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Survey+ User Manual

1. GNSS Selection Odometer input Disabled Orientation Serial 1 output Disabled Primary Antenna Serial 2 output Disabled Secondary Antenna Ethemet output Enabled 100 Hz Wheel Configuration Caen um Commit GNSS control Other Save Finish Coordinate system WGS84 Ellipsoidal Output lock Disabled Differential Disabled SBAS None DGNSS service Disabled Advanced Disabled Product Selection Dev ID 150610 14am EE English Vehicle starts Adjustment select a predefined value from the drop down list If you know the vehicle will be level when starting to within about 5 select Level This saves about 40 s during the initialisation process since the Survey does not have to take the time to compute an initial roll and an initial pitch In high vibration environments Not Level may not work and so the Survey can only start if the vehicle is level and the Level option has been specified Initialisation speed Adjustment select a predefined value from the drop down list or type in a value If static initialisation see Secondary antenna position section has not been enabled the Survey will need to be initialised by driving forwards in a straight line to initialise the heading to the track angle The initialisation speed is the speed at which the vehicle must travel to activate the initialisation E Oxford Technical Solutions Survey User Manual Qaxrs The default initialisation speed for the Survey is 5 m s Howeve
2. EB Oxford Technical Solutions Survey User Manual Qaxrs Figure 9 NAVconfig Product Selection page Kx F NAVconfig Survey l Ec p Product Selection 4 Select the product for configuration S Y WZXTS Product family Product model RT2000 Survey RT3000 Survey 250 RT4000 Survey 2 Inertial Survey 2 250 Survey Surveys L1 xNAV Survey 250 L1 OEM Survey 2 L1 Survey 2 250 L1 Read Configuration GNSS Selection Orientation Primary Antenna Secondary Antenna Wheel Configuration Options Commit Save Finish 7 Always use this product Dev ID 150610 14am ERES English The configuration wizard can be run without a system connected so it is necessary to select the correct product for configuration Some configuration pages are not available with some of the products These will be displayed as grey in the sidebar Select Survey from the Product family list then select the correct model for your system from the Product model list There are no G models listed as GLONASS capability does not affect anything in the configuration Just select the closest model type instead For Survey models the Product generation option needs selecting All systems built after June 2014 are v2 models These can also be identified by looking on the top of the Survey system if there are axes engraved into the lid above the shockwatch then it is a v2 model All Survey L1 model
3. J1 13 3 Ethernet ERKX J1 21 6 Ethernet ERX J1 14 Pin Colour Function Conn 1 Brown Supply 10 25 Volts DC J1 1 2 White Sleeved and made safe 3 Blue Supply Return J1 2 4 Black Sleeved and made safe Offord Technical Solutions 77 Heyford Park Upper Heyford Oxfordshire Se O S d S OX25 5HD n www oxts com Copyright Oxford Technical Solutions 2013 Confidential Information The information in this document is confidential and must not be disclosed to other parties or used to build the described components without the written permission of Oxford Technical Solutions 0 10 20 30 Print Size A4 Scale Not to scale Units mm Tolerances 5mm Projection N A Notes J6 is a RJ45 UTP patch lead which is cut to length and terminated at J1 Wire Types J7 1 J7 3 16 0 2 All others 7 0 2 J1 13 amp J1 20 Twisted pair J1 14 amp J1 21 Twisted pair Cables outers braided and connected to J1 22 J1 shell and J7 shell through cable assembly braiding Please populate all unused pins with empty crimps All cable markers in White Ensure that the cable legend text precisely matches that given in diagram Date 30 08 13 Part 14C0121A Document Survey User Cable Sheet 1 of 1 Oxford Technical Solutions 77 Heyford Park Upper Heyford Oxfordshire OX25 5HD www oxts co uk Copyright Oxford Technical Solutions 2011
4. Revision 150714 EZ Selecting the operating language The NAVconfig software can operate in several languages To change language select the language from the drop down menu at the bottom of the page The language is hot swappable making it easy and fast to switch between languages The software will use the regional settings of the computer to choose whether numbers are represented in the English or European format dot or comma for the decimal separator The selected language does not change the format used for numbers Navigating through NAVconfig NAVconfig provides a ten step process to make configuring your product as easy as possible After completing each step click the Next button at the bottom of the window to proceed to the next step The Back button can be used to return to the previous step at any time Clicking Cancel will bring up a warning asking to confirm you want to close the wizard and lose any changes you have not saved To quickly move between any of the steps click on the step name in the sidebar to instantly jump to that page Measurements are always displayed in metric units in NAVconfig However when entering measurements alternate units can be used as long as they are specified e g 10 or 10 in NAVconfig will then convert and display these in metric units Product selection The first page of the NAVconfig configuration wizard lets you select the type of product for configuration see Figure 9
5. Warm up period During the first 15 minutes of operation the system will not conform to specification During this period the Kalman Filter runs a more relaxed model for the sensors By running a more relaxed model the system is able to 1 Make better estimates of the errors in the long term if it does not get these correct then they become more difficult to correct as time goes on 2 Track the errors in the inertial sensor during their warm up period when their errors change more quickly than normal During this period it is necessary to drive the vehicle or the errors will not be estimated and the specification will not be reached The NCOM output message includes status information that can be used to identify when the required specification has been met These are plotted in the example below The warm up period is a concern to some customers but it is often very simple to overcome Below is an example of a good warm up procedure that did not involve a lot of work for the user In this example the key features are e The Survey was configured well the GNSS antenna position Wheel configuration options and dual antenna separation were measured accurately in advance The Survey was turned on as soon as possible In this case it took us 15 minutes to get all the other equipment sorted out The Survey was stationary for most of this period which is not a problem Although in this example the Survey was receiving corre
6. X Y PHASECENTRE 0 CENTRE OF ANTENNA Z PHASE Confidential Information T The information in this document is confidential and must not be published or disclosed either wholly or in part to other parties or used to build the described components without the prior written consent of Oxford Technical Solutions 17 30 0 68 in i dia 68 81 2 71 in i 0 10 20 21 96 0 86 in 10 32 UNF 2B x 0 250 DP Notes GPS GLONASS Antenna SMA Connector magnetic 2cm OmniStar Ox Q NY S LS CES SAL PS PSSS 62 74 2 47 in ASSI SLYKE AN QS OOO fs 4x MAGNETS FLUSH 3x6 32 UNC 2B 90 APART FOROPTIONAL MOUNTING Oxford Technical Solutions 119 38 4 70 in 77 Heyford Park Upper Heyford Oxfordshire OX25 5HD www oxts com Copyright Oxford Technical Solutions 2013 Confidential Information The information in this document is confidential and must not be published or disclosed either wholly or in part to other parties or used to build the described components without the prior written consent of Oxford Technical Solutions 83 82 3 30 in 40 64 1 60 in 0 10 20 76 20 3 00 in 4xdia 5 11 THRU dia 9 78 X 100 10 32 MTG SCREWS XY PHASECENTRE 0 CENTRE OF ANTENNA Z PHASE Notes L1 L2 L5 GPS GLO OmniStar Precision carrier phase Suitable for 2 cm products Typically for aircraft TNC Connector
7. 500 Hz 100 g 11 ms 2 GB Valid for open sky conditions With SuperCAL adjustment Heave output is not available on 250 Hz systems gu Oxford Technical Solutions Survey 2 GPS L1 L2 GLONASS L1 L2 on G models 1 5 m SPS 0 6 m SBAS 0 4 m DGPS 0 1 m PPP 0 01 m RTK 0 05 km h RMS 0 03 10 0 05 10 5 ug lo 0 01 lo 0 1 1c 0 005 m s Nhr 1c 10g 2 hr 1c 0 05 lo 0 1 lo 0 2 Vhr 1c 100 s 10 cm or 10 v 100 Hz 250 Hz 10 25 V dc 20W 234 x 120 x 80 mm 2 4 kg 3 5 ms 10 50 C 0 1 g Hz 5 500 Hz 100 g 11 ms 2GB Survey L1 GPS LI GLONASS L1 on G models 1 8 m SPS 0 6 m SBAS 0 4 m DGPS 0 1 km h RMS 0 05 lo 0 1 lo 5 ug lo 0 01 96 1c 0 1 1c 0 005 m s Nhr 1c 10g 2 hr lo 0 05 lo 0 1 16 0 2 Vhr 16 100 s 10 cm or 10 x 100 Hz 250 Hz 10 25 V dc 15 W 234 x 120 x 80 mm 2 2 kg 3 5 ms 10 50 C 0 1 g Hz 5 500 Hz 100 g 11 ms 2 GB Survey 2 L1 GPSLI GLONASS L1 on G models 1 8 m SPS 0 6 m SBAS 0 4 m DGPS 0 1 km h RMS 0 05 lo 0 05 lo 5 ug lo 0 01 lo 0 1 1c 0 005 m s Nhr 10 10g 2 hr 1o 0 05 lo 0 1 1o 0 2 Vhr 16 100 s 10 cm or 10 v 100 Hz 250 Hz 10 25 V dc 20W 234 x 120 x 80 mm 2 4 kg 3 5 ms 10 50 C 0 1 g Hz 5 500 Hz 100 g 11 ms 2GB Survey User Manual Qaxrs Operating temperature range for the antenna is much wider
8. User Manual Covers Survey and Survey L1 products Confidently Accurately Legal Notice Information furnished is believed to be accurate and reliable However Oxford Technical Solutions Limited assumes no responsibility for the consequences of use of such information nor for any infringement of patents or other rights of third parties which may result from its use No license is granted by implication or otherwise under any patent or patent rights of Oxford Technical Solutions Limited Specifications mentioned in this publication are subject to change without notice and do not represent a commitment on the part of Oxford Technical Solutions Limited This publication supersedes and replaces all information previously supplied Oxford Technical Solutions Limited products are not authorised for use as critical components in life support devices or systems without express written approval of Oxford Technical Solutions Limited 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 including but not limited to procurement of substitute goods or services loss of use data or profits or bu
9. ARINC Form Factor Must be mounted on a metal surface for optimum performance 5V 35dB Gain Weight 227g j 5 99 0 24 in l i 18 14 0 71 in S e o eo E eo N N A E i i E N tO eo e Br t I 3 76 0 15 in O RING 6 48 0 26 in Oxford Technical Solutions 77 Heyford Park Upper Heyford 12x 4 75 0 187in THRU Oxfordshire EQUI SFCD 4 676in PCD OX25 5HD www oxts com Copyright Oxford Technical Solutions 2013 Confidential Information The information in this document is confidential and must not be published or disclosed either wholly or in part to other parties or used to build the described components without the prior written consent of TAPERULES HOOK Oxford Technical Solutions nrnrnirprprr rn rr HE E EE HN G 0 10 20 XY PHASECENTRE 0 CENTRE OF ANTENNA Z PHASE 8 51 0 34 in Notes L1 L2 L5 GPS GLO OmniStar Precision carrier phase Suitable for 2 cm products TNC Connector Mount on survey poles UNC 5 8 11 Thread Alternative mounting 4x 6 32 UNC 2B 5V 35dB Gain 5 8 11 UNC 2B Weight 250g 10 44 0 41 in 1 57 0 06 in 29 49 1 16 in 42 66 1 68 in n Ko box RSRS Se BREE REG RSE SOME PER eee S ses n e X 4x6 32 UNC 2B X0 250DP EQUI SPCD58 57 2 31in PCD
10. the Survey and change the settings See the section Ethernet configuration on page 30 for more information Overview In order to give the best possible performance the Survey needs to know the following things e The orientation of the Survey as it is mounted at in the vehicle e The position of the primary GNSS antenna compared to the Survey e The orientation of the dual antennas compared to the Survey e The position of the rear wheels or non steering wheels compared to the Survey e The position of the odometer compared to the Survey The Survey can work out many of these parameters by itself but this takes time Measuring the parameters yourself and configuring the Survey reduces the time taken to achieve full specification In particular Survey products can calculate the position of the GNSS antenna This works well when using a base station to achieve 2 cm accuracy but can take hours with less accurate positioning modes It is best to measure the position of the GNSS antenna to an accuracy of 10 cm or better If the Survey has been running for some time it will have improved the measurements It is possible to read these improved measurements into NAVconfig commit them to the Survey then use them next time the system is started If the Survey is moved from one vehicle to another it is essential to return to the default configuration rather than using parameters that have been tuned for a different vehicle
11. Figure 8 select Use the following IP address and enter the IP address and subnet mask to use 7 Click OK when finished Revision 150714 E83 Figure 8 Configuring the computer s IP address Internet Protocol Version 4 TCP IPv4 Properties Eg General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings Obtain an IP address automatically Use the following IP address IP address 195 0 0 200 Subnet mask 255 255 255 0 Default gateway Obtain DNS server address automatically Use the following DNS server addresses Preferred DNS server Alternate DNS server Validate settings upon exit Ahamed Ca om Once the computer is configured the IP address of a Survey can be found by running NAV display software this will display the IP address of any Survey connected Note that it is possible to change the IP address of Survey systems If the IP address has been changed then NA Vdisplay should still be able to identify the address that the Survey is using as long as the PC has a valid IP address and this is not the same as the Survey s Dual antenna systems It is often useful to have an understanding of how the Survey 2 uses the measurements from the dual antenna system This can lead to improvements in the results obtained 1 To use the measurements properly th
12. Survey is shipped in along with the included components Table 1 Summary of the Survey and Survey 2 system components Qty Qty Description Survey Survey 2 1 1 Survey system unit 1 1 User cable 14C0121A 1 2 GNSS antenna G5Ant 2AMNS1 1 2 5 m GNSS antenna cable 1 1 Null modem serial cable 1 1 CD ROM with manual and software 1 1 User manual Survey products require the correct differential corrections L1 L2 in order to work to full specification Differential corrections can be supplied by an RT Base GPS Base or other suitable differential correction source In addition to the components supplied the user will require a laptop to configure the Survey Revision 150714 Iz Figure 1 Typical Survey transit box E Oxford Technical Solutions Survey User Manual Qaxrs Introduction The Survey series of products from Oxford Technical Solutions are highly accurate inertial navigation systems INS for making precision measurements of position and motion in real time Designed for use in survey applications the Survey products are one box solutions for a complete navigation system Using complex algorithms to seamlessly blend inertial and GNSS data the Survey produces smooth position and velocity measurements as well as other important measurements such as heading pitch and roll An inertial sensor block with three accelerometers and three angular rate sensors is used to compute all the outputs
