Swift Navigation Duro Inertial User manual
Duro Inertial - User Guide
Supported Platforms
Platform
Duro Inertial
Firmware
≥ 2.1.21
Overview
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.
Prerequisites
This document describes the installation, configuration, and operation of features specific to Duro Inertial. Users should
be familiar with the information contained in the Duro User Manual before following this guide.
Duro User Manual - https://www.swiftnav.com/latest/duro-user-manual
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©2018 Swift Navigation, Inc. All rights reserved | Version 1.0
Contents
Overview
Prerequisites
System Architecture
Installation
●GNSS Antenna Mounting
●Duro Inertial Mounting
●Antenna Offset
●Vehicle Frame Orientation
Configuration
●Firmware Version
●Default Configuration
●Firmware Settings
○IMU Settings
○INS Settings
○Other Settings
Operation
●LED Indicators
●Device Data Output
○SBP Messages
○NMEA Messages
Appendix A - Identifying Duro Inertial
Appendix B - Duro Inertial Orientations
Appendix C - Duro Inertial Installation Worksheet
Appendix D - Device and Vehicle Frames
Glossary
Additional References
System Architecture
Typical system setup is shown in the diagram below. The product is able to combine real time GNSS observables from a
base and a rover as well as motion sensed by the MEMS IMU in the product into one Fused RTK GNSS + INS position,
velocity, and time solution.
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Installation
For proper Duro Inertial operation it is essential to mount both the Duro Inertial and the GNSS antenna securely and firmly
to the vehicle body. During operation, the antenna and Duro Inertial must remain in the same position relative to each
other (i.e., both must be mounted on the same frame).
GNSS Antenna Mounting
For the best signal reception, mount the GNSS antenna on a stable structure located away from other antennas and
devices.
The GNSS antenna should be mounted completely externally. Do not place the GNSS antenna inside, or partially inside, of
a housing or vehicle.
The GNSS antenna should have the best achievable sky view, in all directions, down to the horizon. Do not shield or
occlude any portion of the antenna.
The GNSS antenna is sensitive to its environment. Since producing high-accuracy GNSS position solutions requires
tracking carrier phase information from satellites, it is much more sensitive to obstructions than standard consumer
GNSS receivers (like those found in smartphones).
All antenna offset measurements will occur from the phase center of the GNSS antenna.
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Duro Inertial Mounting
In order to properly detect motion, Duro Inertial must be securely and firmly mounted to the vehicle. Mounting Duro Inertial
on the vehicle centerline is recommended.
To maximize sensor sensitivity, mounting Duro Inertial in an orientation orthogonal to the vehicle-body is recommended.
This means that Duro Inertial should be mounted with all three axes forming angles in multiples of 90° (0°, 90°, 180°,
270°...), with respect to the primary direction of vehicle motion. For easier installation and setup, it is recommended to
align the X-axis direction of the Duro Inertial with the primary direction of vehicle motion.
Duro Inertial must be rigidly mounted to the body of the vehicle. Any vibration which is not directly related to vehicular
motion will degrade the quality of the inertial data. Installing Duro Inertial on a flexible vehicle rooftop, engine cover, or
fender - where the mounting surface can flex and vibrate independently of the vehicle body - should be avoided. Similarly,
placing the sensor on plush seating of a vehicle with the antenna on the rigid part of the vehicle will yield poor results.
Ensure that the Duro Inertial enclosure is on the same rigid body as the GNSS antenna. Some suspension systems may
isolate the chassis from the cab and if the antenna moves when the Duro Inertial does not it will degrade results. When
installing the device inside a vehicle, directly mounting it to the vehicle chassis is recommended. If installing the device
externally, it is recommended to mount the device near the roof support structure, or on a rigid roof rack. Ideally, Duro
Inertial should be mounted rigidly to the vehicle’s inertial mass, directly above the center of rotation (i.e the pivot point).
A straightforward approach to installing Duro Inertial is to mount it on a rigid surface, located on the top of the vehicle,
with the GNSS antenna attached to the receiver using included bracket. This approach is demonstrated in Figure 1.
