Advanced Navigation Boreas D90 Manuals

Manuals and User Guides for Advanced Navigation Boreas D90. We have 2 Advanced Navigation Boreas D90 manuals available for free PDF download: Reference Manual

Advanced Navigation Boreas D90 Reference Manual (196 pages)

Brand: Advanced Navigation | Category: GPS | Size: 11 MB

Table of Contents
2
Revision History
13
Introduction
14
Firmware Changelog
15
Hardware Changelog
15
Evaluation Kit
16
Evaluation Kit Contents
17
Getting Started
19
Part Numbers and Ordering
20
Evaluation Kit
20
Standalone Units
20
GNSS Receiver Licence Upgrades
21
Accessories
22
Specifications
23
Navigation Specifications
23
Dual Antenna Heading Accuracy
24
Sensor Specifications
24
GNSS Specifications
25
Hardware Specifications
25
Mechanical Drawings
26
Cable Bend Radius
27
Serial Number
27
Communication Specifications
28
Electrical Specifications
28
Ethernet Connection
30
IO Connection
30
IO Unterminated Cable
30
IO Breakout Cable
32
Custom IO Termination
34
Installing Boreas
35
Installation Checklist
35
Mounting Boreas
36
Mounting Alignment
38
Cable Bend Radius
39
MIL-DTL-38999 Series III Connector Mating
40
Power Supply
41
Electrical Domains
41
GNSS Antennas
41
Antenna Cables
45
Antenna Suction Cup Mount
45
Antcom Antenna Survey Mount Assembly
46
Networking
46
Odometer
46
Factory VSS Signal
46
OBDII Odometer Interface
47
Aftermarket Wheel Speed Sensor
47
Radar Speed Sensor
48
Magnetics
49
Vibration
49
Using Boreas
50
Filter Initialisation
50
Orientation Initialisation
51
Navigation Initialisation
51
Heading Initialisation
51
Time Initialisation
52
Hot Start
52
Time
52
Heading Sources
53
North Seeking Gyrocompass Heading
53
Dual Antenna Heading
53
Velocity Heading
53
External Heading
53
Data Anti-Aliasing
54
Vehicle Profiles
54
Atmospheric Altitude
54
Odometer Pulse Length
54
Calibrating Odometer Automatic Pulse Length
54
Reversing Detection
55
Motion Analysis
55
Rtk
55
Network RTK Corrections (NTRIP)
55
Radio Modem RTK Corrections
56
Supported RTCM Messages
56
Raw Satellite Data
56
Kinematica Post Processing
57
Vents
57
Raim
57
Heave
58
Environmental Exposure
58
Temperature
58
Water
58
Salt
58
Dirt and Dust
59
Ph Level
59
Shocks
59
Atmospheres
59
Upgrading the Boreas Firmware
59
Configuring and Monitoring Boreas
60
Using the Web User Interface
60
Main View
61
Status Indicator
61
Current Time, Position and Heading
62
Altitude Indicator
62
Satellites Table
62
Map
62
Map Controls
62
View Menu
62
Device Information
62
Subcomponent Information
63
Status
63
Satellites
64
Raw Sensors
65
Orientation
66
Position
67
Velocity and Acceleration
68
GNSS Receiver Information
69
Heave
69
Coarse Heading Alignment
70
Configuration Menu
71
Filter Options
71
Data Ports
71
Alignment
72
Baud Rates
73
Gpio
74
Odometer
74
Reset
75
Reference Point Offsets
75
Manual Initialisation
76
Dual Antenna
76
Ethernet Settings
77
NTRIP Client
77
CAN Settings
79
Advanced
80
GNSS Configuration
80
Tools Menu
82
Firmware Update
82
Logs
83
Viewing Logged Data
84
Using Boreas Manager
84
Software Changelog
85
System Requirements
86
Installation and Starting
86
Troubleshooting
86
Windows
86
Linux
88
Main View
89
Serial Port
89
Baud Rate
89
Connect / Disconnect
90
Map
90
View Menu
90
Communications
90
Configuration Menu
90
Configuration Export
90
Alignment
90
Port Mode and Baud Rates
92
Gpio
92
Odometer
93
GPIO Output
93
Gimbal
94
Tools Menu
95
Device Discovery
95
Firmware Update
