OXTS Survey+ v3 User manual

xF
User Manual
Covers Survey+ v3
models
The inertial experts.
Survey+
GNSS-aided
inertial
measurement
systems

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Oxford Technical Solutions
Legal Notices
Information furnished is believed to be accurate and reliable. However, Oxford
Technical Solutions Limited assumes no responsibility for the consequences of use of
such information nor for any infringement of patents or other rights of third parties which
may result from its use. No licence is granted by implication or otherwise under any
patent or patent rights of Oxford Technical Solutions Limited. Specifications mentioned
in this publication are subject to change without notice and do not represent a
commitment on the part of Oxford Technical Solutions Limited. This publication
supersedes and replaces all information previously supplied. Oxford Technical Solutions
Limited products are not authorised for use as critical components in life support devices
or systems without express written approval of Oxford Technical Solutions Limited.
All brand names are trademarks of their respective holders.
The software is provided by the contributors “as is” and any express or implied
warranties, including, but not limited to, the implied warranties of merchantability and
fitness for a particular purpose are disclaimed. In no event shall the contributors be liable
for any direct, indirect, incidental, special, exemplary, or consequential damages
(including, but not limited to, procurement of substitute goods or services; loss of use,
data, or profits; or business interruption) however caused and on any theory of liability,
whether in contract, strict liability, or tort (including negligence or otherwise) arising in
any way out of the use of this software, even if advised of the possibility of such damage.
Copyright Notice
© Copyright 2019, Oxford Technical Solutions.
Revision
Document Revision: 190902 (See Revision History for detailed information).
Contact Details
Oxford Technical Solutions Limited
Park Farm Business Centre
Middleton Stoney
Oxfordshire
OX25 4AL
United Kingdom
Tel: [phone]
Fax: [phone]
Web: http://www.oxts.com
Email: [email protected]

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Warranty
Oxford Technical Solutions Limited warrants its products to be free of defects in
materials and workmanship, subject to the conditions set forth below, for a period of one
year from the Date of Sale.
“Date of Sale” shall mean the date of the Oxford Technical Solutions Limited invoice
issued on delivery of the product. The responsibility of Oxford Technical Solutions
Limited in respect of this warranty is limited solely to product replacement or product
repair at an authorised location only. Determination of replacement or repair will be made
by Oxford Technical Solutions Limited personnel or by personnel expressly authorised
by Oxford Technical Solutions Limited for this purpose.
In no event will Oxford Technical Solutions Limited be liable for any indirect, incidental,
special or consequential damages whether through tort, contract or otherwise. This
warranty is expressly in lieu of all other warranties, expressed or implied, including
without limitation the implied warranties of merchantability or fitness for a particular
purpose. The foregoing states the entire liability of Oxford Technical Solutions Limited
with respect to the products herein.

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Oxford Technical Solutions
Table of contents
Legal Notices__________________________________________________________________ 2
Copyright Notice _______________________________________________________________ 2
Revision ______________________________________________________________________ 2
Contact Details ________________________________________________________________ 2
Table of contents ______________________________________________________________ 4
Introduction __________________________________________________________________ 7
Easy operation ______________________________________________________________________ 8
Self-correcting ______________________________________________________________________ 8
Advanced processing_________________________________________________________________ 8
Related documents_____________________________________________________________ 9
Survey+ product family_________________________________________________________ 10
Survey+ (v3) _______________________________________________________________________ 10
Single antenna _____________________________________________________________________ 10
Dual antenna ______________________________________________________________________ 10
GLONASS_________________________________________________________________________ 11
BeiDou ___________________________________________________________________________ 11
200/250 Hz ________________________________________________________________________ 11
Satellite differential corrections ________________________________________________________ 11
Scope of delivery______________________________________________________________ 13
Survey+ system components __________________________________________________________ 13
Specification _________________________________________________________________ 14
Common specifications ______________________________________________________________ 16
Notes on specifications ______________________________________________________________ 16
Heading accuracy___________________________________________________________________ 16
Environmental protection _____________________________________________________________ 17
Export control classification number ____________________________________________________ 17
Conformance notices __________________________________________________________ 18
Regulator testing standards ___________________________________________________________ 18
Software installation __________________________________________________________ 19
Hardware installation__________________________________________________________ 21
Survey+ orientation and alignment ______________________________________________________ 21

