Attachment D - POS User Manual.pdf

IICopyright © Applanix Corporation, 2014

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 Corporation.

POS AV V6 Installation and Operation Manual

Document #: PUBS-MAN-004809 Revision: 3

Date: 06-Jan-2014

Copyright © Applanix Corporation, 2012

POS AV V6 Installation and Operation Guide

Congratulations on your purchase of a POS AV system.

Applanix develops, manufactures, sells and supports precision products that accurately and robustly measure the position and orientation of vehicles in dynamic environments. Applanix technology, in use by our customers all around the world, is measuring, monitoring and modeling our planet Earth in virtually every environment imaginable. Applanix Position and Orientation System (POS) is essential part in a variety of applications including road profiling, aerial survey and mapping, railroad track maintenance and seafloor mapping. Applanix strives to support customers around the world with exceptional service - anywhere, at anytime.

PUBS-MAN-004809

Revision 3

General Notice Although every care has been taken to ensure that this manual is reliable and accurate, Applanix A Trimble Company (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 AV in detail and contains full installation and operating instructions.

The manual is an important part of the system. It should remain with the system for use by those who will operate and maintain it.

It is the customer’s responsibility to ensure that there are adequate mounting facilities and 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® are registered trademarks of Microsoft Corporation.

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, transmitted in any form or by any means without the prior written consent of Applanix.

Copyright© Applanix Corporation, 2012.

Printed in Canada.

Liability and Safety Information

Important: All cables connected to the POS AV equipment shall be constructed of (in order of preference): a) high temperature and

b) low smoke materials.

Ethernet Cable - Applanix supplies a suitable Ethernet cable. However, if supplied by the customer the cable shall be constructed of braided shielding that is properly terminated with connectors and has a minimum of 90% coverage, and be rated as CAT5 or better.

Serial Cables - COM port cables are not shipped as part of the accessory package. The customer is responsible for supplying and using premium serial cables with the POS AV system. Important: The COM port serial cables shall be constructed of braided shielding that is properly terminated with connectors and has a minimum of 90% coverage.

Regulatory Information

Caution: Do not make mechanical or electrical modifications to the POS AV system or any of its 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: GPS antennas, GPS antenna cables, Ethernet cable, IMU, IMU cable.

DECLARATION OF CONFORMITY

Manufacturer's Name:

Manufacturer's Address: 85 Leek Crescent

Richmond Hill, Ontario, Canada L4B 3B3

EC Representative's Name: Applanix Corporation, A Trimble Company

EC Representative's Address: 85 Leek Crescent

Richmond Hill, Ontario, Canada L4B 3B3

Equipment Model Designation: POS AV V6

Equipment Description: POS AV is a fully integrated, turnkey position and orientation system for airborne vehicles.

Application of Council Directive: 2006/95/EC on the harmonization of the laws related to Member States relating to electrical equipment designed for use within certain voltage limits and Council Directive 2004/108/EC on the approximation of the laws related to Member States relating to electromagnetic compatibility.

Referenced Safety Standards: Referenced EMC Standards:

EN 60950-1: 2006 with Amendments EN 55022 : 2010

A11:2009 EN 55024 : 2010

A1:2010 A12:2011

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.

Industry Canada This Class A digital apparatus complies with Canadian ICES-003.

Cet appareil numérique de la classe A est conforme à la norme NMB-003 du Canada.

VCCI

English Translation: This is a Class A product based on the standard of the Voluntary

Control Council for Interference from Information Technology Equipment (VCCI). If this is used near a radio or television receiver in a domestic environment, it may cause radio interference. Install and use the equipment according to the instruction manual.

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.

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’)

Symbols The following symbols appear in this document:

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-004809, Revision 3, dated 06-Jan-2014.

