POS_MV_V5_Installation_and_Operation_Guide_PUBS-MAN-004291_Rev9_12-3-14.pdf

POS MV V5 Installation and Operation Guide

Document # PUBS-MAN-004291 Revision: 9

Date: 03-Dec-2014

Copyright © 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 MV V5 Installation and Operation Guide

PUBS-MAN-004291

Revision 9

I

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™ V5 and V5-1 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 XP, Windows Vista, and Windows 7 are trademarks of Microsoft group of companies.

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, 2014.

Printed in Canada.

III

Liability and Safety Information

Important: All cables connected to the POS MV V5 and POS MV V5-1 equipment shall be constructed of (in order of preference): a) halogen free, b) low smoke and c) high temperature materials.

CAUTION

DOUBLE POLE/NEUTRAL FUSING

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 V5 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 system 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: Power Cord, GNSS antennas, GNSS antenna cables, Ethernet cable, IMU, IMU cable and RS-232 serial cables.

Notice: POS MV V5 and POS MV V5-1 are not certified to EN 60945 standard and therefore cannot be used for maritime navigation as defined by EN 60945. POS MV cannot be installed near bridge-mounted equipment, in close proximity to receiving antennas, or anywhere it could be capable of interfering with safe navigation of the ship and with radio-communications.

IV

DECLARATION OF CONFORMITY

Manufacturer's Name: Applanix Corporation

Manufacturer's Address: 85 Leek Crescent Richmond Hill, Ontario, Canada L4B 3B3

EC Representative's Name: Applanix Corporation

EC Representative's Address: 85 Leek Crescent Richmond Hill, Ontario, Canada L4B 3B3

Equipment Model Designation: POS MV V5

Equipment Description: POS MV is a fully integrated, turnkey position and orientation system for Marine vessels.

Applicable Equipment Part Numbers: PCS-80

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 EN 55022 : 2006 (Class B)

EN 55024 : 98 with Amendments A1:2001 and A2:2003

V

Manufacturer's Address: 85 Leek Crescent Richmond Hill, Ontario, Canada L4B 3B3

EC Representative's Name: Applanix Corporation

EC Representative's Address: 85 Leek Crescent Richmond Hill, Ontario, Canada L4B 3B3

Equipment Model Designation: POS MV V5-1

Equipment Description: POS MV is a fully integrated, turnkey position and orientation system for Marine vessels.

Applicable Equipment Part Numbers: PCS-76

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 EN 55022 : 2006 (Class B)

EN 55024 : 98 with Amendments A1:2001 and A2:2003

VI

Manufacturer's Address: 85 Leek Crescent Richmond Hill, Ontario, Canada L4B 3B3

EC Representative's Name: Applanix Corporation

EC Representative's Address: 85 Leek Crescent Richmond Hill, Ontario, Canada L4B 3B3

Equipment Model Designation: POS MV V5

Equipment Description: POS MV is a fully integrated, turnkey position and orientation system for marine vessels.

Applicable Equipment Part Numbers: PCS-84

Application of Council Directives:

2006/95/EC on the harmonization of the laws of Member States relating to electrical equipment designed for use within certain voltage limits.

Referenced Standard:

EN 60950-1: 2006 with Amendments: A11:2009, A1:2010, A12:2011

2004/108/EC on the approximation of the laws of the Member States relating to electromagnetic compatibility.

Referenced EMC Standards:

EN 55022: 2010 (Class A)

EN 55024: 2010

2011/65/EU on the restriction of the use of certain hazardous substances in electrical and electronic equipment (recast).

Referenced RoHS Standard:

EN 50581:2012

VII

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 B for PCS-76 and PCS-80) or (CLASS A for PCS-84) 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 B for PCS-76 and PCS-80) or (Class A for PCS-84) digital apparatus complies with Canadian

ICES-003.

Ces appareil numérique (Classe B pour PCS76 et PCS-80) ou (Classe A pour PCS-84) sont conforme à la norme NMB-003 du Canada.

VCCI (FOR PCS-76 and PCS-80)

VCCI (FOR PCS-84)

VIII

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.

