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Apogee Series 

– Hardware Manual

APOGEEHM.1.5

Revision history

Rev. Date

Author

Information

1.6

Jun 10, 2022

Alexis Guinamard [APGHM-25] Fixed Ship Motion HP latency to 150s

[APGHM-28] Specify RTK performance according to baseline
[APGHM-30] Update orientation specifications after algorithms update
[APGHM-33] Transferred antennas section to support center
[APGHM-36] Accessories Update

1.5

Jul 2, 2020

Alexis Guinamard [APGHM-21] Add virtual odometer feature

[APGHM-23] Update heading performance for FW 3.0

1.4

Jul 19, 2019

Alexis Guinamard [APGHM-15] Removed Splitbox information

[APGHM-19] Added CA-AEK-SPLIT-MAIN2-0.5M specifications
[APGHM-18] Removed Apogee-N information
[APGHM-17] Updated product codes for V2 hardware
[APGHM-16] Updated electrical specifications for V2 hardware
[APGHM-13] Fix wrong description for SPLIT CABLES
[APGHM-20] Updated label&stickers documentation

1.3

Apr 10, 2018 Raphaël Siryani

[APGHM-11] Fixed invalid product dimensions in inches
[APGHM-10] Updated company address
[APGHM-9] Added Qinertia Port Processing Software section
[APGHM-8] Refined IMU sensor specifications
[APGHM-7] Added split cables accessories

1.2

Jul 12, 2017

Alexis Guinamard [APGHM-6] Add cover coordinate frame location specifications for IMU center of 

measurement
[APGHM-4] Remove obsolete virtual odometer data

1.1

Jun 9, 2016

Alexis Guinamard [EKIDOC-63] Added Apogee performance specifications

[EKIDOC-62] Split User Manuals in two new documents: Technical Reference Manual and 
Hardware Manual
[APGHM-2] Update support contact details

1

Mar 6, 2015

Raphaël Siryani

First preliminary version

© 2007 – 2022, SBG Systems SAS. All rights reserved. Information in this document is subject to change 
without notice. Copy or redistribution of this document is forbidden without express authorization of SBG 
Systems.

2/52

Содержание Apogee Surface Series

Страница 1: ...te Accuracy MEMS Inertial Sensors User Manual Document APOGEEHM 1 5 Revision 1 5 Jun 10 2022 Covers Hardware Apogee V2 and above Support EMEA support sbg systems com 33 1 80 88 43 70 Americas support sbg systems com 1 657 549 5807 ...

Страница 2: ...scription for SPLIT CABLES APGHM 20 Updated label stickers documentation 1 3 Apr 10 2018 Raphaël Siryani APGHM 11 Fixed invalid product dimensions in inches APGHM 10 Updated company address APGHM 9 Added Qinertia Port Processing Software section APGHM 8 Refined IMU sensor specifications APGHM 7 Added split cables accessories 1 2 Jul 12 2017 Alexis Guinamard APGHM 6 Add cover coordinate frame locat...

Страница 3: ...Airborne applications 12 2 3 5 Real time Performance monitoring 12 3 Mechanical specifications 13 3 1 Overview 13 3 1 1 Main Specifications 13 3 1 2 Device mechanical alignment 14 3 1 3 Origin of measurements 14 3 2 Apogee A E mechanical outline 15 3 2 1 Front view 15 3 2 2 Right view 15 3 2 3 Top view 16 3 2 4 Bottom view 17 3 3 Apogee D mechanical outline 18 3 3 1 Front view 18 3 3 2 Right view ...

Страница 4: ... GNSS connection in RS 232 mode 33 4 6 6 Third party aiding equipment connected in RS 422 33 4 6 7 Triggering external devices with the sync Out 34 4 7 Typical connection topologies 35 4 7 1 Apogee D in advanced automotive application 35 4 7 2 Apogee E in marine application 36 5 Interfaces specifications 37 5 1 Overview 37 5 2 Ethernet specifications 37 5 2 1 Accessing the Apogee web page 37 5 3 S...

