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Hardware Integration: RUG-3-IMX-5 (Rugged-3)

uINS_rugged_thumb

The RUG-3-IMX-5 series adds a rugged aluminum enclosure and RS232, RS485, and CAN bus to the IMX-5.

The RUG-3-IMX-5-RTK includes a multi-frequency GNSS receiver with RTK precision position enabling INS sensor fusion for roll, pitch, heading, velocity, and position.

The RUG-3-IMX-5-Dual includes two multi-frequency GNSS receivers with RTK precision position and dual GNSS heading/compass.

  • Integrated CAN transceiver, RS232, RS485, TTL serial, USB, and SPI interfaces.
  • Dual onboard multi-band GNSS receiver(s).
  • Dual antenna ports for GPS compassing.

Features

  • Tactical Grade IMU (w/ IMU-5)
    • Gyro: 1.5 °/hr Bias Instability, 0.16 °/√hr ARW
    • Accel: 19 µg Bias Instability, 0.02 m/s/√hr VRW
  • High Accuracy INS (w/ IMU-5): 0.03° Roll/Pitch, 0.1° Dynamic Heading
  • Up to 1KHz IMU and INS Output Data Rate
  • Dual onboard multi-band (L1/L2/E5) GNSS receivers
  • Dual MMCX antenna ports for GPS compassing
  • Size: 25.4 x 25.4 x 20.0 mm
  • Light weight: 14g
  • Low power consumption: <1500mW
  • UART x3, RS232, RS485, CAN, and SPI interfaces
  • Integrated CAN and RS232 / RS485 transceivers
  • Voltage regulation for 3.3V - 17V input

Applications

  • Drone Navigation
  • Unmanned Vehicle Payloads
  • Ground and Aerial Survey
  • Automotive Navigation
  • Stabilized Platforms
  • Antenna and Camera Pointing
  • First Responder and Trackers
  • Health, Fitness, and Sport Monitors
  • Robotics and Ground Vehicles
  • Maritime

Connecting Your Unit

For the purposes of basic evaluation, the easiest interface available on the rugged is the included USB to Gecko connector cable, included in the evaluation kit. The cable provides power and communications with the installed module via USB virtual communications port.

GPS Antenna Ports

If using GPS with the module, connect an appropriate antenna to MMCX port 1 (GPS1). If the module is used for RTK compassing, connect a second antenna to MMCX port 2, (GPS2).

Pinout

Pin Name I/O Description
1 GND PWR -
2 G9/STROBE I/O Strobe time sync input. (Includes 3K ohm series resistor)
3 VIN PWR 4V-20V supply voltage input
4 USB.D+ I/O USB Data Positive Line
5 GPS_PPS O GPS PPS time synchronization output pulse (1Hz, 10% duty cycle)
6 USB.D- I/O USB Data Negative Line
7 G3/Tx0/485Tx2-/SCLK I/O Serial 0 output (TTL or RS232)
Serial 2 output- (RS485/RS422)
SPI clock
8 G2/Tx2/485Tx2+/Tx1/MISO I/O Serial 2 output (TTL or RS232)
Serial 2 output+ (RS485/RS422)
Serial 1 output (TTL or RS232)
SPI MISO
9 G4/Rx0/485Rx2-/CS I/O Serial 0 input (TTL or RS232)
Serial 2 input- (RS485/RS422)
SPI chip select
10 G1/Rx2/485Rx2+/Rx1/MOSI I/O Serial 2 input (TTL/RS232)
Serial 2 input+ (RS485 or RS422)
Serial 1 input (TTL or RS232)
SPI MOSI
11 G1/CANL/Rx2 I/O High level (CAN bus). Serial 2 input (TTL).
12 G2/CANH/Tx2/STROBE I/O Low level (CAN bus). Serial 2 output (TTL). Strobe time sync input.

I/O Configuration

The Rugged 3.0 "MAIN" connector pinout can be configured for USB, TTL, RS232, RS485, and CAN by setting the DID_FLASH_CONFIG.platformConfig.

RUG-3 Pin
IMX Pin
7,9
G3,G4
(G5,G8)
8,10
G1,G2
11,12
G1,G2
GPS1 GPS2
I/O Preset
0 * S0 RS232 CAN S1
1 S0 TTL CAN S1
2 S0 TTL S2 TTL S1
3 S0 RS232 S1 RS232 S2
4 S2 RS485 S2 RS485 S2 S0
5 SPI SPI S2 S0
6 ** S1 RS232 S2 S0
7 CAN S1 S0
8 S2 TTL S1 S0

* RUG-3.0-G0 default

** RUG-3.0-G2 default

Part Manufacturer Manufacturer # Description
Main Connector Harwin G125-FC11205L0-0150F 1.25MM F/F 12POS 26AWG 150MM
GPS antenna SMA adapter Crystek Corporation CCSMX-FBM-RG178-6 6" MMCX to SMA GPS antenna adaptor cable.
GPS antenna SMA adapter Crystek Corporation CCSMX1-FBM-RG178-6 6" R/A MMCX to SMA GPS antenna adaptor cable.

See the Multi-Band GNSS page for GNSS antenna options.

Using with Inertial Sense Software

Please return to the getting started page to get started programming, updating firmware, viewing data, and logging.