ALTUS APS-U User manual
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APS-U
User Manual
Revision 2.1
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APS-U User Manual
© 2014 ALTUS Positioning Systems Inc. All rights reserved. ALTUS and the ALTUS logo are trademarks of ALTUS Positioning Systems
Inc. registered in the U.S. and other countries. No part of this document may be copied, used or reproduced without the prior
written permission of ALTUS Positioning Systems.
No part of this manual may be reproduced or transmitted in any form or by any means, electronic or mechanical, including
photocopying and recording, for any purpose without the express written permission of ALTUS Positioning Systems Inc.
Mention of third-party products in this document is for informational purposes only and does not constitute an endorsement or a
recommendation. ALTUS Positioning Systems assumes no responsibility with regard to the performance or use of the APS-U due to
GPS characteristics, USA Department of Defense operations control, atmospheric effects, multipath and RF interference. All
understandings, agreements, or warranties take place directly between the seller and the prospective users. Every effort has been
made to ensure that the information in this manual is accurate. ALTUS is not responsible for printing or clerical errors. All
specifications are typical and subject to change without prior notice.
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Table of Contents
1Introduction .................................................................................................................... 5
1.1 User Notice............................................................................................................................................... 5
1.2 Warranty .................................................................................................................................................. 5
1.1 Technical Support..................................................................................................................................... 5
1.2 CE NOTICE................................................................................................................................................. 6
1.3 ROHS/WEEE NOTICE................................................................................................................................. 6
1.4 Safety Information ................................................................................................................................... 7
2APS-U Overview .............................................................................................................. 8
2.1 APS-U GNSS Features ............................................................................................................................... 8
2.2 APS-U Variants.......................................................................................................................................... 9
2.3 APS-U Design .......................................................................................................................................... 10
2.4 Internal Memory .................................................................................................................................... 14
3Web Interface................................................................................................................ 15
4Receiver Administration ................................................................................................ 16
4.1 Change IP Settings.................................................................................................................................. 16
4.2 Configuration management ................................................................................................................... 17
4.3 Upgrading the firmware or uploading a new permission file ................................................................ 18
4.4 Reset the receiver to default settings .................................................................................................... 18
4.5 User Administration ............................................................................................................................... 19
5Basic Configurations ...................................................................................................... 20
5.1 How to set the APS-U in RTK rover mode using the UHF radio ............................................................. 20
5.2 How to set the APS-U in RTK rover mode using the cell modem and NTRIP......................................... 22
5.3 How to configure the receiver as RTK base ........................................................................................... 25
5.4 How to use TERRASTAR services............................................................................................................ 30
5.5 How to set up dual-antenna operations for heading output?............................................................... 33
5.6 How to configure data output................................................................................................................ 34
5.7 How to check tracked satellites ............................................................................................................. 38
5.8 How to Enable PPS-Output .................................................................................................................... 39
5.9 How to log data for Support and retrieve debugging information........................................................ 40
6Appendix ....................................................................................................................... 43
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6.1 Port Descriptions.................................................................................................................................... 43
6.2 List of Typical GNSS Related Acronyms.................................................................................................. 46
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1Introduction
1.1 User Notice
This section provides information regarding Warranty and Customer Service with Support. All specifications are typical and
subject to change without notice. ALTUS Positioning Systems reserves the right for improvements and changes to this
document, products and services without notice or obligation.
1.2 Warranty
ALTUS provides a 2-year warranty for the APS-U receiver, free from defects in materials and workmanship, from date of sale on
the invoice of the original buyer. A 90-day warranty is provided for the cables and other accessories. Firmware upgrades are
free for life. Software support is free for 1-year from date of purchase.
The warranty does not cover:
•Defects due to accidents, abuse, misuse, negligence, abnormal use or any other non-recommended use
•Defects due to environmental conditions that do not conform to APS-U specifications
•Defects due to improper installation or operating procedures
•Defects due to modifications, alterations, or changes not made in accordance with the APS-U User Manual and other
technical documentation or directly authorized by ALTUS
•Normal wear and tear use
•Shipping damage
•3rd-party software included with the product, other than the warranty of the original manufacturer to the extent the
manufacturer permits
Warranty is void if the APS-U has been tampered with or opened
1.1 Technical Support
Contact your ALTUS dealer for first-line support. For further information, please see the Altus support website for
documentation and firmware upgrades, or contact ALTUS Technical Support:
North and South America:
Altus Positioning Systems
23848 Hawthorne Blvd., Suite 200
Torrance, California 90505, USA
EMEA APAC
Septentrio Satellite Navigation
Interleuvenlaan 15G
BE3001 Leuven Belgium
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1.2 CE NOTICE
Receivers of the APS-U family carry the CE mark and are as such compliant with the 2004/108/EC -EMC Directive and amendments,
2006/95/EC - Low Voltage Directive, both amended by the CE marking directive 93/68/EC.
With regards to EMC, these devices are declared as class B, suitable for residential or business environment.
