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xNAV User Manual

1. In no event will Oxford Technical Solutions Limited be liable 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 150701 E OXTS Inertial GPS Table of contents Scope of delivery 6 Introduction 7 Related documents 8 Conformance notices Regulator testing standards Basic information 10 Precautions 10 Model variations 10 Front panel layout 10 LED definitions 11 Co ordinate frame conventions 12 Ethernet configuration 13 Software installation 16 Hardware installation 18 Antenna placement and orientation 18 Configuring the xNAV 20 Selecting the operating language 20 Navigating through NAVconfig 20 Product selection 21 Read configuration 22 Orientation 23 Primary antenna position 24 Secondary antenna position 29 Wheel configuration 27 Options 29 IMU output rate 30 Vehicle starts 30 Vibration 30 GNSS weighting 31 ia Oxford Technical Solutions XNAV User Manual aXTs iW Rertial GPS Heading lock 31 SBAS xNAV250 550 a2 Initialisation speed 32 Displace output 32 Odometer input 32 Trigger 1 and Trigger 2 KNAV5 34 Serial input KNAV5
2. 35 Serial 1 output 36 Ethernet output KNAV5 39 Output smoothing 40 GNSS control 40 Coordinate system 42 IPPS 43 Output lock 43 Advanced 43 Committing the configuration 44 Saving the configuration and finishing 44 Operating the xNAV 46 Initialisation and warm up 46 Downloading data 47 Improve the configuration with Get improved settings 47 Specifications 49 Revision history 50 Drawing list 51 Revision 150701 ER OXTS Inertial GPS Scope of delivery Table 1 lists the standard items delivered with each xNAV Everything required to operate the xNAV successfully is included Please ensure everything is present upon delivery Table 2 lists a number of optional parts that may be used with an xNAV For more information on these components please contact your OxTS representative or email sales oxts com Table 1 Summary components supplied with an xNAV xNAV200 xNA V250 xNA V500 xNA V550 1 XNAV system unit XNAV system unit 2 AT575 70 GNSS antenna with 5 m cable G5Ant 1A196MNS1 GNSS antenna with 5 m cable 1 User cable 14C0091F User cable 14C0091F 1 CD ROM with software and manuals CD ROM with software and manuals 4 90 mounting brackets 90 mounting brackets 1 xNAV user manual XNAV user manual Table 2 Compatible xNAV accessories Part Description RT Strut Designed to quickly and securely provide a mounting location inside a road vehicle RT Strut mounting bracket Quickly attach the xNAV to an RT S
3. 36 i E O Document XNAV500 dimensions Oxford Technical Solutions 77 Heyford Park Upper Heyford Oxfordshire OX25 5HD www oxts com Copyright Oxford Technical Solutions 2015 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 0 10 20 30 Print Size A4 Scale Do not scale Units mm Tolerances X X 0 1 Projection 3rd Angle Notes A M3 x 6 Tapped Hole Finish Anodised 22 94 a 2 ge ST U O O U u Date 09 01 15 HTML l ny 2 ne Part 14A0071A fel eel i VuM Document 7 10 xNAV550 dimensions Sheet 1 of 1 Connector Boot Details Oxford Technical Solutions ee 200mm m 77 Heyford Park J1 LEMO Connector FGG 1K 314 Upper Heyford CLAC65 Oxfordshire J2 Bare Cable Ends N A A www oxts com Copyright Oxford Technical Solutions 2013 J3 RJ 45 UDP Patch Lead Pin Function Conn Confidential Information J4 9 way male d type and shell FEC 1342694 Powel Red ve J1 4 The information in this document is confidential and must not be 7 Black Ov J1 5 disclosed to other parties or used to build the described ts
4. When stationary for extended periods of time the heading of single antenna systems can drift The heading lock option solves this by locking the xNAV s heading to a fixed value while the system is stationary Using the dual antenna system will also keep the heading stable in which case heading lock is not necessary Heading lock cannot be used with host vehicles that can turn on the spot 1 e without longitudinal velocity Note that simply turning the steering wheel while stationary is often enough to change the heading on most road vehicles Select an option from the drop down list Table 10 gives a description on each of the heading lock options Table 10 NAVconfig heading lock options Heading lock Description Disabled Disables heading lock Should be used if the vehicle can turn on the spot Normal Best for most applications 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 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 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 th
5. of the xNAV2 models All other options are used during post processing only The xNAV5 models output data in real time so the options configured here will affect the real time operation The options can also be changed later in post processing Revision 150701 EJ Qpxrs nertial GPS Figure 14 NAVconfig xNA V550 Options page F2 NAVconfig xNAV Product Selection Read Configuration GNSS Selection Onentation Primary Antenna secondary Antenna Wheel Configuration Commit Save Finsh Performance Options Advanced options to improve the performance of the device Option IMU output rate Vehicle starts Vibration GNSS weighting Heading lock SBAS Initialization speed Displace output Odometer input Trigger 1 Trigger 2 Serial input Seral 1 output Ethemet output Output smoothing GNSS control Coordinate system IPPS Output lock Steering robot IF Setting 100 Hz Level Normal Medium Normal Disabled 5 m s Disabled Disabled Disabled Disabled None Disabled Enabled 100 Hz Disabled Default WGS Blipsoidal Falling edge Disabled Disabled Bak Nex Cancel Dev ID 150610 14am English IMU output rate The standard output rate of xNAV products is 100 Hz however this can be increased to 250 Hz with the application of a special IMU high rate feature code On devices where the feature code has been applied the IMU output rate option allows the output rate to be set to 100 200 or 25
