GNSS-aided Inertial Navigation Systems

The Tersus GNSS-Aided Inertial Navigation Systems INS-T-306 is OEM version of fully-integrated, combined GPS L1/L2, GLONASS and BeiDou navigation and high-performance strapdown system. The INS-T-306 determines position, velocity and absolute orientation (heading, pitch and roll) for any device on which it is mounted. Horizontal and vertical position, velocity and orientation are determined with high accuracy for both motionless and dynamic applications.

The INS-T-306 utilizes an advanced GNSS receiver, a barometer, 3-axis magnetometers, MEMS accelerometers and gyroscopes to provide accurate position, velocity, heading, pitch and roll of the device under measure. The INS-T-306 contains the Tersus new on-board sensors fusion filter, state-of-the-art navigation and guidance algorithms and calibration software.


  • Supports GPS L1/L2, GLONASS, BeiDou, DGPS and RTK

  • 73 x 47 x 33mm size and 145g weight

  • High precision IMU (1deg/hour gyroscopes and 5µg accelerometer bian in-run stability)

  • Compatibility with LiDARs (Velodyne, RIEGL, FARO)

  • Up to 200Hz IMU, 50Hz GNSS positions and 20Hz GNSS measurements data rate

  • Advanced, extendable, embedded Kalman-Filter-based sensor fusion algorithms




Number of Antennas                              Single

Supported Navigation Signals              GPSL1/L2,                                                                             GLONASS,                                                                             BEIDOU, DGPS,                                                                   SBAS, RTK

Channel Configuration                          120 Channels

GNSS Positions Data Rate                     20Hz

GNSS Measurements (raw) Data Rate  20Hz

Velocity Accuracy, RMS                          <0.03m/s

Initialization Time
   Cold Start                                             <50s

   Warm Start                                           <30s

Time Accuracy (clock drift)                    20ns


Horizontal Position Accuracy (GPS L1/L2), RMS

Horizontal Position Accuracy (DGPS), RMS


Horizontal Position Accuracy (post processing)


Horizontal Position Accuracy (RTK), RMS

     0.01m + 1 ppm

Vertical Position Accuracy, RMS


Velocity Accuracy, RMS


PPS Timestamps Accuracy


Orientation - Heading          


Range                                           0 to 360 deg

Static Accuracy                            1 deg

Dynamic Accuracy (GNSS)         0.1 deg RMS

Post Processing Accuracy          0.03 deg RMS

Orientation - Pitch and Roll    


Range: Pitch, Roll                       ±90 deg, ±180 deg

Angular Resolution                    0.01 deg

Static Accuracy in whole Temperature Range: 0.05 deg

Dynamic Accuracy                     0.1 deg RMS

Post Processing Accuracy         0.006 deg RMS


Sensors - Gyroscopes    


Measurement Range                                          ±450 deg/sec

Bias In-run stability (RMS, Allan Variance)         1 deg/hr

Noise Density                                                      0.004 deg/sec√Hz

Sensors - Accelerometers


Measurement Range                                          ±8 g

Bias In-run stability (RMS, Allan Variance)        0.005mg

Noise Density                                                     0.025 mg√Hz

Sensors - Magnetometers


Measurement Range                                          ±2 Gauss

Bias In-run stability (RMS, Allan Variance)       4nT

Noise Density                                                     10nT√Hz

Sensors - Pressure


Measurement Range                                          300hPa~1100hPa

Bias In-run stability (RMS, Allan Variance)        2Pa

Noise Density                                                     0.8 Pa√Hz




Size                                                                      73 x 47 x 33mm

Weight                                                                145g


Supply Voltage                                                   9V~36V DC

Power Consumption                                          3.0 W

Output Interface (options)                                 RS232/RS422

Output Data Format: Binary, TSS-1, NMEA 0183 ASCII characters


Operating Temperature                                    -40℃ ~ +70℃

Storage Temperature                                         -50℃ ~ +85℃
MTBF                                                                   55,500 hours


@ 2019 TECPHIL Geosolutions Co.

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