96
Log Converter
97
NTRIP Client
97
Network Connect
98
Serial Passthrough
98
Logging
99
Using the Android App
99
Using ANPP
99
Interfacing
100
Ethernet
100
Ethernet Modes
100
Ethernet Functions
101
NMEA Input
102
Novatel GNSS Input
102
Topcon GNSS Input
102
ANPP Input
103
RTCM Differential GNSS Corrections Input
103
Trimble GNSS Input
103
U-Blox GNSS Input
103
Hemisphere GNSS Input
103
Teledyne DVL Input
103
Tritech USBL Input
103
Linkquest DVL Input
103
Nortek DVL Input
103
NMEA Output
104
ANPP Output
104
TSS1 Output
104
Simrad 1000 Output
104
Simrad 3000 Output
104
Serial Port Passthrough
104
GNSS Receiver Passthrough
104
Serial Interface
105
Baud Rate
105
Format
105
1PPS Signal
105
CAN Interface
105
External Data
106
GPIO Pins and the Auxiliary Port
106
Dynamic Pin Functions
107
Inactive
109
1PPS Output
109
GNSS Fix Output
110
Zero Velocity Input
110
Disable GNSS
110
Disable Pressure
110
Set Zero Orientation Alignment
111
System State Packet Trigger
111
Raw Sensors Packet Trigger
111
1PPS Input
111
Event 1 Input
112
Event 2 Input
112
Odometer Direction, Forward Low
112
Odometer Direction, Forward High
112
Reverse Alignment, Forward Low
112
Reverse Alignment, Forward High
113
Zero Angular Velocity Input
113
Odometer Input
113
Pitot Tube Input
113
Pressure Depth Transducer (Deprecated)
114
Left Wheel Speed Sensor
114
Right Wheel Speed Sensor
114
Wheel Speed Sensor
114
Wheel Encoder Phase a
114
Wheel Encoder Phase B
115
Gimbal Encoder Phase a
115
Gimbal Encoder Phase B
115
NMEA Input
115
Novatel GNSS Input
116
Topcon GNSS Input
116
ANPP Input
116
RTCM Differential GNSS Corrections Input
117
Trimble GNSS Input
117
U-Blox GNSS Input
117
Hemisphere GNSS Input
117
Teledyne DVL Input
118
Tritech USBL Input
118
Linkquest DVL Input
118
Linkquest USBL Input
118
Nortek DVL Input
118
NMEA Output
119
ANPP Output
119
TSS1 Output
119
Simrad 1000 Output
119
Simrad 3000 Output
120
Serial Port Passthrough
120
GNSS Receiver Passthrough
120
Advanced Navigation Packet Protocol
121
About Packets
123
Packet Structure
123
Header LRC
124
Packet ID
124
Packet Length
124
Crc
124
Packet Requests
124
Packet Acknowledgement
124
Packet Rates
124
Packet Timing
125
Data Types
125
System Packets
126
Acknowledge Packet
126
Acknowledge Result
126
Request Packet
126
Boot Mode Packet
127
Boot Mode Types
127
Device Information Packet
127
Device ID
128
Restore Factory Settings Packet
128
Reset Packet
129
Verification Sequence Values
129
Serial Port Passthrough Packet
129
Passthrough Routes
129
IP Configuration Packet
130
DHCP Mode
130
Link Mode Index
130
Discovery Network Setting Overwrite
130
Subcomponent Information Packet
131
Subcomponent Device ID
131
State Packets
132
System State Packet
134
System Status
135
Filter Status
136
GNSS Fix Status
136
Unix Time Seconds
136
Microseconds
137
Unix Time Packet
137
Formatted Time Packet
137
Status Packet
138
Position Standard Deviation Packet
138
Velocity Standard Deviation Packet
138
Euler Orientation Standard Deviation Packet
139
Quaternion Orientation Standard Deviation Packet
139
Raw Sensors Packet
140
Raw GNSS Packet
141
Raw GNSS Status
141
Satellites Packet
142
Geodetic Position Packet
143
ECEF Position Packet
143
UTM Position Packet
143
NED Velocity Packet
144
Body Velocity Packet
144
Acceleration Packet
144
Body Acceleration Packet
145
Euler Orientation Packet
145
Quaternion Orientation Packet
145
DCM Orientation Packet
146
