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产品型号：LG69TAP 模块 固件版本：LG69TAPNR01A05V02_QX_BETA1204_STALG69TAPNR01A05_QX_UPG.bin（此固件版本使用千寻SDK方式做RTK）还有收割机版固件可以使用NTRIP方式的测试载体：LG69T 测试底板，实物如下图所示:（数据使用UART1口和UART2口）  1. 载噪值 2. 功耗：模块使用过程发现跟踪卫星是功耗要比捕获卫星还高，后期注意模组底板的散热问题。电压输入范围：3.3-3.5V 捕获卫星: 350 mA @3.5V跟踪卫星: 410 mA @3.5V3. 外接天线使用L1+L5频点天线模块使用有源天线和无源天线都可。4. 定位精度：自定位1.5m，速度精度：0.1m/s.RTK 精度可以到15CM左右。当时测试环境不是很好，窗外2米，这样模块RTK进入固定解很快，但是收敛的时间很长大概40分钟进入到15CM的精度。 
5. 模块具有航位推算能力和集成IMU，IMU输出语句如下：  6.模块接收频点GPSL1和L5，GALIA E1和E5，BEIDOUB1和B2的卫星图： 
7.LG69TAP模块参数指标：Features Details Power Supply Supply voltage: 3.0–3.6 V Typical: 3.3 V Power Consumption Tracking: 402 mA Acquisition: 402 mA Backup mode: TBD Sensitivity Acquisition: -145 dBm Reacquisition: -158 dBm Tracking: -161 dBm TTFF @ -130 dBm (Autonomous without AGPS) Cold Start: < 33 s Warm Start: < 32 s Hot Start: < 1.5 s TTFF @ -130 dBm (with AGPS) Cold Start: TBD Warm Start: TBD Hot Start: TBD Horizontal Position Accuracy Autonomous: < 1.2 m CEP RTK: < 0.15 m CEP Update Rate 1Hz by default, maximally up to 10 Hz Accuracy of 1PPS Signal Typical accuracy: TBD Time pulse width: 500 ms Velocity Accuracy Without aid: < 0.1 m/s RTK: < 0.05 m/s Acceleration Accuracy Without aid: TBD Dynamic Performance Maximum Altitude: 18000 m Maximum Velocity: 515 m/s Acceleration: 4.0 g UART Interface Supports 4800, 9600, 14400, 19200, 38400, 57600, 115200, 230400, 460800 and 921600 bps baud rates Used for NMEA/PSTM output and firmware upgrade CAN Interface Supports 50, 100, 125, 250 and 500 kbps, and 1Mbps baud rates 500 kbps by default Requests speed information of a vehicle I2C Interface* One I2C interface, working on master mode Supports standard mode (100 kbps), Fast mode (400 kbps), Fast mode Plus (1 Mbps), and High-Speed mode (3.4 Mbps) Supports 7-bit and 10-bit addresses Temperature Range Operation temperature range: -40°C to +85 °C Storage temperature range: -40 °C to +90 °C Physical Characteristics Size: (22.0 ±0.2) mm ×(17.0 ±0.2) mm × (3.15 ±0.2) mm
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