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Hexagon veripos LD900 Installation And Operation Manual
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Hexagon veripos LD900 Installation And Operation Manual

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LD900
Installation and Operations Manual
AB-V-MA-00643_RevA8
6 February 2024

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Summary of Contents for Hexagon veripos LD900

  • Page 1 LD900 Installation and Operations Manual AB-V-MA-00643_RevA8 6 February 2024...
  • Page 2 Introduction Contents Introduction ..............................4 General information ............................4 LD900 receiver .............................. 4 Veripos support ............................. 5 Activating Veripos correction services ......................5 Terms and abbreviations ..........................6 Document conventions ..........................8 LD900 notices ............................... 9 Disclaimer ..............................12 Equipment care ............................13 Hardware overview ............................
  • Page 3 Introduction L-band signal issues ........................... 71 GNSS signal issues ............................ 71 Corrections issues ............................72 GNSS heading issues ..........................72 INS issues ..............................73 Reference information ..........................74 Technical specifications ..........................74 Cabling and connectors ..........................76 Veripos H70 PC specifications ........................78 LD900 output sentences ..........................
  • Page 4 1 Introduction 1.1 General information This document provides the information required to install and operate the Hexagon | Veripos LD900 receiver. To assist with LD900 installation and operation, it will help to have the following items available when consulting this document: •...
  • Page 5 Help & Support page. For support cases, contact support.veripos@hexagon.com or raise a ticket at https://help.veripos.com. Either method will immediately notify Veripos Support, who will then assist. Veripos Support will provide initial help and may, if necessary, escalate tickets to regional on-call engineers to provide more in-depth technical support.
  • Page 6 Introduction 1.5 Terms and abbreviations Alternating current APEX Veripos high accuracy positioning solution Antenna reference point American wire gauge BEIDOU Chinese commissioned GNSS A bayonet type of RF coaxial connector Computed minus observed Centimetre Decibel dBuV Decibel (microVolts) Direct current DGNSS Differential GNSS DGPS...
  • Page 7 Introduction Radio frequency RJ45 A physical network interface standard used in telecommunications RTCM Radio technical commission for maritime services Real-time kinematic Seconds Serial access license SAL M12 Sensor actor line SBAS Satellite based augmentation system Standard Veripos single frequency DGPS system Space vehicle Transmission control protocol A threaded type of RF coaxial connector...
  • Page 8 Introduction 1.6 Document conventions 1.6.1 Typographical conventions Italic or bold text is used to emphasize certain information. Italic is also used in cross-references to other parts of the document and to other documents. Bold text is also used for indicators and touch screen “push-buttons” commands. Blue text is used for hyperlinking to other sections within this document or to external documents or websites.
  • Page 9 Introduction 1.7 LD900 notices The following notices apply to the LD900: 1.7.1 Waste electrical and electronic equipment The Waste Electrical and Electronic Equipment Directive (hereinafter referred to as the “WEEE directive”) places an obligation on EU-based manufacturers, distributors, retailers and importers to take-back electronics products at the end of their useful life.
  • Page 10 Introduction 1.7.2 FCC This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. LD900 has been tested and found to comply with the radiated and conducted emission limits for a Class B digital device.
  • Page 11 Introduction 1.7.3 European Union / United Kingdom (UK) 1.7.3.1 Radio Equipment Directive Veripos declares that the LD900 including its Wi-Fi transceiver is in compliance with EU Directive 2014/53/EU UK Regulations S.1. 2017/1206 Radio Information: Description of Service: Wi-Fi (802.11b/g/n) Operational Frequency: 2412 MHz to 2462 MHz Modulation: OFDM Rated Power: 16.38 dBm The full text of either the UK or EU Declaration of Conformity may be obtained from Veripos upon request.
  • Page 12 Nothing herein constitutes a binding obligation on Hexagon. The information contained herein is subject to change without notice. © Copyright 2024 Hexagon AB and/or its subsidiaries and affiliates. All rights reserved. A list of entities within the Hexagon Autonomy & Positioning division is available at https://hexagon.com/company/divisions/autonomy-and-positioning.
  • Page 13 Introduction 1.9 Equipment care 1.9.1 Unpacking and inspection Carefully unpack and inspect the equipment, verifying receipt of all major items and ancillary equipment. If any items are missing, contact Veripos or the system supplier as soon as possible. If the equipment appears damaged, contact Veripos for further advice ensuring to retain the original packaging.
  • Page 14 Hardware overview 2 Hardware overview This section provides an overview of the LD900 receiver and details the physical characteristics of the system and the different models. 2.1 System overview The LD900 is a high precision system built into a rugged enclosure and designed to operate reliably in the most demanding of marine environments.
