Applanix POS MV V4 User manual
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
Copyright © Applanix Corporation, 2009
PPS Interface .................................................................................. 2-35
ANT1 and ANT2 Interfaces............................................................. 2-37
I2C Interface.................................................................................... 2-37
Ancillary Equipment Interfaces ....................................................... 2-37
Installation Parameters......................................................................... 2-38
Lever Arm Distances....................................................................... 2-41
Antenna Separation ........................................................................ 2-47
Mounting Angles ............................................................................. 2-47
Installation Checklist............................................................................. 2-51
3.0 Interfaces and Data Formats.......3-1
LAN (Ethernet) Data ............................................................................... 3-1
I2C (Analog) Data................................................................................... 3-2
COM Ports .............................................................................................. 3-3
NMEA Data Formats ......................................................................... 3-4
Binary Data Formats ....................................................................... 3-19
GNSS Ports .......................................................................................... 3-29
Physical Interface............................................................................ 3-29
4.0 System Configuration..................4-1
Power-On................................................................................................ 4-1
POS MV Power-On ........................................................................... 4-2
Initial Power-On Considerations ....................................................... 4-5
MV-POSView Controller Program .......................................................... 4-6
MV-POSView Controller - Initial Use ................................................ 4-7
POS MV Configuration ......................................................................... 4-11
Configuration Data .......................................................................... 4-12
Initial GNSS Configuration .............................................................. 4-27
Power-Off.............................................................................................. 4-36
Save Changes................................................................................. 4-37
POS MV Power-Off ......................................................................... 4-38
Save Settings........................................................................................ 4-40
Making Changes................................................................................... 4-40
Manage Multiple Configurations ........................................................... 4-40
Copyright © Applanix Corporation, 2009
Password Protection .............................................................................4-41
5.0 System Operation.........................5-1
MV-POSView Controller Program...........................................................5-2
Modes of Operation ...........................................................................5-2
PCS Ethernet Connection..................................................................5-2
Monitoring POS MV.................................................................................5-3
Main Window Regions .......................................................................5-3
POS MV Status Region .....................................................................5-4
Sensor Navigation Data.....................................................................5-9
Faults and Messages...................................................................... 5-11
Data Logging .........................................................................................5-14
Ethernet Logging............................................................................. 5-14
Ethernet Real-Time Output ............................................................. 5-15
Data Logging Control ...................................................................... 5-15
Operation with GAMS............................................................................5-18
Normal Operation............................................................................ 5-18
Abnormal Behaviour ....................................................................... 5-22
Repeatedly Rejected Carrier Phase Ambiguities ........................... 5-25
Installation Parameters ................................................................... 5-26
Stand-Alone Operation..........................................................................5-28
6.0 TrueHeave Operation ...................6-1
Overview..................................................................................................6-1
Configuration Requirements....................................................................6-2
Initialization Requirements ......................................................................6-2
Data Output .............................................................................................6-2
TrueHeave Procedure .............................................................................6-3
7.0 Specifications ...............................7-1
8.0 Tools and Diagnostics .................8-1
GNSS Configuration................................................................................8-1
Copyright © Applanix Corporation, 2009
GNSS Reset ........................................................................................... 8-1
GNSS Data............................................................................................. 8-2
Diagnostics ............................................................................................. 8-3
Control Diagnostics ........................................................................... 8-3
Display Diagnostics........................................................................... 8-5
Regular Maintenance ............................................................................. 8-5
Inertial Measurement Unit................................................................. 8-6
GNSS Antennas................................................................................ 8-6
POS Computer System..................................................................... 8-7
Technical Support................................................................................... 8-7
9.0 Fault Identification........................9-1
Component Description .......................................................................... 9-2
Inertial Measurement Unit................................................................. 9-3
GNSS Antennas................................................................................ 9-3
POS Computer System..................................................................... 9-3
Fault Identification................................................................................... 9-4
Front Panel Indicators ....................................................................... 9-5
Fault Detection .................................................................................. 9-7
Message Log................................................................................... 9-11
