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POS MV V5-2
Applanix POS MV V5-2 User Manual
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POS MV V5 Insta
llation and Operation Guide
Document #
PUBS-MAN-004291
Revision:
16
Date:
29-August-2017
2
Table of Contents
Default Chapter
6
Regulatory Information
6
Declaration of Conformity
7
Table of Contents
15
1.0 Introduction
27
System Description and Overview
27
Figure 1: Typical POS MV Components
28
Operating Modes
30
Table 1: System Performance
32
Figure 2: Heading Measurement Without GAMS
33
Figure 3: Heading Measurement with GAMS
35
MV-Posview Controller Software
39
2.0 Installation
41
Handling Precautions
41
Unpacking and Storage
42
Site Preparation
42
Installation
44
Figure 4: GNSS Antenna
46
Figure 5: Typical IMU Mounting Features
48
Table 2: Connector/Cable Summary - POS MV V5
50
Figure 6: PCS Rear Panel - POS MV V5 – PCS-80
50
Table 3: COM Connectors Pin Assignment - POS MV V5
52
Table 4: COM Port Configuration
53
Figure 8: PCS Rear Panel - POS MV V5-1
54
Figure 9: PCS Rear Panel - POS MV V5-2
55
Table 5: Connector and Port Summary
55
Figure 10: PWR Connector Pin Arrangement
57
Table 6: PWR Connector Pin Assignment
57
Figure 11: COM Connector Pin Arrangement
58
Table 7: COM Connector Pin Assignment
58
Table 8: COM Connector COM Port Configuration
58
Table 9: I/O Connector Pin Assignment
59
Figure 12: I/O Connector Pin Arrangement
60
Table 10: I/O Connector COM Port Configuration
60
Table 11: Ethernet Connector Pin Assignment
62
Installation Parameters
64
Figure 13: Right-Hand Orthogonal System
71
Installation Checklist
72
3.0 Interfaces and Data Formats
75
LAN (Ethernet) Data
75
Com Ports
75
Table 12: Default COM Port Settings
76
Table 13: $Xxgga Sentence Format
77
Table 14: $Xxggk Sentence Format
79
Table 15: $Xxhdt Sentence Format
80
Table 16: $Xxvtg Sentence Format
81
Table 17: $Xxgst Sentence Format
82
Figure 14: $Xxgst Sentence Nomenclature
83
Table 18: NMEA RMC Message Format
83
Table 19: RMC Mode Indicator Values
84
Table 20: $PASHR Sentence Format
85
Table 21: $PRDID Sentence Format
86
Table 22: $Xxzda Sentence Format
86
Table 23: $UTC Sentence Format
87
Table 24: $Xxpps Sentence Format
88
Table 25: UTC Sentence Format
88
Table 26: TSS1 Output Format
91
Table 27: Simrad 1000 Digital Output Format
92
Table 28: Simrad 3000 Digital Output Format
93
Table 29: TSM 5265 Digital Output Format
94
Table 30: Atlas Output Format
95
Table 31: PPS Digital Output Format
96
Table 32: Time of PPS Digital Output Format
96
Gnss Ports
97
Table 33: COM 3 and 4 Port Settings
97
GNS Port
97
4.0 System Configuration
99
Power-On
99
Figure 15: PCS Front and Rear Panels - POS MV V5
100
Figure 16: POS MV PCS V5-1 PCS Front Panel
100
Figure 17: POS MV PCS V5-2 PCS Front Panel
100
Front Panel Status Leds
101
Table 34: PCS Front Panel Lights
101
MV-Posview Controller Program
102
Figure 18: Posview POS Internet Address
104
Pos MV Configuration
105
Figure 19: Configuration Data Refinement
105
Figure 20: Posview Lever Arms & Mounting Angles Tab
106
Figure 21: Posview Sensor Mounting Tab
107
Figure 22: GAMS Parameter Setup
108
Figure 23: Calibration Control Screen
109
Figure 24: Controller Tags, Multipath & Autostart Tab
