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Bynav Technology X1-3 GNSS/INS Integrated Navigation RTK GPS Aided IMU

Dual Antenna Positioning and Heading RTK

X1 is a highly integrated GNSS/INS high-precision navigation system that adopts the absolute accuracy of GNSS positioning and the stability of Inertial Measurement Unit (IMU) gyro and accelerometer measurements are tightly coupled to provide real-time navigation results such as centimeter position, velocity, and 3D attitude etc.

  • Bynav Technology X1-3 GNSS/INS Integrated Navigation RTK GPS Aided IMU
Bynav Technology
CEC Software Park Building 1-A306, Jianshan Road
410205 Changsha
China
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Description

FEATURES
» Tightly coupled GNSS+INS navigation engine
» Built-in high precision positioning and heading board
» Built-in IMU module
» Enhanced connection options including serial, CAN and Ethernet
» Multi-vector RTK positioning engine
» All-constellation, multi-frequency RTK positioning solution
» Support modern signal systems such as BD-3 and Galileo
» Support GNSS/IMU raw Measurements and post processing
» Low latency

 

Plug-and-play easy integration: X1 provides EVENT and 1PPS to synchronize external sensors such as Lidar, Camera, Odometer and IMU, as well as CAN interface to communicate with automotive platform under CAN protocol (J1939 and NMEA2000).

High precision and stability: modeled and optimized based on dynamic vehicle applications, X1 can provide 2cm RTK positioning accuray as well as output raw data in 1cm accuracy.

Horizontal Accuracy

Single Point

1.5m

RTK

1cm + 1ppm

Vertical Accuracy

Single Point

2.5m

RTK

1.5cm + 1ppm

Signal Tracking

GPS

L1 C/A, L2C, L2P, L5*

GLONASS

G1,G2

BDS

B1I,B2I

BDS-3

B1C, B1C*,B2a*

Galileo

E1,E5b

QZSS

L1 C/A,L2C, L5*

NavIC(IRNSS)

L5*

Time to First Fix

Cold start

≤ 45s

Hot start

≤ 30s

Maximum Data Rate

GNSS measurement

10Hz/50Hz*

RTK position

Max 10Hz

INS position/attitude

100Hz/125Hz**

IMU raw data rate

100Hz/125Hz**

Time Accuracy

20ns RMS

Velocity Accuracy

0.03m/s RMS

Heading Accuracy

baseline = 2m

0.08°

baseline = 4m

0.05°

Velocity Limit

300m/s

Acceleration Limit

4g

 

Model

Outage Duration

Positioning Mode

Position Accuracy(m) RMS

Velocity Accuracy(m/s) RMS

Attitude Accuracy(Degree) RMS

Horizontal

Vertical

Horizontal

Vertical

Roll

Pitch

Azimuth

X1-3

0s

RTK

0.01

0.02

0.030

0.035

0.040

0.040

0.120

PP

0.01

0.02

0.020

0.020

0.012

0.012

0.050

10s

RTK

0.30

0.25

0.080

0.090

0.060

0.060

0.180

PP

0.01

0.02

0.025

0.025

0.016

0.016

0.080

 

Module

Parameter

X1-3

Gyroscope

Range

± 500deg/s

Rate Bias Repeatability

0.7deg/s
(2 deg/s Y axis)

Rate Bias Stability

2.5deg/hr

Angular Random Walk

0.15deg/Öhr
(0.2deg/Öhr Z axis)

Accelerometer

Range

± 8g

Rate Bias Repeatability

-

Rate Bias Stability

3.6mg

Velocity Random Walk

0.012m/s/Öhr

IMU

Raw Data Output Frequency

100Hz

Specifications

  • Type
    Aerial, Land, Marine
  • Year of initial introduction
    2020
  • Height [m]
    0.116
  • Depth [m]
    0.0386
  • Width [m]
    0.1142
  • Total Weight [kg]
    0.027
  • Housing Material
    aluminium
  • Operating power: min. [V]
    9
  • Operating power: max. [V]
    35
  • Typical consumption [W]
    3.6
  • Certifications
    ROHS, CE, FCC
  • Direct car connection cable available
    Yes
  • Connectors
    Serial, Ethernet, CAN, PPS, EVENT, Power, etc
  • Operating temperature: min. [°C]
    -40
  • Operating temperature: max. [°C]
    85
  • Humidity resistance
    95% Non Condensing
  • Water sand and dust proof
    IP67
  • Shock and vibration proof
    GJB 150.16A-2009 GB/T 2423.10—1995
  • ROHS compliance
    Y
  • Tracked satellite signals
    GPS-L1 C/A, L2C, L2P ; GLONASS-G1,G2; BDS-B1I,B2I; BDS-3 B1C, B2a ; Galileo-E1, E5b QZSS-L1 C/A, L2C; NavIC(IRNSS)-L5
  • Type of measurements
    C/A code; P code; C code
  • Reacqisition time [s]
    <1
  • RTK Network Compatibility
    Y
  • Communication ports
    2 RS-232, 1 Ethernet, 1 CAN Bus, 1 Event output, 1 PPS output
  • Simultaneous links
    Y
  • PPS Out
    Y
  • RTCM standards for differential data
    RTCM 3.X
  • NMEA output format
    NMEA-0183
  • other output formats
    NMEA 2000, J1939, CAN message
  • Configuration method
    PC software; web interface

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