13. all be made to an accuracy of 10 cm Selecting an accuracy better than 10 cm does not improve results Using an accuracy figure worse than 20 cm will increase the drift of the Survey Use the accuracy fields to select or specify the accuracy of the measurements The Wheel configuration feature also requires some knowledge of the road surface Select one of the predefined options from the drop down list Normal or Low friction ice For the Vertical settings the system needs to know the position of the front axle A position at road height mid way between the wheels should be used like for the rear axle Measure the distances again from the Survey and enter them into the cells selecting the appropriate directions from the drop down lists Options The Options page includes some important settings for getting the best results from your Survey system Figure 19 shows the Options page of the configuration wizard To adjust the settings click the default value in the Setting column to activate the cell A description on each option and how to adjust it is found below Revision 150714 a Figure 19 NAVconfig Options page m NAVconfig Survey p Performance Options rA Advanced options to improve the performance of the device Ee N AOXTS Inenrtial GPS Option Setting Vehicle starts Level Initialisation speed 5m s Camera trigger None GNSS weighting Medium Heading lock Normal Read Configuration
14. be configured with Network correction receiver selected and the IP address of the system that is configured as the transmitter should be selected in the box Regardless of whether DGPS corrections are received via NTRIP or a local base station only RTCMv3 corrections are currently supported in networked DGPS mode SBAS Adjustment select a predefined value from the drop down list In Europe North America and Japan SBAS can be used for differential corrections These services will improve the position accuracy of the Survey In North America the SBAS service is known as WAAS in Europe it is known as EGNOS and in Japan it is known as MSAS Select the option that is most suitable for the territory you are in DGNSS service Adjustment click button to open settings window Select either Automatic or Manual from the corrections drop down list in the properties window to enable corrections When manual is used the correct satellite should be selected for the region where you are operating Revision 150714 e Several satellites have been pre programmed into the software In the future more satellites may exist or their properties may change In this case it is necessary to select Use advanced settings to set the satellite s Frequency and Baud rate Advanced Adjustment click button to open settings window The Advanced option is used to set special commands for the Surveyt This should only be done with special instruc
15. connector on the Survey is keyed so the user cable must be correctly aligned for it to connect The Survey user cable drawing located at the back of this manual gives details on each connector and the pin assignments Digital inputs and outputs Table 24 describes each of the signals on the J5 digital I O connector A more detailed explanation of each signal can be found below Table 24 J5 pin assignments digital I O Function Description Digital 1 1PPS from GNSS receiver Digital 2 Event input Digital 3 Odometer input Digital 4 Camera trigger Digital 5 IMU sync output pulse 100 or 250 Hz Digital Ground Ground Digital Ground Ground Digital Ground Reserved Digital Ground Reserved 1PPS output The 1PPS output is a pulse from the GNSS receiver The falling edge of the pulse is the exact transition from one second to the next in GPS time The pulse is low for 1 ms then high for 999 ms and repeats every second u Oxford Technical Solutions Survey User Manual Qaxrs Figure 31 1PPS waveform Falling edge denotes GPS time 1000ms Fl crossing second boundary lt 4 1ms APO 4a te The output is a low voltage CMOS output with 0 8 V or less representing a low and 2 4 V or more representing a high No more than 10 mA should be drawn from this output Limited protection is provided on this output Event input The event input can be used to time events like the shutter of a camera or a brake switc
16. or other reflective surfaces the only multipath received is from the vehicle s roof The antennas supplied with the Survey 2 are designed to minimise multipath from the vehicle s roof when the roof is made of metal For use on non metallic roofs a different type of antenna is required When stationary the heading from the Survey 2 will show some error the size of the error depends on the multipath in the environment Table 18 lists the errors to be expected when stationary with a 1 m base line Table 18 Typical heading error for when stationary in different environments Environment Typical error 3c Complete open sky 0 6 0 2 16 Near trees buildings i Next to trees buildings 2 Typical figures using a 1 m base line For accuracy specification of 0 1 RMS a 2 m separation is required Using a 2 m base line can halve the figures shown here EJ Oxford Technical Solutions Survey User Manual Qaxrs Configuring the Survey To obtain the best results from your Survey it will be necessary to configure the Survey to suit the installation and application before using it for the first time The program NAVconfig can be used to do this This section describes how to use NAVconfig and gives additional explanations on the meanings of some of the terms used It is only possible to change the Survey configuration using Ethernet It is necessary to have the Ethernet on your computer configured correctly in order to communicate with
17. the Survey is permanently installed in a vehicle it can be beneficial to import these improved values into the Survey s configuration file to be used next time It can make the results more consistent However this feature should not be used if there is a risk the Survey will rotate in the vehicle or that the GNSS antennas can move even by a few millimetres To read the improved values from the Survey click the Get improved settings button on the Orientation page to open the Get settings from Survey window as shown in Figure 13 Figure 13 Source selection to get improved configuration Bn 2 Get settings from device Read improved configuration Choose where to read the configuration from Read configuration from Fie Step 1of2 pM NCOM File JA My Data Writing OxTS Data gxRTK from loan fwd Browse Confidently Net Cancel Click the drop down list and choose which source to read the configuration from The two options are Read configuration from file If an NCOM file has been saved to disk or processed using the post process utility then this file can be read and the settings extracted from it Use this setting if you have an NCOM file Click Browse and select the NCOM file you wish to read the configuration from Do not use an NCOM file that has been combined from forward and backwards processing of the inertial data e Read configuration from Ethernet This wi
18. the position of the primary GNSS antenna during use To use the values the Survey has estimated use the Get improved settings utility on the Orientation page More information on improving the configuration settings can be found on page 41 Secondary antenna position If a Survey 2 option was selected on the Product Selection page then the Secondary Antenna page Figure 16 will be available to configure the position of the secondary antenna relative to the primary antenna Click the Enable secondary antenna checkbox to allow the configuration to be entered If it is not enabled the Survey 2 will ignore the secondary antenna and will not use it to compute a heading solution Revision 150714 a Figure 16 NAVconfig Secondary Antenna page m NAVconfig Survey p Secondary Antenna Q Specify the secondary GNSS antenna position on the vehicle in relation to the primary antenna V Enable secondary antenna V Antennas are level Measured from the primary antenna Where is the measurement point of secondary antenna Behind v 1 000m towithin 0 050m v Product Selection Read Configuration Enable static initialisation GNSS Selection Edit advanced settings Orientation Primary Antenna Wheel Configuration Options Commit Save Finish Dev ID 150610 14am EEE English By default the Antennas are level box is checked This means the antenna baseline should be within 15 of horizontal When the an
19. velocity and the position can be controlled separately In the default state the Survey will reject up to 20 GNSS measurements before it forces the GNSS to be accepted However in high multipath environments or when odometer measurements are used it may be desirable to reject more GNSS measurements Select the Start believing measurements after option and enter the number of GNSS measurements to reject before the system starts believing it again The Survey GNSS receivers update both position and velocity at a rate of 5 Hz Therefore to ignore updates for 60 s for example the number to enter to start believing measurements again would be 300 Coordinate system The Survey can output position relative to different coordinate frames Click the L button to open the properties window shown in Figure 25 Revision 150714 er Figure 25 NAVconfig coordinate system properties window i2 Coordinate system properties Ez General Coordinate datum WGS 84 O ITRF2008 C ETRS89 O NAD83 Altitude reference Geoid receiver default Geoid custom Set offset From the Coordinate datum section you can choose which reference datum to output latitude and longitude relative to The default system and the standard for GPS is the WGS 84 datum Note Currently outputs will only reference datums other than WGS 84 in post processing Real time outputs will still be referenced to WGS 84 even if another option
20. very accurate Revision 150714 o timing synchronisation between systems The measurements are synchronised to the GPS clock Easy operation Installation and operation of the Survey could not be simpler A simple configuration wizard is used to configure the Survey The configuration can be saved to the Survey so it can operate autonomously without user intervention A lot of work has been put into the initialisation of the inertial algorithms so that the Survey can reliably start to navigate in the vast majority of situations For example the Survey can initialise during flight without problems The Survey outputs standard NMEA messages and a 1PPS signal meaning it can integrate with external sensors and provide corrections in real time The single unit contains the inertial sensors GNSS receiver data storage and CPU All components are ITAR free for maximum flexibility when operating in multiple countries Self correcting Unlike conventional inertial navigation systems the Survey uses GNSS to correct all its measurements GNSS calculates position velocity and for dual antenna systems heading The raw GNSS measurements can also be utilised when using tight coupling Using these measurements the Survey is able to keep other quantities such as roll pitch and heading accurate Tight coupling of the GNSS and inertial measurements also means the raw GNSS data can be used There is no drift from the Survey in any of the m
21. A WGS 84 modelled strapdown navigator algorithm compensates for earth curvature rotation and Coriolis accelerations while measurements from high grade high rate GNSS receivers update the position and velocity navigated by the inertial sensors This innovative approach gives the Survey several distinct advantages over systems that use GNSS alone e All outputs remain available continuously during GNSS blackouts when for example the vehicle drives under a bridge e The Survey recognises jumps in the GNSS position and ignores them e The position and velocity measurements that the GNSS makes are smoothed to reduce the high frequency noise e Pseudo range and carrier phase measurements from satellites can be used or rejected individually tight coupling e The output measurements can be improved when there are fewer than 4 satellites e The Survey makes many measurements that GNSS cannot make for example acceleration angular rate heading pitch roll etc e The Survey takes inputs from an odometer in order to improve the drift rate when no GNSS is available e The Survey has a high 100 Hz or 250 Hz update rate and a wide bandwidth e The outputs are available with very low 3 5 ms latency The Survey system processes the data in real time The real time results are output via RS232 and over 10 100 Base T Ethernet using a UDP broadcast Outputs are time stamped and refer to GPS time a 1PPS timing sync can be used to give
22. EC 1560034 14C0121A Tail lengths for J2 J7 given by L2 L7 from junction to connector face E Lg ug O J3 Radio 400mm a 24mm Tail Lengths L2 300mm L3 300mm L4 300mm L5 300mm L6 300mm L7 300mm J4 Aux RS232 Q C 2 Eg 00000 J5 Digital I O O J6 Ethernet J7 Power LLL ULL L Lj Nav Data RS232 Pin Function Conn 2 Nav Data RS232 RX J1 4 3 Nav Data RS232 TX J1 3 5 RS232 Common J1 12 Radio Pin Function Conn 1 Supply J3 14 7 RS232 Common J1 16 8 Supply Return J7 3 9 Radio Data RX J1 7 11 Radio Data TX J1 6 14 Supply J7 1 15 Supply J7 1 Aux RS 232 Pin Function Conn 2 Aux RS232RX J1 10 3 Aux RS232 TX J1 9 5 AuxRS232 Common J1 17 Digital I O Pin Function Conn 1 Digital 1 J1 11 2 Digital 2 J1 8 See manual for details 3 Digital 3 J1 15 of the signals on 4 Digital 4 J1 19 Digital 1 to Digital 5 5 Digital 5 J1 5 6 Digital Ground J1 18 7 Digital Ground J1 18 8 Digital Ground J1 18 9 Digital Ground J1 18 Pin Function Conn 1 Ethernet ETX J1 20 2 Ethernet ETX
23. GNSS algorithm tab can be used to select the algorithm used for merging the GNSS and the inertial data in the Kalman filter The Recovery tab can be used to decide how to begin using GNSS measurements if they have been rejected or ignored for a period of time Figure 24 shows both tabs in the GNSS control properties window Revision 150714 E Figure 24 NAVconfig GNSS control properties window I2 GNSS control E GNSS control E GNSS Algorithm Recovery GNSS Algorithm Recovery This option controls what algorithm is used to update the These settings control how long the INS will ignore Kalman filter These are advanced settings Referto the unexpected GNSS measurements before being forced to manual for additional details believe them Use GNSS receiver s calculations GNSS position updates Use OxTS gx ix raw data processing algorithm Use firmware defaults Never believe unexpected measurements Start believing measurements after 20 unexpected GNSS updates GNSS velocity updates Use firmware defaults Never believe unexpected measurements Start believing measurements after 20 unexpected GNSS updates OK Cancel OK Cancel The GNSS algorithm tab gives a choice of two algorithms for computing the GNSS measurements The default option is to use the algorithm provided by the GNSS receiver Using this algorithm the Survey will accept position and velocity from the GNSS and use it to update the Kal
