X36D

GNSS/INS Combined Navigation System

X36D is a high-precision navigation unit based on self-developed GNSS chips. It has high-precision IMU which is compliant with functional safety ASIL B standards, and various interfaces. It is capble of tackling with harsh environments such as satellite signal interference or loss, providing stable, continuous, reliable high-precision position and atittudes.

Designed for Excellence

Features

• 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-2 BDS-3 QZSS Galileo NavIC	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	1.5 m (RMS) 1 cm + 1 ppm (RMS)
Vertical accuracy	Single Point RTK	2.5 m (RMS) 1.5 cm + 1 ppm (RMS)
Time to First Fix	Cold start Warm start Hot start	≤ 35 s ≤ 30 s ≤ 7 s
Maximum Data Rate	GNSS measurement RTK position INS position/attitude IMU raw data	5 Hz 5 Hz 100 Hz 100 Hz
Measuring Accuracy	carrier phase	≤1 mm (RMS)
pseudorange	L1C/A, L2, G1, G2	≤0.12 m (RMS)
others	≤0.06 m (RMS)
Timing accuracy Velocity accuracy Velocity limit	20 ns (RMS) 0.03 m/s (RMS) 300 m/s
Size	153 ×100 ×30 mm
Weight	290±30 g

System Type

GNSS/INS Receiver

Satellite System

GPS
GLONASS
BDS-2
BDS-3
QZSS
Galileo
NavIC

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

1.5 m (RMS)
1 cm + 1 ppm (RMS)

Vertical accuracy

Single Point
RTK

2.5 m (RMS)
1.5 cm + 1 ppm (RMS)

Time to First Fix

Cold start
Warm start
Hot start

≤ 35 s
≤ 30 s
≤ 7 s

Maximum Data Rate

GNSS measurement
RTK position
INS position/attitude
IMU raw data

5 Hz
5 Hz
100 Hz
100 Hz

Measuring Accuracy

carrier phase

≤1 mm (RMS)

pseudorange

L1C/A, L2, G1, G2

≤0.12 m (RMS)

others

≤0.06 m (RMS)

Timing accuracy
Velocity accuracy
Velocity limit

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

Size

153 ×100 ×30 mm

Weight

290±30 g

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
Size	153×100×30 mm
Weight	290±30 g

Model

X36D

Size

153×100×30 mm

Weight

290±30 g

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

Model

X36D

Gyroscope

Range

±300 °/s

Rate Bias Repeatability

0.5 °/s

Rate Bias Instability

1.8 °/h (XZ)
1.4 °/h (Y)

Angular Random Walk

0.09 °/√h (XY)
0.10 °/√h (Z)

Accelerometer