Status Warning Messages .............................................................. 9-18
Remove and Replace Procedures........................................................ 9-25
Inertial Measurement Unit............................................................... 9-26
GNSS Antenna................................................................................ 9-28
IMU Cable ....................................................................................... 9-30
GNSS Antenna Cable ..................................................................... 9-31
POS Computer System................................................................... 9-32
Troubleshooting.................................................................................... 9-33
Total System Failure ....................................................................... 9-34
Initialization Failure ......................................................................... 9-35
GNSS Not Available........................................................................ 9-36
GAMS Not Ready............................................................................ 9-39
Serial Communications Problem..................................................... 9-40
Ethernet Communications Problem ................................................ 9-43
Copyright © Applanix Corporation, 2009
Appendices
Technical Support and Service .............................................................. A-1
Contact Applanix............................................................................... A-1
How to Reach Customer Support ..................................................... A-1
Returns.............................................................................................. A-2
Theory of Operation ............................................................................... B-1
Inertial Navigation ............................................................................. B-2
Heave Filter..................................................................................... B-15
GNSS Azimuth Measurement Subsystem...................................... B-24
Heading Measurements.................................................................. B-26
Baselines ........................................................................................ B-26
Baseline Measurement ................................................................... B-29
Carrier Phase Differential Position.................................................. B-32
Alignment ........................................................................................ B-38
Error Sources.................................................................................. B-41
Aided Inertial Navigation................................................................. B-42
Training................................................................................................... C-1
Software Installation ...............................................................................D-1
Supplied Software.............................................................................D-2
Hardware and Software Requirements.............................................D-2
MV-POSView Controller Program .................................................... D-3
Firmware Upgrade ............................................................................D-4
Drawings................................................................................................. E-1
Patch Test .............................................................................................. F-1
Survey Area ...................................................................................... F-1
Survey Procedure ............................................................................. F-6
IP68 Connector Handling Instructions....................................................G-1
Handling Instructions ........................................................................G-1
POS-GNSS Timing................................................................................. H-1
Background.......................................................................................H-1
Copyright © Applanix Corporation, 2009
List of Figures
Figure 1: Typical POS MV Components.......................................................1-2
Figure 2: Heading Measurement without GAMS ........................................1-10
Figure 3: Heading Measurement with GAMS .............................................1-13
Figure 4: GNSS Antenna ..............................................................................2-8
Figure 5: Typical IMU Mounting Features...................................................2-12
Figure 6: PCS Rear Panel - POS MV V4....................................................2-15
Figure 7: PCS Rear Panel - POS MV V4-1 ................................................2-19
Figure 8: PWR Connector Pin Arrangement...............................................2-21
Figure 9: I/O Connector Pin Arrangement - POS MV V4-1 ........................2-25
Figure 10: Type I Event Generator - I/O Configuration...............................2-30
Figure 11: Type II Event Generator - I/O Configuration..............................2-31
Figure 12: Open Collector Transistor Output Event Generator -
I/O Configuration...................................................................................2-31
Figure 13: Mechanical Switch Event Generator - I/O Configuration...........2-32
Figure 14: PPS Port Signal Sources - Functional Diagram ........................2-36
Figure 15: Right-Hand Orthogonal System.................................................2-49
Figure 16: $INGST Sentence Nomenclature..............................................3-13
Figure 17: PCS Front and Rear Panels - POS MV V4 .................................4-3
Figure 18: PCS Front Panel - POS MV V4-1................................................4-3
Figure 19: POSView POS Internet Address ...............................................4-10
Figure 20: Configuration Data Refinement .................................................4-11
Figure 21: POSView Lever Arms & Mounting Angles Tab .........................4-13
Figure 22: POSView Sensor Mounting Tab................................................4-14
Figure 23: Calibration Control Screen ........................................................4-15
Figure 24: Controller Tags, Multipath & AutoStart Tab...............................4-18
Copyright © Applanix Corporation, 2009
Figure 25: User Time Data Screen .............................................................4-19
Figure 26: POSView Input/Output Port Setup.............................................4-20
Figure 27: POSView Analog Port Setup .....................................................4-22
Figure 28: POSView Heave Filter ...............................................................4-24
Figure 29: POSView GNSS Receiver Configuration ..................................4-26
Figure 30: POSView GAMS Solution..........................................................4-28
Figure 31: POSView GAMS Parameters Setup..........................................4-29
Figure 32: POSView GAMS Installation Wizard .........................................4-30
Figure 33: POSView Settings Menu, Status and Attitude Panes................4-33
Figure 34: PCS Front and Rear Panels - POS MV V4 ...............................4-38
Figure 35: PCS Front Panel - POS MV V4-1 ..............................................4-39
Figure 36: POSView Controller Password Protection.................................4-43
Figure 37: POSView Controller Main Window ..............................................5-4
Figure 38: POSView User Parameter Accuracy ...........................................5-8
