OXTS xOEM500 Quick setup guide

Hardware
Integration
Manual
xOEM500 and xOEM550
Inertial and GNSS
measurement system

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Legal notices
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The software also includes software in binary form from:
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Revision
Document Revision: 210326 (See Revision History for detailed information).

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Contact details
Oxford Technical Solutions Limited
Park Farm Business Centre
Middleton Stoney
Oxfordshire
OX25 4AL
United Kingdom
Tel: [phone]
Fax: [phone]
Web: https://www.oxts.com
Email: [email protected]
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
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Technical Solutions Limited with respect to the products herein.
Any use or misuse of the product in a manner not intended may impair the protection provided.
Improper installation or usage of the device can lead to malfunction, loss of data, equipment damage,
and physical injury. The user is responsible for conducting a proper risk assessment when integrating
the product. Please contact OxTS if you believe any service or repair is required on your product.
Environmental protection
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facilities exist. Check with your Local Authority or OxTS representative for recycling advice.

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Contents
Legal notices .......................................................................................................................................1
Copyright notice...................................................................................................................................1
Revision...............................................................................................................................................1
Contact details.....................................................................................................................................2
Warranty..............................................................................................................................................2
Environmental protection.....................................................................................................................2
Introduction .............................................................................................................................................5
Related documents.................................................................................................................................5
Precautions .............................................................................................................................................6
Compliance testing..............................................................................................................................6
Hardware description..............................................................................................................................6
Overview..............................................................................................................................................6
Architecture .........................................................................................................................................7
Model variations ..................................................................................................................................7
Board dimensions................................................................................................................................8
Board layout ........................................................................................................................................9
LED definitions ..................................................................................................................................11
Connections.......................................................................................................................................12
Co-ordinate frame and origin point....................................................................................................12
Design-in...............................................................................................................................................13
Main connector..................................................................................................................................13
Connector pin out..............................................................................................................................13
Connector specifications ...................................................................................................................15
Power.............................................................................................................................................15
PPS................................................................................................................................................15
Serial..............................................................................................................................................15
Digital IO ........................................................................................................................................15
Antennas........................................................................................................................................15
Mounting........................................................................................................................................16
Heat dissipation.................................................................................................................................19
Power consumption...........................................................................................................................19
Internal storage..................................................................................................................................19
Specifications........................................................................................................................................20
Optional features...............................................................................................................................21
Revision history.....................................................................................................................................22

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List of figures
Figure 1: xOEM block diagram ...............................................................................................................7
Figure 2: xOEM500 dimensions..............................................................................................................8
Figure 3: xOEM550 dimensions..............................................................................................................8
Figure 4: Layout of the xOEM500 board set...........................................................................................9
Figure 5: Layout of the xOEM550 board set...........................................................................................9
Figure 6: Layout of the adaptor board...................................................................................................10
Figure 7: xOEM co-ordinate frame and measurement origin................................................................12
Figure 8: Connector pin layout..............................................................................................................13
Figure 9: xOEM500 clearances and mounting points...........................................................................17
Figure 10: xOEM550 clearances and mounting points.........................................................................18
List of tables
Table 1: Supplementary documents.......................................................................................................5
Table 2: xOEM board descriptions........................................................................................................10
Table 3: GNSS LED states ...................................................................................................................11
Table 4: Status LED states...................................................................................................................11
Table 5: Power LED states ...................................................................................................................11
Table 6: Direction of axes for zero heading, pitch and roll outputs.......................................................12
Table 7: Main connector pin allocations................................................................................................14
Table 8: xOEM specifications ...............................................................................................................20
Table 9: Optional features available for purchase................................................................................21
Table 10: Revision history.....................................................................................................................22

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Introduction
Thank you for choosing an xOEM series inertial navigation system. This OEM board set version of the
xNAV series combines embedded dual GNSS receivers and tactical-grade IMU in one easy to
integrate package. The compact form factor does not sacrifice accuracy, it provides system
integrators with a high performance GNSS-aided inertial navigation system perfect for any application
where continuous position and orientation is required.
The xOEM series retains all the features and performance of the xNAV series, including dual GNSS
receivers, real-time 100/200/250 Hz outputs, DGPS corrections, tight-coupling and advanced gx/ix
processing technology, but without an enclosure. This cuts the weight by more than half and makes
the xOEM ideal for integrating into space limited or weight restricted systems. Standard NMEA
messages and a 1PPS signal are available to synchronise with other sensors and decoders are freely
available for the full NCOM outputs.
This manual covers the technical information required to successfully integrate the xOEM into your
system. For information on configuring and operating the xOEM, please see the full xNAV User
Manual. The following chapter lists additional available documentation that may be of use when using
the xOEM. It is beyond the scope of this manual to provide details on service or repair. Contact OxTS
support or your local representative for any customer service-related inquiries.
Related documents
There are separate manuals available for further information on some of the software and
communication types mentioned in this manual. Table 1 lists related manuals and where to find them.
Table1: Supplementarydocuments
Manual
Description
xNAV user manual
User manual covering the full operation of thexNAV systems. The xOEMseries
behaves identically to the xNAV series.
https://oxts.box.com/s/t2hcbi3wrwj2dcaynhr8mhkifubb2tnd
NAVgraph manual
User manual for the graphing and display software NAVgraph.
https://oxts.box.com/s/lonucpgrqhecn4qql50lqksa5grapw57
NCOM description
manual
Describes the NCOM format, OxTS’s binary output format with all the
navigation and most status information in.
https://oxts.box.com/s/jovnqyj3lkcht2b2159jefzbt950j1n1
NCOM C code
drivers
A collection of C functions that can be used to decode the binary protocols from
the xOEM.
https://github.com/OxfordTechnicalSolutions/NCOMdecoder
XCOM description
manual
Describes the XCOM format, a container format that can create many logical
output streams from a single physical stream.
Contact OxTS for this document
NMEA 0183
description
NMEA description manual for the NMEA outputs.
https://oxts.box.com/s/v3dhlshoi6q6mpxwr48pd151an75bfvl
NAVsolve manual
User manual for the post-processing software NAVsolve.
https://oxts.box.com/s/wr1yk7gfuf58upankxowvrymgfdfgd7q
xOEM500 DevKit
technical note
The description, source code and the schematic diagrams for the xOEM500.
Customers are required to sign an NDA to gain access to this document.