Mounting the GNSS antenna directly on the top of the receiver improves performance and makes setup easier. In this
configuration, there is no need to measure the antenna lever arm - the default antenna offset settings can be used.
Figure 1: Duro Inertial sample mounting
If it is impractical to mount the entire Duro Inertial system on the top of a vehicle, mounting the Duro Inertial enclosure
and GNSS antenna to the same rigid body, while minimizing the distance between them, is recommended. Ideally, the
GNSS antenna should be mounted directly above Duro Inertial - with the antenna and enclosure both mounted on the
vehicle centerline. On passenger vehicles, practical mount points for the Duro Inertial enclosure may include: the spare tire
bay, the seat support rails, and the floor of the vehicle chassis.
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Antenna Offset
After installing the GNSS antenna and Duro Inertial on the vehicle, the antenna offset should be measured. The antenna
offset consists of X, Y, and Z components which should be measured along Duro Inertial’s X, Y, and Z axes (i.e. within the
device frame). The “Device Frame” is the reference frame aligned with the markings on the Duro Inertial enclosure. These
values will need to be provided to the device firmware settings during the configuration step.
On Duro Inertial, the device frame reference point is the intersection of the reference mark from the top of the enclosure
and the bottom surface of Duro Inertial (see: Figure 2). The orientation of the device frame is shown in Figure 3. Note, the
Z-axis is defined to be in the “down” direction.
FIgure 2: Device Frame Reference Point (dimensions in millimeters)
Figure 3: Device Frame Orientation
Distance value in the marked direction of the axis will have a positive sign. The value in the opposite direction will have a
negative sign. Distances should be measured in meters, with 1-cm accuracy, from the Duro Inertial reference point to the
phase center of the GNSS antenna.
The phase center of the GPS500 GNSS mini-survey antenna is located at the center of the antenna, 48 mm above the
bottom of antenna mount (middle point between L1 and L2 phase centers).
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Figure 4: GPS500 mini-survey antenna phase center location.
Use the Duro Inertial Vehicle Profile Worksheet provided in Appendix C to write down antenna offset measurements taken
on the vehicle for future reference.
Vehicle Frame Orientation
In addition to the antenna offset, the vehicle frame orientation should be measured. Entering proper orientation to the
Duro Inertial firmware settings is essential for a correct navigation output.
To obtain yaw, pitch, and roll angles for the orthogonal mounting, refer to Appendix B - Duro Inertial Orientations, and use
the values which match your installation. One way to think of the vehicle frame orientation is the rotations required to
make the axis of the vehicle frame align with the axis marked on Duro.
Use the Duro Inertial Vehicle Profile Worksheet provided in Appendix C to record vehicle frame orientation values for
future reference. The vehicle frame, and the pitch roll and yaw orientation directions, are defined according to the
diagram below, where z is defined into the page.
Figure 5: Vehicle Frame definition
Configuration
For proper operation, and the best performance, Duro Inertial firmware needs to be configured correctly. Duro Inertial has
all applicable settings for Piksi Multi and Duro in addition to the Duro Inertial specific settings in the “ins” (inertial
navigation system) settings grouping. Follow the instructions below to setup Duro Inertial firmware.
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Firmware Version
Duro Inertial requires Piksi Multi firmware v2.1.21 or newer. The latest firmware can be downloaded from the Swift
Navigation Support portal (https://support.swiftnav.com).
Default Configuration
By default, Duro Inertial is configured to be used with the Swift GNSS mini-survey antenna mounted directly to the Duro
Inertial enclosure - using the included mounting bracket. However, Duro Inertial is shipped with IMU and INS outputs
disabled by default. This is done to avoid outputting position solutions from a possibly incorrectly configured system.
In order to enable INS operation:
●Connect to Duro Inertial via Swift Console
●Select the Settings tab
●Locate the INS settings group
●Set output_mode to “Loosely Coupled”
●Swift Console will then offer to configure the settings for INS operation
In this configuration: imu_rate is set to 100 Hz, acc_range is set to 8 g, gyro_range is set to 125 deg/s, and dr_duration_max
is set to 10 s.
