SBG Systems Apogee Surface Series, User Manual

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Apogee Series – Hardware Manual APOGEEHM.1.5
2.3.2.1. Heave performance
Real Time Heave Delayed Heave (ShipMotionHP) Remark
Range 50 meters 50 meters
Automatic adjustment to every sea conditions
Period 0 to 20 s 0 to 40 s
Accuracy 5 cm or 5% 2 cm or 2 % Whichever is greater; Velocity aided heave
Mode Real time, auto tuning Fixed 150s delay On board computation
2.3.3. Land applications
All specifications are valid with DMI (odometer) aiding for typical land mapping trajectories.
Outage
Duration
Positioning Mode
Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical Roll / Pitch Heading
No Outage
SP 1.0 1.0 0.02 0.01 0.01 0.03
RTK 0.01 + 1ppm 0.02 + 1ppm 0.01 0.01 0.008 0.02
PPK 0.01 + 1ppm 0.02 + 1ppm 0.01 0.01 0.005 0.01
10 s
SP 1.1 1.0 0.03 0.02 0.01 0.04
RTK 0.05 0.05 0.02 0.02 0.008 0.03
PPK 0.02 0.02 0.015 0.01 0.005 0.015
60 s / 1km
SP 1.5 1.3 0.03 0.02 0.015 0.06
RTK 0.5 0.3 0.02 0.02 0.012 0.06
PPK 0.1 0.05 0.02 0.015 0.008 0.025
2.3.4. Airborne applications
All specifications are valid with dual antenna aiding for typical aerial survey trajectories.
Positioning Mode
Position Accuracy Velocity Accuracy Attitude Accuracy (°)
Horizontal Vertical Horizontal Vertical Roll / Pitch Heading
SP 1.0 1.0 0.02 0.01 0.01
0.02 (baseline > 2m)
0.01 (baseline > 4m) RTK 0.01+ 1ppm 0.02 + 1ppm 0.01 0.01 0.008
PPK 0.01 + 1ppm 0.02 + 1ppm 0.01 0.01 0.005 0.01
2.3.5. Real time Performance monitoring
The Extended Kalman filter provides feedback about its performance. The following validity levels
thresholds are defined for the Apogee series:
Threshold Comments
Attitude Valid 0.3° / 0.025° AHRS / Normal INS mode
Heading Valid 0.5° / 0.08° AHRS / Normal INS mode
Velocity Valid 0.2m/s Total velocity error (3D)
Position Valid 1m Total position error (3D)
Note: The thresholds are less accurate in AHRS mode, when there is no GNSS aiding available. Full
performance can be reached with GNSS aiding.
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