Angular Velocity Packet
146
Angular Acceleration Packet
147
External Position and Velocity Packet
147
External Position Packet
148
External Velocity Packet
148
External Body Velocity Packet
149
External Heading Packet
149
Running Time Packet
149
Odometer State Packet
150
External Time Packet
150
External Depth Packet
151
Geoid Height Packet
151
RTCM Corrections Packet
151
Wind Packet
152
Heave Packet
152
Raw Satellite Data Packet
152
Satellite Systems
153
Satellite Frequencies
154
Tracking Status
154
Raw Satellite Ephemeris Packet
154
GPS Flags
156
External Odometer Packet
156
Odometer Flags
157
External Air Data Packet
158
External Air Data Flags
158
GNSS Receiver Information Packet
159
Aries GNSS Receiver
159
Trimble BD992 GNSS Receiver
159
GNSS Manufacturer Ids and Receiver Models
160
Omnistar Engine Modes
160
RTK Software License Accuracy
160
Raw DVL Data Packet
161
Raw DVL Data Flags
161
North Seeking Initialisation Status Packet
162
North Seeking Initialisation Status Flags
162
Gimbal State Packet
162
Automotive Packet
163
Basestation Packet
164
GNSS Fix Status
164
Zero Angular Velocity Packet
164
Zero Angular Velocity Duration
165
Extended Satellites Packet
165
Satellite Systems
165
Satellite Frequencies
166
Extended Satellites Flags
166
Sensor Temperature Packet
166
System Temperature Packet
168
Configuration Packets
168
Packet Timer Period Packet
169
UTC Synchronisation
169
Packet Timer Period
169
Packets Period Packet
169
Clear Existing Packets
170
Packet Period
170
Baud Rates Packet
171
Supported Baud Rate
171
Installation Alignment Packet
172
Alignment DCM
173
Filter Options Packet
173
Vehicle Types
173
GPIO Configuration Packet
174
GPIO Functions
175
Auxiliary Functions
176
GPIO Voltage Selection
178
Odometer Configuration Packet
178
Set Zero Orientation Alignment Packet
178
Reference Point Offsets Packet
179
GPIO Output Configuration Packet
180
Port Input Modes
181
Port Output Modes
181
NMEA Fix Behaviour
181
Port Output Rates
182
Dual Antenna Configuration Packet
182
Offset Types
183
Automatic Offset Orientations
183
GNSS Configuration Packet
183
Aries GNSS Receiver
183
Trimble BD992 GNSS Receiver
183
GNSS Frequency Bitfields
184
L Band Modes
185
L Band Satellite Ids
186
User Data Packet
186
GPIO Input Configuration Packet
187
IP Dataports Configuration Packet
187
IP Dataport Mode
187
CAN Configuration Packet
188
CAN Protocol
188
Reference Information
189
Technology Overview
189
Gnss
189
Ahrs
189
Ins
189
Gnss/Ins
189
The Sensor Co-Ordinate Frame
190
Right Hand Rule
190
The Body Co-Ordinate Frame
191
Roll, Pitch and Heading
191
Second Right Hand Rule
191
Rotation Order
192
Geodetic Co-Ordinate System
192
Latitude and Longitude
192
Height
194
NED Co-Ordinate Frame
195
ECEF Co-Ordinate Frame
196

Advanced Navigation Boreas D90 Reference Manual (229 pages)

Brand: Advanced Navigation | Category: Microcontrollers | Size: 16 MB

Table of Contents
2
Revision History
14
Introduction
16
Firmware Changelog
17
Hardware Changelog
21
OEM Development Kit
22
Certus OEM Development Kit Contents
23
Part Numbers and Ordering Options
24
Development Kits
24
Standalone Units
24
Antennas
25
GNSS Receiver License Upgrades
25
Accessories
25
Specifications
27
Navigation Specifications
27
Certus Specifications
27
Certus Evo Specifications
28
Heading Accuracy
28
Sensor Specifications
29
Certus
29
Certus Evo
29
GNSS Specifications
30
Hardware Specifications