IX

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’)

XI

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-004291, Revision 9, dated 31-July-2014

XII

Table of Contents

1.0 INTRODUCTION ............................................................................................................................. 1-1

SYSTEM DESCRIPTION AND OVERVIEW ............................................................................................................................ 1-1 MV-POSVIEW CONTROLLER SOFTWARE ...................................................................................................................... 1-13

2.0 INSTALLATION .............................................................................................................................. 2-1

HANDLING PRECAUTIONS ............................................................................................................................................. 2-1 UNPACKING AND STORAGE ........................................................................................................................................... 2-2 SITE PREPARATION ...................................................................................................................................................... 2-2 INSTALLATION ............................................................................................................................................................ 2-4 INSTALLATION PARAMETERS ....................................................................................................................................... 2-24 INSTALLATION CHECKLIST ........................................................................................................................................... 2-32

3.0 INTERFACES AND DATA FORMATS ........................................................................................... 3-1

LAN (ETHERNET) DATA ............................................................................................................................................... 3-1 COM PORTS ............................................................................................................................................................. 3-1 GNSS PORTS ........................................................................................................................................................... 3-23

4.0 SYSTEM CONFIGURATION .......................................................................................................... 4-1

POWER-ON ............................................................................................................................................................... 4-1 FRONT PANEL STATUS LEDS ......................................................................................................................................... 4-2 MV-POSVIEW CONTROLLER PROGRAM ......................................................................................................................... 4-4 POS MV CONFIGURATION ........................................................................................................................................... 4-7 INPUT/OUTPUT PORTS SET-UP .................................................................................................................................... 4-13 POWER-OFF ............................................................................................................................................................ 4-24 SAVE SETTINGS ........................................................................................................................................................ 4-26 MAKING CHANGES .................................................................................................................................................... 4-27 MANAGE MULTIPLE CONFIGURATIONS ......................................................................................................................... 4-27 PASSWORD PROTECTION ............................................................................................................................................ 4-27

5.0 SYSTEM OPERATION ................................................................................................................... 5-1

MV-POSVIEW CONTROLLER PROGRAM ......................................................................................................................... 5-1 MONITORING POS MV ............................................................................................................................................... 5-2 DATA LOGGING ........................................................................................................................................................ 5-10 DATA LOGGING – REMOVABLE MEDIA .......................................................................................................................... 5-12 DATA LOGGING - ETHERNET ....................................................................................................................................... 5-15 DATA OUTPUT – ETHERNET ........................................................................................................................................ 5-16 OPERATION WITH GAMS........................................................................................................................................... 5-17

XIII

STAND-ALONE OPERATION ......................................................................................................................................... 5-25

6.0 TRUEHEAVE OPERATION ............................................................................................................ 6-1

OVERVIEW ................................................................................................................................................................ 6-1 CONFIGURATION REQUIREMENTS .................................................................................................................................. 6-1 INITIALIZATION REQUIREMENTS ..................................................................................................................................... 6-1 DATA OUTPUT ........................................................................................................................................................... 6-1 TRUEHEAVE PROCEDURE ............................................................................................................................................. 6-2

7.0 SPECIFICATIONS .......................................................................................................................... 7-1

8.0 TOOLS AND DIAGNOSTICS ......................................................................................................... 8-1

GNSS CONFIGURATION ............................................................................................................................................... 8-1 GNSS RESET ............................................................................................................................................................. 8-1 GNSS DATA .............................................................................................................................................................. 8-1 DIAGNOSTICS ............................................................................................................................................................. 8-2 REGULAR MAINTENANCE ............................................................................................................................................. 8-4 TECHNICAL SUPPORT ................................................................................................................................................... 8-5

9.0 FAULT IDENTIFICATION ............................................................................................................... 9-1

COMPONENT DESCRIPTION ........................................................................................................................................... 9-1 FAULT IDENTIFICATION................................................................................................................................................. 9-3 REMOVE AND REPLACE PROCEDURES............................................................................................................................ 9-19 TROUBLESHOOTING ................................................................................................................................................... 9-25

APPENDIX A TECHNICAL SUPPORT AND SERVICE .................................................................... A-1

APPENDIX B THEORY OF OPERATION .......................................................................................... B-1

APPENDIX C TRAINING .................................................................................................................... C-1

APPENDIX D SOFTWARE INSTALLATION ..................................................................................... D-1

APPENDIX E DRAWINGS ................................................................................................................. E-1

APPENDIX F PATCH TEST ................................................................................................................ F-1

APPENDIX G IP68 CONNECTOR HANDLING ................................................................................. G-1

APPENDIX H POS-GPS TIMING ....................................................................................................... H-1

XIV

List of Figures Figure 1: Typical POS MV Components ....................................................... 1-2