Страница 5: ...4 1 CA AEK PWR PSU 1 5M 45 7 4 2 CA AEK PWR 3M 45 7 4 3 CA AEK MAIN ETH 2 5M 45 7 4 4 CA AEK MAIN RS232 3M 46 7 4 5 CA AEK MAIN RS422 3M 47 7 4 6 CA AEK AUX 3M 48 7 4 7 CA AEK SPLIT MAIN 0 5M 49 7 4 8 CA AEK SPLIT MAIN2 0 5M 50 7 4 9 CA AEK SPLIT AUX 0 5M 51 7 5 GPS accessories 52 7 5 1 GNSS antennas 52 7 5 2 TNC Cables 52 8 APPENDIX B Packaging labeling 53 8 1 Board Identification 53 5 52 ...

Страница 6: ... INS Inertial Navigation System IP Internet Protocol LBL Long Baseline MAC address Media Access Control MEMS Micro Electro Mechanical Systems NED North East Down coordinate frame NA Not applicable NMEA NMEA 0183 National Marine Electronics Association standardized communication protocol PPS Pulse Per Second signal RAM Random Access Memory RMA Return Merchandize Authorization RMS Root Mean Square R...

Страница 7: ... the four constellations support GPS GLONASS BEIDOU GALILEO as well as Secorx PPP corrections it provides an excellent position accuracy in all environments The GNSS receiver also features the world s leading RTK engine delivering sub centimeter accuracy with very high availability and fast reacquisition time The dual antenna operation enables accurate measurements even in low dynamic conditions s...

Страница 8: ... diagram is slightly simplified as there is no embedded GNSS 8 52 Figure 1 2 Apogee simplified block diagram IMU DATA FUSION Coning Sculling integrals 1 kHz 3 Axis Gyroscopes 3 Axis Accelerometers EKF and output 200 Hz POWER ETHERNET FTP CAN SERIAL Data logger GNSS A B C D Aiding Equipments Navigation 2x RTK GPS GNSS Heading Dual Antenna GPS GNSS Velocity Odometer DVL ...

Страница 9: ...ation these accelerometers will provide consistent performance even in vibrating environment A3 Remarks Full scale g 10 Velocity Random Walk µg hz 30 Allan variance 25 C In run bias instability µg 7 Allan variance 25 C Bandwidth Hz 100 Attenuation of 3 dB Orthogonality 0 02 Over temperature range 2 1 2 Gyroscopes The Apogee V2 IMUs embed 3 high performance MEMS gyroscopes The specifications are li...

Страница 10: ...ing algorithms that detects and eliminates multi path situations or Inmarsat Iridium jamming Specification Remark Channels 448 Signal tracking GPS L1 L2 L2C L5 GLONASS L1 L2 L2CA Galileo E1 E5ab E6 Beidou B1 B2 B3 SBAS QZSS L Band Galileo and Beidou signals are available in option Horizontal position accuracy Single point L1 L2 L5 1 0 m PPP support is available in option and requires a valid subsc...

Страница 11: ...pplication we present the specified accuracy for the following positioning modes SP Single Point mode and is the default L1 L2 GNSS fix quality RTK Real Time Kinematics with a typical 1 cm accuracy position PPK Post Processed data using Qinertia with at least Precise Point Positioning data 2 3 1 Common specifications Performance Remarks Measurement range 360 in all axes no mounting limitation Soli...

Страница 12: ...1 0 005 0 015 60 s 1km SP 1 5 1 3 0 03 0 02 0 015 0 06 RTK 0 5 0 3 0 02 0 02 0 012 0 06 PPK 0 1 0 05 0 02 0 015 0 008 0 025 2 3 4 Airborne applications All specifications are valid with dual antenna aiding for typical aerial survey trajectories Positioning Mode Position Accuracy Velocity Accuracy Attitude Accuracy Horizontal Vertical Horizontal Vertical Roll Pitch Heading SP 1 0 1 0 0 02 0 01 0 01...

Страница 13: ... steel A4 screws The Apogee connectors are high quality Fischer connectors that offer IP 68 protection even unconnected The Apogee D version also include TNC connectors to plug the GPS antennas Warning The Apogee is not designed for prolonged operation in salt water environments Check section Maintenance for more details about operation in sea water environments 3 1 1 Main Specifications The table...

