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THE INFORMATION CONTAINED HEREIN IS PROPRIETARY TO APPLANIX CORPORATION.  RELEASE TO THIRD PARTIES OF THIS PUBLICATION OR OF 
INFORMATION CONTAINED HEREIN IS PROHIBITED WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.  APPLANIX RESERVES THE 
RIGHT TO CHANGE THE SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE.  A  RECORD OF THE CHANGES MADE TO THIS 
DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET.  COPYRIGHT © APPLANIX CORPORATION, 2021ALL RIGHTS RESERVED.  NO PART OF 
THIS PUBLICATION MAY BE REPRODUCED, STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE 
PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.

 

Example:

 If the Reference and Vehicle Frames are co-aligned (zero alignment angles), 

then from the Reference Frame origin, x is positive towards the front of the vehicle, y is 
positive towards the driver’s right side and z is positive down towards the road (right-
hand rule). 

In the case where an external DMI is not used, deselect “DMI Enable” in the Web UI 
(under INS Configuration menu -> General), and enter the lever arm value in the “Rear 
Wheel Lever Arm” section. 

 

Three Dimensional Vector Lever Arm 

4.6.11.

 

Mounting Angles: 

The Mounting angles are defined as the physical angular offsets of one body frame with 
respect to a second body frame (Figure 34). 

These angles define the Tait-Bryan sequence of rotations that bring the first body frame 
into alignment with the second. For example, when defining body frame A with respect 
to B, the mounting angles would be the sequence of rotations of body frame B to bring it 
into alignment with body frame A. The orientation angles follow the sequence of rotation 
given as follows: right-hand rotation of θ

z

 about the z-axis of body frame B, followed by 

a rotation of θ

y

 about the once rotated y-axis, followed by a rotation of θ

x

 about the twice-

rotated x-axis. Refer to the Tait-Bryan Sequence description. 

Make note of all measured mounting angles for later input into the LVX and store these 
measurements in a secure place for future reference.  

Summary of Contents for LVX

Page 1: ...ANGE THE SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE A RECORD OF THE CHANGES MADE TO THIS DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET COPYRIGHT APPLANIX CORPORATION 2021ALL RIGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION LVX User...

Page 2: ...ITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Table of Contents 1 Introduction 1 1 1 LVX Performance Specification 1 2 LVX Features 1 3 LVX Hardware Description and Interface 2 3 1 Mechanical 2 3 2 DMI Installation 5 3 2 1 Mounting Brackets 5 3 2 2 Assemble Distance Measuring Indicator 6 3 2 3 Install Distance Measuring Indicator 8 3 2 4 Install DMI Ca...

Page 3: ...N 4 4 Data Logging 20 4 5 PPS and ASCII Time Tag Synchronization 24 4 5 1 PPS signal 24 4 5 2 1 PPS ASCII Time Tag Message 24 4 6 System Configuration 25 4 6 1 Antenna Configurations 26 4 6 2 Tracking Configuration 27 4 6 3 Position Configuration 29 4 6 4 General Configuration 30 4 6 5 INS Configuration 31 4 6 6 IMU Body Frame Definition 32 4 6 7 Reference Body Frame Definition 32 4 6 8 Vehicle Bo...

Page 4: ...D IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 5 2 3 Save Calibration 51 5 2 4 GAMS Operation 51 6 Real Time Output ICD 52 6 1 ASCII NMEA Output 52 6 1 1 Nonstandard ASCII messages 53 6 2 Binary Output 57 6 2 1 Binary Data Types 57 6 2 2 Binary Output ICD 59 6 2 3 GSOF 49 31H INS Integrated Navigation Solution 61 6 2 4 G...

Page 5: ...e 2 LVX Mechanical Drawing 3 Figure 3 LVX Center of Navigation 4 Figure 4 LVX Center of Gravity 5 Figure 5 DMI Collet Mounting Guide 7 Figure 6 Attach Collets to Universal Hub Adapter 8 Figure 7 Slip Collets over Wheel Lug Nuts 9 Figure 8 Slip DMI Restraint Bracket over Restraint Rod 9 Figure 9 Attach Permanent DMI Restraint Bracket to Vehicle Fender 10 Figure 10 Attach DMI Cable to Restraint Rod ...