24. Read configuration 38 Orientation 39 Get improved settings 41 Primary antenna position 44 Secondary antenna position 45 Wheel configuration 47 Options 49 Vehicle starts 50 Initialisation speed 50 Camera trigger 5 GNSS weighting 51 Heading lock 51 Displace output 52 Odometer input 52 Serial 1 and Serial 2 outputs 54 Ethernet output 57 Output smoothing 58 GNSS control 59 Coordinate system 61 Output lock 63 Differential correction 63 SBAS 65 DGNSS service 65 Advanced 66 Committing the configuration to the Survey 66 Saving the configuration and finishing 67 Initialisation process 69 Real time outputs 69 Revision 150714 E Warm up period 70 Inputs and outputs 74 Digital inputs and outputs 74 1PPS output 74 Event input 75 Odometer input 75 Camera trigger 76 IMU sync output pulse 76 Reverse polarity protection 76 Laboratory testing 77 Accelerometer test procedure 77 Gyro test procedure 77 Testing the internal GNSS and other circuitry 78 Using the orientation measurements 80 Revision history 81 Drawing list 82 3 Oxford Technical Solutions Survey User Manual Qaxrs Scope of delivery Survey products are supplied with cables GNSS antenna software and manual In standard configurations magnetic mount antennas are provided but other antenna types are available please enquire for more details Table 1 lists all the items that are delivered with Survey systems Figure 1 shows the transit box a
25. See specification below Heading accuracy The heading accuracy that can be achieved by the dual antenna system in the Survey 2 models is 0 2 16 per metre of separation in ideal open sky conditions The maximum recommended separation is 5 m giving an accuracy of 0 05 1o The dual antenna system can provide these accuracies in static and dynamic conditions For single antenna systems the heading is calculated from the inertial measurements The accuracy listed in Table 5 is achievable under dynamic conditions Under static conditions the heading accuracy of single antenna systems will degrade Non ideal mounting of the GNSS antennas will reduce the heading accuracy particularly for dual antenna systems Environmental protection The Survey products are rated to IP65 To achieve IP65 it is necessary to have connectors fitted to both TNC antenna connectors and to use self amalgamating tape over the TNC connectors GNSS antenna operating temperature The GNSS antennas have a much wider operating temperature range from 55 to 85 C allowing them to be used on the outside of vehicles Export control classification number Export control regulations change and so the classification number of the Survey may also change The information here relates to the time when the manual was published The Survey products can fall under two different export control categories depending on the type of accelerometer fitted internally The type of
26. acceleration between 9 7 and 9 9 m s Flat Up Flat y acceleration between 9 7 and 9 9 m s This test is sufficient to ensure that the accelerometers have not been damaged Gyro test procedure To check that the gyros angular rate sensors are working correctly follow this procedure Revision 150714 se 1 Use the default orientation configuration in NAVconfig 2 Connect power to the system connect the system to a laptop computer and run the visual display software NA V display 3 Rotate the Survey according to Table 27 and check that the angular rate measurements occur 4 With the unit stationary check that all the angular rates are within 5 s In general they will be within 0 5 s but the algorithm in the Survey will work to specification with biases up to 5 s Table 27 Angular rate measurement specifications Rotation Angular rate measurement ve Zero Zero x direction should indicate positive rotation others are small ve Zero Zero x direction should indicate negative rotation others are small Zero ve Zero y direction should indicate positive rotation others are small Zero ve Zero y direction should indicate negative rotation others are small Zero Zero ve z direction should indicate positive rotation others are small Zero Zero ve z direction should indicate negative rotation others are small It is hard to do a more exhaustive test using the angular rate sensors wit
27. accelerometer does not affect the specification of the product only the export control classification number ECCN The current ECCN for the Survey products is either 7A103al or 7A003d Please see the invoice or delivery note or contact OxTS Support to view the ECCN of your Survey system Revision 150714 ls Conformance notices The Survey complies with the radiated emission limits for 47CFR15 109 2010 class A of Part 15 subpart B of the FCC rules and with the emission and immunity limits for class A of EN 55022 These limits are designed to provide reasonable protection against harmful interference in business commercial and industrial uses This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures Re orient or relocate the receiving antenna Increase the separation between the equipment and the receiver The Survey incorporates a GNSS receiver Any GNSS receiver will not be able to track satellites in the presence of strong RF radiations within 70 MHz of GNSS
28. al Solutions Survey User Manual Qaxrs For both single and dual antenna systems it is essential that the supplied GNSS antenna cables are used and not extended shortened or replaced This is even more critical for dual antenna systems and the two antenna cables must be of the same specification Do not for example use a 5 m antenna cable for one antenna and a 15 m antenna cable for the other Do not extend the cable even using special GNSS signal repeaters that are designed to accurately repeat the GNSS signal Cable length options are available in 5 m and 15 m lengths Revision 150714 A Operation The Survey has been designed to be simple and easy to operate The front panel label and LEDs convey some basic information that aid in configuration and troubleshooting Once powered the Survey requires no further input from the user to start logging and outputting data This section covers some basic information required for operation of the Survey Front panel layout Figure 4 shows the layout of the Survey front panel Table 7 lists the parts of the front panel labelled in Figure 4 The layout is the same for all model divisions in the Survey family For single antenna models the secondary antenna connector is not connected internally Figure 4 Survey front panel layout 97 inertial GPS Fragile Do not drop E Oxford Technical Solutions Survey User Manual Qaxrs Table 7 Front panel descriptions Label
29. ate in the vehicle orthat the GNSS antennas can move Dev ID 150610 14am English To work out the direction that the Survey is mounted at look to see which directions the y axis and the z axis are pointing and select these directions from the drop down lists The greyed out advanced settings will change to show the three rotations associated with orientation chosen To make small adjustments use the advanced settings This allows the user to zero any heading pitch or roll offsets For correct initialisation it is also necessary to get the heading orientation correct The Survey gets its initial heading by assuming that the vehicle is travelling forwards in a straight line If the definition of the vehicle s x axis forward direction 1s incorrect in the Survey then it will not initialise correctly when the vehicle drives forwards Get improved settings Also included on the Orientation page is the ability to read the configuration settings from a warmed up system While the Survey is running it tries to improve some of its configured parameters This option is useful if a calibration run has been done and the Kalman filter s values are known to be good Revision 150714 ar In particular the Survey will try to improve the GNSS antenna position the orientation of the dual antennas the yaw orientation of the Survey in the vehicle and if one is being used the odometer calibration values In applications where
30. ation angle needs to be more accurate 5 Once the RTK Integer solution is available the Survey 2 can start to use the dual antenna solution to improve heading The level of correction that can be applied depends on how accurately the angle of the secondary antenna is known compared to the inertial sensors 6 The Kalman filter tries to estimate the angle between the inertial sensors and the secondary antenna The default value used in the configuration software 5 is not accurate enough so that the Survey 2 can improve the heading using this value If you want the vehicle heading to 0 1 but the angle of the two GNSS antennas is only known to 5 then the measurements from the antenna are not going to be able to improve the heading of the vehicle Driving a normal warm up with stops starts and turns helps the Kalman filter improve the accuracy of the secondary antenna angle The accuracy of this angle can be verified in NAVdisplay On aircraft or marine vehicles some turns are needed to help the Kalman filter estimate the relative angle of the antennas compared to the Survey 2 7 In the unlikely event that the RTK Integer solution is incorrect at the start then the Kalman filter can update the secondary antenna orientation incorrectly If this happens then things start to go wrong The Kalman filter becomes more convinced that it is correct so it resolves faster but it always solves incorrectly Solving incorrectly makes the situatio
31. ation speed during configuration then the strapdown navigator will initialise and the system will become active On dual antenna systems the system will initialise once the GNSS receiver has determined heading even if the vehicle is stationary or moving slowly Orange The strapdown navigator has initialised and data is being output but the system is not real time yet It takes 10 s for the system to become real time after start up Green The strapdown navigator is running and the system is real time p In current versions of the software the strapdown navigator will not leave green and return to any other state This may change in future releases Table 10 Pos Head LED states single antenna systems Colour Description Off The GNSS receiver is not sending data Start up only The GNSS receiver is sending data to the Survey This is an operational check for the GNSS receiver Red The GNSS receiver has a standard position solution SPS Red flash The GNSS receiver has a differential solution DGPS or a kinematic floating position Orange solution 20 cm accuracy Green The GNSS receiver has a kinematic integer position solution 2 cm accuracy EX Oxford Technical Solutions Survey User Manual Qaxrs Table 11 Pos Head LED states dual antenna systems Colour Description Of
32. ation to the device Measured from the device Where is the measurement point of the GNSS antenna Ahead v 0 000m 0 100m Above v 1 000m 0 100 m Read Configuration lt Specify each accuracy separately GNSS Selection Orientation Overall accuracy 0 100m v Product Selection Secondary Antenna Wheel Configuration Options Commit Save Finish Dev ID 150610 14am EEE English It is necessary to tell the Survey the distance between its measurement origin shown in Figure 5 on page 28 and the GNSS antenna s measurement point This should be entered in the vehicle s co ordinate frame The accuracy of the measurements should also be specified and care should be taken here It is very easy to measure within 1 cm or better in a straight line but it is much harder to measure within 1 cm through a vehicle roof This is compounded if the Uu Oxford Technical Solutions Survey User Manual Qaxrs Survey is slightly misaligned in the vehicle Any alignment errors should be included in the accuracy you believe you can measure to Telling the Survey you have measured the distances within 5 mm may lead the Survey to believe its results are better than they really are You may be impressed by the accuracy the Survey reports but in reality it will not be that accurate It is better to overestimate the accuracy i e tell the Survey a worse value than to underestimate it The Survey will try to improve
33. both CMR and CMR formats This option is reserved E Oxford Technical Solutions Survey User Manual Qaxrs Select the Correction type you wish to use from the drop down list and then select the Baud rate The most common baud rates used for differential corrections are 4800 baud and 9600 baud The RT Base and GPS Base use 9600 baud When checked the NTRIP option sends an NMEA GGA message out from J3 back to the NTRIP server The Networked DGPS controls allow a Survey to be configured to broadcast or receive differential corrections over Wi Fi when connected to an RT XLAN When Network correction transmitter is selected an RT will broadcast differential corrections it is receiving via a radio modem from an OxTS base station using its RT XLAN Other Survey devices that are on the same network as the broadcasting RT will then be able to receive the DGPS messages and use them To do this the Network correction receiver option should be selected on those devices and the IP address of the system carrying the radio modem should be selected from the box Using this system reduces complexity in situations where multiple devices need DGPS corrections as only one pair of radio modems needs to be used Networked DGPS can also use corrections received via NTRIP rather than a local base station As before the Survey that is connected to the NTRIP server should be configured with Network correction transmitter selected Other devices should
34. correct a position error by a maximum rate of 0 1 m s E Oxford Technical Solutions Survey User Manual Qaxrs If a large error is accumulated for example if GNSS is not available for a long period of time then it may take a very long time to apply the correction Under these circumstances it may be preferable to jump the measurement to the correct value quickly By specifying a time in the Time limit section for the correction the Survey will jump the measurement if it will take too long to correct For example if the position has drifted by 5 m after a period without GNSS and the smoothing is set to 0 05 m then it will take at least 100 s to correct the 5 m drift If the time limit is set to 20 s then the Survey will apply the 5 m correction immediately because the predicted time to correct the position is longer than the time limit Care should be taken not to make the smoothing too small If these parameters are too small then the Survey will not be able to make suitable corrections to the outputs and it will not work correctly Note this function is designed to improve the data in real time When post processing the data using the forwards backwards combined option output smoothing should not be used as it may give unexpected results GNSS control Adjustment click button to open properties window The GNSS control option contains advanced options that control how the GNSS information is managed in the Survey The
