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Oxford Technical Solutions Ltd

www.oxts.com

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Revision history

Table 14: Revision history

Revision

Comments

210604

Initial draft

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Summary of Contents for AV200

Page 1: ...AV200 Hardware Integration Manual ...

Page 2: ...mited All brand names are trademarks of their respective holders The software is provided by the contributors as is and any express or implied warranties including but not limited to the implied warranties of merchantability and fitness for a particular purpose are disclaimed In no event shall the contributors be liable for any direct indirect incidental special exemplary or consequential damages ...

Page 3: ...incidental special or consequential damages whether through tort contract or otherwise This warranty is expressly in lieu of all other warranties expressed or implied including without limitation the implied warranties of merchantability or fitness for a particular purpose The foregoing states the entire liability of Oxford Technical Solutions Limited with respect to the products herein Any use or...

Page 4: ...rdinate frame 12 Design in 14 Main connector 14 PPS 14 User cable 15 Ethernet configuration 16 Mounting 17 Orientation and alignment 17 Antennas 18 Antenna placement and orientation 18 Internal storage 19 Electrical specifications 20 Specifications 21 Notes on specifications 22 Export control classification number 22 Appendix A Drawings 23 Revision history 25 List of figures Figure 1 AV200 front v...

Page 5: ...Table 2 AV200 scope of delivery 7 Table 3 AV200 points of interest 10 Table 4 Power LED 11 Table 5 Status LED 12 Table 6 GNSS LED 12 Table 7 Main connector pin description 14 Table 8 AV200 user cable pin description 16 Table 9 I O interface electrical specifications 20 Table 10 PPS electrical specifications 20 Table 11 AV200 performance specifications 21 Table 12 AV200 inertial sensor specificatio...

Page 6: ...ommunication types mentioned in this manual Table 1 lists related manuals and where to find them Table 1 Supplementary manuals Document Description ROS2 driver Allows an OxTS INS to interact with a wider ROS network https github com OxfordTechnicalSolutions oxts_ros2_driver NCOM Manual Description of the OxTS NCOM format NCOM_man pdf oxts com NCOM C decoder A collection of C functions to decode th...

Page 7: ...xts com Page 7 of 26 Table 2 AV200 scope of delivery Item AV200 base kit AV200 evaluation kit AV200 inertial navigation system Tallysman TW7972 GNSS antenna X2 5 m SMA SMA antenna cable X2 14C0222 user cable Software USB Quick start guide ...

Page 8: ...of strong RF radiations within 70 MHz of either the L1 GPS frequency 1575 MHz or L2 1228 MHz The AV200 conforms to the requirements for CE Regulator testing standards EMC BS EN 61326 2 1 2013 Electrical equipment for measurement control and laboratory use BS EN 301 489 19 v2 1 1 2019 04 Electro Magnetic Compatibility EMC standard for radio equipment and services Part 19 Specific conditions for Rec...

Page 9: ...ntegration allows greater heading accuracy with wider antenna baselines and ensures stable heading performance even when stationary and during low dynamics The custom built quad IMU array consists of four individual IMU sensors that each combine 6 axis MEMS gyros and accelerometers providing improved performance and redundancy The sensor fusion between the GNSS receivers and inertial sensors is do...

Page 10: ...15 way Micro D o Power o Ethernet o CAN o PPS 2 Primary GNSS connector SMA 3 Secondary GNSS connector SMA 4 Measurement origin point 5 LEDs Dimensions Figure 3 shows the outer dimensions of the AV200 the mounting points and the measurement origin point When making measurements required in the configuration files measurements should be made from the origin point ...

Page 11: ... point mm LED definitions Table 4 Table 5 and Table 6 show the descriptions for each of the LED functions Table 4 Power LED Colour Description Off There is no power to the system or the power supply has failed Green Power is applied to the system Orange The system is powered and an Ethernet link is present ...

Page 12: ...conds for the system to become real time Green The INS is running and the system is real time Table 6 GNSS LED Colour Description Off GNSS receiver fault valid only after start up Red flash The GNSS receiver is active but has not yet determined heading Red The GNSS receiver has a differential heading lock Orange The GNSS receiver has a floating poor calibrated heading lock Green The GNSS receiver ...

