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GNSS Specifications #

Absolute Positioning
Accuracy	3 m (95 % CEP*)
Accuracy with SBAS DGPS	<1.8 m (95 % CEP*)
Accuracy with RTCM DGNSS Base Station	40 cm (95 % CEP*)
Accuracy with RTK Base Station	2 cm (95 % CEP*)
Update Rate	100 Hz
Height Accuracy	6 m (95% CEP*)
Height Accuracy with DGNSS	2 m (95% CEP*)

Heading
Resolution	0.01°
Update Rate	100 Hz

Time
Resolution	0.01 s
Accuracy	30 ns

Brake Stop Accuracy (Trigger Activated)
Accuracy	±1.8 cm**

* Circle of Error Probable (CEP): 95 % of the time the position readings will fall within a circle of the stated diameter

** Based on <50 m brake stop distance

	Gyroscopes (Angular rate sensors)	Accelerometers
Dynamic Range	± 450°/s	± 20 g
Nonlinearity	0.01 % of full scale	0.1 % of full scale
Resolution	16 bit ADC (0.014°/s)	16 bit ADC (0.15 mg)
Bandwidth	50 Hz	50 Hz
Noise Density	0.01°/s/√Hz	60 μg/√Hz
Bias stability	0.003°/s	15 μg
Bias repeatability (1 year)	0.2°/s	0.005 g

CAN Output
Output Data Rate	125 kbit/s, 250 kbit/s, 500 kbit/s and 1 Mbit/s selectable baud rate. Software controlled CAN termination.
Data Available	Outputs: Satellite count, time, position, speed, heading, body heading, height, vertical velocity, longitudinal acceleration, lateral acceleration, distance, IMU heading* , IMU roll angle* , IMU pitch angle* , X acceleration, Y acceleration, Z acceleration, pitch rate, roll rate, yaw rate, Robot heading with IMU enabled. with IMU enabled Results: Trigger event time, trigger speed, start speed, end speed, deceleration test time, lap time, split time, radius of turn.

CAN Output

Output Data Rate

125 kbit/s, 250 kbit/s, 500 kbit/s and 1 Mbit/s selectable baud rate. Software controlled CAN termination.

Data Available

Outputs: Satellite count, time, position, speed, heading, body heading, height, vertical velocity, longitudinal acceleration, lateral acceleration, distance, IMU heading* , IMU roll angle* , IMU pitch angle* , X acceleration, Y acceleration, Z acceleration, pitch rate, roll rate, yaw rate, Robot heading *with IMU enabled.

*with IMU enabled
Results: Trigger event time, trigger speed, start speed, end speed, deceleration test time, lap time, split time, radius of turn.

RS232 Output
Output Data RAte	Up to 100 Hz

Digital Output
Signal Levels	Low = 0 V, High = 5 V. Max. frequency 4.4 kHz
Output Type	Speed, 1 PPS or Lap Beacon

Digital Output

Signal Levels

Low = 0 V, High = 5 V.

Max. frequency 4.4 kHz

Output Type

Speed, 1 PPS or Lap Beacon

GNSS Antenna Supply
Supply Voltage	5 V DC

Input Power
Input Voltage Range	6.5 - 30 V DC
Power	7.5 W (maximum)

Digital Input
Input Function	Brake event trigger / track marker