1.3 ROHS/WEEE NOTICE
Receivers of the APS-U family comply with European Union (EU) Directive 2002/95/EC on the restriction of the use of
certain hazardous substances in electrical and electronic equipment (RoHS Directive).
Receivers of the APS-U family comply with the European Union (EU) Directive 2002/96/EC on waste electrical and
electronic equipment (WEEE). The purpose of this Directive is the prevention of waste electrical and electronic
equipment (WEEE), and in addition, the reuse, recycling and other forms of recovery of such wastes so as to reduce
the disposal of waste. If purchased in the European Union, please return the receiver at the end of its life to the
supplier from which it was purchased.
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1.4 Safety Information
Statement 0000/WARNING: IMPORTANT SAFETY INSTRUCTIONS
This warning symbol means danger and indicates that you are in a situation that may result in body injury and physical damage. Before you work on
any equipment, be aware of the hazards involved with electrical circuitry and familiarize yourself with standard practices for preventing accidents.
Use the statement number provided at the beginning of each warning to locate its translation in the translated safety warnings that accompanied
this device.
Statement 0001/WARNING: The power supply provided by Altus (if any) should not be replaced by another. If you are using the receiver with
your own power supply, it must have a double isolated construction and must match the specifications of the provided power supply.
Statement 0003/WARNING: Ultimate disposal of this product should be handled according to all national laws and regulations.
Statement 0005/WARNING: The equipment and all the accessories included with the product may only be used according to the
specifications in the delivered release note, in the manual and in all other documents delivered with the receiver.
Statement 0007/WARNING: Never place the equipment in direct sunlight.
Statement 0008/WARNING: The outside of the instrument may be cleaned using a clean, lightly dampened cloth. Do not use any cleaning
liquids containing alcohol, methylated spirit, ammonia etc.
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2APS-U Overview
The APS-U provides multi-frequency RTK GNSS capability together with GNSS Heading, L-Band positioning from TERRASTAR, and
wireless communications within a rugged MIL-STD-81 0 housing for the broadest range of applications.
For maximum flexibility, the design is scalable from a single antenna GNSS receiver to full options with Heading, wireless links and L-
Band capability.
The rear panel has an extensive suite of interfaces for data output, timing, event marks, and a second antenna port for GNSS
Heading. Integrated wireless options optional GSM cellular modem and UHF radio modem for transmission or reception of RTK
corrections.
2.1 APS-U GNSS Features
•272 Channel Septentrio AsteRx2eH GNSS Receiver, with L1/L2/L2C GPS, GLONASS and SBAS.
2.1.1 GNSS Navigation Accuracy
Navigation Performance
Horizontal (m)
Vertical (m)
Standalone (Autonomous)
1.3
1.9
SBAS (WAAS, EGNOS, MSAS)
0.6
0.8
DGNSS
0.5
0.9
TERRASTAR -D
0.1
0.2
RTK*
0.006 + 0.5 ppm
0.01 + 0.5 ppm
2.1.2 GNSS Heading Accuracy
Separation
Heading
Pitch or Roll
1 meter
0.3°
0.6°
10 meter
0.03°
0.06°
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2.2 APS-U Variants
The APS-U is offered in different variants for Rover and Heading applications. Starting with single antenna models, available options
include RTK Rover, L-Band (TERRASTAR), UHF and Heading. The table below lists all the available variants with the relevant options.
Positioning Modes
Comm
GNSS
Variant
Partnumber
Meter (SA, SBAS, DGNSS)
Decimeter (PPP/TERRASTAR)
Centimeter (RTK)
Relative (Moving Base)
Base
Orientation
UHF
Cellular Modem
GPS L1 & L2
GLONASS L1 & L2
L-Band (TERRASTAR)
APS-U-HLMU
400142B1474
APS-U-HMU
400142B1473
APS-U-LMU
400142B1478
APS-U-MU
400142B1477
SM_APS-U
400142B1471
STOCK MODEL
All models include a 2GB internal memory and Ethernet connectivity. Bluetooth can be enabled with a firmware update.
Note: Due to a design limitation, the event markers are not functional on the current APS-U hardware when used together with the
PPS-Out signal.
