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BD935-INS
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Trimble BD935-INS

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  Trimble

Triple frequency receiver width integrated
intertial navigation system


Trimble BD935-INS

The Trimble BD935-INS module features a high accuracy, triple frequency GNSS receiver for precise position and an integrated MEMS inertial sensor package for 3-D orientation to serve applications requiring position and attitude. The GNSS + Inertial combination delivers more stability and robustness than GNSS alone.

Trimble BD935-INS

Key Features:

  • Onboard high accuracy inertial sensor package integrated with GNSS for precise position and orientation
  • 336 Channels for multi-constellation GNSS support
  • EMI shielded module
  • Compact design for mobile applications
  • Flexible RS232, USB and ethernet interfacing
  • Centimeter level position accuracy
  • Proven Trimble Maxwell technology



Trimble BD935-INS

GNSS and inertial tight integration

Taking advantage of Trimble’s expertize in both GNSS and Inertial technology the Trimble® BD935-INS module has been designed for applications requiring continuous centimeter accuracy in a compact package. By integrating inertial sensors on the same module, robust high accuracy positions are produced in all environments. A single intuitive web interface and interface protocol allows a variety of dynamic models to be supported. The GNSS components are fully shielded. This design ensures the high quality signals are protected from the sources of EMI on the host platform.

Multiconstellation GNSS

The Trimble BD935-INS supports both triple frequency for the GPS and GLONASS constellations plus dual frequency from BeiDou and Galileo. As the number of satellites in the constellations grows the BD935-INS is ready to take advantage of the additional signals. This delivers the quickest and most reliable RTK initializations for 1–2 centimeter positioning. For applications that do not require centimeter accuracy the BD935-INS integrated GNSS-Inertial engine delivers high accuracy GNSS, DGNSS positions in the most challenging environments such as urban canyons. Diff erent confi gurations of the module are available. These include everything from a DGPS L1 unit all the way to a four constellation triple frequency RTK unit. Choose the receiver that suits your application and price point. All features are password-upgradeable, allowing functionality to be upgraded as your requirements change. The receiver also supports Fault Detection and Exclusion (FDE) and Receiver. Autonomous Integrity Monitoring (RAIM) for safety-critical applications.

High performance integrated inertial sensors

The Trimble BD935-INS integrates the latest in precision inertial sensors in a compact package. With the BD935-INS you are buying a robust navigation solution, not just a GNSS receiver. Key features include:

  • High update rate position and orientation solutions
  • Continuous positioning in GNSS denied environments
  • Lever arm calculation from antenna to navigation point of interest
  • Robust Moving Baseline RTK for precision landing on moving platforms
  • Single antenna heading not infl uenced by magnetic fi eld variations

Flexible Interfacing

The Trimble BD935-INS was designed for easy integration and rugged dependability. Customers benefi t from the Ethernet connectivity available on the board, allowing high speed data transfer and confi guration via standard web browsers. USB and RS-232 are also supported. Just like other Trimble embedded technologies, easy to use software commands simplify integration and reduce development times.


TECHNICAL SPECIFICATIONS1

  • Advanced Trimble Maxwell GNSS-Inertial technology
  • Advanced MEMS inertial sensors
  • 336 Channels:
    • GPS: L1 C/A, L2E, L2C, L5
    • BeiDou B1, B2
    • GLONASS: L1 C/A, L2 C/A, L3 CDMA
    • Galileo2: E1, E5A, E5B, E5AltBOC2
    • QZSS: L1 C/A, L1 SAIF, L2C, L5
    • SBAS: L1 C/A, L5
  • High precision multiple correlator for GNSS pseudorange measurements
  • Unfiltered, unsmoothed pseudorange measurements data for low noise, low multipath error, low time domain correlation and high dynamic response
  • Very low noise GNSS carrier phase measurements with <1 mm precision in a 1 Hz bandwidth
  • Proven Trimble low elevation tracking technology
  • Up to 100 Hz position, roll, pitch and heading output
  • Reference outputs/inputs
    • CMR, CMR+, sCMRx, RTCM 2.1, 2.2, 2.3, 3.0, 3.112
  • Navigation outputs
    • ASCII: NMEA-0183 GSV, AVR, RMC, HDT, VGK, VHD, ROT, GGK, GGA, GSA, ZDA, VTG, GST, PJT, PJK, BPQ, GLL, GRS, GBS and Binary: Trimble GSOF
  • 1 Pulse Per Second Output
  • Event Marker Input Support
  • Supports Fault Detection & Exclusion (FDE), Receiver Autonomous Integrity Monitoring (RAIM)