Figure 2: Heading Measurement without GAMS .......................................... 1-7

Figure 3: Heading Measurement with GAMS ............................................... 1-9

Figure 4: GNSS Antenna .............................................................................. 2-6

Figure 5: Typical IMU Mounting Features ..................................................... 2-8

Figure 6: PCS Rear Panel - POS MV V5 – PCS-80 ................................... 2-10

Figure 7: PCS Rear Panel - POS MV V5 – PCS-84 ................................... 2-10

Figure 8: PCS Rear Panel – POS MV V5-1 ................................................ 2-14

Figure 9: PWR Connector Pin Arrangement ............................................... 2-16

Figure 10: COM Connector Pin Arrangement ............................................. 2-18

Figure 11: I/O Connector Pin Arrangement ................................................ 2-20

Figure 12: Right-Hand Orthogonal System ................................................. 2-31

Figure 13: $xxGST Sentence Nomenclature ................................................ 3-9

Figure 14: PCS Front and Rear Panels - POS MV V5 ................................. 4-2

Figure 15: POS MV PCS V5-1 PCS Front Panel .......................................... 4-2

Figure 16: POSView POS Internet Address ................................................. 4-6

Figure 17: Configuration Data Refinement ................................................... 4-7

Figure 18: POSView Lever Arms & Mounting Angles Tab ........................... 4-8

Figure 19: POSView Sensor Mounting Tab .................................................. 4-9

Figure 20: Calibration Control Screen ......................................................... 4-10

Figure 21: Controller Tags, Multipath & AutoStart Tab ............................... 4-12

Figure 22: User Time Data Screen ............................................................. 4-12

Figure 23: Input/Output Ports Set-up – COM1............................................ 4-14

Figure 24: Input/Output Ports Set-up – COM3............................................ 4-14

Figure 25: POSView Heave Filter ............................................................... 4-15

Figure 26: Input/Output Ports Set-up – GNSS 1 Interface .......................... 4-16

Figure 27: Input/Output Ports Set-up – GNSS 2 Interface .......................... 4-17

Figure 28: GAMS Solution Status ............................................................... 4-18

Figure 29: POSView GAMS Parameters Setup .......................................... 4-19

Figure 30: POSView GAMS Installation Wizard ......................................... 4-20

Figure 31: POSView Settings Menu, Status and Attitude Panes ................ 4-22

Figure 32: PCS Front and Rear Panels - POS MV V5 ............................... 4-25

XV

Figure 33: PCS Front Panel – POS MV V5-1 ............................................. 4-26

Figure 34: POSView Controller Password Protection ................................. 4-29

Figure 35: POSView Controller Main Window .............................................. 5-3

Figure 36: POSView User Parameter Accuracy ........................................... 5-6

Figure 37: POSView Navigation Data at Sensors......................................... 5-7

Figure 38: POSView Fault Detection ............................................................ 5-9

Figure 39: POSView Message Log ............................................................. 5-10

Figure 40: Ethernet Logging Control ........................................................... 5-11

Figure 41: USB Logging Control ................................................................. 5-12

Figure 42: Removable Media Bay – POS MV V5 ....................................... 5-12

Figure 43: Removable Media Bay – POS MV V5-1 .................................... 5-13

Figure 44: Ethernet Realtime Output Control.............................................. 5-17

Figure 45: POSView GAMS Solution and Status Pane .............................. 5-18

Figure 46: POSView GAMS Parameters Setup .......................................... 5-24

Figure 47: TrueHeave Functional Block Diagram ......................................... 6-1

Figure 48: POSView Heave Data ................................................................. 6-2

Figure 49: POSView Status and Accuracy Panes ........................................ 6-3

Figure 50: POSView GNSS Data .................................................................. 8-2

Figure 51: POSView Binary Diagnostics ....................................................... 8-3

Figure 52: POS MV V5 Front Panel .............................................................. 9-3

Figure 53: POS MV V5-1 Front Panel ........................................................... 9-4

Figure 54: POSView Fault Detection ............................................................ 9-6

Figure 55: POSView Fault Detection - IMU and GNSS Corr. Tabs .............. 9-8

Figure 56: POSView Message Log ............................................................... 9-9

Figure 57: PCS Front Panel - POS MV V5 ................................................. 9-20

Figure 58: PCS Rear Panel - POS MV V5 – PCS-80 ................................. 9-20

