Firmware version 4.4.00

Firmware version 4.4.00 adds improvements to Inertial Navigation
computations for a more robust Tilt Compensation, refinements to J-Star,
Galileo High Accuracy Service (HAS), and additional satellite signal
tracking for NavIC and GLONASS.

The related commands and messages are included in the GNSS Receiver External
Interface Specification (GREIS), with the revision dated July 29, 2024.

Applicable Receivers
  • All modern JAVAD GNSS receivers based on TRIUMPH-3 ASIC and receivers
    using version 4.3.00 firmware

    • Exceptions:

      • TRIUMPH-LS/LS+
New Features
  • J-Star auto beam mode
  • J-Star Galileo High Accuracy Service (HAS)
  • NavIC L1 signal support
  • GLONASS CDMA L1 & L2 support
  • Kalman Filter Tilt Computation
  • TR-3S DUO support
  • GREIS message [EB]: external baseline
Updated Features
  • Improved firmware update reliability
  • New antenna database <NGS-24/05/24=907>
  • Removed redundant 3s shift from GLONASS L3 measurements
  • TR-3S:

    • Implement support of ALPHA2 receiver
    • Load MCU firmware along with GNSS
  • TR_3S_DUO: load MCU firmware along with GNSS
  • TRE-DUO IMU: support rev.3
  • TRIUMPH-1M Plus:

    • Support Main Board rev.2
    • New power status parameters for main board rev.2
    • Changed [dv_accl] and [dv_gyro] messages to provide XYZ in the ENU
      receiver frame
    • Changed [dv_mag] message to provide XYZ in the ENU receiver frame
    • Changed default value of /par/imu/dev/mode to “auto”
    • Changed default value of /par/imu/dev/msint to “20”
    • Support rev.3
  • TRIUMPH-3NR:

    • Changed [dv_mag] message to provide XYZ in the ENU receiver frame
    • Changed default value of /par/imu/dev/mode to “auto”
    • Changed default value of /par/imu/dev/msint to “20”
  • TRIUMPH-3:

    • Support [dv_accl] and [dv_gyro] messages
    • Resolved intermittent failure updating IMU firmware
    • Changed default value of /par/imu/dev/mode to “auto”
    • Changed default value of /par/imu/dev/msint to “20”
    • Disabled GPS L1C and BeiDou B1C tracking by default
  • Default message set:

    • Removed obsolete [SI] message. [SX] is now used.
    • Removed obsolete [rc] and [DC] messages. [rx]/[cr] and [DX]/[0d] pairs
      are now used.
  • SSL/TLS: browser support updated to OpenSSL 3.1.3
  • GALILEO HAS:

    • New parameter /par/pos/pp/type for selecting corrections type
    • New parameter /par/pos/pp/period to configure solution update rate
  • NMEA:

    • Implement GSV verbose mode with parameter ‘/par/nmea/GSV/verbose’
    • Implement v4.30 support
    • Implement DTM message
  • NTRIP Caster: support per-client protocol version with /par/net/ntrip/ver
    parameter
  • GREIS:

    • GREIS [xd] message: fix “len” field to be “u1” according to
      specification and repair broken “data” field content
    • GREIS [PM] message: output “ref/ant/id” parameter at the beginning
Bugs Fixed
  • RTCM3 output: fix MJD and SoD fields of message 1029 that were always 0.
  • Revise week number logic to avoid a short-term decrement error by 1
  • Fix long startup time at specific temperatures for most T3 ASIC based
    boards
  • [xd] message: fix “len” field to be “u1” and repair broken “data” field
    content
  • Fix possible IMU firmware update failure on the TRIUMPH3 receiver