References PUBS-ICD-003259, POS AV V6 Ethernet & Disk Logging Interface Control Document

PUBS-MAN-003700 POSTrack Operation Guide

PUBS-MAN-001409, User Manual

Table of Contents

1.0 Introduction .................................................... 1-1 POS AV System Overview ...................................................................... 1-1

General .............................................................................................. 1-1 Principles of Operation ............................................................................ 1-3 System Components ............................................................................... 1-4

Optional Components ........................................................................ 1-5 Upgrade Components ........................................................................ 1-5 POS Computer System ...................................................................... 1-6 Inertial Measurement Unit .................................................................. 1-7 GNSS Antenna .................................................................................. 1-7 POS AV Controller Software .............................................................. 1-7 Secondary GNSS Receiver Capability ............................................. 1-8 Auxiliary GNSS Receiver ................................................................... 1-8 POSPacMMS Post-Processing Software .......................................... 1-9

Function and Performance ...................................................................... 1-9 Motion Measurement .......................................................................1-10 Installation Parameter Storage ........................................................1-10 Data Logging ....................................................................................1-11 AutoStart ..........................................................................................1-11 AutoLog ............................................................................................1-11 AutoRecovery ..................................................................................1-11 Fault Detection, Isolation and Reconfiguration ................................1-11 Time Tagging ...................................................................................1-12 Event Tagging ..................................................................................1-12 Back-Up Logging .............................................................................1-12

Modes of Operation ............................................................................... 1-13 Standby Mode ..................................................................................1-13 Navigate Mode .................................................................................1-13

Flight Checklists .................................................................................... 1-13

2.0 Hardware Installation ..................................... 2-1 POS AV Models....................................................................................... 2-1

System Power Requirements .................................................................. 2-2 Unpacking and Handling ......................................................................... 2-3

GNSS Antenna .................................................................................. 2-3 Inertial Measurement Unit .................................................................. 2-4 POS Computer System ...................................................................... 2-5

Installation ............................................................................................... 2-5 Preparation ........................................................................................ 2-5 GNSS Antenna .................................................................................. 2-6 POS Computer System ...................................................................... 2-7 Inertial Measurement Unit .................................................................. 2-7

Cabling .................................................................................................. 2-10 Power Cable ....................................................................................2-12 IMU Cable ........................................................................................2-12 GNSS Antenna Cable ......................................................................2-13 LAN (Ethernet) Cable .......................................................................2-13 Event Cable .....................................................................................2-14

Storage .................................................................................................. 2-14

3.0 AV POSView Software Installation ............... 3-1

System Requirements ............................................................................. 3-1 Install AV POSView Controller ............................................................... 3-1 Start AV POSView Controller ................................................................. 3-2 Exit AV POSView Controller .................................................................... 3-2 Un-install AV POSView Controller........................................................... 3-2

4.0 Controller - Basic Operation ......................... 4-1 Controller - PC to PCS Configuration ...................................................... 4-1

Start AV POSView Controller ............................................................ 4-1 Change System IP Address ............................................................... 4-1 Connect to POS AV ........................................................................... 4-3 AV POSView Controller Modes of Operation .................................... 4-3 Save POS AV Settings ...................................................................... 4-4 Exit AV POSView Controller .............................................................. 4-4

Controller Displays .................................................................................. 4-4 Main Window ..................................................................................... 4-4

Sensor Data .....................................................................................4-10 GNSS Reset ....................................................................................4-17

5.0 System Configuration .................................... 5-1 Installation Parameters ............................................................................ 5-1

General .............................................................................................. 5-1 Body Frame Definitions ...................................................................... 5-2 Lever Arms ......................................................................................... 5-5 Mounting Angles ................................................................................ 5-7 Controller - Enter Installation Parameters .......................................... 5-9

User Accuracy Settings ......................................................................... 5-10 Time and Distance Tags ....................................................................... 5-11

Time Tag 1 and 2 Panes ..................................................................5-11 Event &PPS Settings ............................................................................. 5-12 GNSS Receiver Set-Up ......................................................................... 5-14 Save Settings ........................................................................................ 5-15 Power-Down and Power-Up .................................................................. 5-16 Make Changes ...................................................................................... 5-17 Manage Multiple Configurations ............................................................ 5-17 POS Loader ........................................................................................... 5-17

Installation ........................................................................................5-18 POSConfig Utility ................................................................................... 5-23

Run POSConfig Utility ......................................................................5-24

6.0 Data Logging .................................................. 6-1 General .................................................................................................... 6-1

AV POSView Controller ..................................................................... 6-1 Data Logging – Removable Media and Back-Up .................................... 6-3

