iCOMBANA-II: Combat Vehicle Navigation with Gyro Compassing Capability (dual-use equipment)

Low Weight Small Size FOG Based INS of class 0.1 °/h

iCOMBANA-II is a light weight small-size accurate fiber optic gyro (FOG) based INS of class 0.01 deg/hr (AllanVariance bias stability) and 0.1 deg/hr bias performace over full temperture range, consisting of 3 robust fiber optical gyros and 3 MEMS servo accelerometer axes, integrated GNSS receiver (GPS, GLONASS, GALILEO, BEIDOU), wheel sensor interface and an advanced 42+ state Kalman filter based INS/GNSS loosly or tightly coupled data fusion.


  • Applications: GNSS aided navigation (air, land, sea, subsea), attitude heading reference (AHRS), surveying, UAV, AUV and RPV guidance & control
  • Real-time data output: longitude, latitude, alttude / height, velocty, roll, pitch, yaw / heading, angular rates, acceleration, status, calibrated raw data INS/GNSS (for post-processing)
  • Interfaces: RS485 (UART) Interfaces, CANaero / ARINC825 / CAN, Ethernet (TCP/IP and UDP), ARINC429, SYNC-I/Os
  • Data output rate up to 500 Hz (each data log separately adjustable)
  • Integrated L1L2 GNSS Receiver, Interface to external wheel sensor to provide also full dead reckoning operation
  • Measurement range:
    +/-450 deg/s, +/-5 g
  • Inertial Sensor Performance:

    Heading accuracy:
    1 mils (rms) GNSS aided under sufficient motion
    7 mils sec lat (rms) by gyro compassing (alignment duration < 4 minutes)

    Attitude accuracy:
    < 0.5 mils (rms) GNSS aided
    < 1 mils (rms) w/o GNSS aiding

    Position accuracy:
    < 2 m (rms) GNSS aided [S/A off]
    < 0.15 % of distance travelled (CEP) during GNSS outages (with odometer aiding)

    Noise / ARW:
    0.01 deg/sqrt(hr) / 50 µg/sqrt(Hz)

    Bias stability (AV):
    < 0.01 °/hr, 0.05 mg @ const. temp.

  • Integrated 42+ state tightly or loosly coupled data fusion
  • Internally up to 32 GByte non-volatile memory for data storage
  • Connectors: MIL-C-38999 III type and TNC
  • Power Supply: 10...34 V DC, < 25 W
  • Weight: approx. 6.1 kg
  • Power supply and EMI-EMC protection qualified to MIL-STD-704F / MIL-STD-461G / MIL-STD-810G / DO160G
  • Modular system architecture: customized applications can be integrated by iMAR easily (please contact our sales for details). So the iCOMBANA-II can provide arbitrary data and command protocols according to customer requirement, e.g. to substitute other navigation systems by iCOMBANA-II (e.g. for Form-Fit-Function replacements)
  • iCOMBANA-II is not subject to any ITAR control


Further information:

Datasheet iCOMBANA-II for Combat Vehicles (0.38 deg sec lat gyro compassing)

Datasheet iCOMBANA-III for Combat Vehicles (L1L2 GNSS, dual antenna heading support)

Datasheet iCOMBANA-IV for Combat Vehicles (L1 GNSS, true-heading on-the-move alignment)

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