|
|
|
Voltage |
Current |
Power |
Power |
Mass |
Temps |
Dimensions |
|
|
|
|
Totals |
|
|
|
|
|
Low |
High |
Max |
Max |
Nominal |
Each |
Low |
High |
h |
w |
d |
vol |
|
|
Max |
Nom. |
|
|
|
Company |
Item |
Description |
(V) |
(V) |
(mA) |
(W) |
(W) |
(g) |
(C) |
(C) |
(cm) |
(cm) |
(cm) |
(cc) |
Other |
No. |
Power |
Power |
Mass |
Vol. |
Cost |
SENSORS & COMPONENTS |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Etran Devices |
EGCS3 |
Triaxial Accelerometer |
-15.0 |
15.0 |
15.0 |
0.5 |
0.5 |
50.0 |
-40.0 |
120.0 |
2.5 |
2.5 |
2.1 |
13.1 |
2.5V/g sensativity, 100 Hz |
1.0 |
0.5 |
0.5 |
50.0 |
13.1 |
2200 |
Systron Donner |
QRS11-00200-101 |
Quartz rate sensor |
-5.0 |
5.0 |
80.0 |
0.8 |
0.8 |
57.0 |
-40.0 |
80.0 |
3.8 |
3.8 |
1.4 |
20.2 |
range=200deg/s, 0.02 deg/s/g |
3.0 |
2.4 |
2.4 |
171.0 |
60.6 |
7350 |
Precision Navigation |
TCM2-50 |
Compass, roll/pitch |
0.0 |
5.0 |
20.0 |
0.1 |
0.1 |
45.4 |
-20.0 |
70.0 |
6.4 |
5.1 |
3.2 |
102.6 |
range: y=+-180: p,r=+-50 |
1.0 |
0.1 |
0.1 |
45.4 |
102.6 |
769 |
ITC |
High frequency |
Sonar sensors |
0.0 |
5.0 |
|
0.0 |
|
|
|
|
|
|
|
0.0 |
10 deg, 0.5-6.5 ft range |
8.0 |
0.0 |
0.0 |
0.0 |
0.0 |
|
|
" |
Sonar board |
|
|
|
|
|
|
|
|
10.2 |
10.2 |
1.0 |
104.0 |
|
1.0 |
|
|
0.0 |
104.0 |
|
Sharp |
GP2D02 |
IR proximity sensor |
-0.3 |
10.0 |
35.0 |
0.4 |
0.4 |
6.0 |
-10.0 |
60.0 |
1.5 |
1.4 |
4.1 |
8.6 |
7 deg, 7 - 24 inches range |
6.0 |
2.2 |
2.2 |
36.0 |
51.7 |
|
|
" |
IR board |
|
|
|
|
|
|
|
|
5.1 |
5.1 |
1.0 |
26.0 |
|
1.0 |
|
|
0.0 |
26.0 |
|
Acuity Research |
AccuRange 4000 |
High freq circuit board |
0.0 |
5.0 |
500.0 |
2.5 |
2.5 |
113.4 |
0.0 |
140.0 |
7.6 |
6.4 |
7.6 |
368.7 |
20 mW optical power |
1.0 |
2.5 |
2.5 |
113.4 |
368.7 |
|
|
" |
Digital circuit board |
|
|
|
0.0 |
|
|
|
|
7.6 |
7.6 |
1.3 |
73.7 |
|
1.0 |
0.0 |
0.0 |
0.0 |
73.7 |
|
|
|
Scanner assembly |
|
|
|
|
|
1345.9 |
|
|
|
|
|
|
|
1.0 |
|
|
1345.9 |
|
|
Columbia/CMU |
Omnicam |
Omnidirectional cam |
0.0 |
9.0 |
200.0 |
1.8 |
1.8 |
454.0 |
0.0 |
60.0 |
5.0 |
|
12.0 |
236.0 |
|
1.0 |
1.8 |
1.8 |
454.0 |
236.0 |
|
|
" |
Deployment arm |
|
|
|
0.0 |
|
|
|
|
|
|
|
0.0 |
|
1.0 |
0.0 |
0.0 |
0.0 |
0.0 |
|
Videology |
20VC3405 |
BW CCD bd camera |
0.0 |
9.0 |
167.0 |
1.5 |
1.5 |
113.4 |
? |
? |
5.5 |
4.2 |
2.5 |
57.8 |
interlaced,ext sync, man exp |
2.0 |
3.0 |
3.0 |
226.8 |
115.5 |
676 |
Novatel |
OEM RT-2 |
DGPS |
0.0 |
5.0 |
1600.0 |
8.0 |
8.0 |
175.0 |
-40.0 |
85.0 |
1.7 |
10.0 |
17.7 |
300.9 |
2 cm RTK DGPS, 4 Hz |
1.0 |
8.0 |
8.0 |
175.0 |
300.9 |
24000 |
Subtotal |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
12.4 |
12.4 |
2442.5 |
1152.01 |
34995.00 |
COMMUNICATIONS |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
FreeWave |
DGRO9RAA |
RS232 OEM Modem |
0.0 |
5.0 |
600.0 |
3.0 |
0.4 |
65.0 |
-40.0 |
75.0 |
1.7 |
6.2 |
12.9 |
136.0 |
902-928 MHz, 115 Kbaud |
1.0 |
3.0 |
0.4 |
65.0 |
136.0 |
2000 |
? |
? |
Video/Audio Tranmitter |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Subtotal |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
3.0 |
0.4 |
65.0 |
135.97 |
2000.00 |
HIGH-LEVEL COMPUTER SYSTEM |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
E.E.P.D. |
PROFIVE CPU-P5 |
PC104+ processor bd |
0.0 |
5.0 |
3100.0 |
15.5 |
15.5 |
240.0 |
0.0 |
55.0 |
2.3 |
9.0 |
9.6 |
197.0 |
266 MHz Pentium MMX |
1.0 |
15.5 |
15.5 |
240.0 |
197.0 |
849 |
Adastra Systems |
P586-104 |
PC104 processor bd |
0.0 |
5.0 |
1600.0 |
8.0 |
8.0 |
226.8 |
0.0 |
70.0 |
