Advanced Navigation Boreas D90 User manual

Boreas D90
Reference Manual
v1.2 11 Oct 2022

Contents
1 Revision History 1
2 Introduction 2
2.1 Firmware Changelog 3
2.2 Hardware Changelog 3
3 Evaluation Kit 4
3.1 Evaluation Kit Contents 5
4 Getting Started 7
5 Part Numbers and Ordering 8
5.1 Evaluation Kit 8
5.2 Standalone Units 8
5.3 GNSS Receiver Licence Upgrades 9
5.4 Accessories 10
6 Specifications 11
6.1 Navigation Specifications 11
6.1.1 Dual Antenna Heading Accuracy 12
6.1.2 Sensor Specifications 12
6.1.3 GNSS Specifications 13
6.2 Hardware Specifications 13
6.2.1 Mechanical Drawings 14
6.2.1.1 Cable Bend Radius 15
6.2.2 Serial Number 15
6.3 Communication Specifications 16
6.4 Electrical Specifications 16
6.5 Ethernet Connection 18
6.6 IO Connection 18
6.6.1 IO Unterminated Cable 18
6.6.2 IOBreakout Cable 20
6.6.3 Custom IO Termination 22
7 Installing Boreas 23
7.1 Installation Checklist 23
7.2 Mounting Boreas 24
7.3 Mounting Alignment 26
7.4 Cable Bend Radius 27
7.5 MIL-DTL-38999 Series IIIConnector Mating 28
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7.6 Power Supply 29
7.7 Electrical Domains 29
7.8 GNSS Antennas 29
7.8.1 Antenna Cables 33
7.8.2 Antenna SuctionCup Mount 33
7.8.3 Antcom Antenna Survey Mount Assembly 34
7.9 Networking 34
7.10 Odometer 34
7.10.1 Factory VSS Signal 34
7.10.2 OBDII Odometer Interface 35
7.10.3 Aftermarket Wheel Speed Sensor 35
7.10.4 Radar Speed Sensor 36
7.11 Magnetics 37
7.12 Vibration 37
8 Using Boreas 38
8.1 Filter Initialisation 38
8.1.1 Orientation Initialisation 39
8.1.2 Navigation Initialisation 39
8.1.3 Heading Initialisation 39
8.1.4 Time Initialisation 40
8.2 Hot Start 40
8.3 Time 40
8.4 Heading Sources 41
8.4.1 North Seeking Gyrocompass Heading 41
8.4.2 Dual Antenna Heading 41
8.4.3 Velocity Heading 41
8.4.4 External Heading 41
8.5 Data Anti-aliasing 42
8.6 Vehicle Profiles 42
8.7 Atmospheric Altitude 42
8.8 Odometer Pulse Length 42
8.8.1 Calibrating Odometer Automatic Pulse Length 42
8.9 Reversing Detection 43
8.10 Motion Analysis 43
8.11 RTK 43
8.11.1 Network RTK Corrections (NTRIP) 43
8.11.2 Radio Modem RTK Corrections 44
8.11.3 Supported RTCM Messages 44
8.12 Raw Satellite Data 44
8.13 Kinematica Post Processing 45
8.14 Vents 45
8.15 RAIM 45
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8.16 Heave 46
8.17 Environmental Exposure 46
8.17.1 Temperature 46
8.17.2 Water 46
8.17.3 Salt 46
8.17.4 Dirt and Dust 47
8.17.5 pH Level 47
8.17.6 Shocks 47
8.17.7 Atmospheres 47
8.18 Upgrading the Boreas Firmware 47
9 Configuring and Monitoring Boreas 48
9.1 Using the Web User Interface 48
9.1.1 Main View 49
9.1.1.1 Status Indicator 49
9.1.1.2 Current Time, Position and Heading 50
9.1.1.3 Altitude Indicator 50
9.1.1.4 Satellites Table 50
9.1.1.5 Map 50
9.1.1.6 Map Controls 50
9.1.2 View Menu 50
9.1.2.1 Map 50
9.1.2.2 Device Information 50
9.1.2.3 Subcomponent Information 51
9.1.2.4 Status 51
9.1.2.5 Satellites 52
9.1.2.6 Raw Sensors 53
9.1.2.7 Orientation 54
9.1.2.8 Position 55
9.1.2.9 Velocity and Acceleration 56
9.1.2.10 GNSS Receiver Information 57
9.1.2.11 Heave 57
9.1.2.12 Coarse Heading Alignment 58
9.1.3 Configuration Menu 59
9.1.3.1 Filter Options 59
9.1.3.2 Data Ports 59
9.1.3.3 Alignment 60
9.1.3.4 Baud Rates 61
