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Advanced Navigation Boreas D90, Reference Manual

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11.4.9 Raw Sensors Packet

Raw Sensors Packet

Packet ID

28

Length

48

Read / Write

Read

Field #

Bytes Offset

Data Type

Size

Description

1

0

fp32

4

Accelerometer X (m/s/s)

2

4

fp32

4

Accelerometer Y (m/s/s)

3

8

fp32

4

Accelerometer Z (m/s/s)

4

12

fp32

4

Gyroscope X (rad/s)

5

16

fp32

4

Gyroscope Y (rad/s)

6

20

fp32

4

Gyroscope Z (rad/s)

7

24

fp32

4

Reserved

8

28

fp32

4

Reserved

9

32

fp32

4

Reserved

10

36

fp32

4

IMU Temperature (deg C)

11

40

fp32

4

Pressure (Pascals)

12

44

fp32

4

Pressure Temperature (deg C)

Table 70: Raw Sensors Packet

v1.2

Page 128

11 Oct 2022

Boreas Reference Manual • Advanced Navigation Packet Protocol

Summary of Contents for Boreas D90

Page 1: ...Boreas D90 Reference Manual v1 2 11 Oct 2022 ...

Page 2: ...ng Accuracy 12 6 1 2 Sensor Specifications 12 6 1 3 GNSS Specifications 13 6 2 Hardware Specifications 13 6 2 1 Mechanical Drawings 14 6 2 1 1 Cable Bend Radius 15 6 2 2 Serial Number 15 6 3 Communication Specifications 16 6 4 Electrical Specifications 16 6 5 Ethernet Connection 18 6 6 IO Connection 18 6 6 1 IO Unterminated Cable 18 6 6 2 IO Breakout Cable 20 6 6 3 Custom IO Termination 22 7 Insta...

Page 3: ...ialisation 39 8 1 3 Heading Initialisation 39 8 1 4 Time Initialisation 40 8 2 Hot Start 40 8 3 Time 40 8 4 Heading Sources 41 8 4 1 North Seeking Gyrocompass Heading 41 8 4 2 Dual Antenna Heading 41 8 4 3 Velocity Heading 41 8 4 4 External Heading 41 8 5 Data Anti aliasing 42 8 6 Vehicle Profiles 42 8 7 Atmospheric Altitude 42 8 8 Odometer Pulse Length 42 8 8 1 Calibrating Odometer Automatic Puls...

Page 4: ...s Table 50 9 1 1 5 Map 50 9 1 1 6 Map Controls 50 9 1 2 View Menu 50 9 1 2 1 Map 50 9 1 2 2 Device Information 50 9 1 2 3 Subcomponent Information 51 9 1 2 4 Status 51 9 1 2 5 Satellites 52 9 1 2 6 Raw Sensors 53 9 1 2 7 Orientation 54 9 1 2 8 Position 55 9 1 2 9 Velocity and Acceleration 56 9 1 2 10 GNSS Receiver Information 57 9 1 2 11 Heave 57 9 1 2 12 Coarse Heading Alignment 58 9 1 3 Configur...

Page 5: ...nux 76 9 2 5 Main View 77 9 2 5 1 Serial Port 77 9 2 5 2 Baud Rate 77 9 2 5 3 Connect Disconnect 78 9 2 5 4 3D Map 78 9 2 6 View Menu 78 9 2 6 1 Communications 78 9 2 7 Configuration Menu 78 9 2 7 1 Configuration Export 78 9 2 7 2 Alignment 78 9 2 7 3 Port Mode and Baud Rates 80 9 2 7 4 GPIO 80 9 2 7 5 Odometer 81 9 2 7 6 GPIO Output 81 9 2 7 7 Gimbal 82 9 2 8 Tools Menu 83 9 2 8 1 Device Discover...

Page 6: ...imrad 1000 Output 92 10 1 2 17 Simrad 3000 Output 92 10 1 2 18 Serial Port Passthrough 92 10 1 2 19 GNSS Receiver Passthrough 92 10 2 Serial Interface 93 10 2 1 Baud Rate 93 10 2 2 Format 93 10 3 1PPS Signal 93 10 4 CAN Interface 93 10 5 External Data 94 10 6 GPIO Pins and the Auxiliary Port 94 10 6 1 Dynamic Pin Functions 95 10 6 1 1 Inactive 97 10 6 1 2 1PPS Output 97 10 6 1 3 GNSS Fix Output 98...

Page 7: ...0 Topcon GNSS Input 104 10 6 1 31 ANPP Input 104 10 6 1 32 RTCM Differential GNSS Corrections Input 105 10 6 1 33 Trimble GNSS Input 105 10 6 1 34 u blox GNSS Input 105 10 6 1 35 Hemisphere GNSS Input 105 10 6 1 36 Teledyne DVL Input 106 10 6 1 37 Tritech USBL Input 106 10 6 1 38 Linkquest DVL Input 106 10 6 1 39 Linkquest USBL Input 106 10 6 1 40 Nortek DVL Input 106 10 6 1 41 NMEA Output 107 10 ...

Page 8: ... 8 3 Discovery Network Setting Overwrite 118 11 3 9 Subcomponent Information Packet 119 11 3 9 1 Subcomponent Device ID 119 11 4 State Packets 120 11 4 1 System State Packet 122 11 4 1 1 System Status 123 11 4 1 2 Filter Status 124 11 4 1 3 GNSS Fix Status 124 11 4 1 4 Unix Time Seconds 124 11 4 1 5 Microseconds 125 11 4 2 Unix Time Packet 125 11 4 3 Formatted Time Packet 125 11 4 4 Status Packet ...

Page 9: ...33 Geoid Height Packet 139 11 4 34 RTCM Corrections Packet 139 11 4 35 Wind Packet 140 11 4 36 Heave Packet 140 11 4 37 Raw Satellite Data Packet 140 11 4 37 1 Satellite Systems 141 11 4 37 2 Satellite Frequencies 142 11 4 37 3 Tracking Status 142 11 4 38 Raw Satellite Ephemeris Packet 142 11 4 38 1 GPS Flags 144 11 4 39 External Odometer Packet 144 11 4 39 1 Odometer Flags 145 11 4 40 External Ai...

Page 10: ...11 5 2 2 Packet Period 158 11 5 3 Baud Rates Packet 159 11 5 3 1 Supported Baud Rate 159 11 5 4 Installation Alignment Packet 160 11 5 4 1 Alignment DCM 161 11 5 5 Filter Options Packet 161 11 5 5 1 Vehicle Types 161 11 5 6 GPIO Configuration Packet 162 11 5 6 1 GPIO Functions 163 11 5 6 2 Auxiliary Functions 164 11 5 6 3 GPIO Voltage Selection 166 11 5 7 Odometer Configuration Packet 166 11 5 8 S...

Page 11: ...on Packet 176 11 5 16 1 CAN Protocol 176 12 Reference Information 177 12 1 Technology Overview 177 12 1 1 GNSS 177 12 1 2 AHRS 177 12 1 3 INS 177 12 1 4 GNSS INS 177 12 2 The Sensor Co ordinate Frame 178 12 2 1 Right Hand Rule 178 12 3 The Body Co ordinate Frame 179 12 4 Roll Pitch and Heading 179 12 4 1 Second Right Hand Rule 179 12 4 2 Rotation Order 180 12 5 Geodetic Co ordinate System 180 12 5...

Page 12: ...ED NAVIGATION DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY WITH RESPECT TO THE USE AND OR SALE OF ADVANCED NAVIGATION PRODUCTS INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE AND THEIR EQUIVALENTS UNDER THE LAWS OF ANY JURISDICTION OR INFRINGEMENT OF ANY PATENT COPYRIGHT OR OTHER INTELLECTUAL PROPERTY RIGHT UNLESS EXPRESSLY APPROVED IN WRITING BY TW...

Page 13: ...1 3 4 Device Information Packet Added Device Discovery section for Boreas Manager see 9 2 8 1 Device Dis covery Updated Logging information see 9 2 8 3 Log Converter Added Basestation Packet see 11 4 46 Basestation Packet Reformatted 1PPS output information see 10 6 1 2 1PPS Output Added System temperature Packet see 11 4 50 System Temperature Packet Breakout cable diagrams updated to show connect...

Page 14: ... weight GNSS INS system that l Provides unparalleled accuracy stability and reliability with its use of the revolutionary Digital FOG DFOG technology l Provides continuously reliable data throughout extended GNSS outages and periods of interference l Rapidly acquires accurate heading information using Digital FOG DFOG gyroscopes in conjunction with an innovative north seeking algorithm l Extracts ...

Page 15: ...tion by disabling dual antenna heading see 9 1 3 Configuration Menu Report a gyroscope failure if a gyroscope temperature is out of range Fixed satellite tracking information display and ANPP84 for BD992 Fixed CANopen PDO objects stop transmitting if the bus is broken then restored Fixed Manual Initialisation from Web UI Fixed intermittent restart due to NMEA0183 sentences Fixed CANopen external o...

Page 16: ...ry parts and accessories to set up and connect a Boreas unit It is supplied in a rugged transport case to protect the equipment during transit Figure 2 Boreas Evaluation Kit Transport Case v1 2 Page 4 11 Oct 2022 Boreas Reference Manual Boreas Evaluation Kit ...

Page 17: ...3 1 Evaluation Kit Contents Figure 3 Boreas Evaluation Kit Contents v1 2 Page 5 11 Oct 2022 Boreas Reference Manual Boreas Evaluation Kit ...

Page 18: ...dustrial MIL DTL 38999 Series III RJF TV RJ45 male to RJ45 male See 6 5 Ethernet Connection CABLE 38999 19 32 BREAKOUT 1 Breakout cable for IO con nection Breakout cable for IO connection 2 m MIL DTL 38999 Series III Size 19 32 pin connector Connectors for Primary Auxiliary CAN GPIO 1PPS Alert and Power See 6 6 2 IO Breakout Cable SUPPLY 24V 1 24 V DC power supply 100 240 V AC Mains to 24 V DC Pow...

Page 19: ...lug the IO breakout cable into the IO connector on the Boreas unit See 6 6 IO Connection 3 Connect either the MIL DTL 38999 Series III terminated cable or a standard Ethernet cable from the Eth ernet socket on the Boreas unit to your network or switch See 6 5 Ethernet Connection 4 If using Windows download and install the Bonjour ZeroConf networking utility from the link https www advancednavigati...

Page 20: ...2 Receiver Evaluation Kit Includes the items listed in 3 1 Evaluation Kit Contents Table 5 Evaluation Kit Part Numbers 5 2 Standalone Units Part Number Description Notes BOREAS D90 Boreas D90 Unit Boreas D90 unit in rugged enclosure Aries Dual GNSS Receiver No cables or blanking caps included BOREAS D90 BD992 Boreas D90 BD992 Unit Boreas D90 unit in rugged enclosure Trimble BD992 GNSS Receiver No ...