Страница 14: ... yaw alignment better than 0 04 Note The base plate is the same for the Apogee A E and D models 3 1 3 Origin of measurements The Apogee offers the possibility to output data at different measurement points The default center of measurement is located on top of Apogee enclosure on the coordinate frame center drawing It is represented on the mechanical outlines by the symbol This point is defined to...

Страница 15: ...Apogee Series Hardware Manual APOGEEHM 1 5 3 2 Apogee A E mechanical outline All dimensions are in mm 3 2 1 Front view 3 2 2 Right view 15 52 0 50 7 58 25 44 12 12 23 30 ...

Страница 16: ...Apogee Series Hardware Manual APOGEEHM 1 5 3 2 3 Top view 16 52 108 130 3 75 91 100 82 17 ...

Страница 17: ...Apogee Series Hardware Manual APOGEEHM 1 5 3 2 4 Bottom view 17 52 119 4 H8 2 5 6 4 H8 2 5 60 0 05 108 0 10 130 0 30 91 0 10 100 0 30 4 HOLES 4 50 36 40 11 30 90 30 77 70 ...

Страница 18: ...Apogee Series Hardware Manual APOGEEHM 1 5 3 3 Apogee D mechanical outline All dimensions are in mm 3 3 1 Front view 3 3 2 Right view 18 52 58 0 50 7 75 14 50 14 50 25 43 12 12 23 30 ...

Страница 19: ...Apogee Series Hardware Manual APOGEEHM 1 5 3 3 3 Top view 19 52 108 130 3 75 14 50 82 91 100 17 ...

Страница 20: ...Apogee Series Hardware Manual APOGEEHM 1 5 3 3 4 Bottom View 20 52 119 4 H8 2 5 6 4 H8 2 5 60 0 05 108 0 10 130 0 30 91 0 10 100 0 30 4 HOLES 4 50 36 40 11 30 90 30 77 70 ...

Страница 21: ...uality connectors designed for harsh environments They offer an IP 68 protection when the plug is properly mounted Note The Apogee cables are not all designed to offer an IP 68 protection Contact SBG Systems to get further support about IP 68 protection 4 1 1 Apogee A and E Figure 4 1 Apogee A and E connectors 4 1 2 Apogee D with embedded GNSS Figure 4 2 Apogee D connectors 21 52 External aiding c...

Страница 22: ...ze 103 connector mates with the following plugs references in AluLite or Core Series Alternative plugs can be found if required eg short plug Don t forget that these two references don t include the cable clamp sets AL1731 S 103 Z051SR11 11 AluLite version S 103 Z051 130 Core Series version Note Although Fischer connectors are IP68 and specified to operate from 40 C to 75 C the plug should be conn...

Страница 23: ...t supports up to 1 Mbit s data rate used to output data One Ethernet 100BASE T interface for device configuration FTP access and virtual UDP or TCP IP serial ports One synchronization input event marker signal for clock synchronization or to output data on a signal event Two Synchronization output signals for time stamping and to trigger some equipment and virtual odometer capability 4 3 1 Connect...

Страница 24: ...Sync In A Synchronization input signal A 8 Port A RS 422 Rx Port A serial input data configuration RS 422 9 Port A RS 422 Rx Port A serial input data configuration RS 422 10 Port A RS 422 Tx Port A serial output data configuration RS 422 11 Port A RS 422 Tx Port A serial output data configuration RS 422 12 Port A RS 232 Rx Port A serial input data configuration RS 232 13 Port A RS 232 Tx Port A se...

Страница 25: ...t Current 40 mA Port A RS 422 Receiver Receiver Data Rate 4800 921600 bps Input Resistance 7V Common Mode Voltage 12V 96 kΩ Input Differential Threshold 7V Common Mode Voltage 12V 200 50 mV Input Hysteresis 30 mV Port A RS 422 Transmitter Differential Output Voltage 2 V Common Mode Output Voltage 3 V Port A RS 232 Receiver Sync In A Input Voltage Range 25 25 V Input Threshold Threshold Low 0 8 V T...

