MicroStrain 3DM-GQ7-GNSS/INS
Tactical Grade RTK-Enabled
Navigation System
Owner’s Manual
The MicroStrain 3DM-GQ7-GNSS/INS is a complete RTK-enabled navigation solution featuring centimeterlevel position accuracy.
The system includes dual multiband GNSS receivers, low-noise and low-drift MEMS inertial sensors, and a robust Adaptive Extended Kalman Filter (EKF).
MicroStrain sensors have set the standard for inertial sensor performance for over 20 years. The 3DM-GQ7GNSS/INS continues to build upon that legacy and includes a host of new features that ensure optimum performance in even the most demanding applications.
Product Features:
 | 1.5°/h Gyro Bias Instability |
 | Dual Antenna GNSS Heading |
 | Centimeter Level Accuracy with RTK |
 | Adjustable Sampling Rates Up to 1 KHz |
 | Tactical Grade IMU |
 | Advanced Tightly-Coupled EKF |
 | Lightweight (78g) and Low Profile |
MicroStrain 3DM-GQ7-GNSS/INS Specifications
System Performance
| Position | |
| Single Point, Horizontal[1] | 1.25 m |
| Single Point, Vertical[1] | 2 m |
| RTK [1,2] | 2 cm |
| Attitude | |
| Roll, Pitch | 0.05° |
| Heading[3] | 0.25° |
| Dynamic | |
| Velocity | 0.05 m/s |
IMU
| Accelerometer | Gyroscope | Magnetometer | Barometer | |
| Range | ±8 g | ± 300 °/s | ±8 Gauss | 260 to 1260 mbar |
| Random Walk | 20 µg/√Hz | 0.15 °/√h | – | – |
| Bias Instability | 5 µg | 1.5 °/h | – | – |
| Noise Density | 20 µg/√Hz | 8.75 °/h/√Hz | – | – |
| Turn-on to Turn-on Bias[4] | 50 µg | 0.002 °/s | – | – |
| Bias Error Over Temperature | 0.4 mg | 0.03 °/s | – | – |
| Scale Factor Error Over Temperature | 600 PPM | 1000 PPM | – | – |
Interface
| Connectors | 2x Micro-D9 |
| Communications Interface | 2x RS-232, 2x USB |
| GNSS Antenna Ports | 2x MMCX |
| Output Data Rate (IMU and EKF) | 1 to 1000 Hz |
| External Aiding Input | RTCM 3.1, GNSS, Odometer, Heading |
| I/O | 4x GPIO |
GNSS
| Number of Receivers | 2 |
| Channel Count | 184 |
| Constellations | GPS/QZSS, GLONASS, Galileo, BeiDou*, SBAS |
| Frequencies | L1C/A, L2C, L1OF, L2OF, E1B/C, E5b, B1, B2 |
| Operational Limits | Altitude 50,000 meters, Velocity 500 m/s |
[*] BeiDou support to be provided in future firmware release
Physical and Electrical
| Weight | 78 g |
| Size | 76 mm x 68.6 mm x 13.3 mm |
| Power Consumption | 2.0 W (Typical), 2.5 W (Max) |
| Operating Voltage | 5 to 16 VDC |
| GPIO Voltage | 5 V |
| Operating Temperature | -40°C to 85°C |
| Antenna Output Voltage | 3 V |
| Antenna Output Current | 100 mA |
| MTBF | 389,237 hours (Telecordia Method, GM/35C) |
[1] 24 hour static, RMS
[2] 1 cm + 1 ppm, 2 cm at 10 km from base station
[3] Dual antenna, RMS, 1.5 m baseline
[4] Bias repeatability, <24 hours
MicroStrain 3DM-GQ7-GNSS/INS Allan Variance (AVAR)
MicroStrain 3DM-RTK
Minimizing your time to market by removing the need for base station infrastructure
The MicroStrain 3DM-RTK Cellular Correction Modem transmits easy-to-use Real Time Kinematic (RTK) correction data to be utilized by the 3DM-GQ7-GNSS/INS. It provides the simplicity of a cellular connection to our SensorCloud RTK base station network, replacing cumbersome radiobased stations.
With RTK corrections the 3DM-GQ7 can achieve centimeter-level positional accuracy.
3DM-RTK Specifications
| Output Data Rate | 1 Hz |
| Interface | Micro-D9, RS 232, USB |
| Protocols | MIP, RTCM 3.1, NMEA |
| Cellular Network | Cellular Coverage: Global* |
| Voltage | 5 to 16 VDC |
| Power | 1.0 W (Typical), 2.0 W (Max) |
| Weight | 48 g |
[*] Some regional restrictions apply. Coverage only where LTE CAT-M1/2G deployment is available.
SensorConnect is PC software for sensor configuration and data collection. Configure inertial parameters, device settings, data channels, and sample rates.
Visualize massive amounts of data instantly using built-in intelligent data collection and graphing algorithms. Create immersive dashboards with rich data visualization.
MSCL™ API and MIP SDK
The MicroStrain Communication Library (MSCL) is our open-sourced API that simplifies writing code to interact with our sensors. MIP SDK is a lightweight C/C++ library for interacting with MicroStrain G and C-series products via bare-metal and resource constrained microcontrollers.
Both APIs are readily available and fully-documented on GitHub, featuring valuable tools such as full documentation, example code, and a quick start guide.
MicroStrain offers an open source, license-free (MIT License) series of actively supported drivers specifically designed and tested for Robot Operating System (ROS).
Use ROS for building and simulating robotics applications, unmanned ground vehicles (UGVs) and simultaneous localization and mapping (SLAM).
Seamless cloud-based network RTK corrections. Plug and play functionality with our 3DM-RTK modem allows for fast, easy deployment across the globe.
Get started instantly with our commitment-free subscription service, available immediately after registration.
phone +1 802 862 6629
[email protected]
www.parker.com/microstrain
©2023 Parker Hannifin Corporation | Document 8400-0139 Revision B | Subject to change without notice.
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