Single Point   Positioning

plane

elevation

1.5m

2.5m

DGPS

plane

elevation

0.4m

0.8m

RTK

plane

elevation

0.8cm+1ppm

1.5cm+1ppm

First location time

cold start

Warm start

<30s

<15s

maximum data rate

GNSS raw observations

GNSS RTK positioning

INS integrated navigation solution

IMU raw data rate

Positioning information output

20Hz

20Hz

200Hz

200Hz

200Hz

directional accuracy

1m baseline

2m baseline

0.2°

0.1°

Timing accuracy (RMS)

Speed measurement accuracy (RMS)

Speed limit (RMS)

20ns

0.03m/s

300m/s

Observation accuracy (RMS)

BDS

GPS

GLONASS

Galileo

B1I/B1C/L1C/A/E1/G1 pseudo-range

10cm

10cm

10cm

10cm

B1I/B1C/L1 C/A/E1/G1 carrier phase

1mm

1mm

1mm

1mm

B2I/G2/L2P(Y)/L2C/E5b pseudo-range

10cm

10cm

10cm

10cm

B2I/B2a/B2b/L5/E5a/E5b carrier phase

1mm

1mm

1mm

1mm

B3I/L5/E5a/B2a pseudo-range

10cm

10cm

10cm

10cm

B3I/L5/E5a/B2a carrier phase

1mm

1mm

1mm

1mm

Roll/pitch/heading angle measurement range

Roll ±180°, pitch ±90°, heading angle 0~360°

Heading accuracy (with GNSS signal)

0.05° static, 0.1° dynamic (RMS)

Roll/pitch accuracy (with GNSS signal)

0.03° static, 0.1° dynamic (RMS)

GPS loss of lock accuracy

(Vehicle-mounted CEP)

Position drift (1km or 2 min)

<0.2%, with odometer combination

Heading drift (1 min)

<0.15°