111
Figure 25: User Time Data Screen
111
Input/Output Ports Set-Up
112
Figure 26: Input/Output Ports Set-Up - COM1
113
Figure 27: Input/Output Ports Set-Up - COM3
114
Figure 28: Input/Output Ports Set-Up - Ethernet Input
115
Figure 29: NTRIP Client User Interface
115
Figure 30: Posview Heave Filter
116
Figure 31: Input/Output Ports Set-Up - GNSS 1 Interface
118
Figure 32: Input/Output Ports Set-Up - GNSS 2 Interface
118
Figure 33: GAMS Solution
120
Figure 34: Posview GAMS Parameters Setup
121
Figure 35: Posview GAMS Installation Wizard
122
Power-Off
125
Figure 36: PCS Front and Rear Panels - POS MV V5
126
Figure 37: PCS Front Panel - POS MV V5-1
126
Save Settings
127
Figure 38: PCS Front Panel - POS MV V5-2
127
Making Changes
128
Manage Multiple Configurations
128
Password Protection
128
Figure 39: Posview Controller Password Protection
130
5.0 System Operation
131
MV-Posview Controller Program
131
Monitoring Pos MV
132
Figure 40: Posview Controller Main Window
133
Figure 41: Posview User Parameter Accuracy
136
Figure 42: Posview Navigation Data at Sensors
137
Figure 43: Posview Fault Detection
139
Data Logging
140
Figure 44: Posview Message Log
140
Figure 45: Ethernet Logging Control
141
Data Logging - Removable Media
142
Figure 46: USB Logging Control
142
Figure 47: Removable Media Bay - POS MV V5
142
Figure 48: Removable Media Bay - POS MV V5-1
143
Data Logging - Ethernet
145
Data Output - Ethernet
146
Operation with Gams
147
Figure 49: Ethernet Realtime Output Control
147
Figure 50: Posview GAMS Solution and Status Pane
148
Figure 51: Posview GAMS Parameters Setup
154
Stand-Alone Operation
155
6.0 Trueheave Operation
157
Overview
157
Configuration Requirements
157
Initialization Requirements
157
Data Output
157
Figure 52: Trueheave Functional Block Diagram
157
Trueheave Procedure
158
Figure 53: Posview Heave Data
158
Figure 54: Posview Status and Accuracy Panes
159
7.0 Specifications
161
8.0 Tools and Diagnostics
167
Gnss Configuration
167
Gnss Reset
167
Gnss Data
167
Diagnostics
168
Figure 55: Posview GNSS Data
168
Figure 56: Posview Binary Diagnostics
169
Figure 57: Base 1/2 Diagnostics Window
170
Regular Maintenance
172
Figure 58: Base 1/2 Diagnostics Window, Details Tab
172
Technical Support
173
9.0 Fault Identification
175
Component Description
175
Fault Identification
177
Figure 59: POS MV V5 Front Panel
177
Figure 60: POS MV V5-1 Front Panel
178
Figure 61: POS MV V5-2 Front Panel
178
Table 35 PCS Front Panel Indicators - Fault Identification
178
Figure 62: Posview Fault Detection
180
Figure 63: Posview Fault Detection - IMU and GNSS Corr. Tabs
182
Figure 64: Posview Message Log
183
Table 36: Message Log Entries
183
Remove and Replace Procedures
193
Figure 65: PCS Front Panel - POS MV V5
194
Figure 66: PCS Rear Panel - POS MV V5 - PCS-80
194
Figure 67: PCS Rear Panel - POS MV V5 - PCS-84
194
Figure 68: PCS Front Panel - POS MV V5-1
194
Figure 69: PCS Rear Panel - POS MV V5-1
194
Figure 70: PCS Front Panel - POS MV V5-2
195
Figure 71: PCS Rear Panel - POS MV V5-2
195
Troubleshooting
200
Figure 72: Posview Other Diagnostic
201
Figure 73: Posview GNSS Data - Receiver Status Pane
201
Figure 74: Posview Primary GNSS Diagnostics
203
Figure 75 GAMS Solution Status Window