  • Page 15 Hardware overview 2.3 Interface and connectors The LD900 features a 3.5” colour MMI with keys to navigate the UI, allowing user configuration and status monitoring. 2.3.1 Front panel interface The LD900 front panel provides a display UI, controls and USB 2.0 port for system updates and data archiving: 2.3.2 Rear panel connectors The LD900 rear panel has several RF and data connectors for interfacing with the unit: Label...
  • Page 16 Hardware overview 2.3.2.1 Serial ports The LD900 has three serial ports: COM1, COM2 and COM3, accessible via 9 pin D-Type connectors and a 15- pin D-Type AUX serial port. Refer to the Cabling and connectors section for more details. Galvanically Port RS-232 RS-422...
  • Page 17 Hardware overview CAUTION If the voltage supplied is below the minimum specification, the receiver will automatically shut down. If the voltage supplied exceeds the maximum specification, the receiver may be permanently damaged and void the warranty. The supply must be capable of providing enough current to operate the LD900. WARNING Only use limited power source AC/DC adapters supplied by Veripos with the product to ensure safety.
  • Page 18 3 LD900 installation This section provides guidance on the installation of the LD900 receiver. In the event of difficulty, contact your supplier or Veripos (support.veripos@hexagon.com). CAUTION The personnel responsible for installing the LD900 system must be properly trained and competent to install electronic equipment.
  • Page 19 LD900 installation 3.1.2 Survey installation (LD900 model) Heading Option Independent L-band Option LD900 Installation and Operations Manual...
  • Page 20 LD900 installation 3.1.3 DP installation (LD900M model) Heading Option LD900 Installation and Operations Manual...
  • Page 21 LD900 installation 3.2 Rack mount formats The LD900 can be supplied in rack-mountable formats. Single formats integrate a single LD900 with optional extras and easy access to configurable ports, while a dual format provides two LD900s within a single enclosure. All can be shipped with a Veripos PC capable of running the Veripos Quantum software. 3.2.1 Single format rack mount Alongside an LD900 the single format rack mount can also be provided with a Moxa 8 serial port expansion unit and/or UHF receiver as required.
  • Page 22 LD900 installation The single format rack mount system has many of the internal interconnections preinstalled, with the remaining connections to be finalised at installation: Connection Prewired? LD900 antenna/s (L-band, GNSS, MF) LD900 1PPS LD900 COM ports (1-3) LD900 LAN ports LD900 UHF receiver data LD900 DC power Moxa DC power...
  • Page 23 LD900 installation Within a minimal footprint, the MOXA PC Rack efficiently hides the PC within the enclosure while allowing rear access to COM ports and embedding power switch and USB port access into the front plate. Further information regarding the Moxa MC3201 PC used within this solution is available with the Reference information chapter and for connection and further capability information please contact your Veripos account...
  • Page 24 LD900 installation 3.2.3 Dual format rack mount The dual format rack mount securely mounts two LD900 units in an equipment rack with a removable front facia: 3.2.4 LD900 and Veripos PC – Ethernet cabling setup For setups that are supplied with a Veripos PC, Ethernet cabling should be connected as follows: •...
  • Page 25 LD900 installation 3.2.5 LD900 and Veripos PC – Network bridge setup Once the Ethernet connections have been established, the PC ports will need to be bridged together. Within Windows, on the Veripos PC, go to Start, type Ethernet Settings and press Enter. In the window that opens, under Related settings, select Change adapter options.
  • Page 26 LD900 installation 3.3 LD900 location guidelines When choosing installation locations, the following requirements should be taken into consideration: • Ensure adequate ventilation for free airflow to the main unit. This is especially important when working in hot or humid conditions. See section Ventilation requirements for more details.
  • Page 27 LD900 installation 3.5 Ventilation requirements The LD900 needs 15-25mm minimum clearance all-round to allow a flow of air: 15-25mm 15-25mm 15-25mm 3.6 Antenna installation This section provides general guidance on the installation of antennas and cabling when installing the LD900 receiver.
  • Page 28 LD900 installation 3.6.2 LD900 models and coaxial connections The below table lists the LD900 models and which antenna is required to be connected to each connector: ‘LBAND’ TNC* ‘GNSS1’ TNC ‘GNSS2’ TNC** ‘BEACON’ TNC Model name LD900L (L-band) LD900 (L-band & GNSS) V560 V560 LD900M (L-band, GNSS &...
