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Applanix POS MV V5 Installation And Operation Manual

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POS MV V5 Installation and Operation Guide
Document # PUBS-MAN-004291
Revision: 16
Date: 29-August-2017

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  • Page 1 POS MV V5 Installation and Operation Guide Document # PUBS-MAN-004291 Revision: 16 Date: 29-August-2017...
  • Page 3 POS MV V5 Installation and Operation Guide PUBS-MAN-004291 Revision 16 Copyright © Applanix Corporation, 2017...
  • Page 5 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.

  • Page 6: Regulatory Information

    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.

  • Page 7: Declaration Of Conformity

    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 Copyright © Applanix Corporation, 2017...
  • Page 8 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 Copyright © Applanix Corporation, 2017...
  • Page 9 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 Copyright © Applanix Corporation, 2017...
  • Page 10 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 Amendment EN 55022:2010 (Class B) / CISPR 22:2008 A2:2013 EN 55024:2010 / CISPR 24:2010 Copyright © Applanix Corporation, 2017 VIII...
  • Page 11 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. 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, PCS-80 and PCS-92) or (CLASS A for PCS-84) digital device, pursuant to Part 15 of the FCC Rules.
  • Page 12 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.
  • Page 13 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’) Copyright © Applanix Corporation, 2017...
  • Page 14 Electrostatic Discharge (ESD) Fragile/Breakable sensitive material Hint - provides a suggested method Electrocution Hazard or approach Document Number PUBS-MAN-004291, Revision 16, dated 29-August-2017 Copyright © Applanix Corporation, 2017...

  • Page 15: Table Of Contents

    MV-POSV ......................... 5-1 ONTROLLER ROGRAM POS MV ............................... 5-2 ONITORING ................................ 5-10 OGGING – R .......................... 5-12 OGGING EMOVABLE EDIA ............................5-15 OGGING THERNET – E ............................5-16 UTPUT THERNET GAMS............................5-17 PERATION WITH Copyright © Applanix Corporation, 2017 XIII...
  • Page 16 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 Copyright © Applanix Corporation, 2017...
  • Page 17 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 –...
  • Page 18 Figure 34: POSView GAMS Parameters Setup .......... 4-23 Figure 35: POSView GAMS Installation Wizard ......... 4-24 Figure 36: PCS Front and Rear Panels - POS MV V5 ....... 4-28 Figure 37: PCS Front Panel – POS MV V5-1 ..........4-28 Figure 38: PCS Front Panel –...
  • Page 19 Figure 67: PCS Rear Panel - POS MV V5 – PCS-84 ......... 9-20 Figure 68: PCS Front Panel – POS MV V5-1 ..........9-20 Figure 69: PCS Rear Panel – POS MV V5-1 ..........9-20 Figure 70: PCS Front Panel – POS MV V5-2 ..........9-21 Figure 71: PCS Rear Panel –...
  • Page 20 Figure 111: Trimble 382AP GNSS Antenna Footprint ....... E-13 Figure 112: Trimble 540AP GNSS Antenna Footprint ....... E-14 Figure 113: PCS Footprint – POS MV V5-1 ..........E-15 Figure 114: PCS-80 Footprint - POS MV V5 ..........E-16 Figure 115: PCS-84 Footprint - POS MV V5 ..........E-17 Figure 116: PCS-92 Footprint - POS MV V5-2 ..........
  • Page 21 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 ............2-15 Table 6: PWR Connector Pin Assignment ..........
  • Page 22 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 Copyright © Applanix Corporation, 2017...
  • Page 23 Dilution of Position Electromagnetic Interference Electrostatic Discharge FDIR Fault Detection, Isolation and Reconfiguration Foot Gravity (acceleration due to gravity) GAMS GNSS Azimuth Measurement Subsystem Gigabyte Greenwich Mean Time Ground Ground GNSS Global Navigation Satellite System Copyright © Applanix Corporation, 2017...
  • Page 24 Kilobits Per Second Kilohertz Local Area Network Pound (weight) Length, Width, Height Metre Milliampere Megabit Megabyte Megahertz Millimetre mPOS Mini-Position and Orientation System Not Applicable No Connection North, East and Down NMEA National Marine Electronics Association Copyright © Applanix Corporation, 2017 XXII...
  • Page 25 Real-Time Kinematic Ready to Sent Receive Data Second (time interval) Society of Automotive Engineers System of Units Signal-To-Noise Ratio Space Vehicle sync Synchronous Transmission Control Protocol TCP/IP Transmission Control Protocol/Internet Protocol Threaded-Neill-Concelman (Threaded Navy Connector) Copyright © Applanix Corporation, 2017 XXIII...
  • Page 26 Transistor-Transistor Logic Universal Datagram Protocol Unified National Coarse (Screw Thread) Uninterrupted Power Supply Universal Time Coordinated (or Coordinated Universal Time) Transmit Data Volt Alternating Current Volt Direct Current VDOP Vertical Dilution of Precision Watt Copyright © Applanix Corporation, 2017 XXIV...

  • Page 27: 1.0 Introduction

    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.

  • Page 28: Figure 1: Typical Pos Mv Components

    POS MV V5 Installation and Operation Guide Introduction 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) •...
  • Page 29 POS MV V5 Installation and Operation Guide Introduction 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.

  • Page 30: Operating Modes

    POS MV V5 Installation and Operation Guide Introduction • 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.
  • Page 31 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.

  • Page 32: Table 1: System Performance

    POS MV V5 Installation and Operation Guide Introduction 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.

  • Page 33: Figure 2: Heading Measurement Without Gams

    POS MV V5 Installation and Operation Guide Introduction 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.
  • Page 34 POS MV V5 Installation and Operation Guide Introduction Manoeuvres that are more frequent will yield a more accurate heading result, while operation in higher latitudes will degrade the unaided heading accuracy. POS MV rotates the IMU heading measurement, using the relative mounting angles between the IMU, the vessel, the transducer and your chosen reference frame, and delivers heading measurements valid for the multibeam transducer and the vessel.

  • Page 35: Figure 3: Heading Measurement With Gams

    POS MV V5 Installation and Operation Guide Introduction POS MV with GAMS heading aiding IMU begins levelling and alignment IMU wrt reference Rotation frame mounting angles Levelling GAMS GPS derived heading POS MV power-on & alignment data information After levelling &...
  • Page 36 , page 2-29, descriptions for instructions to measure the mounting angles of the IMU, multibeam transducer and ship frames with respect to your chosen reference frame. Functions The Applanix POS MV offers many advanced functions including: • Motion measurement •...
  • Page 37 POS MV V5 Installation and Operation Guide Introduction Refer to the TrueHeave Operation description on page 6-1 for a full description of the data formats used by POS MV to output these parameters. Position and Velocity Measurement POS MV supplies parameters such as the position, velocity, speed, acceleration and angular rate of the vessel.
  • Page 38 Data logging allows the POS MV to store both raw sensor data and real-time processed navigation data to a removable USB flash drive for post-processing using the Applanix POSPac MMS software; post- processing enhances navigation solution accuracy. The USB flash drive is transferable between the PCS and any Microsoft Windows ®...

  • Page 39: Mv-Posview Controller Software

    (within a window 1 μs wide). Event records are available for output on the Ethernet data ports. Contact Applanix for advice if you need additional information about the Ethernet group structure.

  • Page 41: 2.0 Installation

    Satellite System (GNSS) antennas should only take a few hours. This section of the POS MV V5 manual explains each stage of the installation. By following these instructions, you can unpack, install and configure the system so that it is ready to operate with minimal delay.

  • Page 42: Unpacking And Storage

    If any damage has occurred, file a claim with the carrier and notify Applanix immediately. Refer to Technical Support and Service on page A-1 for postal address, contact telephone and fax numbers, and e-mail and Web address for Applanix.
  • Page 43 Note: Before installing the POS MV, make certain that adequate mounting provisions exist for all components of the system. Power Requirements Applanix strongly recommends that you arrange to supply electrical power to the POS MV from an Uninterrupted Power Supply (UPS). This is for two reasons: •...

  • Page 44: Installation

    2. The PCS (POS MV V5, POS MV V5-1 and POS MV V5-2) shall be grounded via the safety ground screw or stud installed with a maximum torque of 1 N·m.
  • Page 45 POS MV V5 Installation and Operation Guide Installation GNSS System Do not connect any input to the PPS (POS MV V5) or PPS OUT (POS MV V5-1/2) port. Connecting a signal input to this port will damage the PCS interface circuitry.

  • Page 46: Figure 4: Gnss Antenna

    Note: POS MV includes two low-loss antenna cables with connectors at each end. These cables are standard length of 15 m (~50 ft). Applanix can supply longer GNSS antenna cables on request, up to a maximum allowable length of 80 m (~262 ft) with a maximum signal loss of nine Decibels (dB). It is not necessary for both cables to be the same length.
  • Page 47 IMU and the PCS. Do not subject the cable to sharp bends or other mechanical stresses. Applanix can supply a longer cable of up to 50 m (~165 ft) in length if necessary. Use suitable clips to support the cable at intervals along its length.

  • Page 48: Figure 5: Typical Imu Mounting Features

    POS MV V5 Installation and Operation Guide Installation • Ideally, install the IMU at a location for which you require roll, pitch, heading and heave measurements. Usually this implies mounting the IMU close to, or even on, the multibeam transducer. The chosen location must provide rigid support so that the IMU does not move relative to the GNSS antennas;...
  • Page 49 POS Computer System - POS MV V5 The PCS is the heart of the POS MV V5 systems. The PCS footprint is shown in Appendix E . Install the PCS Remove the PCS from its transit case to allow connection and operation. With the PCS removed from the transit case, you can install, connect and use the unit in a 19 inch instrument rack where it occupies one rack unit of space.

  • Page 50: Table 2: Connector/Cable Summary - Pos Mv V5

    • Case = 5.2 mm x 20 mm Figure 6: PCS Rear Panel - POS MV V5 – PCS-80 Figure 7: PCS Rear Panel - POS MV V5 – PCS-84 Use Table 2 as a guide when making cable connections to the PCS rear panel.
  • Page 51 ANT2, 50 ohm supplies dc power to and receives signals coaxial cable from secondary GNSS antenna female (RG303/U) [1] – COM5 and GNSS ports are only available on POS MV V5 part number PCS-84. Copyright © Applanix Corporation, 2017 2-11...