6. should not be used with the xNAV Revision 150701 EJ Output smoothing When the Kalman filter in the xNAV determines that there is some error to correct this error 1s applied smoothly rather than as a jump The output smoothing controls how fast the correction is applied to the outputs Click the B button to open the properties window and click the checkbox to enable output smoothing The smoothing of the position velocity and orientation corrections can be controlled independently The Smoothing parameters define the maximum amount of correction applied per second The Time limit forces a correction if the correction will take more than the specified time Care should be taken not to make the smoothing too small If these parameters are too small then the xNAV 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 Since the xNAV2 s are post process only this option should only be used when using the simulated post processing option When processing with the forwards backwards combined option output smoothing should not be used as it may give unexpected results There is an option in RT Post process for Advanced smoothing that is designed to work with combined processing GNSS control The GNSS control option contains advanced options that control how the GNSS information is managed in the xNAV Click the
7. 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 150701 a OXTS Inertial GPS Read configuration The Read Configuration page gives several options for reading the configuration from different places as shown in Figure 8 Figure 8 NAVconfig Read Configuration page F2 NAVconfig xNAV Read Configuration Choose where the initial settings should be read from fe Q Y i Rertial Ges Use default settings 2 Read settings from a folder 0 Read settings from an RD file Product Selection GNSS Selection O Read initial settings from device Onentation Primary Antenna secondary Antenna Wheel Configuration Options Commit Save Finish Dev ID 150610 14am EE English Back Next Cancel Use default settings When configuring a new installation this option should be selected This forces NAVconfig to load a clean set of base settings removing any advance features that may have been previously committed 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 configuration from a folder select this option and specify a folder by clicking the Browse button Read settings from an RD file The xNAV writes the configu
8. usually large enough that the normal heading corrections provide excellent results When combined with an odometer input see Odometer input on page 32 the drift of the xNAV when GNSS is not available is drastically reduced Figure 12 shows the Wheel Configuration page Revision 150701 es Figure 12 NAVconfig Wheel Configuration page F2 NAVconfig xNAV ii Wheel Configuration amp D Specify the position of the non steered axle JOXT O MIX S M Inertial GPS Lateral settings The vehicle has a non steered ade Measured from the device Where is the centre point of the non steered ade Ahead 0 000m to within 0 100m Product Selection Read Configuration GNSS Selection Orientation Primary Antenna Below Secondary Antenna Right 0 000m to within 0 100 m How far below is the ground 1000m Specify each accuracy separately Options Overall accuracy 0 100m Commit Save Finish Select surface Dev ID 150610 14am 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 The measurements entered are from the XNAV s measurement point to the point shown in Figure 13 Figure 13 Measurement point for wheel configuration 28 Oxford Technical Solu
9. xNAV in a vehicle Ethernet configuration The xNAV communicates primarily via Ethernet In order to communicate via Ethernet each xNAV 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 xNAV s serial number The serial number can be found on the bottom of the xNAV or on the delivery note Revision 150701 13 OXTS Inertial GPS To transmit data between an xNAV and PC the IP address of the PC must be in the same range as the xNAV We suggest configuring the PC with a static IP address in the range 195 0 0 1 to 195 0 0 10 and a subnet mask of 255 255 255 0 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 Figure 3 select Use the following IP address and enter the IP address and subnet mask to use 7 Click OK when finished Figure 3 Configuring the computer s IP address General You can get IP settings as
10. 0 Hz On devices where the IMU high rate feature code has not been applied this option is ignored regardless of its setting Vehicle starts If you know the vehicle being measured will be level when starting to within about 5 select Level This saves about 40 s during initialisation as an initial roll and pitch value does not have to be computed In high vibration environments Not level may not work and so the xNAV can only start if the vehicle is level and the Level option has been specified Vibration There are three options available to describe the level of vibration the system will be exposed to In most cases Normal will work correctly If the x NAV is installed using 30 Oxford Technical Solutions Tria XNAV User Manual Oexrs Inertial GPS vibration mounts allowing some movement independent of the GNSS antennas High or Very high settings should be considered Select the appropriate option from the drop down list GNSS weighting The xNAV 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 from the drop down list will cause the xNAV to believe the GNSS receivers more and selecting Low will make the xNAV 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