35. ctions from a base station while stationary it is not necessary The base station should be working before the dynamic driving starts so the Survey can use the best information to self calibrate if a base station is not being use this does not apply There are 6 minutes during which the vehicle was driven in figures of eight From the graphs you can see the Survey is accurate almost after the first figure of eight after that the improvement is very small The trick is to turn the Survey on early do not reconfigure it which resets it or cycle the power Figure 29 shows the route driven and Figure 30 shows the accuracy estimated by the Kalman filter for various output parameters during the first 25 minutes The quality of initialisation would have been the same if the stationary period was 10 minutes followed by 5 minutes of driving The time on the graphs is the time from initialisation In this example the Survey was initialised 25 s after starting up the quality of u Oxford Technical Solutions Survey User Manual Qaxrs initialisation would be the same 1f it had been not been initialised for the first 10 minutes then initialised and driven for 5 minutes Figure 29 Example warm up driving route Course At the start there is just a small amount of motion to get the Survey initialised During this time the Kalman filter cannot improve the position accuracy because the position of the GNSS antenna is not known ac
36. curately and cannot be estimated without motion The accuracy of the velocity roll and pitch steadily improves as the Kalman filter places more and more weight on the inertial sensors At this point the heading accuracy is worse than the scale of the graph d in Figure 30 the heading is not accurate and the dual antenna system cannot measure the angle of the GNSS antennas compared to the inertial sensors so the dual antenna cannot provide accurate information Just after 500 s the Survey is driven it is the small loop on the east side in Figure 29 not the figures of eight This small amount of driving is sufficient for the Kalman filter to gain confidence in the antenna position and to improve the alignment of the two GNSS antennas compared to the inertial sensors After this period the position accuracy is better than 2 cm and the heading is better than 0 2 Revision 150714 Is Figure 30 Example warm up accuracy estimates 60 40 E s a E 20 0 0 200 400 600 800 1000 1200 1400 1600 amp b E b 8 A 0 200 400 600 800 1000 1200 1400 1600 Latitude esee Longitude Altitude a Ej Ei 3 0 200 400 600 800 1000 1200 1400 1600 North Velocity SAna East Velocity Down Velocity Orientation Accuracy deg RMS d 0 200 400 600 800 1000 1200 1400 1600 Time 5 Roll PEE Pitch Heading a Forward velocity b Position accuracies c Velocity accuracies d Or
37. d the Antennas are level checkbox is ticked The static initialisation algorithms degrade rapidly in non ideal conditions They should only be used in open sky environments Using a shorter separation can improve the accuracy in non ideal conditions Wheel configuration The Wheel configuration feature uses characteristics of land vehicle motion to improve heading and reduce drift Specifying the position of the non steered wheels makes a huge difference to the lateral drift performance of the Survey when GNSS is not available The vertical drift performance can also be improved by specifying some additional measurements This feature must be disabled for airborne and marine applications where the lateral velocity can be significant It is also not suitable for land vehicles that have no non steered wheels The vertical settings should not be used if the vehicle can perform wheelies The Survey uses the position of the non steered wheels to reduce the lateral drift when GNSS is not available and to improve the heading accuracy The Wheel configuration feature applies heading correction when the vehicle is not slipping when the vehicle is slipping the lateral acceleration is usually large enough that the normal heading corrections provide excellent results When combined with an odometer input see Odometer input on page 52 the drift of the Survey when GNSS is not available is drastically reduced Figure 17 shows the Wheel Configura
38. dows Security Alert y Windows Firewall has blocked some features of this program Wndows Firewall has blocked some features of Enginuity on all pubic and private networke Name Engnuity Publisher Oxford Technical Solutions Path C Wrogram files x86 oxts enginuity exe Allow Enginuity to communicate on these networks V Private networks such as my home or work network 7 Public networks such as these in zirports and coffee shops not recommended because these networks often have little or no security Whaat are the risks of allowing a program through a firewall _ E Allow access Cance D T T Ensure both Private and Public networks are selected to ensure the software can continue functioning when moving from one type to another E Oxford Technical Solutions Survey User Manual Qaxrs Hardware installation It is essential to install the Survey rigidly in the vehicle The Survey should not be able to move or rotate compared to either GNSS antenna otherwise the performance will be reduced In most circumstances the Survey should be mounted directly to the chassis of the vehicle If the vehicle experiences high shocks then vibration mounts may be required The Survey is compatible with the RT Strut product from OxTS to provide a quick and secure vehicle mounting solution Do not
39. e Survey and the vehicle axes are not the same as those listed in Table 14 then they can be aligned by reconfiguring the Survey for a different mounting orientation using the NAVconfig software If the RT Strut is being used to mount the Survey in the vehicle then NA Vconfig will have to be used to configure the orientation or the Survey will not work correctly Page 39 gives more information on configuring the orientation of the Survey in a vehicle Navigation frame The navigation frame is used by the Survey to integrate the acceleration to velocity and to integrate the velocity to position The definition of the navigation frame is listed in Table 15 BH Oxford Technical Solutions Survey User Manual Qaxrs Table 15 Navigation frame definition Axis Description Diagram North The north axis n is perpendicular to the gravity vector and in the direction of the north pole along the earth s North surface East The east axis e is perpendicular to gravity perpendicular to the north axis and is in the east direction D The d is d is along th it tor own e down axis d is along the gravity vector East Level frame The level frame is attached to the vehicle but does not rotate with the roll and pitch of the vehicle It rotates by the heading of the vehicle The definition of the level frame is listed in Table 16 and shown in Figure 6 Table 16 Level frame definition Axis Description Forward This is
40. e Survey 2 needs to know the angle of the GNSS antennas compared to the angle of the Survey 2 This is very difficult to measure accurately without specialised equipment therefore the Survey 2 needs to measure this itself as part of the warm up process 2 The Survey 2 will lock on to satellites but it cannot estimate heading so it cannot start Either motion or static initialisation can be used to initialise the Survey 2 m Oxford Technical Solutions Survey User Manual Qaxrs 3 When the vehicle drives forward and reaches the initialisation speed the Survey 2 assumes that the heading and track are similar and initialises heading to track angle If the Survey 2 is mounted in the vehicle with a large heading offset then the initial value of heading will be incorrect This can also happen if the Survey 2 is initialised in a turn This can lead to problems later 4 When the combined accuracy of heading plus the orientation accuracy figure for the secondary antenna is sufficiently accurate then the Survey 2 will solve the RTK Integer problem using the inertial heading There is no need for the Survey 2 to solve the RTK Integer problem by searching If the antenna angle is offset from the Survey 2 by a lot then the RTK Integer solution that is solved will be incorrect For a 2 m antenna separation the Survey 2 orientation and the secondary antenna orientation should be known to within 5 For wider separations the secondary antenna orient
41. e not They are also able to re establish RTK lock and resolve its ambiguities after an obstruction faster Note at this time gx ix processing does not support GLONASS To take full advantage of GLONASS capability standard processing must be used Revision 150714 L8 250 Hz All product divisions have the option of coming with a 250 Hz version of the inertial measurement unit IMU The IMUs used in 100 Hz and 250 Hz products are essentially the same both with a fundamental sampling frequency of 2500 Hz The difference is the 3D filter used to integrate the accelerations and angular rates has a smaller time step in the 250 Hz version allowing a higher update rate However because of the smaller time step measurements that depend on angular acceleration are typically noisier on the 250 Hz products The noise can be managed by filtering the data to limit the bandwidth Satellite differential corrections To improve the positioning accuracy of standard GNSS two satellite based differential correction services are available to all Survey models These are SBAS and TERRASTAR SBAS services such as WAAS and EGNOS are wide area differential corrections provided for free They can provide an accuracy of better than 1 m CEP WAAS is available in North America EGNOS is available in Europe MSAS is available in Japan Other parts of the world are not covered and cannot use this service TERRASTAR is a subscription service Survey sy
42. easurements while GNSS is present Advanced processing A high raw GNSS data rate coupled with processing forwards and backwards in time means post processed Survey data can achieve highest level accuracy In poor GNSS environments drift times can be halved by using the combined results of processing once forwards and once backwards in time OxTS proprietary gx ix processing engine can further improve performance with single satellite aiding algorithms and tight coupling of the inertial and GNSS measurements meaning position updates even with fewer than four satellites in view n Oxford Technical Solutions Survey User Manual Qaxrs Related documents This manual contains sufficient information about the installation and operation of the Survey system It is beyond the scope of this manual to provide details on service or repair Contact OxTS support or your local representative for any customer service related inquiries There are separate manuals available for further information on some of the software and communication types mentioned in this manual Table 2 lists related manuals and where to find them Table 2 Supplementary manuals AZETIUENI Description NMEA 0183 NMEA description manual for the NMEA outputs Description www oxts com Downloads Support NMEA nmeaman pdf NCOM Manual NCOM description manual and Code Drivers www oxts com Downloads Support NCOM Manual and Code Drivers ncomman pdf NCOM C Code A c
43. enna 250 Hz L1 L2 GPS Survey 2 250 Dual antenna 250 Hz L1 L2 GPS Survey G 250 Single antenna 250 Hz L1 L2 GPS amp GLONASS Survey 2G 250 Dual antenna 250 Hz L1 L2 GPS amp GLONASS Table 4 Survey L1 model options Product name Description Survey L1 Base model Single antenna 100 Hz L1 GPS Survey 2 L1 Dual antenna 100 Hz L1 GPS Survey G L1 Single antenna 100 Hz L1 GPS amp GLONASS Survey 2G L1 Dual antenna 100 Hz L1 GPS amp GLONASS Survey 250 L1 Single antenna 250 Hz L1 GPS Survey 2 250 L1 Dual antenna 250 Hz L1 GPS Survey G 250 L1 Single antenna 250 Hz L1 GPS amp GLONASS Survey 2G 250 L1 Dual antenna 250 Hz L1 GPS amp GLONASS E Oxford Technical Solutions Survey User Manual Qaxrs Single antenna The advanced algorithm in the Survey software means that most road vehicle customers are able to use a single antenna system The Heading lock and Wheel configuration features mean that the Survey can maintain accurate heading while stationary and while driving with low vehicle dynamics Dual antenna The dual antenna system gives high accuracy heading information and almost constant heading performance under all conditions Single antenna systems can have reduced heading accuracy on aircraft boats or in low speed land vehicles A dual antenna system is recommended to maintain high accuracy heading for applications on aircraft marine vehicles or road vehicle application
44. er parties or used to build the described components without the prior written consent of Oxford Technical Solutions 0 10 20 30 Print Size A4 M AZ AA NA NA NA NANANA NA NA NANA NI NA NA MA Scale 1 2 Half Tolerances X X 0 1 Projection 3rd Angle Material HE30 Alu Finish Anodised Notes A M4 x 10 Tapped Hole B 2mm dia x 3 hole U o 2 CAC NAAA AA KANA AA A AAA V NA NA NA NA NA NM NZ C VON IS II IC8 IM P gt O User cable drawn to show space required for the bend radius Date 23 07 09 Part 14A0007A Document Survey out dimensions Sheet 1 of 1 Connector Boot Details J1 Deutsch AS612 35SA J2 9 Way Male D type and shell J3 15 Way Male D type and shell J4 9 Way Male D type and shell J5 9 Way Female D type and shell J6 See notes J7 4 Way M12 Male Cable Assy D type Plug Crimp Contacts D type Socket Crimp Contacts Hellerman 154 42 G FEC 1342694 FEC 1342696 FEC 1342694 FEC 1342695 FEC 1889386 FEC 1560032 F
45. f GNSS receiver fault valid only after start up Red flash GNSS receiver is active but has been unable to determine heading Red The GNSS has a differential heading lock Orange The GNSS receiver has a floating poor calibrated heading lock Green The GNSS receiver has an integer good calibrated heading lock Table 12 GNSS LED states Colour Description Green flash The GNSS receiver is functioning normally Other The GNSS receiver has failed Contact OxTS for further information Table 13 Power LED states Colour Description Off There is no power to the system or the system power supply has failed Green The 5 V power supply for the system is active Orange The system is outputting data on connector J2 Co ordinate frame conventions The Survey uses a co ordinate frame that is popular with most navigation systems Figure 5 shows how the axes relate to the Survey box All measurements to and from the Survey should be made from the measurement origin point shown in Figure 5 Revision 150714 a Figure 5 Survey co ordinate frame and measurement origin p origin D 30 mm n Jj 70 mm Table 14 lists the directions that the axes should point for zero heading pitch and roll outputs when the default mounting orientation is used Table 14 Direction of axes for zero heading pitch and roll outputs Axis Direction Vehicle axis x North Forward y East Right Zz Down Down If the axes of th
46. f the vehicle can turn on the spot e g on a boat With heading lock enabled the Survey can remain stationary for indefinite periods of time without any problems There are four settings to choose from Disabled should be selected if the vehicle can turn on the spot The default setting Normal is best for most applications as it is least likely to cause problems in the Kalman filter Tight and Very tight are better when trying to reduce position drift in poor GNSS environments and traffic jams Table 19 gives a more detailed description on each of the heading lock options Revision 150714 E Table 19 NAVconfig heading lock options Heading lock Description Normal This option assumes that the heading of the vehicle does not change by more than 2 while the vehicle is stationary The heading accuracy recovers quickly when the vehicle moves Tight This option assumes that the heading of the vehicle does not change by more than 0 5 while the vehicle is stationary The recovery is fast if the heading of the vehicle does not change but will be slow if the vehicle turns before it moves Very tight The option assumes that the heading of the vehicle does not change by more than 0 3 while the vehicle is stationary The recovery is fast if the heading of the vehicle does not change but will be slow if the vehicle turns before it moves This option can cause problems during the warm up period if the vehicle remains stationary for a long time a
