iCOMBANA-IV: Combat Vehicle Navigation (not export controlled)

Light Weight Small Size FOG Based INS with Dynamic on-the-move Heading Alignment

iCOMBANA-IV is a light weight (only 2 kg) small-size fiber optic gyro (FOG) based INS of class 0.5 deg/hr AllanVariance bias stability and 5 deg/hr performace over full temperture range. The system consists of 3 robust fiber optical gyros and 3 MEMS servo accelerometer axes, an integrated GNSS receiver (L1 GPS & GLONASS; SBAS EGNOS & QZSS) for heading determination under motion where sufficient GNSS coverage is given, a wheel sensor interface and an advanced 42+ state Kalman filter based INS/GNSS loosly or tightly coupled data fusion to obtain the navigation results.

For the system the iXCOM-CMD software (GUI) is available for configuration and operation. A software development kit (SDK) is available to integrate the iCOMBANA directly into the user's application. 


  • Applications: GNSS aided Navigation (air, land, sea), 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: RS422 (UART) Interfaces, CANaero / ARINC825 / CAN, Ethernet (TCP/IP and UDP), SYNC-I/Os
  • Integrated GNSS engine (L1 GPS+GLONASS, SBAS), interface to external wheel sensor with full dead-reckoning support
  • Data output rate up to 500 Hz (each data log separately adjustable)
  • Measurement range:
    +/-450 deg/s, +/-10 g
  • Inertial Sensor Performance:

    Heading accuracy:
    < 2 mils (GNSS aided, vehicke under sufficient motion)

    Attitude accuracy:
    < 1 mil (GNSS aided

    Position accuracy: 
    < 2 m (rms) [S/A off]   GNSS aided
    < 0.3 % of distance travelled (CEP) during short GNSS outages

    Noise / ARW:
    0.3 deg/sqrt(hr) / 100 µg/sqrt(Hz)

    Bias stability (AV):
    < 0.5 °/hr, 0.1 mg @ const. temp.
  • Integrated 42+ state tightly or loosly coupled INS/GNSS/ODO based 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, < 16 W
  • Weight: approx. 2.2 kg
  • Power supply and EMI-EMC protection qualified to MIL-STD-704F / MIL-STD-461G / MIL-STD-810G
  • Modular system architecture: custom applications can be integrated by iMAR easily (please contact our sales department for details). So the iCOMBANA-IV can provide arbitrary data and command protocols according to customer requirement, e.g. to substitute other navigation systems by iCOMBANA-IV (e.g. for Form-Fit-Function replacements)
  • iCOMBANA-IV is neither subject of ITAR control nor of any German export 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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