|
Parameters |
Condition |
Value |
|
Solution latency |
- |
50 ms |
|
Horizontal position accuracy |
At maximum performance |
1.0 cm + 1 ppm |
|
Vertical position accuracy |
At maximum performance |
1.0 cm + 1 ppm |
|
Velocity accuracy |
- |
±0.1 m/s |
|
Velocity with GNSS signal |
Maximum operational |
500 m/s |
|
Velocity in GNSS outages |
Maximum operational |
20 m/s |
|
Attitude accuracy1 |
- |
< 0.4° |
|
Acquisition time2 |
Cold start Hot start/reacquisition Aided start |
25 s 2 s 2 s |
|
GNSS outage position offset3 |
Described as a percentage of distance travelled, without wheel speed data |
2%4 |
|
GNSS outage position offset3 |
Described as a percentage of distance travelled, with wheel speed data |
0.75%4 |
|
Velocity accuracy4 |
Average of GNSS outage and non-outage |
0.1 m/s |
The Vision Navigator module includes two multiband GNSS receivers. All four major GNSS constellations (GPS, GLONASS, Galileo and BeiDou) plus QZSS satellites can be received concurrently on both receivers. See the table below. The RTK positioning output is available when combining GNSS correction data and the received satellite signals.
|
GPS/QZSS |
L1C/A, L2C |
|
GLONASS |
L1OF, L2OF |
|
Galileo |
E1B/C, E5b |
|
BeiDou |
B1l, B2l |
|
SBAS |
L1C/A |
The Vision Navigator incorporates an inertial measurement unit (IMU) that combines a 3-axis gyroscope and 3-axis accelerometer. Their specifications are listed in the table below.
|
Parameter |
Value |
|
Gyroscope full scale range |
±2000 °/s |
|
Gyroscope sensitivity scale factor |
16.4 LSB/°/s |
|
Gyroscope noise density |
0.0028 °/s /√Hz |
|
Accelerometer full scale range |
±16 g |
|
Accelerometer sensitivity scale factor |
2048 LSB/g |
|
Accelerometer noise density |
65 µg/√Hz |
1 Setup with 1 meter antenna baseline.
2 All satellites at -130 dBm.
3 Position/heading offset with respect to distance travelled.
4 Average values taken from random datasets of thousands of kilometers of test data. This data is under the condition of a properly and rigidly mounted setup with proper initialization and calibration, as well as, very accurate extrinsics. Furthermore, this data assumes the camera has a good unobstructed view and the lighting conditions are sufficient for features to be apparent. The probability of an error below 5% is 99% with wheel speed and 98% without. The probability of an error below 2% is 98% with wheel speed and 79% without. The probability of an error below 1% is 78% with wheel speed and 52% without. These numbers assume a correct implementation of the sensor.