Applanix POS MV V5 Owner's manual

POS MV V5 Installation and Operation Guide
Document #
PUBS-MAN-004291
Revision:
16
Date:
29-August-2017

Copyright © Applanix Corporation, 2017
I
POS MV V5 Installation and Operation
Guide
PUBS-MAN-004291
Revision 16

Copyright © Applanix Corporation, 2017
III
General Notice
Although every care has been taken to ensure that this manual is reliable and accurate, Applanix
Corporation (here after referred to as Applanix) provides it “as is” and without express, implied, or limited
warranty of any kind. In no event shall Applanix be liable for any loss or damage caused by the use of this
manual.
This manual describes the POS MV™ V5 and V5-1 in detail and contains full installation and operating
instructions. This manual is an important part of the system and should remain with the installation.
It is the customer’s responsibility to ensure that there are adequate mounting facilities, and to carefully
plan the component layout. Applanix will not be responsible for damage caused by improper installation
or inadequate environmental conditions.
Applanix reserves the right to change the specifications and information in this document without notice.
The information contained herein is proprietary to Applanix. Release to third parties of this publication or
of information contained herein is prohibited without the prior written consent of Applanix.
Pentium® is a registered trademark of Intel Corporation. Microsoft, Windows 7, Windows 8 and Windows
10 are trademarks of Microsoft group of companies.
All 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.
Copyright© Applanix Corporation, 2017.
Printed in Canada.

Copyright © Applanix Corporation, 2017
IV
Liability and Safety Information
Important: All cables connected to the POS MV V5, POS MV
V5
-1 and POS MV V5-2
equipment shall be constructed of (in
order of preference): a)
halogen free, b) low smoke and
c)
high temperature materials.
CAUTION
DOUBLE POLE/NEUTRAL FUSING
Ethernet Cable - Applanix supplies a suitable Ethernet cable. However, if supplied by the customer the
cable shall incorporate a braid shield, having at least 90% coverage that has a 360 degree termination at
both connectors, and be rated as CAT5 or better. The RJ45 connectors used in the cable shall also be
shielded.
Serial Cables - Applanix supplies suitable COM port serial cables, each are about 3.6 m (12.0 ft) in
length. If the cables are supplied by the customer each cable shall incorporate a braid shield, having at
least 90% coverage that has a 360 degree termination at the backshells of both connectors.
Power Cord - Applanix ships a specially constructed power cord with its POS MV V5 ac products and is
detailed in Appendix E . Otherwise, the customer is responsible for supplying and using a compliant
power cord. Ensure that the destination country electrical codes are adhered to. Applanix recommends an
ac power cord not exceeding 2 m (6 ½ ft) in length and that can safely handle a maximum of 10 A.
Regulatory Information
Caution: Do not make mechanical or electrical modifications to the
POS
MV system or any of their components. Changes or
modifications not expressly approved by Applanix could void the
compliance and negate your authority to operate the product.
Certification was achieved using the following original or
replacement equipment supplied by Applanix:
Power Cord, GNSS
antennas, GNSS antenna cables, Ethernet cable, IMU, IMU cable
and RS
-232 serial cables.
Notice: POS MV V5, POS MV V5-1 and POS MV V5-2 are not
certified to EN 60945 standard and therefore cannot be used for
maritime navigation as defined by EN 60945. POS MV cannot be
installed near bridge
-mounted equipment, in close proximity to
receiving antennas, or anywhere it could be capable of interfering
with safe navigation of the ship and with radio
-communications.

Copyright © Applanix Corporation, 2017
V
DECLARATION OF CONFORMITY
Ma
nufacturer's Name: Applanix Corporation
Manufacturer's Address:
85 Leek Crescent
Richmond Hill, Ontario, Canada L4B
3B3
EC Representative's Name:
Applanix Corporation
EC Representative's Address:
85 Leek Crescent
Richmond Hill, Ontario, Canada
L4B 3B3
Equipment Model Des
ignation: POS MV V5
Equipment Description:
POS MV is a fully integrated, turnkey
position and orientation system for Marine
vessels.
Applicabl
e Equipment Part Numbers: PCS-80
Application of Council Directive: 2006/95/EC on the harmonization of the laws
related to Member States relating to electrical equipment designed for use
within certain voltage limits and Council Directive 2004/108/EC on the
approximation of the laws related to Member States relating to electromagnetic
compatibility.
Referenced Safe
ty Standards: Referenced EMC Standards:
EN 60950
-1 : 2006 EN 55022 : 2006 (Class B)
EN 55024 : 98 with Amendments
A1:2001 and A2:2003