  • Page 29 LD900 installation • A mounting pole can be used with a 5/8"x11 UNC threaded end (standard marine mount). The pole can be attached by welding, or by using “U” clamps. This method allows the antenna to be mounted without the need for a bracket. •...
  • Page 30 LD900 installation In the next example, GNSS1 and GNSS2 are installed perpendicular to vessel centreline with the GNSS1 at the port side and GNSS2 at the starboard side. A larger correction offset (C-O) would be required in the navigation software to align the GNSS heading to Vessel Heading. GNSS1 Vessel heading...
  • Page 31 LD900 installation 3.6.5 UHF antenna If the LD900 is interfaced to a UHF receiver module, a colinear UHF Antenna will need connecting to the UHF receiver. The UHF antenna should be ideally 2 metres away from other antennas. The metal brackets and metal base of the UHF antennae should be installed below the line of sight of GNSS or L-band antennas.
  • Page 32 LD900 installation Typical cable installation in a bridge mast area 3.8 LD900 Web User Interface (WebUI) The inbuilt WebUI of the LD900 provides the ability to authorise additional features to enhance system functionality and perform firmware upgrades. To access the WebUI, connect a PC to the LD900 LAN2 (directly or via a network), ensuring the PC ethernet adapter is on the same subnet as the LD900 LAN2.
  • Page 33 LD900 installation CAUTION Do not attempt to perform the Authorisation code upgrade while the LD900 system is in operations. To purchase Heading, Secondary Positioning or INS functionality, e-mail the serial number of the LD900 system to your Veripos account manager, who will supply a corresponding authorisation code. The following is an example of a Heading authorisation code: G23TDN,GFCHC3,PPT4W9,33FXDB,BDC3J5,FFNRYNTVEA The red text is a secure code specific to the quoted LD900 serial number, and the blue text is the upgraded...
  • Page 34 LD900 installation After pasting the Auth code, press the Apply button, and the system will display the following prompt: Select Yes and allow the LD900 system time to restart. Once the system has restarted, the new functionality can be enabled and configured. LD900 Installation and Operations Manual...
  • Page 35 LD900 installation Applying firmware updates Under instruction from Veripos Support, users can apply firmware updates via either the front LCD panel and controls or the LD900 WebUI, as detailed below. To upgrade via the WebUI 1. Place a copy of the required LD900 upgrade zip file in a known folder (e.g. the desktop). 2.
  • Page 36 LD900 installation Once the upgrade is complete, the following message is displayed: The LD900 will restart and will be available for operational use. LD900 Installation and Operations Manual...
  • Page 37 Configuration and operations 4 Configuration and operations The LD900 can be configured via the front LCD panel and controls or by using a licensed version of the Veripos Quantum software. For information on configuration using Quantum, please see the Quantum User Manual.
  • Page 38 Configuration and operations NOTE A user can return to the Status page anytime by pressing the Home button. 4.4 Status (LD900L model) The Status page of the L-band-only LD900L model will display beam and signal strength information based on user location, with the Menu page accessible by pressing the front panel tick button: The use of Traffic light indicators conveys three different beam states (red is <32.5dB/Hz, amber is <36.5dB/Hz &...
  • Page 39 Configuration and operations 4.5.1 Status > Positioning overview 4.5.1.1 Positioning indicator states = Position corrected = Position uncorrected (or) PPP settling = No active position Positioning mode in use will be highlighted ( PPP = Apex (or) Ultra DGNSS = Standard, MF or SBAS An INS aided position will be highlighted ( 4.5.1.2 Corrections indicator states...
  • Page 40 Configuration and operations 4.5.1.5 INS indicator states The INS status is shown only when licensed. Note when INS is authorised the heading will be displayed within the page. = INS converged = INS settling = INS inactive = INS not configured An INS aided position is highlighted ( 4.5.2 Status >...
  • Page 41 Configuration and operations 4.5.3.1 Status > Corrections > RTK The RTK page displays the station ID and the correction age value. 4.5.3.2 Status > Corrections > VERIPOS The VERIPOS page displays following: • Beam - Tracked L-band beam name • Signal Quality - Signal strength in dB/Hz >36.5 <36.5...
  • Page 42 Configuration and operations 4.5.3.5 Status > Corrections > SBAS The SBAS page displays the satellite PRN code and signal strength of the satellite used for corrections. 4.5.4 Status > GNSS The GNSS page displays the number of satellites used and tracked for each constellation, the DOP values, and the tracking Elevation Mask.
  • Page 43 Configuration and operations 4.7 Configuration Configuration menu page provides control of system settings, with the exact menu options visible depending on your particular LD900 model type. Starting with Positioning, this section details the different menu options and the corresponding configuration settings available. 4.7.1 Configuration >...
