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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