Page 13: ...Oxford Technical Solutions Ltd www oxts com Page 13 of 26 Figure 4 AV200 coordinate frame axes ...

Page 14: ...hernet receive 7 ETX O Ethernet transmit 8 ETX O Ethernet transmit 9 I O signal 2 I O Configurable I O contact OxTS for options 10 I O signal 1 I O Configurable I O contact OxTS for options 11 Signal ground P Signal ground 12 PPS O Pulse per second synchronisation output 13 Signal ground P Signal ground 14 Supply P Power supply 15 Supply P Power supply PPS The PPS output is a pulse generated by th...

Page 15: ...and 2 4 V or more representing a high No more than 10 mA should be drawn from this output Figure 6 PPS waveform User cable The AV200 evaluation kit is supplied with a user cable for quick access to the main interfaces Figure 7 shows the cable diagram and Table 8 shows the pin descriptions for the interface connectors Figure 7 AV200 user cable ...

Page 16: ... configuration To configure the AV200 for unrestricted data transmission it is necessary to use the Ethernet connection The operating system at the heart of the AV200 allows connection to the unit via FTP The use of FTP allows the user to manage the data logged to the unit transferring or deleting files Configuration files for alternative configurations require FTP to put the configuration files o...

Page 17: ...e mounted directly to the chassis of the vehicle If the vehicle experiences high shocks then vibration mounts may be required Figure 8 shows the mounting points for the AV200 The mounting holes are suitable for M3 threaded screws Figure 8 AV200 mounting points mm Do not install the AV200 where it is in direct sunlight as this may cause the case to exceed the maximum temperature specification The u...

Page 18: ...to use the same type of antenna with the same cable lengths for both the primary and secondary receivers The AV200 is certified for use with GNSS antennas with a gain of 35 dB Antenna placement and orientation For optimal performance it is essential for the GNSS antenna s to be mounted where they have a clear uninterrupted view of the sky and on a suitable ground plane such as the roof of a vehicl...

Page 19: ...config for configuration files and NAVsolve for data files The AV200 starts logging data automatically on power up Each individual raw data file rd can be a maximum of 2 GB equivalent to around one full day of logging at 100 Hz data rate with four GNSS constellations Once the 2 GB file limit is reached a new file is started automatically to continue logging If the 32 GB storage limit is reached th...

Page 20: ...ecifications I O signal Min Typ Max Input voltage low V 20 0 5 Input voltage high V 2 5 20 Output voltage low V 0 0 0 5 Output voltage high V 2 5 3 3 3 5 Output current mA 4 Note triggers are pulled up internally to allow a switch to be used to short them to Ground Table 10 PPS electrical specifications PPS Min Typ Max Output voltage low V 0 0 0 5 Output voltage high V 3 3 3 3 5 Output current mA ...

Page 21: ... Hz 1Typical values subject to ionospheric tropospheric conditions satellite geometry baseline length multipath Requires clear view of the sky and appropriate differential corrections to achieve full specification 2Using dual antenna with 1 m separation baseline Higher accuracy can be achieved with wider antenna separation Table 12 AV200 inertial sensor specifications Accelerometers Value Full ran...

Page 22: ...creasing the separation improves the performance linearly The system can provide these accuracies in static and dynamic conditions For single antenna systems the heading is calculated from the inertial measurements and requires dynamic conditions to achieve the best performance Non ideal mounting of the GNSS antennas will reduce the heading accuracy particularly for dual antenna systems Export con...

Page 23: ...Oxford Technical Solutions Ltd www oxts com Page 23 of 26 Appendix A Drawings ...

Page 24: ...Oxford Technical Solutions Ltd www oxts com Page 24 of 26 ...

Page 25: ...Oxford Technical Solutions Ltd www oxts com Page 25 of 26 Revision history Table 14 Revision history Revision Comments 210604 Initial draft ...

Page 26: ...Oxford Technical Solutions Ltd Oxford Technical Solutions Park Farm Business Centre Middleton Stoney OX25 4AL United Kingdom Reg in England and Wales No 3534778 2021 ...

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