Several configurations and filters might be considered to refine the M10 output.
There is no particular reason to allow a 2D fix, so might be worth mandating a 3D fix.
CFG-NAVSPG-FIXMODE = 2 (3D only)
CFG-NAVSPG-INIFIX3D = 1
The dynamic model affects how the navigation filter captures and smooths speed peaks.
CFG-NAVSPG-DYNMODEL - default may be 0 (portable), or 9 (wrist)| Name | Description | |
|---|---|---|
| 1 | Portable | Applications with low acceleration, e.g., portable devices. Suitable for most situations. Max speed (<310 m/s), low acceleration |
| 2 | Stationary | Velocity restricted to 0 m/s. Zero dynamics assumed. No motion expected |
| 3 | Pedestrian | Applications with low acceleration and speed, e.g., how a pedestrian would move. Speeds <30 m/s (~58.3 knots is too low), low acceleration |
| 4 | Automotive | Used for applications with equivalent dynamics to those of a passenger car. Low vertical acceleration assumed. Typical road speeds (<100 m/s), higher accelerations than pedestrian |
| 5 | Sea | Recommended for applications at sea, with zero vertical velocity. Sea level assumed. Speeds <25 m/s (~ 48.6 knots is too low), no altitude change |
| 6 | Airborne <1g | Used for applications with a higher dynamic range and greater vertical acceleration than a passenger car. Up to 1g acceleration (3 times a speed sailor), max speed 100 m/s |
| 7 | Airborne <2g | Recommended for typical airborne environments. Up to 2g acceleration, max speed 250 m/s |
| 8 | Airborne <4g | Only recommended for extremely dynamic environments. Up to 4g acceleration, max speed 500 m/s |
| 9 | Wrist | Only recommended for wrist-worn applications. The receiver will filter out arm motion. Frequent signal loss (body shadowing), low speed |
Aside from “portable” the only dynamic model that may be useful when speed sailing is “automotive”, which may be worth testing.
Would need to keep an eye out for any additional dead-reckoning (DR) behaviours!
Further details - How to Choose a Suitable u-blox Dynamic GNSS Platform - Xsense, 4 Dec 2025
For speed sailing, static hold thresholds should left at zero.
CFG-MOT-GNSSSPEED_THRS - default is 0CFG-MOT-GNSSDIST_THRS - default is 0Navigation input filters may potentially prevent poor quality PVT solutions from a few satellites / signals.
CFG-NAVSPG-INFIL_MINSVS - default is 3
CFG-NAVSPG-INFIL_NCNOTHRS - default is 0
CFG-NAVSPG-INFIL_CNOTHRS - default is 0
Navigation output filters can potentially prevent poor quality solutions (e.g. spikes) being output.
CFG-NAVSPG-OUTFIL_PDOP - default is 250CFG-NAVSPG-OUTFIL_TDOP - default is 250CFG-NAVSPG-OUTFIL_PACC - default is 100 mCFG-NAVSPG-OUTFIL_TACC - default is 350 nsCFG-NAVSPG-OUTFIL_SACC - default is 150 m/s