11. 3 Part 201 990146 789 RDS SISO SSL 3RR RIIS SKK SSSI SSSI SISS RRRS RRRS RRRS x LLIS LRLS Document AT575 70 GPS antenna Sheet 1 of 1 Oxford Technical Solutions 77 Heyford Park Upper Heyford Oxfordshire 0 805 20 45 An Copyright Oxford Technical Solutions 2015 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 2 078 52 78 SQ build the described components without the prior written consent of 4X RO 780 R19 81 Oxford Technical Solutions 5 M CABLE WITH 0 10 20 30 SMA CONNECTOR mm tM Y OZ Projection 3rd Angle L GPS GLONASS Antenna 4X FLUSH MAGNETS 4X 4 40 UNF 0 155 DEEP SMA Connector 10 32 UNF 0 257 6 52 magnetic 0 220 DEEP L1 L2 OmniStar 4X 0 756 19 20 4X 0 756 19 20 35 20 4X5 10 NOTES MRP Number 110 00203 002 THIRD ANGLE PROJECTION 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 UNLESS OTHERWISE SPECIFIED DIMENSIONS ARE IN MILLIMETERS SURFACE FINISH TOLERANCES LINEAR 0 1 ANGULAR 0 5 DEBUR AND BREAK SHARP EDGES DRAWN BY S Whelan DATE 06 07 2015 MATERIAL 304 S S 2mm WEIGHT A3 SCALE 2 1 DO NOT SCALE DRAWING D
12. LED states Colour Description Off There is no power to the system or the system power supply has failed Green Power is applied to the system Orange The system is powered and traffic is present on Ethernet Co ordinate frame conventions The xNAV uses a co ordinate frame that is popular with most navigation systems Figure 2 shows how the axes relate to the xNAV box All measurements to and from the xNAV should be made from the measurement origin point shown in Figure 2 The origin point is the same for all xNAV models 12 Oxford Technical Solutions xNAV User Manual JOXTS Inertial GPS Figure 2 xNAV co ordinate frame and measurement origin 15mm 53 mm 23 mm Table 8 lists the directions that the axes should point for zero heading pitch and roll outputs when the default mounting orientation is used Table 8 Direction of axes for zero heading pitch and roll outputs Axis Direction Vehicle axis x North Forward y East Right 7 Down Down If the axes of the xNAV and the vehicle axes are not the same as those listed in Table 8 then they can be aligned by reconfiguring the xNAV for a different mounting orientation using the NAVconfig software If the RT Strut is being used to mount the xNAV in the vehicle then NAVconfig will have to be used to configure the orientation or the xNAV will not work correctly Page 23 gives more information on configuring the orientation of the
13. RAWING NO 14M0098B SHEET 1 OF 1 TITLE Unit Fitting Bracket Customer Drawing Oxford Technical Solutions 77 Heyford Park Upper Heyford 2 Oxfordshire 3 OX25 5HD 43 www oxts com
14. This can be used to set special commands for the xNAV This should only be done with special instructions from OxTS Revision 150701 43 OXTS Inertial GPS Committing the configuration NAVconfig is an off line configuration tool so configurations must be explicitly uploaded to the xNAV via Ethernet when finished On the Commit page Figure 23 enter the IP address of the xNAV 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 if there are multiple listed The list will not work if NAVdisplay or other software is using the xNAV UDP port unless the OxTS UDP server is running Click Commit to save the configuration to the xNAV This will automatically reset the XNAV so the changes take effect It will be necessary to initialise and warm up the system again after the changes have been applied Figure 23 NAVconfig Commit page F2 NAVconfig xNAV F Commit A Commit configuration to the device f IXTS a Mm Inertial GPS IP Address of the device that you want to configure 196 0 0 75 Product Selection Read Configuration GNSS Selection Orientation Primary Antenna Secondary Antenna Wheel Configuration Options Save Fintsh Dev ID 150610 14am E English Back Commit Cancel Saving the configuration and finishing Before finishing it 1s possible to sa
15. al input properties window shown in Figure 18 Revision 150701 EJ OXTS Inertial GPS Figure 18 NAVconfig serial input properties window F Serial input configuration Input type Differential y Settings Correction type RTCMV3 v Baud rate 115200 Data bits g Parity None 7 Stop bits 1 m OK Cancel Select the input type from the drop down list The settings will then appear for customisation If configuring the input for differential corrections the Correction type drop down list will appear as an extra option The xNAV products can accept RTCMV3 format corrections The other options can be customised to fit the type of base station being used The default options are compatible with the OxTS RT Base and GPS Base Serial 1 output When using the serial port output it can be configured for different message types Click the button to open the properties window shown in Figure 19 36 Oxford Technical Solutions XNAV User Manual OXTs Mm Inertial GPS Figure 19 NAVconfig serial output properties F Serial 1 output F Serial 1 output EJ General NMEA General Message type Periodic Falling Rising Camera Packet NCOM My GPGGA 1Hz vy o oO o GPHDT 1Hz y O O O Baud rate 115200 na GPVTG a y oO oO oO GPZDA Disabled O oO O Data rate 100 Hz a GPGST Disabled O O O PASHR Disabled O O O GPRMC Disabled O O O GPGSV Disabled O O O GPGSA Disabled v O O PTCF Di
16. applications are run a firewall warning message similar to that shown in Figure 4 may be triggered This is because the program is attempting to listen for and communicate with OxTS devices on the network The firewall must be 16 Oxford Technical Solutions XNAV User Manual OXTS Inertial GPS configured to allow each program to talk on the network or programs will not work as intended Figure 4 Windows Firewall warning message iar Windows Security Alert e Windows Firewall has blocked some features of this program Windows Firewall has blocked some features of Enginuity on all public and private networks Name Enginuity Publisher Oxford Technical Solutions Path C program files w86 oxts enginuity exe Allow Enginuity to communicate on these networks Private networks such as my home or work network E Public networks such as those in airports and coffee shops not recommended because these networks often have litte or no security What are the risks of allowing a program through a firewall A firewall warning message may be triggered the first time OxTS software is run Access must be allowed for each application that requires it or the program cannot work properly Sometimes a warning will not be triggered but the firewall may still block certain functions If a program fails to display the IP address of a connected xNAV check the firewall settings for that connection Ensure both Pri
