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Performance Specifications
This chapter describes all sensors and navigation system performance specifications.
Note
Performance specifications are specified in RMS unless otherwise stated.
Inertial Measurement Unit specifications
Stellar-40 integrates a MEMS-based tactical grade Inertial Measurement Unit (IMU). Designed by SBG Systems, this IMU benefits from a full temperature range compensation to ensure optimal performance in all applications. The IMU also delivers a consistent performance in challenging vibration conditions.
| Parameter | Gyroscope specification | Accelerometer specification |
|---|---|---|
| Sensor range | ±490 °/s | ±40 g |
Random walk | 0.08 °/√h | 0.02 m/s/√h |
| In run bias Instability | 0.6 °/h | 6 µg |
Magnetometer specifications
A set of three Anisotropic Magneto-resistive magnetometers is embedded within the all the Stellar-40. This technology provides a very high sensitivity. Although part of the Stellar-40 internal IMU, the magnetometer is in fact considered as an "aiding sensor" and is not mandatory for proper operation. Its main use case is for heading initialization in single antenna before dynamics.
| Specifications | Remarks | |
|---|---|---|
| Full scale (Gauss) | 50 | |
| Scale factor stability (%) | 0.5 | |
| Noise (mGauss) | 3 | Over 1 to 25 Hz band |
| Bias stability (mGauss) | 1 | |
| Bandwidth (Hz) | 22 | -3dB attenuation |
| Resolution (mGauss) | 1.5 | |
| Sampling rate (Hz) | 100 | |
| Orthogonality (°) | 0.1 | After user magnetic calibration |
GNSS receiver specifications
| Item | Specification | Remarks / condition |
|---|---|---|
| Signal tracking |
| Simultaneous tracking of all signals and constellations |
| Horizontal position accuracy | Single point: 1.2m SBAS: 0.6m DGNSS: 0.4m HAS: 0.1m RTK : 0.6cm + 0.5 ppm | |
| Velocity accuracy | 0.03 m/s | |
| Dual antenna heading accuracy | 0.15° | 1m baseline |
| 0.03° | 5m baseline | |
| Time to first fix | Cold start < 35s | |
| Warm start < 10s | ||
| Re-acquisition 1s | ||
| Output frequency | 5Hz PVT | |
| 5Hz RAW measurements | ||
| Differential corrections input | RTCM V3.x, NTRIP | RTCM Sent on any serial port |
Note
GNSS performance depends on atmospheric conditions, baseline length, GNSS antenna, multipath conditions, satellite visibility and geometry
Navigation & orientation performance specifications
Land performance specifications
Typical performance with odometer aiding.
Valid in single or dual antenna.
| GNSS outage | Positioning mode | Position accuracy (m) | Velocity Accuracy (m/s) | Attitude accuracy (°) | |||
|---|---|---|---|---|---|---|---|
| Horizontal | Vertical | Horizontal | Vertical | Roll / pitch | Heading | ||
| No Outage | SP | 1.2 | 1.5 | 0.05 | 0.05 | 0.02 | 0.08 |
| RTK | 0.01 + 0.5ppm | 0.015 + 1ppm | 0.02 | 0.02 | 0.015 | 0.05 | |
| PPK | 0.01 + 0.5ppm | 0.015 + 1ppm | 0.01 | 0.01 | 0.01 | 0.03 | |
| 10s* | SP | 1.5 | 1.6 | 0.06 | 0.06 | 0.03 | 0.1 |
| RTK | 0.15 | 0.15 | 0.05 | 0.05 | 0.02 | 0.08 | |
| PPK | 0.03 | 0.03 | 0.015 | 0.015 | 0.015 | 0.035 | |
| 60s* | SP | 4 | 2.5 | 0.1 | 0.1 | 0.08 | 0.2 |
| RTK | 3 | 0.75 | 0.1 | 0.1 | 0.08 | 0.15 | |
| PPK | 0.4 | 0.1 | 0.03 | 0.03 | 0.04 | 0.08 | |
* For performance during longer GNSS outages refer to the dead reckoning specification below.
Airborne performance
Typical performance in airborne conditions with a good GNSS reception.
