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Applanix POS MV V5, Installation And Operation Manual

The Applanix POS MV V5 is an advanced positioning and orienting system featuring cutting-edge technology. To effectively install and operate this product, users can access the comprehensive Installation And Operation Manual. Download this manual for free from our website manualshive.com, ensuring seamless utilization of the Applanix POS MV V5 system.

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POS MV V5 Installation and Operation Guide 

Theory

 of Operation

 

 

Copyright  ©  Applanix Corporation, 2017 

 

B-18

 

GNSS attitude sensors that have antenna separations of between one and three metres. They 
will vary according to the multipath signal environment affecting the antennas. 

Each of the above heading measurement methods have advantages and disadvantages: 

•

 

An inertial navigator that undergoes dynamic heading alignment delivers heading measurements 
that suffer from drift but are relatively unaffected by noise. 

•

 

GAMS heading error is largely due to noise but exhibits no drift. 

POS MV uses the advantages of each method to compensate for the disadvantages of the other. By 
blending the measurements delivered by GAMS with those delivered by the inertial navigator, POS MV 
averages the heading error over time and delivers blended measurements to an accuracy of between 
0.02° and 0.1° RMS. 

Heading Measurements

 

Heading measurements calculated by GAMS provide aiding data to the Kalman Filter to improve the 
heading estimate made by the strap-down navigator. 

Baselines

 

Heading measurements used by POS MV are: 

•

 

The true heading of the vessel in a geographic navigation frame of reference 

•

 

The ‘heading’ of the IMU in a geographic frame of reference 

- that is, the geographic heading of 

the 

x-axis

 of the IMU body frame 

To deliver heading measurements of the required accuracy, POS MV blends measurements made by 
GAMS and measurements made by the inertial navigator. A Kalman Filter performs this blending 
operation. 

POS MV includes a primary and a secondary GNSS receiver, each with its own antenna. The GNSS 
System topic on page 2-5 of this manual includes instructions to install both GNSS antennas so that they 
are rigid relative to each other and relative to the IMU, and are separated by a distance of between one 
and five metres. 

By using a carrier phase differential GNSS algorithm, POS MV can measure the vector between the two 
antennas in a geographic frame of reference. Figure 89 illustrates this situation. The Carrier Phase 
Differential Position topic on page B-22 explains the process of carrier phase differential GNSS 
measurement. 

Summary of Contents for POS MV V5

Page 1: ...POS MV V5 Installation and Operation Guide Document PUBS MAN 004291 Revision 16 Date 29 August 2017 ...

Page 2: ......

Page 3: ...Copyright Applanix Corporation 2017 I POS MV V5 Installation and Operation Guide PUBS MAN 004291 Revision 16 ...

Page 4: ......

Page 5: ...lities and to carefully plan the component layout Applanix will not be responsible for damage caused by improper installation or inadequate environmental conditions Applanix reserves the right to change the specifications and information in this document without notice The information contained herein is proprietary to Applanix Release to third parties of this publication or of information contain...

Page 6: ...with its POS MV V5 ac products and is detailed in Appendix E Otherwise the customer is responsible for supplying and using a compliant power cord Ensure that the destination country electrical codes are adhered to Applanix recommends an ac power cord not exceeding 2 m 6 ft in length and that can safely handle a maximum of 10 A Regulatory Information Caution Do not make mechanical or electrical mod...

Page 7: ... is a fully integrated turnkey position and orientation system for Marine vessels Applicable Equipment Part Numbers PCS 80 Application of Council Directive 2006 95 EC on the harmonization of the laws related to Member States relating to electrical equipment designed for use within certain voltage limits and Council Directive 2004 108 EC on the approximation of the laws related to Member States rel...

Page 8: ...MV is a fully integrated turnkey position and orientation system for Marine vessels Applicable Equipment Part Numbers PCS 76 Application of Council Directive 2006 95 EC on the harmonization of the laws related to Member States relating to electrical equipment designed for use within certain voltage limits and Council Directive 2004 108 EC on the approximation of the laws related to Member States r...

Page 9: ...m for marine vessels Applicable Equipment Part Numbers PCS 84 Application of Council Directives 2006 95 EC on the harmonization of the laws of Member States relating to electrical equipment designed for use within certain voltage limits Referenced Standard EN 60950 1 2006 with Amendments A11 2009 A1 2010 A12 2011 2004 108 EC on the approximation of the laws of the Member States relating to electro...

Page 10: ...fully integrated turnkey position and orientation system for Marine vessels Applicable Equipment Part Numbers PCS 92 Application of Council Directive 2006 95 EC on the harmonization of the laws related to Member States relating to electrical equipment designed for use within certain voltage limits and Council Directive 2004 108 EC on the approximation of the laws related to Member States relating ...

Page 11: ...ainst harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Industry Canada This Class B for PCS 76 PCS 80 and PCS 92 or Class A for PCS 84 digital apparatus complies with Canadi...

Page 12: ...y pursuing and will continue to pursue the expanded use of environmentally friendly materials in all its products In addition we have established a convenient and environmentally friendly recycling program As Applanix makes additional recycling facilities available for your use we will post their locations and contact information on our recycling instructions Web page In the meanwhile see Appendix...

Page 13: ...name italic font e g read the Power Requirements manual or locate the start exe file Referring to a placard label regular font e g the COM 2 connector Referring to a screen label bold font e g press the OK button Path statement bold font e g select C My Computer Working Files Fields Menu statement bold font e g select Insert AutoText Closing window menu or select Insert AutoText Closing window men...

Page 14: ...ld result in personal injury or loss of life Caution procedures practices etc which if not correctly followed could result in damage or destruction of equipment or loss of data Electrostatic Discharge ESD sensitive material Fragile Breakable Hint provides a suggested method or approach Electrocution Hazard Document Number PUBS MAN 004291 Revision 16 dated 29 August 2017 ...

Page 15: ...RMATS 3 1 LAN ETHERNET DATA 3 1 COM PORTS 3 1 GNSS PORTS 3 23 4 0 SYSTEM CONFIGURATION 4 1 POWER ON 4 1 FRONT PANEL STATUS LEDS 4 3 MV POSVIEW CONTROLLER PROGRAM 4 4 POS MV CONFIGURATION 4 7 INPUT OUTPUT PORTS SET UP 4 14 POWER OFF 4 27 SAVE SETTINGS 4 29 MAKING CHANGES 4 30 MANAGE MULTIPLE CONFIGURATIONS 4 30 PASSWORD PROTECTION 4 30 5 0 SYSTEM OPERATION 5 1 MV POSVIEW CONTROLLER PROGRAM 5 1 MONI...

Page 16: ... GNSS RESET 8 1 GNSS DATA 8 1 DIAGNOSTICS 8 2 REGULAR MAINTENANCE 8 6 TECHNICAL SUPPORT 8 7 9 0 FAULT IDENTIFICATION 9 1 COMPONENT DESCRIPTION 9 1 FAULT IDENTIFICATION 9 3 REMOVE AND REPLACE PROCEDURES 9 19 TROUBLESHOOTING 9 26 APPENDIX A TECHNICAL SUPPORT AND SERVICE A 1 APPENDIX B THEORY OF OPERATION B 1 APPENDIX C TRAINING C 1 APPENDIX D SOFTWARE INSTALLATION D 1 APPENDIX E DRAWINGS E 1 APPENDI...

Page 17: ...e 3 9 Figure 15 PCS Front and Rear Panels POS MV V5 4 2 Figure 16 POS MV PCS V5 1 PCS Front Panel 4 2 Figure 17 POS MV PCS V5 2 PCS Front Panel 4 2 Figure 18 POSView POS Internet Address 4 6 Figure 19 Configuration Data Refinement 4 7 Figure 20 POSView Lever Arms Mounting Angles Tab 4 8 Figure 21 POSView Sensor Mounting Tab 4 9 Figure 22 GAMS Parameter Setup 4 10 Figure 23 Calibration Control Scre...

Page 18: ...ovable Media Bay POS MV V5 5 12 Figure 48 Removable Media Bay POS MV V5 1 5 13 Figure 49 Ethernet Realtime Output Control 5 17 Figure 50 POSView GAMS Solution and Status Pane 5 18 Figure 51 POSView GAMS Parameters Setup 5 24 Figure 52 TrueHeave Functional Block Diagram 6 1 Figure 53 POSView Heave Data 6 2 Figure 54 POSView Status and Accuracy Panes 6 3 Figure 55 POSView GNSS Data 8 2 Figure 56 POS...

Page 19: ...Strap Down INS Generic Architecture B 9 Figure 84 Heave Filter Architecture B 10 Figure 85 Percentage Steady State Error with Heave Bandwidth B 14 Figure 86 Percentage Steady State Error with Damping Ratio B 15 Figure 87 Heave Filter Transient Behaviour with Heave Bandwidth B 16 Figure 88 Heave Filter Transient Behaviour with Damping Ratio B 17 Figure 89 Geographic Antenna Baseline Vector B 19 Fig...

Page 20: ... Type 101 Drawing E 12 Figure 110 Trimble Zephyr II GNSS Antenna Footprint E 13 Figure 111 Trimble 382AP GNSS Antenna Footprint E 13 Figure 112 Trimble 540AP GNSS Antenna Footprint E 14 Figure 113 PCS Footprint POS MV V5 1 E 15 Figure 114 PCS 80 Footprint POS MV V5 E 16 Figure 115 PCS 84 Footprint POS MV V5 E 17 Figure 116 PCS 92 Footprint POS MV V5 2 E 18 Figure 117 IMU Mounting Plate E 19 Figure...

Page 21: ...ings 3 2 Table 13 xxGGA Sentence Format 3 3 Table 14 xxGGK Sentence Format 3 5 Table 15 xxHDT Sentence Format 3 6 Table 16 xxVTG Sentence Format 3 7 Table 17 xxGST Sentence Format 3 8 Table 18 NMEA RMC Message Format 3 9 Table 19 RMC Mode Indicator Values 3 10 Table 20 PASHR Sentence Format 3 11 Table 21 PRDID Sentence Format 3 12 Table 22 xxZDA Sentence Format 3 12 Table 23 UTC Sentence Format 3 ...

Page 22: ... Table 35 PCS Front Panel Indicators Fault Identification 9 4 Table 36 Message Log Entries 9 9 Table 37 Status Warning Messages 9 14 Table 38 Effects of Modifying Heave Filter Parameters B 13 Table 39 Controlling PC Requirements D 2 Table 40 Message 55 User Time Recovery H 5 Table 41 Common ICD Group Structure H 6 ...

Page 23: ...n CD Compact Disk cm Centimetre CTS Clear to Send dB Decibel dc Direct Current DCM Direction Cosine Matrix deg Degree plane angle DGNSS Differential Global Navigation Satellite System dia Diameter DOP Dilution of Position EMI Electromagnetic Interference ESD Electrostatic Discharge FDIR Fault Detection Isolation and Reconfiguration ft Foot g Gravity acceleration due to gravity GAMS GNSS Azimuth Me...

Page 24: ...Inertial Measurement Unit in Inch INS Inertial Navigation System I P Input IP Ingress Protection IP Internet Protocol kb Kilobit kB Kilobyte kbps Kilobits Per Second kHz Kilohertz LAN Local Area Network lb Pound weight LWH Length Width Height m Metre mA Milliampere Mb Megabit MB Megabyte MHz Megahertz mm Millimetre mPOS Mini Position and Orientation System N A Not Applicable N C No Connection NED ...

Page 25: ...r Second pwr Power QC Quality Control qty Quantity RAM Random Access Memory RD Receive Data RFI Radio Frequency Interference RH Relative Humidity RMS Root Mean Square RTCM Radio Technical Commission for Maritime Services RTK Real Time Kinematic RTS Ready to Sent RX Receive Data s Second time interval SAE Society of Automotive Engineers SI System of Units SNR Signal To Noise Ratio SV Space Vehicle ...

Page 26: ... Transistor Logic UDP Universal Datagram Protocol UNC Unified National Coarse Screw Thread UPS Uninterrupted Power Supply UTC Universal Time Coordinated or Coordinated Universal Time TX Transmit Data Vac Volt Alternating Current Vdc Volt Direct Current VDOP Vertical Dilution of Precision W Watt ...

Page 27: ...ow the installation operation and maintenance instructions included throughout this manual POS MV will operate reliably and supply measurements to its specified accuracy Unless otherwise stated the units used throughout this manual conform to the SI International system of units Operators who intend to write their own Ethernet software or data extraction software should contact Applanix for additi...

