o Roll, Pitch accuracy

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Requisition# R0157602 Item: GNSS Aided Inertial Navigation System Required Specifications:          

The Inertial Navigation System is required to provide a full six degree of freedom solution of a marine vessel and must maintain attitude accuracy under the severest conditions regardless of the platform dynamics. The system is required to output Latitude, longitude, altitude, roll, pitch, heading, heave and 3 axis velocities The system must have a delayed time heave processor The system is required to track all available GPS, GLONASS, Galileo, QZSS and Geostationary satellites including support for the Fugro Marinestar GPS and GNSS services The system must be able to provide a position solution based on its own sensors but must also be able to provide an accurate position based on a NMEA input from an external Pcode GPS receiver or an external RTK GPS receiver The system must support logging of raw GNSS and Inertial observables for later processing in a post processing software package Using RTK, the system must be able to estimate the GNS to IMU offsets during a calibration routine. The system must be able to perform a real time differential position solution to provide aiding to provide accurate true heading data to accuracy better than 0.02 deg. Post processing software must be provided to allow user to utilize GNSS reference stations for computation of precise position and motion. Accuracy requiments:

o Roll, Pitch accuracy:   0.002° IAPPK Operations    0.005° DGNSS Operations  o Heading Accuracy:   0.008° with 4 m antenna baseline   o Heave Accuracy:   Real Time: 5 cm or 5% (whichever is greater) for periods of ≤20 s   TrueHeaveTM: 2 cm or 2% (whichever is greater) for periods of ≤35 s  o RTK Position Accuracy:   Horizontal: ±(8 mm + 1 ppm x baseline length)   Vertical: ±(15 mm + 1 ppm x baseline length)   RTK accuracies assume 1 m IMU‐GNSS antenna offset  o DGPS Position Accuracy:   0.5 – 2 m depending on quality of differential corrections  o Accuracy During GNSS Outages (RMS)   Roll, Pitch Accuracy:   0.005°   Heading Accuracy Degradation:   0.03° (typical survey trajectories)  

Heave Accuracy:   Real Time: 5 cm or 5% (whichever is greater) for periods of ≤20 s   TrueHeaveTM: 2 cm or 2% (whichever is greater) for periods of ≤35 s  Position Accuracy Degradation:   ~ 1.5 m for 60 s total outages (DGNSS)   ~ 0.5 m for 60 s total outages (RTK)   ~ 0.6 m for 60 s total outages (post processed DGNSS) 

Mechanical: o Total Weight not to exceed 25 lbs. o Temperature and Humidity Specification: o Minimum required operating Temperature: -20ºC to +60ºC o Minimum required storage temperature: -40ºC to +70ºC o IMU must be IP65 rated (or better) o Humidity: 10 - 80% RH o Antennas must be fully sealed and 100% humidity proof o o o

Shock & Vibration Specification: IMU Shock operating: 6 g, 11 ms IMU Shock non-operating: 20 g, 11 ms