Applanix LVX User manual

I
THE INFORMATION CONTAINED HEREIN IS PROPRIETARY TO APPLANIX CORPORATION. RELEASE TO THIRD PARTIES OF THIS PUBLICATION OR OF INFORMATION
CONTAINED HEREIN IS PROHIBITED WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION. APPLANIX RESERVES THE RIGHT TO CHANGE THE
SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE. A RECORD OF THE CHANGES MADE TO THIS DOCUMENT IS CONTAINED IN THE
REVISION HISTORY SHEET. COPYRIGHT © APPLANIX CORPORATION, 2021ALL RIGHTS RESERVED. NO PART OF THIS PUBLICATION MAY BE REPRODUCED, STORED
IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
LVX User Guide
Document #:
PUBS-MAN-005635
Revision:
7
Date:
April 6, 2021

II
THE INFORMATION CONTAINED HEREIN IS PROPRIETARY TO APPLANIX CORPORATION. RELEASE TO THIRD PARTIES OF THIS PUBLICATION OR OF INFORMATION
CONTAINED HEREIN IS PROHIBITED WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION. APPLANIX RESERVES THE RIGHT TO CHANGE THE
SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE. A RECORD OF THE CHANGES MADE TO THIS DOCUMENT IS CONTAINED IN THE
REVISION HISTORY SHEET. COPYRIGHT © APPLANIX CORPORATION, 2021ALL RIGHTS RESERVED. NO PART OF THIS PUBLICATION MAY BE REPRODUCED, STORED
IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
Table of Contents
1. Introduction................................................................................................................. 1
1.1. LVX Performance Specification......................................................................... 1
2. LVX Features.............................................................................................................. 1
3. LVX Hardware Description and Interface.................................................................. 2
3.1. Mechanical.......................................................................................................... 2
3.2. DMI Installation.................................................................................................. 5
3.2.1. Mounting Brackets...................................................................................... 5
3.2.2. Assemble Distance Measuring Indicator.................................................... 6
3.2.3. Install Distance Measuring Indicator.......................................................... 8
3.2.4. Install DMI Cable ..................................................................................... 10
3.3. Electrical........................................................................................................... 11
3.3.1. Antenna..................................................................................................... 11
3.3.2. Power / IO Connector ............................................................................... 12
3.3.1. PPS and Event In ...................................................................................... 12
3.3.2. Serial Ports................................................................................................ 13
3.3.3. Ethernet..................................................................................................... 15
3.3.4. Power In.................................................................................................... 15
3.3.5. DMI Connector......................................................................................... 15
3.4. Front Panel LEDs.............................................................................................. 16
4. LVX Control Software and Configuration ............................................................... 17
4.1. Connecting a Web Browser.............................................................................. 17
4.2. Web User Interface Layout............................................................................... 18
4.3. Receiver Status, Solution Monitor and Display................................................ 19

III
THE INFORMATION CONTAINED HEREIN IS PROPRIETARY TO APPLANIX CORPORATION. RELEASE TO THIRD PARTIES OF THIS PUBLICATION OR OF
INFORMATION CONTAINED HEREIN IS PROHIBITED WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION. APPLANIX RESERVES THE
RIGHT TO CHANGE THE SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE. A RECORD OF THE CHANGES MADE TO THIS
DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET. COPYRIGHT © APPLANIX CORPORATION, 2021ALL RIGHTS RESERVED. NO PART OF
THIS PUBLICATION MAY BE REPRODUCED, STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE
PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
4.4. Data Logging .................................................................................................... 20
4.5. PPS and ASCII Time Tag Synchronization...................................................... 24
4.5.1. PPS signal:................................................................................................ 24
4.5.2. 1 PPS ASCII Time Tag Message:............................................................. 24
4.6. System Configuration ....................................................................................... 25
4.6.1. Antenna Configurations:........................................................................... 26
4.6.2. Tracking Configuration:............................................................................ 27
4.6.3. Position Configuration:............................................................................. 29
4.6.4. General Configuration: ............................................................................. 30
4.6.5. INS Configuration:.................................................................................... 31
4.6.6. IMU Body Frame Definition: ................................................................... 32
4.6.7. Reference Body Frame Definition:........................................................... 32
4.6.8. Vehicle Body Frame:................................................................................ 33
4.6.9. DMI Frame Definition:............................................................................. 34
4.6.10. Lever Arm Definitions:............................................................................. 34
4.6.11. Mounting Angles: ..................................................................................... 36
4.6.12. DMI Scale Factor Calculation .................................................................. 39
4.6.13. I/O Configuration:..................................................................................... 40
4.6.14. Differential Corrections Configuration:.................................................... 41
4.6.15. Ethernet Configuration: ............................................................................ 42
4.6.16. Firmware upgrade:.................................................................................... 43
5. Calibrate Antenna Installation for GAMS................................................................ 44
5.1. Accurate Baseline Measurement....................................................................... 44
5.1.1. Save Settings............................................................................................. 45
5.2. GAMS Calibration............................................................................................ 46
5.2.1. Calibration Set-up..................................................................................... 47
5.2.2. Calibration................................................................................................. 49

