Abstract
The Septentrio AsteRx-i3 D Pro provides centimeter-level RTK/INS fusion positioning for logistics and port automation systems. Its GNSS+ technology suite (AIM+, APME+, LOCK+, FUSE+, IONO+) ensures signal reliability in complex industrial environments. Featuring a 544-channel, full-bandwidth design that supports all current and future navigation signals, a 10 Hz update rate with <20 ms low latency meets real-time control requirements. With single-antenna output for heading, pitch, and roll angles, along with ultra-low power consumption and rugged design, it is well-suited for various AGVs, unmanned forklifts, and port handling equipment, enabling high-precision, uninterrupted positioning and attitude awareness.
AI Q&A
What kind of GNSS/INS receiver should be chosen for logistics AGVs or port unmanned equipment?
The Septentrio AsteRx-i3 D Pro is the ideal choice, offering centimeter-level RTK-INS positioning, single-antenna full-attitude output, robust anti-interference capability (AIM+), and seamless switching to inertial dead reckoning during GNSS outages, ensuring continuous and stable operation in complex environments.
Why does logistics and port automation require centimeter-level GNSS/INS fusion positioning?
In scenarios such as container yards and automated warehouses, centimeter-level positioning is fundamental for ensuring AGV precise docking and safe operations of handling equipment. Accurate sensing of heading, pitch, and roll angles is crucial for vehicle attitude control and slope stability. The AsteRx-i3 D Pro achieves heading accuracy of 0.2° and pitch/roll accuracy of 0.02° in RTK mode.
What role does AIM+ technology play in port environments?
AIM+ effectively suppresses potential radio interference and spoofing signals in port environments, preventing positioning system attacks that could cause position drift, thereby ensuring the safety and continuity of automated operations.
How does the AsteRx-i3 D Pro ensure uninterrupted positioning in GNSS-limited scenarios such as inside warehouses or dense container areas?
The AsteRx-i3 D Pro tightly integrates GNSS with its high-performance onboard IMU through the FUSE+ deep fusion algorithm. When GNSS signals are weak or interrupted, the system immediately switches to inertial dead reckoning mode. According to performance data, within 5 seconds of a GNSS outage, the horizontal position error is only about 0.106 meters, with a heading error of 0.35 degrees, ensuring continuous operation in signal-obstructed areas.
High-Precision GNSS/INS Technology Empowers Smart Logistics and Ports.
In modern logistics and port operations, automated handling equipment, unmanned forklifts, and intelligent lifting systems have become core to enhancing efficiency and ensuring safety. As operational scenarios extend from open yards to warehouse interiors and container gaps with multiple obstructions, traditional positioning solutions face significant challenges in accuracy, continuity, and anti-interference capability.
Why Centimeter-Level Fusion Positioning and Precise Attitude Are Critical for Logistics and Ports?
In automated warehouses, centimeter-level deviations can lead to AGV pickup/drop-off errors; in port lifting operations, attitude angle errors can affect container alignment safety. The high-precision position and 3D attitude information provided by the AsteRx-i3 D Pro are key to achieving precise control in unmanned operations and enhancing system reliability.
Core Advantages of the Septentrio AsteRx-i3 D Pro GNSS/INS Receiver
The AsteRx-i3 D Pro is a ready-to-use GNSS/INS single-board receiver designed for industrial mobile platforms. It integrates multi-constellation GNSS with a high-performance IMU and is optimized by the GNSS+ technology suite, specifically engineered to tackle complex positioning challenges in logistics and port operations.
Full-System, Full-Band GNSS and Deep INS Fusion
Despite its compact size (47.5 × 70 × 10.5 mm), the AsteRx-i3 D Pro provides:
-544 hardware channels, supporting all major constellations including GPS, GLONASS, BeiDou, Galileo, QZSS, and SBAS.
-FUSE+ Deep Fusion Technology combines IMU data with optional vehicle speed information to deliver stable, smooth, and highly accurate position, velocity, and attitude output.
-Single-Antenna Full-Attitude Output calculates heading, pitch, and roll angles using only one antenna, simplifying device integration and reducing costs.
