DESCRIPTION The cLS-FSTS-INS is a system level card for robotic or vehicle work. The  board contains a Furuno GN-80 GPS module, X-Y-Z axis accelerometers X-  Y-Z gyros and a magnetic sensing compass. The Tower board is connected  via a jumper selection group to the Tower System elevators. The onboard MCU is used to collect and correlate all the  data from the positional sensors along with handling position computations and filtering. For ground based vehicles an  additional input from the main processor or motor controllers would be the wheel RPM. This can then be used for  distance calculations. The GPS module can be used as primary location but in case of satellite signal loss the system  can continue to plot position. The MCU can also be used to preform different types of position filtering.  Tower System’s FlexBus is used mainly for memory expansion. Dual ported RAM allows for multiple cards to be added  to the bus creating a basic mailbox system of communications.   Board ships with full schematics and code sample.  Also included is an excel spreadsheet to be included with the  Freescale Tower Configuration Tool. c-Link Systems, Inc. Copyright 2010 -  2012 Made with Xara Web Designer Press the button to access the data sheet. Inertial Navigation System Product Brief - Revision A 15 October 2011 cLS-FSTS-INS GPS Performance: 16-channel, L1 (1575.42 MHz) GPS receiver Acquisition Time • Cold Start 42 seconds • Warm Start 35seconds • Hot Start 8 seconds Tracking Sensitivity -141dBm Reacquisition Time 2.0 seconds average Accuracy • Position 2 meters, CEP 50% • Altitude <+/- 5m vertical • Velocity 0.1 m/s Accelerometer Features: Selectable sensitivity (±4g, ±12g) Low current consumption—400µA Fast Turn On Self-test Gyroscope Features: Motion sensing ±100°/s Low current consumption Self-test Magnetic Compass Features: Dynamic Range: 1,000µT Sample Rate: 80Hz max. Noise: 0.14µT ms SPECIFICATIONS Interface: Physical Characteristics: Selectable: IIC, SPI, or FlexBus . Freescale Tower System format Selectable Interrupts to the Tower System Power Requirements: Environmental Characteristics: Supply Voltage (Typical) 3.3V (3.0V - 3.6V) Operating Temperature: -20⁰C -90⁰C Current (Typical) TBA Storage Temperature: -40⁰C - 105⁰C Relative Humidity: 0 -90% non-Condensing MODEL NUMBERS cLS-FSTS-INS: Inertial Navigation card