  • Page 44 Configuration and operations PPP Mode can be set to Apex (default), Ultra or Auto. On systems with corrections subscriptions that include both Ultra and Apex, using ‘Positioning Mode: Auto’ will prioritise Apex and only change to Ultra if Apex becomes unavailable. To set the Mode click on Edit and use the arrow keys to select Apex, Ultra or Auto as required, followed by tick.
  • Page 45 Configuration and operations PPP DQI The PPP DQI value is set to 2 by default but can be toggled between 2 and 5 as required. 4.7.1.3 Configuration > Positioning > TRINAV Config As part of configuring port outputs, users may also wish to define the TRINAV Version and Nav Point used. Version The Version is set to V3 by default but can be toggled to V4 as required.
  • Page 46 Configuration and operations 4.7.1.4 Configuration > Positioning > NMEA Talker Within the Positioning menu page is the NMEA Talker setting. The NMEA talker is set to AUTO by default but can be toggled between AUTO and GP as required. NOTE Changing the NMEA Talker configuration from...
  • Page 47 Configuration and operations 4.7.2 Configuration > Corrections Within the Corrections menu page, users can make VERIPOS LBAND, VERIPOS GNSS1, MF, UHF, SBAS, RTK and NTRIP changes by clicking on the corresponding Edit options: 4.7.2.1 Configuration > Corrections > Primary/VERIPOS GNSS1 L-band beam tracking is required to receive Veripos correction service data.
  • Page 48 Configuration and operations Beam The LD900 receiver supports multi-channel L-band tracking, providing reception of services from up to three satellites broadcasting Veripos corrections simultaneously, reducing the risk of satellite masking or blocking and ensuring continuous reception of Veripos correction services. Auto is the recommended L-band selection as this will automatically select the three highest elevation working L-band beams for your location and merge all the correction information within the position calculations.
  • Page 49 Configuration and operations HDR Mode HDR Mode is set to Off by default but can be set to On to assist with L-band tracking when potential interference sources are present. HDR Mode uses signal processing to dampen potential sources of RF distortion, at the cost of increased CPU usage.
  • Page 50 Configuration and operations 4.7.2.3 Configuration > Corrections > UHF UHF Mode allows the user to select either Off (default) or Manual tracking. When set to Manual, the user will be prompted to enter a frequency. To configure UHF Mode, click on Edit and using the arrow keys select Off, or Manual as required followed by tick.
  • Page 51 Configuration and operations Press tick to select Edit and use the arrow buttons to select Off or AUTO as required. Then use the arrow keys and tick to select Apply, right to select Yes and tick to apply the required change: 4.7.2.6 Configuration >...
  • Page 52 Configuration and operations 4.7.3.1 Configuration > GNSS > Elevation Mask The LD900 will not track satellites below the Elevation Mask value. The default mask value of 10 degrees prevents GNSS satellites on or below a 10 degrees elevation from being tracked. Veripos recommends having the tracking elevation mask set to the default value for optimal performance.
  • Page 53 Configuration and operations 4.7.3.4 Configuration > GNSS > Interference Detection Interference Detection is set to Off by default but can be set to On to provide an alert on the Error Code Page if interference sources are detected. To toggle Interference Detection to Disabled or Enabled select Edit and use the arrow keys to select Disabled or Enabled as required, followed by tick.
  • Page 54 Configuration and operations 4.7.4 Configuration > Ports LD900 data input and output are available via serial or network using TCP or UDP protocols. A Moxa serial port expansion unit can convert network to serial where required, providing eight additional serial ports. Users can make changes within the Ports menu page to the LD900...
  • Page 55 Configuration and operations Once returned to the COM# Settings page, use the arrow buttons to highlight Additional Settings and tick to Edit. Use the up and down arrow buttons to navigate through the options and tick to Edit as required: The Additional Settings options are as follows: •...
  • Page 56 Configuration and operations Selecting Output > INS provides a choice of INSPVA (default), HEAVE, TSS1, STDEV, SHEAVE or DHEAVE, with a selection of BESTPOS or BESTGPSPOS available when choosing Output > Others. COM 1 – INS Output options COM 1 – Others Output options When selecting Output >...
  • Page 57 Configuration and operations After selecting the Interface Type the next stage is to configure the IP interface details (note there is no End Point configuration for data outputs): ICOM1 – Input options ICOM1 – Output options CAUTION If changing the Port number, a system reboot will be required before any changes can take effect. Enter the Port number (from 1 to 65535) and select the Protocol (TCP or UDP).
