MIDG IIC SPECIFICATIONS

(SIS90031C and SIS90031C-SR)

December 15, 2011

The MIDG IIC is a GPS aided inertial navigation system (INS) for use in applications
requiring attitude, position, velocity, acceleration, and angular rates for navigation or
control. An internal GPS receiver measures position and velocity and passes this
information to the data fusion processor to be combined with the inertial data to generate
an optimal solution. An internal three-axis magnetometer provides a magnetic heading
reference when needed.

A build option (SIS90031C-SR) uses Pin 8 as a Time Mark input to allow GPS time
tagging of the rising edge of an input signal pulse.

Features
Full INS Solution
Low Power
+ROL
Light Weight L (+X
ROTA
Small Size TION
)
IS
AX
+X
N)
TIO
TA
RO
Y
(+
CH
IT
Standard Sensor Axes (can be +P
+Y AX
changed by user) IS

+YA
W(
+Z
+Z AXIS

RO
TAT
ION
)

Specifications subject to change without notice. 1 of 6

 MIDG IIC SPECIFICATIONS
(SIS90031C and SIS90031C-SR)
December 15, 2011

MIDG IIC Specifications 1

Power Requirements

Input Voltage 10 VDC - 32 VDC

Power 1.2W max (including GPS antenna)

2
GPS Antenna

Connector Type 50-Ohm SMA, right hand thd

Antenna Power +5V at center conductor, 25 ma max
RF Power Input -145 dBm min, -61dBm max
Antenna Pre-Amplifier 45 dB maximum gain

Measurements

Angular rate (all axes)

Range ±300 °/sec
Non-Linearity 0.1% of FS
Noise Density 0.1 °/sec / √Hz
3dB Bandwidth 20 Hz

Acceleration (all axes)

Range ±6 g
Non-Linearity 0.3% of FS
Noise Density 150 μg / √Hz
3dB Bandwidth 20 Hz

Attitude Accuracy (pitch and roll, with GPS) 0.4° (1 σ)

Heading Accuracy (with GPS and maneuvering) 2° (1 σ)

Position Accuracy 2m (CEP) with WAAS/EGNOS available, 3 m (CEP) otherwise

Velocity Accuracy < 0.2 m/s

Altitude Accuracy 3m (SEP) with WAAS/EGNOS available, 5m (SEP) otherwise

Data Output Rates Position , Velocity, attitude, rates, accelerations – 50 Hz

GPS measurements – 4 Hz

Environment

Temperature -40° C to 85° C, operating and storage

Humidity 10% to 90% RH, non-condensing

Survival Shock 100 g, 8ms., ½ sine

Survival Vibration 6 grms, 10 Hz to 2000 Hz, random

1
Typical values.
2
See section on active/passive antennas.

Specifications subject to change without notice. 2 of 6

 MIDG IIC SPECIFICATIONS
(SIS90031C and SIS90031C-SR)
December 15, 2011
Output

Electrical RS422 async., 115200 baud (configurable), 8-N-1

3
Pulse Per Second Complementary pair, each side TTL compatible
Data Format Microbotics Binary Protocol

Physical

Size 1.500” W x .810” H x 1.725” D

Weight 55 grams

3
One side used for Trigger Input when Time Mark Option ordered (SIS90031C-SR).

Specifications subject to change without notice. 3 of 6

 MIDG IIC SPECIFICATIONS
(SIS90031C and SIS90031C-SR)
December 15, 2011

MIDG IIC MOUNTING DIMENSIONS

FRONT

0.810 [20.57]

0.576 [14.63]

0.277 [7.04]

1MM SCREW ON MATING CONNECTOR --

0.575 [14.61] MATING SCREW REQUIRES .035 (.9MM)
ALLEN HEAD SOCKET DRIVE
0.975 [24.77]

MOUNTING HOLES FOR 0-80 UNF SCREWS

4 PLCS
SCREW INSERTION .187 [4.75] MAX

0.363 [9.22]

1.725 [43.82]
1.000 [25.40]

