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AB- V-MA-00650

01 February 2021

JF/RR

LD900 and INS

Commissioning Guide

Troubleshooting

This section details the most common issues observed when commissioning and operating the LD900 and INS
system.

INS Solution is aligning but not converging

• Check the GNSS Heading solution is operation and correct.

• Ensure offsets are correctly entered as per the computed/measured offsets.
• Ensure there has been sufficient vessel motion.

Dropping to Dead Reckoning

• Check GNSS Signal reception for masking or blockage.

• Confirm the GNSS1 cable and connectors are in a good state with no degradation or visible

weathering.

INS indications remaining in a Red (or Amber State)

• Check LED indication on IMU, refer to the tables for guidance
• Confirm INS configuration

• Confirm port configuration

• Confirm data connections and cables

GNSS Heading and INS heading are not aligned

• Ensure offsets are accurately entered as per the computed/measured offsets.
• Ensure the INS options are configured correctly.

• Check IMU LED indication refer to the tables for guidance.

• If the GNSS and INS heading are misaligned by 180⁰, check antenna connections (GNSS1/GNSS2).

Vessel motion causes the INS solution to drop

• Check offsets have been entered as per the computed/measured offsets.

Содержание VERIPOS INS

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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