COMMUNICATION

  • 1 USB 2.0 Device port
  • 1 LAN Ethernet port:
    • Supports links to 10BaseT/100BaseT auto-negotiate networks
    • All functions are performed through a single IP address simultaneously—including web GUI access and raw data streaming
    • Network Protocols supported
      • HTTP (web GUI)
      • NTP Server
      • NMEA, GSOF, CMR over TCP/IP or UDP
      • NTripCaster, NTripServer, NTripClient
      • mDNS/uPnP Service discovery
      • Dynamic DNS
      • eMail alerts
      • Network link to Google Earth
      • Support for external modems via PPP
  • 2 x RS232 ports
    • Baud rates up to 115,200
  • Control Software: HTML web browser, Internet Explorer, Firefox, Safari, Opera, Google Chrome

ORDERING INFORMATION

  • Module Part Number : 103428-XX
  • Module : Trimble BD935-INS GNSS available in a variety of
    configurations from L1 SBAS upwards
  • Evaluation Kit : Includes interface board, power supply

PERFORMANCE SPECIFICATIONS

  • Time to First Fix (TTFF)7
    • Cold Start8 : <45 seconds
    • Warm Start9 : <30 seconds
    • Signal Re-acquisition : <2 seconds
  • Velocity Accuracy3 , 4
    • Horizontal : 0.007 m/sec
    • Vertical : 0.020 m/sec
  • Inertial Sensors
    • Maximum acceleration : +/-6g
    • Maximum angular rate : +/-350 deg/sec
  • Maximum Operating Limits10
    • Velocity : 515 m/sec
    • Altitude 18,000 m

POSITIONING SPECIFICATIONS3

Trimble BD920
  • RTK initialization time3 : typically <1 minute
  • RTK initialization reliability3 : >99.9%

PHYSICAL AND ELECTRICAL CHARACTERISTICS

  • Size : 60 mm x 67 mm x 15 mm
  • Power : 5.5V DC to 30V DC
    Typical 3.5 W (L1/L2 GPS + L1/L2 GLONASS)
  • Weight : 60 grams
  • Connectors
    • I/O : 44 -pin header
    • Antenna : MMCX receptacle
  • Antenna LNA Power Input
    • Input voltage : 3.3 V DC to 5 V DC
    • Maximum current : 400 mA
  • Minimum required LNA Gain : 31.0 dB

ENVIRONMENTAL CHARACTERISTICS11

  • Temperature
    • Operating : –40 °C to +75 °C
    • Storage : –55 °C to +85 °C
  • Vibration : MIL810F, tailored
    Random 6.2 gRMS operating
    Random 8 gRMS survival
  • Mechanical shock : MIL810D
    ±40 g operating
    ±75 g survival
  • Operating Humidity : 5% to 95% R.H. non-condensing, at +60 °C

1Trimble BD935-ins is available in a variety of software configurations. Specifications shown reflect full capibility
2Developed under a License of the European Union and the European Space Agency
3May be affected by atmospheric conditions, signal multipath, and satellite geometry. Initialization reliability is continuously monitored to ensure highest quality
41 sigma level, when using Trimble Zephyr 2 antennas.
5At maximum output rate
6GPS only and depends on SBAS System performance. FAA WAAS accuracy specifications are <5 m 3DRMS
7Typical observed values.
8No previous satellite (ephemerides / almanac) or position (approximate position or time) information
9Ephemerides and last used position known
10As required by the U.S. Department of Commerce to comply with export licensing restrictions
11Dependent on appropriate mounting/enclosure design.
12Input only network correction



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