Page 21: ...iver variant Upgrades BD992 GNSS Receiver from 30 cm to 10 cm RTK accuracy BD992 LIC 8MM Upgrade Boreas BD992 to full RTK 8 mm with Galileo and BeiDou Applicable for Trimble BD992 GNSS Receiver variant Upgrades BD992 GNSS Receiver from 30 cm to 8 mm RTK accuracy Adds Galileo and BeiDou constellations Table 7 Ordering Part Numbers for GNSS Receiver Licence Upgrades v1 2 Page 9 11 Oct 2022 Boreas Re...

Page 22: ... I CAR12VPWR Car auxiliary power outlet supply Car auxiliary power supply to DC jack power supply BF046WS210224 01 TNC to TNC 4 m GNSS antenna cable 4 m RG 58A U antenna cable with TNC connectors VSP6337L VeroStar GNSS Antenna VeroStar GNSS Antenna L1 L2 L5 plus L band pole mount 1 14 thread with adapter included for 5 8 11 thread TNC Female Connector G5ANT 53A4T1 Antcom GNSS Antenna Antcom G5 L1 ...

Page 23: ... Post Processing 0 015 m Accuracy with Odometer without GNSS of distance travelled 0 01 Accuracy with DVL without GNSS of distance travelled 0 01 Velocity Accuracy 0 005 m s Roll Pitch Accuracy 0 005 Roll Pitch Accuracy Kinematica post processing 0 005 Heading Accuracy with Dual GNSS 1 0 m antenna separation 0 006 Heading Accuracy without GNSS Secant Latitude RMS 0 01 Heading Accuracy Kinematica p...

Page 24: ...aling Error 340 ppm 80 ppm Scale Factor Stability 100 ppm 10 ppm Non linearity 150 ppm 10 ppm Cross axis Alignment Error 0 001 0 001 Noise Density 30 ug Hz 0 06 h Hz 0 4 Pa Hz Random Walk 17 mm s hr VRW 0 001 h ARW Bandwidth 300 Hz 400 Hz 50 Hz Table 11 Boreas D90 Sensor Specifications Note Boreas sensors are calibrated for bias sensitivity misalignment cross axis sensitivity non linearity and gyr...

Page 25: ...h SBAS 0 5 m 0 5 m Horizontal Position Accuracy with RTK 0 010 m 0 008 m 2 Velocity Accuracy 0 05 m s 0 007 m s Timing Accuracy 20 ns 20 ns Acceleration Limit 4 g 11 g Table 12 GNSS Specifications 1 Requires purchase of Omnistar or Trimble RTX subscription 2 Requires purchase of additional software license see 5 3 GNSS Receiver Licence Upgrades 3 See 9 1 3 15 GNSS Configuration for update rate rel...

Page 26: ...ock Limit 50 g 11 ms Vibration Limit 8 g rms 20 2000 Hz random Dimensions height x width x length 160 mm x 140 mm x 115 5 mm Weight 2 5 kg Table 13 Hardware Specifications for Boreas 6 2 1 Mechanical Drawings Figure 4 Mechanical Drawings of Boreas v1 2 Page 14 11 Oct 2022 Boreas Reference Manual Specifications ...

Page 27: ...n see 9 2 Using Boreas Manager The serial number label is located on the outside rear of the enclosure with the serial number encoded in a 2D data matrix bar code to assist customers in tracking their units The label also contains the hardware version and build date Applications are available for most smartphones that can scan the 2D data matrix bar code to display the serial number Figure 6 Borea...

Page 28: ...Air Data input Zero velocity input NMEA input output Novatel GNSS input Trimble GNSS input Advanced Navigation Packet Protocol CAN CANopen Table 14 Communication Specifications 6 4 Electrical Specifications Parameter Minimum Typical Maximum Operating Voltage 9 V 36 V Input Protection 200 V 200 V Power Consumption 10 W without GNSS 12 W with GNSS 15 W Inrush Current 1 67 A at 12 V 0 79 A at 24 V RS...

Page 29: ...Output Voltage Low 0 V 0 3 V Output Voltage High 4 5 V 5 V Output Current 50 mA GPIO when set to 3 3 V Output Voltage Low 0 V 0 3 V Output Voltage High 3 V 3 3 V Output Current 5 mA Input Voltage 5 V 5 V Input Threshold Low 0 8 V Input Threshold High 2 V 1PPS when set to 3 3 V Output Voltage Low 0 V 0 1 V Output Voltage High 3 V 3 3 V Output Current 50 mA GNSS Antenna Active Antenna Supply Voltage...

Page 30: ...entation for instructions on how to correctly ter minate these connectors Connector Manufacturer and Series Part Number Notes Finish Cable side Ethernet con nector Amphenol Socapex RJF TV 6M ZN Aluminium Straight Plug with metal gland Size 19 Black Zinc Nickel Table 16 Ethernet Connector 6 6 IO Connection The IO connection is used to provide the power supply and access to a range of interface conn...

Page 31: ...reen RS422 RX RS232 RX AUX M White Red Stripe Serial Ground 3 N Light Brown Black Stripe CAN H P R S Pink Alert H T Pink Black Stripe Alert L U V Grey GPIO Ground 1 W Grey Black Stripe GPIO Ground 2 X Grey Red Stripe GPIO Ground 3 Y Violet Black Stripe RS422 TX PRI Z Yellow Black Stripe RS422 RX PRI a Light Blue Black Stripe RS422 TX AUX b Light Green Black Stripe RS422 RX AUX c Light Brown CAN L ...

Page 32: ...IO cable that is supplied as part of the Boreas 3 Evaluation Kit Custom cable lengths are not available for pre terminated cables Figure 9 IO Breakout Cable The IO breakout cable comprises one DC barrel plug for power and six DB9 connectors that allow connecting to l Primary RS232 RS422 l GPIO Connector l Auxiliary RS232 RS422 l 1PPS Connector l CAN Connector l Alert Connector v1 2 Page 20 11 Oct ...

Page 33: ...F G RS422 TX RS232 TX PRI 2 H RS422 RX RS232 RX PRI 3 J Serial Ground 1 5 K RS422 TX RS232 TX AUX 2 L RS422 RX RS232 RX AUX 3 M Serial Ground 3 6 N CAN H 7 P R S Alert H 2 T Alert L 3 U V GPIO Ground 1 5 W GPIO Ground 2 5 X GPIO Ground 3 Y RS422 TX PRI 8 Z RS422 RX PRI 7 a RS422 TX AUX 8 b RS422 RX AUX 7 c CAN L 2 d e f NA v1 2 Page 21 11 Oct 2022 Boreas Reference Manual Specifications ...

Page 34: ... of different cable boot and strain relief options The table below specifies suitable example connectors Connector Manufacturer and Series Part Number Notes Finish TV CTV MIL DTL 38999 Series III Size 19 connector with 32 size 20 contacts Amphenol TV O6 ZNCI 19 32 S A F472 Aluminium Plug with integ rated Backshell Size 19 32 32 x 20 gauge contacts Socket contact A orientation key Black Zinc Nickel...

Page 35: ...after establishing a connection 7 10 Odometer Different options using an odometer to improve the nav igation and orientation 7 11 Magnetics Information on the effects of magnetic interference 7 12 Vibration Steps to mitigate the adverse effects of vibration on the performance Table 20 Additional Information Note For ordering an evaluation kit a standalone kit or accessories for Boreas see 5 Part N...

Page 36: ...a with separation of at least 0 5 metres See 7 8 GNSS Antennas 6 Connect the coaxial antenna cables between the antennas and Boreas The antenna cables should not be coiled 7 Accurately measure the GNSS antenna offset from the centre of the Boreas unit to the central base of the primary antenna in the body co ordinate frame X forward and Z down see 12 3 The Body Co ordinate Frame and enter these va...

Page 37: ...Atmospheric Altitude will be dis abled Boreas is mounted using the four 4 4 mm diameter mounting holes on the base of the enclosure see Figure 10 Bottom View of Boreas Mounting Plate below for mounting plate and hole guide Figure 10 Bottom View of Boreas Mounting Plate For precision mounting an alignment hole 6 mm and an alignment slot 6 mm x 7 mm are provided at the middle edge of the enclosure T...

Page 38: ...crews 3 Tighten the stainless steel bolts in a clockwise direction to a torque of 1 Nm For instructions on alignment of the unit within a vehicle see 7 3 Mounting Alignment 7 3 Mounting Alignment The easiest way to align Boreas is by installing the unit with its sensor axes aligned with the vehicle axes There are notches marked on the unit to indicate the X and Y axes to assist with alignment Inst...

Page 39: ...d 9 1 Using the Web User Interface or 9 2 Using Boreas Manager 7 4 Cable Bend Radius During installation be mindful that cables must not be flexed beyond their specified bending radius For Advanced Navigation supplied cables these specifications can be found in 6 2 1 1 Cable Bend Radius A figure of the bend radius for Advanced Navigation supplied cables is shown below v1 2 Page 27 11 Oct 2022 Bore...

Page 40: ...ntennas for information about the bend radius of antenna cables 7 5 MIL DTL 38999 Series III Connector Mating In order to maintain proper ingress protection it is important that a proper connection is made to the MIL DTL 38999 Series III IO and Ethernet connectors Figure 14 Unmated Connector Figure 15 Correctly Mated Connector v1 2 Page 28 11 Oct 2022 Boreas Reference Manual Installing Boreas ...

Page 41: ...un at 9 5 V or higher 7 7 Electrical Domains Boreas contains separate electrically isolated domains Each domain is isolated from the others to minimise noise injection and avoid ground loops Where possible this isolation should be preserved by externally connected devices We recommend connecting the enclosure to your vehicle ground where possible for the best electrical noise performance Domain Na...

Page 42: ...ations An example installation with the body co ordinate frame axes marked is shown below in Boreas antenna offset isometric view and Boreas antenna offset front view In this installation below with an antenna mounted on the right hand side of the vehicle roof further forward from the Boreas unit there would be a positive X antenna offset value a positive Y antenna offset value and a negative Z of...

Page 43: ...d resulting in the loss of the dual antenna heading the accuracy of the heading will gradually degrade to 0 01 secant latitude over a period of time depending upon the motion of the vehicle and other conditions If it is impractical to mount the secondary antenna directly behind the primary antenna due to physical constraints it can be mounted in another position In this case the secondary antenna ...

Page 44: ...v1 2 Page 32 11 Oct 2022 Boreas Reference Manual Installing Boreas ...

Page 45: ...or to allow it to be dented It is recommended to use wide cable ties loosely fixed in order to avoid damaging the insulation or shielding The cables should not be coiled Advanced Navigation recommends l Keeping the antenna cables the same length and as short as possible l Using either RG58 low loss or LMR240 coaxial cable combined with high quality connectors LMR300 and LMR400 can also be used to ...

Page 46: ...not already installed Open a web browser and type in the address http boreas local to discover the device and access the web interface If you cannot establish a connection using a DHCP capable network you can connect to and configure the Boreas using the Primary port RS232 serial interface and the Boreas Manager application Note A factory reset will re enable the DHCP Client and lose any static IP...

