Certus Mini D

Certus Mini D is a miniature dual antenna GNSS-aided INS that provides accurate position, velocity, acceleration, and orientation under the most demanding conditions.

Roll & Pitch
0.1 °
Heading (GNSS)
0.1 °
RTK Positioning
10 mm
Update Rate
1000 Hz

Certus Mini combines temperature-calibrated accelerometers, gyroscopes, pressure sensor and magnetometers with an advanced dual antenna GNSS receiver. These are coupled in an AI-based fusion algorithm to deliver accurate and reliable navigation data. The Certus Mini features low SWaP-C (Size, Weight, Power and Cost) and multiple communication interfaces for easy integration. It is available in both rugged and OEM packages and includes licence-free L1/L5 multi-constellation GNSS.

Certus Mini N is also available with a single antenna GNSS receiver.

ITAR FREE

Features

AI Algorithm
AI Based

AI Navigation Algorithm

The Certus Mini range features Advanced Navigation’s revolutionary AI neural network sensor fusion algorithm.
This provides accuracy levels up to 10 times that of a traditional Kalman filter.
The algorithm was designed for control applications and has a high level of health monitoring and instability prevention to ensure stable and reliable data.
Signal Processing

High-Performance MEMS

The Certus Mini range contains high performance MEMS sensors that are put through Advanced Navigation’s intensive 8 hour temperature calibration process.
This provides the highest accuracy possible from this sensor class and outputs consistent accuracy over the full temperature range from -40°C to 85°C.

Trusted Reliability

Reliability

The Certus Mini range has been designed from the ground up for mission-critical control applications where reliability is essential.
Built using a safety-oriented real-time operating system, all software is designed and tested to high safety standards with fault-tolerance in mind.
The Certus Mini range is designed, manufactured and tested to military standards.

MEMS | Multi-Constellation

L1/L5 Multi Constellation RTK GNSS

The Certus Mini D supports L1/L5 dual frequencies, and GPS, GLONASS, Galileo, BeiDou and NavIC constellations.
Access to multiple constellations and frequencies provides enhanced accuracy, availability and performance even in difficult environments such as multi-storey urban canyons.
The GNSS receiver has 10 mm position accuracy with real-time RTK or post-processed PPK.

Fast North Seeking

Dual Antenna Heading

The Certus Mini D provides a high accuracy heading solution using two GNSS antennas. The Certus Mini D rapidly and consistently maintains an accurate heading without the need for magnetic calibration and is unaffected by magnetic interference.
Additionally, the system can determine heading while stationary. This makes it well-suited to applications where there is limited, or no, positional movement.

Applications

Specifications

Navigation

Horizontal Position Accuracy
1.5 m
Horizontal Position Accuracy (with SBAS)
0.7 m
Horizontal Position Accuracy (with RTK or Kinematica PPK)
0.01 m
Velocity Accuracy
0.05 m/s
Heading Accuracy (1m Antenna Separation)
0.1 °
Roll & Pitch Accuracy (Kinematica post processing)
0.03 °
Heave Accuracy
5 % or 0.05 m (whichever is greater)
Hot Start Filter Initialisation
1 s
Vertical Position Accuracy
2.0 m
Vertical Position Accuracy (with SBAS)
0.8 m
Vertical Position Accuracy (with RTK or Kinematica PPK)
0.015 m
Roll & Pitch Accuracy
0.1 °
Heading Accuracy (Magnetic Only)
0.8 °
Heading Accuracy (Kinematica post processing)
0.06 °
Orientation Range
Unlimited
Output Data Rate
Up to 1000 Hz

GNSS

Model
Aries CM
Supported SBAS Systems
WAAS • EGNOS • MSAS • GAGAN • QZSS
Hot Start First Fix
3 s
Supported Navigation Systems
GPS L1C/A, L5 • GLONASS L1OF • Galileo E1B/C, E5a • BeiDou B1I, B2a • NavIC L5 SPS
Update Rate
Up to 25 Hz
Timing Accuracy
30 ns RMS

Hardware

Operating Voltage (Rugged)
5 to 36 V
Power Consumption (Rugged)
1.1 W
Operating Temperature (MIL-STD-810H 502.7)
-40 °C to 85 °C
Shock Limit (IEC 60068-2-27)
150 g, 6 ms
Shock Limit (MIL-STD-810H 516.8)
40 g, 11 ms
Dimensions (Rugged)
30 x 41 x 34 mm
Weight (Rugged)
55 grams
Operating Voltage (OEM)
5 V
Power Consumption (OEM)
0.5 W
Hot Start Battery
Yes
Ingress Protection (IEC 60529) (Rugged)
IP67
Vibration Limit (MIL-STD-810H 514.8)
7.7 g RMS
Dimensions (OEM)
25 x 25 x 16 mm
Weight (OEM)
10 grams

Communication

Interface (Rugged)
Primary RS232/RS422 • Auxiliary RS232 • CAN • 2x GPIO
Protocols and Functions
Digital Input / Output • Frequency Input • AN Packet Protocol (ANPP) • NMEA • GNSS • CANOpen • 1PPS • Odometer / Air Data • DVL / USBL • RTCM
Interface (OEM)
Primary & Auxiliary UART • CAN • 2x GPIO

Sensors

Accelerometers

Range (dynamic)
±2 g • ±4 g • ±16 g
Initial Bias
< 5 mg
Scale Factor Stability
< 0.06 %
Cross-axis Alignment Error
< 0.05 °
Random Walk
58 mm/sec/√hr VRW
Bias Instability
< 20 ug
Initial Scaling Error
< 0.06 %
Non-linearity
< 0.05 %
Noise Density
100 ug/√Hz
Bandwidth
400 Hz

Gyroscopes

Range (dynamic)
± 250 °/s • ± 500 °/s • ± 2000 °/s
Initial Bias
< 0.2°/s
Scale Factor Stability
< 0.05 %
Cross-axis Alignment Error
< 0.05 °
Random Walk
0.24 °/√h ARW
Initial Scaling Error
< 0.04 %
Non-linearity
< 0.05 %
Noise Density
0.004 °/s/√Hz
Bandwidth
400 Hz

Magnetometers

Range (dynamic)
± 8 G
Scale Factor Stability
< 0.09 %
Cross-axis Alignment Error
< 0.05 °
Bandwidth
110 Hz
Initial Scaling Error
< 0.07 %
Non-linearity
< 0.08 %
Noise Density
210 uG/√Hz

Pressure

Range (dynamic)
30 to 125 kPa
Initial Bias
100 Pa
Bias Instability
10 Pa
Noise Density
0.56 Pa/√Hz

Documentation

Datasheet
24 September 2024 - V1.0
Rugged Reference Manual (Online)
Latest

Software

Certus Mini Manager

The Manager is the software provided for testing, configuration and logging with Certus Mini. Java 11 is required to run the application. Adoptium JRE 11 is the recommended Java installer. Please see the reference manual for more information.

20 Aug 2024 – V7.4

Certus Mini D SDK

The Certis Mini D SDK provides example source code for interfacing with Certus Mini D through the AN Packet Protocol. The languages provided are C/C++, Java, and .Net C#.

28 Aug 2024 – V7.3

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