  • Page 52: Table 3: Com Connectors Pin Assignment - Pos Mv V5

    POS MV V5 Installation and Operation Guide Installation If the POS MV V5 receives power from an Uninterruptible Power Supply (UPS), make certain that it is operating at the correct voltage; refer to the Power Requirements description on page 2-3 for details.

  • Page 53: Table 4: Com Port Configuration

    Hardware, Software, None POS Computer System - POS MV V5-1 & POS MV V5-2 The PCS is the heart of the POS MV V5 systems. The PCS footprints are shown in Appendix E . Install the PCS Remove the PCS from its transit case to allow connection and operation. The MV V5-1 and MV V5-2 PCS is a sealed unit and may be installed in almost any location that is convenient.

  • Page 54: Figure 8: Pcs Rear Panel - Pos Mv V5-1

    POS MV configuration. The POS MV V5-2 PCS footprint is shown in Appendix E . There are nine connectors located on the rear panel of the PCS, see Figure 9. Each rear panel connector supports a single cable except for the I/O and COM connectors, which support a multi-connector breakout cable.

  • Page 55: Figure 9: Pcs Rear Panel - Pos Mv V5-2

    POS MV V5 Installation and Operation Guide Installation Figure 9: PCS Rear Panel – POS MV V5-2 Table 5: Connector and Port Summary Connector Port Description Connects to a customer source • RS-422 serial I/O data port • Supplies dc power to IMU •...
  • Page 56 POS MV V5 Installation and Operation Guide Installation Table 5: Connector and Port Summary Connector Port Description DIO - Event 2 • Optically isolated digital input, 3 to 50 Vdc signal level, 1 mA maximum input current requirement • Event 2 time tagging •...

  • Page 57: Figure 10: Pwr Connector Pin Arrangement

    A proprietary shielded cable, supplied with the system, connects the IMU to the PCS. Ensure the cable is secure by locking the connector shell to the base. The IMU is internal on POS MV V5-2 so there is no IMU connector or cable. COM Connector There is one COM connector which supports a multi-connector breakout cable (COM cable) that provides access to two independent, 4 wire RS232 serial communication ports.

  • Page 58: Figure 11: Com Connector Pin Arrangement

    POS MV V5 Installation and Operation Guide Installation Table 7: COM Connector Pin Assignment I/O Cable Mapping Signal Signal I/O Pin Pin Description Type Direction Connector COM 1 Rx RS232 Input COM 1 Tx RS232 Output DE-9 COM 1 RTS...

  • Page 59: Table 9: I/O Connector Pin Assignment

    POS MV V5 Installation and Operation Guide Installation Setting Value Data Bits 7, 8 Stop Bits 1, 2 Hardware, Software, None Flow Control I/O Connector There are two identical I/O connectors which support a multi-connector breakout cable (I/O cable) that permits access to the following signals: •...

  • Page 60: Figure 12: I/O Connector Pin Arrangement

    POS MV V5 Installation and Operation Guide Installation Table 9: I/O Connector Pin Assignment I/O Cable Mapping Signal Signal I/O Pin Pin Description Type Direction Connector COM 5 Rx / GNSS Rx RS232 Input DE-9 COM 5 Tx / GNSS Tx...
  • Page 61 POS MV V5 Installation and Operation Guide Installation GNSS Access The serial digital port for each GNSS receiver is accessible for upgrading the receiver through the I/O COM ports. Access to the GNSS serial port is under software control in the same way that other functions are assigned to COM ports.

  • Page 62: Table 11: Ethernet Connector Pin Assignment

    POS MV V5 Installation and Operation Guide Installation Table 11: Ethernet Connector Pin Assignment Signal Signal Pin Description Type Direction BI_DA+ Analog Bidirectional BI_DA- Analog Bidirectional BI_DB+ Analog Bidirectional BI_DC+ Analog Bidirectional BI_DC- Analog Bidirectional BI_DB- Analog Bidirectional BI_DD+ Analog...
  • Page 63 Refer to the Data Logging - Ethernet description on page 5-15 for information on selecting data groups for output. Please refer to Applanix document PUBS-ICD-004089 (supplied on CD with POS MV or available from Applanix Customer support on request) if the data are used with software other than MV-POSView or POSPac MMS.

  • Page 64: Installation Parameters

    Sonar Hardware and Acquisition Software Any of the five COM ports may be used for connecting the sonar to the PCS. Note that Applanix strongly recommend the use of an Ethernet interface in preference to serial for interfacing to sonar acquisition systems.
  • Page 65 POS MV V5 Installation and Operation Guide Installation • Reference to primary GNSS antenna: • Reference to vessel • Reference to sensor 1 and sensor 2 • Reference to auxiliary GNSS antenna: • Reference to centre of rotation measurement location - measure to an accuracy of ±0.10 m When measuring the lever arm distances, you must resolve them into their longitudinal, lateral and vertical components using the reference frame.
  • Page 66 POS MV V5 Installation and Operation Guide Installation defined. It may be convenient to define the reference frame to be coincident with the multibeam transducer for example, in which case the mounting angles for this relationship will be zero. Note that, by definition, the vessel frame and the reference frame co-align.
  • Page 67 POS MV V5 Installation and Operation Guide Installation Reference to IMU Lever Arm Measure and record the distance from your reference point to the centre of the circular black and white label on top of the IMU. • A positive value for the X lever arm means the IMU is forward of your reference point •...
  • Page 68 POS MV V5 Installation and Operation Guide Installation Reference to Sensor 2 Lever Arm Measure and record the distance from your reference point to the second sensor. • A positive value for the X lever arm means the second sensor is forward of your reference point •...
  • Page 69 POS MV V5 Installation and Operation Guide Installation The multibeam transducer will be some distance from the vessel centre of rotation. The transducer will therefore experience a small component of heave as the vessel moves vertically in the water and a much larger component of apparent heave with changes in vessel attitude.
  • Page 70 POS MV V5 Installation and Operation Guide Installation • Heading rotation - apply a right-hand screw rotation θz about the z-axis to align one frame with the other • Pitch rotation - apply a right-hand screw rotation θy about the once-rotated y-axis to align one frame with the other •...

  • Page 71: Figure 13: Right-Hand Orthogonal System

    POS MV V5 Installation and Operation Guide Installation Centre of vessel y = Horizonral (port-stbd line) x = Horizonral (fore-aft line) z = Vertical Figure 13: Right-Hand Orthogonal System The mounting angles describe the relative angles between one frame and another, for example between your reference frame and the IMU frame.

  • Page 72: Installation Checklist

    POS MV V5 Installation and Operation Guide Installation • -5° for the IMU with respect to reference frame x mounting angle IMU with respect to Reference Frame Measure and record the rotations that you must apply, using the Tait-Bryan sequence explained above, to align your chosen reference frame with the IMU reference frame.
  • Page 73 COM port. Connect the IMU data and power cable to the IMU port. (POS MV V5) Connect an electrical supply of nominal voltage 110/220V (voltage range - 100 Vac to 240 Vac) to the 3-pin IEC mains inlet connector on the PCS. The PCS uses an auto- switching power supply that configures itself to the applied ac electrical supply.
  • Page 74 The application of incorrect electrical power to the PCS may result in damage to POS MV system. (POS MV V5) Arrange a clean, stable electrical supply at a nominal voltage 110/220V (voltage range - 100 Vac to 240 Vac) for the PCS. If possible, supply electrical power to the PCS from an uninterruptible power supply.

  • Page 75: 3.0 Interfaces And Data Formats

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats 3.0 Interfaces and Data Formats This section of the manual describes the data formats for each of the following interface ports on the POS Computer System (PCS) rear panel.

  • Page 76: Table 12: Default Com Port Settings

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats • NMEA sentence types • Binary data formats • Base 1 and 2 GNSS outputs • Base 1 and 2 GNSS inputs • Auxiliary 1 and 2 GNSS inputs •...

  • Page 77: Table 13: $Xxgga Sentence Format

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats 8. a) $PRDID: attitude data b) $PRDID-TSS: attitude data (TSS indicates the use of the TSS standard instead of the Tait- Bryan standard, see page 2-29 for a description) 9.
  • Page 78 POS MV V5 Installation and Operation Guide Interfaces and Data Formats $xxGGA,hhmmss.sss,llll.lllll,a,yyyyy.yyyyy,b,t,nn,v.v,xxxxx.xx,M,,,ccc,rrrr*hh<CRLF> Table 13: $xxGGA Sentence Format Item Definition Value Units (If Applicable) llll.lllll Latitude 0 to 90 degrees|minutes|decimal minutes 2 fixed digits for degrees 2 fixed digits for minutes...

  • Page 79: Table 14: $Xxggk Sentence Format

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats $xxGGA,hhmmss.sss,llll.lllll,a,yyyyy.yyyyy,b,t,nn,v.v,xxxxx.xx,M,,,ccc,rrrr*hh<CRLF> Table 13: $xxGGA Sentence Format Item Definition Value Units (If Applicable) rrrr DGNSS 0000 to reference station 1023 identity Checksum <CRLF> Carriage return <CRLF> and line feed Note: Commas separate all items, including null fields. The information is valid at the location of the vessel frame.

  • Page 80: Table 15: $Xxhdt Sentence Format

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats $xxGGK,hhmmss.ss,mmddyy,llll.llllllll,a,yyyyy.yyyyyyyy,b,t,nn,v.v,x.xxx,M*hh<CRLF> Table 14: $xxGGK Sentence Format Item Definition Value Units (If Applicable) GNSS quality 0 = fix not available or invalid indicator 1 = C/A standard GNSS; fix valid...

  • Page 81: Table 16: $Xxvtg Sentence Format

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats $xxVTG: Course Over Ground and Ground Speed Data Actual course and speed relative to the ground. POS MV supplies information in the following ASCII NMEA 0183 sentence format. $xxVTG,xxx.x,T,,M,n.n,N,k.k,K*hh<CRLF>...

  • Page 82: Table 17: $Xxgst Sentence Format

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats $xxGST,hhmmss.sss,,smjr.smjr,smnr.smnr,ooo.o,l.l,y.y,a.a *hh<CRLF> Table 17: $xxGST Sentence Format Item Definition Value Units (If Applicable) $xxGST Header $xxGST hhmmss.sss UTC time of hours|minutes|seconds|decimal position seconds 2 fixed digits for hours 2 fixed digits for minutes...