Page 47: ...nd most vehicles from the mid 1990s onwards contain an OBDII port in the drivers side foot well Advanced Navigation produces an inexpensive OBDII Odometer Interface that plugs into this OBDII port and feeds Boreas with odometer data over the Auxiliary RS232 port See the figure below Contact the Advanced Navigation sales team at sales advancednavigation com for more information Figure 20 Advanced N...

Page 48: ...performance in harsh conditions where aftermarket wheel speed sensors are not feasible a radar speed sensor is recommended Advanced Navigation recommends radar speed sensors from Stalker or GMH Engineering Figure 22 Radar Speed Sensor v1 2 Page 36 11 Oct 2022 Boreas Reference Manual Installing Boreas ...

Page 49: ... vibration that a unit can tolerate and large levels of vibration can cause degraded accuracy When mounting Boreas to a platform with vibration present there are several options to mitigate the negative performance effects It is recommended to conduct a brief operating check to confirm performance is within specification before conducting longer runs The Raw Sensor view in the web UI or Boreas Man...

Page 50: ...12 Raw Satellite Data l 8 13 Kinematica Post Processing l 8 14 Vents l 8 15 RAIM l 8 16 Heave l 8 17 Environmental Exposure l 8 18 Upgrading the Boreas Firmware 8 1 Filter Initialisation There are four different levels of filter initialisation on Boreas These are orientation navigation heading and time The initialisation of each can be monitored by inspecting the 9 1 2 4 Status view in the web UI ...

Page 51: ...emember its position at the time it was switched off and use this as the starting position The other possibility for navigation initialisation is an external position source to be used see 11 4 25 External Position Packet for more information In a situation where a GNSS fix is not available to initialise navigation it can be initialised manually by entering a position into the 9 1 3 9 Manual Initi...

Page 52: ... vehicle tracking and robotics applications The primary benefits are immunity and fast recovery from power failure as well as fast start up time 8 3 Time Boreas has been designed to provide a highly accurate time reference It contains a temperature compensated disciplined oscillator that corrects itself very precisely using GNSS time When a GNSS fix is available the Boreas time is accurate to with...

Page 53: ... stored in flash memory 8 4 2 Dual Antenna Heading This is the default heading source and provides the most accurate heading while GNSS is available Dual antenna heading only works when a good GNSS fix is available to both antennas It requires a clear view of the sky with minimal nearby sources of interference or multipath The greater the antenna separation the higher the accuracy see 6 1 1 Dual A...

Page 54: ...ic pressure the pressure sensor input should be disabled This can be done by disabling Atmospheric Altitude in the Filter Options page in the 9 1 Using the Web User Interface or 9 2 Using Boreas Manager 8 8 Odometer Pulse Length For Boreas to use a wheel speed sensor or odometer input it must know the pulse length of the signal The pulse length is the distance in metres between low to high transit...

Page 55: ...tion to provide accuracy of up to 0 01 m in real time An RTK system requires additional infrastructure equipment to generate and receive corrections data and is not practical for all applications Customers who require this level of accuracy but do not need it in real time should consider using Kinematica There are two different methods for receiving RTK corrections l Network l Radio modem For appl...

Page 56: ...assistance setting up a base station 8 11 3 Supported RTCM Messages The internal GNSS receiver in Boreas supports receiving the following RTCM v3 messages Message Number 1002 1010 1045 1004 1012 MSM4 1005 1019 MSM5 1006 1020 MSM6 1007 1033 MSM7 1008 1044 Table 23 Supported RTCM v3 messages 8 12 Raw Satellite Data Boreas supports the output of raw satellite data This data can be used by post proces...

Page 57: ...ide of the enclosure It is very important that these remain clear of debris and blockages Should debris get into the vents they should be gently rinsed with fresh water Foreign bodies should never be poked into the vent holes as this will break the environmental seal and void the warranty on the unit The vents are not resistance to high pressure jet washing or to waves Do not direct streams of wat...

Page 58: ...r the antenna ports are sealed If any of these connections are not tightened to the recommended torque the unit will not achieve its rated protection Spanners or tools should never be used to tighten the connectors Use your fingers to firmly tighten the connectors The Boreas seals the top of the enclosure to the base using screws and an o ring This o ring is not field serviceable and attempting to...

Page 59: ... affect the sensor calibration resulting in degraded performance Shocks applied directly to the Boreas enclosure can affect the unit Therefore care should be taken when handling the unit prior to mounting When mounted in a vehicle the effect of most operating shocks is negligible 8 17 7 Atmospheres Hydrogen rich atmosphere may damage the MEMS Boreas is not rated for use where explosive gases or du...

Page 60: ...d Navigation Packet Protocol 9 4 Using ANPP The Boreas Web UI is the recommended interface to configure as it is designed to be simple and easy to use without any software or system requirements The Web UI is compatible with all modern web browsers 9 1 Using the Web User Interface The web user interface allows you to manage Boreas through the following l 9 1 1 Main View l 9 1 2 View Menu l 9 1 3 C...

Page 61: ...dicator This indicator shows any problems with Boreas Once the filter has initialised it will show HEALTHY l GNSS Fix This indicator shows the status of the GNSS fix Under normal operating conditions it should show 3D FIX When satellite visibility is poor it may show either 2D FIX or NO FIX l Heading Status This indicator shows the current status of the heading filter When there is a valid source ...

Page 62: ... on the map To zoom in and out use the mouse scroll wheel Use Reset to reset the map view to the current position of Boreas Clear History clears the current red trail showing the position history This will immediately restart from the current position Note that this does not affect any logging currently active 9 1 1 6 Map Controls Reset This resets the map view to the current position of Boreas Cl...

Page 63: ...age shows the current status of Boreas as reported by the System State packet ID 20 and Raw GNSS Packet ID 29 detailed in sections 11 4 1 System State Packet and 11 4 10 Raw GNSS Packet Note The following Status flags do not update for Boreas units with a Trimble BD992 GNSS Receiver These flags are only applicable to Aries GNSS Receivers GNSS 2 Antenna 1 disconnected Antenna 2 disconnected Antenna...

Page 64: ... is displayed as a satellite skyplot a table and an SNR graph A maximum of 28 satellites will be displayed even if more are accessible This plot shows the SNR of each satellite at the primary and secondary antenna As a guideline these should be within 5 10 dB of each other in the absence of cable or antenna faults v1 2 Page 52 11 Oct 2022 Boreas Reference Manual Configuring and Monitoring Boreas ...

Page 65: ...e calibrated raw IMU sensor values In the lower plot only the air pressure is plotted The current value from the internal temperature sensors are given on the right These do not provide general environmental temperature v1 2 Page 53 11 Oct 2022 Boreas Reference Manual Configuring and Monitoring Boreas ...

Page 66: ...rientation page shows the Boreas orientation and angular velocity Course is determined by measuring sequential positions Slip is the difference between the heading and the course v1 2 Page 54 11 Oct 2022 Boreas Reference Manual Configuring and Monitoring Boreas ...

Page 67: ...s the Boreas position and position standard deviation Latitude and longitude are converted to North and East metres from a reference point that can be reset by refreshing the web page in your browser v1 2 Page 55 11 Oct 2022 Boreas Reference Manual Configuring and Monitoring Boreas ...

Page 68: ...b UI Position Page 9 1 2 9 Velocity and Acceleration The Velocity and Acceleration page shows the Boreas velocity acceleration and g force v1 2 Page 56 11 Oct 2022 Boreas Reference Manual Configuring and Monitoring Boreas ...

Page 69: ...mation This page shows information about the GNSS receiver fitted to Boreas Figure 35 Boreas Web UI GNSS Receiver Information Page 9 1 2 11 Heave This page displays the heave at up to 4 reference points v1 2 Page 57 11 Oct 2022 Boreas Reference Manual Configuring and Monitoring Boreas ...

Page 70: ...com mence as soon as the position is available If GNSS positioning is not available provide the position details manually on the 9 1 3 9 Manual Initialisation page Initialising please wait With the position known the process of determining the coarse heading alignment has commenced This process will take 2 minutes unless it is restarted due to excessive motion or a significant change in latitude A...

Page 71: ...lter options can be left at their defaults See 8 1 Filter Initialisation for more information on these specific settings If you require assistance contact support advancednavigation com Figure 37 Boreas Web UI Filter Options Page 9 1 3 2 Data Ports The Data Ports page allows you to specify which data packets or messages are output on a periodic basis and at what rate via a range of serial and Ethe...

Page 72: ...d 10 2 Serial Interface Figure 38 Boreas Web UI Data Ports Page 9 1 3 3 Alignment The Alignment page is used to set the alignment offsets of the system installation It is important to set the values on this page correctly to avoid degrading performance v1 2 Page 60 11 Oct 2022 Boreas Reference Manual Configuring and Monitoring Boreas ...

Page 73: ...surface and clicking the Zero Current Orientation button Note that this will only correct for roll and pitch offsets the Heading offset must be entered manually and saved after using this function Primary GNSS Antenna Offset The primary GNSS antenna offset is measured from the centre of the Boreas unit to the phase centre of the primary GNSS antenna in 12 3 The Body Co ordinate Frame X positive fo...

Page 74: ...s The auxiliary port functions at RS232 or RS422 levels for data functions and 0 to 5 volt or 0 to 3 3 V levels for all other functions The internal hardware automatically reconfigures based upon the selected function The default values for these settings are Inactive The dedicated 1PPS signal is active by default Figure 41 Boreas Web UI GPIO Configuration Page 9 1 3 6 Odometer The Odometer page a...

Page 75: ...Figure 43 Boreas Web UI Reset Page 9 1 3 8 Reference Point Offsets The Reference Point Offsets page allows the user to set measurement points away from its default position at the physical centre of the Boreas unit The primary reference point offset applies to data from all ANPP packets as well as all peripheral output such as NMEA messages and Heave Point 1 The Centre of Gravity COG Lever Arm Off...

Page 76: ...e alternate alignments must be entered into this page It is recommended to try and use one of the automatic offsets where possible where the antennas must be installed in one of four different automatic offset orientations aligned on an axis If it is not possible to use one of the automatic offsets the antennas can be installed in any configuration and a manual offset should be entered The manual ...

Page 77: ... Ethernet mode to be set to DHCP Figure 47 Boreas Web UI Ethernet Settings page 9 1 3 12 NTRIP Client The NTRIP client built into Boreas can be used to connect to a network DGPS Differential GPS a older standard for GNSS corrections of lower performance than RTK or RTK service to stream correction data to Boreas for DGPS or RTK The NTRIP client requires that Boreas has an available internet connec...

Page 78: ... Troubleshooting NTRIP Caster Connections Some mountpoints require that Boreas send its position To do this click the Report Position check box and then click Save Changes The current Boreas position will then be sent to the NTRIP Caster every 10 seconds If you cannot get the list of mountpoints ensure the Host Address and Port number are correct for your NTRIP Caster If the Connection Status is n...

