Navigation Specifications

Specification Boreas D70 Boreas D90
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
Roll & Pitch Accuracy 0.01 ° 0.005 °
Roll & Pitch Accuracy (Kinematica post processing) 0.01 ° 0.005 °
Heading Accuracy with Dual GNSS (1.0 m antenna separation) 0.01 ° 0.006 °
Heading Accuracy without GNSS (Secant Latitude RMS) 0.1 ° 0.01 °
Heading Accuracy (Kinematica post processing) 0.01 ° 0.006 °
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 Navigation Specifications

Dual Antenna Heading Accuracy

Antenna Separation Boreas D70 Boreas D90
0.5 m 0.03 ° 0.01 °
1 m 0.01 ° 0.006 °
2 m 0.007 ° 0.005 °
5 m 0.006 ° 0.004 °
10 m 0.005 ° 0.003 °

Heading Accuracy based on Antenna Separation

Sensor Specifications

Boreas D70

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 D70 Sensor Specifications

Boreas D90

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 D90 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.

GNSS Specifications

Parameter Specification
Aries GNSS Receiver Trimble BD992 Receiver
Supported Navigation Systems GPS L1, L2
GLONASS L1, L2
Galileo E1, E5b
BeiDou B1, B2		 GPS L1, L2, L5
GLONASS L1, L2
Galileo E1, E5b, E5a 2
BeiDou B1, B2, B3 2
Supported SBAS Systems WAAS
EGNOS
MSAS
GAGAN
QZSS		 WAAS
EGNOS
MSAS
GAGAN
QZSS
Omnistar 1
Trimble RTX 1
RTCM Input Version 3.3 Version 3.2
Update Rate Up to 20 Hz 3 20 Hz
Hot Start First Fix 2 s 2 s
Cold Start First Fix 30 s 30 s
Horizontal Position Accuracy 1.2 m 1.2 m
Horizontal Position Accuracy (with SBAS) 0.5 m 0.5 m
Horizontal Position Accuracy (with RTK) 0.010 m 0.008 m 2
Velocity Accuracy 0.05 m/s 0.007 m/s
Timing Accuracy 20 ns 20 ns
Acceleration Limit 4 g 11 g

GNSS Specifications

1 Requires purchase of Omnistar or Trimble RTX subscription

2 Requires purchase of additional software license, see GNSS Receiver Licence Upgrades
3 See GNSS Configuration for update rate relevant to particular constellation configurations