  • Page 83: Figure 14: $Xxgst Sentence Nomenclature

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats True North Error ellipse Indicated position Figure 14: $xxGST Sentence Nomenclature NMEA Port RMC Message Format The RMC navigation data are output in the following ASCII NMEA format. Note the 2 fields describing magnetic variation are not included and are therefore left null.

  • Page 84: Table 19: Rmc Mode Indicator Values

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats Table 18: NMEA RMC Message Format $xxRMC,hhmmss.ssss,S,llll.lllll,A,yyyyy.yyyyy,B,sssss.s, hhh.h,ddmmyy,,,C*hh<CR><LF> Items Definition Values Units Longitude E (East) or W direction (West) sssss.s Speed in knots knots hhh.h Heading to 359.9 degrees...

  • Page 85: Table 20: $Pashr Sentence Format

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats $PASHR ($PASHR-TSS): Attitude Data POS MV supplies attitude data information in the following ASCII NMEA sentence format. $PASHR,hhmmss.sss,xxx.xx,T,RRR.RR,PPP.PP,HHH.HH, a.aaa,b.bbb,c.ccc,d,e*hh<CRLF> Table 20: $PASHR Sentence Format Item Definition Value Units (If Applicable)

  • Page 86: Table 21: $Prdid Sentence Format

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats $PRDID ($PRDID-TSS): Attitude Data POS MV supplies attitude data information in the following ASCII NMEA sentence format. $PRDID,PPP.PP,RRR.RR,xxx.xx*hh <CRLF> Table 21: $PRDID Sentence Format Item Definition Value Units (If Applicable)

  • Page 87: Table 23: $Utc Sentence Format

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats $xxZDA,hhmmss.ssss,DD,MM,YYYY,,*hh<CRLF> Table 22: $xxZDA Sentence Format Item Definition Value Units (If Applicable) <CRLF> Carriage return <CRLF> and line feed Note: Commas separate all items. Note: UTC time is the time of the previous 1PPS signal.

  • Page 88: Table 24: $Xxpps Sentence Format

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats $xxPPS,hhmmss.ssss,d,wwww,uu.uu,pppp,*hh<CRLF> Table 24: $xxPPS Sentence Format Item Definition Value Units (If Applicable) $xxPPS Header $xxPPS hours|minutes|seconds| hhmmss.ssss UTC time 000000.0000 decimal seconds • 2 fixed digits for hours 235959.9999 •...
  • Page 89 POS MV V5 Installation and Operation Guide Interfaces and Data Formats UTC YY.MM.DD hh:mm:ss ab<CRLF> Table 25: UTC Sentence Format Item Definition Value Units (If Applicable) Month 01 to 12 01 to 31 hours:minutes:seconds hh:mm:ss UTC time 00:00:00 to • 2 fixed digits for hours 23:59:59 •...
  • Page 90 POS MV V5 Installation and Operation Guide Interfaces and Data Formats Binary Data Formats The PCS outputs attitude data using any of the following output string formats (any number of COM ports can be independently configured for Binary output): 1. TSS1 format 2.

  • Page 91: Table 26: Tss1 Output Format

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats :XXAAAASMHHHHQMRRRRSMPPPP<CRLF> Table 26: TSS1 Output Format Field Definition Value Units (If Applicable) Start of packet 3A hex ASCII character Horizontal 0 to +9.81 cm/s 3.83 cm/s acceleration AAAA Vertical 0 to +40.96 cm/s...

  • Page 92: Table 27: Simrad 1000 Digital Output Format

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats • Heave format: 2’s complement, LSB = 1 cm, heave sense is user selectable from the MV-POSView Controller program Heading format: LSB = 0.01°, 0 to 359.99°, positive = clockwise •...

  • Page 93: Table 28: Simrad 3000 Digital Output Format

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats Table 28: Simrad 3000 Digital Output Format Item Byte Value Units (If Applicable) Header LSB 0x00 Header MSB 0x90 Roll LSB ±180° 0.01° Roll MSB Pitch LSB ±180° 0.01°...

  • Page 94: Table 29: Tsm 5265 Digital Output Format

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats attitude measurement. Refer to page 2-29 for instructions to do this and for an explanation of the TSS and Tait-Bryan conventions. The time tag attached to the data is Universal Time Coordinated (UTC) time in seconds of the week.

  • Page 95: Table 30: Atlas Output Format

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats DLERrPpHhQDLE Table 30: Atlas Output Format Field Definition Value Units (If Applicable) Start of packet 10 hex ASCII character Roll MSB +90 to -90° 0.00549° Roll LSB Pitch MSB +90 to -90°...

  • Page 96: Table 31: Pps Digital Output Format

    POS MV V5 Installation and Operation Guide Interfaces and Data Formats PPS Format Table 31: PPS Digital Output Format Item Byte Value Units (If Applicable) Header LBS 0x00 Header MSB 0x99 PPS time (GNSS seconds 2 to 9 seconds into the week, coincident with...

  • Page 97: Gnss Ports

    Base GNSS input to POS. All POS MV V5 systems provide a mechanism to switch COM3 and COM4 to connect directly to the COM port on the internal GNSS receiver(s) by selecting that connection in POSView (see COM Port Set-up).
  • Page 98 POS MV V5 Installation and Operation Guide Interfaces and Data Formats 3-24...

  • Page 99: 4.0 System Configuration

    POS MV Power-On Power for the POS MV V5 system is applied to the PCS rear panel PWR connector, refer to Figure 15. Two power switches are available on the PCS; a rear panel PWR switch and a front panel POWER switch.

  • Page 100: Figure 15: Pcs Front And Rear Panels - Pos Mv V5

    On the MV V5-2, energizing the power cable connected to the rear of the PCS applies power to the internal electronics and causes the system to power up. Figure 15: PCS Front and Rear Panels - POS MV V5 Figure 16: POS MV PCS V5-1 PCS Front Panel...

  • Page 101: Front Panel Status Leds

    Power light - illuminates when the PCS is operating. Initial Power-On Considerations The POS MV AutoStart feature is enabled prior to shipment from Applanix. The system will transition to navigate mode automatically after start-up. Before the system can successfully navigate for first time, the installation parameters measured during the installation procedures need to be entered;...

  • Page 102: Mv-Posview Controller Program

    4-30 for more details. When you install and operate the POS MV for the first time, perform the procedures described in the following paragraphs. PCS IP Address Applanix sets the IP address of the PCS to 192.168.53.100 and the subnet mask to 255.255.255.0.
  • Page 103 POS MV V5 Installation and Operation Guide System Configuration Initially, to communicate with the PCS, you must give the controlling PC a unique address within the same subnet. Applanix recommends using address 192.168.53.101. IP Addresses IP addresses consist of four sets of numbers separated by full stops (e.g.

  • Page 104: Figure 18: Posview Pos Internet Address

    POS MV V5 Installation and Operation Guide System Configuration Note the original IP address of the controlling PC so that you can change it back once you have changed the PCS address. g) Change the IP address of the controlling PC to one that has the same network identity as the PCS.

  • Page 105: Pos Mv Configuration

    POS MV V5 Installation and Operation Guide System Configuration The subnet must be chosen carefully if UDP unicast is selected as the network protocol for real-time data output. The user specified UDP unicast IP address must be within the same subnet as the POS IP address in order for network communication to be functional.

  • Page 106: Figure 20: Posview Lever Arms & Mounting Angles Tab

    POS MV V5 Installation and Operation Guide System Configuration Configuration Data To configure the POS MV consult the list of installation parameters that was created as you progressed through the physical installation. Refer to the Installation Parameters description starting on page 2-24 for detailed instructions.

  • Page 107: Figure 21: Posview Sensor Mounting Tab

    POS MV V5 Installation and Operation Guide System Configuration Note: These settings become active immediately. To save the settings to non-volatile memory, select Settings, S ave Settings . This permits the system to initialize using these installation parameters whenever the PCS is powered-on.

  • Page 108: Figure 22: Gams Parameter Setup

    POS MV V5 Installation and Operation Guide System Configuration Figure 22: GAMS Parameter Setup Configuration - Automatic Note: Perform a GNSS Azimuth Measurement Subsystem (GAMS) calibration prior to running this procedure, see Antenna Installation Calibration on page 4-21. Note: The integrated navigation solution should be delivering a RTK solution; may be tightly coupled or using an auxiliary RTK GNSS receiver.

  • Page 109: Figure 23: Calibration Control Screen

    POS MV V5 Installation and Operation Guide System Configuration Figure 23: Calibration Control Screen EVER ALIBRATION ELECT Note: The Figure of Merit (FOM) may not reach 100 if the vessel dynamics (speed and rate of turn) are not great enough, the GNSS coverage is not good or the base corrections are not reliably received.
  • Page 110 POS MV V5 Installation and Operation Guide System Configuration 100 and continues to update the X, Y, Z fields; next command would be Normal Transfer of calibrated parameters Auto Calibration button - (preferred) select to start the auto calibration procedure; vessel must prescribe a loose figure eight pattern;...

  • Page 111: Figure 24: Controller Tags, Multipath & Autostart Tab

    View, User Time Data. The user's equipment can send message 55 (see POS MV V5 User Interface Control Document [Applanix document control number - PUBS-ICD-004089]) with their own time recovery time and POS will create an internal offset. Also, the user can then select the User Time (Figure 24) to be output in the time ‘2’...

  • Page 112: Input/Output Ports Set-Up

    POS MV V5 Installation and Operation Guide System Configuration AutoStart AutoStart is a feature of POS MV that allows operation in a stand-alone configuration. With AutoStart enabled, POS MV will transition to navigate mode after power-on, without operator intervention. •...

  • Page 113: Figure 26: Input/Output Ports Set-Up - Com1

    POS MV V5 Installation and Operation Guide System Configuration Any input or output can be selected from the drop down menus for a given COM port (click on the down arrow). A context sensitive pane will appear once an input or output selection has been made, as described in the following sections.

  • Page 114: Figure 27: Input/Output Ports Set-Up - Com3

    POS MV V5 Installation and Operation Guide System Configuration Figure 27: Input/Output Ports Set-up – COM3 To accept the screen parameters, click the Apply button. To abort any changes or to close the screen, click the Close button. Ethernet Input Port Set-up The Ethernet Input tab on the Input/Output Ports Setup window is similar to the COM port setup except that only Base 1 &...