Insert an USB Flash Drive ................................................................. 6-5 Start Logging – Removable Media .................................................... 6-6 Stop Logging – Removable Media ..................................................... 6-7 Logged Data ...................................................................................... 6-7 Remove the USB flash drive .............................................................. 6-7

Ethernet Logging ..................................................................................... 6-8

Start Logging - Ethernet Data Port .................................................... 6-9 Stop Logging - Ethernet Data Port ..................................................... 6-9

7.0 Stand-Alone Operation .................................. 7-1 General .................................................................................................... 7-1 AutoStart .................................................................................................. 7-1 AutoLog ................................................................................................... 7-2 PCS Switches and Indicators .................................................................. 7-3

Front Panel Switches ......................................................................... 7-3 Front Panel Indicators ........................................................................ 7-4

8.0 External Interfaces ......................................... 8-1 General .................................................................................................... 8-1 Power Connector ..................................................................................... 8-2

Physical Interface ............................................................................... 8-2 IMU Connector ........................................................................................ 8-2

Physical Interface ............................................................................... 8-2 I/O1 Connector ........................................................................................ 8-3 I/O2 Connector ........................................................................................ 8-5 I/O3 Connector ........................................................................................ 8-7 Ethernet (LAN) Connector ....................................................................... 8-9 Antenna Connectors .............................................................................. 8-10

ANT1 and ANT2 Connectors ...........................................................8-10 Signal Description by Functionalities .................................................... 8-11

Event Inputs .....................................................................................8-11 DIFF Port..........................................................................................8-12 PPS Outputs ....................................................................................8-13 COM Ports Set up ............................................................................8-14 NMEA Output Data Format ..............................................................8-14 Binary Output Data Format ..............................................................8-16 Ethernet-Serial Message Convertor ................................................8-18 Aux 1/2 GPS Input Data Format ......................................................8-19 Gimbal Support Over Serial Port .....................................................8-20

9.0 Maintenance ................................................... 9-1 GNSS Antennas ...................................................................................... 9-1 Inertial Measurement Unit ....................................................................... 9-1 POS Computer System ........................................................................... 9-2

10.0 Troubleshooting ........................................... 10-1

Appendices Technical Support and Service .............................................................. A-1

Contact Applanix ............................................................................... A-1 How to Reach Technical Support ..................................................... A-1 Returns.............................................................................................. A-2

Message Log Definitions ........................................................................ B-1 AV POSView Controller Menu Options .................................................. C-1 AV POSView Controller Status Pane Messages ................................... D-1 Tate-Bryant Sequence ........................................................................... E-1 COM Ports Message Format .................................................................. F-1

NMEA and Binary Message Formats ............................................... F-1 COM Gimbal Messages .................................................................. F-32

POS AV Flight Checklists ....................................................................... G-1 Flight Preparation .............................................................................. G-1 In-Flight Procedures .......................................................................... G-2 Post Flight Checklist ......................................................................... G-4

POS AV Flight Profile Form .................................................................... G-5 POS AV Diagrams .................................................................................. H-1 POS AV Specifications ............................................................................. I-1 Specification for Yaw Drift Control ........................................................... J-1 Ruggedized RJ-45 Data Connector ....................................................... K-1

Assembly Instructions for the NE8MC .............................................. K-1 POSTrack V6 ........................................................................................... L-1 Satellite-Based Augmentation System ................................................... M-1

Enable WAAS, EGNOS or MSAS ..................................................... M-1

OmniSTAR Configuration ................................................................. M-2 Trimble® CenterPoint™ RTX™ Configuration ................................. M-4

Transformation of Position ..................................................................... N-1 Vector Definition ................................................................................ N-1 Calculation ........................................................................................ N-2

Glossary

Index

List of Figures Figure 1: POS AV System Components ....................................................... 1-1

Figure 2: POS AV Aided Inertial Navigation Processing .............................. 1-4

Figure 3: Leica RC20/30 Film Camera ......................................................... 2-9

Figure 4: Zeiss RMK Top Camera ................................................................ 2-9

Figure 5: PCS Rear Panel .......................................................................... 2-11

Figure 6: Controller POS Internet Address Window ..................................... 4-3

Figure 7: AV POS View Controller Main Window ......................................... 4-5

Figure 8: Tool Bar ......................................................................................... 4-6

Figure 9: Status Pane ................................................................................... 4-6