47. frequencies The Survey conforms to the requirements for CE Any use or misuse of the Survey in a manner not intended may impair the protection provided OxTS is not liable for any damages caused by the misuse of the equipment Regulator testing standards 47CFR15 109 2010 class A radiated emissions e EN 300 440 1 2008 test methods 8 3 2 conducted emissions and 8 3 3 radiated emissions EN 55022 class A according to standard EN 301 489 1 2008 conducted emissions EN 6100 4 3 criterion A according to standard EN 301 489 1 2008 radiated immunity ISO7637 2 criterion B 12V according to standard EN 301 489 1 2008 vehicular transients and surges immunity m Oxford Technical Solutions Survey User Manual Qaxrs Software installation Included with every Survey is a CD containing the software package NAVsuite This package contains a number of programs required to take full advantage of the Survey s capabilities Table 6 lists the contents of NA Vsuite Table 6 NAVsuite components Icon Software Description NAVdisplay Used to view real time data from OxTS products via Ethernet or a serial port It can also be used to transmit special commands and replay logged data Enginuity Predecessor to NAVdisplay Enginuity is included in the NAVsuite installation for legacy customers NAVeonfig Used to create send and receive configurations from OxTS Jj products As configurations vary between products there
48. h The event input has a pull up resistor so it can be used with a switch or as a CMOS input A low voltage requires less than 0 8 V on the input and a high voltage requires more than 2 4 V on the input There is no protection on this input protection circuitry would disturb the accuracy of the timing Keep the input in the range of 0 V to 5 V By default the maximum event rate is 1 Hz for 100 Hz products and 4 Hz for 250 Hz products This can be increased to 50 Hz by selecting one or both the Output on falling edge of trigger and Output on rising edge of trigger check boxes on the Ethernet output properties window This is accessed from the Options page of the configuration wizard see Ethernet output on page 57 of this manual Trigger information can be found in status message 24 and 43 output over NCOM Odometer input The odometer input accepts TTL pulses from an encoder on a single wheel An encoder from a gearbox should not be used and simulated TTL pulses should not be used The timing of the odometer input pulses is critical and nothing should cause any delay in the pulses The odometer input requires less than 0 8 V for a low pulse and more than 2 4 V for a high pulse Limited protection is provided on this input however the input voltage should not exceed 12 V The wheel that is used should not steer the vehicle The Survey will assume that this wheel travels straight Revision 150714 58 Camera trigger The camera tr
49. he same time as an odometer input As with the Wheel configuration feature the odometer input can only be used on land vehicles aircraft and marine vehicles cannot use this option The odometer must not be E Oxford Technical Solutions Survey User Manual Qaxrs used on a steered wheel it must be used on a wheel that is measuring the forward direction of the vehicle Figure 20 shows the Odometer input properties window To enable the odometer input ensure the checkbox is checked If this option is disabled the Survey will ignore corrections from the odometer even if it is connected Figure 20 NAVconfig Odometer input properties window I2 Odometer input V Enable odometer input Measured from the Survey device Where is the measurement point of the odometer Ahead v 0 000m 0 100 m Right v 0 000m 0 100 m Below v 1 000m 0 100 m Specify each accuracy separately Overall accuracy 0 100 m v f T Ay EN B CK Pulses per metre 100 000 pulses per metre to within 10 00 v OK Cancel The distances from the Survey to the measurement point of the odometer in the vehicle co ordinate frame should be input The directions can be selected from the drop down lists If the odometer is from a prop shaft then the distance should be measured half way between the two wheels The illustrations in the window will change depending on the settings you choose to help visualise the position of the Surve
50. hout specialised software and equipment For further calibration testing it is necessary to return the unit to OxTS Note that the Survey is capable of correcting the error in the angular rate sensors very accurately It is not necessary to have very small values for the angular rates when stationary since they will be estimated during the initialisation process and warm up period This estimation process allows the Survey to go for long periods without requiring recalibration Testing the internal GNSS and other circuitry To check that all the internal circuits in the Survey are working correctly and that the navigation computer has booted correctly use the following procedure Es Oxford Technical Solutions Survey User Manual Qaxrs 1 Connect power to the system connect the system to a laptop computer and run the visual display software NAV display 2 Use Table 28 to check that the status fields are changing Table 28 Status field checks Field Increment rate IMU packets 100 or 250 per second depending on product model IMU chars skipped Not changing but not necessarily zero GPS packets About 20 per second depending on system GPS chars skipped Not changing but not necessarily zero GPS2 packets About 5 to 10 per second depending on system GPS2 chars skipped Not changing but not necessarily zero The GPS2 related fields will only increase for dual antenna systems These checks will ensure tha
51. iable for any indirect 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 Revision 150714 EB Table of contents Scope of delivery F Introduction 9 Easy operation 10 Self correcting 10 Advanced processing 10 Related documents 11 Survey family divisions 12 Single antenna 13 Dual antenna 13 GLONASS 13 250 Hz 14 Satellite differential corrections 14 Specification 15 Heading accuracy 17 Environmental protection 17 GNSS antenna operating temperature 17 Export control classification number 17 Conformance notices 18 Regulator testing standards 18 Software installation 19 Hardware installation 21 Survey orientation and alignment 21 Antenna placement and orientation 21 Operation 24 Front panel layout 24 LED definitions 25 Co ordinate frame conventions 27 Navigation frame 28 Level frame 29 EI Oxford Technical Solutions Survey User Manual Qaxrs Vehicle frame 30 Ethernet configuration 30 Dual antenna systems 32 Multipath effects on dual antenna systems 34 Configuring the Survey 35 Overview 35 Selecting the operating language 36 Navigating through NAVconfig 36 Product selection 36
52. ientation accuracies E Oxford Technical Solutions Survey User Manual Qaxrs You can see the Survey is nearly at specification after just this small amount of driving However experience tells us the Kalman filter will continue to make some improvements not obvious during the first few figures of eight The main part of the motion occurs after 1100 s when the vehicle was driven in a figure of eight for 6 minutes These are fairly large figures of eight driven at relatively low speeds Notice the brake stops in the velocity graph a in Figure 30 where the speed falls to zero These are important parts of the warm up so as many states in the Kalman filter as possible can be updated Notice how close to the specification the Survey is even without the figure of eight manoeuvres Warm up is recommended in order to achieve the highest level of accuracy In aircraft applications flying figures of eight will remove a few hundredths of a degree of roll and pitch error which can be critical for geo referencing applications The same is true for marine applications However the effect is small and only significant when you need the full performance of the Survey Revision 150714 A Inputs and outputs The Survey has one main connector for its inputs and outputs label 6 on Figure 4 The J1 connector of the Survey user cable connects to this and connectors J2 J7 of the user cable provide connections for the inputs and outputs The
53. igger output generates a pulse for a fixed distance travelled The configuration software can change the number of metres travelled between pulses The output has 0 8 V or less for a low and 2 4 V or more for a high There is no protection on this output no more than 10 mA should be used on this output IMU sync output pulse The IMU inertial measurement unit sync output pulse is a 100 Hz or 250 Hz output pulse synchronised to the IMU sample time The output has a duty cycle of approximately 50 and the falling edge is synchronised to the sample file of the data from the IMU The IMU is already synchronised to GPS time so one of the pulses each second will line up with the 1PPS output This allows other systems to sample based on the timing of the Survey Reverse polarity protection The Survey products have limited reverse polarity protection Reversing the polarity on the power inputs for short periods of time is unlikely to damage the product Causing a short circuit through the Survey will damage the product A short circuit will be created if the polarity is reversed and another connector has ground connected In this condition the ground input of the power supply will be connected to the positive power supply this causes a high current to flow through the circuits in the Survey and it will damage several internal components If the fuse in the plug needs to be replaced then it should be replaced with the Littelfuse model given
54. in Table 25 If an alternative connector is fitted to the cable then an appropriate 5 A fast blow fuse should be fitted Table 25 Replacement fuse Parameter Specification Manufacturer Littelfuse Part number 0214005 Description 5 A torpedo type fuse Dimensions 25 x 6 mm Voltage rating 36 V uu Oxford Technical Solutions Survey User Manual Qaxrs Laboratory testing There are several checks that can be performed in the laboratory to ensure that the system is working correctly The most fragile items in the system are the accelerometers the other items are not subject to shock and do not need to be tested as thoroughly Accelerometer test procedure To check that the accelerometers are working correctly follow this procedure 1 Connect power and a laptop to the system 2 Commit a default setting to the Survey using NA Vconfig then run NAVdisplay 3 Click the Calibration button then select the Navigation tab and ensure the x y and z accelerations values 19 to 21 are within specification when the Survey is placed on a level surface in the orientations according to Table 26 Table 26 Acceleration measurement specifications Orientation Acceleration measurement y Flat Flat Down z acceleration between 9 7 and 9 9 m s Flat Flat Up z acceleration between 9 7 and 9 9 m s Down Flat Flat x acceleration between 9 7 and 9 9 m s Up Flat Flat x acceleration between 9 7 and 9 9 m s Flat Down Flat y
55. install the Survey where it is in direct sunlight as in hot countries this may cause the case to exceed the maximum temperature specification Survey orientation and alignment The orientation of the Survey in the vehicle is normally specified using three consecutive rotations that rotate the Survey to the vehicle s co ordinate frame The order of the rotations 1s heading z axis rotation then pitch y axis rotation then roll x axis rotation The Survey co ordinate conventions are detailed on page 27 It is important to get the order of the rotations correct In the default configuration the Survey expects its y axis to be pointing right and its z axis pointing down relative to the host vehicle There are times however when installing a Survey in the default configuration is not possible for example when using the RT Strut The Survey can be mounted at any angle in the vehicle as long as the configuration is described to the Survey using NAVconfig This allows the outputs to be rotated based on the settings entered to transform the measurements to the vehicle frame For ease of use it is best to try and mount the Survey so its axes are aligned with the vehicle axes This saves the offsets having to be measured by the user If the system must be mounted misaligned with the vehicle and the user cannot accurately measure the angle offsets the Survey has some functions to measure these offsets itself The heading offset can be measu
56. ion Time Measured by internal GNSS Position Measured by internal GNSS Velocity Measured by internal GNSS Heading Approximated to course over ground with large error when the vehicle moves Dual antenna models have the option for static initialisation which does not require any movement Roll pitch Estimated over first 40 s of motion with large error The system will start when it has estimates of all of these quantities Course over ground will be used as the initial heading when the system exceeds the value set as the initialisation speed unless static initialisation has been selected for a dual antenna system The system takes about 40 s to find approximate values for roll and pitch For the initialisation process to work correctly the Survey requires the user to tell it which way it is mounted in the vehicle otherwise the course over ground will not be close enough to the heading Real time outputs During the initialisation process the system runs 1 s behind allowing GNSS information to be compared to information from the inertial sensors After initialisation the system has to catch up from this 1 s lag It takes 10 s to do this During the first 10 s the system cannot output data in real time the delay decays to the specified latency linearly over this 10 s period The system turns the SDNav LED orange to show the outputs are not real time When the system is running in real time this LED is green Revision 150714 e
57. is no manual for NAVconfig The options relevant to the Survey products are covered in this manual on page 35 RT Post Process Used to download raw data files from the Survey and post process the data The configuration can be changed and differential corrections can be applied before the data is I reprocessed It can export NCOM XCOM and CSV file formats NAVgraph Used to graph NCOM XCOM and RCOM files created in post process It can display graphs cursor tables and map plots and data can be exported in CSV or KML Google Earth format Manuals This folder contains PDF versions of relevant OxTS manuals Other manuals can be downloaded from the OxTS website http www oxts com support manuals To install NAVsuite insert the CD and run NAVsetup exe Follow the onscreen instructions to install the software By default the installer creates the program files in C Program Files x86 OxTS on 64 bit operating systems or C Program Files OxTS on 32 bit operating systems The first time some OxTS applications are run a firewall warning message similar to that shown in Figure 2 may be triggered This is because the program is attempting to Revision 150714 m Inertial GPS listen for and communicate with OxTS devices on the network The firewall must be configured to allow each program to talk on the network or programs will not work as intended Figure 2 Windows Firewall warning message P Win