  • Page 115: Figure 28: Input/Output Ports Set-Up - Ethernet Input

    POS MV V5 Installation and Operation Guide System Configuration Figure 28: Input/Output Ports Set-up – Ethernet Input Corrections over NTRIP client Differential corrections can also be received through the NTRIP client built into POSView. One must have access to an NTRIP caster, or subscribe to a service that provides access to NTRIP caster, in order to receive differential corrections.

  • Page 116: Figure 30: Posview Heave Filter

    Select “Use POS position” if the position transmitted to the caster is to be the same as the POS position. If not, then unchecking the “Use POS position” and enter custom values. Applanix recommends using POS position for this purpose such that the position transmitted to the VRS service is updated as the vessel moves.
  • Page 117 GNSS 1 is accessible through COM 3 (Figure 31) and GNSS 2 is accessible through COM 4 (Figure 32). Newer POS MV V5 systems also provide a dedicated GNSS port which is permanently connected to a COM port of the internal GNSS receiver.

  • Page 118: Figure 31: Input/Output Ports Set-Up - Gnss 1 Interface

    POS MV V5 Installation and Operation Guide System Configuration Figure 31: Input/Output Ports Set-up – GNSS 1 Interface Figure 32: Input/Output Ports Set-up – GNSS 2 Interface The GNSS connection for firmware upgrades requires 2-way communication, hence selecting GNSS 1/2 on either the Input or Output will automatically reserve both for that function.
  • Page 119 (or the factory default values) when you next power-on the system. Initial GNSS Configuration Applanix supplies POS MV with two GNSS receiver cards installed in the PCS and optimally configured for use with the system. If either of the GNSS receivers loses its configuration for any reason, the PCS will reconfigure the receiver cards automatically for its own use.

  • Page 120: Figure 33: Gams Solution

    POS MV V5 Installation and Operation Guide System Configuration 3. Select View, GAMS Solution from the menu bar to open POS MV GAMS Solution window shown in Figure 33. Figure 33: GAMS Solution BD960 system left, BD982 system right 4. Transition the system to standby mode by selecting the Standby icon from the MV-POSView tool bar.

  • Page 121: Figure 34: Posview Gams Parameters Setup

    POS MV V5 Installation and Operation Guide System Configuration 5. Select Settings, Installation, GAMS Parameter Setup from the menu bar to open the GAMS Parameter Setup window shown in Figure 34 POSView GAMS Parameters Setup. 6. In the GAMS Parameter Setup window, enter a value in the Heading Calibration Threshold field that represents the best achievable with the vessel, ideally 0.5°...

  • Page 122: Figure 35: Posview Gams Installation Wizard

    POS MV V5 Installation and Operation Guide System Configuration Figure 35: POSView GAMS Installation Wizard 9. Manually transition POS MV to the navigate mode. This also commands GAMS to begin execution of its on-the-fly (OTF) ambiguity resolution algorithm. 10. Select Settings, GAMS Calibration Control, Start from the MV-POSView menu bar (Figure 40: POSView Controller Main Window, page 5-3).
  • Page 123 POS MV V5 Installation and Operation Guide System Configuration An option is to wait until the MV RMS heading error falls below the threshold value set by performing manoeuvres described in 11 and then select the Start command. In this case the Status pane for GAMS will indicate CAL in Progress.
  • Page 124 POS MV V5 Installation and Operation Guide System Configuration page 4-23) and write down the displayed parameters. Keep the written record in a safe place for future reference. Refer to the Operation with GAMS topic on page 1-8 for a description of how GAMS uses the GAMS installation parameters to aid the On-the-Fly (OTF) ambiguity search.

  • Page 125: Power-Off

    POS MV V5 Installation and Operation Guide System Configuration descriptions on pages 2-24 and 4-8 respectively, for instructions on how to measure and enter these installation parameters. Power-Off The initial power-off sequence for the POS MV system occurs in three stages:...

  • Page 126: Figure 36: Pcs Front And Rear Panels - Pos Mv V5

    POS MV V5 PCS Power for the POS MV V5 system is applied to the PCS rear panel PWR connector, refer to Figure 36. Two power switches are available on the PCS; a rear panel PWR switch and a front panel POWER switch.

  • Page 127: Save Settings

    POS MV V5-2 PCS Power for the POS MV V5-2 system is applied to the PCS rear panel PWR connector, refer to Figure 9. The PCS is powered off by removing power from the input. For a controlled power down it is preferred to select the Tools, Shutdown command from POSView and waiting until the power light goes off before removing power.

  • Page 128: Making Changes

    Note: Occasionally a change is made in the Ethernet interface that affects the format of configuration data. The effects of the change are described in the release notes accompanying the firmware upgrade or contact an Applanix Customer Support representative for additional information; refer to page A-1 for contact details.
  • Page 129 • Reset the password to the default setting (pcsPasswd) by: Acquire an authorization code, from Applanix Customer Support, for Option 10 of the POS Config utility (contained on the installation CD); refer to page A-1 for details Start the POS Config utility and select the left box (10 DPW Disable Password Protection)

  • Page 130: Figure 39: Posview Controller Password Protection

    POS MV V5 Installation and Operation Guide System Configuration Figure 39: POSView Controller Password Protection 4-32...

  • Page 131: 5.0 System Operation

    POS MV V5 Installation and Operation Guide System Operation 5.0 System Operation This section describes how to use the MV-POSView Controller program to operate the POS MV. To perform the instructions in this section: • The Position and Orientation System for Marine Vessels (POS MV) controller program (MV- POSView) must be installed on the controlling Personal Computer (PC).

  • Page 132: Monitoring Pos Mv

    POS MV V5 Installation and Operation Guide System Operation • Control mode - the controller program displays all the PCS data broadcast over the Ethernet display port and has an established Transmission Control Protocol (TCP) connection to the PCS control port. This allows you to change the system configuration and save any new configurations to NVM.

  • Page 133: Figure 40: Posview Controller Main Window

    POS MV V5 Installation and Operation Guide System Operation • Connection status of the MV-POSView Controller program: Connected - the controller is communicating with the specified IP address in control mode Disconnecting - the controller is terminating communication with the specified IP address...
  • Page 134 IMU Status - this field may display OK, Warning or Failure. If the Inertial Measurement Unit (IMU) status field shows anything except OK, check the Fault Detection window described in Faults and Messages on page 5-8. Contact Applanix for advice if necessary.
  • Page 135 POS MV V5 Installation and Operation Guide System Operation GAMS - this field can display Online, Ready Online, Ready Offline, Cal in Progress, Cal Requested, Cal Complete or Not Ready. Ethernet Log – this field displays the status of Ethernet data logging Disk Status –...

  • Page 136: Figure 41: Posview User Parameter Accuracy

    POS MV V5 Installation and Operation Guide System Operation TTITUDE EADING OSITION AND ELOCITY ARAMETERS To set the thresholds for each measurement, select Settings, Installation, User Accuracy from the MV-POSView menu bar. Enter the preferred accuracy threshold for each of the four fields; see Figure 41.

  • Page 137: Figure 42: Posview Navigation Data At Sensors

    POS MV V5 Installation and Operation Guide System Operation Sensor Navigation Data The Navigation Data at Sensors window, shown in Figure 42, displays the navigation data for sensor 1 and sensor 2. Access this window selecting View, Sensor Navigation; a tab is available for each sensor.
  • Page 138 POS MV V5 Installation and Operation Guide System Operation Velocity Pane Velocities of the sensor are given in the longitudinal and down directions. POS MV uses metres per second to display the velocities and their estimated boundaries of accuracy. Dynamics Pane Displays the angular rates and linear accelerations of the sensor in the longitudinal and vertical directions.

  • Page 139: Figure 43: Posview Fault Detection

    POS MV V5 Installation and Operation Guide System Operation Figure 43: POSView Fault Detection Note: Some fields may display a red indicator (intermittently) during initialization and operation. The Fault Identification description starting on page 9-1 includes a list of the messages that may appear in the message log.

  • Page 140: Data Logging

    In the case of POS MV V5-2 there is no USB connector for removeable media so the internal memory is configured to act as the primary logging device instead of performing the back-up logging function.

  • Page 141: Figure 45: Ethernet Logging Control

    POS MV V5 Installation and Operation Guide System Operation names for the primary internal logging are managed using the same MV-POSView controls as for the typical USB logging. To access the logging configuration and control menus, select one of the following from the MV-POSView menu: Logging, Ethernet Logging...

  • Page 142: Data Logging - Removable Media

    Open the spring loaded USB access door on the front of the PCS all the way and it will stay open on its own. Insert the USB flash drive into the bay (Figure 48) ensuring that the card is facing up, Applanix logo showing.

  • Page 143: Figure 48: Removable Media Bay - Pos Mv V5-1

    PCS housing. Insert the USB flash drive into the bay (Figure 48) ensuring that the card is facing up, Applanix logo showing. The shuttle mechanism will move back to its innermost position, at which point the USB flash drive must be pressed into the connector. The logging bay door should close without hitting the USB flash drive if it is properly seated in the connector.
  • Page 144 POS MV V5 Installation and Operation Guide System Operation Start Logging – Removable Media AutoLog If AutoLog is enabled (refer to Figure 46 on page 5-12), logging starts automatically on PCS power-up. If AutoLog is enabled and there is no USB flash drive in the logging bay, the Logging light will turn red. If this occurs, insert a USB flash drive and start manually as described in the following paragraphs.

  • Page 145: Data Logging - Ethernet

    • Requires at least a 100 Base T connection. • Applanix recommends the use of the shielded Ethernet cables shipped with the POS MV system. • Use of shielded Ethernet cables is a requirement of the European Union CE standard.

  • Page 146: Data Output - Ethernet

    POS MV Ethernet ICD format. Please refer to Applanix document PUBS-ICD-004089 for a description of the Ethernet data output format. These ports implement small storage buffers which are flushed frequently to ensure timely delivery of the data.

  • Page 147: Operation With Gams

    POS MV V5 Installation and Operation Guide System Operation Figure 49: Ethernet Realtime Output Control. Operation with GAMS Normal Operation If POS MV has valid installation parameters stored in NVM then it is ready to operate with GAMS heading aiding.

