Inertial Navigation Systems (INS) can interface with various external equipment to enhance their accuracy by integrating aiding information.
The most common external aiding device is a GNSS receiver, which typically provides data using the NMEA standard protocol.
However, for optimal accuracy and robustness, SBG Systems also supports native binary protocols from leading third-party equipment manufacturers.

This section provides details on the supported third-party equipment and protocols, as well as their integration with SBG Systems' INS products.
Note that the availability of these input protocols varies by product family and type and you should check your product dedicated user manual.

sbgECom Input Protocol

The sbgECom protocol allows the INS to receive specific aiding information, such as external velocity or altitude.
This binary protocol is compact and secure, making it ideal for injecting real-time aiding data.

The following sbgECom logs are accepted based on the aiding configuration:

Message	Description
SBG_ECOM_LOG_MAG (04)	Used to inject magnetometer data.
SBG_ECOM_LOG_AIR_DATA (36)	Used to inject external barometric altitude and true airspeed.
SBG_ECOM_LOG_VELOCITY_1 (58)	Used to inject external velocity aiding information.
SBG_ECOM_LOG_POSITION_1 (62)	Used to inject external position aiding information.

Note: Please refer to the dedicated Operating Handbooks for more details and code samples.

NMEA Protocol

The NMEA protocol is commonly used for GNSS aiding data in a read-only mode.
The following NMEA sentences are expected for real-time INS integration:

Message	Rate	Required	Description
GGA	5 Hz	Required	GNSS position solution and type.
GST	5 Hz	Required	GNSS position accuracy.
RMC	5 Hz	Required	GNSS velocity and course.
HDT	5 Hz	Optional	Dual antenna true heading solution.
GSV	5 Hz	Required	Satellites in view with SNR, azimuth and elevation.
ZDA	1 Hz	Required	GNSS UTC time and date information associated with the PPS signal.

Note: Refer to the NMEA GNSS Integration Operating Handbook for detailed information.

UBX Protocol

The UBX binary protocol from u-blox delivers optimal performance when integrating an external u-blox GNSS receiver with the INS.
SBG Systems INS devices support u-blox generations 8, 9, and 10, as well as high-precision u-blox products like the F9P.

This protocol allows the INS to interface with both primary and secondary positioning engines.
It allows a single u-blox F9P receiver to compute both a true heading solution and a standalone PVT (Position, Velocity, Time) solution.

Message	Rate	Required	Description
UBX-NAV-DOP	1 Hz	Optional	Returns GNSS solution Dilution of Precision. Used primarily for NMEA-like outputs.
UBX-NAV-RELPOSNED	5 Hz	Optional	Provides relative position between GNSS 1 and 2 for true heading determination.
UBX-NAV-HPPOSLLH	5 Hz	Optional	High-precision geodetic position solution, essential for achieving RTK-level accuracy.
UBX-NAV-PVT	5 Hz	Required	Standard precision navigation solution, including position, velocity, and time.
UBX-NAV-SIG	1 Hz	Optional	Detailed signal information for each satellite.
UBX-NAV-SAT	1 Hz	Optional	Provides satellite data, including satellites in view, with azimuth and elevation.
UBX-NAV-STATUS	1 Hz	Optional	Reports receiver navigation status, useful for detecting and indicating spoofing events.
UBX-NAV2-DOP	1 Hz	Optional	Same as UBX_NAV_DOP but for the second positioning engine.
UBX-NAV2-PVT	5 Hz	Optional	Same as UBX_NAV_PVT but for the second positioning engine.
UBX-NAV2-SIG	1 Hz	Optional	Same as UBX_NAV_SIG but for the second positioning engine.
UBX-NAV2-SAT	1 Hz	Optional	Same as UBX_NAV_SAT but for the second positioning engine.
UBX-NAV2-STATUS	1 Hz	Optional	Same as UBX_NAV_STATUS but for the second positioning engine.
UBX-MON-SYS	1 Hz	Optional	System performance information.
UBX-RXM-RTCM	1 Hz	Optional	Status of the input real-time RTCM stream.
UBX-SEC-OSNMA	1 Hz	Optional	Galileo OSNMA security information.
UBX-SEC-SIG	1 Hz	Optional	Reports jamming and spoofing indicators

Additionally, the following messages are stored as part of the GNSS RAW stream to support post-processing:

UBX-RXM-RAWX
UBX-RXM-SFRBX

Novatel Binary Protocol

The Novatel binary protocol is used to achieve the best performance when connecting an external Novatel GNSS receiver to the INS.
The following messages are supported for real-time INS integration:

Message	Rate	Required	Description
BESTPOS	5 Hz	Required	Best real-time position solution and accuracy.
PSRXYZ	5 Hz	Required	Real-time doppler velocity and accuracy.
HEADING	5 Hz	Optional	Dual antenna true heading and pitch angles with accuracies.
TIME	1 Hz	Required	GNSS UTC time and date information associated with the PPS signal.
SATVIS2	1 Hz	Optional	Satellite in view with azimuth/elevation and tracked signals.