Page 6: ...NY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Figure 26 Receiver Configuration 26 Figure 27 Antenna Configuration 26 Figure 28 Tracking Configuration 28 Figure 29 Position Configuration 29 Figure 30 Receiver Reset 30 Figure 31 General Configuration 30 Figure 32 IMU Body Frame Definition 33 Figure 33 Vehicle Body Frame 34 Figure 34 LVX Reference and IMU Body Frame 37 Figure 35 ...

Page 7: ...APPLANIX CORPORATION 1 Introduction The purpose of this document is to provide an overview and quick guide on how to set up configure and operate the LVX product The LVX is a single enclosure dual antenna GNSS Inertial solution designed to provide high accuracy real time and post processed position and orientation for applications with constraints on size weight and power Figure 1 LVX Enclosure 1 ...

Page 8: ...ated to meet the needs of mobile mapping applications Interfaces 1 USB 2 0 device port 1 physical LAN Ethernet port o Supports links to 10BaseT 100BaseT auto negotiate networks 2 x RS232 Serial ports one Tx Rx and one Tx Rx CTS RTS 1 Pulse Per Second Output 2 x Event Marker Input Support Supported Network protocols HTTP web GUI NMEA GSOF CMR over TCP IP or UDP Supported differential corrections CM...

Page 9: ...VES THE RIGHT TO CHANGE THE SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE A RECORD OF THE CHANGES MADE TO THIS DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET COPYRIGHT APPLANIX CORPORATION 2021ALL RIGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX C...

Page 10: ...ES THE RIGHT TO CHANGE THE SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE A RECORD OF THE CHANGES MADE TO THIS DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET COPYRIGHT APPLANIX CORPORATION 2021ALL RIGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CO...

Page 11: ...ring Indicator DMI functions on either rear wheel Applanix recommends mounting the DMI on the driver s side rear wheel to facilitate visual monitoring of the device Do not mount the DMI on a steered wheel as the DMI will yield incorrect information Damage to the DMI and mounting hardware may result 3 2 1 Mounting Brackets Applanix recommends the installation of the Permanent DMI Restraint Bracket ...

Page 12: ...tion cups or magnetic strip 3 Predetermine requirement for spacers note special body features such as fender and body protrusions use of spacers is on an as required basis 4 Thread spacers onto temporary bracket 5 Either thread on suction cups onto spacers or use supplied nylon screws to attach magnetic strip instead 6 Do not mount DMI restraint bracket and spacers at this time 3 2 2 Assemble Dist...

Page 13: ... A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 1 Select sufficient collet spacers optional to position restraint rod perpendicular to road with DMI and universal hub adapter installed No interference between restraint rod and vehicle fender and body is permitted 2 Select bolts 1 in 2 54 cm longer than total collet spacer hei...

Page 14: ...d dirt from each wheel nut Replace damaged or corroded wheel nuts To install the assembled DMI on the vehicle perform the following 5 Slip collets over wheel nuts Figure 7 6 Use circular grooves etched on universal hub adapter so that collets are equal distance from DMI encoder shaft off centre placement of universal hub adapter will increase data noise and cause excessive mechanical vibration 7 A...

Page 15: ...Y BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 10 Attach DMI restraint bracket Permanent attach bracket using predrilled holes in rear fender lip using metal screws refer to Mounting Brackets on page 5 and Figure 9 Temporary using suction cups thread spacers if required and suction cups onto fender b...

Page 16: ...ED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Figure 9 Attach Permanent DMI Restraint Bracket to Vehicle Fender 3 2 4 Install DMI Cable Use tie wraps to secure the DMI power and data cable along the routing path Wrap the cable DMI connection with self fusing tape to ...

Page 17: ... the DMI sensor or cable leave cable slack at the DMI connector and fender bracket to accommodate suspension movement 3 Route DMI power and data cable to PCS Consider suspension movement and vehicle flexing during cable routing Prevent cable contact with the ground or moving parts Leave cable loops to prevent cable damage 4 Connect DMI cable to PCS rear connector labelled DMI 5 Figure 11 provides ...