Figure 10: Attitude Pane ............................................................................... 4-7

Figure 11: Accuracy Pane and User Parameter Accuracy Window ............. 4-8

Figure 12: Events Group ............................................................................... 4-9

Figure 13: Speed Pane ................................................................................. 4-9

Figure 14: Status Bar .................................................................................... 4-9

Figure 15: Statistics Window....................................................................... 4-10

Figure 16: Fault Detection Window ............................................................. 4-12

Figure 17: Message Log Window ............................................................... 4-13

Figure 18: Reference and Sensor Frame Navigation Window ................... 4-14

Figure 19: Yaw Drift Correction Windows ................................................... 4-15

Figure 20: Gimbal Encoder Data Window .................................................. 4-16

Figure 21: Command Reply Window .......................................................... 4-17

Figure 22: IMU Body Frame ......................................................................... 5-4

Figure 23: Lever Arms .................................................................................. 5-6

Figure 24: IMU/Reference Body Frame Mounting Angles ............................ 5-8

Figure 25: AV POSView Controller Title, Menu and Tool Bars .................... 5-9

Figure 26: Controller Lever Arm and Mounting Angles Window ................. 5-10

Figure 27: Controller User Parameter Accuracy Window ........................... 5-11

Figure 28: Controller Tags, Multipath & AutoStart Window ........................ 5-12

Figure 29: Controller Events Window ......................................................... 5-13

Figure 30: PPS Out Configuration .............................................................. 5-14

Figure 31: Controller GNSS Receiver Configuration Window .................... 5-15

Figure 32: PCS Switches and Indicators .................................................... 5-16

Figure 33: POS Loader Welcome Window ................................................. 5-19

Figure 34: POS Loader License Window .................................................... 5-19

Figure 35: POS Loader Select POS Window ............................................. 5-20

Figure 36: POS Loader Authorization POS Window .................................. 5-20

Figure 37: POS Loader Loading Window ................................................... 5-21

Figure 38: POS Loader Data Transfer Successful Window ....................... 5-21

Figure 39: POS Loader Unpacking & System Light Windows .................... 5-22

Figure 40: POS Loader Success Window .................................................. 5-22

Figure 41: POSConfig Select POS Window ............................................... 5-24

Figure 42: POSConfig Parameter Window ................................................. 5-25

Figure 43: POSConfig Success Window .................................................... 5-26

Figure 44: Removable Media Logging Window ............................................ 6-2

Figure 45: Ethernet Logging Control Window ............................................... 6-2

Figure 46: Ethernet Logging Control Window - Secondary .......................... 6-3

Figure 47: PC Card Drive Bay ...................................................................... 6-6

Figure 48: Ethernet Logging Control Window ............................................... 6-9

Figure 49: PCS Switches and Indicators ...................................................... 7-4

Figure 50: PCS Rear Panel .......................................................................... 8-1

Figure 51: I/O1 Cable ..................................................................................... 8-5

Figure 52: I/O2 Cable ..................................................................................... 8-7

Figure 53: I/O3 Cable ..................................................................................... 8-9

Figure 54: Event Input Examples ................................................................. 8-12

Figure 55: Input Output Ports Set-up – NMEA Output ................................ 8-16

Figure 56: Input/Output Ports Set-up - Binary Output ................................ 8-17

Figure 57: Ethernet-Serial Convertor ........................................................... 8-19

Figure 58: Input/Output Ports Set-up - Aux 1 GPS Input ............................ 8-20

Figure 59: Input/Output Ports Set-up - Aux 2 GPS Input ............................ 8-20

Figure 60: Lever Arm distance .................................................................... 8-22

Figure 61: Gimbal Selection......................................................................... 8-23

Figure 62: Tate-Bryant Planes and Axis ...................................................... E-1

Figure 63: Tate-Bryant Rotations Diagram .................................................. E-2

Figure 64: Talker ID ....................................................................................... F-1

Figure 65: Pan, Tilt and Roll Definitions ..................................................... F-33

Figure 66: POS AV Interconnect Diagram ................................................... H-1

Figure 67: PCS Outline Diagram ................................................................. H-2

Figure 68: IMU Types 7, 8 Outline Diagram ................................................ H-3