2.3 |
9.0 |
9.6 |
197.0 |
133 MHz Intel 486 CPU |
1.0 |
8.0 |
8.0 |
226.8 |
197.0 |
500 |
ImageNation |
PX610 |
Frame grabber |
0.0 |
5.0 |
650.0 |
3.3 |
3.3 |
96.0 |
0.0 |
60.0 |
1.9 |
9.0 |
9.6 |
164.2 |
1/30 s/frame NTSC |
2.0 |
6.5 |
6.5 |
192.0 |
328.3 |
2000 |
E.E.P.D. |
PROFIVE Ethernet-100 |
100BaseT Ethernet bd |
0.0 |
5.0 |
500.0 |
2.5 |
2.5 |
101.0 |
0.0 |
55.0 |
1.9 |
9.0 |
9.6 |
164.2 |
10/100 Mbps |
1.0 |
2.5 |
2.5 |
101.0 |
164.2 |
288 |
Adastra Systems |
NSP-104 |
10BaseT Ethernet bd |
0.0 |
5.0 |
500.0 |
2.5 |
2.5 |
100.0 |
0.0 |
70.0 |
1.9 |
9.0 |
9.6 |
164.2 |
10 Mbps, 2 serial ports |
1.0 |
2.5 |
2.5 |
100.0 |
164.2 |
225 |
Real Time Devices |
DM6420 DataModule |
Analog & Digital I/O |
0.0 |
5.0 |
500.0 |
2.5 |
2.5 |
81.6 |
-40.0 |
80.0 |
1.9 |
9.0 |
9.6 |
164.2 |
8 diff A in, 1 A out, 8 D I/O |
1.0 |
2.5 |
2.5 |
81.6 |
164.2 |
695 |
MicroComputer Sys |
MSI-J477 Filter board |
Low-pass Analog Filter |
0.0 |
5.0 |
70.0 |
0.4 |
0.4 |
85.1 |
-40.0 |
85.0 |
1.9 |
9.0 |
9.6 |
164.2 |
16 ch differential inputs |
1.0 |
0.4 |
0.4 |
85.1 |
164.2 |
800 |
VersaLogic |
PCM-3640 |
RS-232 module |
0.0 |
5.0 |
180.0 |
0.9 |
0.9 |
78.4 |
0.0 |
60.0 |
1.9 |
9.0 |
9.6 |
164.2 |
4 ports |
1.0 |
0.9 |
0.9 |
78.4 |
164.2 |
219 |
VersaLogic |
PCM-3115 |
PCMCIA module |
0.0 |
5.0 |
70.0 |
0.4 |
0.4 |
99.2 |
-20.0 |
85.0 |
1.9 |
9.0 |
9.6 |
164.4 |
Type I,II,II compatible |
1.0 |
0.4 |
0.4 |
99.2 |
164.4 |
189 |
VersaLogic |
EPM-SVGA-2 |
SVGA Display module |
0.0 |
5.0 |
450.0 |
2.3 |
2.3 |
81.0 |
0.0 |
60.0 |
1.9 |
9.0 |
9.6 |
164.4 |
PC/104+, 1-2 MB VRAM |
1.0 |
2.3 |
2.3 |
81.0 |
164.4 |
247 |
Win Systems Inc. |
PCM-AUDIO |
Sound Blaster module |
0.0 |
5.0 |
30.0 |
0.2 |
0.2 |
100.0 |
0.0 |
70.0 |
1.9 |
9.0 |
9.6 |
164.4 |
ESPCM/ADPCM compress |
1.0 |
0.2 |
0.2 |
100.0 |
164.4 |
195 |
Babber |
830171 (IBM Travelstar) |
IDE hard drive |
0.0 |
5.0 |
380.0 |
1.9 |
1.9 |
99.0 |
5.0 |
55.0 |
1.0 |
7.0 |
10.0 |
66.5 |
2.1GB |
1.0 |
1.9 |
1.9 |
99.0 |
66.5 |
298 |
Subtotal |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
43.4 |
43.4 |
1484.1 |
2102.7 |
6505.0 |
LOW-LEVEL COMPUTER SYSTEM |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Reflex Technology |
Coldfire MCF2XX |
Microprocessor |
|
|
|
|
|
|
|
|
7.6 |
10.2 |
1.0 |
77.5 |
|
1.0 |
|
|
0.0 |
77.5 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Subtotal |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
0.0 |
0.0 |
0.0 |
77.5 |
0.0 |
CUSTOM ELECTRONICS |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Artesyn Technology |
WR24S05/50K |
DC to DC converter |
18.0 |
36.0 |
2700.0 |
14.8 |
15.3 |
339.0 |
-25.0 |
71.0 |
14.0 |
9.9 |
2.3 |
318.8 |
78% efficiency, +5 |
1.0 |
14.8 |
15.3 |
339.0 |
318.8 |
215 |
Artesyn Technology |
BXA3-24D05 |
DC to DC converter |
18.0 |
36.0 |
140.0 |
0.9 |
0.8 |
15.0 |
-25.0 |
105.0 |
3.2 |
2.0 |
1.3 |
8.3 |
76% efficiency, +/-5 |
1.0 |
0.9 |
0.8 |
15.0 |
8.3 |
48 |
Artesyn Technology |
PM682 |
DC to DC converter |
0.0 |
5.0 |
145.0 |
0.8 |
0.3 |
14.0 |
-25.0 |
71.0 |
3.2 |
2.0 |
1.0 |
6.4 |
57% efficiency, +/-15 |
1.0 |
0.8 |
0.3 |
14.0 |
6.4 |
50 |
?unknown? |
?unknown? |
Motor controller |
|
|
|
0.0 |
|
|
|
|
|
|
|
0.0 |
|
|
0.0 |
0.0 |
0.0 |
|
|
? |
? |
Fan(s) |
|
|
|
0.0 |
|
|
|
|
|
|
|
0.0 |
|
|
0.0 |
0.0 |
0.0 |
0.0 |
|
Ultralife Batteries |
P-120AS |
LiMnO2 D cell |
0.0 |
1.5 |
8000.0 |
12.0 |
12.0 |
118.3 |
|
|
6.1 |
3.3 |
3.3 |
67.3 |
20Ah , 60A peak |
12.0 |
144.0 |
144.0 |
1419.6 |
