Duro™ Inertial is a ruggedized version of Swift Navigation’s Piksi® Multi dual-frequency Real Time Kinematics (RTK) GNSS receiver including Carnegie Robotics’ SmoothPose™ sensor fusion algorithm, which combines GNSS and inertial measurements into an unified solution. The combination of GNSS and inertial measurements allows Duro Inertial to provide highly-accurate, continuous position solutions during brief GNSS outages and to deliver robust precision navigation solutions in harsh GNSS environments. Duro Inertial uses Piksi® Multi RTK GNSS receiver module. 

Duro Inertial GNSS Receiver


Duro Inertial Product Summary


Duro Inertial User Manual


Duro Troubleshooting Guide


3D CAD Model


Software Settings Manuals


Swift Binary Protocol (SBP) Messages

By default Duro Inertial uses SBP protocol on all data ports. SBP Specification


NMEA Messages

Duro Inertial can output NMEA 0183 messages on UART and Ethernet ports. NMEA Specification


RTCM v3 Messages

Duro accepts RTK corrections in RTCM v3.1 and v3.2 format. RTCM v3 input details.

Duro can also output RTK corrections in RTCM v3.1 and v3.2 format. RTCM v3 Output Details.


NTRIP Client

Duro Inertial has a built-in NTRIP client for easy corrections reception from Internet. NTRIP Client Setup


On-board Data Logging

Duro Inertial contains 32 GB on-board storage for data logging which is not yet supported but planned to be released with a future firmware release.


Firmware Updates

Duro Inertial firmware can be upgraded over Ethernet and serial interfaces. Duro Inertial uses the same firmware images as Piksi Multi and Duro. Firmware version 2.1.21 is the first firmware release that is compatible with Duro Inertial. Firmware is available here for download.


Swift Console

Use Swift Console program to setup and monitor Duro Inertial operation.


RINEX Converter and Data Post-processing

Duro Inertial supports raw GNSS data post-processing. sbp2rinex converter