Page 79: ...f you are only connecting to Boreas via the primary port then these settings can be ignored The default for CAN is Enabled at 1 000 000 baud rate A CANOpen EDS file is available Contact Support for a copy of this file Figure 49 Boreas Web UI CAN Settings Page v1 2 Page 67 11 Oct 2022 Boreas Reference Manual Configuring and Monitoring Boreas ...

Page 80: ...eceiver installed If an invalid configuration is entered the system will revert to the previous configuration when you try to save the changes To confirm that changes have been successfully saved close and re open the GNSS Configuration dialogue Aries GNSS Receiver When using an Aries GNSS receiver the following configuration rules are applicable l By default GPS Galileo and GLONASS are enabled al...

Page 81: ...ation Con figurations 1 50 ms 1 ms 99 ms 50 ms 20 Hz 100 ms 149 ms 100 ms 10 Hz 150 ms 199 ms 150 ms 6 67 Hz GPS Galileo GLONASS BeiDou 2 80 ms 1 ms 159 ms 80 ms 12 5 Hz 160 ms 239 ms 160 ms 6 25 Hz GPS Galileo GPS GLONASS GPS BeiDou 3 100 ms 1 ms 199 ms 100 ms 10 Hz 200 ms 299 ms 200 ms 5 Hz GPS GLONASS Galileo GPS GLONASS BeiDou no correction services 4 125 ms 1 ms 249 ms 125 ms 8 Hz 250 ms 374 ...

Page 82: ...nal subscription to Omnistar or RTX Advanced Navigation does not supply these contact Trimble for further details Figure 52 Boreas Web UI BD992 GNSS Configuration Page 9 1 4 Tools Menu The Tools menu contains tools for performing certain procedures with Boreas 9 1 4 1 Firmware Update This page is used to update the Boreas device firmware Advanced Navigation device firmware files have the extension...

Page 83: ...sLog_yy mm dd_hh mm ss xxx The log file extension identifies the file type If the time and date in the log file name is incorrect this usually indicates that Boreas does not have a GNSS fix and has therefore not yet determined the correct time Note that the logging configuration and recorded log files can only be accessed by the web UI You cannot use the serial port interfaces Note If there is a r...

Page 84: ...writing a new file This new file will also include the current Boreas device configuration If logging is currently not enabled this button will not do anything 9 1 4 3 Viewing Logged Data The ANPP log files are binary data and are therefore not in a human readable format To convert the ANPP log files you can use the Log Converter function of Boreas Manager see section 9 2 8 3 Log Converter This wi...

Page 85: ...dicator message in case of a logging error Fixed configuration import via network Added allow firmware update over ANPP using Auxiliary GPIO and Ethernet ports Added GNSS Firmware Update for BD992 variants Added CAN settings configuration Added ANPP14 Subcomponent information to Log Converter Supported NTRIP Casters that request Username Password to retrieve Source Table Allowed copying version nu...

Page 86: ... MacOS systems it may be necessary to run the application from a terminal window java jar BoreasManager jar The Boreas Evaluation Kit includes an FTDI USB to RS232 RS422 adaptor cable The drivers are normally installed automatically but if not they are available for download from www ftdichip com Drivers VCP htm 9 2 4 Troubleshooting If the application will not start the most common reason is that...

Page 87: ... rate data can be lost due to the latency of the FTDI driver To resolve this problem the latency of the driver should be reduced to 1 ms 1 Start the Windows Device Manager 1 and find the Ports section 2 2 Identify the specific COM port being used 3 by dis connecting and re connecting the USB to RS232 RS422 adaptor cable 3 Right click on the identified COM port and select Properties Select the Port...

Page 88: ...ow up the typical reason is a lack of permissions The user should add themselves to the dialout group with the command sudo adduser username dialout Compiz causes issues with the 3D mapping If you are experiencing problems it is recommended to turn off Compiz v1 2 Page 76 11 Oct 2022 Boreas Reference Manual Configuring and Monitoring Boreas ...

Page 89: ... 9 2 5 1 Serial Port The Serial Port dialogue is used to connect to Boreas Select the serial port and baud rate and click Connect The default baud rate of Boreas is 115200 The Connection Indicator displays whether there is communication with a Boreas unit 9 2 5 2 Baud Rate This displays the current and available baud rates options for the serial connection v1 2 Page 77 11 Oct 2022 Boreas Reference...

Page 90: ...Boreas Manager Communications Dialogue 9 2 7 Configuration Menu 9 2 7 1 Configuration Export The Configuration Export dialogue can be used to export all the Boreas settings to a file This file can be imported at a later date or on other units This is useful to restore a unit to a preset configuration at a later date or for batch configuration of multiple units Figure 60 Boreas Manager Configuratio...

Page 91: ...g forwards and no change to the Y axis then this would result in a pitch offset of 90 degrees with roll and heading remaining zero If there is a small misalignment due to mechanical mounting error this can be compensated for by setting the vehicle stationary on a level surface and pressing the Zero Current Orientation button Note This will only correct for roll and pitch offsets the Heading offset...

Page 92: ...Offset These values are only required for speciality applications operating with an external source of velocity data Contact support advancednavigation com for assistance with these values 9 2 7 3 Port Mode and Baud Rates When changing baud rates some Microsoft Windows machines are unable to function at the higher baud rates It is recommended to test the baud rate first without selecting the Perma...

Page 93: ...he real time odometer data to verify correct operation Figure 64 Boreas Manager Odometer Dialogue 9 2 7 6 GPIO Output The GPIO output configuration dialogue allows the user to configure the output rates for the GPIO and Auxiliary RS232 RS422 data functions NMEA TSS and PASHR v1 2 Page 81 11 Oct 2022 Boreas Reference Manual Configuring and Monitoring Boreas ...

Page 94: ...9 2 7 7 Gimbal The Gimbal configuration dialogue is only used in speciality gimbal applications Contact Support for more information on using Boreas inside a gimbal v1 2 Page 82 11 Oct 2022 Boreas Reference Manual Configuring and Monitoring Boreas ...

Page 95: ...ng certain procedures with Boreas Figure 67 Boreas Manager Tools Menu 9 2 8 1 Device Discovery Device discovery allows network discovery and reconfiguration of devices on the local network regardless of network settings v1 2 Page 83 11 Oct 2022 Boreas Reference Manual Configuring and Monitoring Boreas ...

Page 96: ...Boreas Manager Firmware Update Page Boreas contains firmware which is regularly updated to improve performance and add features Advanced Navigation recommends that you upgrade to the latest version whenever available The firmware update function is robust such that power loss file corruption or other issues cannot cause problems with units Check the Boreas product page of the Advanced Navigation w...

Page 97: ...the Boreas unit For most users these values should be left at zero Figure 70 Boreas Manager Log Converter Dialogue To configure the Log path navigate to Settings under the File menu Figure 71 Settings menu for configuring Log Path 9 2 8 4 NTRIP Client The NTRIP client can be used to connect to a network DGPS or RTK service to stream correction data to Boreas for DGPS or RTK The NTRIP client requir...

Page 98: ... Connect The network connect dialogue allows Boreas Manager to make a connection to Boreas over a TCP IP network rather than the primary serial port connection Figure 73 Boreas Manager Network Connect Dialogue 9 2 8 6 Serial Passthrough This function allows pass through communication through either GPIO 1 and 2 or the Auxiliary port Figure 74 Boreas Manager Serial Port Passthrough Dialogue v1 2 Pa...

Page 99: ...p The Spatial Manager Android app provides logging and visualisation functions for Android phones and tablets It is particularly useful for field testing purposes You can use this app to connect to your Boreas via Bluetooth and l Monitor position and orientation in real time l Log real time data for later analysis and review l Configure NTRIP stream corrections l Configure device alignment offsets...

Page 100: ...th a single remote computer device at any one time 10 1 1 Ethernet Modes Ethernet Mode Description Required Con figuration TCP Server Boreas will establish a TCP Server listening on the defined port A connected client is able to receive Output data and send Input data based on the defined Input and Output functions Port TCP Client Boreas will continuously attempt to establish a TCP connection to t...

Page 101: ...2 7 u blox GNSS Input 10 1 2 8 Hemisphere GNSS Input 10 1 2 9 Teledyne DVL Input 10 1 2 10 Tritech USBL Input 10 1 2 11 Linkquest DVL Input 10 1 2 12 Nortek DVL Input Ethernet Output 10 1 2 13 NMEA Output 10 1 2 14 ANPP Output 10 1 2 15 TSS1 Output 10 1 2 16 Simrad 1000 Output 10 1 2 17 Simrad 3000 Output 10 1 2 18 Serial Port Passthrough 10 1 2 19 GNSS Receiver Passthrough Table 29 Ethernet Data ...

Page 102: ... xxPIPS Depth below surface xxVBW Water speed ground speed xxHDM Magnetic heading PSIMSSB SSBL position xxVHW Water speed and heading xxDBS Depth below surface Table 30 Supported NMEA messages 10 1 2 2 Novatel GNSS Input Description This function is designed for interfacing Boreas with a Novatel GNSS receiver It accepts data in the Novatel binary format and requires messages BESTPOS and BESTVEL at...

Page 103: ...n This function is designed for interfacing Boreas with an external Hemisphere GNSS receiver It accepts data in the Hemisphere binary format and expects message Bin1 at rates higher than 1Hz For Hemisphere receivers that provide heading using two antennas NMEA should be used instead as the binary format does not allow for transmission of heading information 10 1 2 9 Teledyne DVL Input Description ...

Page 104: ...ormat at a user configurable rate of up to 50 Hz The output rate can be configured using the page in the web UI 10 1 2 16 Simrad 1000 Output Description This function outputs the Simrad 1000 format at a user configurable rate of up to 50 Hz The output rate can be configured using the 9 1 3 2 Data Ports page in the 9 1 Using the Web User Interface 10 1 2 17 Simrad 3000 Output Description This funct...

Page 105: ...t data may be lost without a warning The Support team can provide a baud rate calculator if it is required For more information contact Support at support advancednavigation com 10 2 2 Format The format is fixed at 1 start bit 8 data bits 1 stop bit and no parity See 11 Advanced Navigation Packet Protocol for details on the ANPP protocol 10 3 1PPS Signal There is a dedicated 1PPS signal available ...

Page 106: ...nction and can be used to extend Boreas with additional peripherals sensors and data formats Both GPIO pins have digital input digital output frequency input and frequency output functionality GPIO1 can also function as an RS232 only serial transmit line and GPIO2 can function as an RS232 only serial receive line The GPIO serial baud rate can be configured anywhere from 4800 to 250 K baud The auxi...

Page 107: ...10 6 1 Dynamic Pin Functions v1 2 Page 95 11 Oct 2022 Boreas Reference Manual Interfacing ...