Page 18: ...257 MHz VSWR 2 0 max Bandwidth 60 MHz min Impedance 50Ω Peak Gain 4dBic min Amplifier Gain without cable loss 32 to 41 dB typical Noise Figure 1 5 dB typical Output VSWR 1 5 1 typical Filtering 30dB 100 MHz DC Voltage 5 to 7 5V dc DC Current 300mA max Required LNA Gain does not account for Antenna cable insertion loss The antenna choice is subject to the particular platform the LVX is being used o...

Page 19: ...AL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 3 3 2 Serial Ports There are two serial COM ports labeled respectively as COM1 and COM2 COM1 is implemented as an RS232 level port without support for hardware handshaking COM2 is an RS232 level port with support for hardware handshaking through associated CTS and RTS lines Pin Function 1...

Page 20: ...N MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Figure 13 Cable Wiring Diagram I O Pin Pin Description I O Cable Mapping Signal Type Signal Direction PIN Connector 4 Event 2 input 1 DE 9 Male Input 21 COM2 Rx 2 RS232 Input 12 COM2 Tx 3 RS232 Output 1 n c 4 6 GND 5 Common Common 3 Event 1 input 6 I...

Page 21: ...ge in the range of 8 32V Reverse polarity over and under voltage protection is provided It is recommended to stop logging at the end of a mission before removing the power to the LVX 3 3 5 DMI Connector The DMI connector used on LVX is a rugged DE 9 male connector made by Amphenol part number MDBR E09PE 860 The connector pin out is shown below in Figure 16 Pin Function 1 DMI 1 2 n c 3 n c 4 n c 5 ...

Page 22: ... for LVX lights all 4 LEDs for about 3 seconds followed by a brief duration where all LEDs are off Thereafter use the following table to determine the operational status Power LED On continuous Blinks off every 5 seconds LVX is turned on LVX is turned on and logging data internally Satellite LED Off Blinks at 5 Hz Blinks at 1 Hz normal Not tracking satellites Tracking less than 5 satellites Tracki...

Page 23: ...oftware and Configuration Control and configuration of the LVX is via a web server that supports all common browsers 4 1 Connecting a Web Browser The LVX is preconfigured for a static IP address 192 168 53 100 and Subnet Mask 255 255 255 0 Please follow the next steps in order to perform connections On the address bar of your browser enter the IP address that system is preconfigured to etc http 19...

Page 24: ...AL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Figure 18 Welcome Screen Note the receiver type for the LVX product appears as APX 18 LV indicating the system has been set up for Land Vehicle applications 4 2 Web User Interface Layout The top right corner will display the System name user definable Serial Number and flag that represent...

Page 25: ...X CORPORATION Figure 20 Main Menu Each of the items on the menu list includes related submenus that are accessible by mouse click The main menu can be divided in three basic categories 1 Status Solution Monitor and Display Receiver Status Satellites 2 Data Logging Configuration Data Logging Receiver Configuration I O Configuration Network Configuration Security 3 Firmware Upgrade Menu Firmware 4 3...

Page 26: ... WRITTEN CONSENT OF APPLANIX CORPORATION Figure 21 System Status Identity The Satellites menu offers a rich user interface for monitoring of the real time solution status current satellite coverage position and attitude plots as well as a direct interface to Google Earth 4 4 Data Logging The raw data required for post processing in POSPac UAV or POSPac MMS can be logged to internal memory or to an...

Page 27: ...EET COPYRIGHT APPLANIX CORPORATION 2021ALL RIGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Figure 22 Data Logging Start Stop The logging parameters need to be configured before the logging is engaged by click on Configure button as shown on the Figure 23 P...

Page 28: ...ESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Figure 23 Logging Configuration The Enable checkbox is used to manually start and stop logging while the Auto Log checkbox will automatically start logging data when the system is turned on and tracking satellites Th...

Page 29: ... WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Logged data can be transferred to a local computer using the following steps Select the corresponding file system where the data were logged using the mouse Internal or External Select the desired files by clicking in the check box to the right of the file name and then selecting the Download Selected Files icon The files will be downloade...

Page 30: ...S signal The receiver can output a 1 pulse per second 1PPS time strobe and an associated ASCII time tag message The time tags are output on a user selected port The leading edge of the pulse coincides with the beginning of each UTC second The pulse is driven between nominal levels of 0 0 V and 3 3 V see Figure 25 The leading edge is positive rising from 0 V to 3 3 V The receiver 1 PPS out is a 3 3...