Figure 69: IMU Types 7, 8 Top-Hat Diagram ................................................ H-4

Figure 70: IMU Types 7, 8 Mounting Plate Diagram ................................... H-5

Figure 71: IMU Types 7, 8 Top-Hat Assembly Diagram .............................. H-6

Figure 72: Environmental Assembly - Top-Hat ............................................ H-7

Figure 73: IMU Type 21 Mounting Tray Outline .......................................... H-8

Figure 74: (1 of 2) IMU Type 21 Outline - Top, Side and Front Views ........ H-9

Figure 75: (2 of 2) IMU Type 21 Outline - Rear View ................................ H-10

Figure 76: (1 of 2) IMU Type 21 Sensing Centre Diagram ........................ H-11

Figure 77: (2 of 2) IMU Type 21 Sensing Centre Diagram ........................ H-12

Figure 78: (1 of 2) IMU Type 29 Outline Diagram (without Adapter Plate) H-13

Figure 79: (2 of 2) IMU Type 29 Sensing Centre Diagram (without Adapter Plate) ........................................................................ H-14

Figure 80: (1 of 2) IMU Type 29 Adapter Plate .......................................... H-15

Figure 81: (2 of 2) IMU Type 29 Adapter Plate .......................................... H-16

Figure 82: Universal Mounting Plate (Old) Diagram .................................. H-17

Figure 83: IMU Type 31 Diagram .............................................................. H-18

Figure 84: IMU Type 40 Diagram ............................................................... H-19

Figure 85: IMU Type 42 Diagram ............................................................... H-20

Figure 86: IMU Type 46 Diagram ............................................................... H-21

Figure 87: IMU Type 52 Diagram ............................................................... H-22

Figure 88: IMU Types 55 and 56 Diagram .................................................. H-23

Figure 89: IMU Type 57 Diagram ............................................................... H-24

Figure 90: Universal Mounting Plate Diagram ............................................ H-25

Figure 91: GNSS/LBand/OmniStar Antenna Diagram ............................... H-26

Figure 92: GNSS/LBand/OmniStar Teardrop Antenna Diagram ............... H-27

Figure 93: Statistics Window......................................................................... J-2

Figure 94: Yaw Drift Correction Setup Window ............................................ J-3

Figure 95: Follow Mean Track ...................................................................... J-3

Figure 96: Follow Desired Heading .............................................................. J-4

Figure 97: Yaw Drift Correction Window ....................................................... J-5

Figure 98: Input and Output Port Settings-TAS ............................................. J-6

Figure 99: Yaw Drift Correction Settings - T-AS Mount ................................ J-7

Figure 100: Input and Output Port Settings – Z/I .......................................... J-8

Figure 101: Yaw Drift/Roll/Pitch Correction Setup – Z/I Mount .................... J-9

Figure 102: Input and Output Port Settings – PAV30 ................................. J-10

Figure 103: PPS Out Settings – PAV30 ...................................................... J-11

Figure 104: Yaw Drift Correction Setup - PAV30 ....................................... J-12

Figure 105: PAV-80 Connection Diagram .................................................. J-13

Figure 106: Input and Output Port Settings – PAV80 ................................. J-14

Figure 107: Input and Output Port Settings – GSM3000 ............................ J-16

Figure 108: Yaw Drift Correction Setup - GSM3000 Mount ....................... J-17

Figure 109: POSTrack System ..................................................................... L-2

Figure 110: POSTrack System Dimensions ................................................. L-7

Figure 111: UltraCAM IMU Adapter Plate ..................................................... L-8

Figure 112: (1 of 2) UltraCAM IMU Offset .................................................... L-9

Figure 113: (2 of 2) UltraCAM IMU Offset .................................................. L-10

Figure 114: POSTrack System Generic Interconnect Diagram .................. L-11

Figure 115: POSTrack with an RC20/30 Camera using a PAV30/80 MountL-12

Figure 116: POSTrack with a RMK TOP Camera using a T-AS Mount ..... L-13

Figure 117: POSTrack with an UltraCAM Camera using a GSM3000 MountL-14

Figure 118: POSTrack with an LMK2000 Camera using a GSM3000 MountL-15

Figure 119: Camera DB-25 Cable ............................................................... L-17