Page 108: ...ometer Direction Forward Low 10 6 1 14 Odometer Direction Forward High 10 6 1 15 Reverse Alignment Forward Low 10 6 1 16 Reverse Alignment Forward High 10 6 1 17 Zero Angular Velocity Input Frequency Input 10 6 1 18 Odometer Input 10 6 1 19 Pitot Tube Input 10 6 1 20 Pressure Depth Transducer deprecated 10 6 1 21 Left Wheel Speed Sensor 10 6 1 22 Right Wheel Speed Sensor 10 6 1 23 Wheel Speed Sens...

Page 109: ...nput 10 6 1 40 Nortek DVL Input Serial Transmit 10 6 1 41 NMEA Output 10 6 1 42 ANPP Output 10 6 1 43 TSS1 Output 10 6 1 44 Simrad 1000 Output 10 6 1 45 Simrad 3000 Output Serial 10 6 1 46 Serial Port Passthrough 10 6 1 47 GNSS Receiver Passthrough Table 33 Dynamic Pin Functions 10 6 1 1 Inactive Type Tristate GPIO Port 1 2 Auxiliary All 10 6 1 2 1PPS Output Type Digital Output GPIO Port 1 2 Auxil...

Page 110: ... internal GNSS receiver rather than the internal microprocessor The validity of the dedicated 1PPS signal can be monitored using the time initialised flag in the 11 4 1 System State Packet 10 6 1 3 GNSS Fix Output Type Digital Output GPIO Port 1 2 Auxiliary Transmit Description In this function the pin is low when there is no GNSS fix or a 2D fix and high when there is a 3D SBAS Differential or RT...

Page 111: ...res de bouncing if attached to a switch 10 6 1 8 System State Packet Trigger Type Digital Input GPIO Port 1 2 Auxiliary Receive Description This function accepts a digital input The input is normally low and a transition from low to high causes Boreas to send the System State Packet This function requires de bouncing if attached to a switch 10 6 1 9 Raw Sensors Packet Trigger Type Digital Input GP...

Page 112: ...gh 10 6 1 13 Odometer Direction Forward Low Type Digital Input GPIO Port 1 2 Auxiliary Receive Description This function is designed to take a reversing indication input for direction with an odometer or wheel encoder It should be used in combination with Odometer Input or Wheel Speed Sensor 10 6 1 14 Odometer Direction Forward High Type Digital Input GPIO Port 1 2 Auxiliary Receive Description Th...

Page 113: ...odometers It expects a normally low input with a high state for the trigger If the pulse length is more than 0 1 metres then this odometer input function should be used If it is less than 0 1 metres the wheel speed sensor function should be used Contact Advanced Navigation support for help integrating with your speed sensor Parameter Value Trigger Low High Maximum Frequency 600Khz Maximum Pulse Ra...

Page 114: ...th dual wheel speed sensors 10 6 1 23 Wheel Speed Sensor Type Frequency Input GPIO Port 1 2 Auxiliary Receive Description This function is designed for high resolution vehicle speed sensors and wheel speed sensors It expects a normally low input with a high state for the trigger If the pulse length is more than 0 1 metres the odometer input function should be used if it is less than 0 1 metres the...

Page 115: ...oder Phase B 10 6 1 27 Gimbal Encoder Phase B Type Frequency Input GPIO Port 1 2 Auxiliary N A Description This function is designed for interfacing with a rotary incremental quadrature encoder to measure the azimuth angle of a gimbal in which Boreas is installed It should be used in combination with Gimbal Encoder Phase A 10 6 1 28 NMEA Input Type Serial Receive GPIO Port 2 Auxiliary Receive Desc...

Page 116: ...his function is designed for interfacing Boreas with a Novatel GNSS receiver It accepts data in the Novatel binary format and requires messages BESTPOS and BESTVEL at rates higher than 1 Hz 20Hz recommended The message BESTSATS is optional to display detailed satellite information The message HEADING is also supported for ALIGN capable receivers 10 6 1 30 Topcon GNSS Input Type Serial Receive GPIO...

Page 117: ...This function is designed for interfacing Boreas with an external Trimble GNSS receiver It accepts data in the Trimble binary format GSOF and expects packet 0x40 with records 1 2 8 and 12 at rates higher than 1Hz 20Hz recommended and optional records 9 and 34 at 1 to 2Hz 10 6 1 34 u blox GNSS Input Type Serial Receive GPIO Port 2 Auxiliary Receive Description This function is designed for interfac...

Page 118: ...eceive GPIO Port 2 Auxiliary Receive Description This function accepts DVL data from a Linkquest DVL For assistance with configuration contact support advancednavigation com 10 6 1 39 Linkquest USBL Input Type Serial Receive GPIO Port 2 Auxiliary Receive Description This function accepts USBL data from a Linkquest USBL For assistance with configuration contact support advancednavigation com 10 6 1...

Page 119: ...ype Serial Transmit GPIO Port 1 Auxiliary Transmit Description This function outputs data in the ANPP format as specified in 11 Advanced Navigation Packet Protocol This function is for ANPP peripheral devices only When this function is enabled the GPIO and auxiliary ports function the same as the primary port with one exception 1 When setting the ANPP packet and message output rates the changes on...

Page 120: ...ng the Web User Interface 10 6 1 46 Serial Port Passthrough Type Serial GPIO Port 1 2 Auxiliary All Description This function allows passthrough communication through either GPIO 1 and 2 or the Auxiliary port To transmit data use the 11 3 7 Serial Port Passthrough Packet When data is received it will be sent back using the same 11 3 7 Serial Port Passthrough Packet 10 6 1 47 GNSS Receiver Passthro...

Page 121: ...Acknowledge Packet 4 R 1 11 3 2 Request Packet Varies W 2 11 3 3 Boot Mode Packet 1 R W 3 11 3 4 Device Information Packet 24 R 4 11 3 5 Restore Factory Settings Packet 4 W 5 11 3 6 Reset Packet 4 W 10 11 3 7 Serial Port Passthrough Packet Varies R W 11 11 3 8 IP Configuration Packet 30 R W 14 11 3 9 Subcomponent Information Packet 24 R Packet ID Name Length R W State Packets 20 11 4 1 System Stat...

Page 122: ...R W 48 11 4 28 External Heading Packet 8 R W 49 11 4 29 Running Time Packet 8 R 51 11 4 30 Odometer State Packet 20 R 52 11 4 31 External Time Packet 8 R 53 11 4 32 External Depth Packet 8 R W 54 11 4 33 Geoid Height Packet 4 R 55 11 4 34 RTCM Corrections Packet Varies W 57 11 4 35 Wind Packet 12 R W 58 11 4 36 Heave Packet 16 R 60 11 4 37 Raw Satellite Data Packet Varies R 61 11 4 38 Raw Satellit...

Page 123: ...0 GPIO Output Configuration Packet 183 R W 196 11 5 11 Dual Antenna Configuration Packet 17 R W 197 11 5 12 GNSS Configuration Packet 85 R W 198 11 5 13 User Data Packet 64 R W 199 11 5 14 GPIO Input Configuration Packet 65 R W 202 11 5 15 IP Dataports Configuration Packet 30 R W 203 11 5 16 CAN Configuration Packet 30 R W Table 37 Advanced Navigation Packets 11 1 About Packets 11 1 1 Packet Struc...

Page 124: ...otes the length of the packet data i e from byte index 5 onwards inclusive Packet length has a range of 0 255 11 1 1 4 CRC The CRC is a CRC16 CCITT The starting value is 0xFFFF The CRC covers only the packet data 11 1 2 Packet Requests Any of the state and configuration packets can be requested at any time using the 11 3 2 Request Packet 11 1 3 Packet Acknowledgement When configuration packets are...

Page 125: ...Unix Time Packet or the 11 4 3 Formatted Time Packet For example if the 11 4 2 Unix Time Packet 11 4 4 Status Packet and 11 4 15 NED Velocity Packet packet were all set to output at 10 Hz at each 0 1 second period the three packets would output consecutively by order of packet ID with all data synchronised between them and the 11 4 2 Unix Time Packet providing the time of validity for the other tw...

Page 126: ...error 2 Acknowledge failure packet size incorrect 3 Acknowledge failure values outside of valid ranges 4 Acknowledge failure system flash memory failure 5 Acknowledge failure system not ready 6 Acknowledge failure unknown packet Table 42 Acknowledge Result 11 3 2 Request Packet Request Packet Packet ID 1 Length 1 x number of packets requested Read Write Write Field Bytes Offset Data Type Size Desc...

Page 127: ... Mode Types 11 3 4 Device Information Packet Device Information Packet Packet ID 3 Length 24 Read Write Read Field Bytes Offset Data Type Size Description 1 0 u32 4 Software version 2 4 u32 4 11 3 4 1 Device ID 3 8 u32 4 Hardware revision 4 12 u32 4 Boreas Serial number part 1 5 16 u32 4 Boreas Serial number part 2 6 20 u32 4 Boreas Serial number part 3 Table 46 Device Information Packet v1 2 Page...

Page 128: ... Device IDs 11 3 5 Restore Factory Settings Packet Note A Factory Reset will re enable the DHCP Client and lose any static IP address settings Restore Factory Settings Packet Packet ID 4 Length 4 Read Write Write Field Bytes Offset Data Type Size Description 1 0 u32 4 Verification sequence set to 0x85429E1C Table 48 Restore Factory Settings Packet v1 2 Page 116 11 Oct 2022 Boreas Reference Manual ...

Page 129: ... reset Table 50 Verification Sequence Values 11 3 7 Serial Port Passthrough Packet Serial Port Passthrough Packet Packet ID 10 Length Variable up to 255 bytes Read Write Read Write Field Bytes Offset Data Type Size Description 1 0 u8 1 Passthrough Routes 2 1 Passthrough Data Table 51 Serial Port Passthrough Packet 11 3 7 1 Passthrough Routes Value Description 1 GPIO 1 and 2 2 Auxiliary Table 52 Pa...

Page 130: ...abled 1 Automatic DNS 2 4 Link Mode See 11 3 8 2 Link Mode Index 5 7 Reserved set to zero Table 54 DHCP Mode 11 3 8 2 Link Mode Index Value Bit 4 Bit 3 Bit 2 Description 0 0 0 0 Auto Table 55 Link Mode Index 11 3 8 3 Discovery Network Setting Overwrite Settings 7 8 and 9 are optional over standard network interfaces but required to overwrite settings over multi cast discovery To overwrite network ...

Page 131: ...ype Size Description 1 0 u32 4 Subcomponent Software version 2 4 u32 4 11 3 9 1 Subcomponent Device ID 3 8 u32 4 Subcomponent Hardware Revision 4 12 u32 3 12 Subcomponent Serial Number Fields 1 4 repeat for additional subcomponents Table 56 Subcomponent Information Packet 11 3 9 1 Subcomponent Device ID Value Description 5 Spatial MEMS IMU 17 Evo MEMS IMU 27 Aries Table 57 Subcomponent Device IDs ...