9.1.3.5 GPIO 62
9.1.3.6 Odometer 62
9.1.3.7 Reset 63
9.1.3.8 Reference Point Offsets 63
9.1.3.9 Manual Initialisation 64
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9.1.3.10 Dual Antenna 64
9.1.3.11 Ethernet Settings 65
9.1.3.12 NTRIP Client 65
9.1.3.13 CAN Settings 67
9.1.3.14 Advanced 68
9.1.3.15 GNSSConfiguration 68
9.1.4 Tools Menu 70
9.1.4.1 Firmware Update 70
9.1.4.2 Logs 71
9.1.4.3 Viewing Logged Data 72
9.2 Using Boreas Manager 72
9.2.1 Software Changelog 73
9.2.2 System Requirements 74
9.2.3 Installation and Starting 74
9.2.4 Troubleshooting 74
9.2.4.1 Windows 74
9.2.4.2 Linux 76
9.2.5 Main View 77
9.2.5.1 Serial Port 77
9.2.5.2 Baud Rate 77
9.2.5.3 Connect / Disconnect 78
9.2.5.4 3D Map 78
9.2.6 View Menu 78
9.2.6.1 Communications 78
9.2.7 Configuration Menu 78
9.2.7.1 Configuration Export 78
9.2.7.2 Alignment 78
9.2.7.3 Port Mode and Baud Rates 80
9.2.7.4 GPIO 80
9.2.7.5 Odometer 81
9.2.7.6 GPIO Output 81
9.2.7.7 Gimbal 82
9.2.8 Tools Menu 83
9.2.8.1 Device Discovery 83
9.2.8.2 Firmware Update 84
9.2.8.3 Log Converter 85
9.2.8.4 NTRIP Client 85
9.2.8.5 Network Connect 86
9.2.8.6 Serial Passthrough 86
9.2.9 Logging 87
9.3 Using the Android App 87
9.4 Using ANPP 87
10 Interfacing 88
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10.1 Ethernet 88
10.1.1 Ethernet Modes 88
10.1.2 Ethernet Functions 89
10.1.2.1 NMEA Input 90
10.1.2.2 Novatel GNSS Input 90
10.1.2.3 Topcon GNSS Input 90
10.1.2.4 ANPP Input 91
10.1.2.5 RTCM Differential GNSS Corrections Input 91
10.1.2.6 Trimble GNSS Input 91
10.1.2.7 u-blox GNSS Input 91
10.1.2.8 Hemisphere GNSS Input 91
10.1.2.9 Teledyne DVL Input 91
10.1.2.10 Tritech USBL Input 91
10.1.2.11 Linkquest DVL Input 91
10.1.2.12 Nortek DVL Input 91
10.1.2.13 NMEA Output 92
10.1.2.14 ANPP Output 92
10.1.2.15 TSS1 Output 92
10.1.2.16 Simrad 1000 Output 92
10.1.2.17 Simrad 3000 Output 92
10.1.2.18 Serial Port Passthrough 92
10.1.2.19 GNSS Receiver Passthrough 92
10.2 Serial Interface 93
10.2.1 Baud Rate 93
10.2.2 Format 93
10.3 1PPS Signal 93
10.4 CAN Interface 93
10.5 External Data 94
10.6 GPIO Pins and the Auxiliary Port 94
10.6.1 Dynamic Pin Functions 95
10.6.1.1 Inactive 97
10.6.1.2 1PPS Output 97
10.6.1.3 GNSS Fix Output 98
10.6.1.4 Zero Velocity Input 98
10.6.1.5 Disable GNSS 98
10.6.1.6 Disable Pressure 98
10.6.1.7 Set Zero Orientation Alignment 99
10.6.1.8 System State Packet Trigger 99
10.6.1.9 Raw Sensors Packet Trigger 99
10.6.1.10 1PPS Input 99
10.6.1.11 Event 1 Input 100
10.6.1.12 Event 2 Input 100
10.6.1.13 Odometer Direction, Forward Low 100
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10.6.1.14 Odometer Direction, Forward High 100
10.6.1.15 Reverse Alignment, Forward Low 100
10.6.1.16 Reverse Alignment, Forward High 101
10.6.1.17 Zero Angular Velocity Input 101
10.6.1.18 Odometer Input 101
10.6.1.19 Pitot Tube Input 101
10.6.1.20 Pressure Depth Transducer (deprecated) 102
10.6.1.21 Left Wheel Speed Sensor 102
10.6.1.22 Right Wheel Speed Sensor 102
10.6.1.23 Wheel Speed Sensor 102
10.6.1.24 Wheel Encoder Phase A 102
10.6.1.25 Wheel Encoder Phase B 103
10.6.1.26 Gimbal Encoder Phase A 103
10.6.1.27 Gimbal Encoder Phase B 103
10.6.1.28 NMEA Input 103
10.6.1.29 Novatel GNSS Input 104
10.6.1.30 Topcon GNSS Input 104