Heading performance may depend on dynamic conditions (single antenna), or on baseline for dual antenna.
| Positioning mode | Position accuracy (m) | Velocity Accuracy (m/s) | Attitude accuracy (°) | |||
|---|---|---|---|---|---|---|
| Horizontal | Vertical | Horizontal | Vertical | Roll / pitch | Heading | |
| SP | 1.2 | 1.5 | 0.05 | 0.05 | 0.02 | 0.1 (UAV, single antenna) 0.1 (dual antenna, baseline >1m) 0.06 (dual antenna, baseline >2m) |
| RTK | 0.01 + 1ppm | 0.015 + 1ppm | 0.02 | 0.02 | 0.015 | |
| PPK | 0.01 + 1ppm | 0.015 + 1ppm | 0.01 | 0.01 | 0.01 | 0.035 |
For performance during long GNSS outages in aerial application, refer to the dead reckoning specification below.
Marine / Low dynamic performance specifications
Typical performance in marine and lower dynamics applications, with dual antenna heading.
| GNSS outage | Positioning mode | Position accuracy (m) | Velocity Accuracy (m/s) | Attitude accuracy (°) | |||
|---|---|---|---|---|---|---|---|
| Horizontal | Vertical | Horizontal | Vertical | Roll / pitch | Heading | ||
| No Outage | SP | 1.2 | 1.5 | 0.05 | 0.05 | 0.02 | 0.2 (baseline > 0.5m) 0.1 (baseline > 1m) 0.06 (baseline > 2m) |
| RTK | 0.01 + 1ppm | 0.015 + 1ppm | 0.02 | 0.02 | 0.015 | ||
| PPK | 0.01 + 1ppm | 0.015 + 1ppm | 0.01 | 0.01 | 0.01 | 0.05 | |
| 10s * | SP | 2.2 | 2.0 | 0.1 | 0.1 | 0.03 | 0.22 (baseline > 0.5m) 0.12 (baseline > 1m) 0.08 (baseline > 2m) |
| RTK | 0.3 | 0.1 | 0.05 | 0.05 | 0.02 | ||
| PPK | 0.05 | 0.03 | 0.02 | 0.015 | 0.015 | 0.06 | |
| 30s * | SP | 4 | 2.5 | 0.3 | 0.15 | 0.05 | 0.3 (baseline > 0.5m) 0.2 (baseline > 1m) 0.16 (baseline > 2m) |
| RTK | 3 | 0.75 | 0.25 | 0.1 | 0.05 | ||
| PPK | 0.1 | 0.3 | 0.05 | 0.03 | 0.03 | 0.08 | |
* For performance during longer GNSS outages refer to the dead reckoning specification below.
Heave Performance
Real Time Heave | Remark | |
|---|---|---|
Mode | Real time, auto tuning | On board computation |
Range | 50 meters | |
Period | 0 to 20 s | |
Accuracy | 5 cm or 5 % | Whichever is greater |
Note that the Stellar-40 doesn't support delayed Heave calculation, Heave Enhanced Altitude, and Harsh Marine motion Profile (used for surveying under bridges).
In case you need these features, please check the Ekinox-D product.
Dead reckoning specifications
The following performance applies for the Stellar-40 used for up to 20 minutes of navigation without GNSS input with adequate velocity aiding for each application:
| Position accuracy | |
|---|---|
| Land | 0.2% traveled distance |
| Marine | 0.5% traveled distance |
| Air | 1.0% traveled distance |
For more details on which aiding is the best suited to achieve this level of performance with your Stellar-40 in your application, contact our support team.
Traveled Distance
The specification in long dead reckoning is expressed in the percentage of the Traveled Distance (%TD) during the time without access to GNSS.
For example, for a car travelling at 90km/h, 7.5km will be traveled during an outage of 5 minutes. This leads to a drift of 15 meters (0.2% of 7500m).
Timing and Synchronization performance
The Stellar-40 can be used as a source of time and offers multiple synchronization mechanism:
- Internal timestamping of all data
- PPS (Pulse per second)
- NTP (Network Time Protocol)
- PTP (Precise Time Protocol)
The accuracy of the clock and different synchronization mechanisms offered on the product is as follows:
| Parameter | Error | Comment |
|---|---|---|
Timestamp | < 200 ns | |
| NTP accuracy | 10 ms | NTP limitations |
PTP accuracy | <1 μs | |
| PPS accuracy | ~ 5-8 μs | |
| Drift in dead reckoning | 1 ppm | Drift of the internal clock measured over 1 hour. The drift is not completely linear with time so will be slightly higher for longer GNSS outages. |
For more details on the time and synchronization you can check our knowledge base article.