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Antenna placement and orientation _____________________________________________________ 21
Operation ___________________________________________________________________ 23
Front panel layout __________________________________________________________________ 23
Co-ordinate frame conventions_________________________________________________________ 26
Ethernet configuration _______________________________________________________________ 33
Wi-Fi configuration__________________________________________________________________ 37
Dual antenna systems _______________________________________________________________ 40
Inputs and outputs ____________________________________________________________ 43
Digital inputs and outputs_____________________________________________________________ 44
Configuring the Survey+ ________________________________________________________ 47
Overview _________________________________________________________________________ 47
Working through NAVconfig___________________________________________________________ 48
NAVconfig Home section in NAVconfig __________________________________________________ 48
Start/Read Configuration section in NAVconfig ____________________________________________ 49
Read Configuration section ___________________________________________________________ 50
Hardware Setup section in NAVconfig ___________________________________________________ 51
IMU orientation tab __________________________________________________________________ 51
Primary antenna tab _________________________________________________________________ 53
Secondary Antenna tab ______________________________________________________________ 55
GNSS Differential Corrections tab_______________________________________________________ 60
Interfaces section in NAVconfig ________________________________________________________ 63
Advanced Tools section ______________________________________________________________ 71
The Write Configuration section of NAVconfig _____________________________________________ 79
Setting up the base station _____________________________________________________ 80
Using the RT-Base S_________________________________________________________________ 80
Initialisation process___________________________________________________________ 81
Real-time outputs ___________________________________________________________________ 81
Warm-up period ____________________________________________________________________ 82
Improving the configuration after a warm-up ______________________________________ 85
Committing the configuration to the Survey+ ______________________________________________ 85
Post-processing data __________________________________________________________ 90
Laboratory testing ____________________________________________________________ 91
Accelerometer test procedure__________________________________________________________ 91
Gyro test procedure _________________________________________________________________ 91

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Oxford Technical Solutions
Testing the internal GNSS and other circuitry______________________________________________ 93
Using the orientation measurements _____________________________________________ 94
Operating principles ___________________________________________________________ 95
Internal components_________________________________________________________________ 95
Strapdown navigator ________________________________________________________________ 95
Kalman filter_______________________________________________________________________ 97
Revision history_______________________________________________________________ 98
Drawing list__________________________________________________________________ 99

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Introduction
The Survey+ inertial navigation system (INS) device is an instrument for making
precision measurements of motion in real time.
From September 2019 the Survey+ became v3 with new functionality. v2 devices are
now end of life and include: Survey+ v2 and Survey+L1 v2.
To obtain high-precision measurements, the Survey+ uses mathematical algorithms
developed for use in fighter aircraft navigation systems. An inertial sensor block with
three accelerometers and three gyros (angular rate sensors) is used to compute all the
outputs. A WGS 84 modelled strapdown navigator algorithm compensates for earth
curvature, rotation and Coriolis accelerations, while measurements from high-grade
kinematic GNSS receivers update the position and velocity navigated by the inertial
sensors. This innovative approach gives the Survey+ several distinct advantages over
systems that only use GNSS:
•The Survey+ has a high (100 Hz 200 Hz or 250 Hz) update rate and a wide
bandwidth.
•The outputs are available with low, 3.5 ms latency.
•All outputs remain available continuously during GNSS blackouts when, for
example, the vehicle drives under a bridge.
•The Survey+ recognises jumps in GNSS position and ignores them.
•The position and velocity measurements the GNSS makes are smoothed to reduce
the high-frequency noise.
•The Survey+ makes many measurements GNSS cannot, for example acceleration,
angular rate, heading, pitch and roll.
A Survey+ system processes data in real time. The real-time results are output via an
RS232 serial port, or over 10/100 Base-T Ethernet using a UDP broadcast. Outputs are
time-stamped and refer to GPS time; a 1PPS timing sync can be used to give accurate
timing synchronisation between systems. The inertial measurements are synchronised
to the GPS clock.