807.2 |
51.72 |
Subtotal |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
16.4 |
16.4 |
1787.6 |
1140.7 |
364.7 |
MOTORS |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
?unknown? |
?unknown? |
|
|
|
|
0.0 |
|
below |
|
|
|
|
|
0.0 |
? lines/rev encoding |
3.0 |
0.0 |
0.0 |
below |
0.0 |
|
Subtotal |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
0.0 |
0.0 |
0.0 |
0.0 |
0.0 |
MECHANICAL COMPONENTS |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Tracks - drive |
|
|
|
|
|
|
630.0 |
|
|
|
|
|
|
|
2.0 |
|
|
1260.0 |
|
|
|
Tracks - articulated |
|
|
|
|
|
|
230.0 |
|
|
|
|
|
|
|
2.0 |
|
|
460.0 |
|
|
Maxon |
RE035 actuator |
for articulation |
|
|
|
|
|
340.0 |
|
|
|
|
|
|
|
1.0 |
|
|
340.0 |
|
|
|
Drive actuator assembly |
w/ 2 Maxon RE035 |
|
|
|
|
|
730.0 |
|
|
|
|
|
|
|
2.0 |
|
|
1460.0 |
|
|
|
Chasis assembly |
w/ HDT20 |
|
|
|
|
|
2210.0 |
|
|
|
|
|
|
|
1.0 |
|
|
2210.0 |
|
|
|
Drive idler assembly |
|
|
|
|
|
|
290.0 |
|
|
|
|
|
|
|
2.0 |
|
|
580.0 |
|
|
|
Drive pully assembly |
|
|
|
|
|
|
410.0 |
|
|
|
|
|
|
|
2.0 |
|
|
820.0 |
|
|
|
Articulation assembly |
|
|
|
|
|
|
300.0 |
|
|
|
|
|
|
|
2.0 |
|
|
600.0 |
|
|
|
Lexan shells |
|
|
|
|
|
|
520.0 |
|
|
|
|
|
|
|
1.0 |
|
|
520.0 |
|
|
|
Radio Control |
receiver, controller |
|
|
|
|
|
380.0 |
|
|
|
|
|
|
3 speed controller |
1.0 |
|
|
380.0 |
|
|
Subtotal |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
8630.0 |
|
|
Total |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
75.2 |
72.7 |
14409.2 |
4531.4 |
43864.7 |
DESIGN LIMITS |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Vehicle mass |
|
|
|
|
|
|
|
10000.0 |
|
|
|
|
|
|
|
|
|
|
10000.0 |
|
|
Payload mass |
|
|
|
|
|
|
|
10500.0 |
|
|
|
|
|
|
|
|
|
|
10500.0 |
|
|
Payload Volume |
|
|
|
|
|
|
|
|
|
|
8.2 |
24.5 |
26.6 |
5343.9 |
|
|
|
|
|
5343.9 |
|
Lowlevel power |
Driving on flat terrain |
forward @1.6 m/s |
|
|
|
|
52.0 |
|
|
|
|
|
|
|
|
|
|
52.0 |
|
|
|
|
Turning in place |
130 deg/s |
|
|
|
|
202.0 |
|
|
|
|
|
|
|
|
|
|
202.0 |
|
|
|
|
Driving up stairs |
1 m/s |
|
|
|
|
245.0 |
|
|
|
|
|
|
|
|
|
|
245.0 |
|
|
|
Subtotal |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
20500.0 |
5343.9 |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
LASER SCANNER ASSEMBLY |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Glass dome |
|
|
|
|
|
|
589.7 |
|
|
|
|
|
|
|
1 |
|
|
589.7 |
|
|
|
Motor |
|
|
|
|
|
|
46.3 |
|
|
|
|
|
|
|
1 |
|
|
46.3 |
|
|
|
Mirror |
|
|
|
|
|
|
59 |
|
|
|
|
|
|
|
1 |
|
|
59 |
|
|
|
Ball Bearings |
|
|
|
|
|
|
127 |
|
|
|
|
|
|
|
1 |
|
|
127 |
|
|
|
Stationary housing |
|
|
|
|
|
|
258.5 |
|
|
|
|
|
|
|
1 |
|
|
258.5 |
|
|
|
Rotary housing |
|
|
|
|
|
|
235.9 |
|
|
|
|
|
|
|
1 |
|
|
235.9 |
|
|
|
Mounting ring |
|
|
|
|
|
|
29.5 |
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1 |
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29.5 |
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Subtotal |
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1345.9 |
0.0 |
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SINGLE BOARD COMPUTER SPECS |
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Toronto Microelec 2111 |
AMD K6 266 MHz |
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32 bit PCI BUS |
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32 or 64 MB DRAM |
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2-72 MB Flash memory |
(configured as SS drive) |
