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53 If a GNSS outage lasting 10 s should occur, the IMUs for all four xNAV systems will maintain horizontal position accuracy to within 37 cm with RTK, and to 7 cm with post-processing. Position recovery is improved by using the Single Satellite Aiding and Inertial Relock technology of OxTS’ gx/ix tight-coupling navigation engine. The board-set versions of the xNAV v3 x500 and x550 INSs are the xOEM500 and 550. They come with the same performance characteristics as their enclosed counterparts but without those systems’ IP65-rated enclosures, for better integration inside vehicles. The second of the three new systems, the xOEM, comes in two versions. The xOEM500 weighs 120 g, and the xOEM550 150 g, and each system is about 2 cm shorter and 1.2 cm thinner than their enclosed versions, at about 112 x 65 x 30.1 mm. Both systems also offer three RS-232 ports compared to the xNAV’s single RS-232. Lastly, the Survey+ v3 comes with GPS and GLONASS (L1 and L2 frequencies) as standard with BeiDou (L1 and L2) as an option, and gives roll and pitch accurate to 0.03 º , heading to 0.05 º , and position to 1 cm with RTK or PPK processing. The system can also come with a 5 GHz or 2.4 GHz wi-fi data link, with throughputs of up to 433 Mbit/s for the former or up to 150 Mbit/s for the latter. It weighs 1.5 kg, consumes a nominal 14 W, and measures 184 x 120 x 71 mm. “We’ve added a wi-fi capability to the Survey+ so you can run the configuration software without having to plug in a cable from a laptop, in case it’s being used in an awkward location or harsh environment, or it’s hard-wired into an unmanned vehicle,” Austin added. Riegl attended the show to launch a ‘sister scanner’ to its miniVUX-1UAV payload for unmanned aircraft, the Riegl miniVUX-2UAV. “Both miniVUX scanner types can be completed with an Applanix APX-20 UAV INS-GNSS for consistency in geo- referencing power,” explained Susan Licari. “The difference between them lies in the laser pulse repetition rate, which is doubled on the miniVUX-2UAV. “That means when deploying the miniVUX-2UAV, UAVs can fly either faster and more efficiently, or you can get denser point clouds while keeping the same speed as when flying the miniVUX- 1UAV. That is useful for modelling and mapping power lines, power stations and some other industrial assets, for users who want to invest in a slightly more expensive payload for more detailed 3D models of their properties.” The new miniVUX-2UAV sensor pulses at up to 200,000 times per second, and offers a measurements program with 100 kHz laser PRR, resulting in longer measurement ranges. The accuracy is specified within 15 mm and the precision within 10 mm. The miniVUX-2UAV weighs 1.55 kg (or 1.6 kg, if an optional cooling fan is installed); it measures 243 x 99 x 85 mm, with input voltages between 11 and 34 V DC. That results in a power consumption of about 18 W at the device’s maximum scanning speed (100 scans per second with a 360 º field of view). The company also unveiled a pod- protected version of its VUX-240 Lidar sensor, for mounting on large UAV platforms or manned helicopters, to keep it safe from weather, dust and other environmental effects. SinoGNSS has updated its M100 GNSS receiver, which is now capable of tracking GPS, Galileo, BeiDou and GLONASS with multiple frequency signals. Its dimensions are 104.4 x 78.5 x 24.9 mm and it weighs 185 g in an IP54- rated enclosure. Unmanned Systems Technology | December/January 2020 Riegl’s pod-mounted version of its VUX-240 Lidar scanner