  • Page 148: Figure 50: Posview Gams Solution And Status Pane

    POS MV V5 Installation and Operation Guide System Operation • The Status pane will show GAMS as Not Ready. This indicates that GAMS has not resolved the carrier phase ambiguities. • The GAMS Solution window shows SVs in solution, A priori PDOP and Antenna Separation.
  • Page 149 POS MV V5 Installation and Operation Guide System Operation The computed angles of roll and pitch are now sufficiently accurate to be used by GAMS, together with the antenna separation distance, in the OTF ambiguity search process. Additional aiding data shortens the time that it takes to fix ambiguities from as long as 20 minutes to as short as two minutes, depending on the satellite geometry.
  • Page 150 POS MV V5 Installation and Operation Guide System Operation This can occur for two reasons: • A GNSS data gap occurs and lasts for longer than two seconds. This can be caused by a blockage of the GNSS signal, for example, as the vessel passes under a bridge.
  • Page 151 POS MV V5 Installation and Operation Guide System Operation such as a large ship or a building. SNR degradation for low elevation satellites may occur in either/both GNSS receivers if trees, buildings or a bridge partially masks the satellite signal paths. If, for example, the vessel has sailed into a harbour where large ships are moored then their hulls may generate multipath reflections.
  • Page 152 POS MV V5 Installation and Operation Guide System Operation 3. Cause - Low SNR - GAMS uses one or more satellite observables with a tracking SNR that is consistently below 32 dB from either/both GNSS receivers. This can arise from: •...
  • Page 153 POS MV V5 Installation and Operation Guide System Operation Remedy - Click on the Standby icon on the MV-POSView tool bar to transition POS MV to the standby mode. Then click on the Nav icon to return to the navigate mode. This action will re-initialize POS MV and GAMS.

  • Page 154: Figure 51: Posview Gams Parameters Setup

    POS MV V5 Installation and Operation Guide System Operation Figure 51: POSView GAMS Parameters Setup GAMS uses the installation parameters to aid the OTF search algorithm. Please note the following: • If the antenna separation and the surveyed antenna baseline vector installation parameters are zero, then the GAMS OTF search algorithm runs completely unaided.

  • Page 155: Stand-Alone Operation

    POS MV V5 Installation and Operation Guide System Operation Stand-Alone Operation Note: Prior to power-on and POS MV operation in stand-alone mode, the AutoStart feature must be enabled. Refer AutoStart on page 4-14 for instructions on how to enable AutoStart. The following instructions assume that you have enabled the AutoStart feature.

  • Page 157: 6.0 Trueheave Operation

    The TrueHeave solution is provided at the Ethernet interface, LAN port. Details of the output message format are provided in the POS MV V5 User Interface Control Document (Applanix document control number - PUBS-ICD-004089). This delayed output is provided by the Group 111 heave data message...

  • Page 158: Trueheave Procedure

    POS MV V5 Installation and Operation Guide TrueHeave Operation which provides the TrueHeave output, the equivalent of the real-time heave solution and the applicable Time of Validity (TOV) signal. Group 113 contains the associated performance metrics. Groups 111 and 113 data are output on the real-time Ethernet data port at a rate of 25 Hz to provide sufficient resolution on the Heave Data display, see Figure 53.

  • Page 159: Figure 54: Posview Status And Accuracy Panes

    Following the survey, the TrueHeave data may be analysed offline by third party post-processing software. Contact Applanix for a list of software packages which currently provide support for TrueHeave, refer to page A-1. Copyright © Applanix Corporation, 2017...

  • Page 161: 7.0 Specifications

    POS MV V5 Installation and Operation Guide Specifications 7.0 Specifications POS MV OceanMaster Main Specifications (with Differential Corrections) Roll, Pitch accuracy: 0.02 (1 sigma with GNSS or DGNSS) 0.01 (1 sigma with RTK) Heave Accuracy: 5 cm or 5% (whichever is greater) for periods of 20 s...
  • Page 162 POS MV V5 Installation and Operation Guide Specifications POS MV WaveMaster & WaveMaster RM Main Specifications (with Differential Corrections) Roll, Pitch accuracy: 0.03 (1 sigma with GNSS or DGNSS) 0.02 (1 sigma with RTK) Heave Accuracy: 5 cm or 5% (whichever is greater) for periods of 20 s...
  • Page 163 POS MV V5 Installation and Operation Guide Specifications POS MV SurfMaster, SurfMaster RM & SurfMaster One Main Specifications (with Differential Corrections) Roll, Pitch accuracy: 0.04 (1 sigma with GNSS or DGNSS) 0.03 (1 sigma with RTK) Heave Accuracy: 5 cm or 5% (whichever is greater) for periods of 20 s...
  • Page 164 POS MV V5 Installation and Operation Guide Specifications Physical Characteristics Size and Weight Size Weight OceanMaster IMU type 26 203 mm X 203 mm X 116 mm 2.1 kg IMU type 36 158 mm X 158 mm X 124 mm 2.5 kg...
  • Page 165 POS MV V5 Installation and Operation Guide Specifications Power IMU: Power provided by PCS PCS POS MV V5 (PCS-80 & PCS-84): Voltage: 100 Vac to 240 Vac, 50 to 60 Hz, auto-switching Current: 1.1 A Max (@ 100 V) PCS POS MV V5-1...
  • Page 166 POS MV V5 Installation and Operation Guide Specifications Humidity IMU (OceanMaster) 10 - 80% RH IMU (WaveMaster & 0 - 100% RH WaveMaster RM): PCS (POS MV V5): 10 - 80% RH, non-condensing PCS (POS MV V5-1): 10 - 95% RH, nom-condensing...

  • Page 167: 8.0 Tools And Diagnostics

    POS MV V5 Installation and Operation Guide Tools and Diagnostics 8.0 Tools and Diagnostics The Position and Orientation System for Marine Vessels (POS MV) provides a diagnostics function to help solve some of the problems that may arise when connecting the system within an integrated suite of survey equipment.

  • Page 168: Diagnostics

    POS MV V5 Installation and Operation Guide Tools and Diagnostics Figure 55: POSView GNSS Data The GNSS Data window shows the GNSS navigation status in a polar style display. POSMV generates an identification number for each satellite in use and indicates its location in the sky, with the centre of the display directly overhead.

  • Page 169: Figure 56: Posview Binary Diagnostics

    POS MV V5 Installation and Operation Guide Tools and Diagnostics Control Diagnostics Diagnostic values that are entered and enabled for the digital ports will replace any real-time attitude information on those channels. To resume normal operation, disable the diagnostic output for the relevant channel.

  • Page 170: Figure 57: Base 1/2 Diagnostics Window

    Control Port • Other Contact Applanix Customer Support for assistance, see page A-1 Base 1/2 GNSS Diagnostics The PCS provides a diagnostic window for input differential corrections. This window provides information that can aid in diagnosing problems related to input differential corrections. Separate windows for Base 1/2 corrections can be viewed by navigating to Diagnostics, Base GNSS from the menu bar.
  • Page 171 POS MV V5 Installation and Operation Guide Tools and Diagnostics • Status provides connectivity information. The main status field can be any of the following, provided their conditions are met: Online: The PCS is receiving observables/corrections and already has the base position.

  • Page 172: Regular Maintenance

    Important: 1. Equipment shall be serviced only by qualified personnel. 2. The PCS (POS MV V5, POS MV V5-1 and POS MV V5-2) shall be grounded via the safety ground screw or stud. 3. Power to the POS system should be protected by a user-supplied, resettable circuit breaker.

  • Page 173: Technical Support

    POS MV V5 Installation and Operation Guide Tools and Diagnostics Maintenance Procedures: • Wipe the IMU housing with a damp cloth every six months, or more often if necessary, to protect the finish and to remove oil and salt deposits.

  • Page 175: 9.0 Fault Identification

    Important: 1. Equipment shall be serviced only by qualified personnel. 2. The PCS (POS MV V5, POS MV V5-1 and POS MV V5-2) shall be grounded via the safety ground screw or stud. 3. Power to the POS system should be protected by a user-supplied, resettable circuit breaker.
  • Page 176 POS MV V5 Installation and Operation Guide Fault Identification In addition to the above hardware, the POS MV includes all cables to interconnect the components of the system and certain additional cables that can be used to connect to external equipment.

  • Page 177: Fault Identification

    POS MV V5 Installation and Operation Guide Fault Identification Fault Identification Field maintenance for the POS MV involves the following actions: • Identification of a fault condition • Repair of the fault by substitution or product return POS MV has self-diagnostics to assist with isolating a fault to the following subsystems: •...

  • Page 178: Figure 60: Pos Mv V5-1 Front Panel

    POS MV V5 Installation and Operation Guide Fault Identification Figure 60: POS MV V5-1 Front Panel Figure 61: POS MV V5-2 Front Panel Table 35 PCS Front Panel Indicators - Fault Identification Status light - indicates current status of POS MV:...
  • Page 179 If you suspect that the system has developed a fault, note the condition of the indicators on the Fault Detection window. If necessary, contact Applanix for advice, refer to Technical Support and Service on page A-1 for procedures.

  • Page 180: Figure 62: Posview Fault Detection

    POS MV V5 Installation and Operation Guide Fault Identification Figure 62: POSView Fault Detection The IMU pane reports the status of the IMU, with additional information appearing on the IMU tab shown in Figure 63. There is also an additional field that appears at the bottom left-hand side of each Fault Detection tab to show the number of bad data frames received from the IMU.
  • Page 181 POS MV V5 Installation and Operation Guide Fault Identification Copyright © Applanix Corporation, 2017...

  • Page 182: Figure 63: Posview Fault Detection - Imu And Gnss Corr. Tabs

    IMU Tab The IMU Status pane, Figure 63, identifies the raw status bits from the IMU. If any of these bits have a red light please contact Applanix Customer Support representative for assistance, refer to page A-1. GNSS Corr. Tab The In Use pane, Figure 63, shows the types of corrections that the navigation algorithm may use.