203
Figure 76: Posview Input/Output Port Setup
205
Figure 77: Posview NMEA & Binary Output Diagnostic
206
Figure 78: Posview Base 1 Diagnostic
206
Figure 79: (1 of 2) Ethernet Communications Failure
207
Figure 80: (2 of 2) Ethernet Communications Failure
208
Appendix Atechnical Support and Service
209
Appendix Btheory of Operation
211
Figure 81: Example of ins Navigation on a Spherical Earth
215
Figure 82: Gimballed ins Platform Structure
217
Figure 83: Strap-Down ins Generic Architecture
219
Figure 84: Heave Filter Architecture
220
Table 38: Effects of Modifying Heave Filter Parameters
223
Figure 85: Percentage Steady State Error with Heave Bandwidth
224
Figure 86: Percentage Steady State Error with Damping Ratio
225
Figure 87: Heave Filter Transient Behaviour with Heave Bandwidth
226
Figure 88: Heave Filter Transient Behaviour with Damping Ratio
227
Figure 89: Geographic Antenna Baseline Vector
229
Figure 90: Baseline Comparison
230
Figure 91: IMU and GNSS Antenna Geometry
232
Figure 92: Carrier Phase Cycle Measurement
234
Figure 93: Feasible Position Solutions from One Satellite
234
Figure 94: Feasible Position Solutions from Two Satellites
235
Figure 95: Feasible Position Solutions from Three Satellites
235
Figure 96: Horizontal Acceleration Error in a Tilted Platform
237
Figure 97: Example of Complementary Navigation Sensor Blending
241
Appendix Ctraining
243
Appendix Dsoftware Installation
245
Table 39: Controlling PC Requirements
246
Firmware Upgrade
247
Appendix Edrawings
249
Figure 98 IMU Types 36, 37, 42, 64 and 67 Mechanical Interface
249
Figure 99 IMU Type 26 Mechanical Interface
250
Figure 100 IMU Type 31 and 40 Mechanical Interface
251
Figure 101: IMU Type 38 and 39 Mechanical Interface
252
Figure 102: IMU Type 45, 65, and 68 Mechanical Interface
253
Figure 103: IMU Type 21 Mechanical Interface
254
Figure 104: IMU Type 21 Mounting Tray
255
Figure 105: IMU Type 33 Mechanical Interface
256
Figure 106: IMU Type 52 Mechanical Interface
257
Figure 107: IMU Type 44 and 57 Mechanical Interface
258
Figure 108: IMU Type 70 Mechanical Interface
259
Figure 109: IMU Top-Hat Type 101 Drawing
260
Figure 110: Trimble Zephyr II GNSS Antenna Footprint
261
Figure 111: Trimble 382AP GNSS Antenna Footprint
261
Figure 112: Trimble 540AP GNSS Antenna Footprint
262
Figure 113: PCS Footprint - POS MV V5-1
263
Figure 114: PCS-80 Footprint - POS MV V5
264
Figure 115: PCS-84 Footprint - POS MV V5
265
Figure 116: PCS-92 Footprint - POS MV V5-2
266
Figure 117: IMU Mounting Plate
267
Figure 118: IMU Adaptor Plate V4-V5
268
Appendix Fpatch Test
269
Figure 119: Ideal Survey Calibration Area
270
Figure 120: Correct Roll Calibration
271
Figure 121: Incorrect Roll Calibration
271
Appendix Gip68 Connector Handling
273
Figure 122: IP68 Connector
273
Appendix Hpos-Gps Timing
275
Figure 123: GPS. TAI and UTC Time
276
Figure 124: 1PPS Signal Characteristics
278
Table 40: Message 55 - User Time Recovery
279
Table 41: Common ICD Group Structure
280
4
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Applanix POS MV V5-2 Specifications
General
Brand
Applanix
Model
POS MV V5-2
Category
Car Navigation system
Language
English
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