Firmware Settings
There are a number of firmware settings which directly affect the behavior of Duro Inertial. These are detailed in the tables
below. Device settings can be configured via Swift Console on the Settings tab or directly via SBP messages.
IMU Settings
IMU settings control range and output rate from inertial sensors.
Settings Group: imu
Name
Units
Accepted Values
Default Value
Description
acc_range
g
2, 4, 8, 16
8
Acceleration sensor range.
gyro_range
deg/s
125, 250, 500, 1000, 2000
125
Angular rate sensor (gyroscope) range.
imu_rate
Hz
25, 50, 100, 200
100
IMU raw output data rate.
imu_raw_output
n/a
True, False
False
Enable/Disable IMU raw data output.
Notes
●Gyroscope and Accelerometer ranges (acc_range, gyro_range) should be adjusted for the dynamics of your
application. In order to maintain the highest resolution of measurements, choose the smallest range which
encompasses the dynamics of your application. However, keep in mind that your application may involve sudden,
maximum dynamic changes which may not be typical or anticipated. These maximums should be used when
selecting a scale for both accelerometer and gyroscope ranges.
●Duro Inertial does not use the magnetometer sensor and therefore the mag_raw_output and mag_rate parameters
do not need to be set.
●In order to use inertial navigation, imu_raw_output must be enabled and imu_rate must be set to 100 Hz.
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●Remember to click Save on Device button on the Swift Console Settings tab to store new values on the device.
INS Settings
INS settings control inertial navigation sub-system operation.
Settings Group: ins
Name
Units
Accepted Values
Default Value
Description
antenna_offset_x
m
0
Distance along Duro Inertial X-axis from the
reference point to the antenna phase center
antenna_offset_y
m
0
Distance along Duro Inertial Y-axis from the
reference point to the antenna phase center
antenna_offset_z
m
-0.12674
Distance along Duro Inertial Z-axis from the
reference point to the antenna phase center
dr_duration_max
s
0 ..
10
Sets the maximum duration for which the inertial
system will dead reckon
output_mode
Disabled,
Loosely Coupled,
Debug
Disabled
Sets the operation mode of the inertial
navigation system. Use Loosely Coupled mode
for normal INS operation.
vehicle_frame_pitch
deg
-180 .. 180
0
Pitch angle representing rotation from vehicle
frame to device frame. Rotations are performed
extrinsically in the order roll, pitch, then yaw.
vehicle_frame_roll
deg
-180 .. 180
0
Roll angle representing rotation from vehicle
frame to device frame. Rotations are performed
extrinsically in the order roll, pitch, then yaw.
vehicle_frame_yaw
deg
-180 .. 180
0
Yaw angle representing rotation from vehicle
frame to device frame. Rotations are performed
extrinsically in the order roll, pitch, then yaw.
constrain_vehicle_sideslip
n/a
True, False
False
Enables or disables the non-holonomic
constraint feature that allows inertial system to
make assumptions about vehicle dynamics. This
feature is not currently supported.
This is an advanced setting and should only be
enabled provided the vehicle frame Euler angles
are measured precisely and are correct. It
assumes a vehicle can have no velocity in the
direction aligned with the vehicle "y" axis (i.e no
sideslip). This is a reasonable assumption for
passenger vehicles and many tractors.
odometry_noise_1
odometry_noise_2
odometry_noise_3
odometry_noise_4
0.28
Noise parameters for odometry sources. This is
an advanced setting and is not currently
supported.
Notes:
●Enter antenna_offset_x/y/z and vehicle_frame_yaw/pitch/roll as they were measured after installation. The
worksheet in Appendix C is a useful tool for determining these values.
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●dr_duration_max can be increased if low position accuracy is acceptable in DR mode
●Do not modify other parameters. They are used for development and testing only.
