Navigation Specifications

Specification	Boreas A70	Boreas A90
Roll & Pitch Accuracy	0.01 °	0.005 °
Roll & Pitch Accuracy (Kinematica post processing)	0.01 °	0.005 °
Heading Accuracy without GNSS (Secant Latitude RMS)	0.1 °	0.01 °
Gyrocompassing Coarse Alignment	2 min	2 min
Gyrocompassing Fine Alignment (typical)	10 min	10 min
Heave Accuracy (whichever is greater)	2 % or 0.02 m	2 % or 0.02 m
Rotation Range	Unlimited	Unlimited
Hot Start Time	2 s	2 s
Internal Filter Rate	1000 Hz	1000 Hz
Output Data Rate	1000 Hz	1000 Hz

Boreas Orientation Specifications

Boreas can be upgraded to full INS capability through a software license upgrade. As an INS it can be interfaced to any of the leading brands of GNSS receivers to create an OEM GNSS/INS solution. When using a Trimble BD992 receiver, for example, the following specifications are achievable:

Specification	Boreas A70	Boreas A90
Horizontal Position Accuracy	1.2 m	1.2 m
Vertical Position Accuracy	2.0 m	2.0 m
Horizontal Position Accuracy (SBAS)	0.5 m	0.5 m
Vertical Position Accuracy (SBAS)	0.8 m	0.8 m
Horizontal Position Accuracy (with RTK or Kinematica Post Processing)	0.01 m	0.01 m
Vertical Position Accuracy (with RTK or Kinematica Post Processing)	0.015 m	0.015 m
Accuracy with Odometer without GNSS (% of distance travelled)	0.05%	0.01%
Accuracy with DVL without GNSS (% of distance travelled)	0.05%	0.01%
Velocity Accuracy	0.005 m/s	0.005 m/s
Heading Accuracy with Dual GNSS (1.0 m antenna separation)	0.01 °	0.006 °
Heading Accuracy (Kinematica post processing)	0.01 °	0.006 °

Boreas Navigation Specifications (with external GNSS)

Sensor Specifications

Boreas A70

Parameter	Accelerometers	Gyroscopes	Pressure
Range	± 15 g	± 490 °/s	10 to 130 kPa
Bias Instability	7 ug	0.01 °/hr	8 Pa
Initial Bias	< 100 ug	< 0.05 °/hr	< 50 Pa
Initial Scaling Error	340 ppm	100 ppm	-
Scale Factor Stability	150 ppm	20 ppm	-
Non-linearity	150 ppm	10 ppm	-
Cross-axis Alignment Error	< 0.001 °	< 0.001 °	-
Noise Density	40 ug/√Hz	0.3 °/h/√Hz	0.4 Pa/√Hz
Random Walk	23 mm/s/√hr VRW	0.005 °/√h ARW	-
Bandwidth	300 Hz	400 Hz	50 Hz

Boreas A70 Sensor Specifications

Boreas A90

Parameter	Accelerometers	Gyroscopes	Pressure
Range	± 15 g	± 490 °/s	10 to 130 kPa
Bias Instability	7 ug	0.001 °/hr	8 Pa
Initial Bias	< 100 ug	< 0.01 °/hr	< 50 Pa
Initial Scaling Error	340 ppm	80 ppm	-
Scale Factor Stability	100 ppm	10 ppm	-
Non-linearity	150 ppm	10 ppm	-
Cross-axis Alignment Error	< 0.001 °	< 0.001 °	-
Noise Density	30 ug/√Hz	0.06 °/h/√Hz	0.4 Pa/√Hz
Random Walk	17 mm/s/√hr VRW	0.001 °/√h ARW	-
Bandwidth	300 Hz	400 Hz	50 Hz

Boreas A90 Sensor Specifications

Note: Boreas sensors are calibrated for bias, sensitivity, misalignment, cross-axis sensitivity, non-linearity and gyroscope linear acceleration sensitivity across the full operating temperature range.