Applanix POS MV V4

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POS MV V4 User Guide

Theory of Operation

B-20

Since the dynamics of a large vessel will not significantly excite the

transient behaviour of the filter, configure the heave filter to achieve a

small percentage steady state error at the expense of a long settling

time.

Table 36 describes the variations of steady state heave error and settling time

with changes in damping ratio and bandwidth.

Figure 69 through Figure 72 on

pages

B-21 through B-24 respectively show plots of steady state heave error

and transient behaviour for different combinations of heave filter parameters.

Table 36

: Effects of Modifying Heave Filter Parameters

Heave Filter Tuning

Steady State

Error

Settling Time

Increase Increase Decrease

Damping ratio

Decrease Decrease Increase

Increase Decrease Increase

Heave bandwidth

Decrease Increase Decrease

Main Page

Table of Contents10
Introduction27
System Description and Overview28
Figure 1: Typical POS MV Components28
Operating Modes31
Subsystems32
GNSS Azimuth Measurement Subsystem34
Table 1: System Performance35
Figure 2: Heading Measurement Without GAMS36
Figure 3: Heading Measurement with GAMS39
Functions40
Output Summary45
Controller Software46
Installation47
Handling Precautions47
Inertial Measurement Unit47
POS Computer System48
GNSS Antennas48
Unpacking and Storage48
Storage49
Site Preparation49
Power Requirements50
Environmental Requirements51
Installation52
GNSS System52
Figure 4: GNSS Antenna54
Inertial Measurement Unit56
Figure 5: Typical IMU Mounting Features58
POS Computer System - POS MV V459
Figure 6: PCS Rear Panel - POS MV V461
Table 2: Connector/Cable Summary - POS MV V461
POS Computer System - POS MV V4-164
Figure 7: PCS Rear Panel - POS MV V4-165
Table 3: Connector/Cable Summary - POS MV V4-165
Interfaces66
Power Interface67
Figure 8: PWR Connector Pin Arrangement67
Table 4: PWR Connector Pin Assignment67
IMU Interface68
I/O Interface Connector - POS MV V4-168
Table 5: I/O Connector Pin Assignment - POS MV V4-169
Figure 9: I/O Connector Pin Arrangement - POS MV V4-171
COM (1) through COM (5) Interface72
Table 6: COM Connectors Pin Assignment - POS MV V472
GNSS 1 and GNSS 2 Interface73
Table 7: COM Port Configuration73
Table 8: GNSS Connectors Pin Assignment - POS MV V473
Events Interface74
Table 9: GNSS Port Configuration74
Table 10: EVENT Connector Pin Assignment75
Figure 10: Type I Event Generator - I/O Configuration76
Figure 11: Type II Event Generator - I/O Configuration77
Figure 12: Open Collector Transistor Output Event Generator77
Figure 13: Mechanical Switch Event Generator - I/O Configuration78
Ethernet Interface79
Table 11: Ethernet Connector Pin Assignment - POS MV V480
Analog Interface81
PPS Interface81
Figure 14: PPS Port Signal Sources - Functional Diagram82
ANT1 and ANT2 Interfaces83
I2C Interface83
Ancillary Equipment Interfaces83
Installation Parameters84
Lever Arm Distances87
Antenna Separation93
Mounting Angles93
Figure 15: Right-Hand Orthogonal System95
Installation Checklist97
Interfaces and Data Formats101
LAN (Ethernet) Data101
I2C (Analog) Data102
COM Ports103
Table 12: Default COM Port Settings103
NMEA Data Formats104
Table 13: $INGGA Sentence Format105
Table 14: $INGGK Sentence Format108
Table 15: $INHDT Sentence Format110
Table 16: $INVTG Sentence Format110
Table 17: $INGST Sentence Format112
Figure 16: $INGST Sentence Nomenclature113
Table 18: $PASHR Sentence Format114
Table 19: $PRDID Sentence Format115
Table 20: $INZDA Sentence Format116
Table 21: $UTC Sentence Format117
Table 22: $INPPS Sentence Format118
Binary Data Formats119
Table 23: TSS1 Output Format120
Table 24: Simrad 1000 Digital Output Format122
Table 25: Simrad 3000 Digital Output Format124
Table 26: TSM 5265 Digital Output Format126
Table 27: Atlas Output Format127
Table 28: PPS Digital Output Format128
Table 29: Time of PPS Digital Output Format128
GNSS Ports129
Physical Interface129
Table 30: GNSS1 and 2 Port Settings130
System Configuration131
Power-On131
POS MV Power-On132
Figure 17: PCS Front and Rear Panels - POS MV V4133
Figure 18: PCS Front Panel - POS MV V4-1133
Initial Power-On Considerations135
MV-Posview Controller Program136
MV-Posview Controller - Initial Use137
Figure 19: Posview POS Internet Address140
POS MV Configuration141
Figure 20: Configuration Data Refinement141
Configuration Data142
Figure 21: Posview Lever Arms & Mounting Angles Tab143
Figure 22: Posview Sensor Mounting Tab144
Figure 23: Calibration Control Screen145
Figure 24: Controller Tags, Multipath & Autostart Tab148
Figure 25: User Time Data Screen149
Figure 26: Posview Input/Output Port Setup150
Figure 27: Posview Analog Port Setup152
Table 32: Formula Type Definition152
Figure 29: Posview GNSS Receiver Configuration156
Initial GNSS Configuration157
Figure 31: Posview GAMS Parameters Setup159
Figure 32: Posview GAMS Installation Wizard160
Figure 33: Posview Settings Menu, Status and Attitude Panes163