58. is possible to save a copy of the configuration in a folder on your computer This can then be loaded next time The Save Finish page also lets you know if the settings have been committed successfully or not Figure 28 shows the Save Finish page Figure 28 NAVconfig Save Finish page o NAVconfig Survey Finish Q Save configuration to a folder S NSAEXTS You have not yet committed your changes to the device Go back to the Commit screen to retry Save settings v Save settings in the following folder C OxTS Survey cfg Product Selection Read Configuration GNSS Selection Orientation Primary Antenna Secondary Antenna Wheel Configuration Options Commit Dev ID 150610 14am EEnolish Back Finish Cancel Revision 150714 lg To save a copy of the configuration in a local folder check the Save settings in the following folder box and use Browse to select a folder The configuration has a number of files associated with it so it is recommended to create a new folder Click Finish to save the configuration to the selected folder and close NAVconfig B Oxford Technical Solutions Survey User Manual Qaxrs Initialisation process Before the Survey can start to output all the navigation measurements it needs to initialise itself In order to initialise the Survey needs all the measurements listed in Table 23 Table 23 Quantities required for initialisation Quantity Descript
59. is selected The Altitude reference can be compared to either ellipsoidal or geoidal height If Ellipsoid is selected the altitude will be output with respect to the reference ellipsoid selected in the coordinate datum section If Geoid receiver default is selected the altitude will be relative to the geoid used in the GNSS receivers A Custom geoid file can be used for local variations To download supported geoid files go to http support oxts com local geoid files The ugf file must be saved in C Users username Documents OXTS Shared Custom geoid files Once the file is downloaded and saved in this location it can be selected from the dropdown box BH Oxford Technical Solutions Survey User Manual Qaxrs A constant offset to the specified altitude reference can be applied by checking the Set offset box typing in a value into the cell Output lock Adjustment select a predefined value from the drop down list The output of the Survey will continue to change even when the vehicle is stationary For some video systems this leads to ambiguous results The position and orientation can be locked by the Survey automatically when the vehicle becomes stationary While the outputs are locked the Kalman filter continues to run and accumulate errors When the vehicle moves the Kalman filter will quickly return to the new solution The drift rate can be controlled using the Output smoothing option Differential correction Adjust
60. lected baud rate to fix this it is necessary to lower the data rate of the selected NMEA sentences or increase the baud rate Selecting Allow extended length messages enables the full GGA and RMC messages to be output which are longer than the NMEA specification allows Please see the NMEA 0183 Description manual for more details Selecting Output approximate values before initialisation forces output of the raw GNSS measurements before the Survey is initialised Currently just the position is output and this is the position of the antenna not the inertial measurement unit Note that there will be a jump from the antenna to the inertial measurement unit when initialisation occurs Ethernet output Adjustment click button to open properties window The Ethernet output of the Survey can be configured for different data rates and delays Figure 22 shows the Ethernet output properties window Figure 22 NAVconfig Ethernet output properties window 2 Ethernet Output ES General Output packet NCOM v Data rate 100 Hz v Output on falling edge of trigger C Output on rising edge of trigger _ Output on camera trigger Advanced Delay output by ms 0 0ms v The Ethernet output can either output NCOM or MCOM or be disabled by using the Output Packet drop down list When NCOM or MCOM is selected the Data rate can be selected by using the drop down list Revision 150714 EZ The Survey can output Ethernet
61. ll get the information that the Survey is currently using and apply it next time the Survey starts Use this setting if the Survey is running has initialised and has warmed up Select the correct IP address of the Survey to read the configuration from in the drop down list Note the list Dn Oxford Technical Solutions Survey User Manual Qaxrs will not function correctly if NAVdisplay or other software is using the Survey UDP port unless the OxTS UDP Server is running Once the source has been selected click Next and the software will find which settings can be obtained from the source Settings that cannot be obtained will be shown in grey this may be because the Survey is not calculating these values at present Figure 14 shows the Settings page with the parameters available to improve in the configuration You may update several parameters at once Select the settings you want to be updated and uncheck the ones that you do not want to update Click Finish to transfer these settings to the configuration wizard Figure 14 Select which settings to update for improved configuration n f 2 Get settings from device J Select Configuration VIEXTS Choose which settings should be used tems Description Orientation in vehicle Primary GNSS antenna Step 2 of 2 Secondary GNSS antenna Wheel speed input Source Select all Geaal Back If Orientation in vehicle is selected
62. man filter The gx ix raw data processing algorithm uses the raw data from the GNSS and custom algorithms to compute position and velocity tailored to the needs of the Kalman filter It also improves performance in poor GNSS environments using single satellite aiding technology and tightly coupled GNSS and inertial measurements Gx ix mode is recommended to achieve the highest accuracy in environments where RTK lock may be difficult to maintain e g urban canyons Note gx ix processing is a new technology and is still being developed and improved As such there are some limitations to its compatibility Table 21 details the current compatibilities of gx ix mode EJ Oxford Technical Solutions Survey User Manual Qaxrs Table 21 gx ix compatibility GNSS mode Real time Post process SPS v v SBAS X x DGPS v M RTK X With gxRTK upgrade GLONASS X X Note only RTCM V3 format differential corrections are supported in gx ix mode The Recovery tab controls how the Survey will accept or reject GNSS measurements The Survey will automatically reject GNSS updates that it believes are not correct However there is a limit on the number of GNSS measurements that the Survey will reject Once this limit has passed the Survey accepts the GNSS update since it is possible the GNSS is correct and the inertial measurements are not The GNSS control determines how many updates the Survey should ignore before forcing the GNSS to be accepted Both the
63. ment click button to open properties window The Survey can be configured to use several different differential correction message types on connector J3 Figure 26 shows the Differential corrections properties window Table 22 gives details on the different correction types available Revision 150714 e Figure 26 NAVconfig Differential corrections properties window r 2 Differential corrections General Settings Correction type RTCMV3 X Enable NTRIP corrections Serial port settings Baud rate 9600 Data bits 8 X Parity None z Stop bits 1 Networked DGPS Disabled D Network correction transmitter Network correction receiver Table 22 NAVconfig differential correction types Correction type Description RTCA RTCM RTCM V3 CMR Advanced RTCA is the standard adopted for aircraft It was the first open standard to use 2 cm corrections The RT Base and GPS Base products use RTCA RTCM is the most common open standard used for differential corrections Old implementations of RTCM did not support 2 cm corrections which is why Oxford Technical Solutions uses RTCA by default New models support 2 cm corrections over RTCM RTCM V3 is the latest version of RTCM This option gives the best accuracy and should be used if your differential corrections are in Version 3 format This is a standard adopted by Trimble The Survey products support
64. messages when an event rising or falling edge is input on the event input pin It can also output Ethernet messages from pulses in the camera trigger These messages are interpolated to the time when the event occurred and may be output up to 30 ms late and out of order compared to the normal messages It is essential to enable these options if the events have a rate higher than 1 Hz otherwise the output cannot communicate all of the events and some will be lost The Delay output option should not be used with the Survey Output smoothing Adjustment click button to open properties window When the Kalman filter in the Survey determines that there is some error to correct this error is applied smoothly rather than as a jump The output smoothing controls how fast the correction is applied to the outputs Figure 23 shows the Output smoothing window Click the checkbox to enable output smoothing and unlock the properties for editing Figure 23 NAVconfig Output smoothing properties window LE Output smoothing properties V Enable output smoothing Smoothing Position 0 100 m Velocity 0 500 m s Angle 0 200 deg Time limit Position s Velocity s Angle s OK Cancel The smoothing of the position velocity and orientation corrections can be controlled independently Enter the maximum correction that can be applied every second For example if 0 1 m is entered for the position smoothing then the Survey will only
65. n worse To avoid the Kalman filter from getting things wrong it is possible to drive a calibration run then use the Improve configuration utility within NAVconfig see page 41 for more information This tells the Kalman filter it has already estimated the angle of the secondary antenna in the past and it will be much less Revision 150714 a likely to get it wrong or change it This step should only be done if the Survey 2 is permanently mounted in a vehicle and the antennas are bolted on Any movement of either the Survey 2 or the antennas will upset the algorithms Multipath effects on dual antenna systems Dual antenna systems are very susceptible to the errors caused by multipath This can be from buildings trees roof bars etc Multipath is where the signal from the satellite has a direct path and one or more reflected paths Because the reflected paths are not the same length as the direct path the GNSS receiver cannot track the satellite signal as accurately The dual antenna system in the Survey 2 works by comparing the carrier phase measurements at the two antennas This tells the system the relative distance between the two antennas and which way they are pointing the heading For the heading to be accurate the GNSS receivers must measure the relative position to about 3 mm The level of accuracy can only be achieved if there is little or no multipath In an ideal environment with no surrounding building trees road signs
66. nd roll are usually output in degrees but the functions sin and cos require these values in radians EJ Oxford Technical Solutions Survey User Manual Qaxrs Revision history Table 29 Revision history Revision Comments 131008 140501 140610 150312 150714 Initial version Removed OmniSTAR support Updated to v2 systems Added Survey L1 Added vertical advanced slip and coordinate frame configuration options Updated for the Spring 2015 NAVsuite release Revision 150714 EZ Drawing list Table 30 lists the available drawings that describe components of the Survey system Many of these drawings are attached to the back of this manual Note that the x following a drawing number is the revision code for the part If you require a drawing or different revision of a drawing that is not here then contact Oxford Technical Solutions Table 30 List of available drawings Drawing Description 14A0007x Survey system outer dimensions 14C0121A Survey user cable 110 00012 601 G5Ant 2AMNSI GNSS antenna 110 00148 601 G5Ant 42ATI GNSS antenna 110 00150 601 G5Ant 52ATI GNSS antenna B Oxford Technical Solutions Oxford Technical Solutions 77 Heyford Park Upper Heyford Oxfordshire OX25 5HD www oxts com Copyright Oxford Technical Solutions 2013 The information in this document is confidential and must not be published or disclosed either wholly or in part to oth
67. nd then drives suddenly Note The heading of most vehicles does change if the steering wheel is turned while the vehicle is stationary Junctions and pulling out of parking spaces are common places where drivers turn the steering wheel while not moving Displace output Adjustment click button to open properties window The Survey can displace or move its outputs to another location in the vehicle This simulates the Survey being mounted at the new location rather than at its actual location This function displaces all of the outputs position velocity acceleration to this new location To enable output displacement click the checkbox in the properties window and enter the offsets to the new location in the vehicle The offsets are measured from the Survey in the vehicle co ordinate frame Select the directions from the drop down lists Note that the noise in the acceleration outputs will be much higher when output displacement is used Typical installations in moving vehicles have angular vibrations of about 2 rads s this equates to 2 m s of additional vibration of a 1 m output displacement It will be necessary to filter the data 1f Displace output is used Odometer input Adjustment click button to open properties window Using an odometer input makes a huge difference to the longitudinal drift performance of the Survey when GNSS is not available It is essential to use the Wheel configuration feature page 47 at t
68. nfiguration from a folder select this option and specify a folder by clicking the Browse button E Oxford Technical Solutions Survey User Manual Qaxrs Read settings from an RD file The Survey writes the configuration it is using to the internally stored RD file This option extracts the configuration used and loads it in the configuration wizard Specify an RD file by selecting this option and clicking the Browse button Read initial settings from device If the Survey is connected to the computer via Ethernet then it is possible to read the initial settings directly from the Survey The settings loaded are the settings that were last committed to the Survey before it makes any improvements Select this option and enter the correct IP address of your Survey or select it from the drop down list The list will show all systems that are connected to the network so if more than one system is connected ensure you select the correct system Note the list will not function correctly if NAVdisplay or other software is using the Survey UDP port unless the OxTS UDP Server is running Orientation The Orientation page is used to define the vehicle co ordinate frame relative to the Survey s co ordinate frame It is important to get the orientation correct as although settings entered on this page do not affect the accuracy of the Survey if the outputs are not properly rotated to the vehicle frame then the measurements will appear inco