  • Page 183: Figure 64: Posview Message Log

    POS MV V5 Installation and Operation Guide Fault Identification The Base GNSS pane indicates the status of received data on the base GNSS COM port. A green light indicated no problems; a red light indicates a problem. Message Log Access the Message Log by selecting View, Message Log from the MV-POSView menu bar, see Figure 64.
  • Page 184 POS MV V5 Installation and Operation Guide Fault Identification Message Text Description *Primary GNSS raw observable data There is a gap in GNSS data; short gap detected periods when this occurs are normal Primary GNSS raw observable data Flag reset...
  • Page 185 POS MV V5 Installation and Operation Guide Fault Identification Message Text Description Incorrect time parameters cleared Flag reset Incorrect GNSS datum parameters The GNSS receiver is not configured properly Incorrect GNSS datum parameters Flag reset cleared Position/velocity fix error Positions and velocities reported by the IMU and the GNSS are inconsistent;...
  • Page 186 POS MV V5 Installation and Operation Guide Fault Identification Message Text Description *GNSS position measurement Position reported between IMU and rejected GNSS are inconsistent; likely GNSS Lever Arms are incorrect in installation data GNSS position measurement reject Flag reset cleared...
  • Page 187 POS MV V5 Installation and Operation Guide Fault Identification IMU Messages - Message Log IMU Z gyro failure cleared Flag reset IMU A/D converter failure IMU diagnostics indicate failure of A/D converter IMU A/D converter failure cleared Flag reset IMU pickoff test failure...
  • Page 188 POS MV V5 Installation and Operation Guide Fault Identification IMU Messages - Message Log Y gyro bias estimate out of range The Kalman Filter’s estimate of the Y gyro bias is outside the allowable range of 20 deg/hr Y gyro bias estimate error cleared...
  • Page 189 POS MV V5 Installation and Operation Guide Fault Identification If bad IMU frames do occur, their likely cause is one of the following: • Problems in the data cable that connects the IMU to the PCS • Problems with the IMU or the power supplied to the IMU •...
  • Page 190 Faults in the GNSS subsystem are more likely to arise from damaged antenna cabling or a receiver failure. If examination of the GNSS antenna installation reveals damage to a cable, replace the cable. If none of the above actions resolves the problem, contact Applanix for advice. Loss of Communications...
  • Page 191 POS MV V5 Installation and Operation Guide Fault Identification GNSS If proper operation is not restored within a minute, select Tools, Reset GNSS from the controller menu bar. The GNSS receiver is reset to the factory defaults. This action takes a couple of minutes.
  • Page 192 POS MV V5 Installation and Operation Guide Fault Identification GAMS Occasional failures of ambiguity resolution, for example at intervals of 10 to 20 minutes, are quite common and may be the result of changes to the satellite constellation. Repeated or continuous failures in ambiguity resolution may be the result of a poor GAMS calibration or excessive vibration at the antennas.

  • Page 193: Remove And Replace Procedures

    The following paragraphs explain how to remove and replace the various components and subassemblies of the POS MV system. ELECTRICAL HAZARD Note: these warnings apply only to POS MV V5 PCS. Mains electrical voltages can cause death or serious injury by electric shock.

  • Page 194: Figure 65: Pcs Front Panel - Pos Mv V5

    Identification Figure 65: PCS Front Panel - POS MV V5 Figure 66: PCS Rear Panel - POS MV V5 – PCS-80 Figure 67: PCS Rear Panel - POS MV V5 – PCS-84 Figure 68: PCS Front Panel – POS MV V5-1 Figure 69: PCS Rear Panel –...

  • Page 195: Figure 70: Pcs Front Panel - Pos Mv V5-2

    Figure 71: PCS Rear Panel – POS MV V5-2 Circular Connectors The IMU connector on POS MV V5 and the majority of connectors on POS MV V5-1 are high quality, IP67 Lemo ® connectors. These connectors use spring loaded latches that engage when the connector is pushed fully into the socket.
  • Page 196 Any time a repaired or new IMU is installed the calibration procedure, starting on page 2-24, should be followed. Contact Applanix Customer Support for additional information, refer to page A-1 for instructions.
  • Page 197 POS MV V5 Installation and Operation Guide Fault Identification Tools • Self-amalgamating tape • Waterproof spray • Sharp knife or scalpel • Set of SAE open-end or combination wrenches appropriate to remove or secure GNSS antenna Remove 1. Observe PCS front panel power-off procedures (starting on page 4-27).
  • Page 198 POS MV V5 Installation and Operation Guide Fault Identification Remove 1. Observe PCS front panel power-off procedures (starting on page 4-27). 2. Remove power cable from PCS rear panel (starting page 9-20). 3. Disconnect IMU power and data cable at both IMU and PCS (Figure 113 on page E-15).
  • Page 199 POS MV V5 Installation and Operation Guide Fault Identification 6. Replace cable if not repairable. Replace 1. Connect GNSS antenna power and data cable at both GNSS and PCS (Figure 113 on page E- 15). Do not over tighten. Protect free ends of cable from damage or contamination.

  • Page 200: Troubleshooting

    Fault Identification d) Observe PCS front panel power-on procedures (starting on page 4-1). 2. New location - Follow installation instructions for POS MV V5-1 on page 2-13 and POS MV V5 on page 2-9. Troubleshooting Note: If the POS MV system fails to operate when you first try to use it after installation, check that you have installed and configured the system correctly.

  • Page 201: Figure 72: Posview Other Diagnostic

    6. If failure still exists, system may have experienced a board failure. Substitute working PCS for failed unit. Return the failed PCS to Applanix for repair. Provide a report of your findings with the returned PCS, refer to Technical Support and Service on page A-1.
  • Page 202 4. If IMU Status shows OK, check IMU base plate is mounted in nominal horizontal orientation. If necessary, adjust installation to make base plate of IMU as close to horizontal as possible. 5. If problem still exists, contact Applanix for instructions to return POS MV system for evaluation and repair.

  • Page 203: Figure 74: Posview Primary Gnss Diagnostics

    POS MV V5 Installation and Operation Guide Fault Identification Figure 74: POSView Primary GNSS Diagnostics Insufficient Satellites Follow the instructions below to identify a problem caused by insufficient satellite signals: 1. From controller main window select View, GAMS Solution and note how many satellites appear in SVs in Solution field, see Figure 75.
  • Page 204 POS MV V5 Installation and Operation Guide Fault Identification GAMS Not Ready After the POS MV system is installed, the GNSS Azimuth Measurement Subsystem (GAMS) requires calibration. Refer to the Initial GNSS Configuration description starting on page 4-21 for instructions.

  • Page 205: Figure 76: Posview Input/Output Port Setup

    POS MV V5 Installation and Operation Guide Fault Identification Figure 76: POSView Input/Output Port Setup Note: Dynamically configurable COM ports add great flexibility, but can also cause problems if inadvertently reassigned. To check the output functions (NMEA and Binary) perform the following steps: 1.

  • Page 206: Figure 77: Posview Nmea & Binary Output Diagnostic

    POS MV V5 Installation and Operation Guide Fault Identification Figure 77: POSView NMEA & Binary Output Diagnostic 4. Check that baud rate is sufficient to transmit data selected. 5. Check serial cable integrity. 6. Disconnect remote end of cable from sonar or other receiving equipment and connect cable to PC running serial program (e.g.

  • Page 207: Figure 79: (1 Of 2) Ethernet Communications Failure

    POS MV V5 Installation and Operation Guide Fault Identification Ethernet Communications Problem Loss of Ethernet communications will result in the loss of communications between the PCS and the controlling PC. The MV-POSView Controller program indicates this by displaying an appropriate error message.

  • Page 208: Figure 80: (2 Of 2) Ethernet Communications Failure

    POS MV V5 Installation and Operation Guide Fault Identification Check LAN Tx LED Reboot PC and LAN Tx LED restart Controller flashes? program Check communication between PC and Reboot the PCS Check Ethernet Check LAN Tx LED cable and connectors...

  • Page 209: Appendix Atechnical Support And Service

    Web site: http://www.applanix.com How to Reach Customer Support For technical support on POS regarding installation or operation, contact Applanix customer support at the numbers listed on our website. On the home page, select Support. If voice communication is required, select the Contact Support link. For general inquiries, please visit our website or call +1 (289) 695-6000.
  • Page 210 (RMA) number and shipping instructions or obtain an RMA number via our website. Carefully disconnect and remove the part(s) to be returned. Pack the part(s) to be returned in their original packing containers. Applanix will not be responsible for damage to parts during shipment, if returned in any container other than the original shipping cases.

  • Page 211: Appendix Btheory Of Operation

    POS MV V5 Installation and Operation Guide Theory of Operation Appendix B Theory of Operation This appendix provides a simplified explanation of the POS MV theory of operation. The explanation includes some details on each of the main techniques that the system uses to compute an integrated navigation solution.
  • Page 212 POS MV V5 Installation and Operation Guide Theory of Operation direction and time of travel from a known starting point. The errors inherent in this form of navigation arise from two sources: • Uncertainty in determining the position of the starting point. This contributes a fixed error in the dead reckoning position.
  • Page 213 POS MV V5 Installation and Operation Guide Theory of Operation has an angular rate with respect to the inertial frame of reference frame because the Earth rotates about is north-south axis at 15°/hour. An INS that is designed to operate on the surface of the Earth must first subtract the gravitational force and Coriolis acceleration from the sensed specific forces, to obtain the acceleration of the INS with respect to the Earth.
  • Page 214 POS MV V5 Installation and Operation Guide Theory of Operation Similarly, as the vessel heaves, the vertical accelerometer senses the specific force: dow n dow n Where: = is the vertical motion dow n = is the steady state acceleration due to...

  • Page 215: Figure 81: Example Of Ins Navigation On A Spherical Earth

    POS MV V5 Installation and Operation Guide Theory of Operation Figure 81: Example of INS Navigation on a Spherical Earth In Figure 81, the vessel that supports the INS has no applied angles of roll or pitch, and moves along a fixed northerly heading.
  • Page 216 POS MV V5 Installation and Operation Guide Theory of Operation Inertial Frame The inertial frame of reference is a Newtonian reference frame that experiences zero specific force and angular rate of its own. It is an absolute frame of reference and has a fixed, convenient orientation in space.

  • Page 217: Figure 82: Gimballed Ins Platform Structure

    POS MV V5 Installation and Operation Guide Theory of Operation INS Platform An INS platform is one that has its accelerometers mounted on a mechanically gimballed platform. The platform is stabilized so that it always remains level relative to the local geographic navigation frame.
  • Page 218 POS MV V5 Installation and Operation Guide Theory of Operation This action gives the platform stability in the inertial reference frame. In this condition, to an observer on the surface of the Earth the platform would appear to rotate at the Earth rate of 15°/hour relative to a locally level navigation frame.