Page 132: ...Orientation Standard Deviation Packet 12 R 27 11 4 8 Quaternion Orientation Standard Deviation Packet 16 R 28 11 4 9 Raw Sensors Packet 48 R 29 11 4 10 Raw GNSS Packet 74 R W 30 11 4 11 Satellites Packet 13 R 32 11 4 12 Geodetic Position Packet 24 R 33 11 4 13 ECEF Position Packet 24 R 34 11 4 14 UTM Position Packet 26 R 35 11 4 15 NED Velocity Packet 12 R 36 11 4 16 Body Velocity Packet 12 R 37 1...

Page 133: ... Raw Satellite Ephemeris Packet Varies R 67 11 4 39 External Odometer Packet 13 W 68 11 4 40 External Air Data Packet 25 R W 69 11 4 41 GNSS Receiver Information Packet Varies R 70 11 4 42 Raw DVL Data Packet 60 R 71 11 4 43 North Seeking Initialisation Status Packet 28 R W 72 11 4 44 Gimbal State Packet 8 R W 73 11 4 45 Automotive Packet 24 R 80 11 4 46 Basestation Packet 45 R 83 11 4 47 Zero Ang...

Page 134: ...44 fp32 4 Velocity down m s 11 48 fp32 4 Body acceleration X m s s 12 52 fp32 4 Body acceleration Y m s s 13 56 fp32 4 Body acceleration Z m s s 14 60 fp32 4 G force g 15 64 fp32 4 Roll radians 16 68 fp32 4 Pitch radians 17 72 fp32 4 Heading radians 18 76 fp32 4 Angular velocity X rad s 19 80 fp32 4 Angular velocity Y rad s 20 84 fp32 4 Angular velocity Z rad s 21 88 fp32 4 Latitude standard devia...

Page 135: ...ensor Failure 3 Reserved 4 Pressure Sensor Failure 5 6 Accelerometer Over Range 7 Gyroscope Over Range 8 Reserved 9 Pressure Over Range 10 Minimum Temperature Alarm 11 Maximum Temperature Alarm 12 Internal Data Logging Error 13 High Voltage Alarm 14 GNSS Antenna Connection open or short circuit primary or secondary antenna NOTE This bit is not applicable to units with a Trimble BD992 GNSS Receiver...

Page 136: ...ading Enabled 12 Atmospheric Altitude Enabled 13 External Position Active 14 External Velocity Active 15 External Heading Active Table 61 Filter Status 11 4 1 3 GNSS Fix Status Value Bit 6 Bit 5 Bit 4 Description 0 0 0 0 No GNSS fix 1 0 0 1 2D GNSS fix 2 0 1 0 3D GNSS fix 3 0 1 1 SBAS GNSS fix 4 1 0 0 Differential GNSS fix 5 1 0 1 Omnistar Starfire GNSS fix 6 1 1 0 RTK Float GNSS fix 7 1 1 1 RTK F...

Page 137: ...s See 11 4 1 4 Unix Time Seconds 2 4 u32 4 Microseconds Table 63 Unix Time Packet 11 4 3 Formatted Time Packet Formatted Time Packet Packet ID 22 Length 14 Read Write Read Field Bytes Offset Data Type Size Description 1 0 u32 4 Microseconds 2 4 u16 2 Year 3 6 u16 2 Year day 0 365 4 8 u8 1 Month 0 11 5 9 u8 1 Month Day 1 31 6 10 u8 1 Week Day 0 6 0 Sunday 7 11 u8 1 Hour 0 23 8 12 u8 1 Minute 0 59 9...

Page 138: ...dard deviation m 2 4 fp32 4 Longitude standard deviation m 3 8 fp32 4 Height standard deviation m Table 66 Position Standard Deviation Packet 11 4 6 Velocity Standard Deviation Packet Velocity Standard Deviation Packet Packet ID 25 Length 12 Read Write Read Field Bytes Offset Data Type Size Description 1 0 fp32 4 Velocity north standard deviation m s 2 4 fp32 4 Velocity east standard deviation m s...

Page 139: ... Euler Orientation Standard Deviation Packet 11 4 8 Quaternion Orientation Standard Deviation Packet Quaternion Orientation Standard Deviation Packet Packet ID 27 Length 16 Read Write Read Field Bytes Offset Data Type Size Description 1 0 fp32 4 Q0 standard deviation 2 4 fp32 4 Q1 standard deviation 3 8 fp32 4 Q2 standard deviation 4 12 fp32 4 Q3 standard deviation Table 69 Quaternion Orientation ...

Page 140: ... fp32 4 Accelerometer Z m s s 4 12 fp32 4 Gyroscope X rad s 5 16 fp32 4 Gyroscope Y rad s 6 20 fp32 4 Gyroscope Z rad s 7 24 fp32 4 Reserved 8 28 fp32 4 Reserved 9 32 fp32 4 Reserved 10 36 fp32 4 IMU Temperature deg C 11 40 fp32 4 Pressure Pascals 12 44 fp32 4 Pressure Temperature deg C Table 70 Raw Sensors Packet v1 2 Page 128 11 Oct 2022 Boreas Reference Manual Advanced Navigation Packet Protoco...

Page 141: ...fp64 8 Latitude rad 4 16 fp64 8 Longitude rad 5 24 fp64 8 Height m 6 32 fp32 4 Velocity north m s 7 36 fp32 4 Velocity east m s 8 40 fp32 4 Velocity down m s 9 44 fp32 4 Latitude standard deviation m 10 48 fp32 4 Longitude standard deviation m 11 52 fp32 4 Height standard deviation m 12 56 fp32 4 Tilt rad 13 60 fp32 4 Heading rad 14 64 fp32 4 Tilt standard deviation rad 15 68 fp32 4 Heading standa...

Page 142: ... units with Trimble BD992 GNSS receiver 14 GNSS1 failure 15 GNSS2 failure not applicable to units with Trimble BD992 GNSS receiver Table 72 Raw GNSS Status 11 4 11 Satellites Packet Satellites Packet Packet ID 30 Length 13 Read Write Read Field Bytes Offset Data Type Size Description 1 0 fp32 4 HDOP 2 4 fp32 4 VDOP 3 8 u8 1 GPS satellites 4 9 u8 1 GLONASS satellites 5 10 u8 1 BeiDou satellites 6 1...

Page 143: ...h 24 Read Write Read Field Bytes Offset Data Type Size Description 1 0 fp64 8 ECEF X m 2 8 fp64 8 ECEF Y m 3 16 fp64 8 ECEF Z m Table 75 ECEF Position Packet 11 4 14 UTM Position Packet UTM Position Packet Packet ID 34 Length 26 Read Write Read Field Bytes Offset Data Type Size Description 1 0 fp64 8 Northing m 2 8 fp64 8 Easting m 3 16 fp64 8 Height m 4 24 u8 1 Zone number 5 25 s8 1 Zone characte...

Page 144: ... Bytes Offset Data Type Size Description 1 0 fp32 4 Velocity X m s 2 4 fp32 4 Velocity Y m s 3 8 fp32 4 Velocity Z m s Table 78 Body Velocity Packet 11 4 17 Acceleration Packet This packet includes the acceleration due to gravity Acceleration Packet Packet ID 37 Length 12 Read Write Read Field Bytes Offset Data Type Size Description 1 0 fp32 4 Acceleration X m s s 2 4 fp32 4 Acceleration Y m s s 3...

Page 145: ...1 4 19 Euler Orientation Packet Euler Orientation Packet Packet ID 39 Length 12 Read Write Read Field Bytes Offset Data Type Size Description 1 0 fp32 4 Roll rad 2 4 fp32 4 Pitch rad 3 8 fp32 4 Heading rad Table 81 Euler Orientation Packet 11 4 20 Quaternion Orientation Packet Quaternion Orientation Packet Packet ID 40 Length 16 Read Write Read Field Bytes Offset Data Type Size Description 1 0 fp3...

Page 146: ... 24 fp32 4 DCM 2 0 8 28 fp32 4 DCM 2 1 9 32 fp32 4 DCM 2 2 Table 83 DCM Orientation Packet 11 4 22 Angular Velocity Packet Angular Velocity Packet Packet ID 42 Length 12 Read Write Read Field Bytes Offset Data Type Size Description 1 0 fp32 4 Angular velocity X rad s 2 4 fp32 4 Angular velocity Y rad s 3 8 fp32 4 Angular velocity Z rad s Table 84 Angular Velocity Packet v1 2 Page 134 11 Oct 2022 B...

Page 147: ...te Read Write Field Bytes Offset Data Type Size Description 1 0 fp64 8 Latitude rad 2 8 fp64 8 Longitude rad 3 16 fp64 8 Height m 4 24 fp32 4 Velocity north m s 5 28 fp32 4 Velocity east m s 6 32 fp32 4 Velocity down m s 7 36 fp32 4 Latitude standard deviation m 8 40 fp32 4 Longitude standard deviation m 9 44 fp32 4 Height standard deviation m 10 48 fp32 4 Velocity north standard deviation m s 11 ...

Page 148: ...n m Table 87 External Position Packet 11 4 26 External Velocity Packet External Velocity Packet Packet ID 46 Length 24 Read Write Read Write Field Bytes Offset Data Type Size Description 1 0 fp32 4 Velocity north m s 2 4 fp32 4 Velocity east m s 3 8 fp32 4 Velocity down m s 4 12 fp32 4 Velocity north standard deviation m s 5 16 fp32 4 Velocity east standard deviation m s 6 20 fp32 4 Velocity down ...

Page 149: ... standard deviation Y m s 6 20 fp32 4 OPTIONAL Velocity standard deviation Z m s Table 89 External Body Velocity Packet 11 4 28 External Heading Packet External Heading Packet Packet ID 48 Length 8 Read Write Read Write Field Bytes Offset Data Type Size Description 1 0 fp32 4 Heading rad 2 4 fp32 4 Heading standard deviation rad Table 90 External Heading Packet 11 4 29 Running Time Packet This pac...

Page 150: ...d m s 4 12 fp32 4 Odometer slip m 5 16 u8 1 Odometer active 6 17 3 Reserved Table 92 Odometer State Packet 11 4 31 External Time Packet External Time Packet Packet ID 52 Length 8 Read Write Read Field Bytes Offset Data Type Size Description 1 0 u32 4 11 4 1 4 Unix Time Seconds 2 4 u32 4 11 4 1 5 Microseconds Table 93 External Time Packet v1 2 Page 138 11 Oct 2022 Boreas Reference Manual Advanced N...

Page 151: ...WGS84 Height Geoid Height Depth Geoid Height WGS84 Height WGS84 Height is the height at the current location in the System State packet see 11 4 1 System State Packet Geoid Height Packet Packet ID 54 Length 4 Read Write Read Field Bytes Offset Data Type Size Description 1 0 fp32 4 Geoid height m Table 95 Geoid Height Packet 11 4 34 RTCM Corrections Packet This packet is used to encapsulate RTCM v3...

