USV APACHE 4 WITH MBES HQ-400

a. Autonomous Platform:

• Dimensions: 1200 mm × 750 mm × 400 mm

• GNSS: Internal dual-antenna GNSS

• Weight: 13 kg

• Material: High-strength, high-modulus carbon fiber

• Camera: 360° omnidirectional video

• Light Indicator: Two-color (positioning and differential signal)

• Draft: 8.6 cm

• Instruments: Integrated compact multibeam echosounder and singlebeam echosounder

b. Propulsion:

• Type: Brushless DC

• Direct Control: Veering without steering engine

• Power: 800 W

• Speed: 7200 ±5% RPM

• Battery Capacity: 32.4 V, 23.1 Ah

• Motor Installation: Pluggable

• Maximum Speed: 6.5 m/s
  
  2. Controller and Communication

  a. Controller:

• Dimensions: 346 mm × 196.5 mm × 89.4 mm

• Display Screen: 10-inch

• b. Communication:

• Data Communication: Standard 4G and Remote Control

• Remote Control Range: 1 km (remote), unlimited (4G)

• SIM Card Slot: Nano SIM

• Reserved Interfaces: 2 × RJ45 ports, 2 × RS232 serial ports

• Navigation Mode: Manual or autopilot

• Data Storage: Local (multi-channel) and remote

• Resolution Ratio: 1920 × 1200

• Storage: RAM 4 GB, Storage 64 GB

• Battery Endurance: 5 hours

• Communication Frequency: 2.4 GHz, USB, Nano SIM
  
   

  3. Positioning, Depth Determination Equipment, and Software

  a. Satellite Systems:
  BDS B1I/B2I/B3I, GPS L1C/A/L2P(Y)/L2C/L5, Galileo E1/E5a/E5b, GLONASS L1/L2, QZSS L1/L2/L5

  b. Single Point Positioning (RMS):

  • Horizontal: 1.5 m

  • Vertical: 2.5 m

  c. DGNSS Positioning Accuracy:

  • 0.4 m + 1 ppm

  d. RTK Positioning Accuracy:

  • Horizontal: ±8 mm + 1 ppm

  • Vertical: ±15 mm + 1 ppm

  e. Radio Protocols:
  Satel 3AS, CHC (1), TT450, Transparent

  f. Heading Accuracy:
  0.1° @ 1 m baseline

  g. Inertial Navigation Stability:
  6°/h (accuracy degradation of 1 m after 20 s)

  h. IMU Update Rate:
  200 Hz

  i. Software