Firmware version 4.6.00

Firmware version 4.6.00 has several significant improvements including a PPP
engine update with shorter conversion times and higher update rates, as well
as two major updates with integrated GNSS + Inertial Navigation
computations, for receiver frame orientation with respect to the vehicle
body frame and selectable IMU types. Inertial Navigation improvements are
only applicable to receivers / boards with an integrated IMU:

  • OEM Boards: TRE-DUO-IMU
  • Smart Antennas: TRIUMPH-3, TRIUMPH-3NR, TRIUMPH-1M Plus
  • Enclosures: DELTA-DI, DELTA-DIW, SIGMA-DMI (TRE-DUO-IMU board)

The related commands and messages are included in the
GNSS Receiver External Interface Specification (GREIS), dated June 10, 2025.

Applicable Receivers
  • All JAVAD GNSS receivers with the TRIUMPH-3 ASIC

    • Exceptions:

      • TRIUMPH-LS/LS+
  • Receivers with the TRIUMPH-2 ASIC
  • TRIUMPH-2 receiver with the TRIUMPH-1 ASIC
New Features
  • INS Frame Rotation:

    • new parameters /par/pos/ins/layout/rot and /par/pos/ins/layout/ref/apc

      • receiver frame is rotated with respect to the vehicle body frame
  • Selectable IMU models
  • Power Off & On Level:

    • support /par/pwr/level/off and /par/pwr/level/on parameters on
      Linux-based receivers
Updated Features
  • Geoid Data Size: maximum external geoid size increased to 4 MB for HOSTED
  • Wi-Fi: improved connection stability
  • NTRIP client: fixed GGA output preventing timeout from happening on the
    connection
  • TR-2S & TR-3S-DUO: support for ALPHA2 receiver
  • NMEA messages:

    • configurable decimal digits in LAT/LON with new
      parameter/par/nmea/frac/min/GGAs with a default value of 3
    • changed default for /par/nmea/head/fixed to “on”
    • added external event NMEA GGA message output with /msg/nmea/GGAe
  • [RD] message: full support for on-change output semantics
  • Enhanced handling of differential data decoders in AJPS (advanced JPS)
    mode
  • Automatic storing of JPS differential corrections to receiver log-files
  • Improved satellites search to prevent lock to false peaks
  • Files: support suffix for automated file names using new parameter
    /par/file/X/name/suf
  • TR_3S: changed model name from MCANT to AG for AgAnt-3S receiver
  • TCP/IP: disable IPv6 with new parameter /par/net/ipv6/mode
  • EDISK: support regular updates using new /par/edisk/mode
  • NavIC:

    • Added L1 ephemeris support
    • [IE] message expanded for L1 support
    • L1 signal added to position computation
  • Datums: ETRF support. Added “E2020” and “E1989” datums to supported datums
  • RTK: exclude RTK from datum transformations with /par/pos/pd/local
  • Network:

    • customizable host name through /par/net/host/name and
      /par/net/host/curname
    • SNMP support implemented
  • TriPad: remove legacy STAT LED blinking for number of locked SVs of
    different systems
  • TRE-3S: support board revision 7
Bugs Fixed
  • AFRM: fixed continuing logging when /par/log/rot/count gets to 0
  • Messages output: fixed F_OUT_ON_ADD support.

    • The flag works for all messages by auto-setting F_OUT flag on message
      add
  • <FN> and <POWER> buttons:

    • fixed status change to match documented rate on a few receiver models
  • File push: fixed SFTP client to connect to newer OpenSSH servers that
    disabled RSA/DSA keys by default
  • NTRIP Caster: fixed per-client protocol version support

    • Fixed occasional firmware restart when all clients are at the same
      version
  • RTK DUO: fixed internal baseline computation stop when base corrections
    stop
  • INS DUO: suppressed the “baseline” error message if any antennas are
    disabled through /par/lock/ant/N parameters
  • PTP: fixed /par/net/ptp/check_sync set to ‘off’ handling for newer
    receivers
  • NMEA GSV: fixed exception on non-Linux boards when GSV is enabled
  • [gd]/[qd] messages: fixed probable miss of LNAV data in case one of the
    QZSS satellites transmits default LNAV message (QZSS ICD Table 4.1.1-4)