Power-Off166
Save Changes167
POS MV Power-Off168
Figure 34: PCS Front and Rear Panels - POS MV V4168
Figure 35: PCS Front Panel - POS MV V4-1169
Save Settings170
Making Changes170
Manage Multiple Configurations170
Password Protection171
Figure 36: Posview Controller Password Protection173
System Operation174
MV-Posview Controller Program175
Modes of Operation175
PCS Ethernet Connection175
Monitoring POS MV176
Main Window Regions176
POS MV Status Region177
Figure 37: Posview Controller Main Window177
Figure 38: Posview User Parameter Accuracy181
Sensor Navigation Data182
Figure 39: Posview Navigation Data at Sensors183
Faults and Messages184
Figure 40: Posview Fault Detection185
Figure 41: Posview Message Log186
Data Logging187
Ethernet Logging187
Ethernet Real-Time Output188
Data Logging Control188
Figure 42: Posview Data Logging Control189
Operation with GAMS191
Normal Operation191
Figure 43: Posview GAMS Solution and Status Pane192
Abnormal Behaviour195
Repeatedly Rejected Carrier Phase Ambiguities198
Installation Parameters199
Figure 44: Posview GAMS Parameters Setup200
Stand-Alone Operation201
Trueheave Operation203
Overview203
Figure 45: Trueheave Functional Block Diagram203
Configuration Requirements204
Initialization Requirements204
Data Output204
Trueheave Procedure205
Figure 46: Posview Heave Data205
Figure 47: Posview Status and Accuracy Panes206
Specifications207
Tools and Diagnostics211
GNSS Configuration211
GNSS Reset211
GNSS Data212
Figure 48: Posview GNSS Data212
Diagnostics213
Control Diagnostics213
Figure 49: Posview Binary/Analog Diagnostics214
Display Diagnostics215
Regular Maintenance215
Inertial Measurement Unit216
GNSS Antennas216
POS Computer System217
Technical Support217
Fault Identification218
Component Description219
Inertial Measurement Unit220
GNSS Antennas220
POS Computer System220
Fault Identification221
Front Panel Indicators222
Figure 50: PCS Front Panels222
Fault Detection224
Figure 51: Posview Fault Detection226
Figure 52: Posview Fault Detection - IMU and GNSS Corr. Tabs227
Message Log228
Figure 53: Posview Message Log228
Table 34: Message Log Entries229
Status Warning Messages235
Remove and Replace Procedures242
Figure 54: PCS Front Panels242
Inertial Measurement Unit243
Figure 55: PCS Rear Panel - POS MV V4-1243
Figure 56: PCS Rear Panel - POS MV V4243
GNSS Antenna245
IMU Cable247
GNSS Antenna Cable248
POS Computer System249
Troubleshooting250
Total System Failure251
Initialization Failure252
Figure 57: Posview Other Diagnostic252
GNSS Not Available253
Figure 58: Posview GNSS Data - Receiver Status Pane253
Figure 59: Posview Primary GNSS Diagnostics255
GAMS Not Ready256
Serial Communications Problem257
Figure 60: Posview Input/Output Port Setup258
Figure 61: Posview NMEA & Binary Output Diagnostic259
Ethernet Communications Problem260
Figure 62: Posview Base 1 Diagnostic260
Figure 63: (1 of 2) Ethernet Communications Failure261
Contact Applanix262
Figure 64: (2 of 2) Ethernet Communications Failure262
How to Reach Customer Support264
Returns265
Theory of Operation266
Inertial Navigation267
Figure 65: Example of ins Navigation on a Spherical Earth272
Figure 66: Gimballed ins Platform Structure276
Figure 67: Strap-Down ins Generic Architecture279
Heave Filter280
Figure 68: Heave Filter Architecture281
Figure 69: Percentage Steady State Error with Heave Bandwidth286
Figure 70: Percentage Steady State Error with Damping Ratio287
Figure 71: Heave Filter Transient Behaviour with Heave Bandwidth288
GNSS Azimuth Measurement Subsystem289
Figure 72: Heave Filter Transient Behaviour with Damping Ratio289
Heading Measurements291
Baselines291
Figure 73: Geographic Antenna Baseline Vector292
Figure 74: Baseline Comparison293
Baseline Measurement294
Figure 75: IMU and GNSS Antenna Geometry296
Carrier Phase Differential Position297
Figure 76: Carrier Phase Cycle Measurement299
Figure 77: Feasible Position Solutions from One Satellite300
Figure 78: Feasible Position Solutions from Two Satellites300
Figure 79: Feasible Position Solutions from Three Satellites301
Alignment303
Figure 80: Horizontal Acceleration Error in a Tilted Platform304
Error Sources306
Aided Inertial Navigation307
Figure 81: Example of Complementary Navigation Sensor Blending311
Training313
Software Installation314
Supplied Software315
Hardware and Software Requirements315
MV-Posview Controller Program316
Table 37: Controlling PC Requirements316
Firmware Upgrade317
Drawings319
Figure 82: IMU Type 17 Footprint319
Figure 83: IMU Type 2 Footprint319
Figure 84: IMU Type 2 Base Plate Footprint320
Figure 87: PCS Footprint - POS MV V4-1322
Figure 88: PCS Footprint - POS MV V4323
Figure 89: Power Cord - POS MV V4324
Patch Test325
Survey Area325
Figure 90: Ideal Survey Calibration Area326
Figure 91: Correct Roll Calibration328
Figure 92: Incorrect Roll Calibration328
Survey Procedure330
IP68 Connector Handling Instructions331
Handling Instructions331
POS-GNSS Timing332
Background332

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