●Remember to click Save on Device button on the Swift Console Settings tab to store new values on the device.
Other Settings
All other Duro Inertial settings (like ports, protocols, rates, etc.) are the same as a standard Duro GNSS-only receiver.
Please reference the Duro User Manual for details about configuring data ports, protocols, message rates, etc…
RTK Corrections
For the most precise and accurate position output, Duro Inertial should operate in RTK mode. Select and configure an RTK
correction source in the same manner as a GNSS-only Duro. Refer to the Duro User Manual and support articles on the
Swift Navigation Support Portal (support.swiftnav.com) for details.
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Operation
With the INS system enabled, Duro Inertial will provide enhanced position output, including Dead Reckoning (DR) mode.
Additionally, the contents of several messages will include status information about the INS.
Duro Inertial requires a valid GNSS solution to initialize the inertial subsystem. After the first valid GNSS solution, the INS
is able to aid GNSS in precise positioning through challenging environments (like tree foliage and urban canyons) and to
provide navigation solutions during brief GNSS outages (such as overpasses and short tunnels).
Since inertial sensors drift over time, resulting in decreased position accuracy, the DR mode operation is time-limited by
the dr_duration_max setting (see settings in section above).
LED Indicators
Duro Inertial uses front panel LEDs to indicate when the INS is operational and the output position is computed using both
GNSS and inertial subsystem. Purple lights for the POS LED indicate that INS is in use. Refer to the LED description table
below for detailed information.
Figure 6: Duro Inertial LED indicators
LED Description
LED Name
Color
State
Description
POWER
LED Off
Off
No power
Green
Continuously on
Device receiving power
POS
LED Off
Off
No position, GNSS antenna not detected
Orange
Slow blinking
No position, antenna detected, no satellite signals received, INS
not initialized
Orange
Fast blinking
No position, receiving satellite signals, INS not initialized
Orange
Continuously on
Position valid, GNSS solution only, INS not used
Purple
Fast blinking
Position valid, DR mode, no GNSS solution
Purple
Continuously on
Position valid, combined GNSS and INS solution
Purple
Orange
Rapid blinking
Reserved (debug mode)
LINK
LED Off
Off
No incoming corrections, no Internet access
Red
Blinking
Incoming corrections, no Internet access
Red
Continuously On
Internet access available, no incoming corrections
Red
On with intermittent flashing
Internet access available, incoming corrections
MODE
LED Off
Off
No RTK
Blue
Blinking
Float RTK mode
Blue
Continuously on
Fixed RTK mode
Note: after power up POS, LINK and MODE LEDs will blink white indicating boot up completed
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Device Data Output
Duro Inertial is capable of providing output in Swift Binary Protocol (SBP) and industry standard NMEA 0183 protocol over
UART and Ethernet ports. When INS is enabled, messages in both protocols will provide additional data described below.
SBP Messages
The subset of Swift Binary Protocol messages directly related to Duro Inertial operation are highlighted in the tables
below. When using Duro Inertial, you may need to adjust the enabled_sbp_messages setting for the interfaces you use to
communicate with the device. This setting is a comma separated list of message IDs (in decimal) that will be emitted on
each interface. By default, the enabled_sbp_messages setting does not include any of the inertial-specific messages.
The following position mode values are reported in the “Fix Mode” field in the Status Flags (refer to the SBP protocol
specification for more information):
0 No fix
1 Single Point Position (SPP)
2 Differential GNSS (DGNSS)
3 Float RTK
4 Fixed RTK
5 Dead Reckoning
6 SBAS
Additionally, the “Inertial Navigation Mode” field will contain INS status:
0 Message not produced by INS
1 Message produced by INS
Position Messages
Message
Message ID
Notes
SBP_MSG_POS_LLH
522
SBP_MSG_POS_LLH_COV
529
Message is not enabled by default.
SBP_MSG_POS_ECEF
521
Message is not enabled by default.
SBP_MSG_POS_ECEF_COV
532
Message is not enabled by default.