Figure 39: POSView Navigation Data at Sensors ......................................5-10
Figure 40: POSView Fault Detection ..........................................................5-12
Figure 41: POSView Message Log.............................................................5-13
Figure 42: POSView Data Logging Control ................................................5-16
Figure 43: POSView GAMS Solution and Status Pane ..............................5-19
Figure 44: POSView GAMS Parameters Setup..........................................5-27
Figure 45: TrueHeave Functional Block Diagram.........................................6-1
Figure 46: POSView Heave Data .................................................................6-3
Figure 47: POSView Status and Accuracy Panes ........................................6-4
Figure 48: POSView GNSS Data..................................................................8-2
Figure 49: POSView Binary/Analog Diagnostics ..........................................8-4
Figure 50: PCS Front Panels ........................................................................9-5
Copyright © Applanix Corporation, 2009
Figure 51: POSView Fault Detection ............................................................9-9
Figure 52: POSView Fault Detection - IMU and GNSS Corr. Tabs............9-10
Figure 53: POSView Message Log.............................................................9-11
Figure 54: PCS Front Panels......................................................................9-25
Figure 55: PCS Rear Panel - POS MV V4-1 ..............................................9-26
Figure 56: PCS Rear Panel - POS MV V4..................................................9-26
Figure 57: POSView Other Diagnostic .......................................................9-35
Figure 58: POSView GNSS Data - Receiver Status Pane .........................9-36
Figure 59: POSView Primary GNSS Diagnostics.......................................9-38
Figure 60: POSView Input/Output Port Setup ............................................9-41
Figure 61: POSView NMEA & Binary Output Diagnostic ...........................9-42
Figure 62: POSView Base 1 Diagnostic .....................................................9-43
Figure 63: (1 of 2) Ethernet Communications Failure.................................9-44
Figure 64: (2 of 2) Ethernet Communications Failure.................................9-45
Figure 65: Example of INS Navigation on a Spherical Earth....................... B-7
Figure 66: Gimballed INS Platform Structure ............................................ B-11
Figure 67: Strap-Down INS Generic Architecture...................................... B-14
Figure 68: Heave Filter Architecture .......................................................... B-16
Figure 69: Percentage Steady State Error with Heave Bandwidth............ B-21
Figure 70: Percentage Steady State Error with Damping Ratio ................ B-22
Figure 71: Heave Filter Transient Behaviour with Heave Bandwidth ........ B-23
Figure 72: Heave Filter Transient Behaviour with Damping Ratio............. B-24
Figure 73: Geographic Antenna Baseline Vector ...................................... B-27
Figure 74: Baseline Comparison ............................................................... B-28
Figure 75: IMU and GNSS Antenna Geometry.......................................... B-31
Figure 76: Carrier Phase Cycle Measurement .......................................... B-34
Copyright © Applanix Corporation, 2009
Figure 77: Feasible Position Solutions from One Satellite......................... B-35
Figure 78: Feasible Position Solutions from Two Satellites....................... B-35
Figure 79: Feasible Position Solutions from Three Satellites .................... B-36
Figure 80: Horizontal Acceleration Error in a Tilted Platform..................... B-39
Figure 81: Example of Complementary Navigation Sensor Blending........ B-46
Figure 82: IMU Type 17 Footprint ................................................................ E-1
Figure 83: IMU Type 2 Footprint .................................................................. E-1
Figure 84: IMU Type 2 Base Plate Footprint................................................ E-2
Figure 85: GNSS Antenna Footprint ............................................................ E-3
Figure 86: Zephyr/GNSS Antenna Footprint................................................ E-3
Figure 87: PCS Footprint – POS MV V4-1................................................... E-4
Figure 88: PCS Footprint - POS MV V4....................................................... E-5
Figure 89: Power Cord - POS MV V4 .......................................................... E-6
Figure 90: Ideal Survey Calibration Area ..................................................... F-2
Figure 91: Correct Roll Calibration............................................................... F-4
Figure 92: Incorrect Roll Calibration ............................................................ F-4
Figure 92: IP68 Connector ...........................................................................G-1
Figure 93: GNSS. TAI and UTC Time..........................................................H-3
Figure 94: Events Group .............................................................................. H-5
Figure 95: 1PPS Time Synchronization ....................................................... H-6
Copyright © Applanix Corporation, 2009
List of Tables
Table 1: System Performance ......................................................................1-9
Table 2: Connector/Cable Summary - POS MV V4....................................2-15
Table 3: Connector/Cable Summary - POS MV V4-1 ................................2-19
Table 4: PWR Connector Pin Assignment..................................................2-21
Table 5: I/O Connector Pin Assignment - POS MV V4-1 ...........................2-23
Table 6: COM Connectors Pin Assignment - POS MV V4 .........................2-26
Table 7: COM Port Configuration ...............................................................2-27
Table 8: GNSS Connectors Pin Assignment - POS MV V4 .......................2-27
Table 9: GNSS Port Configuration..............................................................2-28
Table 10: EVENT Connector Pin Assignment ............................................2-29
Table 11: Ethernet Connector Pin Assignment - POS MV V4....................2-34
Table 12: Default COM Port Settings ...........................................................3-3
Table 13: $INGGA Sentence Format............................................................3-5
Table 14: $INGGK Sentence Format............................................................3-8
Table 15: $INHDT Sentence Format ..........................................................3-10
Table 16: $INVTG Sentence Format ..........................................................3-10
Table 17: $INGST Sentence Format ..........................................................3-12
Table 18: $PASHR Sentence Format.........................................................3-14
Table 19: $PRDID Sentence Format ..........................................................3-15
Table 20: $INZDA Sentence Format ..........................................................3-16
Table 21: $UTC Sentence Format..............................................................3-17
Table 22: $INPPS Sentence Format ..........................................................3-18
Table 23: TSS1 Output Format...................................................................3-20
Table 24: Simrad 1000 Digital Output Format ............................................3-22
This manual suits for next models
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