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Athena 111m Integrated Flight Control System
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Athena 111m Integrated Flight Control System

Overview

Unmanned vehicles require high-performance, robust flight control technology. The Athena 111m leverages the patented Rockwell Collins Feedback LTI'zation design technology to provide robust flight control algorithms applicable to a wide range of vehicles, including fixed-wing, ducted-fan and rotorcraft systems.

Offering you a lower unit cost to accommodate smaller unmanned systems, the integrated system of the Athena 111m performs three functions. First, it incorporates a sensor suite that provides a full attitude, navigation and air data solution for use in vehicle flight-state measurement and control. Second, it has an onboard processor that runs the algorithms necessary to provide this data and fully execute vehicle flight-control functions. Finally, it is equipped with a range of signal input/output capabilities that enable it to integrate with aircraft systems.

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GS Customer Support
800-321-2223
319-295-5100 Email

Features & Benefits
Specifications
Typical System
Related Documents
Training
Services & Support

Key Features & Benefits
  • Features GPS/INS navigation solution integrated with state-of-the art multi-input/multi-output flight control laws
  • Provides control modes that include airspeed, altitude, climb rate, angle of attack, sideslip, 3-D auto navigation and auto takeoff/landing
  • Uses highly reliable solid-state sensors, including accelerometers, rate gyros, magnetometer, air data pressure, AoA and sideslip sensors, along with a differential-ready, WAAS-enabled GPS receiver for a full INS/GPS navigation solution
  • 100 Hz INS/GPS solution providing full attitude, navigation and air data information.
  • Includes power-up built-in test and continuous built-in test capabilities for residual data monitoring
  • On-board wind estimate
  • Dead reckoning
  • Onboard data logging
  • Ability to upgrade software in the field
  • Ability to select the air data ranges when you purchase the unit
  • Auto-magnetometer mount compensation
  • Warm-boot/nonvolatile memory
  • 32 MB disk-on-chip (DOC) data storage
Make a selection:
> Performance
> Physical Specs
> Power
> Environmental
INS/GPS Performance:  
Update Rate  100Hz
Start-up Time  10 seconds (initial attitude); 1 minute (full alignment) 
Altitude Range -304.8 m to 15,240 m (-1,000 ft to 50,000 ft)
Attitude Accuracy 0.3 degrees (1 sigma)
Altitude Accuracy 13.7 m (45 ft) at sea level, < 61 m (200 ft) at 12,192 m (40,000 ft) altitude
Lat/Long Position Accuracy GPS C/A Code; differential-ready, WAAS enabled
GPS Antenna Power 5V
Airspeed Accuracy < 2 knots @ 40 knots, < 1 knot @ 60 knots
Max Airspeed 120 knots standard/up to 650 knots optional
Angle of Attack Range ± 0.139 rad at max airspeed (± 8 deg)
Angle of Sideslip Range ± 0.139 rad at max airspeed (± 8 deg)
IMU Performance:  
Maximum Angular Rates  ± 3.49 rad (± 200 deg/s) 
Maximum g Range  ± 8 g
Attitude Heading Accuracy (1 Sigma) with GPS:
Pitch/Roll Accuracy  .0017 rad (0.1 deg)
Heading Accuracy  .0087 rad (0.5 deg)¹
Extended GPS Outage (1 Sigma):  
Pitch/Roll Accuracy  .0087 rad (0.5 deg)¹
Heading Accuracy  .0174 rad (1 deg)¹
Input/Output:
PWM Input (10) channels
PWM Output (10) channels
Discrete Inputs (4)
Discrete Outputs (5)
Serial Connections RS-422 INS (baud: 115.2 kb/s)
Bus I/O CAN bus (2); SPI bus
Position and Velocity Accuracies with GPS Aiding:
Horizontal velocity accuracy2  0.1 m/sec rms in each direction
Vertical velocity accuracy2 0.15 m/sec rms
Horizontal position accuracy2 2.5 m CEP3 typical standalone; 2.0 m CEP typical with SBAS or local area DGPS4
3D position accuracy2 5.0 m SEP5 typical standalone; 3.0 m SEP typical with SBAS or local area DGPS4
¹Using an adequate external magnetic field measurement
2When operating with GPS aiding (in modes 1, 2 or 5) from a C/A code receiver
3CEP = Circular Error Probable; the radius of a horizontal circle, centered at the antenna’s true position, containing 50% of the fixes
4Depends on the accuracy of the correction data of the DPGS or SBAS service
