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OXTS AV200 User Manual

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AV200
xNAV650

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Summary of Contents for OXTS AV200

  • Page 1: Av200 Xnav650

    AV200 xNAV650...

  • Page 2: Legal Notices

    OXTS. Specifications mentioned in this publication are subject to change without notice and do not represent a commitment on the part of OXTS. This publication supersedes and replaces all information previously supplied. OXTS products are not authorised for use as critical components in life support devices or systems without express written approval of OXTS.

  • Page 3: Warranty

    Date of Sale. “Date of Sale” shall mean the date of the OXTS invoice issued on delivery of the product. The responsibility of OXTS in respect of this warranty is limited solely to product replacement or product repair at an authorised location only.

  • Page 4: Table Of Contents

    Connection details for ethernet configuration ......................23 Internal storage .............................. 24 Electrical specifications ......................24 Specifications ........................25 Notes on specifications ..........................26 Export control classification number ......................27 Registered in England and Wales No. AV200/xNAV650 product manual | 4 3534778. VAT GB 704 8399 17...
  • Page 5 Figure 1: AV200x and xNAV650 front view ....................11 Figure 2: AV200 and xNAV650 top view .......................12 Figure 3: AV200 and xNAV650 dimensions and measurement origin point (mm) ......13 Figure 4: AV200 and xNAV650 coordinate frame axes ................. 15 Figure 5 AV200 and xNAV650 main connector pin layout ..............
  • Page 6 Table 9: AV200 and xNAV650 user cable pin description ..............20 Table 10: I/O interface electrical specifications ..................24 Table 11: PPS electrical specifications ....................... 24 Table 12: AV200 and xNAV650 performance specifications ..............25 Table 13: AV200 and xNAV650 inertial sensor specifications.............. 26 Table 14: AV200 and xNAV650 physical characteristics ...............

  • Page 7: Introduction

    The enclosure used for the AV200 and xNAV650 is not IP rated so should not be exposed to dust or water ingress. It is intended for use in pollution degree 2 locations.

  • Page 8: Related Documents

    Related documents This manual covers the installation and operation of the AV200 and xNAV650, but it is beyond its scope to provide details on service or repair. Please contact OxTS support or your local representative for customer service-related enquiries. Additional manuals provide further information on some of the software and communication types mentioned in this manual.

  • Page 9: Scope Of Delivery

    Scope of delivery The AV200 can be supplied in two variations: base kit or evaluation kit. The evaluation kit includes additional items that allow users to quickly and easily set up and evaluate the system. Table 2 shows what is included in each kit variation.

  • Page 10: Conformance Notices

    RF radiations within 70 MHz of either the L1 GPS frequency (1575 MHz) or L2 (1228 MHz). The AV200 and xNAV650 conform to the requirements for CE. Do not remove the label from the device. Regulator testing standards BS EN 61326-1:2021 - Electrical equipment for measurement, control and laboratory use.

  • Page 11: Hardware Description

    Figure 1 and Figure 2 show the key points of note on the AV200and xNAV650. The numbered labels are described in Table 3. Figure 1: AV200x and xNAV650 front view Registered in England and Wales No. AV200/xNAV650 product manual | 11 3534778. VAT GB 704 8399 17...

  • Page 12: Dimensions

    AV200 and xNAV650 points of interest Dimensions Figure 3 shows the outer dimensions of the AV200 and xNAV650, the mounting points, and the measurement origin point. When making measurements required in the configuration files, measurements should be made from the origin point.

  • Page 13: Figure 3: Av200 And Xnav650 Dimensions And Measurement Origin Point (Mm)

    Figure 3: AV200 and xNAV650 dimensions and measurement origin point (mm) Registered in England and Wales No. AV200/xNAV650 product manual | 13 3534778. VAT GB 704 8399 17...

  • Page 14: Led Definitions

    Description The operating system has not yet booted (this occurs at start-up). Red-green flash The system is asleep. Contact OxTS support for further information. Red flash The operating system has booted but the GNSS receiver has not yet output a valid time, position, or velocity.

  • Page 15: Coordinate Frame

    Y-axis points right and the positive Z-axis points down. The AV200 and xNAV650 can be mounted in any orientation, it is not necessary for its axes to match those of the host vehicle. The configuration file will specify the transformation from the IMU frame to the vehicle frame.