Page 28: ...y Acceleration Angular rate of turn Performance metrics Fault detection and reporting POS MV combines the IMU and GNSS sensor data into an integrated navigation solution There are two navigation algorithm designs incorporated into the system namely tightly coupled and loosely coupled inertial GNSS integration Tightly coupled inertial GNSS integration involves the processing of GNSS pseudorange pha...

Page 29: ... of survey time and a reduction in the overall cost of the operation POS MV generates attitude data in three axis Measurements of roll pitch and heading are all accurate to 0 02 0 03 for WaveMaster or better regardless of the vessel latitude Heave measurements supplied by POS MV maintain an accuracy of 5 of the measured vertical displacement or 5 cm whichever is the larger for movements that have ...

Page 30: ...processor perform self test sequences after which POS MV enters standby mode Typically this process takes 30 to 40 seconds to complete The system will remain in standby mode until you command a change to another mode or unless you have enabled AutoStart With AutoStart enabled the system will transition automatically into navigate mode Applanix ships the POS MV with AutoStart enabled Navigate Mode ...

Page 31: ...ition velocity and raw observation information to the POS MV It also provides a one Pulse Per Second PPS strobe together with a time message that the POS MV uses to accurately time stamp data output with Universal Time Coordinated UTC or GPS Time A secondary receiver in conjunction with the primary receiver allows the POS MV to compute GNSS heading aiding by performing carrier phase differential m...

Page 32: ... With GAMS Heading accuracy 0 2 to 2 0 RMS after POS MV achieves full alignment depending on the nature of vessel manoeuvres Heading accuracy degrades at latitudes above 50 0 02 0 03 for the WaveMaster or better independent of vessel manoeuvres and latitude POS MV tolerates GAMS outages lasting several tens of minutes with no significant degradation of heading accuracy Alignment time Heading align...

Page 33: ... occurs much more slowly and can take from 5 to 30 minutes to complete The time taken to complete this process will depend on the latitude and on the manoeuvres that the vessel performs during the operation A more accurate and rapid alignment will occur if the vessel performs a number of calibration manoeuvres during the alignment process These manoeuvres consist of full turns starts and stops S c...

Page 34: ...ence frame This occurs rapidly and usually finishes within 30 seconds Following its levelling routine the IMU begins to align itself to true north This gyrocompassing process is aided by the heading input from GAMS and is completed within two to five minutes depending on how long it takes GAMS to come online GAMS heading error is largely due to GNSS receiver noise and multipath errors By blending ...

Page 35: ...ctical or as accurate If the antenna baseline vector cannot be accurately determined and the vessel can perform dynamics sufficient to achieve a good GAMS calibration then the baseline vector parameters can be left as zero Refer to the Lever Arm Distances page 2 26 and the Antenna Baseline Vector The antenna baseline vector is the vector describing distance from phase centre of primary antenna to ...

Page 36: ...surement The principal function of POS MV is to deliver dynamically integrated position and orientation data It delivers motion measurements roll and pitch angle true heading and real time heave for use by external equipment such as multibeam sonar The system also estimates and displays the accuracy of its attitude and heading measurements TrueHeave TrueHeave different than real time heave is base...

Page 37: ...problems becomes insurmountable so that you can take appropriate corrective action Fault Detection Isolation and Reconfiguration FDIR allow POS MV to combine data from the GNSS and the IMU sensor subsystems to offer the best possible navigation solution for the current data quality The system monitors its sensor subsystems and determines which of them if any shows a degraded performance If it find...

Page 38: ...port Note this feature is not available on SurfMaster One Back up Data Logging When the removable media logging is active the same data are written to an internal storage device within the PCS In the event that removable media logging fails or the USB flash drive gets lost or corrupted File Transfer Protocol FTP may be used to recover the mission data from the PCS Ethernet Data Logging You can log...

Page 39: ...ually provides for a more accurate data exchange than the other Electrical noise or sonar timing can have a significant effect on the images produced by the multibeam sonar You must consider this when you select the communications interface used to supply position attitude and motion data from POS MV Because each installation will be different this manual cannot include explicit instructions in th...

Page 40: ......

Page 41: ...Inertial Measurement Unit The IMU contains sensitive and expensive solid state accelerometer and gyro components Permanent damage to these components will result if handled roughly Exercise care when handling this unit in particular be careful when placing the IMU on or mounting it to any surface Field repair of the IMU is not possible If this unit develops a fault or becomes damaged it must be re...

Page 42: ...during transit If any damage has occurred file a claim with the carrier and notify Applanix immediately Refer to Technical Support and Service on page A 1 for postal address contact telephone and fax numbers and e mail and Web address for Applanix Storage When storing the POS MV system for an extended period ensure the following conditions are maintained Protect the PCS from moisture excessive hum...

Page 43: ...trical supply fails for any reason The UPS should be able to supply the total power requirements of POS MV PCS POS MV V5 POS MV V5 1 POS MV V5 2 Max Current 1 1 A Max 7 A Max 2 5 A Max Voltage range 100 Vac to 240 Vac 8 Vdc to 34 Vdc 9 Vdc to 34 Vdc GNSS Antennas All Models Voltage Supplied by the GNSS receiver via the antenna coaxial cable IMU All Models Voltage Supplied by the PCS via the IMU ca...

Page 44: ...ior to operation Please retain this packing case for reuse should the system need to be shipped for any reason Follow the instructions in the installation paragraphs starting on page 2 9 for V5 and page 2 13 for V5 1 and V5 2 to install the PCS Observe the environmental limits starting on page 7 5 when installing the PCS Installation Important 1 Equipment shall be installed by qualified personnel ...

Page 45: ...oser than 0 5 m 20 in to any radar UHF satellite communications or other communications antennas or transmitters Avoid mounting the GNSS antennas in areas that may experience high levels of vibration shock or electrical noise Both antennas must have the clearest possible view of the sky from horizon to horizon in all directions This means mounting them outside and as high as possible on the vessel...

Page 46: ...ecessary for both cables to be the same length 1 Install the primary and secondary antennas at the positions you have chosen and prepared Note Orient the label on the top surface of the secondary antenna so that it points in approximately the same direction as the label on the primary antenna 2 Connect the TNC cable connector to the GNSS antenna and tighten the connection Use waterproof tape and a...

Page 47: ...se components will result if handled roughly To prevent irreversible damage handle the IMU with care while installing the system Mechanical Interface Information for POS MV IMU options can be found in Appendix E beginning on page E 1 For SurfMaster One the IMU is contained inside the PCS enclosure so the following instructions apply to the one enclosure Locate the IMU The IMU is a self contained u...

Page 48: ...ot required to align these marks closely with the vessel or the multibeam transducer Instead measure the mounting angles save them in the PCS when you first power on and configure the system Two offset holes are predrilled in the base to accept 5 mm 0 197 in diameter alignment pins These holes maintain IMU orientation and alignment when the unit is replaced see Figure 5 Two colinear slots are mach...

Page 49: ...s and the mounting angles that POS MV requires to generate its navigation solutions Refer to page 2 24 Installation Parameters for details of these parameters POS Computer System POS MV V5 The PCS is the heart of the POS MV V5 systems The PCS footprint is shown in Appendix E Install the PCS Remove the PCS from its transit case to allow connection and operation With the PCS removed from the transit...

Page 50: ... for power and communications with sensors and other devices see Figure 6 ELECTRICAL HAZARD The PCS employs double pole neutral fusing on the power receptacle Each of the two RoHS compliant fuses are rated at Rating 250 V Current 4 A Type fast acting Case 5 2 mm x 20 mm Figure 6 PCS Rear Panel POS MV V5 PCS 80 Figure 7 PCS Rear Panel POS MV V5 PCS 84 Use Table 2 as a guide when making cable connec...

Page 51: ...des synchronization with GPS Time Note Do not connect an input signal to the PPS OUT port otherwise damage to the PCS interface circuitry may result COM 1 DE 9P Single shielded cable RS 232 Serial I O port digital COM 2 DE 9P Single shielded cable RS 232 Serial I O port digital COM 3 DE 9P Single shielded cable RS 232 RS 422 software switchable Serial I O port digital COM 4 DE 9P Single shielded c...

Page 52: ...ell to ground at both cable ends Table 7 page 2 18 and Table 9 page 2 19 provide COM port connector assignments and mapping for the POS MV V5 1 PCS Table 3 provides the same information for the POS MV V5 PCS Table 3 COM Connectors Pin Assignment POS MV V5 Pin Pin Description Signal Type Signal Direction 1 N C port 1 2 N A N A RXa port 3 4 RS 422 Input 2 RX port 1 2 RS 232 Input RXb port 3 4 RS 422...

Page 53: ...is sealed so the only way for it to shed heat is via conduction either to the air or another metal surface Allow for air circulation around the PCS or remove the rubber feet and bolt the PCS to another metal surface that can conduct the heat away If necessary provide additional fan ventilation to prevent overheating Do not mount the PCS to a vibrating surface or one that may experience severe shoc...

Page 54: ...onfiguration The POS MV V5 2 PCS footprint is shown in Appendix E There are nine connectors located on the rear panel of the PCS see Figure 9 Each rear panel connector supports a single cable except for the I O and COM connectors which support a multi connector breakout cable Table 5 provides a summary of the connectors used in the POS MV configuration Figure 8 PCS Rear Panel POS MV V5 1 ...

Page 55: ...M 2 RS 232 Serial I O port digital with Tx Rx CTS RTS PPS In Optically isolated digital input 3 to 50 Vdc signal level 1 mA maximum input current requirement Only effective if external GNSS option is enabled through POSConfig I O 1 COM 3 RS 232 422 Serial I O port digital with Tx Rx only Software control of 232 422 switch Software switch to connect with Primary GNSS receiver COM 1 for software upg...

Page 56: ...ails DIO Event 3 Optically isolated digital input 3 to 50 Vdc signal level 1 mA maximum input current requirement Event 3 time tagging DIO Event 4 Optically isolated digital input 3 to 50 Vdc signal level 1 mA maximum input current requirement Event 4 time tagging PPS Out One pulse per second for synchronization with GPS time TTL signal level GNSS RS 232 Seria I O port digital with Tx Rx only Dire...

Page 57: ... disconnect the IMU cable while the PCS is powered on Damage to the IMU or the PCS hardware may result The IMU data power interface is a multi pin female circular connector A proprietary shielded cable supplied with the system connects the IMU to the PCS Ensure the cable is secure by locking the connector shell to the base The IMU is internal on POS MV V5 2 so there is no IMU connector or cable CO...

Page 58: ...Output 7 COM 2 CTS 8 RS232 Input 11 Signal Ground 5 Common Common 9 12 Reserved do not connect 4 12 POS MV Receptacle Lemo HEN 2F 312 CLNP 12 pin female shown Cable Plug Lemo FGN 2F 312 CLC Figure 11 COM Connector Pin Arrangement Physical Interface To ensure data integrity use high quality RS 232 cable with its shielding connected through the back shell to ground at both cable ends Interface Confi...

Page 59: ...r the I O connector and pin mapping of the I O cable Table 9 I O Connector Pin Assignment I O Pin Pin Description I O Cable Mapping Signal Type Signal Direction PIN Connector 3 COM 3 4 Rx 1 DE 9 Male RS422 Input 4 COM 3 4 Rx 2 RS232 RS422 Input 2 COM 3 4 Tx 3 RS232 RS422 Output 1 COM 3 4 Tx 4 RS422 Output 15 Signal Ground 5 Common Common 7 Strobe 1 2 Z Out No connection RS422 Output 8 Strobe 1 2 Y...

Page 60: ... not referenced and are independent of internal μPOS power supplies and GND Event inputs can be triggered from an external 3 50 Vdc source capable of supplying a minimum of 1 mA of sourcing or sinking current POS MV Receptacle Lemo HEP 2F 319 CLNP 19 pin female shown Cable Plug Lemo FGP 2F 319 CLC Figure 12 I O Connector Pin Arrangement COM Port Configuration Table 10 identifies the possible confi...

Page 61: ...ding time message that specifies the UTC time of the 1PPS is available in multiple formats from any COM port by selecting the desired configuration through MV POSView Refer to the GNSS Timing Basics description starting on page H 2 Ethernet Connector A 10 100 Base T Ethernet interface provides communication between the PCS and other PCs for monitoring or controlling the system The Ethernet port ca...