5SEP = Spherical Error Probable; the radius of the sphere, centered at the true position, contains 50% of the fixes
Size 9.9 x 6.6 x 4.06 cm (3.9 x 2.6 x 1.6 in)
Weight 249 grams (0.55 lb)
Enclosure Aluminum
Power 4.5 W (nominal) @ 9-18 VDC; 18-36 VDC optional
The 111m can be configured to operate over two ranges of input power. The standard configuration is designed to work in a 12 V power system and can operate at input voltages of 9 to 18 VDC. Optionally, the 111m can be configured to operate in a 28 V power system. In this configuration, the system can be operated over the range of 18 to 36 VDC. In either configuration, the power consumption of the 111m is 4.5 W.
Operating Temperature -40 to 70 deg C
Non-Operating Temperature -54 to 85 deg C
Operating Vibration/Shock MIL-STD-810
Humidity 95% RH non-condensing
INS/GPS Performance:  
Update Rate  100Hz
Start-up Time  10 seconds (initial attitude); 1 minute (full alignment) 
Altitude Range -304.8 m to 15,240 m (-1,000 ft to 50,000 ft)
Attitude Accuracy 0.3 degrees (1 sigma)
Altitude Accuracy 13.7 m (45 ft) at sea level, < 61 m (200 ft) at 12,192 m (40,000 ft) altitude
Lat/Long Position Accuracy GPS C/A Code; differential-ready, WAAS enabled
GPS Antenna Power 5V
Airspeed Accuracy < 2 knots @ 40 knots, < 1 knot @ 60 knots
Max Airspeed 120 knots standard/up to 650 knots optional
Angle of Attack Range ± 0.139 rad at max airspeed (± 8 deg)
Angle of Sideslip Range ± 0.139 rad at max airspeed (± 8 deg)
IMU Performance:  
Maximum Angular Rates  ± 3.49 rad (± 200 deg/s) 
Maximum g Range  ± 8 g
Attitude Heading Accuracy (1 Sigma) with GPS:
Pitch/Roll Accuracy  .0017 rad (0.1 deg)
Heading Accuracy  .0087 rad (0.5 deg)¹
Extended GPS Outage (1 Sigma):  
Pitch/Roll Accuracy  .0087 rad (0.5 deg)¹
Heading Accuracy  .0174 rad (1 deg)¹
Input/Output:
PWM Input (10) channels
PWM Output (10) channels
Discrete Inputs (4)
Discrete Outputs (5)
Serial Connections RS-422 INS (baud: 115.2 kb/s)
Bus I/O CAN bus (2); SPI bus
Position and Velocity Accuracies with GPS Aiding:
Horizontal velocity accuracy2  0.1 m/sec rms in each direction
Vertical velocity accuracy2 0.15 m/sec rms
Horizontal position accuracy2 2.5 m CEP3 typical standalone; 2.0 m CEP typical with SBAS or local area DGPS4
3D position accuracy2 5.0 m SEP5 typical standalone; 3.0 m SEP typical with SBAS or local area DGPS4
¹Using an adequate external magnetic field measurement
2When operating with GPS aiding (in modes 1, 2 or 5) from a C/A code receiver
3CEP = Circular Error Probable; the radius of a horizontal circle, centered at the antenna’s true position, containing 50% of the fixes
4Depends on the accuracy of the correction data of the DPGS or SBAS service
5SEP = Spherical Error Probable; the radius of the sphere, centered at the true position, contains 50% of the fixes
Size 9.9 x 6.6 x 4.06 cm (3.9 x 2.6 x 1.6 in)
Weight 249 grams (0.55 lb)
Enclosure Aluminum
Power 4.5 W (nominal) @ 9-18 VDC; 18-36 VDC optional
The 111m can be configured to operate over two ranges of input power. The standard configuration is designed to work in a 12 V power system and can operate at input voltages of 9 to 18 VDC. Optionally, the 111m can be configured to operate in a 28 V power system. In this configuration, the system can be operated over the range of 18 to 36 VDC. In either configuration, the power consumption of the 111m is 4.5 W.
Operating Temperature -40 to 70 deg C
Non-Operating Temperature -54 to 85 deg C
Operating Vibration/Shock MIL-STD-810
Humidity 95% RH non-condensing

Type

Part Number

Athena 111m

GS111m-201-000

GPS antenna

172-00008-000

Harness

178-00003-000

User's Manual 523-0020171-001 is available upon request

We offer a wide range of training courses suitable for both individuals and groups. These courses can be aimed at varying levels from basic user operation to complex fault finding. Field service engineers can visit your facility to conduct training courses.

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> Tailored Services
> Maintenance & Repair
> Spares & Parts
Dedicated Field Service Engineers are there to respond to your support requirements. If technical assistance is needed, troubleshooting and on-site support are available to meet your needs. Contact a representative

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