  • Page 16: Design-In

    Design-in Main connector The main I/O connector on the AV200 and xNAV650 is a 15-way Micro D-sub. Figure 5 shows the pin layout. Figure 5 AV200 and xNAV650 main connector pin layout Registered in England and Wales No. AV200/xNAV650 product manual | 16...

  • Page 17: Table 7: Main Connector Pin Description

    Pulse per second synchronisation output Signal ground Signal ground Supply- Power supply - Supply- Power supply - Table 7: Main connector pin description Registered in England and Wales No. AV200/xNAV650 product manual | 17 3534778. VAT GB 704 8399 17...

  • Page 18: Pps

    Note that triggers are pulled up internally to allow a switch to be used to short them to GND. User cable The AV200 evaluation kit and the xNAV 650 are supplied with a standard user cable for quick access to the main interfaces. Figure 7 shows the cable diagram for the AV200 cable, while Figure 8 shows the Registered in England and Wales No.

  • Page 19: Figure 7: Av200 User Cable

    120 Ω terminating resistor must be added between the CAN+ and CAN- pins. Registered in England and Wales No. AV200/xNAV650 product manual | 19 3534778. VAT GB 704 8399 17...
  • Page 20 The AV200 and the xNAV650 are not IP rated so should not be mounted where they will be exposed to rain. Suitable for pollution degree 2 locations.

  • Page 21: Mounting

    If the vehicle experiences high shocks, then vibration mounts may be required. Figure 9 shows the mounting points for the AV200 and xNAV650. The mounting holes are suitable for M3 threaded screws.

  • Page 22: Orientation And Alignment

    It is important to get the order of the rotations correct. The AV200 and xNAV650 can be mounted at any angle in the vehicle as long as the orientation is described in the configuration. This allows the outputs to be rotated based on the settings entered to transform the measurements to the vehicle frame.

  • Page 23: Ethernet Configuration

    Following the in-line coupler, a normal, straight UDP Cat 5e cable can be used to connect the coupler to the hub. The AV200 and xNAV can be connected directly to an ethernet card in a computer. To do this a crossed in-line coupler must be used.

  • Page 24: Internal Storage

    Internal storage The AV200 and xNAV650 use a 32 GB eMMC for storage of hardware information, configuration files, and navigation data. Files can be sent to, or retrieved from, the card via FTP or with the software utilities provided (NAVconfig for configuration files and NAVsolve for data files).

  • Page 25: Specifications

    Heading accuracy 0.1° 1σ Table 12: AV200 and xNAV650 performance specifications 1Typical values, subject to ionospheric/tropospheric conditions, satellite geometry, baseline length, multipath. Requires clear view of the sky and appropriate differential corrections to achieve full specification. 2Using dual antenna with 1 m separation baseline. Higher accuracy can be achieved with wider antenna separation.

  • Page 26: Notes On Specifications

    Gyros Value Full range ±480°/s In-run bias stability 5°/hr Scale factor 0.3% 0.48°/√hr Table 13: AV200 and xNAV650 inertial sensor specifications Parameter Value Input voltage 5-30 V dc Power consumption Dimensions 77 × 63 × 24 mm Mass 0.13 kg Operating temperature -40°...

  • Page 27: Export Control Classification Number

    The information presented here is correct at the time of publishing. The accelerometer and gyro sensors used in the AV200 and xNAV650, as well as the AV200 and xNAV650 navigation systems as a whole, do not fall under the requirements for controlled items on the Commerce Control List (CCL).

  • Page 28: Software Installation

    Software installation Included with every OXTS INS is a USB stick containing the software package NAVsuite. This package contains several programs required to take full advantage of the INS’ capabilities. Table 15 lists the contents of NAVsuite. Icon Software Description...

  • Page 29: Figure 11: Windows Firewall Warning Message

    The first time some OxTS applications are run, a firewall warning message similar to that shown in Figure 11 may be triggered. This is because the program is attempting to listen for, and communicate with, OxTS devices on the network. The firewall must be configured to allow each program to communicate on the network, or programs will not work as intended.