Page 31: ...NIX CORPORATION UTC yy mm dd hh mm ss ab Where UTC is fixed text yy mm dd is the year month and date hh mm ss is the hour on a 24 hour clock minute and second Note The time is in UTC not GPS time The letter a is an integer number representing the position fix type 1 time solution only 2 1D position and time solution 3 currently unused 4 2D position and time solution 5 3D position and time solution...

Page 32: ...DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET COPYRIGHT APPLANIX CORPORATION 2021ALL RIGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Figure 26 Receiver Configuration 4 6 1 Antenna Configurations If the antennas being used with the LVX are not on the ...

Page 33: ...ES MADE TO THIS DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET COPYRIGHT APPLANIX CORPORATION 2021ALL RIGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 4 6 2 Tracking Configuration This menu offers the user the ability to select a particular tracking el...

Page 34: ...VES THE RIGHT TO CHANGE THE SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE A RECORD OF THE CHANGES MADE TO THIS DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET COPYRIGHT APPLANIX CORPORATION 2021ALL RIGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX C...

Page 35: ...LL RIGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 4 6 3 Position Configuration Special attention should be taken to select the correct Dynamic Model since it will have an effect on performance The Dynamic Model selection is based on the LV type Mapping ve...

Page 36: ...ANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Figure 30 Receiver Reset 4 6 4 General Configuration The General Configuration window includes settings of the discrete I O signals Input signals Event 1 and 2 Output 1 PPS signal It is recommended to have all signals enabled The event slope indicates the active edge of the input event signal that will ...

Page 37: ...s are necessary to ensure optimum performance of the system Six sets of parameters are required to be measured and input into the system before the LVX can operate These parameters are as follows Reference frame origin to IMU lever arm Reference frame origin to Primary GNSS antenna lever arm IMU body frame with respect to reference body frame mounting angles Reference frame with respect to vehicle...

Page 38: ...straint which is a constraint on the possible velocities of the vehicle is in use for the Mapping vehicle and Automotive dynamic models where the plane formed through the rear wheel axis is constrained It is also recommended that the MAG Enable option be unchecked 4 6 6 IMU Body Frame Definition The IMU Body frame is the right hand orthogonal coordinate system that is measured by the inertial sens...

Page 39: ... STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Figure 32 IMU Body Frame Definition 4 6 8 Vehicle Body Frame The Vehicle Body Frame is defined as the right hand orthogonal coordinate system with its origin at the vehicle s centreline Its three axis are referenced to the vehicle s vertical and horizontal planes where...

Page 40: ...cal plane and extends down called the vehicle vertical axis vertically through the center of gravity when the vehicle is level any rotation about this axis is called yaw Figure 33 Vehicle Body Frame 4 6 9 DMI Frame Definition The DMI Frame is defined as the right handed orthogonal coordinate system with its origin at the Instrumented Wheel s point of contact with the road located at the centre of ...

Page 41: ...get on LVX plus offset A positive value implies LVX is below the Reference Body Frame origin 4 6 10 2 Reference to Primary GNSS Lever Arm The Reference to Primary GNSS Lever Arm is the three dimensional vector defining the displacement of the GNSS Antenna Phase Centre APC from the origin of the Reference Body Frame This displacement is measured in the Vehicle Body Frame not the Reference Body Fram...

Page 42: ...ht hand rule In the case where an external DMI is not used deselect DMI Enable in the Web UI under INS Configuration menu General and enter the lever arm value in the Rear Wheel Lever Arm section Three Dimensional Vector Lever Arm 4 6 11 Mounting Angles The Mounting angles are defined as the physical angular offsets of one body frame with respect to a second body frame Figure 34 These angles defin...

Page 43: ...RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Figure 34 LVX Reference and IMU Body Frame 4 6 11 1 Tait Bryan Sequence Locate the X1 Y1 and Z1 axis and the XY YZ ZX planes of the IMU reference frame Locate the user frame axis X2 Y2 Z2 Figure 20 To bring the IMU into alignment with the user frame rotate the user frame about its ...

Page 44: ...4 6 11 2 IMU wrt Reference Mounting Angles Figure 34 shows the LVX IMU Body Frame and the Reference Body Fames in different orientations The sequence of rotations to bring the Reference Body Frame into alignment with the IMU Body Frame will require measurement 4 6 11 3 Reference wrt Vehicle Mounting Angles If the axis of the Reference Body Frame and the Vehicle Body Frames do not align then the Re...