Figure 59: PCS Rear Panel - POS MV V5 – PCS-84 ................................. 9-20

Figure 60: PCS Front Panel – POS MV V5-1 ............................................. 9-20

Figure 61: PCS Rear Panel – POS MV V5-1 .............................................. 9-20

Figure 62: POSView Other Diagnostic ........................................................ 9-26

Figure 63: POSView GNSS Data - Receiver Status Pane ......................... 9-27

Figure 64: POSView Primary GNSS Diagnostics ....................................... 9-28

Figure 65 GAMS Solution Status Window .................................................. 9-29

Figure 66: POSView Input/Output Port Setup............................................. 9-30

XVI

Figure 67: POSView NMEA & Binary Output Diagnostic ............................ 9-31

Figure 68: POSView Base 1 Diagnostic ..................................................... 9-32

Figure 69: (1 of 2) Ethernet Communications Failure ................................. 9-33

Figure 70: (2 of 2) Ethernet Communications Failure ................................. 9-34

Figure 71: Example of INS Navigation on a Spherical Earth ....................... B-5

Figure 72: Gimballed INS Platform Structure............................................... B-7

Figure 73: Strap-Down INS Generic Architecture ........................................ B-9

Figure 74: Heave Filter Architecture .......................................................... B-10

Figure 75: Percentage Steady State Error with Heave Bandwidth ............ B-14

Figure 76: Percentage Steady State Error with Damping Ratio ................ B-15

Figure 77: Heave Filter Transient Behaviour with Heave Bandwidth ........ B-16

Figure 78: Heave Filter Transient Behaviour with Damping Ratio ............. B-17

Figure 79: Geographic Antenna Baseline Vector ...................................... B-19

Figure 80: Baseline Comparison ................................................................ B-20

Figure 81: IMU and GNSS Antenna Geometry .......................................... B-22

Figure 82: Carrier Phase Cycle Measurement........................................... B-24

Figure 83: Feasible Position Solutions from One Satellite ......................... B-24

Figure 84: Feasible Position Solutions from Two Satellites ....................... B-25

Figure 85: Feasible Position Solutions from Three Satellites .................... B-25

Figure 86: Horizontal Acceleration Error in a Tilted Platform ..................... B-27

Figure 87: Example of Complementary Navigation Sensor Blending ........ B-31

Figure 88 IMU Types 36, 37, 42, and 67 Mechanical Interface ................... E-1

Figure 89 IMU Type 26 Mechanical Interface .............................................. E-2

Figure 90 IMU Type 31 and 40 Mechanical Interface .................................. E-3

Figure 91: IMU Type 38 and 39 Mechanical Interface ................................. E-4

Figure 92: IMU Type 45, 65 and 68 Mechanical Interface ........................... E-5

Figure 93: IMU Type 21 Mechanical Interface ............................................. E-6

Figure 94: IMU Type 21 Mounting Tray ....................................................... E-7

Figure 95: IMU Type 33 Mechanical Interface ............................................. E-8

Figure 96: IMU Type 52 Mechanical Interface ............................................. E-9

Figure 97: IMU Type 44 and 57 Mechanical Interface ............................... E-10

Figure 98: Trimble Zephyr II GNSS Antenna Footprint .............................. E-11

Figure 99: Trimble 382AP GNSS Antenna Footprint ................................. E-11

Figure 100: Trimble 540AP GNSS Antenna Footprint ............................... E-12

XVII

Figure 101: PCS Footprint – POS MV V5-1 ............................................... E-13

Figure 102: PCS-80 Footprint - POS MV V5 ............................................. E-14

Figure 103: PCS-84 Footprint - POS MV V5 ............................................. E-15

Figure 104: IMU Mounting Plate ................................................................ E-16

Figure 105: Ideal Survey Calibration Area ................................................... F-2

Figure 106: Correct Roll Calibration ............................................................. F-3

Figure 107: Incorrect Roll Calibration .......................................................... F-3

Figure 108: IP68 Connector ......................................................................... G-1

Figure 109: GPS. TAI and UTC Time .......................................................... H-2

Figure 110: 1PPS Signal Characteristics ..................................................... H-4

XVIII

List of Tables Table 1: System Performance....................................................................... 1-6

Table 2: Connector/Cable Summary - POS MV V5 .................................... 2-10

Table 3: COM Connectors Pin Assignment - POS MV V5 ......................... 2-12