  • Page 219: Figure 83: Strap-Down Ins Generic Architecture

    POS MV V5 Installation and Operation Guide Theory of Operation The navigation platform, though not a physical entity as was the gimballed platform, exists in the navigation computer as an IMU-to-navigation frame DCM. For this reason, the geographic navigation frame is sometimes called the mathematical platform.

  • Page 220: Figure 84: Heave Filter Architecture

    POS MV V5 Installation and Operation Guide Theory of Operation POS MV includes a user orientation input capability. This makes it possible to correct the orientation of the IMU so that it delivers measurements valid for an alternative reference frame, such as that of a multibeam transducer or of the vessel.
  • Page 221 POS MV V5 Installation and Operation Guide Theory of Operation Abrupt changes of this type can occur if the vessel experiences induced heave because of speed changes. Lighter vessels respond rapidly to changes in engine throttle settings and are therefore more likely to experience abrupt induced heave.
  • Page 222 POS MV V5 Installation and Operation Guide Theory of Operation Default Heave Filter Parameters The default heave filter parameters are: • Heave bandwidth = 20 seconds • Heave damping ratio = 0.707 (critically damped) These default values give the best compromise between settling time and steady state heave error for a vessel performing multibeam surveys in sea conditions up to sea state five.

  • Page 223: Table 38: Effects Of Modifying Heave Filter Parameters

    POS MV V5 Installation and Operation Guide Theory of Operation For example, if the heave error should be no more than 10 cm (comparable with the bathymetric sonar resolution), and the significant heave amplitude is 0.5 metres on a given day, then the maximum percentage error for that day is 20%.

  • Page 224: Figure 85: Percentage Steady State Error With Heave Bandwidth

    POS MV V5 Installation and Operation Guide Theory of Operation Figure 85 shows a plot of the steady state heave error as a percentage of heave amplitude against heave frequency for four heave bandwidths at the default damping ratio of 0.707.

  • Page 225: Figure 86: Percentage Steady State Error With Damping Ratio

    POS MV V5 Installation and Operation Guide Theory of Operation Figure 86 shows a plot of steady state heave error as a percentage of heave amplitude against heave frequency for four damping ratios at the default corner heave bandwidth of 20 seconds.

  • Page 226: Figure 87: Heave Filter Transient Behaviour With Heave Bandwidth

    POS MV V5 Installation and Operation Guide Theory of Operation Figure 87 shows a plot of the heave filter response against time for four heave bandwidths at the default damping ratio 0.707. The filter settling time is for the impulse response to settle to 20% of the impulse magnitude.

  • Page 227: Figure 88: Heave Filter Transient Behaviour With Damping Ratio

    POS MV V5 Installation and Operation Guide Theory of Operation Figure 88 shows a plot of the heave filter response against time for four damping ratios at the default heave bandwidth of 20 seconds. The filter settling time is for the impulse response to settle to 20% of the impulse magnitude.
  • Page 228 POS MV V5 Installation and Operation Guide Theory of Operation GNSS attitude sensors that have antenna separations of between one and three metres. They will vary according to the multipath signal environment affecting the antennas. Each of the above heading measurement methods have advantages and disadvantages: •...

  • Page 229: Figure 89: Geographic Antenna Baseline Vector

    POS MV V5 Installation and Operation Guide Theory of Operation Figure 89: Geographic Antenna Baseline Vector POS MV computes a carrier phase differential position solution in geographic co-ordinates of Antenna 2 with respect to Antenna 1. This is the geographical antenna baseline vector: Ф...

  • Page 230: Figure 90: Baseline Comparison

    POS MV V5 Installation and Operation Guide Theory of Operation Figure 90: Baseline Comparison Where: Ф = geographic antenna baseline vector - the geographic vector of the line that joins the two GNSS antennas; this vector varies as the heading of the vessel changes Ф...
  • Page 231 POS MV V5 Installation and Operation Guide Theory of Operation Each receiver can measure the fraction of a wavelength from each tracked satellite but cannot determine the integer number of wavelengths between the transmitting satellite and the antenna. By using satellite pseudo-range, the receiver can reduce the uncertainty in knowing the integer number of wavelengths to less than 100.

  • Page 232: Figure 91: Imu And Gnss Antenna Geometry

    POS MV V5 Installation and Operation Guide Theory of Operation Antenna A Antenna B IMU body frame Figure 91: IMU and GNSS Antenna Geometry To compute the heading of the IMU (that is the heading of the x-axis of the IMU body frame) GAMS must have the components of ∆R...
  • Page 233 POS MV V5 Installation and Operation Guide Theory of Operation Instead, POS MV uses carrier phase differential position measurements to determine the relative position of one GNSS antenna with respect to the other. Using this method, the differential position computed by GAMS for the two antennas has an accuracy of between two and 10 millimetres, depending on the local multipath environment.

  • Page 234: Figure 92: Carrier Phase Cycle Measurement

    POS MV V5 Installation and Operation Guide Theory of Operation Predicted position from satellite pseudo-range Measured phase Number of cycles in transmission path Feasible positions Feasible positions Figure 92: Carrier Phase Cycle Measurement Because of the uncertainty in its knowledge of the number of integer wavelengths in the transmission path, the receiver has a number of feasible true positions.

  • Page 235: Figure 94: Feasible Position Solutions From Two Satellites

    POS MV V5 Installation and Operation Guide Theory of Operation Feasible positions Figure 94: Feasible Position Solutions from Two Satellites Figure 95 shows how the range of feasible position solutions reduces still further when three satellites are used to resolve the carrier phase ambiguities.
  • Page 236 POS MV V5 Installation and Operation Guide Theory of Operation In POS MV, resolution of the carrier phase ambiguities is one of the functions performed by the GNSS Azimuth Measurement Subsystem (GAMS). The process uses an aided OTF algorithm to resolve the...

  • Page 237: Figure 96: Horizontal Acceleration Error In A Tilted Platform

    POS MV V5 Installation and Operation Guide Theory of Operation Levelling A horizontally unaligned INS will have a tilted platform with respect to the true horizontal of a navigation frame of reference. This tilt causes the horizontally pointing accelerometers to sense some component of gravity coupled by the angle of tilt, as shown in Figure 96.
  • Page 238 POS MV V5 Installation and Operation Guide Theory of Operation In a gimballed INS platform, the ramping northward acceleration can be used as a feedback signal to a proportional-integral feedback servomechanism. This servomechanism rotates the platform about its azimuth axis and drives the heading error towards zero. The levelling mechanism already described continuously returns the platform to the level.
  • Page 239 POS MV V5 Installation and Operation Guide Theory of Operation • Gyro drift -This appears as a constant output from a gyro when there is no angular rate of rotation present. The gyros used in POS MV exhibit drift rates of between 1° and 5° per hour.
  • Page 240 POS MV V5 Installation and Operation Guide Theory of Operation also exhibits a strongly recognisable Schuler oscillation superimposed on the growing position error. • The GNSS position error is noisy in the short term but exhibits a constant long-term error of only a few metres (with DGNSS).

  • Page 241: Figure 97: Example Of Complementary Navigation Sensor Blending

    POS MV V5 Installation and Operation Guide Theory of Operation 4. Having obtained this estimate of the INS position error, the system then subtracts it from the INS computed position. This delivers a blended solution with the long-term INS position error and the DGNSS short-term noise removed.
  • Page 242 POS MV V5 Installation and Operation Guide Theory of Operation The magnitude of Schuler oscillations in the inertial navigator depends on the quality of platform alignment. Similarly, the rate at which the position error grows depends partly on the quality of alignment and partly on the magnitude of gyro bias.

  • Page 243: Appendix Ctraining

    In support of this philosophy, Applanix has developed a comprehensive training program for all personnel who may be involved with POS MV.

  • Page 245: Appendix Dsoftware Installation

    Software Installation Appendix D Software Installation Applanix supplies a copy of the MV-POSView Controller software, for use with a PC based Microsoft Windows ® environment, with each POS MV system. This program is used to configure the POS MV once the system components have been installed and connected.

  • Page 246: Table 39: Controlling Pc Requirements

    PC before you can install and use the ® ® ® controller program. Note: Applanix recommends the removal of previous versions of the POS Controller. Keeping previous versions may result in user confusion and program instability. To install the MV-POSView Controller program: 1. Open Windows ®...

  • Page 247: Firmware Upgrade

    1. Contact Applanix for an authorization code. Also, S/N of PCS is required. 2. Copy upgrade file to PC. Upgrade file is available from Applanix or may be downloaded from Internet site. Upgrade file is larger than two MB and may take a considerable time to download.

  • Page 249: Appendix Edrawings

    POS MV V5 Installation and Operation Guide Drawings Appendix E Drawings Figure 98 IMU Types 36, 37, 42, 64 and 67 Mechanical Interface Copyright © Applanix Corporation, 2017...

  • Page 250: Figure 99 Imu Type 26 Mechanical Interface

    POS MV V5 Installation and Operation Guide Drawings Figure 99 IMU Type 26 Mechanical Interface Copyright © Applanix Corporation, 2017...

  • Page 251: Figure 100 Imu Type 31 And 40 Mechanical Interface

    POS MV V5 Installation and Operation Guide Drawings IMU shown with adaptor plate 10004691. Contact Applanix for additional information. Figure 100 IMU Type 31 and 40 Mechanical Interface Copyright © Applanix Corporation, 2017...

  • Page 252: Figure 101: Imu Type 38 And 39 Mechanical Interface

    POS MV V5 Installation and Operation Guide Drawings Figure 101: IMU Type 38 and 39 Mechanical Interface Copyright © Applanix Corporation, 2017...

  • Page 253: Figure 102: Imu Type 45, 65, And 68 Mechanical Interface

    POS MV V5 Installation and Operation Guide Drawings Figure 102: IMU Type 45, 65, and 68 Mechanical Interface Copyright © Applanix Corporation, 2017...

  • Page 254: Figure 103: Imu Type 21 Mechanical Interface

    POS MV V5 Installation and Operation Guide Drawings Figure 103: IMU Type 21 Mechanical Interface Copyright © Applanix Corporation, 2017...

  • Page 255: Figure 104: Imu Type 21 Mounting Tray

    POS MV V5 Installation and Operation Guide Drawings Figure 104: IMU Type 21 Mounting Tray Copyright © Applanix Corporation, 2017...

