Applanix POS MV V4 User manual

Copyright © Applanix Corporation, 2009
POS MV V4 User Guide
PUBS-MAN-000513
Revision 3

Copyright © Applanix Corporation, 2009
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™ V4 and V4-1 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®, and Windows NT® are registered trademarks of Microsoft
Corporation.
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, 2009.
Printed in Canada.

Copyright © Applanix Corporation, 2009
Liability and Safety Information
Important: All cables connected to the POS MV V4 and POS MV
V4-1 equipment shall be constructed of (in order of preference):
a) halogen free, b) low smoke and c) high temperature materials.
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 V4 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 V4 or the POS MV V4-1 systems 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: GNSS antennas,
GNSS antenna cables, Ethernet cable, IMU, IMU cable, RS-232
serial cables and power cord.

Copyright © Applanix Corporation, 2009
DECLARATION OF CONFORMITY
Manufacturer's Name:
Manufacturer's Address: 85 Leek Crescent
Richmond Hill, Ontario, Canada L4B 3B3
EC Representative's Name: Nemko Canada Inc.
EC Representative's Address: 303 River Road, RR#5
Ottawa, Ontario, Canada K1V 1H2
Equipment Model Designation: POS MV V4
Equipment Description: POS MV V4 is a fully integrated, turnkey
position and orientation system for marine
vehicles.
Application of Council Directive: 73/23/EEC on the harmonization of the
laws related to Member States relating to electrical equipment designed
for use within certain voltage limits, as amended by: Council Directive
93/68/EEC and Council Directive 89/336/EEC on the approximation of the
laws related to Member States relating to electromagnetic compatibility,
as amended by: Council Directive 93/68/EEC.
Referenced Safety Standards: Referenced EMC Standards:
EN 60950-1 EN 55022:98 with Amendments
A1:2000 and A2:2003
EN 55024:98
with Amendments
A1:2001 and A2:2003
EN 61000-3-2:2000
(AC powered systems only)
EN 61000-3-3:1995
(AC powered systems only)
with Amendment 1:200

Copyright © Applanix Corporation, 2009
DECLARATION OF CONFORMITY
Manufacturer's Name:
Manufacturer's Address: 85 Leek Crescent
Richmond Hill, Ontario, Canada L4B 3B3
EC Representative's Name: Nemko Canada Inc.
EC Representative's Address: 303 River Road, RR#5
Ottawa, Ontario, Canada K1V 1H2
Equipment Model Designation: POS MV V4-1
Equipment Description: POS MV V4-1 is a fully integrated, turnkey
position and orientation system for marine
vehicles.
Application of Council Directive: 73/23/EEC on the harmonization of the
laws related to Member States relating to electrical equipment designed
for use within certain voltage limits, as amended by: Council Directive
93/68/EEC and Council Directive 89/336/EEC on the approximation of the
laws related to Member States relating to electromagnetic compatibility,
as amended by: Council Directive 93/68/EEC.
Referenced Safety Standards: Referenced EMC Standards:
EN 60950-1 EN 55022:98 with Amendments
A1:2000 and A2:2003
EN 55024:98
with Amendments
A1:2001 and A2:2003
EN 61000-3-2:2000
(AC powered systems only)
EN 61000-3-3:1995
(AC powered systems only)
with Amendment 1:200

Copyright © Applanix Corporation, 2009
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 A 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. Operation of this equipment in
a residential area is likely to cause harmful interference in which case the
user will be required to correct the interference at his own expense.
Industry Canada
This Class B digital apparatus complies with Canadian ICES-003.
Cet appareil numérique de la classe B est conforme à la norme NMB-003 du
Canada.

Copyright © Applanix Corporation, 2009
For Our European Union Customers
A New 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, 2009
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, 2009
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., which, 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-000513, Revision 3, dated 20 January 2009

Copyright © Applanix Corporation, 2009
Table of Contents
1.0 Introduction...................................1-1
System Description and Overview ..........................................................1-2
Operating Modes ...............................................................................1-5
Subsystems .......................................................................................1-6
GNSS Azimuth Measurement Subsystem.........................................1-8
Functions ........................................................................................ 1-14
Output Summary............................................................................. 1-19
Controller Software................................................................................1-20
2.0 Installation.....................................2-1
Handling Precautions ..............................................................................2-1
Inertial Measurement Unit..................................................................2-1
POS Computer System......................................................................2-2
GNSS Antennas.................................................................................2-2
Unpacking and Storage...........................................................................2-2
Storage...............................................................................................2-3
Site Preparation.......................................................................................2-3
Power Requirements .........................................................................2-4
Environmental Requirements ............................................................2-5
Installation ...............................................................................................2-6
GNSS System....................................................................................2-6
Inertial Measurement Unit............................................................... 2-10
POS Computer System - POS MV V4............................................ 2-13
POS Computer System - POS MV V4-1......................................... 2-18
Interfaces...............................................................................................2-20
Power Interface............................................................................... 2-21
IMU Interface .................................................................................. 2-22
I/O Interface Connector - POS MV V4-1......................................... 2-22
COM (1) through COM (5) Interface ............................................... 2-26
GNSS 1 and GNSS 2 Interface ...................................................... 2-27
Events Interface .............................................................................. 2-28
Ethernet Interface ........................................................................... 2-33
Analog Interface.............................................................................. 2-35