Page 152: ...t m s 3 8 fp32 4 Wind velocity standard deviation m s Table 97 Wind Packet 11 4 36 Heave Packet Heave Packet Packet ID 58 Length 16 Read Write Read Field Bytes Offset Data Type Size Description 1 0 fp32 4 Heave point 1 m 2 4 fp32 4 Heave point 2 m 3 8 fp32 4 Heave point 3 m 4 12 fp32 4 Heave point 4 m Table 98 Heave Packet 11 4 37 Raw Satellite Data Packet The Boreas Manager Log Converter will aut...

Page 153: ...es For each frequency of each satellite 13 22 u8 1 Satellite Frequencies 14 23 u8 1 Tracking Status 15 24 fp64 8 Carrier phase cycles 16 32 fp64 8 Pseudo range m 17 40 fp32 4 Doppler frequency Hz 18 44 fp32 4 Signal to noise ratio dB Hz Table 99 Raw Satellite Data Packet 11 4 37 1 Satellite Systems Value System 0 Unknown 1 GPS 2 GLONASS 3 BeiDou 4 Galileo 5 SBAS 6 QZSS 7 Reserved 8 Reserved 9 Rese...

Page 154: ...tion 0 Carrier phase valid 1 Carrier phase cycle slip detected 2 Carrier phase half cycle ambiguity 3 Pseudo range valid 4 Doppler valid 5 SNR valid 6 7 Reserved set to zero Table 102 Tracking Status 11 4 38 Raw Satellite Ephemeris Packet Boreas Manager will automatically convert this packet to RINEX 3 02 format Raw Satellite Ephemeris Packet Packet ID 61 Length Varies Read Write Read Field Bytes ...

Page 155: ... Cus rad 17 58 fp64 8 A m 18 66 fp32 4 Cic rad 19 70 fp64 8 OMEGA0 rad 20 78 fp32 4 Cis rad 21 82 fp64 8 i0 rad 22 90 fp32 4 Crc m 23 94 fp64 8 Omega rad 24 102 fp64 8 Omega dot rad s 25 110 fp64 8 IDOT rad s 26 118 fp32 4 TGD s 27 122 u16 2 Ephemeris week number 28 124 u32 4 Transmission time s 29 128 u16 2 User range accuracy m 30 130 u16 2 11 4 38 1 GPS Flags For GLONASS satellites 94 Bytes 5 6...

Page 156: ...3 u8 1 Reserved Table 103 Raw Satellite Ephemeris Packet 11 4 38 1 GPS Flags Bit Description 0 Data flag for L2 P code 1 2 Codes on L2 channel 3 Anti spoof flag 4 9 Satellite health 10 Fit interval flag 11 URA bad 12 14 Satellite block type Table 104 GPS Flags 11 4 39 External Odometer Packet External Odometer Packet Packet ID 67 Length 13 Read Write Write Field Bytes Offset Data Type Size Descrip...

Page 157: ...4 39 1 Odometer Flags Bit Description 0 Reversing detection supported 1 7 Reserved set to zero Table 106 Odometer Flags v1 2 Page 145 11 Oct 2022 Boreas Reference Manual Advanced Navigation Packet Protocol ...

Page 158: ...eviation m s 6 24 u8 1 Flags Table 107 External Air Data Packet 11 4 40 1 External Air Data Flags Bit Description 0 Barometric altitude set and valid 1 Airspeed set and valid 2 Barometric altitude reference reset Table 108 External Air Data Flags Barometric altitude does not need to be referenced to any co ordinate frame or QNH If the barometric altitude reference is changed during operation the b...

Page 159: ...imble BD992 GNSS Receiver Information Packet Packet ID 69 Length 48 read Write Read Field Bytes Offset Data Type Size Description 1 0 u8 1 GNSS manufacturer ID 2 1 u8 1 GNSS receiver model 3 2 s8 10 10 GNSS serial number in ASCII character string 4 12 u32 4 Firmware version 5 16 u32 3 12 Software license code 6 28 u32 4 Omnistar serial number 7 32 u32 4 Omnistar subscription start unix time 8 36 u...

Page 160: ...odel Unknown 1 Aries 2 Aries GC2 Table 111 GNSS Manufacturer IDs and Receiver Models 11 4 41 4 Omnistar Engine Modes Value Description 0 Omnistar engine not active 1 HP 2 XP 3 G2 4 HP G2 5 HP XP Table 112 Omnistar Engine Modes 11 4 41 5 RTK Software License Accuracy Value Description 0 RTK accuracy unknown 1 0 3m horizontal 0 3m vertical 2 0 1m horizontal 0 1m vertical 3 0 1m horizontal 0 02m vert...

Page 161: ...5 16 fp32 4 Bottom velocity Y m s 6 20 fp32 4 Bottom velocity Z m s 7 24 fp32 4 Bottom velocity standard deviation m s 8 28 fp32 4 Water velocity X m s 9 32 fp32 4 Water velocity Y m s 10 36 fp32 4 Water velocity Z m s 11 40 fp32 4 Water velocity standard deviation m s 12 44 fp32 4 Water velocity layer depth m 13 48 fp32 4 Depth m 14 52 fp32 4 Altitude m 15 56 fp32 4 Temperature deg C Table 114 Ra...

Page 162: ...GPIO Configuration Packet 11 4 43 1 North Seeking Initialisation Status Flags Value Description 0 North seeking initialisation complete 1 North seeking initialisation cannot start because the position is unknown 2 Solution out of range 3 Solution non orthogonal 4 Restarted due to excessive movement 5 Restarted due to change in latitude 6 Restarted due to user change in lever arm offset 7 Latitude ...

Page 163: ...otive Packet Packet ID 73 Length 24 Read Write Read Field Bytes Offset Data Type Size Description 1 0 fp32 4 Virtual odometer distance m 2 4 fp32 4 Slip Angle rad Value reported is zero unless heading is valid and the velocity is greater than 3 45 m s 3 8 fp32 4 Velocity X m s 4 12 fp32 4 Velocity Y m s 5 16 fp32 4 Distance standard deviation m 6 20 4 Reserved set to zero Table 119 Automotive Pack...

Page 164: ... m 8 40 fp32 4 Basestation relative position down m 9 44 u8 1 11 4 46 1 GNSS Fix Status Table 120 Basestation packet 11 4 46 1 GNSS Fix Status Value Description 0 No GNSS fix 1 2D GNSS fix 2 3D GNSS fix 3 SBAS GNSS fix 4 Differential GNSS fix 5 Omnistar Starfire GNSS fix 6 RTK Float GNSS fix 7 RTK Fixed GNSS fix Table 121 GNSS Fix Status 11 4 47 Zero Angular Velocity Packet Zero Angular Velocity P...

Page 165: ...otal 3 2 u8 1 Satellite System 4 3 u8 1 Satellite number PRN 5 4 s8 1 11 4 48 3 Satellite Frequencies 6 5 u8 1 Elevation deg 7 6 u16 2 Azimuth deg 8 8 u8 1 SNR receiver 1 9 9 u8 1 SNR receiver 2 10 10 u8 1 Flags See Extended Satellites Flags Fields 3 10 repeat for additional satellites Table 123 Extended Satellites Packet The maximum number of satellites per packet is 28 If there are more than 28 ...

Page 166: ... L2 C G2 C A E6 CS B2 L2 C 6 L2 P G2 P E6 PRS LEX 7 L2 M 8 L5 G3 E5 a B3 L5 L5 9 E5 b 10 E5 a b Table 125 Satellite Frequencies 11 4 48 4 Extended Satellites Flags Bit Description 0 Visible by receiver 1 1 Visible by receiver 2 2 Used in primary position solution 3 Used in moving baseline solution 4 7 Reserved set to zero Table 126 Extended Satellites Flags 11 4 49 Sensor Temperature Packet Sensor...

Page 167: ...ize Description 1 0 fp32 3 12 Accelerometer temperature 2 12 fp32 3 12 Gyroscope temperature 3 24 fp32 4 Reserved set to 0 4 28 fp32 4 Pressure sensor temperature Table 127 Sensor temperature packet v1 2 Page 155 11 Oct 2022 Boreas Reference Manual Advanced Navigation Packet Protocol ...

Page 168: ...s 180 11 5 1 Packet Timer Period Packet 4 R W 181 11 5 2 Packets Period Packet Varies R W 182 11 5 3 Baud Rates Packet 17 R W 185 11 5 4 Installation Alignment Packet 73 R W 186 11 5 5 Filter Options Packet 17 R W 188 11 5 6 GPIO Configuration Packet 13 R W 192 11 5 7 Odometer Configuration Packet 8 R W 193 11 5 8 Set Zero Orientation Alignment Packet 5 W 194 11 5 9 Reference Point Offsets Packet ...

Page 169: ...Timer Rate 1000000 Packet Timer Period Hz 11 5 1 2 Packet Timer Period This is a value in microseconds that sets the master packet timer period The minimum value is 1000 1 ms or 1000 Hz and the maximum value is 65535 65 535 ms or 15 30 Hz 11 5 2 Packets Period Packet This packet allows the user to configure add remove modify and clear state packets packets 20 through 180 Note This packet will only...

Page 170: ... packet ID 11 5 2 2 Packet Period This indicates the period in units of the packet timer period The packet rate can be calculated as follows Packet Rate 1000000 Packet Period x Packet Timer Period Hz For example if the packet timer period is set to 1000 1 ms Setting packet ID 20 with a packet period of 50 will give the following Packet 20 Rate 1000000 50 x 1000 Packet 20 Rate 20 Hz v1 2 Page 158 1...

Page 171: ...o 4000000 bit 31 0 RS232 1 RS422 5 13 4 Reserved set to zero Table 131 Baud Rates Packet The highest bit bit 31 of fields 2 and 4 are used to set the port mode of the primary and auxiliary ports A zero indicates RS232 mode a one indicates RS422 mode 11 5 3 1 Supported Baud Rate Supported Baud Rates 4800 9600 19200 38400 57600 115200 230400 250000 460800 500000 800000 921600 1000000 1250000 2000000...

Page 172: ...DCM 1 2 8 25 fp32 4 Alignment DCM 2 0 9 29 fp32 4 Alignment DCM 2 1 10 33 fp32 4 Alignment DCM 2 2 11 37 fp32 4 GNSS antenna offset X m 12 41 fp32 4 GNSS antenna offset Y m 13 45 fp32 4 GNSS antenna offset Z m 14 49 fp32 4 Odometer offset X m 15 53 fp32 4 Odometer offset Y m 16 57 fp32 4 Odometer offset Z m 17 61 fp32 4 External data offset X m 18 65 fp32 4 External data offset Y m 19 69 fp32 4 Ex...