Page 62: ...POS MV and operates in conjunction with the Display port described below One display port UDP provides data at a 1 Hz rate for use by MV POSView software One real time data port user configurable data output at rates up to 200 Hz asynchronous events at higher rates broadcast using UDP protocol to minimize latency One logging data port user configurable data output at rates up to 200 Hz asynchronou...

Page 63: ...other than MV POSView USB Connector A USB A type connector is located on the rear of the PCS This Host port supports the USB 2 0 standard and is intended for external sensor connections POS MV V5 2 does not have this feature ANT1 and ANT2 Interfaces Signals from the GNSS antennas are coupled to the GNSS receivers using the ANT1 primary GNSS and ANT2 secondary GNSS ports located on the rear panel o...

Page 64: ...red These measurements allow the POS MV to deliver the best possible performance After you have configured the system with these parameters save the data to non volatile memory for immediate use each time the POS MV is powered on The POS MV configuration information defines the layout of the system and its associated peripheral equipment relative to a reference point The reference point is defined...

Page 65: ...elating them all to a common reference point that you have defined It may be convenient for you to define the reference point to be coincident with the IMU for example in which case the lever arm distances for this relationship will be zero Measurements of position attitude velocity and dynamics displayed by the main window of the MV POSView Controller program Figure 40 page 5 3 are valid for the ...

Page 66: ...e the accuracy of the POS MV and multibeam sonar interface The Patch Test topic on page F 1 describes a suitable patch test procedure that can be used The following subsections of this manual explain how to measure the lever arm distances and mounting angles in readiness to configure POS MV Note After you have made all the required physical measurements on the POS MV installation refer to the Syst...

Page 67: ...ans the primary GNSS antenna is above your reference point Reference to Vessel Lever Arm POS MV uses the main window of the controller program to display its navigation solution valid for the point you have defined as the vessel datum Measure and record the distance from your reference point to the vessel datum A positive value for the X lever arm means the vessel datum is forward of your referenc...

Page 68: ...SS antenna is to starboard of your reference point A negative value for the Z lever arm means the auxiliary GNSS antenna is above your reference point Note If your application does not include an auxiliary GNSS receiver record these lever arm distances as zero Reference to Centre of Rotation Normal dynamics in a marine environment apply a complex combination of forces to a survey vessel causing th...

Page 69: ...for the Y lever arm means the vessel centre of rotation is to starboard of your reference point A positive value for the Z lever arm means the vessel centre of rotation is below your reference point Antenna Baseline Vector The antenna baseline vector is the vector describing distance from phase centre of primary antenna to phase centre of secondary antenna in the vessel frame If this vector can be...

Page 70: ...with its origin centred on the black and yellow circle on the top of the IMU The sensor 1 reference frame includes the vertical and the horizontal axis of the multibeam transducer These axis are fixed relative to the multibeam transducer By convention POS MV uses the right hand orthogonal coordinate system with its origin at the sensing centre of the multibeam transducer The vessel reference frame...

Page 71: ...rame as level then the bow edge of the IMU is higher than the stern edge The circular label on the top of the IMU identifies the directions of the IMU x and y axis Example 1 The IMU x axis nominally points towards the x axis of the chosen reference frame but with a small yaw offset so that the IMU has a 3 clockwise rotation relative to your reference frame Record the following 3 for the IMU with r...

Page 72: ...is included to help you install the POS MV efficiently and with minimal disruption to the vessel its crew or any ongoing operations After installing the system correctly and all items have been checked against this list refer to the Interfaces and Data Formats description starting on page 3 1 to configure and start using the POS MV 1 Mechanical Interface a IMU Positioning Mount the IMU as close as...

Page 73: ...res itself to the applied ac electrical supply POS MV V5 1 Connect an electrical supply of nominal voltage 12 24V voltage range 10 Vdc to 34 Vdc to the 3 pin power inlet connector on the PCS c GNSS Antenna Positioning Ensure there is a horizontal separation distance of between 1 0 and 5 0 m 3 and 16 ft between the primary and the secondary GNSS antennas Mount the antennas as high as possible on th...

Page 74: ...e application of incorrect electrical power to the PCS may result in damage to POS MV system POS MV V5 Arrange a clean stable electrical supply at a nominal voltage 110 220V voltage range 100 Vac to 240 Vac for the PCS If possible supply electrical power to the PCS from an uninterruptible power supply POS MV V5 1 Arrange a clean stable electrical supply at a nominal voltage 12 24V voltage range 10...

Page 75: ...titude data at higher update rates but is buffered for robust logging by other computers on a shared Ethernet LAN POS MV broadcasts information from the display port using the Universal Datagram Protocol UDP protocol and outputs data on the logging data port using the Transmission Control Protocol TCP protocol For the real time data port the protocol can be selected from UDP UDP Unicast or TCP Inf...

Page 76: ...an the default settings for the transmission of various sentence formats NMEA Data Formats The PCS can be configured to use any number of the five COM ports to output data using the National Marine Electronics Association NMEA 0183 format at rates up to 50 Hz POS MV makes twelve sentence formats available 1 xxGGA global system position fix data 2 xxGGK time position position type and DOP values 3 ...

Page 77: ...the output frequency of these sentences Note System performance may degrade if multiple ports are configured for high rate output simultaneously Note PASHR and PASHR TSS are mutually exclusive as are PRDID and PRDID TSS Information supplied through the COM port is valid for the point described by the vessel lever arms and mounting angles as selected by the user NMEA Sentence Formats xxGGA Global P...

Page 78: ...es minutes decimal minutes 3 fixed digits for degrees 2 fixed digits for minutes 5 digits for decimal minutes B E East or W West E or W T GNSS quality indicator 0 fix not available or invalid 1 C A standard GNSS fix valid 2 DGNSS mode fix valid 3 GNSS PPS mode fix valid 4 RTK fixed 5 RTK float 6 free inertial nn Number of satellites used in the fix 0 to 32 v v Horizontal dilution of precision xxxx...

Page 79: ...lllll a yyyyy yyyyyyyy b t nn v v x xxx M hh CRLF Table 14 xxGGK Sentence Format Item Definition Value Units If Applicable xxGGK Header xxGGK hhmmss ss UTC of position fix N A hours minutes seconds decimal seconds 2 fixed digits for hours 2 fixed digits for minutes 2 fixed digits for seconds 2 digits for decimal seconds mmddyy UTC date of position N A month day year 2 fixed digits for month 2 fixe...

Page 80: ...ght of fix vessel height above WGS84 ellipsoid N A metres decimal metres 1 fixed digit for metres 3 fixed digits for decimal metres M Ellipsoid height N A metres hh Checksum CRLF Carriage return and line feed CRLF xxHDT Heading True Data True vessel heading is in degrees POS MV supplies information in the following ASCII NMEA 0183 sentence format xxHDT xxx x T hh CRLF Table 15 xxHDT Sentence Forma...

Page 81: ...el track in the vessel frame 000 0 to 359 9 degrees decimal degrees 3 fixed digits for degrees 1 digit for decimal degrees T True T Null Not supported null M M n n Speed in the vessel frame N A knots N Knots N k k Speed in the vessel frame N A km h K Kilometres per hour K hh Checksum N A CRLF Carriage return and line feed CRLF Note Commas separate all items including null fields xxGST GNSS Pseudor...

Page 82: ...digits for minutes 2 fixed digits for seconds 3 digits for decimal seconds Null Not supported null smjr smjr Standard deviation of semi major axis of error ellipse N A metres smnr smnr Standard deviation of semi minor axis of error ellipse N A metres ooo o Orientation of semi major axis of error ellipse 000 0 to 359 9 degrees from true north l l Standard deviation of latitude N A metres y y Standa...

Page 83: ...l Table 18 NMEA RMC Message Format xxRMC hhmmss ssss S llll lllll A yyyyy yyyyy B sssss s hhh h ddmmyy C hh CR LF Items Definition Values Units xxRMC Header with talker ID ttRMC tt IN or GP hhmmss ssss UTC time of navigation data NRG hours minutes seconds decimal sec S Status A Active V Void N A llll lllll Latitude 0o to 90o degrees minutes decimal min A Latitude direction N North or S South N A y...

Page 84: ...on E East or W West N A sssss s Speed in knots NRG knots hhh h Heading 0o to 359 9o degrees ddmmyy Date of navigation data NRG days months year Null Not supported null Null Not supported null C Mode indicator See Table 19 N A hh Checksum Hexadecimal value N A CR LF Carriage return Line feed CR LF N A NRG stands for No Range Given Table 19 RMC Mode Indicator Values Value RMC Mode A Autonomous D Dif...

Page 85: ...P PP Pitch 90 00 to 90 00 degrees HHH HH Heave 99 00 to 99 00 metres a aaa Accuracy roll 0 to 9 999 degrees b bbb Accuracy pitch 0 to 9 999 degrees c ccc Accuracy heading 0 to 9 999 degrees D Flag accuracy heading 0 1 2 0 no aiding 1 GNSS aiding 2 GNSS GAMS aiding E Flag IMU 0 1 0 IMU out 1 satisfactory hh Checksum N A CRLF Carriage return and line feed CRLF Note Commas separate all items Two atti...

Page 86: ...Tait Bryan angles and the other uses TSS angles Use the MV POSView Controller program to set the required angle convention Refer to COM Port Set up on page 4 14 for instructions and Mounting Angles on page 2 29 for a definition of the Tait Bryan angles The information is valid in the vessel frame except for heave which is valid in the sensor 1 frame xxZDA Time and Date POS MV supplies time and dat...

Page 87: ...A sentence format UTC YYYYMMDD hhmmss ssss hh CRLF Table 23 UTC Sentence Format Item Definition Value Units If Applicable UTC Header UTC YYYY Year MM Month 01 to 12 DD Day 01 to 31 hhmmss ssss UTC time 000000 0000 to 235959 9999 hours minutes seconds decimal seconds 2 fixed digits for hours 2 fixed digits for minutes 2 fixed digits for seconds 4 digits for decimal seconds hh Checksum N A CRLF Carr...

Page 88: ...000 to 9999 uu uu Offset of GPS Time from UTC timeN2 00 00 to 99 99 seconds decimal seconds 2 fixed digits for seconds 2 digits for decimal seconds pppp PPS countN3 1 to n hh Checksum N A CRLF Carriage return and line feed CRLF N1 First day of week Sunday 0 N2 GPS Time UTC time UTC offset N3 Variable length Note Commas separate all items Note UTC time is the time of the previous 1PPS signal UTC Da...

Page 89: ...DD Day 01 to 31 hh mm ss UTC time 00 00 00 to 23 59 59 hours minutes seconds 2 fixed digits for hours 2 fixed digits for minutes 2 fixed digits for seconds a Position fix type 1 to 5 or 1 time only 2 1D time 3 unused 4 2D time 5 3D time no SV tracked time based on receiver clock b of SV tracked 1 or no SV tracked time based on receiver clock CRLF Carriage return and line feed CRLF Note UTC time is...

Page 90: ...opriate communication speed for the COM port Note System performance may degrade if multiple ports are configured for high rate output simultaneously Information supplied through the COM port is valid for the point described by the sensor 1 or sensor 2 lever arms and mounting angles as selected by the user TSS1 Format Format TSS1 consists of five fields and contains 27 ASCII characters Each record...

Page 91: ...Carriage return line feed 0D hex and 0A hex ASCII Note 1 M space if positive or minus if negative You can use the MV POSView Controller program to change the sense of the roll pitch and heave outputs Note 2 POS MV sends records using the TSS1 format at an update rate from one to 200 Hz It updates the TOV at the same rate The recommended minimum baud rate for use with this format is 9600 baud at 25...

Page 92: ...commended minimum baud rate for use with this format is 19200 baud at 100 Hz Simrad 3000 Format You can use this format with the Simrad 3000 multibeam sonar The MV POSView Controller program is used to select the TSS or the Tait Bryan convention of rotations for the attitude measurement Refer to page 2 29 for an explanation of these conventions The Simrad attitude data are a 12 byte message with t...

Page 93: ...e to 200 times per second The message is a 24 byte data string with the following format Header 90 hex Time tag double precision float UTC time in seconds of the week Roll format 2 s complement LSB 0 01 roll sense is user selectable from the MV POSView Controller program Pitch format 2 s complement LSB 0 01 pitch sense is user selectable from the MV POSView Controller program Heave format 2 s comp...