10.6.1.31 ANPP Input 104
10.6.1.32 RTCM Differential GNSS Corrections Input 105
10.6.1.33 Trimble GNSS Input 105
10.6.1.34 u-blox GNSS Input 105
10.6.1.35 Hemisphere GNSS Input 105
10.6.1.36 Teledyne DVL Input 106
10.6.1.37 Tritech USBL Input 106
10.6.1.38 Linkquest DVL Input 106
10.6.1.39 Linkquest USBL Input 106
10.6.1.40 Nortek DVL Input 106
10.6.1.41 NMEA Output 107
10.6.1.42 ANPP Output 107
10.6.1.43 TSS1 Output 107
10.6.1.44 Simrad 1000 Output 107
10.6.1.45 Simrad 3000 Output 108
10.6.1.46 Serial Port Passthrough 108
10.6.1.47 GNSS Receiver Passthrough 108
11 Advanced Navigation Packet Protocol 109
11.1 AboutPackets 111
11.1.1 Packet Structure 111
11.1.1.1 Header LRC 112
11.1.1.2 Packet ID 112
11.1.1.3 Packet Length 112
11.1.1.4 CRC 112
11.1.2 Packet Requests 112
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11.1.3 Packet Acknowledgement 112
11.1.4 Packet Rates 112
11.1.5 Packet Timing 113
11.2 Data Types 113
11.3 System Packets 114
11.3.1 Acknowledge Packet 114
11.3.1.1 Acknowledge Result 114
11.3.2 Request Packet 114
11.3.3 Boot Mode Packet 115
11.3.3.1 Boot Mode Types 115
11.3.4 Device Information Packet 115
11.3.4.1 Device ID 116
11.3.5 Restore Factory Settings Packet 116
11.3.6 Reset Packet 117
11.3.6.1 Verification Sequence Values 117
11.3.7 Serial Port Passthrough Packet 117
11.3.7.1 Passthrough Routes 117
11.3.8 IP Configuration Packet 118
11.3.8.1 DHCP Mode 118
11.3.8.2 Link Mode Index 118
11.3.8.3 Discovery Network Setting Overwrite 118
11.3.9 Subcomponent Information Packet 119
11.3.9.1 Subcomponent Device ID 119
11.4 State Packets 120
11.4.1 System State Packet 122
11.4.1.1 System Status 123
11.4.1.2 Filter Status 124
11.4.1.3 GNSS Fix Status 124
11.4.1.4 Unix Time Seconds 124
11.4.1.5 Microseconds 125
11.4.2 Unix Time Packet 125
11.4.3 Formatted Time Packet 125
11.4.4 Status Packet 126
11.4.5 Position Standard Deviation Packet 126
11.4.6 Velocity Standard Deviation Packet 126
11.4.7 Euler Orientation Standard Deviation Packet 127
11.4.8 Quaternion Orientation Standard Deviation Packet 127
11.4.9 Raw Sensors Packet 128
11.4.10 Raw GNSS Packet 129
11.4.10.1 Raw GNSS Status 129
11.4.11 Satellites Packet 130
11.4.12 Geodetic Position Packet 131
11.4.13 ECEF Position Packet 131
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11.4.14 UTM Position Packet 131
11.4.15 NED Velocity Packet 132
11.4.16 Body Velocity Packet 132
11.4.17 Acceleration Packet 132
11.4.18 Body Acceleration Packet 133
11.4.19 Euler Orientation Packet 133
11.4.20 Quaternion Orientation Packet 133
11.4.21 DCM Orientation Packet 134
11.4.22 Angular Velocity Packet 134
11.4.23 Angular Acceleration Packet 135
11.4.24 External Position and Velocity Packet 135
11.4.25 External Position Packet 136
11.4.26 External Velocity Packet 136
11.4.27 External Body Velocity Packet 137
11.4.28 External Heading Packet 137
11.4.29 Running Time Packet 137
11.4.30 Odometer State Packet 138
11.4.31 External Time Packet 138
11.4.32 External Depth Packet 139
11.4.33 Geoid Height Packet 139
11.4.34 RTCM Corrections Packet 139
11.4.35 Wind Packet 140
11.4.36 Heave Packet 140
11.4.37 Raw Satellite Data Packet 140
11.4.37.1 Satellite Systems 141
11.4.37.2 Satellite Frequencies 142
11.4.37.3 Tracking Status 142