Страница 26: ...0 0 1 5 V Port A RS 422 Receiver Receiver Data Rate 4800 921600 bps Input Resistance 7V Common Mode Voltage 12V 96 kΩ Input Differential Threshold 7V Common Mode Voltage 12V 200 50 mV Input Hysteresis 30 mV Port A RS 422 Transmitter Differential Output Voltage 2 V Common Mode Output Voltage 3 V Port A RS 232 Receiver Sync In A Input Voltage Range 25 25 V Input Threshold Threshold Low 0 8 V Thresho...

Страница 27: ...can be found AL1731 S 104 A092SR12 11 AluLite version S 104 A092 230 Core Series version 4 4 2 Connector pin out Connector s pin out is sorted by function rather than pin numbering Pin Name Description Shield Shield Connected to the mechanical ground 1 GND Connected to the external connector electrical ground 5 GND Connected to the external connector electrical ground 7 GND Connected to the extern...

Страница 28: ...iver However the Sync In B signal will still be available 4 4 2 1 Electrical specifications Recommended electrical specifications from 40 C to 71 C Parameter Conditions Min Typ Max Units Sync In pins Port B C D E RS 232 Receiver Input Voltage Range 25 25 V Input Threshold Threshold Low 0 6 1 2 V Threshold High 1 5 2 4 V Input Resistance 3 5 7 kΩ Port B C D E RS 232 Transmitter Output Voltage Swing...

Страница 29: ...NC male connector can be used with the Apogee However care should be taken to select a high quality coaxial cable with low loss Please be advise that the Apogee doesn t implement any lightning protection The GPS antenna and cable are very sensitive to strikes and a proper installation with lightning protection devices may be required Note For best performance the antenna s should be connected befo...

Страница 30: ...side isn t above 50 dB 4 5 3 GPS antenna advice The Apogee D embed a high performance multi constellation GNSS receiver that supports L1 L2 L5 as well as L Band signals For best performances and robustness please use low noise and high gain active GPS antennas that support the frequencies band you are planning to use In addition the Apogee D requires at least an L1 L2 GPS GLONASS antennas to compu...

Страница 31: ... duplex RS 232 connection The recommended cable is a shielded AWG26 cable A protocol selector pin is left open in RS 232 mode 31 52 Figure 4 11 Power supply wiring connections Apogee Power Connector Power Supply Shield is the mechanical ground Connected to Apogee Enclosure VCC GND SHIELD 9 to 36V DC Figure 4 12 Main serial interface full duplex connection in RS 232 RS 232 RS 422 selector is left o...

Страница 32: ...cost twisted pairs cables The bus may be terminated by a single 60 ohm resistor or multiple resistors on each bus ends as long as the equivalent parallel impedance is 60 ohm This resistor is not present in the Apogee 32 52 Figure 4 13 Main serial interface full duplex connection in RS 422 mode R2 R1 RS 232 RS 422 selector connected to GND Apogee Main Connector PC Shield is the mechanical ground Co...

Страница 33: ...shielded twisted pairs AWG26 cable As for main communication interface a termination resistor may be required depending on the communication distance 33 52 Figure 4 15 Typical wiring diagram for Apogee with external GNSS receiver Apogee Extended Connector GND PORT B Sync PORT B Rx SHIELD GPS GPS Tx PPS GND Shield is the mechanical ground Connected to Apogee Enclosure Figure 4 16 Third party aiding...

Страница 34: ...Out and Sync Out are open drain outputs which means a pull up resistor must be used on receiver side as shown on the diagram 34 52 Figure 4 17 Sync Out connection with pull up resistor Apogee Main Connector GND Event Out SHIELD Camera Event In GND Shield is the mechanical ground Connected to Apogee Enclosure R VCC 20V Pull up resistor must be connected to Event Out To define High level ...

Страница 35: ...cy to internal GPS An odometer is connected to PORT E to provide velocity aiding in harsh GPS environments Finally an event input is triggered by user at several instants For example this helps locating physical objects within the recorded data On the output side Sync Out pulse is configured as 10Hz output to trig a camera 10 times per second Data output is stored on a PC through ETH 0 interface A...