  • Page 30: Operating Principles

    Extended Kalman filter Kalman filters can be used to merge several measurements of a quantity and therefore give a better overall measurement. This is the case with position and velocity in the AV200 and xNAV650; the Registered in England and Wales No.
  • Page 31 The Kalman filter tunes these so the GNSS measurements and the inertial measurements match each other as closely as possible. Registered in England and Wales No. AV200/xNAV650 product manual | 31 3534778. VAT GB 704 8399 17...

  • Page 32: Use With Survey Hardware

    Use with survey hardware NOTE that while the instructions below are applicable to both the AV200 and the xNAV650, the xNAV650 has been optimised for use with survey equipment. As such, the instructions below refer to the xNAV650. For using your xNAV650 with a range of different surveying devices we have online support manuals.

  • Page 33: Data Logging

    When LiDAR data is logged in this way it is recorded as .lcom which is identical to a .pcap except without ethernet headers. LCOM and PCAP files work identically in OxTS Georeferencer. Please note that data logging does not work for all LiDAR. Data rates from LiDAR devices can be very large which can be overbearing for the CPU of the xNAV650.

  • Page 34: Pps/Triggers

    PPS signals can be set to have the active edge in the falling or rising edge in this tab also. Check your device’s manual to determine which is required. NCOM (navigation data) packets can be set to output on triggers in the ethernet tab. Registered in England and Wales No. AV200/xNAV650 product manual | 34 3534778. VAT GB 704 8399 17...

  • Page 35: Ptp

    Precision Time Protocol (PTP) is supported according to both the IEEE 1588 standard and the 802.1AS (gPTP) and AUTOSAR profiles of PTPv2. The AV200 and xNAV650 can be configured as either a PTP Grandmaster (synced to GPS time), a PTP slave, taking time from an alternative PTP master clock or as a PTP master taking time from an alternative grandmaster and acting as an intermediate master clock to other time slave devices..
  • Page 36 If the RT3000 v3 was instead in Unix time mode, the following command would be required: lidar_time_offset= -18000000000 Finally, ensure that your survey device is correctly configured to anticipate PTP time synchronisation. Registered in England and Wales No. AV200/xNAV650 product manual | 36 3534778. VAT GB 704 8399 17...

  • Page 37: Appendix A - Ensuring Optimal Operation

    Appendix A – Ensuring optimal operation In order to maximise performance and ensure optimal operation, there are a number of areas to consider during installation and operation of the AV200 and xNAV650 system. Table 17 lists the topics to pay attention to. Topic...

  • Page 38: Appendix B - Drawings

    Optimal operation checks Appendix B – Drawings Table 18 lists the available drawings that describe components of the xNAV650 system. If you require a drawing, or different revision of a drawing, that is not here then contact OXTS. Drawing Revision...
  • Page 39 Registered in England and Wales No. AV200/xNAV650 product manual | 39 3534778. VAT GB 704 8399 17...
  • Page 40 Registered in England and Wales No. AV200/xNAV650 product manual | 40 3534778. VAT GB 704 8399 17...
  • Page 41 Registered in England and Wales No. AV200/xNAV650 product manual | 41 3534778. VAT GB 704 8399 17...

  • Page 42: Revision History

    Integration manual and the xNAV650 user manual. Cable references have been updated to reflect the current cables supplied with the AV200 and xNAV650, and references to cable modifications and wiring diagrams removed as they are no longer relevant. Table 19:...
  • Page 43 Registered in England and Wales No. AV200/xNAV650 product manual | 43 3534778. VAT GB 704 8399 17...
  • Page 44 Registered in England and Wales No. AV200/xNAV650 product manual | 44 3534778. VAT GB 704 8399 17...
  • Page 45 Registered in England and Wales No. AV200/xNAV650 product manual | 45 3534778. VAT GB 704 8399 17...
  • Page 46 Registered in England and Wales No. AV200/xNAV650 product manual | 46 3534778. VAT GB 704 8399 17...
  • Page 47 Office 304, Regus Business Center 41000 Woodward Avenue Suite 350 East, Bloomfield Hills Michigan 48304 +1 248 260 1981 China Room 901-902, 9th Floor, Building C, Guanghualu SOHO II, Building No.9, Guanghualu Chaoyang District, Beijing, 100020, China linkedin.com/company/oxts/ x.com/oxts_official info@oxts.com oxts.com...

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Xnav650

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