IV
THE INFORMATION CONTAINED HEREIN IS PROPRIETARY TO APPLANIX CORPORATION. RELEASE TO THIRD PARTIES OF THIS PUBLICATION OR OF
INFORMATION CONTAINED HEREIN IS PROHIBITED WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION. APPLANIX RESERVES THE
RIGHT TO CHANGE THE SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE. A RECORD OF THE CHANGES MADE TO THIS
DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET. COPYRIGHT © APPLANIX CORPORATION, 2021ALL RIGHTS RESERVED. NO PART OF
THIS PUBLICATION MAY BE REPRODUCED, STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE
PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
5.2.3. Save Calibration........................................................................................ 51
5.2.4. GAMS Operation...................................................................................... 51
6. Real Time Output ICD.............................................................................................. 52
6.1. ASCII-NMEA Output....................................................................................... 52
6.1.1. Nonstandard ASCII messages: ................................................................. 53
6.2. Binary Output.................................................................................................... 57
6.2.1. Binary Data Types .................................................................................... 57
6.2.2. Binary Output ICD.................................................................................... 59
6.2.3. GSOF 49 (31H) INS Integrated Navigation Solution:.............................. 61
6.2.4. GSOF 50 (32H) INS Integrated Navigation Solution RMS:.................... 63
6.2.5. GSOF 51 (33H) Event Marker Information: ............................................ 65
6.2.6. GSOF 59 and 60 (3bH and 3cH)) Event Triggered Navigation
Information: .............................................................................................................. 66
7. Appendix A –RTK Setup......................................................................................... 69
7.1. RTK using the NTRIP Client on the LVX........................................................ 69
7.2. RTX over IP...................................................................................................... 71
7.3. RTK using external NTRIP Client SW............................................................. 72
8. Technical Support..................................................................................................... 76

V
THE INFORMATION CONTAINED HEREIN IS PROPRIETARY TO APPLANIX CORPORATION. RELEASE TO THIRD PARTIES OF THIS PUBLICATION OR OF
INFORMATION CONTAINED HEREIN IS PROHIBITED WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION. APPLANIX RESERVES THE
RIGHT TO CHANGE THE SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE. A RECORD OF THE CHANGES MADE TO THIS
DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET. COPYRIGHT © APPLANIX CORPORATION, 2021ALL RIGHTS RESERVED. NO PART OF
THIS PUBLICATION MAY BE REPRODUCED, STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE
PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
List of Figures
Figure 1: LVX Enclosure .................................................................................................................1
Figure 2: LVX Mechanical Drawing................................................................................................3
Figure 3: LVX Center of Navigation................................................................................................4
Figure 4: LVX Center of Gravity.....................................................................................................5
Figure 5: DMI Collet Mounting Guide ............................................................................................7
Figure 6: Attach Collets to Universal Hub Adapter .........................................................................8
Figure 7: Slip Collets over Wheel Lug Nuts ....................................................................................9
Figure 8: Slip DMI Restraint Bracket over Restraint Rod ...............................................................9
Figure 9: Attach Permanent DMI Restraint Bracket to Vehicle Fender.........................................10
Figure 10: Attach DMI Cable to Restraint Rod..............................................................................10
Figure 11: Attach DMI Cable to Restraint Rod.............................................................................11
Figure 12: Power / IO Connector Pin-Out......................................................................................13
Figure 13: Cable Wiring Diagram..................................................................................................14
Figure 14: COM 2 Serial Cable......................................................................................................14
Figure 15: COM 1 Serial Cable......................................................................................................14
Figure 16: DMI Connector Pin-Out ...............................................................................................15
Figure 17: Connection Credentials.................................................................................................17
Figure 18: Welcome Screen ...........................................................................................................18
Figure 19: Language Selection.......................................................................................................18
Figure 20: Main Menu....................................................................................................................19
Figure 21: System Status- Identity .................................................................................................20
Figure 22: Data Logging Start/Stop ...............................................................................................21
Figure 23: Logging Configuration..................................................................................................22
Figure 24: Data Files......................................................................................................................23
Figure 25:PPS Time Tag................................................................................................................24