Page 94: ...MSB 0 1 0x00 0x90 N A Time tag 2 to 9 seconds Roll LSB Roll MSB 10 11 180 0 01 Pitch LSB Pitch MSB 12 13 180 0 01 Heave LSB Heave MSB 14 15 327 m 1 cm Heading LSB Heading MSB 16 17 0 to 359 99 0 01 Longitudinal velocity LSB 18 32 8 m s 0 1 cm s Longitudinal velocity MSB 19 Transverse velocity LSB 20 32 8 m s 0 1 cm s Transverse velocity MSB 21 Down velocity LSB 22 32 8 m s 0 1 cm s Down velocity M...

Page 95: ...9 H H Heave MSB Heave LSB 9999 to 9999 mm Q Status flag 0 unaided mode settled condition 1 unaided mode settling 2 GNSS aided mode settled condition 3 GNSS aided mode settling 4 heading aided mode settled condition 5 heading aided mode settling 6 full aided mode settled condition 7 full aided mode settling DLE Stop character 10 hex ASCII Note POS MV sends records using the Atlas format at an updat...

Page 96: ... seconds PPS count 18 to 21 N A Checksum 22 to 23 N A Note PPS time is the time of the previous 1PPS signal Time of PPS Format copy of Novatel TM1B Table 32 Time of PPS Digital Output Format Item Byte Value Units If Applicable Sync 0 1 2 0xAA 0x44 0x11 N A Checksum 3 N A Msg ID 4 to 7 3 N A Bytes 8 to 11 52 N A Week GNSS week number 12 to 15 N A PPS time GNSS seconds into the week coincident with ...

Page 97: ...S receiver card s automatically for its own use The user may require access to the GNSS receiver directly to 1 upgrade the receiver firmware or 2 supply corrections directly to the receiver rather than the Base GNSS input to POS All POS MV V5 systems provide a mechanism to switch COM3 and COM4 to connect directly to the COM port on the internal GNSS receiver s by selecting that connection in POSVi...

Page 98: ...POS MV V5 Installation and Operation Guide Interfaces and Data Formats 3 24 ...

Page 99: ...ed POS MV is ready for operation in a stand alone mode This feature allows POS MV to start processing information after power on without further need for the controller program or a controlling PC The initial power on for the POS MV system occurs in two stages a Power on the POS MV system b Power on the controlling PC and start the MV POSView Controller program POS MV Power On Power for the POS MV...

Page 100: ...ase the switch On the MV V5 2 energizing the power cable connected to the rear of the PCS applies power to the internal electronics and causes the system to power up Figure 15 PCS Front and Rear Panels POS MV V5 Figure 16 POS MV PCS V5 1 PCS Front Panel Figure 17 POS MV PCS V5 2 PCS Front Panel ...

Page 101: ...te mode normal system operation System meets accuracy limits set by user for position velocity attitude and heading Logging light indicates status of logging device Steady green Logging device is active and recording data Steady amber Logging media is 80 full Steady red Logging has failed check that the device is not full and for MV V5 and MV V5 1 that there is a USB memory stick properly inserted...

Page 102: ...stalled and configured the PCS the controlling PC and the MV POSView Controller correctly The controller program can operate in either of two modes Monitor mode the MV POSView Controller program displays all PCS data that is broadcast over the Ethernet however changes to any of the PCS settings cannot be made This mode allows several users to monitor the PCS data simultaneously Control mode the MV...

Page 103: ...V POSView Controller Program Check the MV POSView Controller program main window illustrated in Figure 40 on page 5 3 for update activity the window should update at one second intervals If not check that the LAN light located on the front panel of the PCS is flashing green Changing Address It is unlikely that the default IP address of the PCS will be compatible with your local area network Theref...

Page 104: ...nstallation POS IP Address and insert a new IP address and or subnet mask see Figure 18 The new address must be valid for the network on which you will operate the PCS Press the OK button k The new IP address for the PCS will take effect immediately and a Lost connection with POS message is displayed at the controlling PC l At the controlling PC select File Exit or press the Alt F4 keys to exit th...

Page 105: ...ta refinement process Figure 19 Configuration Data Refinement Automatic fine tuning permits the accurate measurement of the longitudinal lateral and vertical distances between the installed components Accurate manual measurements are often difficult to obtain and are subject to errors caused by accessibility If it is not possible to measure the installation parameters to within Real Time Kinematic...

Page 106: ...rogram select Settings Installation Lever Arms Mounting the Lever Arms Mounting Angles tab is displayed see Figure 20 Use metres for lever arm distances and degrees for misalignment angles In circumstances where you do not have the complete set of installation parameters you must at least enter values in the Ref to IMU Lever Arm and the Ref to primary GNSS Lever Arm panes This basic information al...

Page 107: ...l cause the fields to reset and begin again automatically Note The Compute IMU w r t Ref Misalignment option provides a tool that allows converting of measured roll pitch and heading of IMU in Vessel frame and automatically compute and populate the correct values for IMU Frame w r t Ref Frame in Figure 18 Figure 21 POSView Sensor Mounting Tab GAMS Parameters are entered separately in Settings Inst...

Page 108: ...ation Calibration on page 4 21 Note The integrated navigation solution should be delivering a RTK solution may be tightly coupled or using an auxiliary RTK GNSS receiver The Nav Status MV POSView Status pane indicates FLOAT RTK or FIXED RTK Ensure that GAMS is on line then select Settings Installation Installation Calibration Control from the menu bar of the MV POSView Controller program The Calib...

Page 109: ...s 100 X Y Z fields computed values are complete when the Figure of Merit reaches 100 and the field values stop changing the field values may not correspond with the measured values Reference to Primary GNSS check box select to compute corrected values Reference to Auxiliary 1 GNSS check box not enabled Reference to Auxiliary 2 GNSS check box not enabled Position Fix check box not enabled CALIBRATI...

Page 110: ...OS restarts in the Navigate mode COMMAND BUTTONS OK button enables all window parameter settings and closes the window calibration does not start Close button closes the window without saving or enabling any changes Apply button enables all window parameter settings but does not close the window calibration does not start Time Tags POS attaches time tags to all of its outputs to permit synchroniza...

Page 111: ... send message 55 see POS MV V5 User Interface Control Document Applanix document control number PUBS ICD 004089 with their own time recovery time and POS will create an internal offset Also the user can then select the User Time Figure 24 to be output in the time 2 field of ICD groups This feature allows the user to synchronize with a time base other than POS GNSS or UTC If more information is req...

Page 112: ...its new setting when POS MV is powered on again refer to the 4 21 description on page 4 19 for instructions Input Output Ports Set up The Input Output Ports Set up screen shown in Figure 26 is accessed from the MV POSView menu bar by selecting Settings Input Output Ports Configuration of each of the five serial COM ports is performed on the screen tabs The following lists the configuration choices...

Page 113: ...igure 26 Input Output Ports Set up COM1 Some interfaces require bi directional communications in which case a selection in either the Input or Output menu will result in the automatic assignment of the corresponding Output or Input for that COM port For interfaces that require only uni directional communications it is possible to assign an input and an output simultaneously on a COM port but a Y c...

Page 114: ...he Close button Ethernet Input Port Set up The Ethernet Input tab on the Input Output Ports Setup window is similar to the COM port setup except that only Base 1 2 inputs are available and of course Ethernet parameters must be specified instead of COM port parameters as shown in Figure 28 A valid Internet Address Port number must be entered and a Protocol selected or the Ethernet connection will n...

Page 115: ...ections over NTRIP client Differential corrections can also be received through the NTRIP client built into POSView One must have access to an NTRIP caster or subscribe to a service that provides access to NTRIP caster in order to receive differential corrections To access the NTRIP client please select Tools NTRIP client Figure 29 NTRIP Client User Interface ...

Page 116: ...rn green and the POS will receive and decode the corrections Heave Filter Certain characteristics of the POS MV heave filter can be adjusted to obtain the best compromise between steady state heave error and the time that the filter takes to settle after abrupt changes in vertical displacement refer to Figure 30 You may have to modify the characteristics of the heave filter for example to allow fo...

Page 117: ...and close the dialogue box Refer to the Reference to Centre of Rotation instructions on page 2 28 for an explanation of the method that POS MV uses to measure and filter heave values The Z Altitude option allows the user to replace the heave filter with an inertial smoothed RTK height in the chosen output string GNSS 1 2 Interface The PCS provides a mechanism to connect directly to the internal GN...

Page 118: ...e 31 Input Output Ports Set up GNSS 1 Interface Figure 32 Input Output Ports Set up GNSS 2 Interface The GNSS connection for firmware upgrades requires 2 way communication hence selecting GNSS 1 2 on either the Input or Output will automatically reserve both for that function ...

Page 119: ... the PCS will reconfigure the receiver cards automatically for its own use The messages supplied by the GNSS receivers are only those required by POS MV If you ever need to configure the installed GNSS receivers manually you must select Tools Configure GNSS from the menu bar window of the MV POSView Controller program Antenna Installation Calibration A successful antenna installation calibration d...

Page 120: ...4 22 3 Select View GAMS Solution from the menu bar to open POS MV GAMS Solution window shown in Figure 33 Figure 33 GAMS Solution BD960 system left BD982 system right 4 Transition the system to standby mode by selecting the Standby icon from the MV POSView tool bar ...

Page 121: ...tion Threshold field and the GAMS status main window Status pane reads Ready Offline POS MV will start the antenna installation calibration routine Choose an easy value for POS MV to achieve as you perform a series of calibration manoeuvres with the vessel Set a lower value approximately 0 2 if you can manoeuvre the vessel aggressively Conversely set a higher value approximately 1 if the most aggr...

Page 122: ...rol Start from the MV POSView menu bar Figure 40 POSView Controller Main Window page 5 3 The Status pane for GAMS indicates CAL Requested Figure 50 POSView GAMS Solution and Status Pane page 5 18 The Start command prepares the system for an automatic start to the calibration process but does not actually start it Instead the calibration process will start automatically when the POS MV RMS heading ...

Page 123: ... to Online If the POS MV Heading Accuracy field on the MV POSView main window Attitude pane Figure 40 POSView Controller Main Window page 5 3 shows the heading accuracy deteriorating close to or above the calibration threshold then the vessel manoeuvres should be continued during the calibration This should keep the heading accuracy below the threshold 12 Save calibration data Select Settings Save...

Page 124: ...ation parameters and then re enter the measured separation distance in the GAMS Parameter Setup window see Figure 34 POSView GAMS Parameters Setup on page 4 23 Select the OK button to install the new antenna separation distance Begin a new calibration procedure see Antenna Installation Calibration on page 4 21 The 5 mm in allowance accounts for differences that may exist between the antenna phase ...

Page 125: ...ccessfully to NVM Wait for this message to appear prior to powering off the PCS or the POS MV system Save Parameter Values Select Settings Save Settings from the MV POSView menu bar to save all parameter settings to NVM Refer to the Save Settings description on page 4 29 for more information Perform the following to check that the PCS has stored the parameters correctly 1 Select File Exit or press...

Page 126: ...anel PWR switch and a front panel POWER switch Refer to the POS MV Power On description on page 4 1 for more information Figure 36 PCS Front and Rear Panels POS MV V5 POS MV V5 1 PCS Power for the POS MV V5 1 system is applied to the PCS rear panel PWR connector refer to Figure 8 The front panel POWER switch Figure 37 is an alternate action push and hold switch press once for power on press again ...

Page 127: ...is applied to the PCS rear panel PWR connector refer to Figure 9 The PCS is powered off by removing power from the input For a controlled power down it is preferred to select the Tools Shutdown command from POSView and waiting until the power light goes off before removing power Figure 38 PCS Front Panel POS MV V5 2 Save Settings Cycling power while saving may result in lost settings Save the POS ...

Page 128: ...lly configured with the settings contained in the configuration file Note By default POS MV boots to the last saved configuration located in the PCS NVM Note Occasionally a change is made in the Ethernet interface that affects the format of configuration data The effects of the change are described in the release notes accompanying the firmware upgrade or contact an Applanix Customer Support repre...

Page 129: ... of the following occurs o A period of 10 minutes elapses o User disconnects via the MV POSView Controller monitor icon disconnect located on the tool bar o User terminates the TCP connection Change the password by selecting Settings Installation Set Password see Figure 39 right side Reset the password to the default setting pcsPasswd by o Acquire an authorization code from Applanix Customer Suppo...

