Research Article
Experiences with the GPS in Unstabilized CubeSat
| 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 |
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