Table 4: COM Port Configuration ................................................................ 2-13

Table 5: Connector and Port Summary ...................................................... 2-14

Table 6: PWR Connector Pin Assignment .................................................. 2-16

Table 7: COM Connector Pin Assignment .................................................. 2-17

Table 8: COM Connector COM Port Configuration .................................... 2-18

Table 9: I/O Connector Pin Assignment ...................................................... 2-19

Table 10: I/O Connector COM Port Configuration ...................................... 2-20

Table 11: Ethernet Connector Pin Assignment ............................................ 2-21

Table 12: Default COM Port Settings ............................................................ 3-2

Table 13: $xxGGA Sentence Format ............................................................ 3-3

Table 14: $xxGGK Sentence Format ............................................................ 3-5

Table 15: $xxHDT Sentence Format ............................................................ 3-6

Table 16: $xxVTG Sentence Format ............................................................ 3-7

Table 17: $xxGST Sentence Format ............................................................ 3-8

Table 18: NMEA RMC Message Format ...................................................... 3-9

Table 19: RMC Mode Indicator Values ....................................................... 3-10

Table 20: $PASHR Sentence Format ......................................................... 3-11

Table 21: $PRDID Sentence Format .......................................................... 3-12

Table 22: $xxZDA Sentence Format ........................................................... 3-12

Table 23: $UTC Sentence Format .............................................................. 3-13

Table 24: $xxPPS Sentence Format ........................................................... 3-14

Table 25: UTC Sentence Format ................................................................ 3-14

Table 26: TSS1 Output Format ................................................................... 3-17

Table 27: Simrad 1000 Digital Output Format ............................................ 3-18

Table 28: Simrad 3000 Digital Output Format ............................................ 3-19

Table 29: TSM 5265 Digital Output Format ................................................ 3-20

Table 30: Atlas Output Format .................................................................... 3-21

Table 31: PPS Digital Output Format .......................................................... 3-22

Table 32: Time of PPS Digital Output Format............................................. 3-22

XIX

Table 33: COM 3 and 4 Port Settings ......................................................... 3-23

Table 34: PCS Front Panel Lights ................................................................ 4-3

Table 35: PCS Front Panel Indicators - Fault Identification .......................... 9-4

Table 36: Message Log Entries .................................................................... 9-9

Table 37: Status Warning Messages .......................................................... 9-14

Table 38: Effects of Modifying Heave Filter Parameters ........................... B-13

Table 39: Controlling PC Requirements ...................................................... D-2

Table 40: Message 55 - User Time Recovery ............................................. H-5

Table 41: Common ICD Group Structure ..................................................... H-6

XX

List of Abbreviations, Synonyms and Symbols

°C Degree Celsius

°F Degree Fahrenheit μs Microsecond

A Ampere ac Alternating Current

ASCII American Standard Code for Information Interchange

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

C/A Coarse Acquisition

CD Compact Disk cm Centimetre

CTS Clear to Send dB Decibel dc Direct Current

DCM Direction Cosine Matrix deg Degree (plane angle)

DGNSS Differential Global Navigation Satellite System dia Diameter

DOP Dilution of Position

EMI Electromagnetic Interference

ESD Electrostatic Discharge

FDIR Fault Detection, Isolation and Reconfiguration ft Foot g Gravity (acceleration due to gravity)

GAMS GNSS Azimuth Measurement Subsystem

GB Gigabyte

GMT Greenwich Mean Time

GND Ground gnd Ground

GNSS Global Navigation Satellite System

Copyright © Applanix Corporation, 2014 XXI

GUI Graphical User Interface

HDOP Horizontal Dilution Of Precision hex Hexadecimal hr Hour

Hz Hertz

I/O Input/Output

IEC International Electrotechnical Commission

IEEE Institute of Electrical and Electronics Engineers

IMU Inertial Measurement Unit in Inch

INS Inertial Navigation System

I/P Input

IP Ingress Protection

IP Internet Protocol kb Kilobit kB Kilobyte kbps Kilobits Per Second kHz Kilohertz

LAN Local Area Network lb Pound (weight)

