Hexagon VERIPOS INS Commissioning Manual Download

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AB- V-MA-00650

01 February 2021

JF/RR

LD900 and INS

Commissioning Guide

Appendix A

– Equipment Required

Item

Description

P/N

Quantity

LD900

LD900 or LD900M

LD900 = L-band & GNSS

LD900M = L-band, GNSS & MF

S80-9001 or

S80-9002

INS Auth Code

Authorises INS (includes Heading)

Cabling

Standard cabling set

Multiple

Antenna

V560 Antenna Antennas providing GNSS & Heading

S10-16000

V86 Antenna

Optional dedicated L-band antenna
(if required adjust mounting bracket

and cabling quantity appropriately)

S10-11000

Mounting Bracket Antenna mounting bracket, c/w u-

clamps

C110-1000

RF Cable

2m Pigtail cable, NM-TNCM

CVI-CAB-0012

RF Cable

30m LMR/SF400 cable, NF-NF

CVI-CAB-0010

IMU

IMU-ISA-100C

IMU-µIMU-IC

IMU with AC/DC PSU &

M12 to DB9 IMU to LD900 cable

S50-1000 or S50-

2000

Mounting Plate

Plate for mounting IMU

Summary of Contents for VERIPOS INS

Page 1: ...terfacing Alignment Calibration Rotational Offset Adjustment Configuration Operation Troubleshooting Appendix A Equipment Required Appendix B IMU Performance The VERIPOS INS system consists of an LD90...

Page 2: ...ow the codes can be applied to the LD900 Note the INS authorisation code includes the GNSS heading functionality A simple way to check if the LD900 is authorised for INS operations is tocheck if INS i...

Page 3: ...S1 and GNSS2 can be installed across ship The offset would need to align the GNSS heading to the alignment of the actual vessel heading In the example below this will typically be around 90 off from t...

Page 4: ...l Reference Frame IMU Body Frame The definition of the IMU Body frame is given by the physical axes of the IMU and represents how the sensors are mounted inside the IMU Both the IMU Body frame axes an...

Page 5: ...ighlight the centre of navigation differences between the IMU ISA 100C and IMU IMU IC models The different IMU frameworks have pre configured rotational offsets applied by the system configuration whe...

Page 6: ...The installation engineer should endeavour to align the IMU axes as closely as possible with the vessel frame using a general arrangement diagram or by referencing available surfaces such as walls or...

Page 7: ...lied when the IMU is selected within the LD900 or Quantum aligning the IMU Frame with the Vessel Frame Any computed offsets should be added or subtracted from these pre set values The pre set rotation...

Page 8: ...for INS operations The diagram below provides an overview of the principal system component interconnections INS Schematic Example IMU DC Power A 2 metre long DC power supply cable is supplied with t...

Page 9: ...thing point in an equipment rack When checkingthe health of the IMU DC power the Power LED on the IMU can be used as reference RS422 Interfacing A 2 metre long interface cable is supplied with the IMU...

Page 10: ...ose to noisy power lines or other electrical noise sources When checkingthe IMU health the COM LED on the IMU can be used as a reference LED State Meaning Off No communication between IMU and LD900 On...

Page 11: ...e If the rotational offsets are greater than 1 accuracy the INS computations may still initialise but the solution will be negatively impacted and not maintain a converged solution once vessel motion...

Page 12: ...AB V MA 00650 01 February 2021 JF RR 12 LD900 and INS Commissioning Guide INS Translational Offsets...

Page 13: ...he X axis of the IMU is offset to starboard by angle a The Installation Rotation Z 90 value is reduced by the measured angle When the Y axis of the IMU is offset down to the starboard by angle a The I...

Page 14: ...an View When the Z axis of the IMU is offset to starboard by angle a The Installation Rotation Y 90 value is reduced by the measured angle If the measured value for a was 10 degrees the value would re...

Page 15: ...essing the menu Configuration Heading within the LD900 MMI will allow for the LD900 heading to be set up State controls if heading is computed and available from the system While Edit on the same row...

Page 16: ...or INS Operations The IMU Type can be selected within the menu Configuration INS While Edit is selected on the IMU Type row press tick and using the arrow keys select IMU ISA 100C or IMU IMU IC as req...

Page 17: ...tick to select Apply right to select Yesand tick to apply the change Repeat for the same process for the Y and Z offsets Antenna 1 Offset Lever Arm When entering the lever arm offset IMU to GNSS1 ant...

Page 18: ...d If no such areas are shown then request a Quantum Heading license from the VERIPOS Helpdesk Click on Edit found at the bottom right hand corner of the screen SETTINGS System Configuration Receiver M...

Page 19: ...on to the LD900 and IMU Type The two INS IMUs supported for use within Quantum are the IMU ISA 100C and the IMU IMU IC Port The LD900 COM port which the IMU is being interfaced on COM1 COM2 or COM3 sh...

Page 20: ...on is calculated the icon will turn Green and once there has been significant vessel motion an INS Aided notification will appear confirming a blended GNSS and INS solution If there is a problem with...

Page 21: ...NS Aided Message to the right of the Positioning status INS Solution not active or configured INS Solution aligning and converging INS Solution converged and active Within Quantum detailed INS informa...

Page 22: ...nd ZDA output sentences have fixed talker ID s of GP regardless of solution All other NMEA sentences will use a talker ID defined by the constellationin use for instance GN for multiple constellations...

Page 23: ...NSS1 cable and connectors are in a good state withno degradation or visible weathering INS indications remaining in a Red or Amber State Check LED indication on IMU refer to the tables for guidance Co...

Page 24: ...1 Antenna V560 Antenna Antennas providing GNSS Heading S10 16000 2 V86 Antenna Optional dedicated L band antenna if required adjust mounting bracket and cabling quantity appropriately S10 11000 1 Moun...

Page 25: ...0 15 0 008 0 008 0 006 0 006 0 010 10 0 12 0 20 0 013 0 013 0 008 0 008 0 013 60 0 96 0 65 0 048 0 023 0 009 0 009 0 018 IMU IMU IC GNSS Outage Performance Outage Duration Secs Position Accuracy M RM...

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Hexagon VERIPOS INS, Commissioning Manual

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