Figure 120: snapSHOT32 Main Menu - Pilot’s Display .............................. L-26

Figure 121: General Configuration Display – Pilot ..................................... L-27

Figure 122: IP Address Configuration ......................................................... L-28

Figure 123: Flight Plan Import ..................................................................... L-29

Figure 124: Loading the Flight Plan ............................................................. L-30

Figure 125: snapSHOT32 Menu - Equipment ............................................ L-31

Figure 126: Set AV/POS Commands Display............................................. L-32

Figure 127: snapSHOT32 Menu - Troubleshooting .................................... L-33

Figure 128: Camera Ground Test Display .................................................. L-33

Figure 129: Ground Test Simulation Display .............................................. L-34

Figure 130: snapSHOT32 Mission Display ................................................. L-35

Figure 131: Client Change Configuration .................................................... L-37

Figure 132: Client IP Address ...................................................................... L-37

Figure 133: Client Address Verification ....................................................... L-38

Figure 134: Client Display ............................................................................ L-39

Figure 135: Receiver OmniSTAR Serial Number ........................................ M-3

Figure 136: OmniSTAR Settings ................................................................. M-4

List of Tables Table 1: Connector Specifications .............................................................. 2-11

Table 2: PC Configuration Requirements ..................................................... 3-1

Table 3: PCS Front Panel Lights .................................................................. 7-4

Table 4: Power Connector Pin Assignment .................................................. 8-2

Table 5: I/O1 Connector Pin Assignment ..................................................... 8-3

Table 6: I/O2 Connector Pin Assignment ..................................................... 8-5

Table 7: I/O3 Connector Pin Assignment ..................................................... 8-7

Table 8: DE9 Connector Pin Assignment ..................................................... 8-9

Table 9: DIFF Port Settings ........................................................................ 8-13

Table 10: COM Ports Configuration ............................................................. 8-14

Table 11: NMEA Output Messages ............................................................. 8-15

Table 12: Binary Output Messages ............................................................ 8-17

Table 13: Gimbal Support ........................................................................... 8-21

Table 14: Gimbal Encoder Data Update Rate and Latency ....................... 8-21

Table 15: File Menu Options ........................................................................ C-1

Table 16: Settings Menu Options ................................................................ C-1

Table 17: Logging Menu Options ................................................................. C-3

Table 18: View Menu Options ...................................................................... C-3

Table 19: Tools Menu Options ..................................................................... C-4

Table 20: Diagnostic Menu........................................................................... C-5

Table 21: Help Menu Options ...................................................................... C-6

Table 22: POS Mode Indicator .................................................................... D-1

Table 23: IMU Status Indicator .................................................................... D-1

Table 24: GNSS Status Indicator ................................................................. D-2

Table 25: Gimbal Status Indicator ............................................................... D-3

Table 26: Logging Media Status Indicator ................................................... D-3

Table 27: NMEA GST Message Format ....................................................... F-2

Table 28: NMEA GGA Message Format ...................................................... F-3

Table 29: GPS Quality Indicator Values ....................................................... F-5

Table 30: NMEA HDT Message Format ....................................................... F-5

Table 31: NMEA ZDA Message Format ....................................................... F-6

Table 32: $EVT1 Message Format ............................................................... F-7

Table 33: $EVT2 Message Format ............................................................... F-8

Table 34: NMEA VTG Message Format ....................................................... F-8

Table 35: NMEA $PASHR Message Format ................................................ F-9

Table 36: NMEA GGA2 Message Format .................................................. F-11

Table 37: NMEA PPS Message Format ..................................................... F-13

Table 38: NMEA GGK Message Format .................................................... F-13

Table 39: NMEA RMC Message Format .................................................... F-15

Table 40: RMC Mode Indicator Values ....................................................... F-16

Table 41: $PAPLEVT1 Message Format .................................................... F-16

Table 42: $PAPLEVT2 Message Format .................................................... F-18

Table 43: PAST2 Message Format ............................................................ F-20

Table 44: RDR1 Message Format .............................................................. F-21

Table 45: PPS Message Format ................................................................. F-23

Table 46: TM1B Message Format .............................................................. F-24

Table 47: ATT01 Message Format ............................................................. F-25

Table 48: POSATT & POSATT2 Message Format .................................... F-26