LWH Length, Width, Height m Metre mA Milliampere

Mb Megabit

MB Megabyte

MHz Megahertz mm Millimetre mPOS Mini-Position and Orientation System

N/A Not Applicable

N/C No Connection

NED North, East and Down

NMEA National Marine Electronics Association

XXII

NRG No Range Given

NVM Non-Volatile Memory

O/P Output

OTF On-the-Fly

PC Personal Computer

PCS POS Computer system

PDOP Positional Dilution of Precision

POS Position and Orientation system

POS MV Position and Orientation System for Marine Vessels

POSPac Position and Orientation Post Processing Package

PPS Pulse Per Second pwr Power

QC Quality Control qty Quantity

RAM Random Access Memory

RD Receive Data

RFI Radio Frequency Interference

RH Relative Humidity

RMS Root Mean Square

RTCM Radio Technical Commission for Maritime Services

RTK Real-Time Kinematic

RTS Ready to Sent

RX Receive Data s Second (time interval)

SAE Society of Automotive Engineers

SI System of Units

SNR Signal-To-Noise Ratio

SV Space Vehicle sync Synchronous

TCP Transmission Control Protocol

TCP/IP Transmission Control Protocol/Internet Protocol

TNC Threaded-Neill-Concelman (Threaded Navy Connector)

Copyright © Applanix Corporation, 2014 XXIII

TOV Time of Validity

TR Terminal Ready

TTL Transistor-Transistor Logic

UDP Universal Datagram Protocol

UNC Unified National Coarse (Screw Thread)

UPS Uninterrupted Power Supply

UTC Universal Time Coordinated (or Coordinated Universal Time)

TX Transmit Data

Vac Volt Alternating Current

Vdc Volt Direct Current

VDOP Vertical Dilution of Precision

W Watt

XXIV

Introduction

1.0 Introduction

The Applanix POS MV is a Position and Orientation System for Marine Vessels using a system that provides accurate navigation and attitude data for use by equipment on board the vessel, such as multibeam sonar, to correct for the effects of vessel motion during survey operations.

This manual contains full installation and operating instructions for the V5 generation of POS MV and is an important part of the system. The manual should remain easily available for use by those who will install, operate and maintain the system.

Installation and operation of POS MV are not complex tasks. However, you should spend time to familiarize yourself with the contents of this manual before you start to install or use the system.

Provided you follow the installation, operation and maintenance instructions included throughout this manual, POS MV will operate reliably and supply measurements to its specified accuracy.

Unless otherwise stated, the units used throughout this manual conform to the SI International system of units.

Operators who intend to write their own Ethernet software or data extraction software should contact Applanix for additional information on the POS MV V5 Ethernet interface. Refer to Technical Support and Service on page A-1 for contact procedures.

System Description and Overview Each POS MV system consists of a POS Computer System (PCS) with two embedded Global Navigation Satellite System (GNSS) receivers, two GNSS antennas and an Inertial Measurement Unit (IMU).

The PCS has two versions:

POS MV V5 - a 19-inch rack mount chassis, 1U high, ac powered.

POS MV V5-1 - a stand-alone micro-POS (µPOS) chassis, dc powered.

The POS MV product family consists of four models:

POS MV 320 - consists of a POS MV V5 PCS and a type 26, 36, 38, 40, 44 or 52 IMU.

POS MV WaveMaster - consists of a POS MV V5-1 PCS and a type 37, 39, 42 or 45 IMU.

POS MV WaveMaster RM - consists of a POS MV V5 PCS and a type 37, 39, 42 or 45 IMU.

POS MV Elite – consists of a POS MV V5 PCS and a type 33 or 57 IMU.

Shown in Figure 1 and detailed in Appendix E are the typical components of a POS MV system.

Copyright © Applanix Corporation, 2014 1-1

1-2

Figure 1: Typical POS MV Components

The POS MV delivers an accurate and comprehensive data set, including:

• Geographic position (latitude, longitude and altitude)

• Heading

• Attitude (roll and pitch)

• Vertical displacement (heave)

• Velocity

• Acceleration

• Angular rate of turn

• Performance metrics

• Fault detection and reporting

POS MV combines the IMU and GNSS sensor data into an integrated navigation solution. There are two navigation algorithm designs incorporated into the system, namely tightly coupled and loosely coupled inertial/GNSS integration. Tightly coupled inertial/GNSS integration involves the processing of GNSS pseudorange, phase and Doppler observables. In this case, the GNSS receiver is strictly a sensor of the

GNSS observables and the navigation functions in the GNSS receiver are not used. With loosely coupled inertial/GNSS integration, the GNSS position and velocity solution are processed to aid the inertial navigator.