Copyright © Applanix Corporation, 2017
VI
DECLARATION OF CONFORMITY
Manufacturer's Name: Applanix Corporation
Manufacturer's Address: 85 Leek Crescent
Richmond Hill, Ontario, Canada L4B 3B3
EC Representative's Name: Applanix Corporation
EC Representative's Address: 85 Leek Crescent
Richmond Hill, Ontario, Canada L4B 3B3
Equipment Model Designation: POS MV V5-1
Equipment Description: POS MV is a fully integrated, turnkey position and orientation
system for Marine vessels.
Applicable Equipment Part Numbers: PCS-76
Application of Council Directive: 2006/95/EC on the harmonization of the laws related to Member
States relating to electrical equipment designed for use within certain voltage limits and Council
Directive 2004/108/EC on the approximation of the laws related to Member States relating to
electromagnetic compatibility.
Referenced Safety Standards: Referenced EMC Standards:
EN 60950-1 : 2006 EN 55022 : 2006 (Class B)
EN 55024 : 98 with Amendments
A1:2001 and A2:2003

Copyright © Applanix Corporation, 2017
VII
DECLARATION OF CONFORMITY
Manufacturer's Name: Applanix Corporation
Manufacturer's Address: 85 Leek Crescent
Richmond Hill, Ontario, Canada L4B 3B3
EC Representative's Name: Applanix Corporation
EC Representative's Address: 85 Leek Crescent
Richmond Hill, Ontario, Canada L4B 3B3
Equipment Model Designation: POS MV V5
Equipment Description: POS MV is a fully integrated, turnkey position and orientation
system for marine vessels.
Applicable Equipment Part Numbers: PCS-84
Application of Council Directives:
2006/95/EC on the harmonization of the laws of Member States relating to electrical equipment
designed for use within certain voltage limits.
Referenced Standard:
EN 60950-1: 2006 with Amendments: A11:2009, A1:2010, A12:2011
2004/108/EC on the approximation of the laws of the Member States relating to electromagnetic
compatibility.
Referenced EMC Standards:
EN 55022: 2010 (Class A)
EN 55024: 2010
2011/65/EU on the restriction of the use of certain hazardous substances in electrical and
electronic equipment (recast).
Referenced RoHS Standard:
EN 50581:2012

Copyright © Applanix Corporation, 2017
VIII
DECLARATION OF CONFORMITY
Manufacturer's Name: Applanix Corporation
Manufacturer's Address: 85 Leek Crescent
Richmond Hill, Ontario, Canada L4B 3B3
EC Representative's Name: Applanix Corporation
EC Representative's Address: 85 Leek Crescent
Richmond Hill, Ontario, Canada L4B 3B3
Equipment Model Designation: POS MV V5-2
Equipment Description: POS MV is a fully integrated, turnkey position and orientation
system for Marine vessels.
Applicable Equipment Part Numbers: PCS-92
Application of Council Directive: 2006/95/EC on the harmonization of the laws related to Member
States relating to electrical equipment designed for use within certain voltage limits and Council
Directive 2004/108/EC on the approximation of the laws related to Member States relating to
electromagnetic compatibility.
Referenced Safety Standards: Referenced EMC Standards:
EN 60950-1:2006 with Amendment EN 55022:2010 (Class B) / CISPR 22:2008
A2:2013 EN 55024:2010 / CISPR 24:2010

