OXTS AV200 User manual

AV200 QUICK
START GUIDE
High performance navigation
and localisation system for
autonomous applications

At a glance
Label Description
1 Main I/O connector (15-way Micro-D)
/Power
/Ethernet
/CAN
/PPS
2 Primary GNSS connector (SMA)
3 Secondary GNSS connector (SMA)
4 Measurement origin point
5 LEDs
Orange. Trafc present on Ethernet
Power
LED states
Red ash. The operating system has
booted but the GNSS receiver has
not yet output a valid time, position,
or velocity
Green. The GNSS receiver has an
integer (good calibrated heading
lock
Red. The GNSS receiver has a
differential heading lock
Green. The INS is running and the
system is real time
Orange. The INS has initialised and
data is being output, but the system
is not yet real time
Green. Power applied to system
Status
GNSS
Orange. The GNSS receiver has a
oating (poor) calibrated heading
lock
Red ash. The GNSS receiver is
active but has not yet determined
heading
Red.The GNSS receiver has locked-
on to satellites and has adjusted
its clock to valid (1 PPS output now
valid). The INS is ready to initialise
Red and green ash. The system is
asleep. Contact OxTS support for
further information
www.oxts.com/autonomy

In the box
/ 1 x AV200 inertial navigation system
/ 2 x GPS/GLO/GAL/BDS multi-frequency GNSS antennas
/ 2 x 5 metre SMA-SMA antenna cables
/ 1 x user cable (14C0222)
/ 4 x M3 mounting screws
Equipment list
Additional requirements
/ PC with Ethernet port
/ A 5–30 V DC power supply capable of at least 5 W

Initialise
/ Power up the INS with a clear
view of the sky so it can search
for a GNSS lock.
/ If using static initialisation
with dual antenna, the INS will
search for a heading lock once
GNSS lock is found.
/ If using single antenna the
INS must be kinematically
initialised by travelling in a
straight line and exceeding
the initialisation speed
(5 m/s default).
Setup
Install hardware
/ Mount the INS rigidly in/on the vehicle.
/ Position the GNSS antennas with a suitable ground
plane. For dual antenna installations, mount the
secondary antenna at the same height/orientation as
the primary.
/ Connect the GNSS cables and user cable.
/ Supply power.
/ Set up IP connection to the device on the same IP range.
/ Move on to conguration in NAVcong.
Congure in NAVcong
/ Select the INS IP address while connected to it via
Ethernet.
/ Set the orientation of the INS in relation to the vehicle.
The axes are shown on the measurement point on the
label.
NOTE: Subsequent lever arm measurements should be
measured in the vehicle frame dened in this step.
/ Measure the lever arm offsets to the primary antenna.
If using a secondary antenna, measure the separation
from the primary.
/ Continue through the conguration wizard and commit
the settings to the INS.
/ Move on to initialisation.
www.oxts.com/autonomy

Operation
Warm-up
/ During the rst 1–3 minutes after initialisation
(3 minutes for a new installation, 1 minute for an
optimised setup) the Kalman lter will optimise several
real-time states to rene the data output to be as
accurate as possible.
/ During this warm-up period, try to perform dynamic
motion that will provide excitation to the IMU in
every axis.
/ Typical manoeuvres include straight line acceleration
and braking, and turns in both directions.
/ The real-time states of the system can be monitored in
NAVdisplay or by decoding the NCOM output. Antenna
lever arm accuracies and heading, pitch and roll
accuracies will improve over the warm-up period.
Data logging
/ The system starts logging data automatically on
power-up.
/ Logged raw data les (*.rd) can be post-processed
using NAVsolve for analysis.
/ NCOM navigation data can be logged and monitored
in real time using NAVdisplay or with the
OxTS ROS2 driver.

Need further
assistance?
Visit the support website:
support.oxts.com
Get in touch if you can’t
nd what you need:
[e-mail]
[phone]