17. button to open the properties window The GNSS algorithm tab Figure 21a can be used to select the algorithm used for blending the GNSS and the inertial data in the Kalman filter The Recovery tab Figure 21b can be used to decide how to begin using GNSS measurements if they have been rejected or ignored for a period of time Use OxTS gx ix raw data processing algorithm enables gx ix mode The gx ix processing 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 In environments where signal lock may be difficult to maintain e g urban canyons gx ix mode is recommended to achieve the highest accuracy Currently not all GNSS modes are compatible with gx ix Table 12 details the current compatibilities of gx 1ix mode rs Oxford Technical Solutions XNAV User Manual SOXTS Table 12 GNSS compatibility with gx ix GNSS mode Real time Post process SPS v v SBAS X X DGPS v v RTK X With gx ix RTK upgrade GLONASS v v The Use GNSS receiver s calculations option turns off gx 1x mode and uses the receiver s default algorithms for calculating a GNSS solution Figure 21 NAVconfig GNSS control properties window F GNSS control F GNSS control _GNSS Algorithm Recovery GNSS Algorithm Recovery This o
18. ceiver 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 Revision 150701 n Table 6 Status 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 xNAV 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 Initialisation speed during configuration then the strapdown navigator will initialise and the system will become active If static initialisation has been enabled 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 Table 7 Power PWR
19. ch as a camera shutter to generate a data point with all measurements at the exact timestamp of the trigger The event input has a pull up resistor so it can be used with a switch or as a CMOS input The input sees less than 0 6 V as low and more than 2 6 V as high The input range should be kept between O V and 5 V Output Generates a pulse based on distance Select the distance interval to generate the pulses on from the drop down list or type in a value 34 Oxford Technical Solutions XxNAV User Manual aXTSs MInertial GPS The output has 0 8 V or less for a low and 2 4 V or more for a high The pulse width is 1 ms By selecting Rising edge or Falling edge from the drop down box the trigger can be configured as a low or high as illustrated in Figure 17 Figure 17 Output trigger settings ba ims HIgh i i Output an taling edge Low High Output on rising edge Low IMU syne Generates a output pulse at the same frequency as the data rate of the system 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 Serial input XNAV5 The transmit and receive functions on the xNAV5 s serial port can be configured separately The serial input can be used to either receive differential corrections or to receive commands To configure the serial port input click the B button to open the seri
20. ckly set up and start using an XNAV200 www oxts com Downloads Products xKNA V 130423_ xNAV200 quick start guide pdf 8 Oxford Technical Solutions xNAV User Manual axTs Mm Inertial GPS Conformance notices The xNAV 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 e Increase the separation between the equipment and the receiver The xNAV 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 the GNSS frequencies The xNAV conforms to the requirements for CE Any use or misuse of the xNAV in a manner not intended may impair
21. data When powering up the xNAV the normal procedure should be to wait until both primary and secondary GNSS receivers achieve a position fix If static initialisation has been enabled the xNAV will then use the dual antenna system orientation to initialise heading If not once GNSS lock is achieved the vehicle should move forwards and in a straight line exceeding the initialisation speed set in NAVconfig This will approximate the heading to course over ground Roll and pitch are estimated over the first 40 s of motion At this point the xNAV is initialised but will still benefit from a warm up to improve its accuracy To provide that information it is necessary to excite the accelerometers and gyros in all axes For land vehicles this means driving figures of eight with some acceleration and braking In the case of aerial vehicles the system should be flown in a similar way but with the addition of climbs and dives This warm up process should take about five minutes For xNAV5 models NAVdisplay can be used to verify the system is working correctly For xNAV2 models there are no real time navigation outputs to check the system so the data should be downloaded using the RT Post process utility and processed to verify correct operation of the system Once the system has warmed up it should be left with power applied Turning off the xNAV will require the warm up process to be repeated The process from initial power on to conducting th
22. e first test is summarised below 1 Turn the system on 2 Wait for the primary and secondary GNSS receivers to achieve fix 3 Move forwards in a straight line exceeding the initialisation speed 4 Move for about five minutes exciting the accelerometers and gyros in all axes 5 Check the measurements in real time or download the data and verify correct operation 6 Conduct tests re Oxford Technical Solutions XNAV User Manual JOXTS Inertial GPS Downloading data Once measurements have been collected with the xNAV the data is downloaded to a PC using RT Post process A full explanation of RT Post process is given in the RT Post process manual It should be noted this manual was written before the xNAV existed and only talks about the RT systems RTs work just like the xNAV but are larger and output real time data Otherwise the download and post processing of data is the same Improve the configuration with Get improved settings During the warm up period the system tries to improve some of the configuration parameters that were originally specified in NAVconfig In particular it tries to improve the GNSS antenna position orientation of the dual antennas yaw orientation of the XNAV in the vehicle and the wheel speed values if used The Get improved settings button is located on the Orientation page of NAVconfig The button provides a way of importing these improved settings directly into NAVeconfig by reading them from a co