Copyright © Applanix Corporation, 2017
IX
FCC Section 15.21 Information to the user.
Changes or modifications not expressly approved by Applanix could void the user's authority to operate
the equipment.
FCC Section 15.105 Information to the user.
NOTE: This equipment has been tested and found to comply with the limits for a (Class B for PCS-76,
PCS-80 and PCS-92) or (CLASS A for PCS-84) digital device, pursuant to Part 15 of the FCC Rules.
These limits are designed to provide reasonable protection against harmful interference when the
equipment is operated in a commercial environment. This equipment generates, uses, and can radiate
radio frequency energy and, if not installed and used in accordance with the instruction manual, may
cause harmful interference to radio communications.
Industry Canada
This (Class B for PCS-76, PCS-80 and PCS-92) or (Class A for PCS-84) digital apparatus complies with
Canadian ICES-003.
Ces appareil numérique (Classe B pour PCS76, PCS-80 et PCS-92) ou (Classe A pour PCS-84) sont
conforme à la norme NMB-003 du Canada.
VCCI (FOR PCS-76, PCS-80 and PCS-92)
VCCI (FOR PCS-84)
Australian/New Zealand Standard
POS MV V5-2 (PCS-92) digital apparatus complies with AS/NZS CISPR 22: 2009.

Copyright © Applanix Corporation, 2017
X
For Our European Union Customers
the WEEE Recycling Program
Applanix recognizes the importance of minimizing the environmental impacts of our products. We
endeavour to meet your needs, not only when you purchase and use our products, but also when you are
ready to dispose of them. Applanix is actively pursuing, and will continue to pursue, the expanded use of
environmentally friendly materials in all its products. In addition, we have established a convenient and
environmentally friendly recycling program.
As Applanix makes additional recycling facilities available for your use, we will
post their locations and contact information on our recycling instructions Web
page. In the meanwhile see Appendix A, page A-1, for Applanix contact
information.
WEEE is Waste Electrical and Electronic Equipment, products that operate on
electrical power.

Copyright © Applanix Corporation, 2017
XI
About This Document
Text Conventions
The following text conventions are used in this manual:
•Emphasize a term - italic font or bold italic font (e.g. ‘An Inertial Frame is’ or ‘An Inertial Frame
is’); a mixture is acceptable but, consistency is preferable
•Referring to another manual or to a file name - italic font (e.g. ‘read the Power Requirements
manual’ or ‘locate the start.exe file’)
•Referring to a placard label - regular font (e.g. ‘the COM (2) connector’)
•Referring to a screen label - bold font (e.g. ‘press the OK button’)
•Path statement - bold font (e.g. ‘select C:\My Computer\ Working Files\.Fields’)
•Menu statement - bold font (e.g. ‘select Insert, AutoText, Closing window menu’ or ‘select
Insert | AutoText | Closing window menu’); a mixture is acceptable but, consistency is
preferable
•Web address statement - bold font (e.g. ‘select http://www.applanix.com from’)

Copyright © Applanix Corporation, 2017
XII
Symbols
The following symbols appear in this manual:
Warning - operating procedures,
practices, etc., which, if not correctly
followed, could result in personal
injury or loss of life
Caution - procedures, practices, etc.,
whic
h, if not correctly followed, could
result in damage or destruction of
equipment, or loss of data
Electrostatic Discharge (ESD)
sensitive material
Fragile/Breakable
Hint
-
provides a suggested method
or approach
Electrocution Hazard
Document Number
PUBS-MAN-004291, Revision 16, dated 29-August-2017