VI
THE INFORMATION CONTAINED HEREIN IS PROPRIETARY TO APPLANIX CORPORATION. RELEASE TO THIRD PARTIES OF THIS PUBLICATION OR OF
INFORMATION CONTAINED HEREIN IS PROHIBITED WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION. APPLANIX RESERVES THE
RIGHT TO CHANGE THE SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE. A RECORD OF THE CHANGES MADE TO THIS
DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET. COPYRIGHT © APPLANIX CORPORATION, 2021ALL RIGHTS RESERVED. NO PART OF
THIS PUBLICATION MAY BE REPRODUCED, STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE
PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
Figure 26: Receiver Configuration.................................................................................................26
Figure 27: Antenna Configuration..................................................................................................26
Figure 28: Tracking Configuration.................................................................................................28
Figure 29: Position Configuration..................................................................................................29
Figure 30: Receiver Reset ..............................................................................................................30
Figure 31: General Configuration ..................................................................................................30
Figure 32: IMU Body Frame Definition ........................................................................................33
Figure 33: Vehicle Body Frame .....................................................................................................34
Figure 34: LVX Reference and IMU Body Frame.........................................................................37
Figure 35: Tait-Bryan Planes and Axis ..........................................................................................37
Figure 36: Tait-Bryan Rotations Diagram......................................................................................38
Figure 37: INS Configuration.........................................................................................................39
Figure 38: I/O Configuration..........................................................................................................40
Figure 39: Message Selection.........................................................................................................41
Figure 40: Differential Solution Display........................................................................................42
Figure 41: Ethernet Configuration..................................................................................................43
Figure 42: Firmware Installation....................................................................................................44
Figure 43: GAMS Parameter Setup................................................................................................45
Figure 44: ASCII Message Selection .............................................................................................53
Figure 45: Binary Message Selection.............................................................................................59

1
THE INFORMATION CONTAINED HEREIN IS PROPRIETARY TO APPLANIX CORPORATION. RELEASE TO THIRD PARTIES OF THIS PUBLICATION OR OF
INFORMATION CONTAINED HEREIN IS PROHIBITED WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION. APPLANIX RESERVES THE
RIGHT TO CHANGE THE SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE. A RECORD OF THE CHANGES MADE TO THIS
DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET. COPYRIGHT © APPLANIX CORPORATION, 2021ALL RIGHTS RESERVED. NO PART OF
THIS PUBLICATION MAY BE REPRODUCED, STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE
PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
1. Introduction
The purpose of this document is to provide an overview and quick guide on how to set
up, configure and operate the LVX product.
The LVX is a single enclosure dual antenna GNSS-Inertial solution designed to provide
high-accuracy real-time and post-processed position and orientation for applications with
constraints on size, weight and power.
Figure 1: LVX Enclosure
1.1. LVX Performance Specification
Please refer to the Applanix website for the official specification sheet:
https://www.applanix.com/downloads/products/specs/POS_LVX-Datasheet.pdf
2. LVX Features
The LVX has the following features:
High performance survey grade dual antenna GNSS module using 2 x 336-channel
Trimble Maxwell™ technology that tracks the following frequencies:
GPS: L1 C/A, L2E, L2C, L5
BeiDou: B1, B2
GLONASS: L1 and L2 C/A, L3 CDMA