69. no Description 1 SDNav LED Pos Head LED GNSS LED Power LED Primary antenna connector User cable main connector ND t A UU N Secondary antenna connector LED definitions The front panel of the Survey has four LEDs These give an indication of the internal state of the system and are designed to provide enough feedback so that a laptop does not need to be connected They can be used for some simple operational checks on the system Table 8 gives a description of each LED and Table 9 Table 10 Table 11 Table 12 and Table 13 list the precise meanings of the states of each LED Table 8 LED descriptions Name Description SDNav Strapdown navigator state Pos Head Position solution single antenna or heading solution dual antenna from GNSS GNSS Self test Power Power comms Revision 150714 a Table 9 SDNav LED states Colour Description Off The operating system has not yet booted and the program is not yet running This occurs at start up Red green The Survey is asleep Contact OxTS support for further information flash Red flash The operating system has booted and the program is running The GNSS receiver has not yet output a valid time position or velocity Red The GNSS receiver has locked on to satellites and has adjusted its clock to valid time the 1PPS output will now be valid The strapdown navigator is ready to initialise If the vehicle is travelling faster than the value set for Initialis
70. ns Identical to NCOM output but with the addition of heave measurements TSSI TSS1 format outputting acceleration heave roll and pitch TSSHHRP TSSHHRP format EM3000 Suitable for use with Simrad EM3000 multibeam sounders EM1000 Suitable for use with Simrad EM1000 multibeam sounders If the NMEA packet type is selected the NMEA tab will appear in the properties window see Figure 21 In this tab the NMEA messages to output on the serial port of the Survey are selected by choosing the data rate for each message type from the drop down lists and clicking the checkbox for when to generate the message NMEA messages can be generated by falling or rising voltages on the event inputs Check the falling or rising edge checkbox to compute the message when the event occurs The Survey can also generate NMEA messages from pulses on the camera trigger These messages use interpolation to compute the values at the exact time of the event and may be output on the serial port up to 30 ms late and out of order compared to the normal messages To enable these messages check the appropriate checkbox Note that it is easy to overload the serial port if there are too many events The software computes the number of characters that will be output each second and displays this at E Oxford Technical Solutions Survey User Manual Qaxrs the bottom of the window A serial port data overflow warning message will appear if the data rate is too high for the se
71. ollection of C functions that can be used to decode the binary protocols from the Drivers Survey www oxts com Downloads Support NCOM Manual and Code Drivers ncomrx zip NA Vdisplay User manual for the real time display software NAVdisplay Manual www oxts com Downloads Support Manuals NA Vdisplayman pdf RT Post User manual for the post processing software RT Post process prose www oxts com Downloads Support Manuals rtppman pdf NAVeraph User manual for the graphing and display software NAV graph Mangal www oxts com Downloads Support Manuals NA V graphman pdf Revision 150714 L Survey family divisions There are two product models in the Survey family the standard Survey and the Survey L1 The Survey models use high grade dual frequency GNSS receivers while the Survey L1 models use single frequency receivers For each of these models there are a number of different option variations all based on the same core system but with minor differences to address different applications Table 3 lists the current model line up for the Survey family Table 4 lists the current model line up for the Survey L1 family Table 3 Survey model options Product name Description Survey Base model Single antenna 100 Hz L1 L2 GPS Survey 2 Dual antenna 100 Hz L1 L2 GPS Survey G Single antenna 100 Hz L1 L2 GPS amp GLONASS Survey 2G Dual antenna 100 Hz L1 L2 GPS amp GLONASS Survey 250 Single ant
72. password are both user Ethernet configuration The Survey outputs its data over Ethernet using a UDP broadcast The use of a UDP broadcast allows everyone on the network to receive the data sent by the Survey The data rate of the UDP broadcast is 100 Hz or 250 Hz en Oxford Technical Solutions Survey User Manual Qaxrs In order to communicate via Ethernet each Survey is configured with a static IP address that is shown on the delivery note If the delivery note is unavailable the default IP address normally takes the form 195 0 0 sn where sn is the last two digits of the Survey s serial number The serial number can be found on the front panel of the Survey or on the delivery note The IP address of the computer being used to communicate with the Survey may need to be changed so it matches the subnet For example 195 0 0 200 should be available since this IP address is never used by the Survey by default To change the IP address of the computer follow these steps applies to Windows Vista 7 8 1 Open the Control Panel from the Start menu 2 In category view select Network and Internet and then Network and Sharing Center 3 Select Change adapter settings in the side panel 4 Right click the Ethernet option and select Properties 5 In the window that opens navigate the list to find Internet Protocol Version 4 TCP IPv4 Select it and click Properties 6 In the TCP IPv4 Properties window
73. r some slow vehicles cannot achieve this speed For these vehicles adjust the initialisation speed to a different value If a speed less than 5 m s is selected then care should be taken to make sure that the Survey is travelling straight when it initialises Camera trigger Adjustment select a predefined value from the drop down list or type in a value The Survey can generate a regular pulse based on distance for example one pulse every 10 m of travel This can be used to trigger a camera so that a picture can be taken on a regular basis Enter the distance between pulses or leave disabled default GNSS weighting Adjustment select a predefined value from the drop down list The Survey can place different emphasis on the GNSS receiver s measurements The default setting is Medium placing equal weighting on the GNSS receivers and inertial sensors Selecting High will cause the Survey to believe the GNSS receivers more and selecting Low will make the Survey rely more on the inertial sensors In urban environments it is better to believe the inertial sensors more whereas in open sky the GNSS receiver should be believed more Heading lock Adjustment select a predefined value from the drop down list The heading of the single antenna Survey can drift when it remains stationary for long periods of time To solve this the Survey includes an option to lock the heading to a fixed value when stationary This option cannot be used i
74. red if the vehicle has a non steered axle The Wheel configuration and Improve configuration utilities should be used for this see pages 47 and 41 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 vehicle For good multipath rejection the antennas must be mounted on a metal surface using the magnetic mounts provided no additional gap may be used Revision 150714 8 The antennas cannot be mounted on non conducting materials or near the edges of conducting materials If the antennas are to be mounted with no conductor below them then different antennas must be used It is recommended to mount the antennas at least 30 cm from any edge where possible For dual antenna systems the secondary antenna should be mounted in the same orientation as the primary antenna as shown in Figure 3 The antenna baseline should also be aligned with one of the vehicle axes where possible either inline or perpendicular to the vehicle s forward axis In the default configuration the primary antenna should be at the front of the vehicle and the secondary antenna should be at the rear Figure 3 Dual antenna orientations lt y gt lt x gt ew 4 Ta p 2 ATA c2 Jo TR Py A lt x y bE A B c A The bases of the antennas are parallel but the cables exit in diffe
75. rent directions B The cables exit in the same direction but the bases of the antennas are not parallel C The bases of the antennas are parallel and the cables exit in the same direction This configuration will achieve the best results It is best to mount the two antennas on the top of the vehicle Although it is possible to mount one on the roof and one on the bonnet hood in reality the multipath reflections from the windscreen will degrade the performance of the system On aircraft it is best to mount the antennas on the main aircraft fuselage if the Survey is mounted in the aircraft fuselage itself If the Survey is mounted on a pod under the wings then mounting the antennas on the pod may give the best results Multipath affects dual antenna systems on stationary vehicles more than moving vehicles and it can lead to heading errors of more than 0 5 RMS if the antennas are mounted poorly It is critical to have the Survey 2 mounted securely in the vehicle If the angle of the Survey 2 can change relative to the vehicle then the dual antenna system will not work correctly This is far more critical for dual antenna systems than for single antenna systems The user should aim to have no more than 0 05 of mounting angle change throughout the testing If the Survey 2 is shock mounted then the Survey 2 mounting will change by more than 0 05 this is acceptable but the hysteresis of the mounting may not exceed 0 05 A Oxford Technic
76. rrect When using the RT Strut the orientation will need to be changed Figure 11 shows the Survey mounted on an RT Strut in a vehicle In this configuration the y axis points left and the z axis points forwards Other configurations are possible with the RT Strut Revision 150714 B Figure 11 Survey mounted on RT Strut The front panel label of the Survey seen in Figure 4 on page 24 shows the axes and directions relative to the system for easy reference while configuring it The Orientation page of the configuration wizard shown in Figure 12 also has illustrations to visualise the orientation of the Survey in a vehicle based on the settings input 0 Oxford Technical Solutions Survey User Manual Qaxrs Figure 12 NAVconfig Orientation page O NAVconfig Survey cama Orientation Q Specify how you have mounted the device in the vehicle WZXTS Y axis points Z axis points 7 Edit advanced settings Product Selection 0 000 deg Read Configuration 0 000 deg GNSS Selection 0 000 deg Primary Antenna aS Secondary Antenna d Wheel Configuration Get pev d saing aer s Options warming the system up to remove any settings Commit errors that were made when orienting ni the INS and its antennas These will be SavelFinish commited to the system and used next time it powers up WARNING This feature should not be used if the INS is not permanently installed there is a risk your INS will rot
77. s are v2 In instances where the same product type will be used each time the Product Selection page can be skipped in the future by clicking the Always use this product checkbox If a different product needs configuring the selection page can be returned to by clicking Product Selection in the sidebar Revision 150714 a Read configuration The Read Configuration page gives several options for reading the configuration from different places as shown in Figure 10 Figure 10 NAVconfig Read Configuration page e NAVconfig Survey S Read Configuration ra Q Choose where the initial settings should be read from 3 i 4OxTS Use default settings Read settings from a folder Read settings from an RD file Product Selection GNSS Selection Read initial settings from device Orientation Primary Antenna Secondary Antenna Wheel Configuration Options Commit Save Finish Dev ID 150610 14am EES Engish Use default settings This option tells the configuration wizard to use the default settings the Survey was delivered with Note choosing Use default settings will overwrite any advanced settings you may have set To maintain advanced settings the Read initial settings from device option must be used Read settings from a folder It is possible to store a configuration in a folder The configuration requires several files so it is tidier to keep it in a folder by itself To read the co
78. s on low friction surfaces e g ice GNSS only dual antenna systems require open sky environments to operate because they can take several minutes to acquire heading lock Advanced processing in the Survey 2 allows relock to occur after 5 s of a sky obstruction in this time the Survey 2 s heading will not have significantly degraded The fast relock time is made possible because the Survey 2 s own heading is used to resolve the ambiguities in the GNSS measurements Resolution of these ambiguities is what normally takes several minutes The heading software in the Survey 2 enables significantly better performance and coverage compared to GNSS only solutions GLONASS GLONASS capability adds the ability to utilise the Russian satellite constellation GLONASS as well as the American constellation GPS This means an extra 24 satellites are available for the Survey G to lock on to and obtain position and velocity updates from In open sky conditions the addition of GLONASS capability is of little benefit as the GPS signals are unlikely to be interrupted and full accuracy can be achieved almost 100 of the time However in situations such as road surveying and mobile mapping there are likely to be bridges trees and tall buildings that can block the view of satellites or cause multipath effect errors In these situations GPS and GLONASS receivers are able to maintain 2 cm accurate RTK positioning mode at times when GPS only receivers ar
79. siness interruption however caused and on any theory of liability whether in contract strict liability or tort including negligence or otherwise arising in any way out of the use of this software even if advised of the possibility of such damage Copyright Notice Copyright 2015 Oxford Technical Solutions Revision Document Revision 150714 See Revision History for detailed information Contact Details Oxford Technical Solutions Limited Tel 44 0 1869 238 015 77 Heyford Park Fax 44 0 1869 238 016 Upper Heyford Oxfordshire Web http www oxts com OX25 SHD Email support oxts com United Kingdom a Oxford Technical Solutions Survey User Manual Qaxrs Warranty Oxford Technical Solutions Limited OxTS warrants the Survey products to be free of defects in materials and workmanship subject to the conditions set forth below for a period of one year from the Date of Sale Date of Sale shall mean the date of the Oxford Technical Solutions Limited invoice issued on delivery of the product The responsibility of Oxford Technical Solutions Limited in respect of this warranty is limited solely to product replacement or product repair at an authorised location only Determination of replacement or repair will be made by Oxford Technical Solutions Limited personnel or by personnel expressly authorised by Oxford Technical Solutions Limited for this purpose In no event will Oxford Technical Solutions Limited be l