POS MV employs tightly coupled integration to enhance performance, especially rapid Real-Time Kinematic (RTK) recovery after a loss of GNSS signal reception. Depending on the availability and relative quality of sensor inputs such as the primary GNSS, auxiliary GNSS and base station GNSS corrections, POS MV will automatically switch between tightly coupled and loosely coupled algorithms to ensure maximum performance.

With its use of leading-edge technology, POS MV marks a significant breakthrough in the field of aided inertial navigation and precision motion measurement for use in marine applications. The accuracy and stability of measurements delivered by the system remain unaffected by vessel turns, changes of speed, wave-induced motion, or other dynamic manoeuvres.

Therefore, by using POS MV, you can continue survey operations during poor weather and throughout deteriorating sea conditions. This allows a more efficient use of survey time and a reduction in the overall cost of the operation.

POS MV generates attitude data in three axis. Measurements of roll, pitch and heading are all accurate to ±0.02° (±0.03° for WaveMaster) or better, regardless of the vessel latitude. Heave measurements supplied by POS MV maintain an accuracy of 5% of the measured vertical displacement or ±5 cm (whichever is the larger) for movements that have a period of up to 20 seconds.

The system includes a compact disk containing the MV-POSView Controller program, which runs on a PC under Microsoft Windows®. After you install the POS MV, you can use this program to configure the system and monitor its status during operation.

After you have configured the POS MV successfully, you can operate the system in two start-up modes:

• You can use the controller program to enable navigation mode and to monitor the status and performance of the system, or

• You can operate the POS MV in stand-alone mode. In this mode, after power-on, the system will enable navigation mode and deliver measurements automatically through whichever ports you have selected.

Communication between POS MV and the controller program is through a 10/100BaseT Ethernet link:

• Data output by POS MV may use the Universal Datagram Protocol (UDP) so that other computers attached to the same Ethernet Local Area Network (LAN) can receive the data or Transmission Control Protocol (TCP) so that only a single computer can receive the data.

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• The controller program uses Transmission Control Protocol (TCP) to issue commands to POS MV. This blocks other computers on the LAN from receiving the controlling messages, and prevents POS MV from responding to any other source of controlling message.

Fault Detection, Isolation and Reconfiguration (FDIR) enhances the operating reliability of POS MV. This feature allows the system to monitor the health of its various sensors so that it can reconfigure itself to isolate any that show degraded performance. POS MV also estimates and corrects sensor errors on an ongoing basis using a Kalman Filter that allows it to produce consistent and accurate results.

Operating Modes POS MV has two operating modes:

Standby Mode: Following power-on, the IMU, GNSS receivers and the processor perform self-test sequences after which POS MV enters standby mode. Typically, this process takes 30 to 40 seconds to complete.

The system will remain in standby mode until you command a change to another mode, or unless you have enabled ‘AutoStart’. With AutoStart enabled, the system will transition automatically into navigate mode.

Applanix ships the POS MV with AutoStart enabled.

Navigate Mode: Navigate Mode is the normal operating mode of POS MV.

Once you have selected this mode, the system will go through several stages of navigate mode until it reaches the final stage, which indicates that POS MV has reached its full user-defined operating accuracy.

Subsystems POS MV includes three subsystems: the PCS, IMU and two GNSS receiver cards. The following paragraphs describe each subsystem individually and Figure 1, page 1-2, shows these major components.

POS Computer System

The POS Computer System (PCS) comprises the processor, GNSS receivers and interface cards necessary to communicate with and process the IMU and GNSS data.

Inertial Measurement Unit

The IMU comprises three solid-state linear accelerometers and three solid-state gyros arranged in a triaxial orthogonal array. These sensitive components, together with the electronics to convert their analog outputs into the digital information required by the PCS, are all contained in a sealed unit that requires no maintenance.

IMPORTANT

Do not open the IMU housing for any reason. Opening the IMU housing will void the warranty.

While the array of linear accelerometers sense acceleration in all three directions, the array of gyros sense angular motion around all three axis centred on the IMU. The PCS receives these measurements from the IMU and uses them to compute the measurements of motion. Refer to the Theory of Operation description starting on page B-1 for a more detailed explanation of the POS MV operating theory.

GNSS Receivers

POS MV includes two GNSS receiver cards:

• A primary receiver card that provides the position, velocity and raw observation information to the POS MV. It also provides a one Pulse Per Second (PPS) strobe together with a time message that the POS MV uses to accurately time-stamp data output with Universal Time Coordinated (UTC) or GPS Time.