Page 173: ...roll sin heading sin pitch cos roll DCM 2 2 cos pitch cos roll 11 5 5 Filter Options Packet Filter Options Packet Packet ID 186 Length 17 Read Write Read Write Field Bytes Offset Data Type Size Description 1 0 u8 1 Permanent 2 1 u8 1 11 5 5 1 Vehicle Types 3 2 u8 1 Internal GNSS enabled boolean 4 3 u8 1 Reserved set to zero 5 4 u8 1 Atmospheric altitude enabled boolean 6 5 u8 1 Velocity heading en...

Page 174: ...Bytes Offset Data Type Size Description 1 0 u8 1 Permanent 2 1 u8 1 GPIO1 function See 11 5 6 1 GPIO Functions 3 2 u8 1 GPIO2 function See 11 5 6 1 GPIO Functions 4 3 u8 1 Auxiliary RS232 transmit function See 11 5 6 2 Aux iliary Functions 5 4 u8 1 Auxiliary RS232 receive function See 11 5 6 2 Aux iliary Functions 6 5 u8 1 11 5 6 3 GPIO Voltage Selection 7 6 7 Reserved set to zero Table 136 GPIO C...

Page 175: ...ation Alignment 17 System State Packet Trigger 18 Raw Sensors Packet Trigger 19 RTCM Differential GNSS Corrections Input GPIO2 20 Trimble GNSS Input 21 u blox GNSS Input 22 Hemisphere GNSS Input 23 Teledyne DVL Input 24 Tritech USBL Input 25 Linkquest DVL Input 26 Pressure Depth Transducer GPIO1 GPIO2 27 Left Wheel Speed Sensor 28 Right Wheel Speed Sensor 29 1PPS Input 30 Wheel Speed Sensor 31 Whe...

Page 176: ...GPIO2 53 Reverse Alignment Forward Low GPIO1 GPIO2 54 Reverse Alignment Forward High 55 Zero Angular Velocity Input Table 137 GPIO functions 11 5 6 2 Auxiliary Functions Value Description Auxiliary Function Type 0 Inactive Transmit Receive 1 1PPS Output Transmit 2 GNSS Fix Output 3 Odometer Input Receive 4 Zero Velocity Input 5 Pitot Tube Input 6 NMEA Input 7 NMEA Output Transmit 8 Novatel GNSS In...

Page 177: ... Speed Sensor 28 Right Wheel Speed Sensor 29 1PPS Input 30 Wheel Speed Sensor 33 Event 1 Input 34 Event 2 Input 35 Linkquest USBL Input 38 GNSS Receiver Passthrough Transmit Receive 39 TSS1 Output Transmit 40 Simrad 1000 Output 41 Simrad 3000 Output 42 Serial Port Passthrough Transmit receive 45 Odometer Direction Forward Low Receive 46 Odometer Direction Forward High 51 Nortek DVL Input 53 Revers...

Page 178: ...Automatic pulse measurement active 3 2 2 Reserved set to zero 4 4 fp32 4 Pulse length m Table 140 Odometer Configuration Packet 11 5 8 Set Zero Orientation Alignment Packet Set Zero Orientation Alignment Packet Packet ID 193 Length 5 Read Write Write Field Bytes Offset Data Type Size Description 1 0 u8 1 Permanent 2 1 u32 4 Verification sequence set to 0x9A4E8055 Table 141 Set Zero Orientation Ali...

Page 179: ...Heave Packet Reference Point Offsets Packet Packet ID 194 Length 49 Read Write Read Write Field Bytes Offset Data Type Size Description 1 0 u8 1 Permanent 2 1 fp32 4 Heave point 1 offset X m Primary reference point off set X m 3 5 fp32 4 Heave point 1 offset Y m Primary reference point off set Y m 4 9 fp32 4 Heave point 1 offset Z m Primary reference point off set Z m 5 13 fp32 4 Heave point 2 off...

Page 180: ...GPRMC Rates See 11 5 10 4 Port Out put Rates 9 8 u8 1 Auxiliary port GPHDT Rates See 11 5 10 4 Port Out put Rates 10 9 u8 1 Auxiliary port GPGLL Rates See 11 5 10 4 Port Out put Rates 11 10 u8 1 Auxiliary port PASHR Rates See 11 5 10 4 Port Out put Rates 12 11 u8 1 Auxiliary port TSS1 Rates See 11 5 10 4 Port Output Rates 13 12 u8 1 Auxiliary port Simrad Rates See 11 5 10 4 Port Output Rates 14 13...

Page 181: ...er Passthrough Table 144 Port Input Modes 11 5 10 2 Port Output Modes Value Description 0 Inactive 7 NMEA0183 12 ANPP 38 GNSS Receiver Passthrough 39 TSS1 40 Simrad 1000 41 Simrad 3000 Table 145 Port Output Modes Note The Port Input and Output Modes are read only for the auxiliary and GPIO ports For compatibility with legacy devices the modes for these two ports are set using the GPIO Configuratio...

Page 182: ... table below l Manual offset values will be ignored and should be set to zero l The manual offset values will be populated with the automatically calculated offset values If your antenna configuration does not match one of the four available automatic offset configurations you must use a manual offset These values are measured from the secondary antenna to the primary antenna in the body co ordina...

Page 183: ...NSS Configuration Packet 11 5 12 1 Aries GNSS Receiver Aries GNSS Receiver Configuration Packet Packet ID 197 Length 85 Read Write Read Write Field Bytes Offset Data Type Size Description 1 0 u8 1 Permanent 2 1 u64 8 GNSS frequencies This is a bitfield where each bit describes whether a particular frequency is enabled For a list of the fields that are currently available see 11 5 12 3 GNSS Frequen...

Page 184: ...d when calculating a fix 7 19 u8 1 SBAS corrections enabled 8 20 u8 1 11 5 12 4 L Band Modes 9 21 u32 4 L band frequency Hz 10 25 u32 4 L band baud rate 11 29 u32 4 Primary antenna type 12 33 u32 4 Secondary antenna type 13 37 u8 1 11 5 12 5 L Band Satellite IDs this refers to the satel lite name 14 38 47 Reserved Table 152 Trimble BD992 GNSS Receiver Configuration Packet 11 5 12 3 GNSS Frequency ...

Page 185: ...18 BEIDOU B2 19 BEIDOU B3 20 GALILEO E1 20 GALILEO E5A 22 GALILEO E5B 23 GALILEO E5AB 24 GALILEO E6 25 QZSS L1CA 25 QZSS L1SAIF 26 QZSS L1C 27 QZSS L2C 28 QZSS L5 29 QZSS LEX 30 SBAS L1CA 11 5 12 4 L Band Modes L Band Mode L Band Mode Name 0 Disabled 2 Omnistar Auto 3 Omnistar HP 4 Omnistar XP 5 Omnistar VBS v1 2 Page 173 11 Oct 2022 Boreas Reference Manual Advanced Navigation Packet Protocol ...

Page 186: ...lite ID Satellite Name 110 Auto 100 Custom 2 IOSAT 8 AORET 15 RTXMX 16 AMSAT 17 WASAT 18 OCSAT 19 RTXAL 20 RTXIO 22 CONNA 23 RTXNA 27 RTXPA 29 RTXEA 30 EMSAT Table 154 L Band Satellite IDs 11 5 13 User Data Packet This packet is for storage of users data The data itself is not used by Boreas User Data Packet Packet ID 198 Length 64 Read Write Read Write v1 2 Page 174 11 Oct 2022 Boreas Reference M...

Page 187: ...cket 11 5 15 IP Dataports Configuration Packet IP Dataports Configuration Packet Packet ID 202 Length 30 Read Write Read Write Field Bytes Offset Data Type Size Description 1 0 u16 2 Reserved 2 2 u32 4 TCP UDP IP Address 3 6 u16 2 TCP UDP Port 4 8 u8 1 11 5 15 1 IP Dataport Mode Fields 2 4 Repeat 3 times a total of 4 copies for each of the 4 data ports Table 157 IP Dataports Configuration Packet 1...

Page 188: ...tes Offset Data Type Size Description 1 0 u8 1 Permanent 2 1 u8 1 Enabled 3 2 u32 4 Baud Rate 4 6 u8 1 CAN Protocol 5 7 u8 4 Reserved set to zero Table 159 CAN Configuration Packet 11 5 16 1 CAN Protocol Value Description 0 CANopen Table 160 CAN Protocol v1 2 Page 176 11 Oct 2022 Boreas Reference Manual Advanced Navigation Packet Protocol ...

Page 189: ...receiver must have a clear signal from at least 4 satellites to function GNSS signals are very weak and struggle to penetrate through buildings trees and other objects obstructing an uninterrupted view of the sky GNSS can also occasionally drop out due to disturbances in the upper atmosphere or the presence of jammers 12 1 2 AHRS AHRS stands for Attitude and Heading Reference System An AHRS uses a...

Page 190: ...e as shown in Figure 77 Boreas Axes below with the X axis pointing in the direction of the connectors the Z axis pointing down through the base of the unit and the Y axis pointing off to the right Figure 77 Boreas Axes 12 2 1 Right Hand Rule When installed in an application the X axis should be aligned such that it points forwards and the Z axis aligned so that it points down when the system is le...

Page 191: ...remove any INS alignment variations Generally any data output by the INS using the X Y and Z axes will be using the body co ordinate frame 12 4 Roll Pitch and Heading Orientation can be described by the three angles roll pitch and heading these are known as the Euler angles The rotation axes of roll pitch and heading are shown visually in Figure 77 Boreas Axes The arrow indicates the positive rota...

Page 192: ...perimentally by rotating Boreas with your hand whilst watching the orientation plot in real time on the computer 12 5 Geodetic Co ordinate System The geodetic co ordinate system is the most popular way of describing an absolute position on the Earth It is made up of two angles latitude and longitude combined with a height relative to an ellipsoid 12 5 1 Latitude and Longitude Latitude is the angle...

Page 193: ...d visually to describe a position on an ellipsoid The figure below shows latitude and longitude on a map of the world represented with a standard Mercator projection v1 2 Page 181 11 Oct 2022 Boreas Reference Manual Boreas Reference Information ...

Page 194: ...thometric height approximates the height above mean sea level MSL See Figure 82 Orthometric ellipsoid and geoid height diagram below for a visual representation of geoid height ellipsoid height and orthometric height height above mean sea level Note Ellipsoid height refers to the height of a point of interest referenced to the WGS84 reference ellipsoid Geoid height refers to the height of the EGM9...

Page 195: ...tions The origin of the co ordinate frame is the current position From that origin the north axis points true north and parallel to the line of latitude at that point The east axis points perpendicular to the north axis and parallel to the line of longitude at that point The down axis points directly down towards the centre of the Earth See the figure below for a graphical representation of the NE...

Page 196: ...origin is at the centre of the Earth ECEF is an alternative to the geodetic co ordinate frame It is represented by the three axes X Y and Z which are presented graphically in Figure 83 Graphic Showing Geodetic NED and ECEF Co ordinates ECEF positions can be retrieved from Advanced Navigation products however the geodetic system is used as the default v1 2 Page 184 11 Oct 2022 Boreas Reference Manu...

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