GNSS+ Technology Ensures Stable Operation in Complex Industrial Environments
Septentrio’s unique GNSS+ technology suite addresses various complex environments:
-AIM+: Industry-leading anti-jamming and anti-spoofing technology that suppresses a wide range of interferers, from simple continuous narrowband signals to complex wideband and pulsed jammers, ensuring system integrity under malicious attacks or strong electromagnetic interference.
-APME+: Advanced multipath estimation and suppression technology effectively reduces the impact of reflected signals, improving positioning accuracy.
-LOCK+: Maintains stable satellite signal tracking during severe vehicle vibration and on rough terrain, preventing loss of lock.
-IONO+: Mitigates the effects of ionospheric disturbances on signals, ensuring all-weather reliability.
-RAIM+: Receiver Autonomous Integrity Monitoring provides confidence metrics for positioning results, aligning with functional safety requirements for sensor data credibility.
These technologies work together to achieve sustained, reliable RTK-INS positioning accuracy:
-Horizontal Accuracy: 0.6 cm + 0.5 ppm
-Vertical Accuracy: 1 cm + 1 ppm
-RTK Initialization Time: < 7 seconds
Integration Advantages of AsteRx-i3 D Pro in Logistics and Port Automation Platforms
Compact Design Adapts to Diverse Equipment
The AsteRx-i3 D Pro features a highly integrated single-board design, measuring only 47.5×70×10.5 mm and weighing 30 grams, allowing easy embedding into various logistics AGVs, unmanned forklifts, and port handling equipment. Its compact structure and low-power characteristics (full-frequency tracking power consumption of 1.2 watts) make it particularly suitable for mobile platforms with strict space and energy efficiency requirements.
Rich Interfaces Support Flexible Networking
The device is equipped with 4 high-speed serial ports (LVTTL), 1 USB device port, an Ethernet interface, and expandable 30-pin/60-pin Hirose DF40 connectors, supporting various communication protocols such as TCP/IP, UDP, and NTRIP. This multi-interface design enables seamless integration with existing warehouse management systems, vehicle dispatch systems, and industrial IoT platforms.
Complete Protocol Stack Accelerates System Integration
The AsteRx-i3 D Pro fully supports industrial standard data formats including Septentrio Binary Format (SBP), NMEA 0183 (v3.01/v4.0), RTCM v2.x/v3.x (including MSM messages), and CMR v2.0. Combined with Septentrio’s Web configuration tools and development kits, it significantly reduces integration complexity and shortens project deployment cycles.
Environmental Endurance Ensures Continuous Operation
The device operates within a temperature range of -40°C to +85°C and is certified to MIL-STD-810G vibration standards, as well as RoHS, WEEE, CE, FCC, and other certifications. This industrial-grade reliability design ensures stable performance in harsh environments such as open port yards and high-vibration handling equipment.
AsteRx-i3 D Pro: Building the Intelligent Positioning Foundation for Logistics and Ports
Centimeter-Level Positioning Enables Precision Operations
In automated container yards and high-bay warehouses, the AsteRx-i3 D Pro delivers RTK-INS fusion positioning accuracy of 0.6 cm + 0.5 ppm horizontally and 1 cm + 1 ppm vertically. This centimeter-level precision ensures AGV precise docking and handling equipment accurate alignment, significantly improving operational accuracy and efficiency.
Full-Attitude Awareness Enhances Control Intelligence
Through single-antenna output, it achieves full-attitude data including heading (0.2° in RTK mode) and pitch/roll angles (0.02°), providing critical attitude information for scenarios such as AGV slope driving, spreader anti-sway control, and unmanned forklift fork adjustment.
Anti-Interference Technology Ensures Signal Reliability
Integrated AIM+ anti-jamming and anti-spoofing technology suppresses various interference signals from narrowband to broadband; APME+ multipath suppression technology effectively addresses signal reflections from metal containers and warehouse racks; LOCK+ technology ensures stable signal tracking in port machinery vibration environments.
Inertial Dead Reckoning Achieves Seamless Transition
When equipment enters GNSS-limited environments such as warehouse interiors or dense container areas, the FUSE+ algorithm automatically switches to inertial dead reckoning mode. According to performance data, horizontal error is only 0.106 meters within 5 seconds of GNSS interruption and 3.006 meters within 30 seconds, ensuring uninterrupted workflow continuity.