  • Page 58 Configuration and operations If selecting Input, a choice of VRTCM (Veripos format RTCM), RTCMV2, RTCMV3, CMR, IOLAN and NOVATELX will be shown. If selecting Output, a choice of NMEA, UKOOA, TRINAV, VTRCM and Others will be shown, with an additional INS option shown if licensed. Use the arrow buttons and tick to choose the appropriate response: COM 1 –...
  • Page 59 Configuration and operations Once returned to the P# Settings page, use the arrow buttons to highlight Additional Settings and tick to Edit. Use the up and down arrow buttons to navigate through the options and tick to Edit as required: The Additional Settings options are as follows: •...
  • Page 60 Configuration and operations If selecting Output > INS a choice of INSPVA (default), HEAVE, TSS1, STDEV, SHEAVE or DHEAVE will be shown, alternatively if selecting Output > Others a choice of BESTPOS or BESTGPSPOS will be shown: P1 – INS Output options P1–...
  • Page 61 Configuration and operations Configuration > Heading > Heading Offset The heading offset is often referred to as the C-O (computed minus observed). The offset will adjust for any misalignment of the GNSS antenna baseline and the vessel centre line. Entering an accurate heading offset is also an important configuration for INS enabled system.
  • Page 62 Configuration and operations 4.7.6.2 Configuration > INS > IMU Port To configure the IMU Port click on Edit and using the arrow keys and tick select COM1, COM2 or COM3 (default) as required, followed by tick. Then use the arrow keys to select Apply, tick to select Yes and tick to apply the change: 4.7.6.3 Configuration >...
  • Page 63 Configuration and operations 4.7.6.5 Configuration > INS > User Offset The optional User Offset is the X, Y, and Z distance in metres from the IMU centre of navigation a user- defined point to the Offset location. This user-defined reference point is used for the INS position as output within the INSPVA log.
  • Page 64 Configuration and operations 4.8 Receiver The Receiver menu page provides information and control of the receiver related settings. This section details the different menu options and the corresponding settings available. 4.8.1 Receiver > Details The Details page displays the LD900 User Code and Software Version: 4.8.2 Receiver >...
  • Page 65 Configuration and operations 4.8.3 Receiver > Network The LD900 is preconfigured with a static IP address of 192.168.2.91 for LAN1 and 192.168.2.92 for LAN2. However, either IP address can be changed to a different static IP address or switched to use DHCP. The system can also be set to operate as a Wi-Fi Access Point (AP).
  • Page 66 Configuration and operations 4.8.3.2 Receiver > Network > Wi-Fi Options to configure Wi-Fi exist however, these are intended for use with potential future developments and should be left Off. 4.8.4 Receiver > Antenna Voltage The LD900 allows for GNSS Primary, GNSS Secondary, L-band and MF Antenna Voltages to be configured. 4.8.5 Receiver >...
  • Page 67 Configuration and operations 4.8.7 Receiver > Export Within the Export page, the Export Now option is available. In the event of receiver issues such as loss of solution, this option provides a method for exporting data to USB drive (FAT32 format) for further analysis. The LD900 will retain the last 72 hours of logs.
  • Page 68 Configuration and operations 4.8.9 Receiver > Logging The Logging page displays the status of internal system logging. 4.8.10 Receiver > Regulatory The Regulatory page contains UKCA, CE and FCC compliance information: LD900 Installation and Operations Manual...
  • Page 69 Configuration and operations 4.9 Help & Support Should support be needed the Help & Support menu page provides access to Veripos support contact information and system error codes for use in troubleshooting. 4.9.1 Help & Support > Contact Details The Contact Details page provides details for contacting Veripos with support related queries and activation requests: 4.9.2 Help &...
  • Page 70 Troubleshooting 5 Troubleshooting The LD900 uses a colour LCD screen and navigation panel to provide status information and help with troubleshooting issues. CAUTION Front and rear panels should not be removed. Please contact your Veripos project manager if maintenance is required. Most potential problems that might occur when using this system will relate to signal reception problems or configuration errors.
  • Page 71 Troubleshooting 5.4 L-band signal issues Fault description Possible cause Solution Refer to the L-band coverage map check that selected beam is appropriate for work region, amending if required. Setting L-band to Auto will mitigate against Selected L-band beam unavailable in the the need to do this.
  • Page 72 Troubleshooting frequency as GNSS, as well as high power transmissions of other frequencies. Check antenna and cabling for DC power Antenna disconnected or inoperative as well as signs of damage. Check Receiver > Antenna to ensure that GNSS antenna voltage turned off. voltage is switched on for the GNSS Primary (GNSS1) antenna.