• A secondary receiver card, in conjunction with the primary receiver card, which allows the POS MV to compute GNSS heading aiding by performing carrier phase differential measurements between the two GNSS receivers.

The system includes two identical antennas with 15 metre (~50 feet) long cables. You must connect each receiver to a GNSS antenna to receive GNSS signals from the orbiting constellation of satellites.

The antennas supplied with the system have excellent phase centre stability. If you use alternative antennas with the POS MV, Applanix cannot guarantee the heading or position performance of the system.

GNSS Azimuth Measurement Subsystem GNSS Azimuth Measurement Subsystem (GAMS) is a unique feature of POS MV that allows the system to achieve exceptional accuracy in the measurement of heading. The GAMS subsystem uses two GNSS receivers and antennas to determine a GNSS-based heading that is accurate to ±0.02° (±0.03° for WaveMaster) or better (using a two-metre [~6 ½ feet] antenna baseline) when blended with the inertial

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1-6 navigation solution. POS MV uses this heading information as aiding data together with the position, velocity and raw observations information supplied by the primary GNSS receiver.

GAMS provides heading aiding to the POS MV. To understand the effect that GAMS has on the system it is useful to compare system performance with and without GAMS, see Table 1.

Note: Operation without GAMS will occur when POS MV has insufficient data to compute a heading solution.

Before POS MV can deliver valid measurements for use in your application, you must configure the system with the relative mounting angles between the IMU and vessel reference frame. You do this by selecting a convenient and fixed reference point on the vessel, and by defining a reference frame orientation centred on that point.

Table 1: System Performance

Parameter Without GAMS With GAMS

Heading accuracy:

0.2° to 2.0° RMS after POS MV achieves full alignment (depending on the nature of vessel manoeuvres).

Heading accuracy degrades at latitudes above 50°.

0.02° (0.03° for the WaveMaster), or better, independent of vessel manoeuvres and latitude.

POS MV tolerates GAMS outages lasting several tens of minutes with no significant degradation of heading accuracy.

Alignment time:

Heading alignment can take as long as 30 minutes.

Alignment occurs within two to five minutes.

Vessel manoeuvres:

More frequent vessel manoeuvres will improve the accuracy of heading measurements. To obtain a faster alignment and better accuracy the vessel must perform a calibration manoeuvre at intervals of ten minutes or less.

Accuracy is independent of vessel manoeuvres.

Follow the instructions in the Installation Parameters description on page 2-24 to measure the mounting angles of the IMU, vessel and multibeam transducer relative to the reference frame that you have defined. Refer to the POS MV Configuration description on page 4-7 for instructions to configure POS MV with these important parameters.

When correctly configured with this information, POS MV delivers measurements for use by the multibeam transducer, compensated for any difference in mounting angles between the transducer, the IMU, the vessel and your chosen reference frame.

Operation without GAMS

Figure 2 and the following paragraphs describe how POS MV computes heading without GAMS.

After power-on, and the initialization and self-test routines have finished, the IMU performs a levelling routine to establish a locally level reference frame. This occurs rapidly and usually finishes within 30 seconds.

Figure 2: Heading Measurement without GAMS

Following its levelling routine, the IMU begins to align itself to true north. This process, called gyrocompassing, occurs much more slowly and can take from 5 to 30 minutes to complete. The time taken to complete this process will depend on the latitude and on the manoeuvres that the vessel performs during the operation.

A more accurate and rapid alignment will occur if the vessel performs a number of calibration manoeuvres during the alignment process. These manoeuvres consist of full turns, starts and stops, S-curves and figure-of-eight turns.

After alignment, the IMU delivers measurements of its heading with respect to true north. These are accurate to between 0.2° and 2.0°, depending on the manoeuvres made by the vessel and its latitude.

POS MV without GAMS heading aiding

Up to 30 minutes to complete

POS MV power-on

Rotation IMU wrt reference frame mounting angles

IMU begins levelling and heading alignment

Heading information

Rotation

Rotation

Ship frame wrt reference frame mounting angles

Sensor 1 (Sonar) wrt reference frame mounting angles

Vessel heading accuracy = 0.2 to 2 degrees

Sonar heading accuracy = 0.2 to 2 degrees

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Manoeuvres that are more frequent will yield a more accurate heading result, while operation in higher latitudes will degrade the unaided heading…