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2.3 APS-U Design
2.3.1 Front Panel
Figure 1: Front Panel
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2.3.2 Rear Panel
There are 6 ports on the APS-U. The rear of the APS-U has two TNC connectors for GNSS antennas; one for the main antenna
and one for the auxiliary antenna for heading applications
Figure 2: Rear Panel
LEMO
Description
Purpose
14-pin
Com2/Com3
Dual RS-232 to PC
Com2 RS-232 to PC
Com3 RS-232 PC
7-pin
PPS/Event
PPS Output & Event input (events currently not supported)
16-pin
USB/ETH
USB to PC & Ethernet to PC or Router
9-pin
Com1
RS-232 to PC
4-pin
Power
DC Power Input
5-pin
Clock In/out
Do not use
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2.3.3 Mounting Brackets
Figure 3: Mounting Brackets
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2.3.4 Shipping Contents
Figure 4: Shipping Contents (*Optional Accessory)
One APS-U system includes the following items:
Items
Purpose
Bluetooth Antenna
Bluetooth communication (future functionality)
UHF Antenna
UHF communication
Cell Antenna
Cellular communications
Com2 & Com3 Serial Cable (201955)
Dual RS232/Serial connectivity (Com2/Com3)
Power Cable (201863)
9-30 VDC external power input, open-ended
USB & Ethernet Cable (201955)
Configuration via USB and Ethernet
CD
Software Programs and Manuals
2.3.5 Front Panel LEDs
The APS-U has LEDs to indicate status of the GNSS receiver, as well as incoming differential corrections via external device.
Figure 5: LEDs
201952*
(10119) PPS
201954*(10120)
COM1
201955 (10121)
COM2 & COM3
201956 (10122)
USB & ETH
201863 (10031)
PWR
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2.3.6 LED Description
LED
ICON
Status
Green
On: Receiver is Powered on
Off: Receiver is Powered off
Green
On (Flashing): Rx/Tx Data
Off: No Data
Green
On (Flashing): Rx RTK Corrections
On (Solid): Tx RTK Corrections
Off: No RTK Corrections
Green
Fast & Continuous (10 times per second) 0 Satellites
Blinks 1 time, then pauses: 1,2 Satellites
Blinks 2 times, then pauses: 3,4 Satellites
Blinks 3 times, then pauses: 5,6 Satellites
Blinks 4 times, then pauses: 7,8 Satellites
Blinks 5 times, then pauses: 9+ Satellites
Green
On: Internal Data Logging enabled
Off: Internal Data Logging not enabled
Blinking slowly: Internal disk almost full
Blinking quickly: Internal disk full, logging stopped
Blue
(future functionality)
On: Established device communication
Off: Idle for device bonding
2.4 Internal Memory
The APS-U has 2GB Memory for internal data logging. When using with APS-U for internal data logging, data is logged in SBF or
NMEA format, and may be retrieved after the logging session is complete. Files can be accessed via the logging tab using the
APS-U web interface.
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3Web Interface
The APS-U has an on-board web interface, which is accessible from the Ethernet connection. All routine settings are made from the
APS-U web interface for ease of use.
By default, the APS-U has a DHCP address http://aps-u-snxxxxx, where xxxxx are the five digits of the APS-U serial number, (to be
found on the top right of the rear panel of the APS-U enclosure)
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4Receiver Administration
4.1 Change IP Settings
The default DHCP address can be changed into the desired static address selecting the tab “Ethernet”.
To apply the changes press “OK”
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4.2 Configuration management
The receiver configuration includes all the user-selectable parameters, such as the elevation mask, the PVT mode, UHF, COM port
settings etc.
-The default configuration (RxDefault) contains factory settings which can be always retrieved.
-The Current configuration contains the current receiver configuration.
-The Boot file contains the configuration that is loaded at boot time.
-User-defined configuration files (User1, User2) can be used to store frequently-used user-specific configurations inside the
receiver.
The current receiver configuration can be saved and archived for future reuse or loaded on a different receiver. Once the
configuration is saved, it can be recalled.
Any change to the default settings will be implemented in the current configuration of the APS-U and are not automatically copied in
the boot configuration of the unit.
When changing the APS-U configuration from its factory settings, a pop-up at the bottom right corner of the screen will appear. To
make the changing effective after booting press OK.
Changes applied can be visualized expanding the configuration. To download the configuration in a text file, click the green arrow.
To upload a configuration script, select the light blue arrow and browse the desired file.
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4.3 Upgrading the firmware or uploading a new permission file
The APS-U firmware can be upgraded via the “Upgrade” screen in the “Admin” menu. You can upgrade the unit by selecting a
.SUF-file with a more of the firmware version.
This procedure can also be used to upload a new permissions file to enable additional features on the unit.
4.4 Reset the receiver to default settings
The receiver can be reset to the default settings via the “Reset” screen in the “Admin” menu. To reset the unit to factory
configuration, mark the “config” checkbox before clicking “OK”.
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4.5 User Administration
The User Administration screen in the Admin menu offers the possibility to configure access levels for different users. Users can be
configured as “viewer” (view status and settings, but not change them) or “user” (full access).
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5Basic Configurations
5.1 How to set the APS-U in RTK rover mode using the UHF radio
Step 1: Enable RTK Rover PVT mode
If when starting from the default configuration, RTK rover is enabled by default.
Step 2: Activate UHF radio.
When starting from the default configuration, in the status window, UHF can be activated in the UHF widget. If the unit was
preconfigured before, UHF will now be activated and the unit will start receiving corrections.
Remark: If Ntrip was previously enabled, the user will be presented with the choice to use either UHF or Ntrip.
Table of contents
