other:Article Title: Determination of USV's Direction Using Satellite and Fluxgate Compasses and GNSS-RTK.
Article Snippet: Device Photograph Parameter Value SL20 Hull material Carbon fiber Dimension 105 cm × 55 cm × 35 cm Weight 17 kg Draft 15 cm Propulsion Water-jet propulsion Survey speed 2–5 kn (1–2.5 m/s) Max speed 10 kn (5 m/s) Positioning (standard—not used) U-blox LEA-6 series Positioning (used in maneuvering) Leica Viva GS15 Heading Honeywell HMC6343 Echosounder Echologger series SBES Novatel PwrPak 7 Signals Tracked Primary Antenna GPS (L1 C/A, L1C, L2C, L2P, L5) GLONASS (L1 C/A, L2 C/A, L2P, L3) BeiDou (B1I, B1C, B2I, B2a, B2b) Galileo (E1, E5 AltBOC, E5a, E5b) NavIC (IRNSS) (L5) QZSS (L1 C/A, L1C, L1S, L2C, L5) SBAS (L1, L5) L-Band (Up to 5 channels) Code measurement precision GPS GLONASS BeiDou Galileo 4–8 cm 8 cm 4 cm 3 cm Velocity accuracy <0.03 m/s RMS ALIGN heading accuracy Baseline = 2 m 0.08 degrees Baseline = 4 m 0.05 degrees Fluxgate INI-200 ATC Accuracy 0.2° Maximum operating magnetic inclination 85° Gimbal operating range Heel (roll) angle Pitch angle ±45° ±45° GNSS Leica Viva GS15 GNSS technology Advanced four constellation tracking Number of cha nels 120 (up to 60 satellites simultaneously on two frequencies)/500 + 1 Signal tracking GPS (L1, L2, L2C, L5), Glonass (L1, L2), BeiDou (B1, B2), Galileo (E1, E5a, E5b, Alt-BOC) QZSS (L1, L2, L5), SBAS (WAAS, EGNOS, MSAS, CAGAN) Code differential DGPS/RTCM Typically 25 cm Real-time kinematic Single baseline (<30 km) Network RTK Hz 8 mm + 1 ppm/V 15 mm + 1 ppm Hz 8 mm + 0.5 ppm/V 15 mm + 0.5 ppm Post-processing Static (phase) with long observations Static and rapid static (phase) Hz 3 mm + 0.1 ppm/V 3.5 mm + 0.4 ppm Hz 3 mm + 0.5 ppm/V 5 mm + 0.5 ppm Signals Tracked Primary Antenna GPS (L1 C/A, L1C, L2C, L2P, L5) LONASS (L1 C/A, L2 C/A, L2P, L3) BeiDou (B1I, B1C, B I B2a, B2b) Galileo (E , E5 AltBOC, E5a, E5b) NavIC (IRNSS) (L5) QZSS (L1 C/A, L1C, L1S, L2C, L5) SBAS (L1, L5) L-Band (Up to 5 hannels) Cod easurement precision GPS GLONASS BeiDou Galileo 4–8 cm 8 cm 4 cm 3 cm elocity accuracy <0.03 m/s RMS ALIGN heading accuracy Baseline = 2 m 0.08 degreesBaseline = 4 m 0.05 degrees Fluxgate INI-200 ATC Sensors 2022, 22, x FOR PEER REVIEW 5 of 18 Table 1.
Article Title: Determination of USV’s Direction Using Satellite and Fluxgate Compasses and GNSS-RTK
Article Snippet: Novatel PwrPak 7 , , Signals Tracked Primary Antenna , GPS (L1 C/A, L1C, L2C, L2P, L5) GLONASS (L1 C/A, L2 C/A, L2P, L3) BeiDou (B1I, B1C, B2I, B2a, B2b) Galileo (E1, E5 AltBOC, E5a, E5b) NavIC (IRNSS) (L5) QZSS (L1 C/A, L1C, L1S, L2C, L5) SBAS (L1, L5) L-Band (Up to 5 channels) , .
Article Title: Determination of USV's Direction Using Satellite and Fluxgate Compasses and GNSS-RTK.