Page 130: ...POS MV V5 Installation and Operation Guide System Configuration 4 32 Figure 39 POSView Controller Password Protection ...

Page 131: ... to Non Volatile Memory NVM POS MV may be configured to transition directly to navigate mode after power on and deliver integrated navigation solutions through the enabled ports This is performed by enabling AutoStart refer to page 4 14 for instructions If necessary refer to the following instructions for assistance Installation starting on page 2 1 System Configuration starting on page 4 1 Power ...

Page 132: ... tool bar drop down field The user selects the IP address for the PCS of interest from the drop down field The controller monitors or connects to the IP address displayed on the controller tool bar Monitoring POS MV Main Window Regions Figure 40 shows the main window of the MV POSView Controller The window can be divided into five regions Title bar top Identifies the controller type in this case M...

Page 133: ...ect to the control port of the specified IP address Monitor the controller is receiving broadcast data from the specified IP address Waiting the controller cannot communicate with the specified IP address Figure 40 POSView Controller Main Window POS MV Status Region POS MV status is displayed in the centre area of the MV POSView Controller window The following describes these areas Status Pane Dis...

Page 134: ... primary GNSS raw observables plus base GNSS corrections RTCM 18 and 19 CMR CMR FLOAT RTK Navigator is tightly coupled using the primary GNSS raw observables plus base GNSS corrections RTCM 18 and 19 CMR CMR FIXED RTK Same as Float RTK but better accuracy Pri C A Navigator is loosely coupled using the primary GNSS position data in C A mode Pri DGNSS Navigator is loosely coupled using the primary G...

Page 135: ...osition Pane Displays latitude and longitude solutions in degrees from the equator and the Prime Meridian respectively and WGS84 ellipsoid altitude solutions in metres Velocity Pane Displays velocities in their longitudinal lateral and downward components in metres per second Dynamics Pane Displays vessel dynamics angular rates in degrees per second and accelerations in m s2 in their longitudinal ...

Page 136: ...eiver the number of satellites tracked and whether DGNSS corrections are available to the navigation algorithm It also depends on the level of motion that POS MV is experiencing more dynamics will tend to improve the accuracy of the solution reducing the displayed confidence boundaries HEAVE PARAMETER The real time heave accuracy parameter is not adjustable by the user The fixed setting is based o...

Page 137: ...gles Position Pane The sensor position appears as latitude and longitude in degrees minutes and seconds The altitude of the sensor position is shown in metres above the WGS84 ellipsoid POS MV defines latitude longitude and altitude with respect to the World Geodetic System 1984 WGS 84 referenced ellipsoid Latitude is reference to the equator and is either North or South Longitude is reference to t...

Page 138: ...the down axis This provides a locally level coordinate frame that is well defined at the earth s poles Heave Field Heave is the filtered vertical motion acceleration data plus roll and pitch derived heave at the sensor location Heave is in a positive down direction in a local level or platform frame so the heave is in the gravity direction Faults and Messages The Fault Detection window displays th...

Page 139: ...ermittently during initialization and operation The Fault Identification description starting on page 9 1 includes a list of the messages that may appear in the message log If you suspect that a fault condition has occurred but the Faults Detection window does not show it check the message log To access the Message Log Figure 44 select View Message Log from the MV POSView menu bar ...

Page 140: ...ash drive using the USB connector installed in the front of the POS Computer System PCS Alternately the data may be transferred across the Ethernet Data Port to a disk file on an external PC The USB flash drive is useable for post processing in any PC with a USB connector Note Use of the removable media interface is preferred due to the bandwidth limitations associated with some Ethernet installat...

Page 141: ...d 46 permit the selection of data groups to be recorded and define the logging rate for those data groups The Ethernet logging port is intended for data logging for a delayed processing application where data loss cannot be tolerated This port implements a very large storage buffer to minimize the risk of data loss The logging method Ethernet or Removable media is changeable at any time even if lo...

Page 142: ... i e with PCS power on or off Both V5 and V5 1 versions have the removable USB connector behind a door on the front of the PCS but the internal mechanism is different MV V5 Open the spring loaded USB access door on the front of the PCS all the way and it will stay open on its own Insert the USB flash drive into the bay Figure 48 ensuring that the card is facing up Applanix logo showing The logging...

Page 143: ...he shuttle mechanism will move back to its innermost position at which point the USB flash drive must be pressed into the connector The logging bay door should close without hitting the USB flash drive if it is properly seated in the connector Figure 48 Removable Media Bay POS MV V5 1 MV V5 2 This PCS does not have removable logging media Instead the data is logged to an internal flash drive and i...

Page 144: ...V POSView Stop Logging button on the USB Logging Control Figure 46 page 5 12 screen Logging data to the removable media may be stopped and restarted repeatedly Restarting the logging process causes a new file to be opened with the same kernel name If a new kernel name is assigned the new file is viewed as a new mission Note A data gap is treated as a new mission The system can tolerate a 0 015 ms ...

Page 145: ...et link Ethernet logging is performed using the MV POSView software or other user supplied software Any custom designed logging software s interface must conform to the POS MV Ethernet ICD specifications Please refer to Applanix document PUBS ICD 004089 for a description of the Ethernet data output format Note the following points regarding the Ethernet circuit Requires at least a 100 Base T conne...

Page 146: ... intended for real time control applications where the most current position and orientation data are required Real time data output on an Ethernet port is intended to provide data for a third party application that is capable of decoding the POS MV Ethernet ICD format Please refer to Applanix document PUBS ICD 004089 for a description of the Ethernet data output format These ports implement small...

Page 147: ...th GAMS heading aiding a Follow the instructions in the Power On topic on page 4 1 to power on the PCS b If you have not enabled AutoStart transition POS MV to the navigate mode by selecting the Nav icon on the MV POSView tool bar View both the GAMS Solution and the Status pane windows Figure 50 to follow the GAMS Initialization sequence 1 Once the POS MV has completed its levelling routine GAMS w...

Page 148: ...mant In this dormant state GAMS continues to monitor tracked satellites but does not process the observables from the GNSS receivers GAMS status displays Not Ready Figure 50 POSView GAMS Solution and Status Pane 3 Following the successful completion of coarse levelling the POS Mode transitions to Degraded Navigation status During this time errors in the reported roll and pitch angles will be large...

Page 149: ...eady Online to indicate that the POS MV Kalman Filter has stopped processing GAMS heading aiding data This can occur if one of the following conditions arise A one or two second GNSS data dropout occurs in either both GNSS receivers A data dropout comprises either both of the following o Valid phase observables are available from fewer than four satellites o The indicated PDOP is greater than 4 5 ...

Page 150: ...llowing are symptoms of abnormal behaviour together with their possible causes and some suggested remedies Repeated Ambiguity Rejection Symptom GAMS repeatedly resolves the carrier phase ambiguities and then rejects them This cycle can continue indefinitely or eventually POS MV flags the installation parameters as invalid Possible Causes and Remedies 1 Cause Installation Parameters The installatio...

Page 151: ... window Possible Causes and Remedies 1 Cause Incorrect Ambiguity Resolution GAMS has identified the wrong carrier phase ambiguities and has computed the wrong heading The POS MV Kalman Filter continuously rejects the GAMS heading aiding data because it is inconsistent with the heading solution computed by the system without GAMS aiding Remedy Click on the Standby icon on the MV POSView tool bar to...

Page 152: ...ial masking or interference will go away when the vessel moves away from the suspected shore based source of signal degradation You can identify a problem with antenna cables by substituting shorter low loss cables Refer to Figure 43 on page 5 9 Fault Detection window by selecting View Faults to check the GNSS receiver status and to determine whether either receiver has reported a fault Obvious In...

Page 153: ...l you have completed another calibration Provided there has been no change to the relative mounting positions of the antennas or the IMU the displayed GAMS status will become Ready Online when GAMS resolves the carrier phase ambiguities GAMS status will show Not Ready if GAMS has started a new OTF search Without GAMS heading aiding the POS MV heading accuracy will degrade slowly at an approximate ...

Page 154: ...and o Uses the antenna separation to aid the OTF carrier phase ambiguity search You can force GAMS to operate in this mode by clearing the GAMS installation parameters and then entering an antenna separation distance If the surveyed antenna baseline vector components and the antenna separation are non zero and flagged as valid then the GAMS OTF algorithm uses the complete set of parameters to aid ...

Page 155: ...play and real time and logging data ports Once the system is initialized it will begin to output data across the enabled ports Refer to the Data Logging instructions page 5 10 for a full description of the data logging facilities available for the POS MV When the system operates in stand alone mode the front panel status LED on the PCS continues to provide an indication of the system status as des...

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Page 157: ...artefacts Figure 52 illustrates the relationship of the TrueHeave solution to the current real time approach and shows how it is computed and applied Figure 52 TrueHeave Functional Block Diagram Configuration Requirements TrueHeave is a turnkey solution and requires none of the tuning of standard real time heave solutions Initialization Requirements TrueHeave requires a period of up to five minute...

Page 158: ...n no way affected by the addition of TrueHeave it can and should continue to be used as normal Figure 53 POSView Heave Data TrueHeave Procedure Use the following procedure to enable the TrueHeave feature prior to its first use 1 Initialize POS MV ensuring that all pre set user accuracy values are acceptable This is indicated by green light buttons adjacent to the Attitude Heading Position Velocity...

Page 159: ...es on page 5 10 noting the following points a Select the 111 Heave data and 113 Heave data quality control check boxes in the Ethernet Logging Control window b Since there is a three minute delay between real time and the calculation of the equivalent TrueHeave solution logging must continue for at least three minutes past the end of the survey session or line Following the survey the TrueHeave da...

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Page 161: ...igma with 4 m baseline RTK Positioning Accuracy Horizontal 8 mm 1 ppm x baseline length Vertical 15 mm 1 ppm x baseline length Note RTK accuracies assume 1 m IMU GNSS antenna offset DGPS Positioning Accuracy 0 5 2 m 1 sigma depending on quality of differential corrections Velocity Accuracy 0 03 m s horizontal During GNSS Outages Roll Pitch accuracy 0 02q 1 sigma Heave accuracy 5 cm or 5 whichever ...

Page 162: ...th 4 m baseline RTK Positioning Accuracy Horizontal 8 mm 1 ppm x baseline length Vertical 15 mm 1 ppm x baseline length Note RTK accuracies assume 1 m IMU GNSS antenna offset DGPS Positioning Accuracy 0 5 2 m 1 sigma depending on quality of differential corrections Velocity Accuracy 0 05 m s horizontal During GNSS Outages Roll Pitch accuracy 0 04q 1 sigma Heave accuracy 5 cm or 5 whichever is grea...

Page 163: ...cy 0 08q 1 sigma with 2 m antenna baseline 0 06q 1 sigma with 4 m antenna baseline RTK Positioning Accuracy Horizontal 8 mm 1 ppm x baseline length Vertical 15 mm 1 ppm x baseline length Note RTK accuracies assume 1 m IMU GNSS antenna offset DGPS Positioning Accuracy 0 5 2 m 1 sigma depending on quality of differential corrections During GNSS Outages Roll Pitch accuracy 0 05q 1 sigma Heave accurac...

Page 164: ...MU type 26 203 mm X 203 mm X 116 mm 2 1 kg IMU type 37 158 mm X 158 mm X 124 mm 2 5 kg IMU type 39 208 mm X 196 mm 5 5 kg Al 8 4 kg Ti 13 kg SS SurfMaster SurfMaster RM IMU type 69 Housing type 0 Housing type 101 43mm x 47mm x 13mm 158 mm X 158 mm X 124 mm 0 02 kg 2 5 kg IMU type 70 132mm X 114 mm 2 4 Kg Elite IMU type 21 200 mm X 197 mm X 176 mm 4 8 kg 1 IMU type 33 229 mm X 315 mm X 196 mm 3 5 k...

Page 165: ...c Current 2 5 A Max 9 Vdc GNSS Antennas Power provided by PCS Notes 1 minimum acceptable input voltage supplied to the MV V5 1 PCS 76 depends on the IMU type and length of IMU cable PCS 86 will power all IMUs over the complete input voltage range Contact Applanix for details Environmental Temperature Range Operating IMU 40 qC to 60 qC 40 qF to 140 qF PCS POS MV V5 POS MV V5 1 POS MV V5 2 20 qC to ...