Page 45: ...his allows the user to initialize the heading of the LVX manually Note The Static Bench Testing Mode must only be enabled during lab testing when the system is stationary Failure to disable this mode before movement will degrade performance After entering the Lever Arms and Mounting Angle settings you will be prompted to reboot the system in order to apply the changes to software 4 6 12 DMI Scale ...

Page 46: ...T THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION The DMI direction sense is programmed by setting the sign on the DMI scale factor value If the DMI is mounted on the driver s left side of the vehicle use a positive scale factor value If the DMI is mounted on the driver s right side of the vehicle use a negative scale factor value 4 6 13 I O Configuration The I O configuration refers to output m...

Page 47: ... NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Figure 39 Message Selection 4 6 14 Differential Corrections Configuration The LVX is precise positioning product that supports common differential correction inputs CMR CMR RTCM from a base station in order to achieve accur...

Page 48: ...FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Serial Port Setup to be compatible with the corrections source There is no need to select the correction type as LVX automatically detects the type of correction input Depending on the quality of incoming corrections the positioning mode should change to more accurate such as DGPS or RTK Please refer to Figure 40 Positi...

Page 49: ...PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Figure 41 Ethernet Configuration 4 6 16 Firmware upgrade The firmware upgrade can be performed through Firmware menu of the WEB user interface Please refer to Figure 42 and follow the next steps in order to load the firmware Using button Ch...

Page 50: ...nstallation for GAMS The Global Navigation Satellite System GNSS Azimuth Measurement Subsystem GAMS has the ability to provide vehicle heading aiding to the Aided Inertial processing engine by computing the base line vector in the NED frame between the known placements of dual antennas on the vehicle For GAMS to operate the baseline vector from the phase centre of the primary antenna to the phase ...

Page 51: ...NT WITHOUT NOTICE A RECORD OF THE CHANGES MADE TO THIS DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET COPYRIGHT APPLANIX CORPORATION 2021ALL RIGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Figure 43 GAMS Parameter Setup 5 1 1 Save Settings The GAMS pa...

Page 52: ...ow the baseline vector to be calibrated then the GAMS Calibration feature may be used GAMS Calibration is a separate mode within the navigation engine which will estimate the baseline vector using the concept of Dynamic Heading Alignment Dynamic Heading Alignment uses changes in the vehicles acceleration to align the inertially derived heading thus making the base line vector in the vehicle frame ...

Page 53: ...TS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 5 2 1 Calibration Set up 1 Select Receiver Configuration INS from the menu bar to open the INS Configuration page Click on the General tab to open it Enable GAMS by checking the box next to it 2 Click on the GNSS...

Page 54: ...degrees The more accurate the target the better the calibration will be but smaller heading accuracies are more difficult and will take longer to achieve using Dynamic Heading Alignment especially with a lower accuracy system The default is 0 500 degrees Decide on how to save the calibrated baseline vector The options are a manual copy or Auto copy o Manual copy the copy button will remain greyed ...

Page 55: ... CORPORATION 2021ALL RIGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 5 2 2 Calibration LAND VEHICLES Once the set up procedure is complete proceed with the following calibration procedure for land vehicles 1 While the system is static i e the vehicle is no...

Page 56: ...the vehicle accelerations be performed in a straight line 3 Change the maneuver to perform a number of turns e g circular or figure 8 in an area where there is a minimum of GNSS multipath Monitor the calibration progress in the GNSS Lever Arms window to ensure the INS Heading Accuracy is getting smaller and approaching the Target Heading Accuracy Once the INS Heading Accuracy meets or exceeds the ...

Page 57: ... will be restarted with the new parameters The GAMS calibration mode will not be active after the restart Manual copy Once the manual copy button becomes active Click on the manual copy button to transfer the estimated baseline vector values to the installation parameters If the INS Heading Accuracy is still improving with vehicle dynamics then it is advantageous to wait until the improvement dimi...

Page 58: ...ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION the accuracy of the GAMS measurement and calibration In high dynamic environments the Dynamic Heading Alignment will often produce better accuracy than what can be achieved with GAMS Notes If the 1 σ value is less then 2 cm then the Current Estimate of the Reference to Primary GNSS Lever Arm will not be displayed In Static Bench T...

