POS MV V5 Installation and Operation Guide
Installation
Copyright © Applanix Corporation, 2017
2-25
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Reference to primary GNSS antenna:
•
Reference
to
vessel
•
Reference to sensor 1 and sensor 2
•
Reference to auxiliary GNSS antenna:
•
Reference to centre of rotation measurement location - measure to an accuracy of ±0.10 m
When measuring the lever arm distances, you must resolve them into their longitudinal, lateral and
vertical components using the reference frame. Refer to the Theory of Operation description on page B-1
for an explanation of the various frames of reference used by POS MV.
Additionally, the vector separating the GNSS antennas may be measured to an accuracy of 5 mm
(~¼ in), although this is not necessary as this value will be computed by POS MV as part of the GAMS
calibration process.
Record the measurements carefully so that you can use the MV-POSView Controller program to
configure the system. These measurements inform POS MV of the relative positions of the IMU, the
GNSS antenna, the multibeam transducer (sensor 1) and the vessel by relating 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 vessel location. You define their precise point of validity by
configuring the system with the lever arm distances between the reference point and your chosen vessel
location.
Mounting Angles
Note:
Measure angles in degrees, resolved into the longitudinal, lateral and vertical axis in the reference
frame:
•
IMU with respect to the reference frame
•
Sensor with respect to the reference frame
When measuring the mounting angles you must resolve them into rotations, in a strict sequence, about
the longitudinal, lateral and vertical axis using the reference frame.
Record the measurements carefully so that you can use the MV-POSView Controller program to
configure the system. These measurements inform POS MV of the relative orientations of the IMU and
the multibeam transducer (sensor 1) by relating them all to a common reference frame that has been