Page 166: ...gress Protection PCS 76 80 84 86 92 to be deployed in a between decks environment protected from weather IMU 42 64 69 to be deployed in a between decks environment protected from weather IMU 45 65 70 suitable for deployment in weather or pole mounted below the water surface Shock Vibration IMU OceanMaster Operating 90 g 6 ms terminal saw tooth Non Operating 220 g 5 ms half sine WaveMaster WaveMast...

Page 167: ...ceivers manually by selecting Tools Configure GNSS from the MV POSView menu bar GNSS Reset The MV POSView Controller program allows you to send a reset command to the GNSS receivers To do this select Tools Reset GNSS from the MV POSView menu bar Once the reset command is initiated the GNSS receivers will take approximately two minutes before they return to the navigation mode and POS MV can use th...

Page 168: ...s in solution and includes details of their Signal to Noise Ratios SNR at the important L1 frequency L1 SNR Low SNR values for all satellites could indicate deterioration in the quality of the GNSS antenna cable The window will show the L2 SNR for L1 L2 GNSS if fitted Diagnostics POS MV provides both control and display diagnostic functions The control functions permit the selection and setting of...

Page 169: ...fected ports refer to Figure 56 1 On the MV POSView menu bar select Settings Diagnostics Control Binary to open the Diagnostics window 2 Select the appropriate tab and enter the diagnostic values for the displayed parameters in the Operator Input pane 3 Select the Enable option in the Output pane 4 Select the OK or Apply button The diagnostic values then appear on the appropriate output port using...

Page 170: ...lanix Customer Support for assistance see page A 1 Base 1 2 GNSS Diagnostics The PCS provides a diagnostic window for input differential corrections This window provides information that can aid in diagnosing problems related to input differential corrections Separate windows for Base 1 2 corrections can be viewed by navigating to Diagnostics Base GNSS from the menu bar An example of this window i...

Page 171: ...ications protocol the PCS is set to and make sure they match with your corrections provider o Waiting for data The PCS is setup to receive corrections data but it is currently not receiving data Check the physical connection and make sure your corrections provider is outputting data o Offline The PCS is not setup to receive corrections Base Messages provides a summary of the types of messages that...

Page 172: ... has a minimal requirement for scheduled maintenance on its subassemblies and components Performing these procedures at the recommended intervals enables the POS MV to maintain the highest standard of service and performance throughout its lifetime Inertial Measurement Unit The IMU contains sensitive and expensive solid state accelerometer and gyro components Permanent damage to these components w...

Page 173: ...connectors every six months or more often if necessary for signs of damage degradation or contamination Repair or renew them as necessary Ensure that cables are securely connected When operating in very cold conditions use an appropriate method to remove any ice accumulation from the antennas POS Computer System If you protect the PCS from moisture and dust in its mounting location the unit will r...

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Page 175: ...the effect of the degradation The POS MV uses two methods simultaneously to inform you that the system has experienced a failure or performance degradation Lights on the POS Computer System PCS front panel will show a fault condition The MV POSView Controller program will provide a more detailed description of the problem By planning and conducting regular maintenance procedures described in the R...

Page 176: ...around each axis Incremental velocities and angles are output across a digital interface to the PCS The IMU is a sensitive device and must be handled carefully to prevent damage to the sensing elements Refer to the Inertial Measurement Unit description on page 2 1 for instructions pertaining to IMU handling and care GNSS Antennas Do not place metallized labels on the radome Signal attenuation will...

Page 177: ...ncluding the GNSS antennas GNSS antenna cables and GNSS receivers If POS MV detects a failure condition in either the GNSS or IMU subsystems it will use two methods to alert you Indicates a fault condition through status lights on the PCS front panel Outputs appropriate status warning messages to the various MV POSView Controller windows Fault Detection and Message Log The following paragraphs des...

Page 178: ...ff PCS Refer to Fault Detection window of controller program see Fault Detection starting on page 9 5 Steady amber Standby mode POS MV is waiting for instructions Flashing amber Navigate mode initialising and aligning attitude coarse levelling Flashing green Navigate mode degraded attitude performance Attitude measurements are acceptable but do not meet user set accuracy limits Steady green Naviga...

Page 179: ... suspect that the system has developed a fault note the condition of the indicators on the Fault Detection window If necessary contact Applanix for advice refer to Technical Support and Service on page A 1 for procedures General Tab The Primary GNSS pane Figure 62 shows the status of the primary GNSS receiver and any faults reported by it If this pane reports any persistent faults they could be ca...

Page 180: ...h additional information appearing on the IMU tab shown in Figure 63 There is also an additional field that appears at the bottom left hand side of each Fault Detection tab to show the number of bad data frames received from the IMU An occurrence of several consecutive bad IMU frames will cause the POS MV to reinitialize and start coarse levelling ...

Page 181: ...POS MV V5 Installation and Operation Guide Fault Identification Copyright Applanix Corporation 2017 9 7 ...

Page 182: ...e Figure 63 identifies the raw status bits from the IMU If any of these bits have a red light please contact Applanix Customer Support representative for assistance refer to page A 1 GNSS Corr Tab The In Use pane Figure 63 shows the types of corrections that the navigation algorithm may use A green light indicates the item that is currently being used ...

Page 183: ...omatically if the GNSS automatic reconfiguration feature is enabled select Enabled in the Auto Configuration pane on the GNSS Receiver Configuration window The automatic reconfiguration logic checks for expected messages from the GNSS receiver and will send a configuration command to the receiver if the expected messages are not present The contents of messages are not checked Table 36 Message Log...

Page 184: ...NSS data for 60 s GNSS available for alignment Flag reset GNSS data gap detected Gap in GNSS data short periods when this occurs are normal GNSS data gap cleared Gap discontinued PPS time gap Gap in PPS signal short periods when this occurs are normal PPS time gap cleared Gap discontinued Time recovery message not received The GNSS receiver is not configured properly Time recovery message received...

Page 185: ... is not configured properly Incorrect SV selection parameters cleared Flag reset GAMS ambiguity resolution failure The GNSS receiver is not configured properly GAMS ambiguity resolution failure cleared Flag reset GNSS failure GNSS velocity or position failure GNSS failure cleared Flag reset Speed out of range fault Navigation algorithm speed is out of range speed 35 m s algorithm will reset itself...

Page 186: ... position rejection cleared Flag reset IMU Messages Message Log Multiple consecutive IMU failures Communications problem between IMU and PCS check cable Multiple consecutive IMU failures cleared Flag reset IMU X accelerometer failure IMU diagnostics indicate failure of X accelerometer channel IMU X accelerometer failure cleared Flag reset IMU Y accelerometer failure IMU diagnostics indicate failur...

Page 187: ...U sensor IMU failure cleared Flag reset IMU warning One of the IMU bias estimates is out of range IMU warning cleared Flag reset X accelerometer bias estimate out of range The Kalman Filter s estimate of the X accelerometer bias is outside the allowable range of 4000 micro g X accelerometer bias estimate error cleared Flag reset Y accelerometer bias estimate out of range The Kalman Filter s estima...

Page 188: ...es IMU The IMU can experience a communication failure between the IMU and the PCS or a loss of calibration Communication Failure The IMU can experience a permanent or intermittent communication failure If the IMU develops a fault that causes permanent loss of communication you will see the following symptoms The IMU front panel light will show clear off The IMU tab on the Fault Detection window wi...

Page 189: ...ndow will display the warning message IMU Failure Note any indications on the Fault Detection or the Message Log windows and contact Applanix for advice GNSS The GNSS subsystem can experience a permanent loss of satellites or a breakdown of communication between the GNSS receiver and the PCS Permanent Loss of Satellites POS MV provides continuous information on the status of the GNSS receivers The...

Page 190: ...arise from damaged antenna cabling or a receiver failure If examination of the GNSS antenna installation reveals damage to a cable replace the cable If none of the above actions resolves the problem contact Applanix for advice Loss of Communications If the front panel GNSS light shows red then there is a communications failure between the PCS and the primary GNSS receiver Typical causes for this f...

Page 191: ... of GAMS select View GAMS Solution to view this window GAMS may experience periodic GNSS dropouts caused for example by an antenna obstruction During these dropouts GAMS is unable to compute a heading solution and the controller Status pane indicates Not ready in the GAMS field However if a GAMS dropout occurs and persists without any apparent antenna obstruction one of the following problems may ...

Page 192: ...r substitute them with new low loss cables 2 Examine the antenna mountings they must be rigid with respect to each other and with respect to the IMU Make any necessary modifications to secure the antenna mounting positions so that they experience no significant twisting or movement relative to the IMU 3 Repeat the GAMS calibration and ensure that The Positional Dilution of Precision PDOP is below ...

Page 193: ...electrical equipment Power off and isolate the equipment from the electrical supply before you work on any equipment that uses mains voltage Arrange to safely discharge any power supply storage capacitors Observe all relevant local and national safety regulations while performing any maintenance work on electrically powered equipment After completing maintenance refit all safety covers and ground ...

Page 194: ...ation Guide Fault Identification 9 20 Figure 65 PCS Front Panel POS MV V5 Figure 66 PCS Rear Panel POS MV V5 PCS 80 Figure 67 PCS Rear Panel POS MV V5 PCS 84 Figure 68 PCS Front Panel POS MV V5 1 Figure 69 PCS Rear Panel POS MV V5 1 ...

Page 195: ... the release sleeve often results in some force on the entire connector body the latches can experience some friction and not retract smoothly If possible it is better to hold the cable forward while pulling back on the release sleeve and then sliding the connector out of the socket Applying excess force could damage the latch mechanism Inertial Measurement Unit The IMU contains sensitive and expe...

Page 196: ... of the IMU within certain tolerances refer to Figure 5 on page 2 8 The internal accelerometers and gyros have tolerances that affect the overall alignment Any time a repaired or new IMU is installed the calibration procedure starting on page 2 24 should be followed Contact Applanix Customer Support for additional information refer to page A 1 for instructions 1 Same location a Place IMU in instal...

Page 197: ...f antenna dome 6 Remove antenna by turning in a counter clockwise direction Replace 1 Same location a Install antenna by turning in a clockwise direction b Note direction of arrow on top of antenna dome and align with previous installation c Connect TNC antenna connector Protect free end of cable from damage or contamination d Apply waterproof sealing tape or silicone sealant to protect TNC antenn...

Page 198: ... 3 Observe PCS front panel power on procedures starting on page 4 1 GNSS Antenna Cable If you suspect a fault condition on the GNSS antenna power and data cable install a new cable To remove or replace the GNSS antenna power and data cable complete this procedure Tools Self amalgamating tape Waterproof spray Sharp knife or scalpel Slip joint pliers appropriate to remove or secure the GNSS antenna ...

Page 199: ...side Service shall be performed by trained and qualified personnel If you suspect a fault condition with the PCS contact Applanix Customer Support refer to page A 1 for instructions To remove or replace the PCS complete this procedure Tools Cross tipped screwdrivers Straight tipped screwdriver Set of SAE or metric open end or combination wrenches appropriate to remove or secure the PCS to its moun...

Page 200: ...ng subsections cover six categories of system failure Total system failure Initialization failure GNSS Not Available GAMS Not Ready Serial communications problem Ethernet communications problem Total System Failure A total system failure is indicated by the following symptoms Real time and NMEA data communication stops Ethernet LAN communication stops Use the following procedure to diagnose and is...

Page 201: ...compute the approximate tilt of the IMU relative to a locally level reference taking into account the present position This is called coarse levelling If POS MV fails to complete its coarse levelling procedure the most likely cause is the lack of GNSS aiding data If the system fails to complete coarse levelling follow the instructions below to isolate the problem 1 Check Nav Status on controller m...

Page 202: ... communication fault between the receiver and the PCS b The receivers are not tracking a sufficient number of satellites Improper Communication Note The GNSS lights are controlled by the navigation software the system must be in the navigate mode for the proper indication of the GNSS lights Follow the instructions below to identify a communications fault 1 Examine GNSS light on PCS front panel If ...

Page 203: ...s provides unobstructed view of sky in all directions If either antenna is moved refer to Installation section starting on page 2 1 and System Configuration description starting on page 4 1 for instructions Figure 75 GAMS Solution Status Window 3 If mounting locations for both GNSS antennas are optimal and DR status persists move vessel to area that has better satellite visibility 4 If the problem...

