Trimble BD940-INS

La fiche produit est en anglais pour respecter les données du fabricant.

Key Features:

• Trimble Maxwell 7 Technology
• Onboard high accuracy inertial sensor package integrated with GNSS for precise position and orientation
• 336 Channels for multi-constellation GNSS support
• OmniSTAR/RTX Support
• EMI shielded module
• Compact design for mobile applications
• Flexible RS232, USB and Ethernet interfacing
• Centimeter level position accuracy
• Advanced RF Spectrum Monitoring

GNSS and inertial tight intergration

Taking advantage of Trimble’s expertize in both GNSS and Inertial technology the Trimble® BD940-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.

The GNSS components are fully shielded. This design ensures the high quality signals are protected from the sources of EMI on the host platform.

Multi constellation GNSS

The Trimble BD940-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 BD940-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 BD940-INS integrated GNSS Inertial engine delivers high accuracy GNSS, DGNSS positions in the most challenging environments such as urban canyons. Different configurations 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.

With the option of utilizing OmniSTAR or RTX services, the BD940-INS delivers varying levels of performance down to centimeter-level without the use of a base station.

High performance integrated inertial sensors

The Trimble BD940-INS integrates the latest in precision inertial sensors in a compact package. With the BD940-INS you are buying a robust navigation solution, not just a GNSS receiver.
Key feature 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 influenced by magnetic field variations

Flexible Interfacing

The Trimble BD940-INS was designed for easy integration and rugged dependability. Customers benefit from the Ethernet connectivity available on the board, allowing high speed data transfer and configuration 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. An intuitive 3D interactive graphical web page allows easy input of lever arms. Dynamic and graphic models for various vehicle types can also be selected.

Les caractéristiques produits sont en anglais pour respecter les données du fournisseur.

Technical specifications¹

• Trimble Maxwell 7 Technology
• On-board Advanced MEMS inertial sensors
• 336 Tracking Channels:
  • GPS: L1 C/A, L2E, L2C, L5
  • BeiDou: B1, B2
  • GLONASS: L1 C/A, L2 C/A, L3 CDMA¹³
  • Galileo²: E1, E5A, E5B, E5AltBOC
  • IRNSS: L5
  • QZSS: L1 C/A, L1 SAIF, L2C, L5, LEX
  • SBAS: L1 C/A, L5
• High precision multiple correlator for GNSS pseudorange measurements
• Trimble Everest Plus multipath mitigation
• 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
• Reference outputs/inputs
  • CMR, CMR+, sCMRx, RTCM 2.1, 2.2, 2.3, 3.0, 3.1¹², 3.2
• 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, NMEA2000
• 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
    • RDNIS Support
• 2 x RS232 ports
  • Baud rates up to 230,400
• Control Software: HTML web browser, Internet Explorer, Firefox, Safari, Opera, Google Chrome

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Performance specifications

• Time to First Fix (TTFF)⁷
  • Cold Start⁸ : <45 seconds
  • Warm Start⁹ : <30 seconds
  • Signal Re-acquisition : <2 seconds
• Velocity Accuracy^{3 , 4}
  • Horizontal : 0.007 m/sec
  • Vertical : 0.020 m/sec
• Maximum acceleration GNSS Tracking : +/- 11g
• Inertial Sensors
• Maximum acceleration : ±6g
• Maximum angular rate : ±350 deg/sec
• Maximum Operating Limits¹⁰
  • Velocity : 515 m/sec
  • Altitude 18,000 m
• RTK initialization time³ : typically <8 seconds
• RTK initialization reliability³ : >99.9%
• Position Latency⁵ : <20ms

Physical and electrical characteristics

• Size : 60 mm x 67 mm x 15 mm
• Power : 5.5V DC TO 30V DC
  Typical 2.0 W (L1/L2 GPS + L1/L2 GLONASS)
• Weight : 60 grams
• Connectors
  • I/O : 44 pin header
  • GNSS 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 : 32.0 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 10ms perating
  ±75 g 6ms survival
• Operating Humidity : 5% to 95% R.H. non-condensing, at +60 °C

¹ Trimble BD940-INS is available in a variety of software configurations. Specifications shown reflect full capability.
² Developed under a License of the European Union and the European Space Agency.
³ May be affected by atmospheric conditions, signal multipath, and satellite geometry. Initialization reliability is continuously monitored to ensure highest quality.
⁴ 1 sigma level, when using Trimble Zephyr 2/3 antennas, add 1 ppm for RTK position accuracies. Heading accuracy is after dynamic alignment and during motion. Performance may be reduced with long stationary or hovering periods.
⁵ At maximum output rate.
⁶ GPS only and depends on SBAS System performance. FAA WAAS accuracy specifications are <5 m 3DRMS.
⁷ Typical observed values.
⁸ No previous satellite (ephemerides / almanac) or position (approximate position or time) information.
⁹ Ephemerides and last used position known
¹⁰ As required by the U.S. Department of Commerce to comply with export licensing restrictions.
¹¹ Dependent on appropriate mounting/enclosure design.
¹² Input only network correction
¹³ There is no public GLONASS L3 CDMA. The current capability in the receivers is based on publicly available information. As such, Trimble cannot guarantee that these receivers will be fully compatible.
¹⁴ Trimble RTX and OmniSTAR accuracies depend on correction service chosen. Trimble CenterPoint RTX provides
<4cm horizontal accuracy 95% of the time with initializations of less than 30 minutes.
¹⁵ Also available in configurations with RTK accuracies limited to 10 and 30 centimeters.