Copyright © Applanix Corporation, 2017
XIII
Table of Contents
1.0 INTRODUCTION.............................................................................................................................1-1
SYSTEM DESCRIPTION AND OVERVIEW............................................................................................................................ 1-1
MV-POSVIEW CONTROLLER SOFTWARE ...................................................................................................................... 1-13
2.0 INSTALLATION..............................................................................................................................2-1
HANDLING PRECAUTIONS ............................................................................................................................................. 2-1
UNPACKING AND STORAGE........................................................................................................................................... 2-2
SITE PREPARATION...................................................................................................................................................... 2-2
INSTALLATION ............................................................................................................................................................ 2-4
INSTALLATION PARAMETERS ....................................................................................................................................... 2-24
INSTALLATION CHECKLIST ........................................................................................................................................... 2-32
3.0 INTERFACES AND DATA FORMATS...........................................................................................3-1
LAN (ETHERNET)DATA ............................................................................................................................................... 3-1
COM PORTS ............................................................................................................................................................. 3-1
GNSS PORTS........................................................................................................................................................... 3-23
4.0 SYSTEM CONFIGURATION..........................................................................................................4-1
POWER-ON............................................................................................................................................................... 4-1
FRONT PANEL STATUS LEDS......................................................................................................................................... 4-3
MV-POSVIEW CONTROLLER PROGRAM ......................................................................................................................... 4-4
POS MV CONFIGURATION........................................................................................................................................... 4-7
INPUT/OUTPUT PORTS SET-UP.................................................................................................................................... 4-14
POWER-OFF ............................................................................................................................................................ 4-27
SAVE SETTINGS ........................................................................................................................................................ 4-29
MAKING CHANGES.................................................................................................................................................... 4-30
MANAGE MULTIPLE CONFIGURATIONS ......................................................................................................................... 4-30
PASSWORD PROTECTION............................................................................................................................................ 4-30
5.0 SYSTEM OPERATION...................................................................................................................5-1
MV-POSVIEW CONTROLLER PROGRAM ......................................................................................................................... 5-1
MONITORING POS MV ............................................................................................................................................... 5-2
DATA LOGGING ........................................................................................................................................................ 5-10
DATA LOGGING –REMOVABLE MEDIA.......................................................................................................................... 5-12
DATA LOGGING -ETHERNET ....................................................................................................................................... 5-15
DATA OUTPUT –ETHERNET........................................................................................................................................ 5-16
OPERATION WITH GAMS........................................................................................................................................... 5-17

Copyright © Applanix Corporation, 2017
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STAND-ALONE OPERATION......................................................................................................................................... 5-25
6.0 TRUEHEAVE OPERATION............................................................................................................6-1
OVERVIEW ................................................................................................................................................................ 6-1
CONFIGURATION REQUIREMENTS .................................................................................................................................. 6-1
INITIALIZATION REQUIREMENTS ..................................................................................................................................... 6-1
DATA OUTPUT ........................................................................................................................................................... 6-1
TRUEHEAVE PROCEDURE ............................................................................................................................................. 6-2
7.0 SPECIFICATIONS..........................................................................................................................7-1
8.0 TOOLS AND DIAGNOSTICS.........................................................................................................8-1
GNSS CONFIGURATION ............................................................................................................................................... 8-1
GNSS RESET ............................................................................................................................................................. 8-1
GNSS DATA .............................................................................................................................................................. 8-1
DIAGNOSTICS............................................................................................................................................................. 8-2
REGULAR MAINTENANCE ............................................................................................................................................. 8-6
TECHNICAL SUPPORT................................................................................................................................................... 8-7
9.0 FAULT IDENTIFICATION...............................................................................................................9-1
COMPONENT DESCRIPTION........................................................................................................................................... 9-1
FAULT IDENTIFICATION................................................................................................................................................. 9-3
REMOVE AND REPLACE PROCEDURES............................................................................................................................ 9-19
TROUBLESHOOTING................................................................................................................................................... 9-26
APPENDIX A TECHNICAL SUPPORT AND SERVICE .................................................................... A-1
APPENDIX B THEORY OF OPERATION.......................................................................................... B-1
APPENDIX C TRAINING....................................................................................................................C-1
APPENDIX D SOFTWARE INSTALLATION.....................................................................................D-1
APPENDIX E DRAWINGS ................................................................................................................. E-1
APPENDIX F PATCH TEST................................................................................................................F-1
APPENDIX G IP68 CONNECTOR HANDLING .................................................................................G-1
APPENDIX H POS-GPS TIMING ....................................................................................................... H-1