Page 204: ...elect View GAMS Solution from controller menu bar In GAMS Solution window check number of SVs tracked and value displayed for PDOP GAMS must track five SVs minimum and have PDOP value 3 before it can solve ambiguities Wait for satellite constellation to improve or move to a location that has better satellite visibility 2 If number of SVs tracked does not increase or if PDOP remains too high proble...

Page 205: ...m the following steps 1 Ensure that POS is navigating and is in Degraded Nav mode or better Binary data is not output until this mode is reached 2 Select Diagnostics NMEA Binary Output from controller menu bar Verify displayed Port matches selected COM port e g Port 1 COM 1 see Figure 77 3 Check Write Failure field If value increases indicates PCS hardware interface problem try another COM port Re...

Page 206: ...tions Base GNSS and Auxiliary GNSS perform the following steps 1 Select Diagnostics Base GNSS Base 1 or 2 or Diagnostics Aux GNSS from controller menu bar see Figure 78 2 Check Bytes Received field If no bytes received may indicate PCS hardware interface problem try another COM port Reassign Base or Aux GNSS input to unused COM port If communications restored note defective COM port for future ref...

Page 207: ...igures 79 and 80 provide troubleshooting procedures to identify the causes of Ethernet communications failures Figure 79 1 of 2 Ethernet Communications Failure Ethernet Communications Failure Broadcast Check SYSTEM LED on PCS front panel SYSTEM LED red Reboot the PCS Y SYSTEM LED red Refer to Total System Failure procedure Y N N PCS on multinode network Y Disconnect PCS and PC from network PC to P...

Page 208: ...n PC and PCS Check Ethernet cable and connectors Cable OK Problem with TCP drivers or Ethernet adapter in PC Y Replace Ethernet cable N Reboot the PCS Check LAN Tx LED PC to PCS comms OK Y N Intermittent failure log for future reference LAN Tx LED flashes Reconnect PCS and PC to network Swap GPS receivers and change PCS Reboot the PCS PC to PCS comms OK System working re install and initialize par...

Page 209: ...ster s House Old Racecourse Oswestry SY10 7PW UK Tel 1 289 695 6000 Fax 1 905 709 6027 Tel 1 713 896 9900 Fax 1 713 896 9919 Tel 44 1691 659359 Fax 44 1691 659299 Web site http www applanix com How to Reach Customer Support For technical support on POS regarding installation or operation contact Applanix customer support at the numbers listed on our website On the home page select Support If voice...

Page 210: ...instructions or obtain an RMA number via our website 2 Carefully disconnect and remove the part s to be returned 3 Pack the part s to be returned in their original packing containers Applanix will not be responsible for damage to parts during shipment if returned in any container other than the original shipping cases New cases are available please contact your Customer Support Representative for ...

Page 211: ...ccuracy Baselines An explanation of the baseline definitions used throughout this appendix Baseline Measurement How the system measures the baseline vectors of the GNSS antennas and the IMU Carrier Phase Differential Position A simplified description of the process by which POS MV measures the difference in position between the two GNSS antennas Alignment How POS MV levels itself and aligns with t...

Page 212: ...ed by the INS with respect to an inertial frame of reference From the inertial measurements delivered by these components the INS solves Newton s equations of angular and translational motion on the approximately spherical surface of the Earth and computes a full range of motion parameters The orientation of the IMU roll and pitch with respect to a locally level reference plane The heading of the ...

Page 213: ...he Earth is the speed of the INS is the latitude The acceleration is perpendicular to the direction of and is towards the right in the Northern Hemisphere The INS must also subtract the 15 hour Earth rotation rate from the sensed angular rates to obtain the angular rate of the INS relative to the Earth After it has performed these functions the INS integrates the corrected accelerations and angula...

Page 214: ...he pitch axis as the bow pitches up and down with the dynamic action of the vessel 2 A slow rotation about the pitch axis as the vessel translates towards latitudes that are more northerly This slow rotation is called the transport rate and can be determined by Where the transport rate about the eastward axis of the INS platform the northerly velocity of the vessel the radius of the Earth This is ...

Page 215: ...frame always maintains a constant orientation relative to the surface of the Earth at its current position A locally level reference frame is always level relative to the surface of the Earth at its current position In Figure 81 the navigation frame of the vessel coincides with the geographic frame of reference Inertial Navigation Frames of Reference This appendix refers to a number of different f...

Page 216: ...ive to the inertial frame at a nominal 15 hr or more accurately 15 04107 hr Geographic Navigation Frame The geographic navigation frame is a locally level frame of reference The north and east axis are tangential to the Earth surface at the current latitude and longitude and are defined by the north and east directions respectively The third axis of the geographic navigation frame is the down axis...

Page 217: ...spended by three gimbals The platform defines a locally level navigation frame as long as it maintains a level orientation with respect to the surface of the Earth in spite of any motion applied externally Feedback systems and a servomechanism maintain platform stability in each axis of suspension An arrangement of three gyros senses any angular rate of motion of the platform about each axis The a...

Page 218: ...aphic navigation frame In this orientation the accelerometer array measures specific forces that the INS experiences relative to the inertial reference frame and resolves them in the geographic navigation frame From these measurements the INS computes its accelerations with respect to the surface of the Earth also resolved in the geographic navigation frame The INS integrates these accelerations i...

Page 219: ...easurements pass to the navigation and alignment processor which implements the alignment algorithm and computes the INS navigation solution The alignment algorithm initializes the navigation equations implements levelling and gyrocompassing and obtains a mathematical platform alignment In POS MV the navigation and alignment processor is located inside the PCS The strap down INS navigates the iner...

Page 220: ...ap down navigator see Figure 84 The high pass filter limits the appearance of noise in the vertical measurement channel caused by the strap down navigator Sources of such noise could include Schuler oscillations GNSS noise etc The performance characteristics of the heave filter are Filter settling time Steady state heave error Filter settling time describes the time required for a transient in the...

Page 221: ...heave error becomes greater at lower heave frequencies in the frequency band of interest The high pass component of the heave filter is characterized by the following parameters both of which are configurable through the MV POSView Controller program Heave bandwidth Damping ratio The corner frequency is the lower band reject cut off frequency of the high pass filter Its setting should be at least ...

Page 222: ...tics of the survey vessel in particular the induced heave following changes to engine throttle settings Significant heave amplitudes caused by the response of the survey vessel to the sea state You can determine empirically the correct combination of parameters for a particular survey vessel during trials The following are guidelines for selecting appropriate values 3 Select heave filter parameter...

Page 223: ...ntly excite the transient behaviour of the filter configure the heave filter to achieve a small percentage steady state error at the expense of a long settling time Table 38 describes the variations of steady state heave error and settling time with changes in damping ratio and bandwidth Figure 85 through Figure 88 on pages B 14 through B 17 respectively show plots of steady state heave error and ...

Page 224: ...ht Applanix Corporation 2017 B 14 Figure 85 shows a plot of the steady state heave error as a percentage of heave amplitude against heave frequency for four heave bandwidths at the default damping ratio of 0 707 Figure 85 Percentage Steady State Error with Heave Bandwidth ...

Page 225: ...Applanix Corporation 2017 B 15 Figure 86 shows a plot of steady state heave error as a percentage of heave amplitude against heave frequency for four damping ratios at the default corner heave bandwidth of 20 seconds Figure 86 Percentage Steady State Error with Damping Ratio ...

Page 226: ... 2017 B 16 Figure 87 shows a plot of the heave filter response against time for four heave bandwidths at the default damping ratio 0 707 The filter settling time is for the impulse response to settle to 20 of the impulse magnitude Figure 87 Heave Filter Transient Behaviour with Heave Bandwidth ...

Page 227: ...vers to achieve a heading that is at best accurate to within 0 35 Dynamic heading alignment delivers its best performance when the measurement unit experiences rapid changes of direction and varying forces of acceleration Drift will begin to appear in the heading measurements when these dynamic manoeuvres cease and the vessel follows a steady course and speed 2 GNSS Azimuth Measurement Subsystem G...

Page 228: ...ta to the Kalman Filter to improve the heading estimate made by the strap down navigator Baselines Heading measurements used by POS MV are The true heading of the vessel in a geographic navigation frame of reference The heading of the IMU in a geographic frame of reference that is the geographic heading of the x axis of the IMU body frame To deliver heading measurements of the required accuracy PO...

Page 229: ...ifference between Antenna 1 and Antenna 2 N the northerly component of the position difference between Antenna 1 and Antenna 2 Because the geographical antenna baseline vector is referenced to true north it varies as the vessel changes course However the heading aiding data required by POS MV is the heading of the antenna baseline referenced to the x axis of the IMU POS MV transforms the geographi...

Page 230: ...ctor remains fixed Note The example shown in Figure 90 is greatly simplified It shows only the relative yaw angles made by the baseline vectors In practice the transformation of one baseline vector to another may possibly involve rotations in all three axis roll pitch and yaw Baseline Measurement Geographic Antenna Baseline Vector To compute a highly accurate value for ФANT based on carrier phase ...

Page 231: ...TF algorithm to work both receivers must track at least five common satellites to resolve the ambiguities Preferably they should track six or more to resolve the ambiguities within a reasonable length of time The GAMS OTF algorithm uses the roll pitch and initial heading computed by POS MV without GAMS heading aiding to accelerate the ambiguity resolution process Practically if POS MV uses the IMU...

Page 232: ...t also involves a laborious and complicated survey exercise using qualified survey personnel special equipment and detailed engineering drawings of the vessel Conversely a POS MV installation calibration provides calibration parameters that are initially less accurate However the system can perform the procedure during normal survey operations without the need for any special additional equipment ...

Page 233: ...eiver knows this position only to a finite limit of accuracy Pseudorange is the distance measured between the transmitting satellite and the receiver based on the correlation between the transmitted code and the local reference code in the receiver This measurement includes no correction for errors in synchronization between the satellite and the receiver clocks In the example in Figure 92 the pre...

Page 234: ...nty in the GNSS position solution This is represented by the shaded circle in Figure 93 The uncertainty in determining which line is the one on which the actual position lies is the carrier phase ambiguity It can be resolved by performing the same operation using multiple satellites Figure 94 shows that by performing the same operation using signals from two satellites the range of feasible positi...

Page 235: ...tes In practice the operation is more complex than the simple explanation above This is for the following reasons The radius of the circle of uncertainty in knowing the position of the GNSS antenna is usually much larger than the simple examples shown above There are therefore many more points within the circle that could be feasible true positions Although the illustrations above show the situati...

Page 236: ...ion supplied by the strap down navigator allows GAMS to achieve ambiguity resolution in one to five seconds GAMS uses these three sources of information to reduce the space within which the OTF algorithm searches for the correct ambiguity resolution The desired result of the carrier phase cycle measurement is the determination of the geographic antenna baseline vector Alignment Alignment is the pr...

Page 237: ...ontal Acceleration Error in a Tilted Platform Gyrocompassing Full alignment is complete when the platform is level and its x axis points in a known direction with respect to true north The method by which an INS seeks north during an alignment is called gyrocompassing A properly aligned platform will rotate about its north axis at Ω cos λ and about its azimuth yaw axis at Ω sin λ where Ω is the Ea...

Page 238: ...nsients due to vessel motion and accelerometer noise The alignment algorithm must filter these random disturbances in the acceleration signal Therefore a heading alignment will take longer to complete typically from 10 to 30 minutes depending on latitude Error Sources Once the heading alignment is complete the INS can begin to navigate free Inertially Free inertial navigation allows an INS to reac...

Page 239: ... POS MV implements an aided inertial navigator that controls the navigation errors and calibrates the inertial sensor errors using GNSS data as a reference Aided Inertial Navigation The primary purpose of an aided inertial navigation system also called an integrated inertial navigation system is to compute a blended navigation solution It does this by using a complementary blending algorithm to co...

Page 240: ...dvantages of the other The following is a simplified example of how navigation data from an INS and a GNSS receiver can be blended or integrated in a complementary fashion refer to Figure 97 Note that POS MV uses a significantly more complex process involving a Kalman Filter 1 The position solution determined by the INS includes an error that varies with time This error comprises a drift which inc...

Page 241: ...n solution is smoothed like the INS solution and has a bounded error that is less than or equal to the DGNSS solution Figure 97 Example of Complementary Navigation Sensor Blending In Motion Alignment The paragraphs contained under the Alignment topic on page B 26 describe how an inertial navigation platform achieves alignment under static conditions An important feature that the integration of ine...