Velocity Messages
Message
Message ID
Notes
SBP_MSG_VEL_NED
526
SBP_MSG_VEL_NED_COV
530
Message is not enabled by default.
SBP_MSG_VEL_ECEF
525
Message is not enabled by default.
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SBP_MSG_VEL_ECEF_COV
533
Message is not enabled by default.
SBP_MSG_VEL_BODY
531
Message is not enabled by default. Only produced when INS is
enabled.
Orientation Messages
Message
Message ID
Notes
SBP_MSG_ORIENT_QUAT
544
Message is not enabled by default. Only produced when INS is
enabled.
SBP_MSG_ORIENT_EULER
545
Message is not enabled by default. Only produced when INS is
enabled.
SBP_MSG_ANGULAR_RATE
546
Message is not enabled by default. Only produced when INS is
enabled.
Status Messages
Message
Message ID
Notes
SBP_MSG_INS_STATUS
65283
Message is not enabled by default. Only produced when INS is
enabled.
Refer to the SBP protocol specification for message content details.
NMEA Messages
Following NMEA 0183 messages contain Dead Reckoning status information. NMEA messages do not contain orientation
nor other INS specific information.
NMEA 0183 Messages
Message
Notes
GGA
Quality Indicator:
0 - No fix
1 - Single Point Position (SPP)
2 - DGNSS or SBAS
4 - Fixed RTK
5 - Float RTK
6 - Dead Reckoning
GLL
RMC
VTG
Mode Indicator:
N - No fix
A - Autonomous fix
D - DGNSS or SBAS
E - Dead Reckoning (Estimated)
F - Float RTK
R - Fixed RTK
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Known Issues
●Latency of Duro Inertial is dependent on the configuration of your device.
●Pin 17 Position Valid (PV) does not go high during Dead Reckoning
●NMEA will stop output after power cycle until a valid GNSS time is received
●Firmware upgrade with SmoothPose running will take 2-3x longer and data output during this time should be
ignored. Please set output_mode in the INS settings to “Disabled” before performing firmware upgrades.
●Moving baseline heading is not currently utilized by SmoothPose
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Appendix A - Identifying Duro Inertial
Duro Inertial receivers can be identified in following ways:
1. Duro Inertial has a product name and part number located on the bottom of the enclosure.
2. The “product_id” read-only setting reflects the product ID. This setting exists in the “system_info” group in the
settings interface that can be accessed via the Swift Binary Protocol API or the Swift Console program.
Product
Duro® Inertial
Duro®
Part Number
00759-01 and 00759-02
00522-01
product_id
“Duro Inertial”
“Duro”
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Appendix B - Duro Inertial Orientations
Use the pictures below to determine Duro Inertial orientation angles in your vehicle installation.
Angles are in degrees.
Yaw: 0
Pitch: 0
Roll: 0
Yaw: 90
Pitch: 0
Roll: 0
Yaw: 180
Pitch: 0
Roll: 0
Yaw: -90
Pitch: 0
Roll: 0
Yaw: 0
Pitch: 0
Roll: 180
Yaw: 90
Pitch: 0
Roll: 180
Yaw: 180
Pitch: 0
Roll: 180
Yaw: -90
Pitch: 0
Roll: 180
Yaw: 0
Pitch: 90
Roll: 0
Yaw: 0
Pitch: 90
Roll: -90
Yaw: 0
Pitch: 90
Roll: 180
Yaw: 0
Pitch: 90
Roll: 90
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Yaw: 0
Pitch: -90
Roll: 180
Yaw: 0
Pitch: -90
Roll: -90
Yaw: 0
Pitch: -90
Roll: 0
Yaw: 0
Pitch: -90
Roll: 90
Yaw: -90
Pitch: 0
Roll: -90
Yaw: 0
Pitch: 0
Roll: -90
Yaw: 90
Pitch: 0
Roll: -90
Yaw: 0
Pitch: 180
Roll: 90
Yaw: 90
Pitch: 0
Roll: 90
Yaw: 180
Pitch: 0
Roll: 90
Yaw: -90
Pitch: 0
Roll: 90
Yaw: 0
Pitch: 0
Roll: 90
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Appendix C - Duro Inertial Installation Worksheet
Print and use this form to record Duro Inertial installation details and measurements. Antenna offset and vehicle frame
rotation need to be entered to firmware settings for proper system operation.