11.4.38 Raw Satellite Ephemeris Packet 142
11.4.38.1 GPS Flags 144
11.4.39 External Odometer Packet 144
11.4.39.1 Odometer Flags 145
11.4.40 External Air Data Packet 146
11.4.40.1 External Air Data Flags 146
11.4.41 GNSS Receiver Information Packet 147
11.4.41.1 Aries GNSSReceiver 147
11.4.41.2 Trimble BD992 GNSSReceiver 147
11.4.41.3 GNSS Manufacturer IDs and Receiver Models 148
11.4.41.4 Omnistar Engine Modes 148
11.4.41.5 RTK Software License Accuracy 148
11.4.42 Raw DVL Data Packet 149
11.4.42.1 Raw DVL Data Flags 149
11.4.43 North Seeking Initialisation Status Packet 150
11.4.43.1 North Seeking Initialisation Status Flags 150
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11.4.44 Gimbal State Packet 150
11.4.45 Automotive Packet 151
11.4.46 Basestation Packet 152
11.4.46.1 GNSSFix Status 152
11.4.47 Zero Angular Velocity Packet 152
11.4.47.1 Zero Angular Velocity Duration 153
11.4.48 Extended Satellites Packet 153
11.4.48.1 153
11.4.48.2 Satellite Systems 153
11.4.48.3 Satellite Frequencies 154
11.4.48.4 Extended Satellites Flags 154
11.4.49 Sensor Temperature Packet 154
11.4.50 System Temperature Packet 156
11.5 Configuration Packets 156
11.5.1 Packet Timer Period Packet 157
11.5.1.1 UTC Synchronisation 157
11.5.1.2 Packet Timer Period 157
11.5.2 Packets Period Packet 157
11.5.2.1 Clear Existing Packets 158
11.5.2.2 Packet Period 158
11.5.3 Baud Rates Packet 159
11.5.3.1 Supported Baud Rate 159
11.5.4 Installation Alignment Packet 160
11.5.4.1 Alignment DCM 161
11.5.5 Filter Options Packet 161
11.5.5.1 Vehicle Types 161
11.5.6 GPIO Configuration Packet 162
11.5.6.1 GPIO Functions 163
11.5.6.2 Auxiliary Functions 164
11.5.6.3 GPIO Voltage Selection 166
11.5.7 Odometer Configuration Packet 166
11.5.8 Set Zero Orientation Alignment Packet 166
11.5.9 Reference Point Offsets Packet 167
11.5.10 GPIO Output Configuration Packet 168
11.5.10.1 Port Input Modes 169
11.5.10.2 Port Output Modes 169
11.5.10.3 NMEA Fix Behaviour 169
11.5.10.4 Port Output Rates 170
11.5.11 Dual Antenna Configuration Packet 170
11.5.11.1 Offset Types 171
11.5.11.2 Automatic Offset Orientations 171
11.5.12 GNSS Configuration Packet 171
11.5.12.1 Aries GNSSReceiver 171
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11.5.12.2 Trimble BD992 GNSSReceiver 171
11.5.12.3 GNSSFrequency Bitfields 172
11.5.12.4 L Band Modes 173
11.5.12.5 L Band Satellite IDs 174
11.5.13 User Data Packet 174
11.5.14 GPIO Input Configuration Packet 175
11.5.15 IP Dataports Configuration Packet 175
11.5.15.1 IP Dataport Mode 175
11.5.16 CAN Configuration Packet 176
11.5.16.1 CAN Protocol 176
12 Reference Information 177
12.1 Technology Overview 177
12.1.1 GNSS 177
12.1.2 AHRS 177
12.1.3 INS 177
12.1.4 GNSS/INS 177
12.2 The Sensor Co-ordinate Frame 178
12.2.1 Right Hand Rule 178
12.3 The Body Co-ordinate Frame 179
12.4 Roll, Pitch and Heading 179
12.4.1 Second Right Hand Rule 179
12.4.2 Rotation Order 180
12.5 Geodetic Co-ordinate System 180
12.5.1 Latitude and Longitude 180
12.5.2 Height 182
12.6 NED Co-ordinate Frame 183
12.7 ECEF Co-ordinate Frame 184
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Page xi
DISCLAIMER
Information in this document is provided solely in connection with Advanced Navigation products.