23. e of use it is best to try and mount the xNAV so its axes are aligned with the vehicle axes If the system must be mounted misaligned with the vehicle then the offsets must be measured and entered into NAVconfig This allows the outputs to be rotated based on the settings entered to transform the measurements to the vehicle frame Antenna placement and orientation The placement and orientation of the GNSS antennas is important to the system accuracy For optimal performance it is essential for the antennas 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 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 E Oxford Technical Solutions xNAV User Manual OXTS MInertial GPS then different antennas must be used It is recommended to mount the antennas at least 20 cm from any edge where possible Antennas should be spaced between 1 m and 5 m apart and the antenna baseline should be aligned with one of the vehicle axes where possible either inline or perpendicular to the vehicle s forward axis It is possible to use a shorter antenna separation but the heading accuracy will degrade When mounting the ant
24. e vehicle turns before it moves This option can cause problems during the warm up period if the vehicle remains stationary for a long time and then drives suddenly Revision 150701 a SBAS xNAV250 550 When operating in a region with a satellite based augmentation service SBAS enabling this option will improve the GNSS performance compared to standard positioning service SPS Services currently supported are Europe EGNOS North America WAAS Japan MSAS India GAGAN and Russia SDCM Initialisation speed If static initialisation has not been enabled the xNAV will need to be initialised by moving forwards in a straight line When the vehicle exceeds the initialisation speed the roll and pitch measurements are assumed to be zero with a large error and the heading 1s approximated to the vehicle s course over ground The default speed of 5 m s is suitable for most applications It can be changed by selecting a predefined option from the drop down list or by typing in a custom value Displace output The xNAV can displace or move its outputs to another location in the vehicle This simulates the xNAV being mounted at the new location This function displaces all of the outputs position velocity acceleration to this new measurement point In high vibration environments any displacement should be kept to a minimum Click the B button to open the properties window click the checkbox and enter the offsets to t
25. ed xNAV500 140606 More xNAV500 revisions Updated NAVconfig 150106 Added xNAV550 150424 Added xNAV250 Added co ordinate system configurations Updated wheel config configurations 150701 Added IMU output rate and vehicle starts options Updated for NAVsuite Spring 2015 release 50 Oxford Technical Solutions xNAV User Manual OXTS Minertial GPS Drawing list The following pages contain drawings that describe the components of the xNAV system 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 OxTS Table 15 List of available drawings Drawing Description 14A0067x XNAV200 500 system outer dimensions 14A0071x XNAV250 550 system outer dimensions 14C009 1x XNAV user cable 201 990146 789 AT575 70 GPS antenna 110 00318 601 G5Ant 1A196MNS1 GNSS antenna 14MO0098x 90 mounting bracket Revision 150701 st Oxford Technical Solutions 77 Heyford Park Upper Heyford Oxfordshire OX25 5HD www oxts com Copyright Oxford Technical Solutions 2014 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 0 10 20 30 Units mm Finish Anodised Notes A M3 x 6 Tapped Hole foot
26. ennas the secondary antenna should be mounted in the same orientation as the primary as shown in Figure 6 The direction the cable exits the antennas does not matter as long as it is the same for both Figure 6 Antenna placement Seh Sik XY PR PP Qe x EDN y gt eva E MMMM I M L I M L M u es A The bases of the antennas are parallel but the cables exit in different 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 When measuring the antenna separation if the antennas are level 1 e within 15 of horizontal then the separation should be measured to within 5 cm If the antennas are not level then the separation must be measured to 5 mm Revision 150701 19 Configuring the xNAV To obtain the best results from your xNAV it will be necessary to configure it to suit the installation and application before using it for the first time The program NA Vconfig 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 xNAV configuration using Ethernet It 1s necessary to have the Ethernet on your computer configured correctly in order to communicate with the xNAV and change the settings See the section Ethernet configura