Article Snippet: Device Photograph Parameter Value SL20 Hull material Carbon fiber Dimension 105 cm × 55 cm × 35 cm Weight 17 kg Draft 15 cm Propulsion Water-jet propulsion Survey speed 2–5 kn (1–2.5 m/s) Max speed 10 kn (5 m/s) Positioning (standard—not used) U-blox LEA-6 series Positioning (used in maneuvering) Leica Viva GS15 Heading Honeywell HMC6343 Echosounder Echologger series SBES Novatel PwrPak 7 Signals Tracked Primary Antenna GPS (L1 C/A, L1C, L2C, L2P, L5) GLONASS (L1 C/A, L2 C/A, L2P, L3) BeiDou (B1I, B1C, B2I, B2a, B2b) Galileo (E1, E5 AltBOC, E5a, E5b) NavIC (IRNSS) (L5) QZSS (L1 C/A, L1C, L1S, L2C, L5) SBAS (L1, L5) L-Band (Up to 5 channels) Code measurement precision GPS GLONASS BeiDou Galileo 4–8 cm 8 cm 4 cm 3 cm Velocity accuracy <0.03 m/s RMS ALIGN heading accuracy Baseline = 2 m 0.08 degrees Baseline = 4 m 0.05 degrees Fluxgate INI-200 ATC Accuracy 0.2° Maximum operating magnetic inclination 85° Gimbal operating range Heel (roll) angle Pitch angle ±45° ±45° GNSS Leica Viva GS15 GNSS technology Advanced four constellation tracking Number of channels 120 (up to 60 satellites simultaneously on two frequencies)/500 + 1 Signal tracking GPS (L1, L2, L2C, L5), Glonass (L1, L2), BeiDou (B1, B2), Galileo (E1, E5a, E5b, Alt-BOC) QZSS (L1, L2, L5), SBAS (WAAS, EGNOS, MSAS, CAGAN) Code differential DGPS/RTCM Typically 25 cm Real-time kinematic Single baseline (<30 km) Network RTK Hz 8 mm + 1 ppm/V 15 mm + 1 ppm Hz 8 mm + 0.5 ppm/V 15 mm + 0.5 ppm Post-processing Static (phase) with long observations Static and rapid static (phase) Hz 3 mm + 0.1 ppm/V 3.5 mm + 0.4 ppm Hz 3 mm + 0.5 ppm/V 5 mm + 0.5 ppm Hull material Carbon fiber Dimension 105 cm × 55 cm × 35 cm Weight 17 kg Draft 15 cm Propulsion Water-jet propulsion Survey speed 2–5 kn (1–2.5 m/s) Max sp ed 0 kn (5 m/s) Positioning (standard—not used) U-blox LEA-6 series Positioning (used in maneuvering) Leica Viva GS15 Heading Honeywell HMC6343 Echosounder Echologger series SBES Novatel PwrPak 7 Sensors 2022, 22, x FOR PEER REVIEW 5 of 18 Table 1.
Variant Assay:Article Title: Determination of USV's Direction Using Satellite and Fluxgate Compasses and GNSS-RTK.
Article Snippet: .. Device Photograph Parameter Value SL20 Hull material Carbon fiber Dimen ion 105 cm × 55 cm × 3 c Weight 17 kg Draft 15 cm Propulsion Wat r-jet propulsion Surv y speed 2–5 kn (1–2.5 m/s) Max speed 10 kn (5 m/s) Positioning (standard—not used) U-blox EA-6 series Positioning (used in maneuvering) Leica Viva GS15 Heading Honeywell HMC6343 Echosounder Echologger series SBES Novatel PwrPak 7 Signals Tracked Primary Antenna GPS (L1 C/A, L1C, L2C, L2P, L5) GLONASS (L1 C/A, L2 C/A, L2P, L3) BeiDou (B1I, B1C, B2I, B2a, B2b) Galileo (E1, E5 AltBOC, E5a, E5b) NavIC (IRNSS) (L5) QZSS (L1 C/A, L1C, L1S, L2C, L5) SBAS (L1, L5) L-Band (Up to 5 channels) Code measurement precision PS GLONASS BeiDou Galileo 4–8 cm 8 cm 4 cm 3 cm Velocity accuracy <0.03 m/s RMS ALIGN heading accuracy Baseline = 2 m 0.08 degrees Baseline = 4 m 0.05 degrees Fluxgate INI-200 ATC Accuracy 0.2° Maximum operating magnetic inclination 85° Gimbal operating range Heel (roll) angle Pitch angle ±45° ±45° GNSS Leica Viva GS15 GNSS technology Advanced four constellation tracking Number of channels 120 (up to 60 satellites simultaneously on two frequencies)/500 + 1 Signal tracking GPS (L1, L2, L2C, L5), Glonass (L1, L2), BeiDou (B1, B2), Galileo (E1, E5a, E5b, Alt-BOC) QZSS (L1, L2, L5), SBAS (WAAS, EGNOS, MSAS, CAGAN) Code differential DGPS/RTCM Typically 25 cm Real-time kinematic Single baseline (<30 km) Network RTK Hz 8 mm + 1 ppm/V 15 mm + 1 ppm Hz 8 mm + 0.5 ppm/V 15 mm + 0.5 ppm Post-processing Static (phase) with long observations Static and rapid static (phase) Hz 3 mm + 0.1 ppm/V 3.5 mm + 0.4 ppm Hz 3 mm + 0.5 ppm/V 5 mm + 0.5 ppm S technology Advanced f ur constellation tracking u ber of channels 120 (up to 60 satellites simultane usly ontwo fr quencies)/500 + 1 Signal tracking GPS (L1, L2, L2C, L5), Glonass (L1, L2), BeiDou (B1, B2), Galileo (E1, E5a, E5b, Alt-BOC) QZSS ( 1, L2, L5), SBAS (WAAS, EGNO , MS S, CAGAN) ode differential DGPS/RTCM Typically 25 cm R al-tim kine atic Singl baseline (<30 km) Network RTK Hz 8 mm + 1 pp /V 1 m + 1 ppm Hz 8 mm + 0.5 ppm/V 15 mm + 0.5 ppm Post-processing Static (phase) wit long observations Static and rapid static (phase) Hz 3 mm + 0.1 ppm/V 3.5 mm + 0.4 ppm Hz 3 mm + 0.5 ppm/V 5 mm + 0.5 ppm The integration of sensors was made based on an internal network enabling the application of an internal GPS receiver, compass, echosounder and external GNSS receiver operating in geodetic RTK (real-time kinematic)/RTN variant. .. Additional sensors were connected to the network: the Novatel PwrPak 7 satellite compass, which was connected Sensors 2022, 22, 7895 6 of 17 directly by means of the TCP/IP protocol, and the fluxgate electronic compass, which was connected with the use of an RS232—TCP/IP converter WRT610.
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