Additionally, the following messages are stored as part of the GNSS RAW stream to support post-processing:

RANGECMP
RANGECMP2
RANGECMP4
RAWEPHEM
GPSEPHEMERIS
IONUTC
GLOEPHEMERIS
QZSSEPHEMERIS
BDSEPHEMERIS
GALEPHEMERIS
GALFNAVEPHEMERIS
GALINAVEPHEMERIS
BDSIONO
QZSSIONUTC
GALIONO

Note: Refer to the Novatel GNSS Integration Operating Handbook for more information.

Septentrio SBF Binary Protocol

The INS integrates with the Septentrio SBF binary protocol for GNSS data aiding.
The following messages are supported for real-time INS integration:

Message	Rate	Required	Description
PVTGeodetic	5 Hz	Required	Real-time position and velocity solution.
PosCovGeodetic	5 Hz	Required	Real-time position solution accuracy.
VelCovGeodetic	5 Hz	Required	Real-time velocity solution accuracy.
AttEuler	5 Hz	Optional	Dual antenna true heading and pitch angles.
AttCovEuler	5 Hz	Optional	Accuracy of dual antenna true heading and pitch angles.
AuxAntPositions	1 Hz	Optional	Baseline measurement for dual antenna systems.
ReceiverTime	1 Hz	Required	GNSS UTC time and date information associated with the PPS signal.
ReceiverStatus	1 Hz	Optional	Reports overall status information.
DOP	1 Hz	Optional	GNSS Dilution of Precision.
ChannelStatus	1 Hz	Optional	Reports all space vehicles in view with tracked/used signals.
RFStatus	1 Hz	Optional	Reports interference (jamming) detections and mitigation.
GALAuthStatus	1 Hz	Optional	Reports Galileo OSNMA authentication/spoofing status.
FugroStatus	1 Hz	Optional	Reports Fugro decoder status such as expiration date.

Additionally, the following messages are stored as part of the GNSS RAW stream to support post-processing:

MeasEpoch
Meas3Ranges
Meas3CN0HiRes
Meas3Doppler
Meas3PP
Meas3MP
EndOfMeas
GPSNav
GPSIon
GPSUtc
GLONav
GLOTime
GALNav
GALIon
GALUtc
GALGstGps
BDSNav
BDSIon
BDSUtc
QZSNav

Note: Refer to the Septentrio GNSS Integration Operating Handbook for more details.

Trimble GSOF Binary Protocol

The Trimble General Serial Output Format (GSOF) provides the necessary information for the INS to compute a real-time navigation solution.
For post-processing, RT-27 frame parsing and storage are supported.

The following GSOF messages are supported:

Message	Rate	Required	Description
PositionTime (0x01)	5 Hz	Required	Time of the navigation solution.
LatLongHeight (0x02)	5 Hz	Required	Latitude, longitude, and altitude above the ellipsoid.
Velocity (0x08)	5 Hz	Required	3D velocity information.
PositionSigma (0x0C)	5 Hz	Required	The real time PVT solution accuracy.
PositionType (0x26)	5 Hz	Optional	The type of real time PVT solution.
AttitudeInfo (0x1B)	5 Hz	Optional	Dual antenna-based heading.
CurrentUtcTime (0x10)	1 Hz	Required	GNSS UTC time and date information associated with the PPS signal.
BriefAllSv (0x21)	1 Hz	Optional	Space vehicle information brief information.
SvInfoAll (0x22)	1 Hz	Optional	Space vehicle information detailed information - recommended.
SvInfoFull (0x30)	1 Hz	Optional	Space vehicle information detailed information over several pages.

Note: Refer to the Trimble GNSS Integration Operating Handbook for more details.

Teledyne RDI PD0 Protocol

The PD0 binary frame is a Teledyne RDI proprietary log that outputs DVL data, including bottom tracking, water tracking, and water profiling.
It is accepted as input for DVL aiding purposes.

Teledyne RDI PD6 Protocol

The PD6 ASCII frame is a Teledyne RDI proprietary log that outputs DVL data, such as bottom tracking and water tracking.
It is accepted as input for DVL aiding purposes.

Teledyne RDI Wayfinder Protocol

The Wayfinder protocol, a Teledyne RDI proprietary protocol for their new miniature DVL, supports bottom tracking velocity information.
It is accepted as input for DVL aiding purposes.

Nortek DVL AD2CP Protocol

The Nortek DVL AD2CP binary proprietary logs output DVL data, such as bottom tracking and water tracking.
The bottom track log and the water track log are accepted as inputs for DVL and depth aiding purposes.

Nortek DVL Nucleus Protocol

The Nortek DVL Nucleus binary proprietary logs output DVL data, such as bottom tracking and water tracking.
The bottom track log and the water track log are accepted as inputs for DVL aiding purposes. The altimeter log is accepted as input for depth aiding purposes.