27. ffsets 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 the position of the secondary antenna relative to the primary antenna from the drop down list The measurement accuracy can also be Revision 150701 25 Oaxrs nertial GPS specified with the to within drop down box The illustrations will change according to the settings you choose to help visualise the configuration of the antennas Figure 11 NAVconfig Secondary Antenna page 2 NAVconfig xNAV Secondary Antenna Specify the secondary GNSS antenna position on the vehicle in relation to the primary antenna Enable secondary antenna Antennas are level Measured from the primary antenna Where is the measurement point of secondary antenna Behind 1000m to within O0 050m Product Selection Read Configuration E Enable static initialisation G N 335 ele ction O Edit advanced settings Orientation Primary Antenna Wheel Configurat ion 180 000 deg 5 000 deg Options 0 000m 0 100 m Commit Save Finish Dev ID 150610 14am ESF English Bak Net Cancel It is important to measure between the same point on each antenna e g centre to centre or from cable to cable 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 setti
28. he new location in the vehicle The offsets are measured from the xNAV in the vehicle co ordinate frame Select the directions from the drop down lists The images will change to help visualise the displaced measurement point of the xNAV Odometer input In land based survey applications the xNAV s accuracy can be maintained for longer periods during GNSS blackouts if an independent wheel speed odometer is fed into the system To configure an odometer input click the B button to open the properties window shown in Figure 15 Ensure the checkbox is clicked since if this option is disabled the XNAV will ignore corrections from the odometer even if one is connected It is essential to use the Wheel configuration feature page 27 at the same time as an odometer input As with the wheel configuration an odometer input can only be used on land vehicles It must not be used on a steered wheel the odometer should be on a wheel that is measuring the forward direction of the vehicle For best results a front wheel drive vehicle should be used with the odometer on a rear wheel The odometer pulses from driven wheels are less accurate 32 Oxford Technical Solutions XNAV User Manual JOXTS Inertial GPS The distances from the xNAV 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 measu
29. his setting if you have a forward processed 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 xNAV5 only This will get the information that the xNAV is currently using and apply it next time the system starts Use this setting if the xNAV is running has initialised and has warmed up Select the correct IP address of the xNAV to read the configuration from in the drop down list Note the list will not function correctly if NAVdisplay or other software is using the xNAV 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 xNAV is not calculating these values at present 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 If Orientation in vehicle is selected 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 orientati
30. in order to become thoroughly familiar with the product 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 Revision 150701 ba OXTS Inertial GPS Related documents There are separate manuals available for further information on some of the software and communication types mentioned in this manual Table 3 lists related manuals and where to find them Table 3 Supplementary manuals Manual Description NAVdisplay Manual NAVegraph Manual NCOM Manual NCOM C Code Drivers NMEA 0183 Description RT Post process Manual XNAV200 quick start guide User manual for real time display software NAVdisplay www oxts com Downloads Support Manuals NA Vdisplayman pdf User manual for the graphing and display software NAV graph www oxts com Downloads Support Manuals NA V graphman pdf NCOM description manual www oxts com Downloads Support NCOM Manual and Code Drivers ncomman pdf A collection of C functions that can be used to decode the binary protocols from the RT www oxts com Downloads Support NCOM Manual and Code Drivers ncomrx zip NMEA description manual for the NMEA outputs www oxts com Downloads Support NMEA nmeaman pdf User manual for the post processing software RT Post process www oxts com Downloads Support Manuals rtppman pdf Short guide going over the basics needed to qui
31. ints Right x ais points Down x O Edit advanced settings Product Selection 0 000 deg 5 000 de Read Configuration 0 000 deg 5 000 de GNSS Selection 0 000 deg 5 000 de Primary Antenna Secondary Antenna Wheel Configuration g Run Get improved settings after Get improved o ptions wanning the system up to remove any settings Commit emors that were made when orienting the INS and its antennas These will be Save Finish commited to the system and used next time it powers up WARNING This feature should not be used ff the INS is not permanently installed there is a risk your INS will rotate in the vehicle or that the GNSS antennas can move Dev ID 150610 14am English Revision 150701 EJ To define how the xNAV is mounted in the host vehicle it is necessary to tell NAVconfig which direction two of the xNAV s axes point Select the correct option for Y axis points and Z axis points from the drop down lists The greyed out advanced settings will change to show the three rotations associated with orientation chosen If it is not possible to mount the xNAV squarely to the host s co ordinate frame select Use advanced settings and define the xNAV s orientation using these values For correct initialisation it is necessary to get the heading orientation correct The XNAV gets its initial heading by assuming that the vehicle is travelling forwards in a straight line If the definition of the vehicle s x ax