0.063 [1.60] 1.375 [34.93]

1.500 [38.10]

BOTTOM

Specifications subject to change without notice. 4 of 6

 MIDG IIC SPECIFICATIONS
(SIS90031C and SIS90031C-SR)
December 15, 2011

MIDG IIC CONNECTOR PIN-OUT

PIN 10 PIN 5

PIN 4 PIN 1

(VIEWED FROM FACE OF MIDG CONNECTOR)

CONNECTOR PIN-OUT
(Colors refer to mating connector cable)
PIN 1 BLACK Rb (Receive pos: MARK high, SPACE low)
PIN 2 BROWN Ra (Receive neg: MARK low, SPACE high)
PIN 3 RED PPS_N (1 PPS pulse: Idle high, falling active edge)
PIN 4 ORANGE Power In (10-32 VDC, 1.2 w max)
PIN 5 YELLOW Digital Ground (do not use for Power Return)
PIN 6 GREEN Tb (Transmit pos: MARK high, SPACE low)
PIN 7 BLUE Ta (Transmit neg: MARK low, SPACE high)
PIN 8 VIOLET PPS_P/Aux * (1 PPS pulse: Idle low, rising active edge)
PIN 9 GRAY Power Return
PIN 10 WHITE Shield
Note: Power Return and Shield connected to Digital Ground

(* Pin 8 Rising-edge Trigger Input with Time Mark Option – SIS90031C-SR)

STANDARD 1 PPS OUTPUT SIGNALS

1 second

PIN 3

Active Edges

*
PIN 8
100 ms

NOTE: If the MIDG IIC is equipped with the Time Mark option
(SIS90031C-SR), pin 8 becomes the Tirigger Input. A rising edge on this
input causes the TIM_TM message to be sent by the MIDG IIC indicating the
time of the rising edge to within 1 msec. The input is TTL compatible (high
recognized above 2V, low recognized below 0.4V, do not exceed 5V).

Specifications subject to change without notice. 5 of 6

 MIDG IIC SPECIFICATIONS
(SIS90031C and SIS90031C-SR)
December 15, 2011

GPS ANTENNA REQUIREMENTS

1. Antenna mounting must be non-magnetic and not use a magnetic mount, as this
magnet will interfere with the MIDG magnetometers.

2. Antenna and Ground Plane. A GPS antenna ground plane is recommended.

Antenna ground plane of 7 x 7 cm (2.75 x 2.75 in.), minimum, is recommended for
use with the GPS antenna available from Microbotics, Inc (Part Number A-GPS5-
SMA).

3. Note on Active/Passive Antennas. (The following information is supplied by GPS

receiver manufacturer.) Passive antennas contain only the radiating element, e.g. the
ceramic patch or the helix structure. The use of an active antenna is always advisable
if the RF-cable length between receiver and antenna exceeds about 10 cm. Care should
be taken that the gain of the LNA inside the antenna does not lead to an overload
condition at the receiver. A gain of 15-21 dB is usually sufficient, even for cable
lengths up to 5 m. There’s no need for the antenna LNA gain to exceed 26 dB for use
with this receiver. With short antenna cables, gains in excess of 25dB may swamp the
GPS RF front end.
When comparing gain measures of active and passive antennas, one has to keep in
mind that the gain of an active antenna is composed of two components: the antenna
gain of the passive radiator, given in dBic; and the LNA power gain, given in dB. A
low antenna gain cannot be compensated by high LNA gain. If a manufacturer
provides one total gain figure, it is not sufficient to judge the quality of the antenna.
One would need information on antenna gain (in dBic), amplifier gain, and amplifier
noise figure.

ALERT REGARDING ANTENNA CONNECTION: 5v power for active antennas is

supplied via the MIDG GPS SMA connector. The GPS antenna must never be
connected or disconnected while the MIDG is powered. Connecting or disconnecting
the GPS antenna with power applied to the MIDG may damage the GPS receiver,
and will void the MIDG warranty.

Specifications subject to change without notice. 6 of 6