2
THE INFORMATION CONTAINED HEREIN IS PROPRIETARY TO APPLANIX CORPORATION. RELEASE TO THIRD PARTIES OF THIS PUBLICATION OR OF
INFORMATION CONTAINED HEREIN IS PROHIBITED WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION. APPLANIX RESERVES THE
RIGHT TO CHANGE THE SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE. A RECORD OF THE CHANGES MADE TO THIS
DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET. COPYRIGHT © APPLANIX CORPORATION, 2021ALL RIGHTS RESERVED. NO PART OF
THIS PUBLICATION MAY BE REPRODUCED, STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE
PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
Galileo: E1, E5A, E5B, E5AltBOC
IRNSS: L5
QZSS: L1 C/A, L1 SAIF, L2C, L5, LEX
SBAS: L1 C/A, L5
Proprietary Trimble MEMS IMU technology with an update rate of 200Hz, calibrated to
meet the needs of mobile mapping applications.
Interfaces:
1 USB 2.0 device port
1 physical LAN Ethernet port:
oSupports links to 10BaseT/100BaseT auto-negotiate networks
2 x RS232 Serial ports (one Tx/Rx and one Tx/Rx/CTS/RTS)
1 Pulse Per Second Output
2 x Event Marker Input Support
Supported Network protocols:
HTTP (web GUI)
NMEA, GSOF, CMR over TCP/IP or UDP
Supported differential corrections:
CMR, CMR+™, sCMRx, RTCM 2.1, 2.2, 2.3, 3.0, 3.1, 3.2.
Navigation outputs:
ASCII: PPS Time Mark,NMEA-0183 (GBS; GGA; GLL; GNS; GRS; GSA;
GST; GSV; HDT; LLQ; AVR; GDP; DTM;BPQ; GGK; PJK; PJT; VGK; VHD;
RMC; ROT; VTG; ZDA).
Binary: Trimble GSOF.
Control software:
HTML Web browser (Google Chrome, Internet Explorer®, Mozilla Firefox,
Apple Safari, Opera)
3. LVX Hardware Description and Interface
3.1. Mechanical
The LVX is an IP67 sealed housing with mechanical dimensions as shown in Figure 2.
The location of the center of navigation, or sensing center of the IMU, is shown in Figure
3 along with the associated offsets from the axis target on top of the enclosure.

3
THE INFORMATION CONTAINED HEREIN IS PROPRIETARY TO APPLANIX CORPORATION. RELEASE TO THIRD PARTIES OF THIS PUBLICATION OR OF
INFORMATION CONTAINED HEREIN IS PROHIBITED WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION. APPLANIX RESERVES THE
RIGHT TO CHANGE THE SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE. A RECORD OF THE CHANGES MADE TO THIS
DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET. COPYRIGHT © APPLANIX CORPORATION, 2021ALL RIGHTS RESERVED. NO PART OF
THIS PUBLICATION MAY BE REPRODUCED, STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE
PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
Figure 2: LVX Mechanical Drawing

4
THE INFORMATION CONTAINED HEREIN IS PROPRIETARY TO APPLANIX CORPORATION. RELEASE TO THIRD PARTIES OF THIS PUBLICATION OR OF
INFORMATION CONTAINED HEREIN IS PROHIBITED WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION. APPLANIX RESERVES THE
RIGHT TO CHANGE THE SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE. A RECORD OF THE CHANGES MADE TO THIS
DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET. COPYRIGHT © APPLANIX CORPORATION, 2021ALL RIGHTS RESERVED. NO PART OF
THIS PUBLICATION MAY BE REPRODUCED, STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE
PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
Figure 3: LVX Center of Navigation