Experiences with the GPS in Unstabilized CubeSat

Table 1

piNAV versions.

Feature	Version I	Version II	Version III
Frequency		GPS L1 C/A
Channel no.		15
Acquisition	Serial	Parallel after switch on, then serial	Parallel
Cold start time	600 s	62 s	60 s
PVT	Least squares		Weighted least squares
PVT rate	1 per second, free running		1 per second, synchronized to GPS time
Real-time kernel	No		Free RTOS