Apogee Series
– Hardware Manual
APOGEEHM.1.5
2.2.2. External aiding sensors
The Apogee-A accepts a single external GNSS receiver connection to improve orientation performance.
The Apogee-E, N and D models accepts up to two external GNSS receivers to provide navigation data and
improve orientation performance In addition, a DVL or an odometer can be connected on Apogee-E/N/D as
velocity aiding inputs.
2.3. Orientation and Navigation Performance
All specifications are rated to 1-Sigma, over -20°C to +60°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 accuracy for the following positioning modes:
●
SP: Single Point mode and is the default L1/L2 GNSS fix quality
●
RTK: Real Time Kinematics with a typical 1 cm accuracy position
●
PPK: Post Processed data using Qinertia 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
< 0.002° RMS
Static conditions
2.3.2. Marine & Subsea applications
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
1.0
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
10 s
SP
1.2
1.1
0.03
0.015
0.01
0.03 (baseline > 2m)
0.02 (baseline > 4m)
RTK
0.17
0.1
0.02
0.015
0.008
PPK
0.03
0.02
0.015
0.01
0.005
0.015
60 s
SP
5.0
2.0
0.15
0.075
0.015
0.05 (baseline > 2m)
0.04 (baseline > 4m)
RTK
4.0
0.75
0.15
0.075
0.012
PPK
0.15
0.05
0.04
0.03
0.008
0.025
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