Table 49: POSATT3 Message Format ....................................................... F-27

Table 50: PAST1 Message Format ............................................................ F-28

Table 51: PAV30 Message Format ............................................................. F-30

Table 52: Azimuth Message Format ........................................................... F-31

Table 53: GIM01 Message Format ............................................................. F-32

Table 54: GIM02 Message Format ............................................................. F-34

Table 55: P30/80_GIM Message Format .................................................... F-35

Table 56: Azimuth Mount Message Format ................................................ F-36

Table 57: POS AV V6 Environmental Specifications ..................................... I-4

Table 58: POSTrack V6 Mount Interface ..................................................... L-16

Table 59: POSTrack System Camera Cable Pin Assignment .................... L-17

List of Abbreviations, Synonyms and Symbols

°C Degree Celsius

°F Degree Fahrenheit

Ohm μs Microsecond

A Ampere ac Alternating Current arcmin Arc Minute (unit of angular measure) arcsec Arc Second (unit of angular measure)

ASCII American Standard Code for Information Interchange

AUX Auxiliary

BIT Built-In-Test

BNC Bayonet Neil-Concelman (British Naval Connector) bps Bits Per Second

C/A Coarse Acquisition

CCD Charge-Coupled Device

CD Compact Disk

CD-ROM Compact Disk – Read Only Memory cg Centre of Gravity cm Centimetre

CPU Central Processing Unit

CTS Clear to Send

D/A Digital to Analog

DAC Digital to Analog Converter dB Decibel dc Direct Current

DCD Data Carrier Direct

DDE Dynamic Data Exchange deg Degree (plane angle)

DEM Digital Elevation Model

DGPS Differential Global Positioning System dia Diameter

DIN Deutsche Industrinorm

DIO Data I/O

DOP Dilution of Position dpi Dots Per Inch

DSS Digital Sensor System

ECEF Earth Centered Earth Fixed

EIB Events Interface Box

EMI Electromagnetic Interference

EO Exterior Orientation

ESD Electrostatic Discharge

EVO Event-Based Output

FCS Flight Management Computer System

FDIR Fault Detection, Isolation and Reconfiguration

FIN Free Inertial Navigation

FMS Flight Management System ft Foot g Gravity (acceleration due to gravity)

GAMS GPS Azimuth Measurement Subsystem

GB Gigabyte

GMT Greenwich Mean Time

GND Ground

GNSS Global Navigation Satellite System

GPS Global Positioning System

HDOP Horizontal Dilution of Precision

HFC Hardware Flow Control hr Hour

Hz Hertz

I/O Input/Output

I/P Input

ICD Interface Control Document

IEEE Institute of Electrical and Electronics Engineers

IMU Inertial Measurement Unit in Inch

IP Internet Protocol

ISA Industry Standard Architecture kb Kilobit kB Kilobyte kbps Kilobits Per Second kHz Kilohertz lb Pound

LAN Local Area Network

LCD Liquid Crystal Display

LED Light Emitting Diode

LiDAR Light Detection and Ranging

LNA Low Noise Amplifier long Longitude

LRF Laser Range Finder

LVDS Low Voltage Differential Signal

LWH Length, Width, Height m Metre

Max Maximum

Mb Megabit

MB Megabyte

MHz Megahertz

Min Minimum min Minute (time interval) mm Millimetre ms Millisecond

N/C No Connection

NED North, East and Down

MEP Mid-Exposure Pulse

NMEA National Marine Electronics Association

NRG No Range Given

NVM Non-Volatile Memory

O/P Output

OEM Original Equipment Manufacturer

OS Operating System

OTF On-The-Fly oz Ounce

PC Personal Computer

PCI Peripheral Component Interconnect

PCMCIA Personal Computer Memory Card International Association

PCS POS Computer System

PDOP Positional Dilution of Precision

POS Position and Orientation System

POS AV Position and Orientation System for Airborne Vehicles

POSEO Position and Orientation System Exterior Orientation

POSPac Position and Orientation System Post-Processing Package

POSPC POS Point Cloud Generation

PPS Pulse Per Second

RAM Random Access Memory

RAU Remote Analog Unit

RMS Root Mean Square

ROM Read Only Memory

RTCA Radio Technical Commission for Aeronautics

RTCM Radio Technical Commission for Maritime Services

RT Real-Time

RTK Real-Time Kinematics

RTS Ready to Sent s Second (time interval)