Page 242: ... Schuler oscillations and position error growth Such a filter is an algorithm that combines the operations of filtering and estimation Its main function is to estimate the internal dynamics of a system using measurements of the system outputs POS MV uses this Kalman filter with the INS GNSS position difference to estimate the position error and the cause of the INS position error i e the alignment...

Page 243: ... operation In support of this philosophy Applanix has developed a comprehensive training program for all personnel who may be involved with POS MV Items covered by the course include POS MV Overview Principles of Operation Inertial Navigation Systems GAMS GNSS Hardware Installation and Configuration MV POSView Controller Program Overview Simple Maintenance The course includes simplified explanatio...

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Page 245: ... MV software is included with each system Hardware and Software Requirements The minimum requirements of a Personal Computer PC running the POS MV software are listed MV POSView Controller Program The MV POSView Controller program must be run from the hard disk of the controlling PC You cannot run the program from the installation Compact Disk CD Firmware Upgrade Upgrading the POS MV embedded firm...

Page 246: ...ler Program You must install the MV POSView Controller program on the hard disk of the controlling PC You cannot run the program directly from the installation compact disk This program communicates with POS MV through an Ethernet LAN port You must have Microsoft Windows7 Windows8 or Windows10 installed on your PC before you can install and use the controller program Note Applanix recommends the r...

Page 247: ...er than two MB and may take a considerable time to download 3 Once file saved to PC hard disk run POS Loader program Program locates PCS on your network and displays its network address Select PCS and then continue with upgrade procedure 4 A dialogue panel appears and lists product identification and serial number Write these details down carefully and contact Applanix 5 In Loader program type aut...

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Page 249: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 1 Appendix E Drawings Figure 98 IMU Types 36 37 42 64 and 67 Mechanical Interface ...

Page 250: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 2 Figure 99 IMU Type 26 Mechanical Interface ...

Page 251: ...nstallation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 3 IMU shown with adaptor plate 10004691 Contact Applanix for additional information Figure 100 IMU Type 31 and 40 Mechanical Interface ...

Page 252: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 4 Figure 101 IMU Type 38 and 39 Mechanical Interface ...

Page 253: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 5 Figure 102 IMU Type 45 65 and 68 Mechanical Interface ...

Page 254: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 6 Figure 103 IMU Type 21 Mechanical Interface ...

Page 255: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 7 Figure 104 IMU Type 21 Mounting Tray ...

Page 256: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 8 Figure 105 IMU Type 33 Mechanical Interface ...

Page 257: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 9 Figure 106 IMU Type 52 Mechanical Interface ...

Page 258: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 10 Figure 107 IMU Type 44 and 57 Mechanical Interface ...

Page 259: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 11 Figure 108 IMU Type 70 Mechanical Interface ...

Page 260: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 12 Figure 109 IMU Top Hat Type 101 Drawing ...

Page 261: ... and Operation Guide Drawings Copyright Applanix Corporation 2017 E 13 Figure 110 Trimble Zephyr II GNSS Antenna Footprint Phase centre is 66 mm above bottom of mounting thread Figure 111 Trimble 382AP GNSS Antenna Footprint ...

Page 262: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 14 Figure 112 Trimble 540AP GNSS Antenna Footprint ...

Page 263: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 15 Figure 113 PCS Footprint POS MV V5 1 ...

Page 264: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 16 Figure 114 PCS 80 Footprint POS MV V5 ...

Page 265: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 17 Figure 115 PCS 84 Footprint POS MV V5 ...

Page 266: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 18 Figure 116 PCS 92 Footprint POS MV V5 2 ...

Page 267: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 19 Figure 117 IMU Mounting Plate ...

Page 268: ...POS MV V5 Installation and Operation Guide Drawings Copyright Applanix Corporation 2017 E 20 Figure 118 IMU Adaptor Plate V4 V5 ...

Page 269: ...vey Area To complete the calibration operations detailed in this appendix successfully the vessel should perform a series of survey lines and manoeuvres over an area of seabed that conforms closely to the following requirements 1 There should be two distinct regions A region where the seabed is flat and level A region immediately adjacent where the seabed slopes at a relatively steep angle greater...

Page 270: ... page F 2 2 Turn through 180 and sail a reciprocal course along the same line Log this line separately from the first survey line 3 Use the multibeam software and select a single point along both survey lines point O of Figure 119 on page F 2 Examine the profile of the seabed perpendicular to the course of the vessel at this point the line X X of Figure 119 on page F 2 and confirm that both survey...

Page 271: ...ea line A C in Figure 119 on page F 2 Repeat the line on a reciprocal heading and at the same speed Log both lines separately 3 Increase the vessel speed to 8 knots and repeat both lines Log both lines separately 4 Compare the two lines surveyed in the same direction but at different speeds Any offset that appears on the seabed chart between the two runs arises from a position time delay Use the m...

Page 272: ...on the chart which ideally should occur at about the halfway point of the survey line 2 At the end of the first survey line turn the vessel through 180 and repeat the survey line in the opposite direction Again note the position of the target object 3 Any gyrocompass offset will appear as an apparent shift in the position of the target on the seabed Survey Procedure Each operator is likely to have...

Page 273: ...cant is Loctite 8021 as a spray or Molykote 44 Medium as a paste use either sparingly Any accumulation of sand or mud in the female contact should be removed with fresh water Spraying or the application of grease could dammage the the female seals see Figure 122 Do not over tighten the bulkhead nuts Do not disconnect by pulling on the cable and avoid sharp bends at cable entry When disconnecting p...

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Page 275: ...nsisting of the atomic clocks at each Monitor Station and all of the GPS SV frequency standards The following identify a few of the many time standards Local time is the date time reported by your PC Local time differs from UTC by the number of hours for your time zone plus local PC clock errors UTC popularly known as GMT Greenwich Mean Time or Zulu time GPS Global Positioning System time is the a...

Page 276: ...5 Jul 1 2015 17 Jul 1 2015 36 Dec 30 2016 18 Dec 30 2016 37 Notes 1 GPS and TAI are ahead of UTC time see Figure 123 Figure 123 GPS TAI and UTC Time 2 Consult the International Earth Rotation Service IERS web pages for more quantitative information GNSS Timing Basics One Pulse Per Second The basis for all time and frequency functions is the One Pulse Per Second 1PPS signal supplied by the GNSS rec...

Page 277: ...croseconds This high level of accuracy is possible because the timekeeping maintained within the GNSS system is continuously adjusted to null out timing errors Output Characteristics The 1PPS signal from the GNSS is usually in the form of a pulse of whose duration varies between microseconds and milliseconds at Transistor Transistor Logic TTL or RS 232 signal levels Time Message The 1PPS signal pr...

Page 278: ...SS receiver The Count field for PPS indicates the total number of signals recorded from the GNSS receiver Synchronizing External Equipment to POS To synchronize external equipment time with POS the external equipment must read and record the 1PPS signal and one of the corresponding time messages from POS With this information the external device can adjust its internal timing to match POS timing u...

Page 279: ... 21 Message 55 User Time Recovery Table 40 is extracted from Applanix document PUBS ICD 004089 This message specifies the time of the last PPS in User Time to the POS It directs POS to synchronize its User Time with the time specified in the User PPS Time field POS accepts this message at any time at a maximum rate of once per second To establish User Time synchronization the user must send the Us...

Page 280: ...ost processing using POSPac set Time Tag 1 to GPS time Table 41 Common ICD Group Structure Item Bytes Format Value Units Group start 4 Char GRP N A Group ID 2 Ushort Group specific N A Byte count 2 Ushort Group specific bytes Time 1 8 Double N A sec Time 2 8 Double N A sec Distance tag 8 Double N A m Time types 1 Byte Time 1 Select Value bits 0 3 Time 1 POS time 0 Time 1 GPS time 1 default Time 1 ...

Page 281: ...when the event occurred is important for processing the mission data The user must arrange for the external equipment to generate a digital pulse POS is configured to detect the event pulse from the POSView Settings Events window Upon detecting an event input pulse POS will record the time and distance into an ICD Event group within 1 μs of the pulse edge The time and distance types will be the sa...

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Page 283: ...cle attitude sensors supply roll pitch and yaw data to a computer for processing with navigational data reference points Baseline Vector X Y and Z components of the displacement from the Primary to secondary GNSS antenna phase centre The baseline vector is resolved in the Vehicle body frame Baud Rate Baud Rate in computer science is commonly a reference to the speed at which a modem can transmit d...

Page 284: ...ort is designed to receive and acknowledge setup and control commands from MV POSView Controller The Control port is not a physical port Rather it is a subset of the Ethernet Interface Data Port Accessed via the LAN connector the Data Port is designed to broadcast high rate navigation and raw sensor data The Data port is not a physical port Rather it is a subset of the Ethernet Interface DGNSS Dif...

Page 285: ...orce and is represented it by the symbol Fgrav GNSS Global Navigation Satellite System A constellation of satellites that allows precise determination of position by analysis of satellite signals GPS Time Highly accurate time system with units of Weeks and Seconds GPS Time is offset from UTC time by an integer number of seconds IP Address An Internet Protocol Address is a series of numbers that id...

Page 286: ... a routable protocol and the TCP part provides transport functions which ensures that the total amount of bytes sent is received correctly at the other end The IP part of TCP IP provides the routing capability In a routable protocol all messages contain not only the address of the destination station but the address of a destination network This allows TCP IP messages to be sent to multiple networ...

Page 287: ... Receiver 2 23 Binary Formats 3 16 Binary String Formats Atlas 3 20 Simrad 1000 3 17 Simrad 3000 3 18 TSM 5265 3 19 TSS1 3 16 Cables ANT 2 23 COM ports 2 12 2 18 digital 2 18 Ethernet port 2 21 GPS ports 2 21 IMU 2 17 LAN port 2 21 PCS 2 13 2 14 power 2 17 Change Parameters 4 30 COM Port Settings 3 1 COM Ports 2 18 default configuration 2 13 2 18 2 20 Component Descriptions 9 1 GNSS antennas 9 2 I...

Page 288: ...nts D 2 speed pane 5 6 status pane GAMS 5 5 IMU status 5 4 nav status 5 4 POS mode 5 3 velocity pane 5 5 Data Logging 5 10 AutoLog 5 14 Ethernet 1 12 5 15 USB flash drive 5 12 Data Ouput start Ethernet 5 16 Data Port 2 22 Diagnostics 8 2 control 8 3 display 8 4 Display Port 2 22 Environmental GNSS antenna 2 3 IMU 2 4 PCS 2 4 Ethernet control port 3 1 display port 3 1 logging data port 3 1 real tim...

Page 289: ... 1 10 trueheave operation 6 1 IMU cable 2 17 IMU Subsystem 1 5 Inertial GNSS Integration loosely coupled 1 2 tightly coupled 1 2 Install GNSS antenna 2 6 GNSS system 2 5 IMU 2 7 mPOS PCS 2 13 rack mount PCS 2 9 PCS cables 2 10 Installation Checklist 2 32 Installation Parameters 2 24 checklist 2 32 lever arm distance 2 24 2 26 mounting angle 2 25 mounting angles 2 29 reference to aux GNSS lever arm...

Page 290: ... 11 ethernet 5 15 Removable Media 5 13 settings menu I O ports 4 14 Navigate Mode 1 11 1 12 4 3 4 14 4 24 5 4 5 17 9 4 9 30 NMEA Formats 3 2 NMEA Sentence Formats INGGA 3 3 INGGK 3 5 INGST 3 7 INHDT 3 6 INVTG 3 7 INZDA 3 12 PASHR 3 11 PRDID 3 12 UTC 3 13 UTC 3 14 Operating Modes 1 4 Password Protection 4 30 PCS Subsystem 1 4 Port Formats 3 1 Ethernet 3 1 LAN 3 1 Port Settings 3 1 COM 3 1 GNSS 3 23...

Page 291: ...4 3 4 14 Storage 2 2 Support A 1 SYS Status Light 4 3 9 4 System Overview 1 1 Tags time 4 12 Time 1PPS H 2 accuracy H 3 atomic H 1 GNSS H 1 leap second H 1 local H 1 tags 4 12 user H 5 user time data 4 13 UTC H 1 Troubleshoot 9 26 Ethernet communications 9 33 GAMS not ready 9 30 GNSS not available 9 28 initialization failure 9 27 serial communications 9 30 total system failure 9 26 TrueHeave 1 10 ...

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