X36D Integrated Positioning Unit

Dual Antenna Positioning & Heading GNSS+INS

X36D receiver is an automotive-grade high-precision navigation unit based on self-developed GNSS chip by Bynav. It equipped functional safety ASIL B high-precision IMU, and has Vehicle Ethernet, serial port, CAN/CAN FD, and PPS interfaces. Can effectively tackle with harsh environment such as satellite signal interference or loss, providing stable, continuous, reliable high- precision position and atittude.

Available soon in the second half of 2021:

Features

-Independent intellectual property rights

GNSS technology with completely independent intellectual property rights is used to provide users with low-cost, ultra-small footprint, ultra-high performance location services and user experience.

-Deeply-coupled Combined Navigation Engine

The built-in high-precision IMU has been calibrated at full temperature, which improves key indicators like bias stability and dead reckoning accuracy. Aided by IMU, the deeply-coupled combined navigation algorithm can lift the quality of GNSS signal observation and increase the positioning accuracy by twice to 5 times than loosely-coupled algorithm.

-High-precision GNSS Positioning Engine

Bynav REAL (Ransac Enhanced Advanced Location) GNSS positioning engine adopted has integrity monitoring and partial ambiguity solution algorithm to deal with various harsh environments such as satellite signal interference and outage and provide reliable and stable position in certain times.

-Scalability

Multiple interfaces such as automotive ethernet and CAN/CAN FD are viable, also PPS and gPTP are supported to interact and work with other sensors like LIDAR and SLAM.

-Scenario Optimization

Optimized for in-vehicle applications: based on vehicle characteristics modeling, it can handle the most challenging environments such as urban road canyon and satellite signal interference, providing continuous, stable and reliable real-time high-precision position.

System Type	GNSS/INS Receiver
Satellite System	GPS GLONASS BDS BDS-3 QZSS Galileo NavIC(IRNSS)	L1 C/A, L2, L5 G1, G2 B1I, B2I, B3I B1I ,B1C, B2a, B2b, B3I L1 C/A, L2, L5 E1, E5b, E5a L5
Horizontal accuracy	Single Point RTK	1.5m RMS 1cm + 1ppm RMS
Vertical accuracy	Single Point RTK	2.5m RMS 1.5cm + 1ppm RMS
Time to First Fix	Cold start Warm start Hot start	≤ 35s ≤ 30s ≤ 7s
Maximum Data Rate	GNSS measurement RTK position INS position/attitude IMU raw data	5Hz 5Hz 100Hz 100Hz
Measuring Accuracy	carrier phase	≤1mm RMS
pseudorange	L1CA,L2,G1,G2	≤0.12m RMS
others	≤0.06m RMS
Timing accuracy Velocity accuracy Velocity limit	20ns RMS 0.03m/s RMS 300m/s
Dimension	153mm ×100mm ×30mm
Weight	290±30g

System Type

GNSS/INS Receiver

Satellite System

GPS
GLONASS
BDS
BDS-3
QZSS
Galileo
NavIC(IRNSS)

L1 C/A, L2, L5
G1, G2
B1I, B2I, B3I
B1I ,B1C, B2a, B2b, B3I
L1 C/A, L2, L5
E1, E5b, E5a
L5

Horizontal accuracy

Single Point
RTK

1.5m RMS
1cm + 1ppm RMS

Vertical accuracy

Single Point
RTK

2.5m RMS
1.5cm + 1ppm RMS

Time to First Fix

Cold start
Warm start
Hot start

≤ 35s
≤ 30s
≤ 7s

Maximum Data Rate

GNSS measurement
RTK position
INS position/attitude
IMU raw data

5Hz
5Hz
100Hz
100Hz

Measuring Accuracy

carrier phase

≤1mm RMS

pseudorange

L1CA,L2,G1,G2

≤0.12m RMS

others

≤0.06m RMS

Timing accuracy
Velocity accuracy
Velocity limit

20ns RMS
0.03m/s RMS
300m/s

Dimension

153mm ×100mm ×30mm

Weight

290±30g

Model	Outage Duration	Positioning Mode	POSITION ACCURACY (M) RMS	VELOCITY ACCURACY (M/S) RMS	ATTITUDE ACCURACY (DEGREES) RMS
			Horizontal	Vertical	Horizontal	Vertical	Roll	Pitch	Azimuth
X36D	0s	RTK	0.015	0.020	0.019	0.014	0.018	0.018	0.084
PP	0.010	0.020	0.016	0.012	0.008	0.008	0.030
10s	RTK	0.235	0.140	0.058	0.024	0.035	0.035	0.110
PP	0.015	0.020	0.020	0.017	0.010	0.010	0.034

Model

Outage Duration

Positioning Mode

POSITION ACCURACY (M) RMS

VELOCITY ACCURACY (M/S) RMS

ATTITUDE ACCURACY (DEGREES) RMS

Horizontal

Vertical

Horizontal

Vertical

Roll

Pitch

Azimuth

X36D

RTK

0.015

0.020

0.019

0.014

0.018

0.084

0.010

0.020

0.016

0.012

0.008

0.030

10s

RTK

0.235

0.140

0.058

0.024

0.035

0.110

0.015

0.020

0.017

0.010

0.034

Model	X36D
Gyroscope	Range	±300°/s
Rate Bias Repeatability	0.5°/s
Rate Bias Repeatability	1.8°/h (XZ) 1.4°/h (Y)
Angular Random Walk	0.09°/√h (XY) 0.10°/√h (Z)
Accelerometer	Range	±6g
Rate Bias Repeatability	20mg
Rate Bias Repeatability	15μg
Velocity Random Walk	0.035m/s/√h

Model

X36D

Gyroscope

Range

±300°/s

Rate Bias Repeatability

0.5°/s

Rate Bias Repeatability

1.8°/h (XZ)
1.4°/h (Y)

Angular Random Walk

0.09°/√h (XY)
0.10°/√h (Z)

Accelerometer