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Oxford Technical Solutions
Internal data logging enables the data to be reprocessed post-mission. Data can be
collected in the unit, downloaded using “ftp” protocol, processed on a PC and viewed
using the NAVsolve.
Easy operation
There is minimal configuration required to use the system. The configuration can be
saved to the Survey+ so it can operate autonomously without user intervention. A lot of
work has been put into the initialisation of the inertial algorithms so the Survey+ can
reliably start to navigate in the vast majority of situations.
The single unit contains inertial sensors, GNSS receiver, data storage and CPU. One or
two antennas need to be mounted outside the vehicle where they have a clear view of
the sky. A 10–50 V dc power supply can be obtained from most vehicles. A laptop
computer allows real-time viewing of the results.
Self-correcting
Unlike conventional inertial navigation systems, the Survey+ uses GNSS to correct all
its measurements. GNSS makes measurements of position, velocity and (for dual
antenna systems) heading. Using these measurements, the Survey+ is able to keep other
measurements, such as roll and pitch, accurate. Tight coupling of the GNSS and inertial
measurements means the raw GNSS data can also be used. There is no drift from the
Survey+ in any of the measurements while GNSS is present.
Advanced processing
In poor GNSS environments, drift times can be halved by using the combined results of
processing forwards and backwards in time. Our proprietary gx/ix™ processing engine
can further improve performance with single satellite aiding algorithms and tight
coupling of the inertial and GNSS measurements, meaning position updates even with
fewer than four satellites in view.

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Related documents
This manual covers the installation and operation of Survey+ systems, but it is beyond its
scope to provide details on service or repair. Contact OxTS support or your local
representative for customer service-related inquiries.
Additional manuals provide further information on some of the software and
communication types mentioned in this manual. Table 1 lists related manuals and where
to find them.
Table 1. Supplementary manuals
Manual
Description
NAVdisplay
Manual
For viewing real-time information from an RT.
https://support.oxts.com/hc/en-us/articles/115002433285-NAVdisplay-Online-
manual
NAVgraph
Manual
For plotting and exporting captured data.
https://support.oxts.com/hc/en-us/articles/115002433465-NAVgraph-Online-manual
NCOM
Manual
For decoding and using the NCOM format.
www.oxts.com/Downloads/Support/NCOM Manual and Code
Drivers/ncomman.pdf
NCOM C
Code Drivers
A collection of C functions that can be used to decode the binary protocols from the
RT.
www.oxts.com/Downloads/Support/NCOM Manual and Code Drivers/ncomrx.zip
NMEA 0183
Description
NMEA description manual for the NMEA outputs.
www.oxts.com/Downloads/Support/NMEA/nmeaman.pdf
NAVsolve
Manual
Explains how to use our post-processing application.
https://support.oxts.com/hc/en-us/articles/360000225449-NAVsolve-manual

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Oxford Technical Solutions
Survey+ product family
Survey+ (v3)
Survey-grade GNSS receivers provide high-precision position and velocity
measurements even in high multipath environments. GPS & GLONASS enabled as
standard on primary and secondary receivers. Can be BeiDou enabled. The Survey+
with RTK support is dual antenna. 100 Hz is the standard output rate. 200 Hz and 250
Hz options are available.
The options contained within each device type are listed in the “Specification” section
on page 15.
Single antenna
An advanced algorithm in the Survey+ software means most road vehicle users are able
to use a single antenna system. The Heading lock and Advanced slip features allow
Survey+ devices to maintain an accurate heading while completely stationary and while
driving with low vehicle dynamics.
Single antenna systems can experience reduced heading accuracy on aircraft, boats or
in low-speed land vehicles.
Dual antenna
Dual antenna systems provide high accuracy heading information and almost constant
heading performance under all conditions.
For aircraft or marine applications, or road vehicle applications on low-friction surfaces
(e.g. ice), a dual antenna system is recommended to maintain high accuracy heading.
Advanced processing in the Survey+ allows relock to occur after five seconds of a sky-
obstruction – unlike GNSS-only systems which can take several minutes; in this time
the Survey+’s heading will not have significantly degraded. The fast relock time is made
possible because the Survey+’s own heading is used to resolve the ambiguities in the
GNSS measurements. Resolution of these ambiguities is what normally takes several
minutes.