Advanced Navigation reserves the right to make changes, corrections, modifications or improvements, to
this document, and the products and services described herein at any time, without notice.
All Advanced Navigation products are sold pursuant to Advanced Navigation’s terms and conditions of
sale.
Purchasers are solely responsible for the choice, selection and use of the Advanced Navigation products
and services described herein, and Advanced Navigation assumes no liability whatsoever relating to the
choice, selection or use of the Advanced Navigation products and services described herein.
No license, express or implied, by estoppel or otherwise, to any intellectual property rights is granted under
this document. If any part of this document refers to any third party products or services it shall not be
deemed a license grant by Advanced Navigation for the use of such third party products or services, or any
intellectual property contained therein or considered as a warranty covering the use in any manner
whatsoever of such third party products or services or any intellectual property contained therein.
UNLESS OTHERWISE SET FORTH IN ADVANCED NAVIGATION’S TERMS AND CONDITIONS OF
SALE ADVANCED NAVIGATION DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY WITH
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AUTHORIZED OR WARRANTED FOR USE IN MILITARY, AIR CRAFT, SPACE, LIFE SAVING, OR LIFE
SUSTAINING APPLICATIONS, NOR IN PRODUCTS OR SYSTEMS WHERE FAILURE OR
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ENVIRONMENTAL DAMAGE.
ADVANCED NAVIGATION PRODUCTS WHICH ARE NOT SPECIFIED AS "AUTOMOTIVE GRADE"
MAY ONLY BE USED IN AUTOMOTIVE APPLICATIONS AT USER’S OWN RISK.
Resale of Advanced Navigation products with provisions different from the statements and/or technical
features set forth in this document shall immediately void any warranty granted by Advanced Navigation
for the Advanced Navigation product or service described herein and shall not create or extend in any
manner whatsoever, any liability of Advanced Navigation.
Information in this document supersedes and replaces all information previously supplied.
Document Version: 1.2 Publication Date:11 Oct 2022
For more information, contact technical support via email at [e-mail].
© 2022 Advanced Navigation - All rights reserved

1 Revision History
Version Date Changes
1.2 11/10/2022 Updated firmware changelog, see 2.1 Firmware Changelog
Updated hardware changelog, see 2.2 Hardware Changelog
Updated software changelog, see 9.2 Using Boreas Manager
Updated Logging information as per Manager v6.2, see 9.2.8.3 Log
Converter
Added a link to the product page to find the SDK, see 9.4 Using ANPP
Added information on disabling dual antenna heading for single antenna
configurations, see 11.5.5 Filter Options Packet and 9.1.3 Configuration
Menu
Updated External Time Packet to show it is Read only, see 11.4.31 External
Time Packet
Updated specifications to include hw v1.1 changes, see 6.2 Hardware
Specifications
Added note that higher precision oscillator for time accuracy is available, see
8.3 Time
1.1 01/06/2022 Updated Device ID table, see 11.3.4 Device Information Packet
Added Device Discovery section for Boreas Manager, see 9.2.8.1 Device Dis-
covery
Updated Logging information, see 9.2.8.3 Log Converter
Added Basestation Packet, see 11.4.46 Basestation Packet
Reformatted 1PPS output information, see 10.6.1.2 1PPS Output
Added System temperature Packet, see 11.4.50 System Temperature
Packet
Breakout cable diagrams updated to show connector types, see 6.6 IO Con-
nection
Clarified geoid, ellipsoid and orthometric heights, see 12.5 Geodetic Co-
ordinate System
Added information on Boreas variant with BD992 GNSSReceiver, see 5 Part
Numbers and Ordering,6.1 Navigation Specifications,11.4.41 GNSS
Receiver Information Packet,9.1.3 Configuration Menu, and 3 Evalu-
ation Kit
Added disclaimer than Antenna Status Flags are only applicable toAries
GNSSReceivers, see 9.1.2.4 Status,11.4.1 System State Packet and
11.4.10 Raw GNSS Packet
1.0 17/06/2021 Initial Release
Table 1: Revision History
v1.2 Page 1 11 Oct 2022
Boreas Reference Manual • Revision History

2 Introduction
Boreas is an ultra high accuracy DFOG GNSS/INS that provides accurate position, velocity, acceleration and
orientation under the most demanding conditions. It combines cutting edge Fibre Optic Gyroscopes (FOG)
technology, with closed loop accelerometers and a dual antenna RTK GNSS receiver. These are coupled in a
sophisticated fusion algorithm to deliver accurate and reliable navigation and orientation. The system features
ultra fast gyrocompassing heading that works under all conditions.