  • Page 73 Troubleshooting Navigate to Configuration > Heading and GNSS Heading not enabled confirm that State is set to Enabled. If not proceed to set to Enabled. Check Receiver > Antenna to ensure that GNSS antenna voltage turned off. voltage is switched on for the GNSS Secondary (GNSS2) antenna.
  • Page 74 Reference information 6 Reference information 6.1 Technical specifications 6.1.1 Dimensions Note: All measurements shown are in millimetres. LD900 Installation and Operations Manual...
  • Page 75 Reference information 6.1.2 Mechanical specifications Equipment complies with EN/IEC 60945 (Protected Equipment). 6.1.3 Compass safe distance Standard Compass Distance: 30 cm Steering Compass Distance: 15 cm 6.1.4 Environmental specifications Operating temperature range -15°C to +55°C Maximum relative humidity 95% non-condensing 6.1.5 Electrical specifications Voltage +12 to +24 VDC...
  • Page 76 Reference information 6.2 Cabling and connectors 6.2.1 Power cable (DC) J1 Pins From Tag name FLYING LEAD PWR+ FLYING LEAD PWR- 6.2.2 Power adapter (AC) J1 Pins LD900 Installation and Operations Manual...
  • Page 77 Reference information 6.2.3 COM 1-3 serial COM ports RS232 RS422 6.2.4 COM 4 serial COM port Function RS232 RS422 EVENT_GND COM4 COM4 COM5 COM5 EVENT_IN COM4 COM4 COM5 COM5 COM6 COM6 COM6 COM6 6.2.5 Moxa (male) pinouts RS232 RS422 – –...
  • Page 78 Reference information 6.3 Veripos H70 PC specifications Note: All measurements shown are in millimetres. Dimensions W x D x H (mm) 430 x 203 x 44.4 (1U 19’’ Rackmount) 6.3.1 Technical specifications Intel Core i5 processor 8GB RAM 250GB SSD Dual gigabyte Ethernet Audio output (3.5 mm jack) Intel HD graphics...
  • Page 79 Reference information MC3201 6.3.3 Moxa Dimensions LD900 Installation and Operations Manual...
  • Page 80 Reference information Specifications Computer Intel® Core™ i7-1185G7E processor Graphics Controller Intel® Iris® Xe Graphics System Memory Pre-installed 8 GB DDR4 System Memory Slot SODIMM DDR4 2133 slot x 2 Supported OS Windows 10 Embedded IoT Ent 2019 Computer Interface Ethernet Ports 10/100/1000 Mbps ports LAN x 4 Serial Ports RS-232/422/485 ports x 2...
  • Page 81 Reference information 6.4 LD900 output sentences This section outlines the message structure of the following message output types: • • • • INSPVA • • • • HEAVE • • • • TSS1 • • • • TRINAV PASHR Veripos UKOOA •...
  • Page 82 Reference information 6.4.2 GGA sentence The NMEA GGA sentence contains time and position fix related data for a GPS system. It includes basic quality information, which is limited to ‘Fix Quality’, ‘Number of Satellites in Use’, ‘HDOP’ and ‘Age of Corrections’. GGA sentence structure &...
  • Page 83 Reference information 6.4.3 GST sentence The NMEA GST sentence provides error statistics of the position fix. These statistics follow from the position calculation process. GST sentence structure & example $GNGST, hhmmss.ss, a.aa, b.bb, c.cc, d.dddd, e.ee, f.ff, g.gg *hh $GNGST, 024603.00, 1.47, 0.11, 0.07, 28.3688, 0.10, 0.08, 0.16 *58 GST sentence defined Field Content...
  • Page 84 Reference information 6.4.5 GSA sentence The NMEA GSA sentence contains the GNSS receiver operating mode, active satellites used in the navigation solution, and DOP values. GSA sentence structure & example $GNGSA, a, 1, cc, cc, cc, cc, cc, cc, cc, cc, cc, cc, cc, cc, d.d, e.e, f.f *hh $GNGSA, a, b, 02, 12, 15, 20, 21, 24, 25, 29, 32, , 1.7, 0.9, 1.5 *58 GSA sentence defined...
  • Page 85 Reference information 6.4.7 GLL sentence The NMEA GGL sentence provides latitude and longitude position data for the present position. GLL Sentence structure & example $GNGLL, ddmm.mmmmmmm, a, dddmm.mmmmmmm, b, hhmmss.ss, S, I *hh $GNGLL, 5708.7104685, N, 00217.1169613, W, 062859.00, A, D *72 GLL sentence defined Field Content...