Page 59: ...HIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Figure 44 ASCII Message Selection 6 1 1 Nonstandard ASCII messages PASHR Position Attitude System Heading Reference is customized ASCII message that provides real time attitude and heading information Table 1 PASHR Message Format PASHR ...

Page 60: ...SENT OF APPLANIX CORPORATION PPP PPP Pitch 180 to 180 degrees xxx Reserved filed Not supported N A N A a aaa Roll accuracy N A degrees b bbb Pitch accuracy N A degrees c ccc Heading accuracy N A degrees d Flag GNSS quality 0 Fix not available 1 GNSS SPS Mode fix valid 2 Differential GPS SPS 3 GNSS PPS Mode 4 Fixed RTK Mode 5 Float RTK 6 DR Mode N A e Flag IMU Alignment status 0 GPS Only 1 Coarse l...

Page 61: ... Definition Value Units e 1 corresponds to pulse detection on Event 1 Input line 2 corresponds to pulse detection on Event 2 Input line 1 or 2 N A n Event counter value of Event 1 or Event 2 1 to 65535 N A GPS week WWWW GPS week number since Jan 1980 N A D Week Day Offset 0 to 6 OO Leap seconds offset GPS UTC time Seconds hh Checksum Hexadecimal value NRG N A CR LF Carriage return and line feed CR...

Page 62: ...STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Item Definition Value Units t Time tag G or U GPS or UTC time cccccccc Event counter 0 to 99999999 N A llll llllllll Latitude 0 to 90 Degrees with 8 decimal digits a N North or S South N or S N A yyyyy yyyyyyyy Longitude 0 to 180 Degrees with 8 decimal digits b E East o...

Page 63: ...on Value Units rrr rrr Roll 90 to 90 Degrees with 3 decimal places ppp ppp Pitch 90 to 90 Degrees with 3 decimal places hhh hhh Heading 0 to 359 999 Degrees with 3 decimal places hh Checksum Hexadecimal value NRG N A CRLF Carriage return line feed CRLF N A NRG stands for No Range Given Default time tag shall be coded as GPS time G The same format applies for PAPLEVT2 message related to event 2 6 2...

Page 64: ...maining 23 bits are the fraction field The bias of the exponent is 127 The range of single precision format values is from 1 18 10 38 to 3 4 1038 The floating point number is precise to 6 decimal digits 31 30 23 22 0 S Exp Bias Fraction 0 000 0000 0 000 0000 0000 0000 0000 0000 0 0 0 011 1111 1 000 0000 0000 0000 0000 0000 1 0 1 011 1111 1 011 0000 0000 0000 0000 0000 1 375 1 111 1111 1 111 1111 1...

Page 65: ...THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 6 2 2 Binary Output ICD Binary output is provided using Trimble GSOF message format The Figure 31 represents binary message selection selectable through web user interface Figure 45 Binary Message Selection GSOF messages are outputted ...

Page 66: ...ating that the pages are from the same group 5 Page Index CHAR h page number of this page in a sequence chapter of pages and is zero based 6 Max Page Index CHAR h the index of the last page GSOF Message Type GSOF Message Type Data Byte End n 2 Checksum CHAR h status type length data bytes modulo 256 n 1 ETX CHAR 03h End transmission If the data portion exceeds maximum length limit of 255 bytes the...

Page 67: ... IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION GSOF Message Types for output of integrated navigation solution and corresponding RMS values are listed in Table 4 and Table 5 6 2 3 GSOF 49 31H INS Integrated Navigation Solution Table 6 GSOF 49 31H Byte Item Type Value Description 0 Output Record Type CHAR 31h GSOF Message Type 1 Record Length CHAR Length of t...

Page 68: ...STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 4 Fixed RTK Mode 5 Float RTK 6 DR Mode 10 17 Latitude DOUBLE 90 90 degrees 18 25 Longitude DOUBLE 180 180 degrees 26 33 Altitude DOUBLE meters 34 37 North Velocity FLOAT meters sec 38 41 East Velocity FLOAT meters sec 42 45 Down Velocity FLOAT meters sec 46 49 Total Spe...

