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
Swift Binary Protocol (SBP) Messages
By default Duro Inertial uses SBP protocol on all data ports. SBP Specification
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.
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.
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.
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