  • Page 86 Reference information 6.4.9 GRS sentence The NMEA GRS sentence provides range residuals for each satellite. GRS sentence structure & example $GNGRS, hhmmss.ss, a, b.b, b.b, b.b, b.b, b.b, b.b, b.b, b.b, b.b, b.b, b.b, b.b, ,cc ,dd *67 $GNGRS, 142406.00, 1, -1.1, -0.1, 1.7, 1.2, -2.0, -1.3, 1.3, -0.4, -1.2, -0.2, , 1, 1, *hh GRS sentence defined Field...
  • Page 87 Reference information 6.4.10 RMC sentence The NMEA RMC sentence provides essential GPS PVT (position, velocity, time) data. RMC sentence structure & example $GNRMC, hhmmss.ss, a, ddmm.mmmmmmm, b, dddmm.mmmmmmm, c, dd.ddd, eee.e, ddmmyy f.f, g, h *hh $GNRMC, 143909, A, 5107.0020216, N, 11402.3294835, W, 0.036, 348.3, 210307, 0.0, E, D *31 RMC sentence defined Field...
  • Page 88 Reference information 6.4.12 TRINAV sentences (V3 & V4) TRINAV version 3 sentence example [WGPOS,3,1,OEM7VERI,APEX5,OM7MR0702AN0006,1041,392609.00,0.0,57 12.08207N,002 11.53782W,114.421,0.7,1.2,,0.005948,0.000899,0.004640,0.030111,0.14,3,1,3,16,0,1,8,10,11,14,20,22,27,28,3 2,65,66,67,73,81,82,] TRINAV version 3 sentence defined Content Format Unit Notes Start character $WGPOS Format version = 3 for this version Nav. point no. See comment 1 System name/version Name + version of DGPS system.
  • Page 89 Reference information TRINAV version 3 definitions commentary 1. The "Nav point no." is a unique integer identifying the position. It should be manually entered into the software according to requests from Positioning Engineers. Alternatively, this should start from 1 and be incremented if several positions are output from the same system.

  • Page 90: Horizontal Dilution Of Position Vertical Dilution Of Position

    Reference information TRINAV version 4 sentence example [WGPOS,4,1,OEM7VERI,APEX5,OM7MR0702AN0006,1041,396729.00,0.0,57 12.08195N,002 11.53806W,113.340,0.7,0.9,,0.285460,0.009316,0.156003,0.663714,1.33,3,2,G,R,1,0,0,0,1,M3,IOR,25E,AOR W,18,2,G01,G03,G08,G10,G11,G14,G17,G18,G22,G28,G32,R02,R03,R09,R11,R17,R18,R19,777,706,] TRINAV version 4 sentence defined Content Format Unit Notes Start character $WGPOS Format version = 4 for this version Nav. point no. See comment 2 System Application name and version, space separated e.g. Quantum 3.0.0.0 Service level Highest enabled service permitted e.g.
  • Page 91 Reference information Content Format Unit Notes No. of SV’s (n) No. of GNSS satellites used for this fix No. of ref. stations (r) No. of ref. stations used for fix. Set to 0 for non-differential solutions GNSS satellites used for this fix in RINEX format (G-GPS, R-GLONASS, E- PRN’s of SV’s used Galileo, C-BeiDou).
  • Page 92 Reference information TRINAV V4 correction source codes: Type code Meaning L-band only, always followed by 1 (i.e. L1) L-band multi-channel, followed by number of links tracked (e.g. M3) Internet source, always followed by 0 (i.e. I0) Other, always followed by 0 (i.e. O0) LD900 Installation and Operations Manual...
  • Page 93 Reference information 6.4.13 PASHR sentence The PASHR log uses a UTC time, calculated with default parameters, to output NMEA messages without waiting for a valid almanac. The UTC time status is set to WARNING since it may not be 100% accurate. When a valid almanac is available, the receiver uses the real parameters and sets the UTC time to VALID.
  • Page 94 Reference information 6.4.14 INSPVA sentence The INSPVA log allows INS position, velocity and attitude, with respect to the SPAN frame, to be collected in one log, instead of using three separate logs. INSPVA sentence example #INSPVAA,COM1,0,31.0,FINESTEERING,1264,144088.000,02040000,5615,1541;1264,144088.002284950, 51.116827527,-114.037738908,401.191547167,354.846489850,108.429407241,-10.837482850,1.116219952, -3.476059035,7.372686190,INS_ALIGNMENT_COMPLETE*af719fd9 INSPVA sentence defined Field Content Notes...