Страница 36: ...Ethernet interface when available with external devices 36 52 Figure 4 19 Apogee E use in advanced Marine application EKINOX E ETH CAN PORT A SYNC IN SYNC OUT EVENT OUT PORT B SYNC B PORT C SYNC C PORT D SYNC D PORT E SYNC E DISPLAY ECHO SOUNDER SUB BOTTOM PROFILER GNSS ANT ETH 0 NMEA Output Main Heave monitoring point TSS1 Output Heave monitoring point 2 ETH 1 TSS1 Output Heave monitoring point 2...

Страница 37: ...n embedded web interface used to configure the device and visualize output data An FTP access to download logs recorded in the internal Flash memory Five virtual serial ports Eth0 to Eth4 that support either UDP or TCP IP protocols 5 2 1 Accessing the Apogee web page Thanks to the ZeroConf technology you can easily access the web page using the Apogee serial number Indeed the Apogee broadcast a we...

Страница 38: ...lity RS 232 422 configuration Cable software defined SbgECom binary commands input Other functions multiplexing A All Tx Rx Cable Yes B E Tx Rx Software C All Tx Rx Software D All Rx Software E All Rx Software Multiplexed w Odometer input 5 4 Supported protocols The Apogee has been designed to be connected to a large range of aiding equipment and materials In addition to the native sbgECom binary ...

Страница 39: ...eading and heave measurements Port A Port B Port C Port D Port E Eth 0 Eth 1 4 Binary commands GPS 1 input 5 4 1 2 Apogee E version Port A Port B Port C Port D Port E Eth 0 Eth 1 4 Binary commands GPS 1 input GPS 2 input Odometer input DVL input 5 4 1 3 Apogee D The Apogee D embed a high performance GNSS receiver that supports RTK positioning To enable RTK accuracy differential corrections have to...

Страница 40: ...ontains a CAN 2 0 A B interface that supports transfer rate at up to 1 Mbits s This CAN interface is mainly used to output log messages By default the CAN interface is disabled The CAN bus implementation and especially timing settings complies with the CAN in Automation CiA DS 102 standard The Apogee supports the following standard CAN bus bitrates 1 000 kBit s 500 kBit s 250 kBit s 125 kBit s 100...

Страница 41: ...6 2 Absolute maximum ratings Stresses above those listed under the Absolute Maximum Ratings may cause permanent damage to the device This is a stress rating only functional operation of the device at these or any other conditions above those indicated in the operational section of this specification is not implied Exposure to absolute maximum rating conditions for extended periods may affect devic...

Страница 42: ...product to the repair center notified by SBG Systems the cost of such shipment being borne by Customer This warranty shall not be construed as covering defects malfunctions or damages caused by improper use or inadequate maintenance of the product Under no circumstances shall SBG Systems be due to provide repair or replacement under this warranty in order a to repair damage caused by work done by ...

Страница 43: ...ion Apogee Variant APOGEE A Marine MRU APOGEE E Marine INS APOGEE D Marine INS GNSS APOGEE D Marine INS GNSS RTK APOGEE E Land Air INS APOGEE D Land Air INS GNSS APOGEE D Land Air INS GNSS RTK 7 2 Transport Case 7 2 1 CASE AEK 01 This larger transport case can be used to securely ship or stock An Ekinox A E or D Up to two survey grade GNSS antennas Many cables or third party devices 43 52 Figure 7...

Страница 44: ...the SBG Systems support center 7 3 2 SW QINERTIA PRO GNSS INS Post Processing Software Qinertia is a 100 in house post processing software solution This full featured software enhances SBG Systems inertial navigation systems performance by post processing inertial data with raw GNSS observable in both forward and backward directions Key Features Tight Coupling INS GNSS fusion Achieve highest possi...

Страница 45: ...ong AWG 18 cable Weight 170g Cable wiring is Pin Signal Color SHIELD NC SHIELD 1 V Red 2 V Black 7 4 3 CA AEK MAIN ETH 2 5M This cable provides easy Ethernet access to the Apogee 1 x Fischer Core Series S 104 A092 130 1 x RJ 45 connector for Ethernet connection No IP rating 2 5 m cable CAT5 type Weight 90g Cable wiring is Pin on Fisher connector Signal Color SHIELD SHIELD SHIELD 16 ETHERNET_TXD Gr...

