Model

FIREFLY

2 GNSS Rx, low-cost IMU, Barometer and INS.

Double differences (DD) and Tight Integration (TI).

Position

≈1.8 m rms accuracy (improved position alg.).

Improved robustness & accuracy.

Increased output data rate (10 Hz update, 100 Hz output).

Attitude

Improved robustness & integrity.

100 Hz data update.

Heading in static conditions without magnetometer.

Improved pitch and roll wrt only low-cost IMU.