SBAS Satellite-Based Augmentation System

SBET Smoothed Best Estimate of Trajectory

SOSR Sum of Squared Residuals

SV Space Vehicle sync Synchronous

TCP Transmission Control Protocol

TCP/IP Transmission Control Protocol/Internet Protocol

TECI Tracker External Camera Interface

TOV Time of Validity

TRP Target Reference Position

TTL Transistor-Transistor Logic

UDP Universal Datagram Protocol

UNC Unified National Course (Thread)

UPS Uninterrupted Power Supply

UTC Universal Time Coordinated (or Coordinated Universal Time)

UTM Universal Transverse Mercator

Vac Volt Alternating Current

Vdc Volt Direct Current

VDOP Vertical Dilution of Precision

W Watt wrt With Respect To

YDC Yaw Drift Correction

POS AV V6 Installation and Operation Guide

Introduction

Copyright © Applanix Corporation, 2012 1-1

1.0 Introduction

Applanix Position and Orientation System for Airborne Vehicles (POS AV) provides navigation and orientation data for geocoding and georectifying airborne sensor information.

Data such as geographic position (latitude, longitude and attitude), velocity, acceleration, angular rate, orientation (roll and pitch), heading and performance metrics are available in real-time and through post-processing.

The POS AV System is comprised of a POS Computer System (PCS), Inertial Measurement Unit (IMU) and a Global Navigation Satellite System (GNSS) antenna (Figure 1).

Figure 1: POS AV System Components

POS AV System Overview General The PCS uses data from an IMU and a GNSS receiver to produce accurate measurements of aircraft navigation parameters and performance metrics.

Copyright © Applanix Corporation, 2012 1-2

POS AV has the capability of monitoring sensor health, isolating a sensor that shows degraded performance and reconfiguring itself to maintain optimal performance. Sensor errors are estimated on an ongoing basis using a Kalman filtering technique.

With the use of aerospace technology in both its sensors and data processing, POS AV is designed for reliable operation in a variety of vehicle environments. The system provides continuous data regardless of GNSS availability.

POS AV is controlled by a Microsoft Windows® based controller program or operated in Stand-Alone mode. The controller software is used to configure the system after installation in a new aircraft and once configured, may be used to monitor performance or control the POS AV.

POS AV and the controller software communicate via a thin wire Ethernet interface. Data broadcast from POS AV uses the Universal Datagram Protocol (UDP) permitting multiple computers, on the same Ethernet network, to monitor POS AV simultaneously. Data and commands between the POS AV Controller and the POS AV use Transmission Control Protocol/Internet Protocol (TCP/IP) addressing, thereby preventing other computers from receiving the controller commands.

Data are transmitted to the controller for display once per second. POS AV is also capable of broadcasting high rate data across three TCP/IP Ethernet connections for logging or for real-time use.

A number of serial ports and other interfaces are available for the transmission of navigation and status data. See the External Interfaces description on page 8-1 for more details.

Copyright © Applanix Corporation, 2012 1-3

POS AV is able to log data to an external and internal USB Flash Drive. For improved accuracy, the data logged by the POS AV is post-processed using the Applanix Position and Orientation System Post-Processing Package (POSPac Mobile Mapping Suite) software package. Refer to Data Logging on page 6-1 for further information.

Principles of Operation POS AV uses an IMU and a GNSS receiver as its core navigation sensors.

The POS AV embedded navigation software runs an inertial navigation algorithm that solves Newton’s equations of motion using the acceleration and angular rate data from the IMU.

A Kalman Filter compares the inertial solution with corresponding data from the GNSS receiver and uses these comparisons to estimate the inertial navigation errors. The system then adjusts the inertial navigation solution by the Kalman Filter estimated errors.

This process of inertial navigation, navigation error estimation and error correction forms a closed error regulation loop that forces the inertial navigator data to be consistent with the aiding sensor data. When the GNSS receiver provides Real-Time Kinematic (RTK) accuracy, position errors are regulated to centimetre level accuracy while velocity and attitude errors are controlled to similarly small values.

Copyright © Applanix Corporation,…