31
Certus OEM Hardware Specifications
31
Certus Evo OEM Hardware Specifications
31
Certus OEM and Certus Evo OEM Environmental Specifications
32
OEM Mechanical Drawings
32
Certus OEM Mechanical Drawings
32
Certus Evo OEM Mechanical Drawings
33
Serial Number
33
Communication Specifications
34
Electrical Specifications
35
Connector Pin-Out
36
Connection Layout
36
Connection Schematic
36
Electrical Connectors
37
Connector Pin Allocation
37
Interoperability with Different Voltage Systems
39
MMCX RF Connector
39
Installing Certus OEM
40
Installation Checklist
41
Mounting Certus OEM
41
Mounting Plate Layout
42
Mounting Alignment
42
Power Supply
43
Input
43
Regulated 5 V Input
44
Electrical Domains
44
Onboard Memory Logging
44
GNSS Antennas
44
Antenna Cables
48
Networking
49
Odometer
49
Factory VSS Signal
49
OBDII Odometer Interface
49
Aftermarket Wheel Speed Sensor
50
Radar Speed Sensor
51
Magnetics
51
Vibration
52
Using Certus
53
Filter Initialisation
53
Orientation Initialisation
53
Navigation Initialisation
53
Heading Initialisation
54
Time Initialisation
54
Hot Start
54
Time
55
Heading Sources
55
Dual Antenna Heading
55
Velocity Heading
55
Magnetic Heading
56
External Heading
56
External Magnetometers Packet
56
Magnetic Calibration
56
Magnetic Calibration
57
Magnetic Calibration Using the Web UI or Certus Manager Software
57
Magnetic Calibration Using the Packet Protocol
57
Magnetic Calibration
58
Magnetic Calibration Using the Web UI or Certus Manager Software
58
Magnetic Calibration Using the Packet Protocol
58
Automatic Magnetic Calibration
58
Vehicle Profiles
59
Disabling Magnetometers
59
Sensor Ranges
59
Data Anti-Aliasing
60
Vehicle Profiles
60
Atmospheric Altitude
60
Odometer Pulse Length
60
Calibrating Odometer Automatic Pulse Length
60
Reversing Detection
61
Motion Analysis
61
Rtk
61
Network RTK Corrections (NTRIP)
62
Radio Modem RTK Corrections
62
RTCM Messages
62
Raw Satellite Data
64
Kinematica Post Processing
64
Raim
64
Heave
65
Environmental Exposure
65
Temperature
65
Salt, Dirt and Dust
65
Shocks
65
Atmospheres
65
Upgrading the Certus Firmware
66
Configuring and Monitoring Certus
67
Using the Web User Interface
67
Main View
68
Status Indicator
68
Current Time, Position and Heading
69
Altitude Indicator
69
Satellites Table
69
Map
69
Map Controls
69
View Menu
69
Device Information
70
Subcomponent Information
70
Status
71
Satellites
72
Raw Sensors
73
Orientation
74
Position
75
Velocity and Acceleration
76
GNSS Receiver Information
76
Vessel Motion
77
External Data Selection
77
Configuration Menu
78
Sensor Ranges
79
Filter Options
79
Data Ports
80
Alignment
81
Baud Rates
82
Gpio
82
Odometer
83
Reset
83
Reference Point Offsets
83
Manual Initialisation
84
Dual Antenna
84
Ethernet Settings
85
NTRIP Client
85
CAN Settings
87
Advanced
88
GNSS Configuration
88
Tools Menu
90
Firmware Update
91
Logs
92
Viewing Logged Data
93
Using Certus Manager
94
Certus Manager Software Changelog
95
System Requirements
97
Installation and Starting
97
Troubleshooting
97
Windows
98
Linux
99
Main View
100
Serial Port
100
Attitude Indicator
101
Satellites Table
101
Status Indicator
101
Map
101
Map Controls
101
Baud Rate
101
Connect / Disconnect
101
Configuration Export
110
Packet Rates
112
Reference Position Offsets
117
GPIO Output
118
Device Discovery
124
Log Converter
129
Network Connect
130
Serial Passthrough
131
Ethernet Functions
133
Serial Interface
137
