Ekinox Subsea
– Hardware Manual
EKINOXSUBSEAHM.1.4
2.3. Orientation and Navigation Performance
All specifications are rated to 1
σ
, over -40°C to +75°C unless otherwise stated.
These specifications have been obtained by field tests, using typical mission scenarios and comparison to
reference units using post-processing. Outage performance validated by simulation of repeated, pure GNSS
outages, separated by at least 200s of optimal GNSS condition, compared to a reference RTK trajectory.
Performance parameters may be affected in multi-path and poor GNSS reception environments such as
Urban canyons.
For each application, we present the specified accuracies for the following positioning modes:
●
SP: Single Point mode and is the default L1 GPS fix quality
●
RTK: Real Time Kinematics with a typical 1 cm accuracy position
●
PP: Post Processed data using Inertial Explorer with at least Precise Point Positioning data
2.3.1. Common specifications
Performance
Remarks
Measurement range
360° in all axes, no mounting limitation
Solid state sensors
Orientation noise
< 0.03° RMS
Static
2.3.2. Orientation and navigation
All specifications are valid with dual antenna aiding for typical marine survey trajectories.
Outage
Duration
Positioning Mode
Position Accuracy
Velocity Accuracy
Attitude Accuracy (°)
Horizontal
Vertical
Horizontal
Vertical
Roll / Pitch
Heading
0 s
SP
1.20 m
2.0m
0.02 m/s
0.02 m/s
0.05°
0.1 (baseline > 2m)
0.05 (baseline > 4m)
RTK
0.01 m
0.02m
0.02 m/s
0.02 m/s
0.05°
PP
0.01 m
0.02 m
0.02°
0.04°
10 s
SP
2.0 m
3.0m
0.1 m/s
0.03 m/s
0.1°
0.15 (baseline > 2m)
0.1 (baseline > 4m)
RTK
0.35 m
0.15m
0.1 m/s
0.03 m/s
0.1°
PP
0.03 m
0.03 m
0.02°
0.05°
30 s
SP
5.5m
2.5 m
0.3m/s
0.5 m/s
0.15°
0.2(baseline > 2m)
0.15 (baseline > 4m)
RTK
4.0 m
0.5 m
0.3 m/s
0.05 m/s
0.15°
PP
1.5 m
0.5 m
0.04°
0.07°
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