Boreas is equipped with an Advanced Navigation Aries GNSS receiver as standard. A Trimble BD992 variant is
also available. See 5 Part Numbers and Ordering for more information.
Figure 1: Boreas
Boreas is a compact, light-weight GNSS/INSsystem that:
lProvides unparalleled accuracy, stability and reliability with its use of the revolutionary Digital FOG
(DFOG) technology
lProvides continuously reliable data throughout extended GNSS outages and periods of interference
lRapidly acquires accurate heading information using Digital FOG (DFOG)gyroscopes in conjunction with
an innovative north-seeking algorithm
lExtracts greater usable information from sensor data using Advanced Navigation's AI-based sensor filter
lIs designed and built to be tough, tested to high safety standards and resistant to shock and vibration,
allowing it to be used in extreme conditions
lFeatures multiple interfaces including Ethernet, CAN, RS232, RS422 and general-purpose IO
lSupports all industry-standard protocols including NMEA 0183 and NMEA 2000 and a wide variety of pro-
prietary protocols.
v1.2 Page 2 11 Oct 2022
Boreas Reference Manual • Introduction

Note: For information about Global Navigation Satellite Systems (GNSS), Inertial Navigation Systems
(INS) and related concepts explained in simple terms, see 12 Reference Information.
Use the links below for detailed information about Boreas.
l5 Part Numbers and Ordering
l6 Specifications
l7 Installing Boreas
l8 Using Boreas
l9 Configuring and Monitoring Boreas
l10 Interfacing
l11 Advanced Navigation Packet Protocol
2.1 Firmware Changelog
Version Date Changes
1.3 18 August
2022
Added support for Trimble BD992 receiver
Allowed firmware update using any ANPP dataport. Previously only
available via Primary Serial or Web UI.
Fixed unable to apply GNSS configuration
1.2 10 June 2022 Added ability to operate as single antenna configuration by disabling
dual antenna heading, see 9.1.3 Configuration Menu
Report a gyroscope failure if a gyroscope temperature is out of range
Fixed satellite tracking information display and ANPP84 for BD992
Fixed CANopen PDO objects stop transmitting if the bus is broken
then restored
Fixed Manual Initialisation from Web UI
Fixed intermittent restart due to NMEA0183 sentences
Fixed CANopen external odometer input
General performance improvements
1.1 25 October
2021
Improved gyrocompass fine alignment
Fixed NMEA 0183 GPGSV output missing
1.0 10 Septem-
ber 2021
Initial release
Table 2: Firmware Changelog
Note: To upgrade the firmware to the latest version, see 8.18 Upgrading the Boreas Firmware.
2.2 Hardware Changelog
Version Date Changes
1.1 12 July 2022 Component changes to increase maximum operating temperature
1.0 25 May 2021 Initial release
Table 3: Hardware Changelog
v1.2 Page 3 11 Oct 2022
Boreas Reference Manual • Introduction

3 Evaluation Kit
The Evaluation Kit provides the necessary parts and accessories to set up and connect a Boreas unit. It is
supplied in a rugged transport case to protect the equipment during transit.