  • Page 95 Reference information 6.4.15 Heave The Heave log provides vessel heave computed by the integrated heave filter. Heave sentence example #HEAVEA,USB1,0,38.5,FINESTEERING,1630,232064.599,02000000,a759,6696;1630,232064.589885392,0.0 86825199*93392cb4 Heave sentence defined Field Notes Heave computed by integrated heave filter. Header is terminated by a semicolon ‘;’ HEAVE Header Week GNSS Week Seconds into week...

  • Page 96: Table Of Contents

    Reference information 6.4.17 Veripos UKOOA sentence The Veripos UKOOA sentence is compliant with OGP 373-19 and IMCA S015 (July 2011). For further information relating to these standards please visit https://www.iogp.org and https://www.imca-int.com. Veripos UKOOA sentence example [ 212 OEM7VERI 1 2097 228977.0 +0.1 +20.0 57 12.082074N 002 11.537819W 64.045 +50.40 1.296 0.750 1.057 7 0.097 0.891 0.06 0.007 +0.001 0.006 0.027 0.22 0.18 031.9 P 11{31 29 26 04 25 21 16 05 12 14 02} 1{0068}] Veripos...
  • Page 97 Reference information Field Content Notes 131…137 Variance latitude 138…145 Covariance lat/long 146…152 Variance longitude 153…159 Variance height 95% Error ellipse Shows 95% confidence level of the semi-major axis of the error ellipse in 160…165 semi major axis metres. 95% Error ellipse Shows 95% confidence level of the semi-minor axis of the error ellipse in 166…171 semi minor axis...
  • Page 98 Reference information 6.4.18 BESTPOS / BESTGPSPOS This log contains the best available GNSS position (without INS) computed by the receiver. In addition, it reports several status indicators, including differential age, which is useful in predicting anomalous behaviour brought about by outages in differential corrections. A differential age of 0 indicates that no differential correction was used.
  • Page 99 All initial contacts regarding technical or support issues should be addressed to Veripos Support. Where appropriate Support will refer issues to the regional operations and engineering teams. 7.1 Veripos Support details Veripos Support website https://veripos.com/support Veripos Support telephone +44 1224 965900 Veripos Support e-mail support.veripos@hexagon.com LD900 Installation and Operations Manual...
  • Page 100 Appendix 8 Appendix 8.1 Summary specification of antennas 8.1.1 Veripos V86 L-band antenna Fitted with a narrow band filter for interference mitigation A gain: 36dB DC voltage input: 5.0 to 15.0V RF input connector: N-type female Material: Weatherproof polymer plastic Standard land survey 5/8”...
  • Page 101 Appendix The below diagram shows the ARP at the antenna base and the antenna north alignment reference: V560 ARP & north alignment reference The table below details the V560 north, east and up phase centre values for the GNSS L1 and L2 frequencies: Relative to antenna reference point (ARP) GNSS Frequency North (mm)
  • Page 102 Appendix 8.2 Summary specification of cabling Veripos typically provide with the system pre-terminated cables and tails for use with both L-band and GNSS antennas (see the Delivery note). Veripos recommend the use of Times Microwave coaxial LMR cable for installation of all antennas. 8.2.1 Times LMR 400 coaxial cable 8.2.1.1 Electrical specifications...
  • Page 103 Appendix 8.2.2 Times LMR 240 coaxial cable 8.2.2.1 Electrical specifications Performance Property Units (metric) Attenuation @1.5GHz: 30.77m (100ft.) 9.9dB 100m 32.4dB Velocity of propagation Dielectric constant 1.42 Time delay nS/ft (nS/m) 1.21 (3.97) Impedance Capacitance pF/ft (pF/m) 24.2 (79.4) Inductance uH/ft (uH/m) 0.060 (0.20)
  • Page 104 Appendix 8.3 Default system settings Configuration System default To change see PPP Positioning Mode APEX Configuration > Positioning > Mode TRINAV Version Configuration > Positioning > TRINAV Config TRINAV NAV Point GGA Precision GGA PPP DQI Configuration > Positioning > NMEA Config NMEA Talker AUTO RTK Corrections...
  • Page 105 Appendix Configuration System default To change see MOXA Port Protocol (P1-7) RS232 MOXA Port Data (P1-7) NONE ICOM Protocol (ICOM1-7) Configuration > Ports > P (1 to 8) ICOM Data (ICOM1-7) NONE ICOM1 Socket 3001 ICOM2 Socket 3002 ICOM3 Socket 3003 Configuration >...
  • Page 106 Appendix 8.4 L-band coverage map LD900 Installation and Operations Manual...