80. stems but not Survey L1 systems include the necessary hardware to receive the TERRASTAR corrections It is necessary to pay TERRASTAR a license fee to activate the corrections The Survey is capable of using the TERAASTAR D service providing better than 10 cm position accuracy TERRASTAR is available on all continents Marine versions also exist For more information see TERRASTAR s web site http www terrastar net u Oxford Technical Solutions Survey User Manual Qaxrs Specification Specifications for the Survey can be found in Table 5 These specifications are listed for operation of the system under the following conditions e After a warm up period of 15 minutes continuous operation e Open sky environment free from cover by trees bridges buildings or other obstructions The vehicle must have remained in open sky for at least 5 minutes for full accuracy e The vehicle must exhibit some motion behaviour Accelerations of the unit in different directions are required so that the Kalman filter can estimate the errors in the sensors Without this estimation some of the specifications degrade e The distance from the Survey sensor point to the primary GNSS antenna must be known by the system to a precision of 5 mm or better The vibration of the system relative to the vehicle cannot allow this to change by more than 5 mm The system can estimate this value itself in dynamic conditions e For dual antenna systems the sys
81. t the signals from the GNSS receivers and from the inertial sensors are being correctly received at the navigation computer Revision 150714 a Using the orientation measurements This section has been provided to clarify the definitions of heading pitch and roll that are output by the Survey The Survey uses quaternions internally to avoid the problems of singularities and to minimise numerical drift on the attitude integration Euler angles are used to output the heading pitch and roll and these have singularities at two orientations The Survey has rules to avoid problems when operating close to the singularities if you regenerate the rotation matrices given below then they will be correct The Euler angles output are three consecutive rotations first heading then pitch and finally roll that transform a vector measured in the navigation co ordinate frame to the body co ordinate frame The navigation co ordinate frame is the orientation on the earth at your current location with axes of north east and down If V is vector V measured in the navigation co ordinate frame and V b is the same vector measured in the body co ordinate frame the two vectors are related by V a C py V p cos y sin y 0 cos 0 0 sin0 0 0 V aF siny cosy of 0 1 0 jf0 cos 0 sin gt Vy 0 0 1 si 0 0 cos 0 O sin d cos Q where y is the heading angle 0 is the pitch angle and is the roll angle Remember heading pitch a
82. tem must know the relative orientation of the two antennas to 0 05 or better The system will estimate this value itself under dynamic conditions e For single antenna systems the heading accuracy is only achieved under dynamic conditions Under slow and static conditions the performance will degrade Optionally extended measurement ranges covering 30g acceleration and 300 s angular rate may be requested The specification using the extended measurement range sensors can be marginally worse than those listed here Revision 150714 el Table 5 Typical performance specification for Survey systems Product Positioning Position accuracy CEP Velocity accuracy Roll pitch Heading Acceleration Bias stability Linearity Scale factor Noise Range Angular rate Bias stability Linearity Scale factor Noise Range Heave Dual antenna Update rate Input voltage Power consumption Dimensions Mass Calculation latency Operating temperature Vibration Shock survival Internal storage Survey GPS L1 L2 GLONASS LI L2 on G models 1 5m SPS 0 6m SBAS 0 4 m DGPS 0 1 m PPP 0 01 m RTK 0 05 km h RMS 0 03 10 0 1 lo 5 ug lo 0 01 16 0 1 16 0 005 m s Nhr 16 10g 2 hr lo 0 05 lo 0 1 1c 0 2 Vhr 16 100 s 10 cm or 10 x 100 Hz 250 Hz 10 25 V dc 15W 234 x 120 x 80 mm 2 2 kg 3 5 ms 10 50 C 0 1 g Hz 5
83. tennas are level the separation should be measured to within 5 cm If the antennas are not level i e mounted with height offsets or on an incline then the box should be unchecked In this case the separation should be measured to within 5 mm Enter the antenna separation and select to position of the secondary antenna relative to the primary antenna from the drop down list The illustrations will change according to the settings you choose to help visualise the configuration of the antennas If the antennas are mounted at significantly different heights or if the mounting angle is not directly along a vehicle axis forward or right then click the Edit advanced settings checkbox to enable advanced settings and specify the orientation and height offset Getting the angle wrong by more than 3 can lead the Survey 2 to lock on to the wrong heading solution The performance will degrade or be erratic if this happens If the angle between the antennas cannot be estimated within a 3 tolerance then contact OxTS support for techniques for identifying the angle of the antennas g Oxford Technical Solutions Survey User Manual Qaxrs The Enable static initialisation option is useful for slow moving vehicles or when dynamic initialisation may be difficult Static initialisation is 99 reliable in open sky but the reliability decreases in environments with high multipath Static initialisation is also faster when the antenna separation is smaller an
84. the forward f direction of the car projected in to the horizontal plane Lateral This is the lateral 1 direction of the car pointing to the right projected in to the horizontal plane Down This is the down d direction of the car along the gravity vector Figure 6 Level frame definition Lateral Forward Lateral Oo E Down Down Forward Revision 150714 Vehicle frame The vehicle frame is attached to the body of the vehicle It is related to the Survey through the rotations in the Orientation page of NAVconfig It can be changed while the Survey is running using the Quick Config tool of NAVdisplay The definitions of the vehicle frame are listed in Table 17 and shown in Figure 7 Table 17 Vehicle frame definition Axis Description x This is the forward direction of the car y This is the right direction of the car Z This is the down direction of the car Figure 7 Vehicle frame definition X y z Z To configure the Survey for unrestricted data transmission it is necessary to use the Ethernet connection The operating system at the heart of the Survey products allows connection to the unit via FTP The use of FTP allows the user to manage the data logged to the unit files can be downloaded for reprocessing and deleted to make space for future files Configuration files for alternative configurations require FTP to put the configuration files on to the Survey The default username and
85. then this has consequences for other measurements that have already been entered into NAVconfig For example if the orientation in the vehicle has been changed then it is not clear whether the primary GNSS antenna should be rotated or not In general NAVconfig will rotate the configurations that the Kalman filter can derive primary antenna lever arm and secondary antenna orientation but it will not change the user measured configurations wheel config odometer input The improvement to orientation should only be applied if the change in the orientation is small less than 5 If the change in orientation is large then it is likely that the original configuration was wrong or has not been loaded into NAVconfig You are very likely to get poor results if the orientation is changed by a large amount Revision 150714 a Primary antenna position The Survey can calculate the position of the primary antenna itself However this takes time and better results can be achieved sooner if the user measures the distance accurately Getting these measurements wrong is one of the main reasons for poor results from the Survey so it is important to be careful It is recommended to measure the GNSS antenna position to an accuracy of 10 cm or better Figure 15 shows the Primary Antenna page Figure 15 NAVconfig Primary Antenna page E f 2 NAVconfig Survey Se Primary Antenna Specify the primary GNSS antenna position on the vehicle in rel
86. tion page Revision 150714 jar Figure 17 NAVconfig Wheel Configuration page n 2 NAVconfig Survey o Wheel Configuration Specify the position of the non steered axle Lateral settings Vertical settings 7 The vehicle has a non steered axle Measured from the device Where is the centre point of the non steered axle Ahead m 0 000m o wit 0 100 m Product Selection Read Configuration Right 0 000m gis 000m How far below is the ground Primary Antenna Below v 1 000m Secondary Antenna Specify each accuracy separately Options Overall accuracy 0 100m Commit Save Finish Select surface Dev ID 150610 14am English For the Lateral settings the system needs to know the position of the non steered axle rear wheels on a front wheel steering vehicle and vice versa Vehicles with all wheels steering cannot use this feature reliably although minor steering of the rear wheels does not significantly affect the results A position at road height mid way between the rear wheels should be used see Figure 18 Figure 18 Position of road surface at centre of rear wheels Oxford Technical Solutions Survey User Manual Qaxrs Measure the distances to the non steered axle position from the Survey in each axis in the vehicle co ordinate frame Select the direction from the drop down lists and enter the distances Typically all measurements should
87. tions from OxTS Committing the configuration to the Survey Changes to the Survey settings must be sent using Ethernet It is necessary to configure your computer s Ethernet settings so it is on the same network as the Survey The section Ethernet configuration on page 30 gives details on how to do this Figure 27 shows the Commit page Figure 27 NAVconfig Commit page r NAVconfig Survey Se Commit I dz ddl dues 977 Merta GES IP Address of the device that you want to configure AED v Product Selection Read Configuration GNSS Selection Orientation Primary Antenna Secondary Antenna Wheel Configuration Options Save Finish Dev ID 150610 14am EEE English BH Oxford Technical Solutions Survey User Manual Qaxrs Enter the IP address of the Survey that you want to configure or select it from the drop down list The drop down box will list all of the systems that are connected to the computer s network so ensure to select the correct system 1f there are multiple listed The list will not work if NAVdisplay or other software is using the Survey UDP port unless the OxTS UDP server is running Press Commit to save the configuration in the Survey This will automatically reset the Survey so the changes take effect It will be necessary to initialise and warm up the Survey again after the changes have been applied Saving the configuration and finishing Before finishing it
88. uld be used with the odometer on a rear wheel The odometer pulses from driven wheels are less accurate Serial 1 and Serial 2 outputs Adjustment click button to open properties window The Serial 1 and Serial 2 output ports can be configured for different message types Figure 21 shows the properties windows for the Serial 1 output which are the same for Serial 2 EJ Oxford Technical Solutions Survey User Manual Inertial GPS Figure 21 NAVconfig Serial output properties windows 2 Serial 1 output EJ Serial 1 output EX General NMEA General Message type Periodic Falling Rising Camera Packet NCOM v GPGGA 1Hz x GPHDT 1Hz v Baudrate 115200 v GPVTG Disabled v Datarate 100 Hz v it Disabled Y GPGST Disabled v PASHR Disabled v GPRMC Disabled v GPGSV Disabled v GPGSA Disabled Y PTCF Disabled v GPPPS Disabled v PRDID Disabled v appar es o r1 r1 r1 x Baud rate 115200 M Maximum chars per second 101 Available chars per second 11520 Allow extended length messages Output approximate values before initialisation OK Cancel OK Cancel Note NMEA tab only appears when NMEA is selected from the Packet drop down list Select the message type to output from the Packet drop down list and select the baud rate and data rate to output at Table 20 gives details of the different messages Re
89. vision 150714 E Table 20 Serial output options Option Description Disabled The serial output is disabled This option can be used to reduce the computational load and ensure that the Kalman filter runs quicker NCOM Normal output of the Survey NCOM data is transmitted at up to 100 Hz or 125 Hz for 250 Hz systems RS232 does not support 250 Hz The format is described in the NCOM Description Manual Software drivers exist for decoding the NCOM data IPAQ NCOM output at a reduced rate The baud rate of the serial port is set to 19200 and the update rate is 25 Hz It is used because the IPAQ cannot manage to receive the data reliably above 25 Hz IPAQ NCOM output at a reduced rate and polled Windows Mobile 5 on IPAQs crashes if the Survey is sending data when the IPAQ is turned on Using IPAQ the IPAQ will poll the Survey the Survey will not send data while the IPAQ is off preventing the turn on crash of the IPAQ NMEA The NMEA outputs conform to the National Marine Electronics Association Standard NMEA 0183 version 3 01 The NMEA sentences available are GPGGA GPHDT GPVTG GPZDA GPGST PASHR GPRMC GPGSV GPGSA PTCF GPPPS PRDID GPROT GPGGK and GPUTC The NMEA 0183 description manual gives details of the fields output in the NMEA sentences Javad I RTK A special set of messages output in GREIS format to be used with Javad receivers For assistance please contact OxTS for support MCOM Used for marine applicatio
90. y in relation the odometer Ideally the measurements would be made to an accuracy of 10 cm Using higher precision for the measurement does not improve the results Using an accuracy figure worse than 20 cm will increase the drift of the Survey The accuracy can be specified as the same for all measurements using Overall accuracy or it can be specified for each individual measurement by clicking the Specify each accuracy separately Revision 150714 5 checkbox In either case choose a predefined value from the drop down list or type in a value Enter the pulses per metre of the odometer A value that is accurate to 10 is sufficient unless the figure is known more accurately The Survey will improve this scaling factor itself when GNSS is available The Improve configuration utility can be used to apply a more accurate value calculated by the Survey from a calibration run If this option is used then the Survey should be allowed to recalibrate the scaling value occasionally to account for tyre wear See page 41 of this manual for more information on improving the configuration The odometer corrections will not be as effective in reducing the drift of the Survey if the odometer is measuring two wheels i e after a differential since the actual position of the wheel is required for accurate navigation If a post differential encoder must be used then the accuracy cannot be guaranteed For best results a front wheel drive vehicle sho

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