Figure 2: Boreas Evaluation Kit Transport Case
v1.2 Page 4 11 Oct 2022
Boreas Reference Manual • Boreas Evaluation Kit

3.1 Evaluation Kit Contents
Figure 3: Boreas Evaluation Kit Contents
v1.2 Page 5 11 Oct 2022
Boreas Reference Manual • Boreas Evaluation Kit

Part Number Quantity Description Notes
BOREAS-D90
or BOREAS-D90-
BD992
1 Boreas INS Unit Boreas unit in rugged enclosure with
Aries Dual GNSS Receiver or Trimble
BD992 GNSSReceiver
VSP6337L 2 VeroStar GNSSAntenna VeroStar GNSS Antenna - L1/L2/L5
plus L band, pole mount, TNC Female
Connector
BF046WS210224-
01
2 GNSS antenna cable TNC
to TNC 4 m
4 metre RG-58A/U antenna cable with
TNC connectors
CABLE-FTDI 1 RS232/422 Adaptor to
USB
FTDI USB to RS232 / RS422 (select-
able) 1 metre cable
CABLE-38999-
RJ45-3M
1 Ethernet MIL-DTL-38999
Series III RJ45 to RJ45 3
m
Ethernet cable 3 m industrial
MIL-DTL-38999 Series III RJF TV RJ45
male to RJ45 male
See 6.5 Ethernet Connection.
CABLE-38999-19-
32-BREAKOUT
1 Breakout cable for IO con-
nection
Breakout cable for IO connection 2 m
MIL-DTL-38999 Series III Size 19, 32-
pin connector
Connectors for Primary, Auxiliary, CAN,
GPIO, 1PPS, Alert and Power. See
6.6.2 IOBreakout Cable.
SUPPLY-24V 1 24 VDCpower supply 100-240 V AC Mains to 24 V DC Power
Supply (DC jack)
Includes 2-pin plug types A/C/G/I
38999-19-CAP 1 Waterproof cap for Size 19
MIL-DTL-38999 Series III
socket connector
Used to maintain IP67 rating when not
using an Ethernet connection
BOREAS90-KIT-
CASE
1 Boreas 90 Evaluation Kit
case
Rugged transport case
Table 4: Evaluation Kit Contents
v1.2 Page 6 11 Oct 2022
Boreas Reference Manual • Boreas Evaluation Kit

4 Getting Started
To get started with Boreas for the first time, it is recommended that you begin by establishing communications
to the device, either before or after the unit is installed in its final location. These instructions assume the use of
components provided in the 3 Evaluation Kit, or purchased as Advanced Navigation supplied optional 5.4
Accessories.
1. Plug the power supply into the power connector on the breakout cable and then into the wall socket. See
7.6 Power Supply.
2. Plug the IO breakout cable into the IO connector on the Boreas unit. See 6.6 IO Connection.
3. Connect either the MIL-DTL-38999 Series III terminated cable or a standard Ethernet cable from the Eth-
ernet socket on the Boreas unit to your network or switch. See 6.5 Ethernet Connection.
4. If using Windows, download and install the Bonjour ZeroConf networking utility from the link
https://www.advancednavigation.com/Bonjour64.msi.
5. In a web browser, type the address: http://boreas.local.
There are additional factors that you must review before you proceed with the installation. For more
information, see 7 Installing Boreas.
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Boreas Reference Manual • Getting Started with Boreas

5 Part Numbers and Ordering
This topic covers information about:
l5.1 Evaluation Kit
l5.2 Standalone Units
l5.3 GNSS Receiver Licence Upgrades
l5.4 Accessories
5.1 Evaluation Kit
Part Number Description
BOREAS-D90-EK Boreas D90 INSEvaluation Kit.
Includes the items listed in 3.1 Evaluation Kit Contents
BOREAS-D90-BD992-EK Boreas D90 BD992 Receiver Evaluation Kit.
Includes the items listed in 3.1 Evaluation Kit Contents
Table 5: Evaluation Kit Part Numbers
5.2 Standalone Units
Part Number Description Notes
BOREAS-D90 Boreas D90 Unit Boreas D90 unit in rugged enclosure
Aries Dual GNSS Receiver
No cables or blanking caps included
BOREAS-D90-BD992 Boreas D90 BD992 Unit Boreas D90 unit in rugged enclosure
Trimble BD992 GNSS Receiver
No cables or blanking caps included
Table 6: Standalone Unit Part Numbers
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Boreas Reference Manual • Part Numbers and Ordering