iPRENA-M-H: replacement for Honeywell's obsolet MAPS / DRU navigation system

iPRENA-M-H: DRU / MAPS Replacement (RLG based INS/GNSS Solution)

Replacement for MAPS / DRU with modern sensor technology

The iPRENA-M-H is a high accurate advanced RLG based INS, being designed to provide a replacement for elder "modular azimuth and position systems" (MAPS) inertial navigation systems of type MAPS / DRU of several manufacturers. 

The iPRENA-M-H is based on iMAR's iNAT-RQH series, but provides the following interfaces of the MAPS / DRU:

  • enclosure
  • connectors
  • communication interface (support of dedicated commands)

Additionally, the iPRENA-M-H comes with additional interfaces like Ethernet and CAN and can include already a high performance GNSS receiver (up to RTK performance).

It consists of 3 high reliable, robust airborne grade ring laser gyro axes and 3 servo accelerometer axes, integrated GNSS Receiver (GPS, GLONASS, GALILEO, BEIDOU; SBAS), wheel sensor (VMS) interface and an advanced 42+ state extended Kalman filter based INS/GNSS/VMS data fusion.


  • Applications: GNSS aided navigation, free inertial Navigation (air, land, sea, subsea), VMS aided navigation (dead-reckoning), 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 and HDLC / SDLC) interfaces, CANaero / ARINC825 / CAN, ARINC429, Ethernet (TCP/IP and UDP), SYNC-I/Os
  • Data Output rate up to 300 Hz (each data log separately adjustable)
    (for 400 Hz data output or non-ITARversion see iPRENA-M-II, iPRENA-M-III, iPRENA-M-IV)
  • Measurement range +/-800 deg/s, +/-20 g
  • Heading accuracy 0.3 mil sec lat
    Attitude accuracy < 0.2 mil
    Position accuracy free inertial 0.5 nm/hr
    Position accuracy GNSS aided < 1 m (rms) [S/A off]
    Position accuracy GNSS aided 0.02 m (rms) [RTK available]
  • Bias over temperature 0.002 deg/h / 25 µg
    Noise / ARW 0.0012 deg/sqrt(hr) / 8 µg/sqrt(Hz)
    Bias stability (AV) < 0.001 °/hr, 10 µg @ const. temp.
  • Integrated 42+ state tightly or loosly coupled data fusion
  • Internally up to 32 GByte non-volatile memory for data storage
  • Power Supply: 10...32 V DC, < 25 W
  • EMI-EMC protection and qualification according to DO160G / MIL-STD-704F / MIL-STD-461G / MIL-STD-810G


Further information:

Datasheet iPRENA-M-H: Precision Navigation for Defense Applications (DRU / MAPS replacement)

Datasheet iPRENA-V: Precision Navigation for Defense Applications (0.2 mil sec lat; RLG)

Datasheet iPRENA-II...IV: Precision Navigation for Defense Applications (1 mil sec lat; RLG; non-ITAR)