Sensor Specifications

Xsens Sirius series performance specifications
Xsens Sirius series sensor specifications

This section presents the performance and the sensor component specifications for the calibrated Sirius series products. Each product has passed the Xsens calibration process individually. The Xsens calibration procedure calibrates for many parameters, including bias (offset), alignment of the sensors with respect to the PCB and to each other, and gain (scale factor). All calibration values are temperature dependent and temperature calibrated. The calibration values are stored in the non-volatile memory of the module.

In addition, some calibration parameters are continuously improved and/or re-estimated through the on-board sensor fusion algorithms during normal operation of the product.

Xsens Sirius series performance specifications

Orientation performance specifications
Parameter	Condition	Xsens Sirius IMU	Xsens Sirius VRU	Xsens Sirius AHRS
Roll/Pitch*	Static [RMS]	N/A	0.2º	0.2º
Roll/Pitch*	Dynamic (car, 25m/s) [RMS]	N/A	0.25º	0.25º
Yaw*	Dynamic (car, 25m/s) [RMS]	N/A	Unreferenced	1º

* Orientation estimates also include Uncertainty output

Position and velocity performance specifications for Sirius GNSS/INS
Parameter	Condition	Specification	Dynamic (car, 25 m/s)
Position	Horizontal [CEP]	<1.0 m	<1.0 m
Position	Vertical [CEP]	2.0 m	2.0 m
Velocity	3D [RMS]	0.03 m/s	0.03 m/s

Position and velocity performance specifications for Sirius RTK GNSS/INS
Parameter	Condition	Specification	Dynamic (car, 25 m/s)
Position	Horizontal [CEP]	0.6 cm + 1 ppm*	0.6 cm + 1 ppm*
Position	Vertical [CEP]	0.6 cm + 1 ppm*	0.6 cm + 1 ppm*
Velocity	3D [RMS]	0.03 m/s	0.03 m/s

*1 ppm = 1 part per million, e.g. an additional 1 mm of error for every kilometer distance from the RTK base station.

Position accuracies are assuming proper GNSS reception/circumstances.

Xsens Sirius series sensor specifications

Sirius series gyroscope specifications
Gyroscope specification[1]	Unit	Value
Standard full range	[°/s]	±300
In-run bias stability	[°/h]	7
Bandwidth (-3dB)	[Hz]	400
Noise density	[°/s/√Hz]	0.003
g-sensitivity (calibrated)	[°/s/g]	0.08
Non-linearity	[%FS]	0.06
Scale Factor variation	[%]	0.5 (typical) 1.5 (over life)

Sirius series accelerometer specifications
Accelerometer[1]	Unit
Standard full range	[g]	±8
In-run bias stability	[µg]	15
Bandwidth (-3dB)	[Hz]	470
Noise density	[µg/√Hz]	15
Non-linearity	[%FS]	0.1

Sirius series magnetometer specifications
Magnetometer[1]	Unit
Standard full range	[G]	±8
Non-linearity	[%]	0.2
Total RMS noise	[mG]	1
Resolution	[mG]	0.25

Sirius series orthogonality specifications
Parameter[1]	Unit
on-orthogonality (accelerometer)	[°]	0.05
Non-orthogonality (gyroscope)	[°]	0.05
Non-orthogonality (magnetometer)	[°]	0.05

Sirius series barometer specifications
Parameter[1]	Unit
Full range	[hPa]	300 – 1250
Total RMS noise	[Pa]	1.2
Relative accuracy	[Pa]	±8

Sirius series GNSS receiver specifications
GNSS[1]		Unit	Value
Acquisition	Cold start	[s]	25
Acquisition	Hot start	[s]	2
Convergence time	RTK	[s]	< 7
Convergence time	PPP-RTK	[s]	< 40
Horizontal position accuracy Non-linearity	PVT	[m]	1.2
Horizontal position accuracy Non-linearity	RTK	[m]	0.006
Vertical position accuracy	PVT	[m]	2.0
Vertical position accuracy	RTK	[m]	0.01


GNSS System[1]	Signal	Frequency
GPS	L1C/A L2C L5	1575.420 MHz 1227.600 MHz 1176.450 MHz
Galileo	E1-B/C E5a E6	1575.420 MHz 1176.450 MHz 1278.750 MHz
Beidou	B1I B1C B2a B3I	1561.098 MHz 1575.420 MHz 1176.450 MHz 1268.520 MHz
QZSS	L1C/A, L1C/B L2C L5	1575.420 MHz 1227.600 MHz 1176.450 MHz
NavIC	L1-SPS Data L5-SPS	1575.420 MHz 1176.450 MHz

[1] As Xsens continues to update the sensors on the module, these specifications are subject to change.