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A1 IMU-enhanced GNSS receiver

Dual-Antenna RTK Positioning and heading

A1 is a compact IMU-enhanced GNSS board which is highly integrated with Bynav GNSS board and a tactical-grade on-board IMU. Embedded with Bynav new generation RTK algorithm engine and deeply coupled GNSS/INS algorithm engine, the A1 can provide continuous reliable high precision position, 3D attitude and velocity to different applications like autonomous driving, robotics, UAV and mobile mapping.

 

Model: A1-3L Eight-Frequency Single Antenna RTK

  

Other models: IMU model and 200Hz optional

Specifications and Guides
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A1 High Precision GNSS/INS Board

Weighing only 25g and measuring 46mm x 71mm, the credit-card-sized GNSS/INS board A1 is easy-to-integrate into any systems while providing enhanced connection options including Serial, Ethernet and CAN. 
A1 is specially optimized for in-vehicle application, With large-scale scenes verification in more than 10,000 driving test sites over China, A1 can effectively tackle with the most demanding environment like urban canyon, foliage canopy, signal interference, tunnel etc.

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Highly Integrated 3-Channel Multi-Mode Multi-Frequency GNSS RFIC

Track up to 320 channels simultaneously and support BDS-3 signals.

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Features

Features

01 - Compact size and easy to integrate (46mm x 71mm)
02 - Deeply coupled with tactical grade IMU, gyroscope bias instability 2.7deg/hr；
03 - Based on Bynav GNSS baseband ASIC Alita and RFIC Ripley, supporting to track full system GPS/GLONASS/BDS/GALILEO/QZSS/SBAS and multi-frequency L1/L2/L5
04 - Dual antenna heading
04 - Support external Odometer, Lidar and visual SLAM.
05 - Deeply coupled GNSS/INS algorithm engine to provide reliable high precision position, 3D attitude and velocity under harsh environment like urban canyon, elevated road, foliage canopy, underground parking, signal interference etc.

Performance Performance during GNSS outages Documentation
Performance

Model

A1-3L

A1-3H

 A1-5H A1-6H

Horizontal Accuracy

Single Point

1.5m

1.5m

 1.5m 1.5m

RTK

1cm + 1ppm

1cm + 1ppm

 1cm + 1ppm 1cm + 1ppm

Vertical Accuracy

Single Point

2.5m

2.5m

 2.5m 2.5m

RTK

1.5cm + 1ppm

1.5cm + 1ppm

 1.5cm + 1ppm 1.5cm + 1ppm

Signal Tracking

GPS

L1CA/L1C，L2C, L2P，L5

L1CA/L1C，L2C, L2P，L5

 L1CA/L1C，L2C, L2P，L5 L1CA/L1C，L2C, L2P，L5

GLONASS

G1，G2

G1，G2

 G1，G2 G1，G2

BDS

B1I，B2I/B3I

B1I，B2I/B3I

 B1I，B2I/B3I B1I，B2I/B3I

BDS-3

B1I/B1C，B2a/B2b/B3I

B1I/B1C，B2a/B2b/B3I

 B1I/B1C，B2a/B2b/B3I B1I/B1C，B2a/B2b/B3I

Galileo

E1, E5b/E5a

E1, E5b/E5a

 E1, E5b/E5a E1, E5b/E5a

QZSS

L1CA/L1C，L2C，L5

L1CA/L1C，L2C，L5

 L1CA/L1C，L2C，L5 L1CA/L1C，L2C，L5

NavIC(IRNSS)