Page 69: ...NSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 94 97 Acceleration X FLOAT meters sec2 Longitudinal axis 98 101 Acceleration Y FLOAT meters sec2 Transverse axis 102 105 Acceleration Z FLOAT meters sec2 Down axis 6 2 4 GSOF 50 32H INS Integrated Navigation Solution RMS Table 7 GSOF 50 32H Byte Item Type Value Description 0 Output Record Type CHAR 32h G...

Page 70: ...ORATION 2021ALL RIGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 1 GNSS SPS Mode 2 Differential GPS SPS 3 GNSS PPS Mode 4 Fixed RTK Mode 5 Float RTK 6 DR Mode 10 13 North Position RMS FLOAT 0 meters 14 17 East Position RMS FLOAT 0 meters 18 21 Down Position...

Page 71: ...IGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 6 2 5 GSOF 51 33H Event Marker Information Table 8 GSOF 51 33H Byte Item Type Value Description 0 Output Record Type CHAR 33h GSOF Message Type 1 Record Length CHAR Length of this sub record starting from Byte...

Page 72: ...Y FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 6 2 6 GSOF 59 and 60 3bH and 3cH Event Triggered Navigation Information Table 9 GSOF 51 33H Byte Item Type Value Description 0 Output Record Type CHAR 59 or 60 GSOF Message Type 1 Record Length CHAR 108 Length of this sub record starting from byte 2 2 Event Port CHAR 1 Event 1 2 Event 2 3 4 GPS Week SHORT GPS week num...

Page 73: ...AY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 3 GNSS PPS Mode 4 Fixed RTK Mode 5 Float RTK 6 DR Mode 15 22 Latitude DOUBLE 90 90 degrees 23 30 Longitude DOUBLE 180 180 degrees 31 38 Altitude DOUBLE meters 39 42 North Velocity FLOAT meters sec 43 46 East Velocity FLOAT meters sec 47 50 Down Velocity...

Page 74: ...A RECORD OF THE CHANGES MADE TO THIS DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET COPYRIGHT APPLANIX CORPORATION 2021ALL RIGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 95 98 Angular Rate Z FLOAT degrees sec Down axis 99 102 Acceleration X FLOAT met...

Page 75: ... RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 7 Appendix A RTK Setup The LVX can be setup to accept real time corrections in several different ways This Appendix reviews the use of the built in NTRIP client on the LVX as well as the setup for use of an external NTRIP client 7 1 RTK using the NTRIP Client on the LVX The LVX ne...

Page 76: ...E CHANGES MADE TO THIS DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET COPYRIGHT APPLANIX CORPORATION 2021ALL RIGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 2 The DNS address of 8 8 8 8 can also be used Select the NTRIP Client 1 port 1 2 or 3 from the...

Page 77: ...PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION The NTRIP Client will automatically send the NMEA string to provide the current LVX position to the VRS Service Upon selection of the MountPoint the RTK correction stream will be received The final check whether RTK correction ...

Page 78: ...CUMENT IS CONTAINED IN THE REVISION HISTORY SHEET COPYRIGHT APPLANIX CORPORATION 2021ALL RIGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 7 3 RTK using external NTRIP Client SW If the LVX NTRIP Client cannot be used an alternative is to use an external NTRI...

Page 79: ...CORPORATION 2021ALL RIGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Next make the required settings for the TCP IP port mind the port ID by selecting to output the NMEA string GGA to share the current position with the NTRIP Server In the external NTRIP cl...

Page 80: ...ION IN THIS DOCUMENT WITHOUT NOTICE A RECORD OF THE CHANGES MADE TO THIS DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET COPYRIGHT APPLANIX CORPORATION 2021ALL RIGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION Next make the required settings for the COM ...

Page 81: ...O PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION In external NTRIP software select COM port as the output device software dependent Settings are identical as above under TCP IP configuration For the COM port settings ensure to select the corresponding COM port on your compu...

Page 82: ...THOUT NOTICE A RECORD OF THE CHANGES MADE TO THIS DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET COPYRIGHT APPLANIX CORPORATION 2021ALL RIGHTS RESERVED NO PART OF THIS PUBLICATION MAY BE REPRODUCED STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION 8 Technical Support If you have any problem and cannot find informa...

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