Integrated Inertial Navigation System (I2NS)
Sensors
The I2NS integrates seamlessly with R2Sonic MBES, providing accurate and robust geo-referencing and motion compensation for hydrographic surveys.
The I2NS is an industry proven, tightly coupled solution for vessel roll, pitch, heave, heading, position and velocity, that is easy to set-up, operate and control through the monitoring window built into the R2Sonic graphical user interface.
All data flows through a single Ethernet port, eliminating the need for additional processing modules and cabling, which also frees up space.
The I2NS comes in a compact waterproof housing that can be mounted on the vessel center of rotation or directly on the R2Sonic MBES mount bracket to minimize patch-testing between mobilizations.
The R2Sonic I2NS provides continuous positioning information, even in areas where GPS reception is compromised by multipath effects and signal loss.
Technical Specifications
R2Sonic offers three accuracy and options: Type I, II and III
I2NS™ Type I – 0.01°
| Integrated INS | DGPS | RTK | Accuracy During GNSS Outages |
|---|---|---|---|
| Position | 0.5-2m depending on quality of differential corrections | Horizontal: 1cm or better Vertical: 1.5cm or better | ~3m for 60 s total outages (RTK) ~1m for 60 s total outagges (IAPPK) |
| Roll & Pitch | 0.02° | 0.01° | 0.03° |
| Heading | 0.01° w/4m baseline 0.02° w/2m baseline | Same | Negligible for outages < 60s |
| Heave | 5cm or 5% 2cm or 2% TrueHeave™ | 5cm or 5% 2cm or 2% TrueHeave™ | 5cm or 5% 2cm or 2% TrueHeave™ |
I2NS™ Type II – 0.02°
| Integrated INS | DGPS | RTK | Accuracy During GNSS Outages |
|---|---|---|---|
| Position | 0.5-2m depending on quality of differential corrections | Horizontal: 1cm or better Vertical: 1.5cm or better | ~3m for 30 s total outages (RTK) ~2m for 60 s total outages (IAPPK) |
| Roll & Pitch | 0.03° | 0.02° | 0.04° |
| Heading | 0.015° w/4m baseline 0.03° w/2m baseline | Same | Negligible for outages < 60s |
| Heave | 5cm or 5% 2cm or 2% TrueHeave™ | 5cm or 5% 2cm or 2% TrueHeave™ | 5cm or 5% 2cm or 2% TrueHeave™ |
I2NS™ Type III – 0.03°
| Integrated INS | DGPS | RTK | Accuracy During GNSS Outages |
|---|---|---|---|
| Position | 0.5-2m depending on quality of differential corrections | Horizontal: 1cm or better Vertical: 1.5cm or better | ~6m for 30 s total outages (RTK) ~3m for 60 s total outages (IAPPK) |
| Roll & Pitch | 0.04° | 0.03° | 0.05° |
| Heading | 0.06° w/4m baseline 0.08° w/2m baseline | Same | 0.2°(IAPPK, 60 s outage) 0.3°(RTK, 60 s outage) |
| Heave | 5cm or 5% 2cm or 2% TrueHeave™ | 5cm or 5% 2cm or 2% TrueHeave™ | 5cm or 5% 2cm or 2% TrueHeave™ |
