- Receiver type
- Dual antenna receiver with integrated inertial navigation system and MSS band demodulator
- GNSS technology
- Trimble Maxwell 7; 2 × 336 tracking channels
- Positioning engine
- Trimble ProPoint (optional)
- Inertial sensors
- Onboard advanced MEMS inertial sensors
- GPS signals (position and vector antenna)
- L1 C/A, L2E, L2C, L5
- BeiDou signals (position and vector antenna)
- B1, B2, B3
- GLONASS signals (position and vector antenna)
- L1 C/A, L2 C/A, L3 CDMA
- Galileo signals (position and vector antenna)
- E1, E5A, E5B, E5AltBOC, E6
- IRNSS signals (position and vector antenna)
- L5
- QZSS signals (position and vector antenna)
- L1 C/A, L1 SAIF, L1C, L2C, L5, LEX
- SBAS signals (position antenna)
- L1 C/A, L5
- MSS L-band (position antenna)
- OmniSTAR, Trimble RTX
- Correction services
- Trimble CenterPoint RTX; Trimble FieldPoint RTX and Trimble RangePoint RTX (only with ProPoint engine); OmniSTAR
- Multipath mitigation
- Trimble EVEREST Plus
- RF monitoring
- Advanced RF spectrum monitoring and analysis
- Pseudorange measurements
- High precision multiple correlator; unfiltered, unsmoothed pseudorange measurement data
- Carrier phase precision
- < 1 mm in a 1 Hz bandwidth
- Integrity
- Fault Detection & Exclusion (FDE), Receiver Autonomous Integrity Monitoring (RAIM)
- RTK features
- Moving Baseline RTK; dual-antenna heading alignment; lever arm calculation to reference point
- Reference outputs/inputs
- CMR, CMR+, sCMRx, RTCM 2.1, 2.2, 2.3, 3.0, 3.1, 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
- Navigation outputs (binary)
- Trimble GSOF, NMEA2000
- Timing
- 1 Pulse Per Second output; event marker input
- Time to first fix, cold start
- < 45 seconds (typical observed value)
- Time to first fix, warm start
- < 30 seconds (typical observed value)
- Signal re-acquisition
- < 2 seconds
- Velocity accuracy, horizontal
- 0.007 m/s (1 sigma, Trimble Zephyr 2/3 antennas)
- Velocity accuracy, vertical
- 0.020 m/s (1 sigma, Trimble Zephyr 2/3 antennas)
- Maximum acceleration, GNSS tracking
- ±11 g
- Inertial sensors, maximum acceleration
- ±6 g
- Inertial sensors, maximum angular rate
- ±350 deg/s
- Maximum operating velocity
- 515 m/s (export licensing limit)
- Maximum operating altitude
- 18,000 m (export licensing limit)
- RTK initialisation time
- Typically < 8 seconds
- Position latency
- < 20 ms (at maximum output rate)
- Maximum position/attitude update rate
- 100 Hz
- Position accuracy, no GNSS outage
- Autonomous 1.00 m (H) / 1.50 m (V); SBAS 0.50 m (H) / 0.85 m (V); DGNSS 0.25 m (H) / 0.50 m (V); RTK 0.008 m (H) / 0.015 m (V)
- Position accuracy, INS modes, no GNSS outage
- INS-Autonomous 1.00 m (H) / 1.50 m (V); INS-SBAS 0.50 m (H) / 0.85 m (V); INS-DGNSS 0.40 m (H) / 0.60 m (V); INS-RTK 0.05 m (H) / 0.03 m (V)
- Roll/pitch accuracy, no GNSS outage
- 0.10° (all modes)
- Heading accuracy on 2 m baseline, no GNSS outage
- 0.09° (all modes)
- Position accuracy, 10 second GNSS outage
- INS-Autonomous 1.50 m (H) / 1.80 m (V); INS-SBAS 1.20 m (H) / 1.20 m (V); INS-DGNSS 1.00 m (H) / 1.00 m (V); INS-RTK 0.30 m (H) / 0.20 m (V); N/A in non-INS modes
- Roll/pitch accuracy, 10 second GNSS outage
- 0.10° (INS modes); N/A in non-INS modes
- Heading accuracy on 2 m baseline, 10 second GNSS outage
- 0.50° (INS modes); N/A in non-INS modes
- SBAS note
- GPS only; depends on SBAS system performance (FAA WAAS accuracy specification < 5 m 3DRMS)
- Size
- 185 × 93 × 43 mm
- Power input
- 9–30 VDC
- Power consumption
- Typical 3.0 W (L1/L2 GPS + L1/L2 GLONASS)
- Weight
- 0.76 kg
- I/O connectors
- D-sub DE9 and DA26
- GNSS antenna connectors
- 2 × TNC (female)
- Antenna LNA power input
- 3.3–5 VDC, maximum current 400 mA
- Minimum required LNA gain
- 32.0 dB
- USB
- 1 × USB 2.0 device port
- Ethernet
- 1 × LAN port, 10BaseT/100BaseT auto-negotiate; all functions through a single IP address, including web GUI access and raw data streaming
- Network protocols
- 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, external modems via PPP, RNDIS
- Serial
- 2 × RS232 ports, baud rates up to 460,800
- CAN
- 1 × CAN port
- Configuration
- WebUI for configuration, status and data transfer; 3D interactive web page for lever arm input; selectable vehicle dynamic models
- Software drivers
- ROS 1 and ROS 2 drivers available
- Software configurations
- Available in a variety of software configurations (specifications reflect full capability), including configurations with RTK accuracies limited to 10 and 30 centimeters; features password upgradeable
- Operating temperature
- −40 to +75 °C
- Storage temperature
- −55 to +85 °C
- Vibration
- MIL810F, tailored; random 6.2 gRMS operating, random 8 gRMS survival
- Mechanical shock
- MIL810D; ±40 g 10 ms operating, ±75 g 6 ms survival
- Operating humidity
- 5–95 % R.H., non-condensing, at +60 °C
- IP rating
- IP67
- Environmental note
- Environmental characteristics dependent on appropriate mounting/enclosure design