Copyright © Applanix Corporation, 2017
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List of Figures
Figure 1: Typical POS MV Components .......................................................1-2
Figure 2: Heading Measurement without GAMS ..........................................1-7
Figure 3: Heading Measurement with GAMS ...............................................1-9
Figure 4: GNSS Antenna ..............................................................................2-6
Figure 5: Typical IMU Mounting Features.....................................................2-8
Figure 6: PCS Rear Panel - POS MV V5 –PCS-80 ...................................2-10
Figure 7: PCS Rear Panel - POS MV V5 –PCS-84 ...................................2-10
Figure 8: PCS Rear Panel –POS MV V5-1................................................2-14
Figure 9: PCS Rear Panel –POS MV V5-2................................................2-15
Figure 10: PWR Connector Pin Arrangement.............................................2-17
Figure 11: COM Connector Pin Arrangement.............................................2-18
Figure 12: I/O Connector Pin Arrangement ................................................2-20
Figure 13: Right-Hand Orthogonal System.................................................2-31
Figure 14: $xxGST Sentence Nomenclature ................................................3-9
Figure 15: PCS Front and Rear Panels - POS MV V5 .................................4-2
Figure 16: POS MV PCS V5-1 PCS Front Panel..........................................4-2
Figure 17: POS MV PCS V5-2 PCS Front Panel..........................................4-2
Figure 18: POSView POS Internet Address .................................................4-6
Figure 19: Configuration Data Refinement ...................................................4-7
Figure 20: POSView Lever Arms & Mounting Angles Tab ...........................4-8
Figure 21: POSView Sensor Mounting Tab ..................................................4-9
Figure 22: GAMS Parameter Setup .............................................................4-10
Figure 23: Calibration Control Screen.........................................................4-11
Figure 24: Controller Tags, Multipath & AutoStart Tab...............................4-13
Figure 25: User Time Data Screen .............................................................4-13
Figure 26: Input/Output Ports Set-up –COM1............................................4-15
Figure 27: Input/Output Ports Set-up –COM3............................................4-16
Figure 28: Input/Output Ports Set-up –Ethernet Input ...............................4-17
Figure 29: NTRIP Client User Interface ......................................................4-17
Figure 30: POSView Heave Filter ...............................................................4-18
Figure 31: Input/Output Ports Set-up –GNSS 1 Interface..........................4-20
Figure 32: Input/Output Ports Set-up –GNSS 2 Interface..........................4-20

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Figure 33: GAMS Solution ...........................................................................4-22
Figure 34: POSView GAMS Parameters Setup..........................................4-23
Figure 35: POSView GAMS Installation Wizard .........................................4-24
Figure 36: PCS Front and Rear Panels - POS MV V5 ...............................4-28
Figure 37: PCS Front Panel –POS MV V5-1 .............................................4-28
Figure 38: PCS Front Panel –POS MV V5-2 .............................................4-29
Figure 39: POSView Controller Password Protection.................................4-32
Figure 40: POSView Controller Main Window ..............................................5-3
Figure 41: POSView User Parameter Accuracy ...........................................5-6
Figure 42: POSView Navigation Data at Sensors.........................................5-7
Figure 43: POSView Fault Detection ............................................................5-9
Figure 44: POSView Message Log.............................................................5-10
Figure 45: Ethernet Logging Control...........................................................5-11
Figure 46: USB Logging Control .................................................................5-12
Figure 47: Removable Media Bay –POS MV V5 .......................................5-12
Figure 48: Removable Media Bay –POS MV V5-1 ....................................5-13
Figure 49: Ethernet Realtime Output Control..............................................5-17
Figure 50: POSView GAMS Solution and Status Pane ..............................5-18
Figure 51: POSView GAMS Parameters Setup..........................................5-24
Figure 52: TrueHeave Functional Block Diagram .........................................6-1
Figure 53: POSView Heave Data .................................................................6-2
Figure 54: POSView Status and Accuracy Panes ........................................6-3
Figure 55: POSView GNSS Data..................................................................8-2
Figure 56: POSView Binary Diagnostics.......................................................8-3
Figure 57: Base 1/2 Diagnostics Window .....................................................8-4
Figure 58: Base 1/2 Diagnostics Window, Details Tab .................................8-6
Figure 59: POS MV V5 Front Panel..............................................................9-3
Figure 60: POS MV V5-1 Front Panel...........................................................9-4
Figure 61: POS MV V5-2 Front Panel...........................................................9-4
Figure 62: POSView Fault Detection ............................................................9-6
Figure 63: POSView Fault Detection - IMU and GNSS Corr. Tabs ..............9-8
Figure 64: POSView Message Log...............................................................9-9
Figure 65: PCS Front Panel - POS MV V5 .................................................9-20
Figure 66: PCS Rear Panel - POS MV V5 –PCS-80 .................................9-20