  • Page 256: Figure 105: Imu Type 33 Mechanical Interface

    POS MV V5 Installation and Operation Guide Drawings Figure 105: IMU Type 33 Mechanical Interface Copyright © Applanix Corporation, 2017...

  • Page 257: Figure 106: Imu Type 52 Mechanical Interface

    POS MV V5 Installation and Operation Guide Drawings Figure 106: IMU Type 52 Mechanical Interface Copyright © Applanix Corporation, 2017...

  • Page 258: Figure 107: Imu Type 44 And 57 Mechanical Interface

    POS MV V5 Installation and Operation Guide Drawings Figure 107: IMU Type 44 and 57 Mechanical Interface E-10 Copyright © Applanix Corporation, 2017...

  • Page 259: Figure 108: Imu Type 70 Mechanical Interface

    POS MV V5 Installation and Operation Guide Drawings Figure 108: IMU Type 70 Mechanical Interface E-11 Copyright © Applanix Corporation, 2017...

  • Page 260: Figure 109: Imu Top-Hat Type 101 Drawing

    POS MV V5 Installation and Operation Guide Drawings Figure 109: IMU Top-Hat Type 101 Drawing E-12 Copyright © Applanix Corporation, 2017...

  • Page 261: Figure 110: Trimble Zephyr Ii Gnss Antenna Footprint

    POS MV V5 Installation and Operation Guide Drawings Figure 110: Trimble Zephyr II GNSS Antenna Footprint Phase centre is 66 mm above bottom of mounting thread. Figure 111: Trimble 382AP GNSS Antenna Footprint E-13 Copyright © Applanix Corporation, 2017...

  • Page 262: Figure 112: Trimble 540Ap Gnss Antenna Footprint

    POS MV V5 Installation and Operation Guide Drawings Figure 112: Trimble 540AP GNSS Antenna Footprint E-14 Copyright © Applanix Corporation, 2017...

  • Page 263: Figure 113: Pcs Footprint - Pos Mv V5-1

    POS MV V5 Installation and Operation Guide Drawings Figure 113: PCS Footprint – POS MV V5-1 E-15 Copyright © Applanix Corporation, 2017...

  • Page 264: Figure 114: Pcs-80 Footprint - Pos Mv V5

    POS MV V5 Installation and Operation Guide Drawings Figure 114: PCS-80 Footprint - POS MV V5 E-16 Copyright © Applanix Corporation, 2017...

  • Page 265: Figure 115: Pcs-84 Footprint - Pos Mv V5

    POS MV V5 Installation and Operation Guide Drawings Figure 115: PCS-84 Footprint - POS MV V5 E-17 Copyright © Applanix Corporation, 2017...

  • Page 266: Figure 116: Pcs-92 Footprint - Pos Mv V5-2

    POS MV V5 Installation and Operation Guide Drawings Figure 116: PCS-92 Footprint - POS MV V5-2 E-18 Copyright © Applanix Corporation, 2017...

  • Page 267: Figure 117: Imu Mounting Plate

    POS MV V5 Installation and Operation Guide Drawings Figure 117: IMU Mounting Plate E-19 Copyright © Applanix Corporation, 2017...

  • Page 268: Figure 118: Imu Adaptor Plate V4-V5

    POS MV V5 Installation and Operation Guide Drawings Figure 118: IMU Adaptor Plate V4-V5 E-20 Copyright © Applanix Corporation, 2017...

  • Page 269: Appendix Fpatch Test

    POS MV V5 Installation and Operation Guide Patch Test Appendix F Patch Test This appendix suggests a simple procedure for performing a patch test to remove any residual errors in the POS MV mount angle configuration. You should perform a patch test before you use POS MV data for survey purposes.

  • Page 270: Figure 119: Ideal Survey Calibration Area

    POS MV V5 Installation and Operation Guide Patch Test Figure 119: Ideal Survey Calibration Area Calibration The procedure outlined in this appendix includes a calibration check on the following parameters. Perform the following: • Roll measurement • Position time delay •...

  • Page 271: Figure 120: Correct Roll Calibration

    POS MV V5 Installation and Operation Guide Patch Test 4. Repeat the above survey tests to confirm that any adjustments you make to the multibeam software have removed the roll offset. 5. As a final check, perform a similar survey following the line D–E in Figure 119 on page F-2. At the end of the survey line, turn through 180°...
  • Page 272 POS MV V5 Installation and Operation Guide Patch Test 2. With the vessel tied alongside use survey techniques to determine the precise heading against a known landmark. Record this value together with the heading displayed by the gyrocompass. 3. Turn the vessel through 180° and again measure the precise heading of the vessel. Record this value together with the heading displayed by the POS MV.

  • Page 273: Appendix Gip68 Connector Handling

    POS MV V5 Installation and Operation Guide IP68 Connector Handling Appendix G IP68 Connector Handling Handling Instructions • The connector should not be exposed to long term heat or sunshine. • If this occurs, and the connectors are very dry, soak in fresh water before use.

  • Page 275: Appendix Hpos-Gps Timing

    POS MV V5 Installation and Operation Guide POS-GPS Timing Appendix H POS-GPS Timing Background Global Positioning System (GPS) time is a continuous measurement of time from an epoch started on January 6, 1980 at midnight (0 hours 0 minutes 0 seconds) Universal Time Coordinated (UTC). GPS Time is often stated in a number of weeks and seconds from this GPS Time epoch.

  • Page 276: Figure 123: Gps. Tai And Utc Time

    POS MV V5 Installation and Operation Guide POS-GPS Timing GPS to UTC TAI to UTC Date Date Offset (sec) Offset (sec) Jan 1, 1988 Jan 1, 1988 Jan 1, 1990 Jan 1, 1990 Jan 1, 1991 Jan 1, 1991 Jul 1, 1992...
  • Page 277 POS MV V5 Installation and Operation Guide POS-GPS Timing If the position is unknown, the receiver can find its own position and solve for time by tracking four or more GNSS satellites. This is called the dynamic mode, and is the mode used in moving platform applications.

  • Page 278: Figure 124: 1Pps Signal Characteristics

    POS MV V5 Installation and Operation Guide POS-GPS Timing Internal POS Timing POS uses its internal clock to keep track of POS time, which starts from 0 when the system is powered up and continually increases. POS time never resets the way GPS and UTC seconds of the week do. POS uses the 1PPS pulse and the corresponding time message from the Primary GNSS receiver to 1) set an internal GPS and UTC offset with respect to POS time and 2) correct the drift in the internal clock.

  • Page 279: Table 40: Message 55 - User Time Recovery

    Ethernet Connector on page 2-21. ‘Message 55 - User Time Recovery’ (Table 40) is extracted from Applanix document PUBS-ICD-004089. This message specifies the time of the last PPS in User Time to the POS. It directs POS to synchronize its User Time with the time specified in the User PPS Time field.

  • Page 280: Table 41: Common Icd Group Structure

    Ethernet logging port. Which groups are output on which port are under user control. All ICD groups have the same basic structure as shown in Table 41 (extracted from Applanix document PUBS-ICD-004089). The selections of the time and distance types are made from the POSView Settings –...
  • Page 281 POS MV V5 Installation and Operation Guide POS-GPS Timing POS outputs data in NMEA and Binary formats in addition to the ICD format described. Not all formats have a time field, the assumption being that they are output with minimal latency with respect to their Time of Validity.
  • Page 283 POS MV V5 Installation and Operation Guide POS-GPS Timing GLOSSARY Acceleration of Gravity Acceleration of Gravity (g), not to be confused with the force of gravity (F ), is the acceleration grav experienced by an object when the only force acting upon it is the force of gravity. On and near the Earth's surface, the value for the acceleration of gravity is approximately 9.8 m/s/s.
  • Page 284 POS MV V5 Installation and Operation Guide POS-GPS Timing manipulated as a group. The most common is the byte, made up of eight bits and equivalent to one alphanumeric character. Bits are widely used as a measurement for transmission. Ten megabits (Mb) per second means that ten million pulses are transmitted every second.
  • Page 285 POS MV V5 Installation and Operation Guide POS-GPS Timing Display Port Accessed via the LAN connector, the display port is designed to broadcast low rate (once per second) data and status information for display by MV-POSView Controller. The display port is not a physical port;...
  • Page 286 POS MV V5 Installation and Operation Guide POS-GPS Timing Pound The pound (avoirdupois) or international pound is the mass unit defined as exactly 0.45359237 kilograms (or 453.59237 grams). It is part of the avoirdupois system of mass units. There are 16 ounces in a pound (avoirdupois).
  • Page 287 POS MV V5 Installation and Operation Guide POS-GPS Timing Coordinated Universal Time is a precise atomic time system, offset from GPS Time by an integer number of seconds. Also known as Greenwich Mean Time (GMT). INDEX LAN port, 2-21 1PPS...
  • Page 288 9-9 IMU status, 5-4 Fault Identification, 9-1 nav status, 5-4 FDIR, 1-11, 5-10 POS mode, 5-3 Functions velocity pane, 5-5 POS MV V4, 1-10 Data Logging, 5-10 Galvanic Corrosion, 2-4 AutoLog, 5-14 GAMS, 4-21 Index-6 Copyright © Applanix Corporation,2017...
  • Page 289 POS MV V5 Installation and Operation Guide abnormal behaviour, 5-20 GNSS antenna, 2-6 normal operation, 5-17 GNSS system, 2-5 operation with, 1-8 IMU, 2-7 operation without, 1-7 mPOS overview, 1-5 PCS, 2-13 parameter setup, 5-23 rack mount stand-alone operation, 5-25...
  • Page 290 4-28, 4-29 PCS, 2-3 Navigate Mode, 1-11, 1-12, 4-3, 4-14, 4-24, 5-4, 5-17, 9-4, 9-30 power-off, 4-27 NMEA Formats, 3-2 power-on, 4-1 NMEA Sentence Formats rack mount $INGGA, 3-3 power-off, 4-28 $INGGK, 3-5 power-on, 4-1 Index-8 Copyright © Applanix Corporation,2017...
  • Page 291 POS MV V5 Installation and Operation Guide atomic, H-1 Power Status Light, 4-3, 9-5 GNSS, H-1 PPS, 2-21 leap second, H-1 PPS Ports signal format, 2-21 local, H-1 tags, 4-12 RTK, 2-28 user, H-5 Sensors, 1-2 user time data, 4-13...

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