Can Interface
137
External Data
137
Dynamic Pin Functions
139
1PPS Output
140
GNSS Fix Output
141
Zero Velocity Input
141
Disable GNSS
141
Odometer Input
144
Pitot Tube Input
144
Left Wheel Speed Sensor
145
Right Wheel Speed Sensor
145
Wheel Encoder Phase a
145
NMEA Input
146
Novatel GNSS Input
147
Topcon GNSS Input
147
ANPP Input
147
ANPP Output
150
TSS1 Output
150
Simrad 1000 Output
150
Simrad 3000 Output
151
Serial Port Passthrough
151
GNSS Receiver Passthrough
151
Advanced Navigation Packet Protocol
152
Packet Structure
154
Packet Requests
155
Packet Acknowledgement
155
Packet Timing
156
Data Types
156
System Packets
157
Acknowledge Packet
157
Request Packet
157
Boot Mode Packet
158
Boot Mode Types
158
Device Information Packet
158
Restore Factory Settings Packet
159
Reset Packet
160
Verification Sequence Values
160
Serial Port Passthrough Packet
160
DHCP Mode
161
State Packets
164
System State Packet
166
System Status
167
Filter Status
168
Unix Time Seconds
168
Unix Time Packet
169
Formatted Time Packet
169
Status Packet
170
Position Standard Deviation Packet
170
Velocity Standard Deviation Packet
170
Euler Orientation Standard Deviation Packet
171
Quaternion Orientation Standard Deviation Packet
171
Raw Sensors Packet
172
Raw GNSS Packet
173
Raw GNSS Status
173
Satellites Packet
174
Geodetic Position Packet
175
ECEF Position Packet
175
UTM Position Packet
175
NED Velocity Packet
176
Body Velocity Packet
176
Acceleration Packet
176
Body Acceleration Packet
177
Euler Orientation Packet
177
Quaternion Orientation Packet
177
DCM Orientation Packet
178
Angular Velocity Packet
178
Angular Acceleration Packet
179
External Position and Velocity Packet
179
External Position Packet
180
External Velocity Packet
180
External Body Velocity Packet
181
External Heading Packet
181
Running Time Packet
181
Local Magnetic Field Packet
182
Odometer State Packet
182
External Time Packet
182
External Depth Packet
182
Geoid Height Packet
183
RTCM Corrections Packet
183
Wind Packet
184
Heave Packet
184
Raw Satellite Data Packet
184
Tracking Status
187
Raw Satellite Ephemeris Packet
187
External Odometer Packet
189
Odometer Flags
189
External Air Data Packet
190
External Air Data Flags
190
GNSS Receiver Information Packet
191
Gimbal State Packet
193
Automotive Packet
194
Satellite Systems
197
Satellite Frequencies
198
Configuration Packets
199
Packet Timer Period Packet
199
UTC Synchronisation
200
Packet Timer Period
200
Clear Existing Packets
200
Packet Period
201
Baud Rates Packet
201
Sensor Ranges Packet
202
Accelerometers Range
202
Gyroscopes Range
203
Installation Alignment Packet
203
Alignment DCM
204
Filter Options Packet
204
Vehicle Types
204
GPIO Configuration Packet
205
GPIO Functions
206
Auxiliary Functions
207
Odometer Configuration Packet
211
Set Zero Orientation Alignment Packet
211
Reference Point Offsets Packet
212
GPIO Output Configuration Packet
213
NMEA Fix Behaviour
214
Dual Antenna Configuration Packet
215
Offset Types
216
Automatic Offset Orientations
216
User Data Packet
220
GPIO Input Configuration Packet
220
CAN Protocol
221
Reference Information
222
Technology Overview
222
The Sensor Co-Ordinate Frame
223
Roll, Pitch and Heading
224
Second Right Hand Rule
224
Rotation Order
225
Geodetic Co-Ordinate System
225
Latitude and Longitude
226
NED Co-Ordinate Frame
229
ECEF Co-Ordinate Frame
229

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