32. ional upgrade The differences between models are summarised below XNAV200 Single frequency L1 receivers GPS tracking Logging only XNAV500 Single frequency L1 receivers GPS tracking Real time outputs and logging XNAV250 Dual frequency LI L2 receivers GPS tracking optional GLONASS tracking Logging only XNAV550 Dual frequency LI L2 receivers GPS tracking optional GLONASS tracking Real time outputs and logging Front panel layout Figure shows the layout of the xNAV front panel and Table 4 lists details of the parts labelled 10 Oxford Technical Solutions XNAV User Manual OXTS Inertial GPS Figure 1 Layout of the xNAV front panel OINO OGO VVT bnew O STATUS SEE AN nt The main connector 6 is keyed so the user cable will only engage when correctly orientated It is self latching to avoid accidental removal Do not pull on the user cable to remove it as damage may occur Table 4 xNAV front panel descriptions Label no Description GNSS LED Status LED Pwr LED Primary antenna connector Secondary antenna connector OA Nn A WO N me Main connector LED definitions Three LEDs set into the front panel of the xNAV show the system s state when power is applied Table 5 Table 6 and Table 7 give details on the meanings of the states of each LED Table 5 GNSS LED states Colour Description Off GNSS receiver fault valid only after start up Red flash GNSS re
33. is forward direction is incorrect then it will not initialise correctly when the vehicle moves forwards In permanent installations the Get improved settings button can be used to import improved settings from a previously post processed raw data file Details of the process are given on page 47 Primary antenna position Accurately defining the position of the primary antenna in NAVconfig helps achieve better results sooner It is recommended to measure the GNSS antenna position to an accuracy of 10 cm or better Measure the distances from the xNAV to the GNSS antenna along each of the axes in the vehicle s co ordinate frame On the Primary Antenna page shown in Figure 10 select the directions Ahead Behind Right Left and Above Below and enter each of the measurements For visual confirmation the position of the antenna in the image will change to reflect the specified configuration The Overall accuracy can be specified by choosing a value from the drop down list or typing one in Alternatively the accuracy of each measurement can be specified separately by clicking the checkbox to unlock the greyed out drop down boxes The default accuracy is 10cm which is sufficient for the xNAV to refine itself to specification during the warm up period Care should be taken if specifying a greater accuracy Do not overstate the accuracy as doing so may cause the xNAV to look in the wrong place increasing the time taken to find the correct soluti
34. l 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 A constant offset to the specified altitude reference can be applied by checking the Set offset box typing in a value into the cell 1PPS A one pulse per second signal from the primary GNSS receiver is output when a valid GNSS solution is found The output is a low voltage CMOS output where 0 8 V or less represents low and 2 4 V or more represent high No more than 10 mA should be sourced from the output The GNSS time crossing boundary can be configured to coincide with the rising or falling edge of the signal Output lock The output of the xNAV will continue to change even when the vehicle is stationary For some systems this leads to ambiguous results The position and orientation can be locked by the xNAV 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 Advanced Clicking the B button opens the Advanced settings window
35. mit special commands and replay logged data Note Only the XNAV5 models are capable of real time outputs Enginuity will not display any data in real time with the xNAV2 s NAVdisplay beta Replacement for Enginuity Features the same functionality with an updated GUI and improved usability NA Vconfig Used to create send and receive configurations from OxTS f products As configurations vary between products there is no manual for NAVconfig The options relevant to the xNAV are covered in this manual on page 20 process the data The configuration can be changed and differential corrections can be applied before the data is reprocessed It can export NCOM XCOM and CSV file formats ee RT Post process Used to download raw data files from the xNAV and post post process It can display graphs cursor tables and map plots and data can be exported in CSV or KML Google G NA Vgraph Used to graph NCOM XCOM and RCOM files created in Earth format bam 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
36. net is the default setting to output measurements It can be configured for different data rates and to output extra data packets based on triggers Click the E button to open the properties window shown in Figure 20 Figure 20 NA Vconfig Ethernet output properties window F Ethernet Output General Output packet NCOM w Data rate 100 Hz kd L Output on falling edge of trigger C Output on rising edge of trigger C Output on camera tigger Advanced Delay output by ms 0 0 ms n Caros 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 If a trigger has been configured as an event input click the Output on falling edge of trigger or Output on rising edge of trigger checkboxes to choose when the extra data packet is generated If a trigger has been configured as an output trigger click the Output on camera trigger to generate extra data packets based on the output trigger settings configured earlier These packets 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 in order to see trigger information in NCOM or 1f 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
37. ngs checkbox to enable advanced settings and specify the orientation and height offset 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 and the Antennas are level checkbox is ticked 26 Oxford Technical Solutions XNAV User Manual a xTs inertial GPS 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 xNAV 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 1f the vehicle can perform wheelies The xNAV 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