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Precautions
The xOEM contains delicate, exposed electronic circuits and components that can be damaged by
electrostatic discharge (ESD). When handling, care must be taken so that the device is not damaged.
Damage due to inappropriate handling is not covered by the warranty.
Prior to installation it is recommended to carefully read this manual and ensure the following
precautions are taken:
▪Do not open the protective packaging until you have read the following and are at an approved
anti-static workstation.
▪It is best to wear an ESD wrist strap when handling electronic components. If you do not have
an ESD wrist strap, keep your hands dry and first touch a metal object to eliminate static
electricity.
▪When handling the system, avoid touching any metal leads or connectors.
▪If working on a prototyping board, use a soldering iron or station that is marked as ESD-safe.
▪Always discharge yourself by touching a grounded bare metal surface or approved anti-static
mat before picking up an ESD-sensitive electronic component.
▪Use an approved anti-static mat to cover your work surface.
Compliance testing
OxTS has not carried out any regulatory compliance testing for this product as it is solely intended for
system integration and development purposes. This product should not be used in an end user
application without undergoing regulatory compliance testing as part of another complete product.
The xNAV systems; the enclosed versions of the xOEM systems, have passed regulatory compliance
testing so there is no reason to believe that the xOEM would affect the outcome of testing when
properly integrated into an end product.
Any use or misuse of the xOEM in a manner not intended may impair the protection provided. OxTS
is not liable for any damages caused by the misuse of the equipment
Hardware description
Overview
The xOEM is a miniature GNSS-aided inertial navigation system. It combines dual GNSS receivers
with a tactical-grade IMU to provide a compact navigation solution. Built as a board-set configuration,
the system also includes 32 GB data storage and an on-board processor running the real-time
strapdown navigator and Kalman Filter.
The dual receiver integration allows greater heading accuracy with wider antenna baselines and
ensures stable heading performance even when stationary and during low dynamics. The custom
built 6-axis IMU consists of high-grade MEMS gyros and accelerometers. The sensor fusion between
the GNSS receivers and inertial sensors is done seamlessly in real-time for a continuous 100 Hz
navigation output. Data is automatically logged to the 32 GB eMMC for added data protection and
redundancy.

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Architecture
The xOEM system is made up of two main building blocks, the xOEMcore and the ADK platform. The
ADK consists of the GNSS receivers, System on Module (SoM), interfaces, logging and
communication. The xOEMcore contains the IMU block and main navigation processor. The two
blocks are connected by a high-speed serial cable but are not physically mounted together. Although
they can be mounted independently, most drawings in this manual display the two parts in-line
horizontally. Figure 1 shows the xOEM block diagram.
Figure1: xOEM blockdiagram
The xOEMcore houses the 6-axis IMU and the main processor that calculates the navigation solution.
The ADK platform feeds aiding data, configuration files and commands to the xOEMcore; it takes raw
data (RD) and navigation data from the xOEMcore, writes RD files and sends the navigation data out
over serial and Ethernet interfaces.
Model variations
There are two models available in the xOEM series: the xOEM500 and xOEM550. Both systems use
the xOEMcore with the same inertial sensors. The only difference is the GNSS receivers.
▪xOEM500: Single frequency (L1), GPS and GLONASS.
▪xOEM550: Dual frequency (L1/L2), GPS, GLONASS and BEIDOU.
Note: Triple constellation (GPS+GLONASS+BEIDOU) is not recommended due to processing
constraints. GPS+GLONASS or GPS+BEIDOU options are available.

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Board dimensions
The outer dimensions of the xOEM500 and xOEM550 are shown in Figure 2 and Figure 3
respectively.
Figure2:xOEM500dimensions
Figure3: xOEM550dimensions

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Board layout
The board layouts with main components labelled for the xOEM500 and xOEM550 are shown in
Figure 4 and Figure 5. The included adaptor board a connector breakout for the pin header, shown in
Figure 6. Table 2 lists details for the corresponding labels.
Figure4: Layout ofthexOEM500boardset
Figure5: Layout ofthexOEM550boardset