L5

L5

 L5 L5

SBAS

L1CA

L1CA

 L1CA L1CA

Measurement Accuracy

Carrier Phase

≤1mm（RMS）

≤1mm（RMS）

 ≤1mm（RMS） ≤1mm（RMS）

Pseudorange

L1CA,L2C,L2P,G1,G2

≤ 0.12m（RMS）

≤ 0.12m（RMS）

 ≤ 0.12m（RMS） ≤ 0.12m（RMS）

Other signals

≤ 0.06m（RMS）

≤ 0.06m（RMS）

 ≤ 0.06m（RMS） ≤ 0.06m（RMS）

Time to First Fix

Cold start

≤ 45s

≤ 45s

 ≤ 45s ≤ 45s

Hot start

≤ 30s

≤ 30s

 ≤ 30s ≤ 30s

Maximum Data Rate

GNSS measurement

5Hz

5Hz

 5Hz 5Hz

RTK position

5Hz

5Hz

 5Hz 5Hz

INS position/attitude

20Hz

100Hz

 125Hz 125Hz

IMU raw data rate

20Hz

100Hz

 125Hz 125Hz

Time Accuracy

20ns RMS

20ns RMS

 20ns RMS 20ns RMS

Velocity Accuracy

0.03m/s RMS

0.03m/s RMS

 0.03m/s RMS 0.03m/s RMS

Heading Accuracy

baseline = 2m

0.08°

0.08°

 0.08° 0.08°

baseline = 4m

0.05°

0.05°

 0.05° 0.05°

Velocity Limit

300m/s

300m/s

 300m/s 300m/s

Acceleration Limit 

4g

4g

 4g 4g

Vibration Limit

20-2000Hz 20Grms

20-2000Hz 20Grms

 20-2000Hz 20Grms 20-2000Hz 20Grms

Gyroscope

Range

± 500deg/s

± 500deg/s

 ± 450deg/s ± 450deg/s

Rate Bias Repeatability

0.14deg/s (1.4 deg/s X axis)

0.14deg/s (1.4 deg/s X axis)

 0.1deg/s (1.4 deg/s X axis) 0.1deg/s (1.4 deg/s X axis)

Rate Bias Stability

2.7deg/hr

2.7deg/hr

 3deg/hr 1.2deg/hr

Angular Random Walk

0.15deg/√hr  (0.2deg/√hr  Z axis)

0.15deg/√hr  (0.2deg/√hr  Z axis)

 0.2deg/√hr  (0.2deg/√hr  Z axis) 0.08deg/√hr  (0.2deg/√hr  Z axis)

Accelerometer

Range

± 8g

± 8g

 ± 5g ± 10g

Rate Bias Repeatability

2mg

2mg

 5mg 3mg

Rate Bias Stability

2.7μg(4.4μg Z axis)

2.7μg(4.4μg Z axis)

 70μg(4.4μg Z axis) 16μg(4.4μg Z axis)

Velocity Random Walk

0.09m/s/√hr  (0.012m/s/√hr Z axis)

0.09m/s/√hr  (0.012m/s/√hr Z axis)

 0.03m/s/√hr  (0.012m/s/√hr Z axis) 0.033m/s/√hr  (0.012m/s/√hr Z axis)

Power

Dual-Antenna (Typical)

2.0W

2.1W

 2.1W 2.1W

Input Voltage

+3.25V～+3.45V

+3.25V～+3.45V

 +3.25V～+3.45V +3.25V～+3.45V

Size

71x46x10.6mm

71x46x10.6mm

 71x46x10.6mm 71x46x10.6mm

Weight

25g

25g

 25g 25g
Price
Outage Duration Positioning Mode POSITION ACCURACY (M) RMS VELOCITY ACCURACY (M/S) RMS ATTITUDE ACCURACY (DEGREES) RMS
Horizontal Vertical Horizontal Vertical Roll Pitch Azimuth
0s RTK 0.01 0.02 0.030 0.040 0.040 0.040 0.120
PP 0.01 0.02 0.020 0.025 0.010 0.010 0.050
10s RTK 0.30 0.25 0.080 0.100 0.080 0.080 0.200
PP 0.01 0.02 0.020 0.030 0.010 0.010 0.050

 

Documentation
Product Manual
Application Guide
Software Download

Accessory & Evaluation Kit

Applications

Applications

A1 can provide reliable continuous centimeter-level real-time positioning services (including speed, attitude and other information), and can be used in autonomous driving, mapping and many other fields.

  • Driverless Application
    Driverless Application

    Application Case
  • Mapping
    Mapping
    Mapping
  • Unmanned Boat
    Unmanned Boat
    Unmanned Boat
  • UAV
    UAV
    UAV
  • Automated Vehicle
    Automated Vehicle
    Automated Vehicle

Excellent quality

Excellent quality

Bynav successfully passed IATF16949 and ISO 9001 quality system and acquired Beidou navigation civil service qualification and other certifications, with RoHs, CE FCC international certificates and meet automotive-grade requirements.

A1 High Precision GNSS/INS Board

R&D and Process Quality Control

Lead-Free Process and Gold Plating PCB

Continuous trial run before mass production

Welding Defect Inspection (AOI + X-RAY)

High and Low Temperature Cyclic Aging and Impact Test

Double Deviation Testing

 

Modern Quality Management System

All-round Quality Management

8D Report, PDCA and other quality management tools

Customer Satisfaction

Trial application

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