Страница 46: ...wiring is Pin on Fisher connector Signal Color SHIELD SHIELD SHIELD 1 GND Grey 2 RS422 232 PORT A 3 SYNC OUT A Pink 4 SYNC OUT B Purple 5 GND Black 6 SYNC IN A Light blue 7 GND Light green 8 PORTA_422_RX 9 PORTA_422_RX 10 PORTA_422_TX 11 PORTA_422_TX 12 PORTA_232_RX Grey White 13 PORTA_232_TX Grey Red 14 CAN_H Brown White 15 CAN_L Brown 16 ETHERNET_TXD Dark green White 17 ETHERNET_TXD Dark green 1...

Страница 47: ... connector Signal Color SHIELD SHIELD SHIELD 1 GND Grey 2 RS422 232 PORT A Internally connected to pin 1 3 SYNC OUT A Pink 4 SYNC OUT B Purple 5 GND Black 6 SYNC IN A Light blue 7 GND Light green 8 PORTA_422_RX White 9 PORTA_422_RX Red 10 PORTA_422_TX Dark blue 11 PORTA_422_TX Dark blue White 12 PORTA_232_RX 13 PORTA_232_TX 14 CAN_H Brown White 15 CAN_L Brown 16 ETHERNET_TXD Dark green White 17 ET...

Страница 48: ... In E Pink 4 Sync In B Purple 5 GND Grey Red 6 Sync In C Light blue 7 GND Grey White 8 Port D RS 232 RS 422 Rx White 9 Port D RS 422 Rx Red 10 Port E RS 422 Rx Dark blue 11 Port E RS 232 RS 422 Rx Dark blue White 12 Port B RS 232 RS 422 Rx Light green 13 Port B RS 422 Rx Black 14 Port B RS 422 Tx Brown White 15 Port B RS 232 RS 422 Tx Brown 16 Port C RS 232 RS 422 Rx Dark green White 17 Port C RS ...

Страница 49: ...232 mode full duplex 1x RJ 45 plug for Ethernet connection 1x Female DB 9 plug for CAN bus output 1x Male SMA plug for Sync IN A External GNSS PPS connection Total length 50cm 25cm before after cable splitter Connectors pin outs are defined below Pin on DB 9 PORT A Function Pin on DB 9 CAN Function Pin on RJ45 ETH Function 2 PORT A RX 2 CAN L 1 Tx 3 PORT A TX 3 GND 2 Tx 4 SYNC OUT A 7 CAN H 3 Rx 5...

Страница 50: ...NC IN A and SYNC OUT A 1x RJ 45 plug for Ethernet connection 1x Female DB 9 plug for CAN bus output 1x Male SMA plug for Sync OUT B For time sync with external equipment Total length 50cm 25cm before after cable splitter Connectors pin outs are defined below Pin on DB 9 PORT A Function Pin on DB 9 CAN Function Pin on RJ45 ETH Function 1 SYNC IN A 2 CAN L 1 Tx 2 PORT A RX 3 GND 2 Tx 3 PORT A TX 7 C...

Страница 51: ...onnects on MAIN connector 4x DB 9 for PORT B C D and E in RS 232 RS 422 modes Total length 50cm 25cm before after cable splitter Weight TBD Connectors pin outs are defined below Pin on DB 9 PORT B C Function Pin on DB 9 PORT D E Function 1 SYNC IN B C 1 SYNC IN D E 2 PORT B C RS232 Rx RS 422 Rx 2 PORT D E RS232 Rx RS 422 Rx 3 PORT B C RS232 Tx RS422 TX 5 GND 5 GND 6 PORT D E RS422 Rx 6 PORT B C RS...

Страница 52: ...are used to identify the exact hardware model Finally the Part Number is used for logistics purpose It identifies uniquely the full product configuration including hardware type software options and any software or process customization You can find on then side of your Apogee a laser printed labels that hold the Hardware Code as well as Serial Number and Hardware Revision This labels also include...

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