General
Date
Vehicle Name
Duro Inertial S/N
Antenna Offset (measured along X/Y/Z axis of Duro after installation)
X
Meters
Y
Meters
Z
Meters
Vehicle Frame Rotation
Yaw (Z)
Degrees
Pitch (Y)
Degrees
Roll (X)
Degrees
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Appendix D - Device and Vehicle Frames
The three Euler-angle settings for configuring the Device frame orientation with respect to the vehicle frame orientation
represent three extrinsic rotations in the order roll, pitch, and yaw. For example, a rotation matrix that can be used to
rotate a vector from the device frame (i.e a velocity in the Duro Inertial frame X-direction) to the Vehicle Frame, can be
represented as follows:
Extrinsic rotations are defined as rotations about the body where the body does not move.
Similarly, the Quaternion and Euler angle output from the device describe the orientation of the Vehicle Body Frame with
respect to the Navigation frame in real time. The euler rotations should applied intrinsically in the order yaw, pitch, and
roll in order to rotate the from a frame aligned with the local-level NED frame to the vehicle body frame. Mathematically, it
can be shown that this description of the real time Euler angles is equivalent to an Extrinsic rotation in the order roll, pitch,
yaw to rotate the vehicle frame into the local level NED frame. The equations below can be used to relate the Euler angles
reported in MSG_ORIENT_EULER, to the Body velocities reported in MSG_VEL_BODY, to the Navigation velocities reported
in MSG_VEL_NED. The vehicle body frame is defined according to Figure 5.
Glossary
Term
Description
Antenna Offset
Three-dimensional distance between Duro Inertial and GNSS Antenna
Device Frame
The reference frame aligned with the XYZ axis markings on Duro Inertial
DR
Dead Reckoning
Dead Reckoning
Position computation method where the current position is computed based on a prior
known position and an estimated movement
Firmware
Embedded software running on electronic device
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Fix
Valid position
DGPS, DGNSS
Differential GPS or GNSS
GNSS
Global Navigation Satellite System mainly including GPS, GLONASS, BeiDou (BDS), and
Galileo satellite systems
IMU
Inertial Measurement Unit
INS
Inertial Navigation System
Lever Arm
Three-dimensional distance between Duro Inertial reference point and GNSS antenna phase
center
Loosely Coupled
Navigation technique that takes GNSS position data and combines it with inertial sensor
measurements for a unified output
Phase Center
Point inside the GNSS antenna from which position is calculated
Piksi Multi
Swift Navigation RTK GNSS receiver module included in Duro Inertial
RTK
Real Time Kinematic
SBAS
Satellite Based Augmentation System
SBP
Swift Binary Protocol - Swift Navigation’s proprietary protocol
SPP
Single Point Position
Swift Console
Graphic User Interface (GUI) program providing visual representation of what's happening
inside Swift Navigation’s Piksi Multi, Duro, and Duro Inertial GNSS receivers. Console
displays information and allows to adjust the settings on the hardware. Available for
Windows, macOS and Linux.
Tracking
Continuously receiving signals from GNSS satellites
Vehicle Frame
The reference frame aligned with the XYZ axis of the vehicle. X-axis is usually facing forward,
Y to the right and Z down.
Additional References
Name / Link
Notes
Swift Binary Protocol
The fundamental API and communication interface of Swift
receivers is SBP.
Swift Console
The Swift Console has helpful desktop software for evaluation
and configuration of the receiver.
Duro User Guide &
Duro Specifications
The features of the Duro Inertial Enclosure (dimensions,
drawings, connectors, interfaces) are shared with the Duro and
are documented in the Duro User guide.
Duro Troubleshooting Guide
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Table of contents
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