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1 MB display memory |
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LPT, 2 COM, 2 USB |
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AT mouse/keyboard ports |
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Supports 4 IDE drives |
(2.5" IDE drive connector) |
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10/100 Base-T |
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0-60 deg C, 5-95% humidity |
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30G shock, 20G vibration |
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DOS,Win NT/CE/95,QNX |
(RWI believes it can |
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pSOS,VxWorks,Novell, |
support Linux) |
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OS/2, SCO UNIX, UNIX |
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Subtotal |
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B&W CAMERA CANDIDATES |
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Videology 20VC3405 |
1/3" IT-CCD |
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72 x 54 deg FOV |
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768H x 492V pixels |
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2.17 x 1.65 x 1.0 inch |
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*checking to see if manufacturer will modify to accept a lens without having to use CS mount |
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9 VDC, 1.5 Watts |
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External Synch |
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2:1 Interlace |
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AGC, BLC, elec iris |
(programable exp cntrl) |
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RS-170 video out |
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Ultrak BC-460 |
1/3" IT-CCD |
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768H x 492V pixels |
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1.6 x 1.6 x 0.08 inch |
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12 VDC, 1.5 Watts |
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External Synch |
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2:1 Interlace |
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AGC, Auto iris |
(1/60 - 1/100,000) |
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RS-170 video out |
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Subtotal |
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MISCELLANIOUS NOTES |
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a) 2 Imagination framegrabbers required, still looking for an RGB framegrabber |
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b) Looking for a three-axis acceleromter, rather than using 3 linear accelerometer |
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c) Checking to see if camera manufacturer will modify design to accept a lens w/o having to use CS mount |
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d) Looking for alternate IDE hard drive, listed one allows 150 G shock, 0.67G vibration (5-500Hz) |
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e) Compass Yaw Accuracy Comparison: (Precision Nav, +-1.0 deg rms static, +-1.5 deg rms moving), (Microstrain, +-3.6 deg rms static, raw accel data is available) |
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|
Subtotal |
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