlwm, saib xyuas kom tsis txhob muaj kev cuam tshuam, kev sib tsoo, thiab lwm yam kev mob uas dhau ntawm cov khoom siv siab ntev.
- Kev teeb tsa ntawm cov khoom muaj qhov cuam tshuam tseem ceeb ntawm kev ntsuas angular tshaj tawm. Txhawm rau kom tsis txhob qhia qhov yuam kev, lub mounting nto yuav tsum muaj qhov zoo.
- Txhawm rau kom ntsuas qhov tseeb, cov khoom yuav tsum tau teeb tsa kom ruaj ntseg thiab ntseeg tau los tiv thaiv kev ntsuas qhov yuam kev los ntawm xoob.
- Thaum lub sij hawm installation thiab siv cov khoom, yuav tsum tau them nyiaj mloog mus rau electrostatic tiv thaiv. Kev hnav ib qho anti- lub dab teg zoo li qub yog pom zoo.
- Thov ua haujlwm nruj me ntsis raws li qhov yuav tsum tau ua ntawm phau ntawv no thiab paub meej tias qhov chaw sab nraud yog raws li cov kev cai siv. Yog tias muaj teeb meem tshwm sim, tsis txhob tshem lub hau lossis hloov cov qauv sab hauv ntawm cov khoom. Yog tias koj muaj teeb meem, thov hu rau peb cov neeg ua haujlwm pabcuam sai.
Cim npe nrov: msi100 mems_gnss inertial navigation system, Tuam Tshoj msi100 mems_gnss inertial navigation system manufacturers, hoobkas