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Figure 67: PCS Rear Panel - POS MV V5 –PCS-84 .................................9-20
Figure 68: PCS Front Panel –POS MV V5-1 .............................................9-20
Figure 69: PCS Rear Panel –POS MV V5-1..............................................9-20
Figure 70: PCS Front Panel –POS MV V5-2 .............................................9-21
Figure 71: PCS Rear Panel –POS MV V5-2..............................................9-21
Figure 72: POSView Other Diagnostic........................................................9-27
Figure 73: POSView GNSS Data - Receiver Status Pane .........................9-27
Figure 74: POSView Primary GNSS Diagnostics .......................................9-29
Figure 75 GAMS Solution Status Window ..................................................9-29
Figure 76: POSView Input/Output Port Setup.............................................9-31
Figure 77: POSView NMEA & Binary Output Diagnostic............................9-32
Figure 78: POSView Base 1 Diagnostic .....................................................9-32
Figure 79: (1 of 2) Ethernet Communications Failure .................................9-33
Figure 80: (2 of 2) Ethernet Communications Failure .................................9-34
Figure 81: Example of INS Navigation on a Spherical Earth ....................... B-5
Figure 82: Gimballed INS Platform Structure............................................... B-7
Figure 83: Strap-Down INS Generic Architecture ........................................ B-9
Figure 84: Heave Filter Architecture .......................................................... B-10
Figure 85: Percentage Steady State Error with Heave Bandwidth ............ B-14
Figure 86: Percentage Steady State Error with Damping Ratio ................ B-15
Figure 87: Heave Filter Transient Behaviour with Heave Bandwidth ........ B-16
Figure 88: Heave Filter Transient Behaviour with Damping Ratio............. B-17
Figure 89: Geographic Antenna Baseline Vector ...................................... B-19
Figure 90: Baseline Comparison................................................................ B-20
Figure 91: IMU and GNSS Antenna Geometry.......................................... B-22
Figure 92: Carrier Phase Cycle Measurement........................................... B-24
Figure 93: Feasible Position Solutions from One Satellite......................... B-24
Figure 94: Feasible Position Solutions from Two Satellites ....................... B-25
Figure 95: Feasible Position Solutions from Three Satellites .................... B-25
Figure 96: Horizontal Acceleration Error in a Tilted Platform..................... B-27
Figure 97: Example of Complementary Navigation Sensor Blending........ B-31
Figure 98 IMU Types 36, 37, 42, 64 and 67 Mechanical Interface .............. E-1
Figure 99 IMU Type 26 Mechanical Interface .............................................. E-2
Figure 100 IMU Type 31 and 40 Mechanical Interface ................................ E-3

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XVIII
Figure 101: IMU Type 38 and 39 Mechanical Interface............................... E-4
Figure 102: IMU Type 45, 65, and 68 Mechanical Interface........................ E-5
Figure 103: IMU Type 21 Mechanical Interface ........................................... E-6
Figure 104: IMU Type 21 Mounting Tray ..................................................... E-7
Figure 105: IMU Type 33 Mechanical Interface........................................... E-8
Figure 106: IMU Type 52 Mechanical Interface ........................................... E-9
Figure 107: IMU Type 44 and 57 Mechanical Interface ............................. E-10
Figure 108: IMU Type 70 Mechanical Interface ......................................... E-11
Figure 109: IMU Top-Hat Type 101 Drawing ............................................. E-12
Figure 110: Trimble Zephyr II GNSS Antenna Footprint............................ E-13
Figure 111: Trimble 382AP GNSS Antenna Footprint ............................... E-13
Figure 112: Trimble 540AP GNSS Antenna Footprint ............................... E-14
Figure 113: PCS Footprint –POS MV V5-1............................................... E-15
Figure 114: PCS-80 Footprint - POS MV V5 ............................................. E-16
Figure 115: PCS-84 Footprint - POS MV V5 ............................................. E-17
Figure 116: PCS-92 Footprint - POS MV V5-2 .......................................... E-18
Figure 117: IMU Mounting Plate ................................................................ E-19
Figure 118: IMU Adaptor Plate V4-V5 ....................................................... E-20
Figure 119: Ideal Survey Calibration Area ................................................... F-2
Figure 120: Correct Roll Calibration............................................................. F-3
Figure 121: Incorrect Roll Calibration .......................................................... F-3
Figure 122: IP68 Connector .........................................................................G-1
Figure 123: GPS. TAI and UTC Time .......................................................... H-2
Figure 124: 1PPS Signal Characteristics ..................................................... H-4