38. ntly 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 20 Oxford Technical Solutions XNAV User Manual JOXTS Inertial GPS Product selection NAVconfig is a universal application used to configure several different OxTS products The first page of the configuration wizard see Figure 7 tells the application what type of sensor is being configured The program then loads the correct options specific to that device Figure 7 NAVconfig Product Selection page F2 NAVconfig xNAV Product Selection F Select the product for configuration i IXTS W Inertial GPS Product family Product model Product generation RT2000 RT3000 RT4000 Inertial Survey NAV Read Configuration SEN GNSS Selection Orientation Primary Antenna Secondary Antenna Wheel Configuration Options Commit Save Fintsh wal a i ote Lai N Mi Z E Always use this product Dev ID 150610 14am 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 In instances where the same product type will be used each time the Product Selection page can be
39. on ey Oxford Technical Solutions XNAV User Manual OXTS Inertial GPS Figure 10 NAVconfig Primary Antenna page J NAVconfig xNAV Primary Antenna Specify the primary GNSS antenna position on the vehicle in relation to the device Measured from the device Where is the measurement point of the GNSS antenna Ahead ne 0 000 m 0 100m Right 0 000m 0 100 m Above kd 1 000 m 0 100m C Specify each accuracy separately Overall accuracy 0 100m Product Selection Read Configuration GNSS Selection Onentation secondary Antenna Wheel Configuration Options Commit Save Fintsh Dev ID 150610 14am EE English Back Net Cancel Secondary antenna position The Secondary Antenna page shown in Figure 11 is used to define the position of the GNSS antenna connected to the secondary receiver relative to the primary one The secondary antenna should be placed in accordance with the information given in the installation section on page 18 Ensure to click the Enable secondary antenna checkbox to allow the configuration to be entered If it is not enabled the xNAV will ignore the secondary antenna and will not use it to compute a heading solution By default the Antennas are level box is checked This means the antenna baseline should be within 15 of horizontal When the antennas are level the separation should be measured to within 5 cm If the antennas are not level i e mounted with height o
40. on 1s changed by a large amount 48 Oxford Technical Solutions xNAV User Manual Specifications Table 13 xNAV specification Mm inertial GPS Parameter xNA V200 xNA V250 xNA V500 xNA V550 Positioning GPS LI GPS L1 L2 GLONASS L1 L2 option Position accuracy CEP 2 m SPS 1 6 m SPS 0 5 m DGPS 0 6 m SBAS 0 4 m DGPS 0 02 m RTK Position drift after 60 s GNSS 0 95 m 0 95 m outage RMS Velocity accuracy RMS 0 1 km h 0 1 km h Roll pitch 0 05 lo 0 05 lo Heading 2 m antenna baseline 0 15 lo 0 1 lo Accelerometers Bias stability 0 05 mg lo 0 05 mg lo Linearity 0 05 0 05 Scale factor 0 05 lo 0 05 lo Range 5 g 5 g Gyros Bias stability 3 hr 3 hr Linearity 0 05 0 05 Scale factor 0 05 0 05 Range 300 s 300 s Update rate 100 Hz 100 Hz 200 250 Hz option 200 250 Hz option Power 10 31 V dc 7 W 10 31 V dc 9 W Dimensions 132 x 77 x 36 mm 132 x 77 x 41 mm Mass 0 365 kg 0 425 kg Operating temperature 40 70 C 40 70 C Specification temperature 10 70 C 10 70 C Vibration 0 002 7 Hz 5 500 Hz 0 002 7 Hz 5 500 Hz Shock survival gt 1000 g gt 1000 g Environmental protection IP65 IP65 Internal storage 4 GB 4 GB Valid for open sky conditions over 1 g range Revision 150701 49 OXTS Inertial GPS Revision history Table 14 Revision history Revision Comments 130712 Initial version 131125 Updated to NAVsuite 140207 Add
41. p to 30 ms late and out of order compared to the normal messages To enable these messages check the appropriate checkbox Revision 150701 pa Table 11 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 xNAV NCOM data is transmitted at up to 125 Hz over serial 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 xNAV is sending data when the IPAQ is turned on Using IPAQ the IPAQ will poll the xNAV the xNAV 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 assi
42. ption controls what algorithm is used to update the These settings contral how long the INS will ignore Kalman fiter These are advanced settings Refer to the unexpected GNSS measurements before being forced to manual for additional details believe them O Use GNSS receiver s calculations GNSS position updates Use OxTS oxix raw data processing algorithm Use fimware defaults Never believe unexpected measurements Start believing measurements after 20 unexpected GNSS updates 4s GNSS velocity updates Use firmware defaults Never believe unexpected measurements _ Start believing measurements after 20 unexpected GNSS updates 4 s OK Cancel OK Cancel a b The Recovery tab controls how the xNAV will accept or reject GNSS measurements The GNSS control determines how many updates the xNAV should ignore before forcing the GNSS to be accepted Both the velocity and the position can be controlled separately In the default state the xNAV will reject up to 20 GNSS measurements before it forces the GNSS to be accepted However in high multipath environments or when wheel speed measurements are used it may be desirable to reject more GNSS measurements Revision 150701 a OXTS Inertial GPS Select the Start believing measurements after option and enter the number of GNSS measurements to reject before the system starts believing it again The xNAV GNSS receivers update both position and velocity at a
43. 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 The gx ix processing algorithm makes its own decisions about when to trust and how to recover from GNSS errors so Use firmware defaults should be selected when using gx ix mode Coordinate system The xNAV can output position relative to different coordinate frames Click the B button to open the properties window shown in Figure 22 Figure 22 NAVconfig coordinate system properties window F Coordinate system properties General Coordinate datum WGS 84 O ITRF2008 O ETRS89 NADS3 Altitude reference Ellipsoid Geoid receiver defaut Geoid custom Set offset OK Cancel re Oxford Technical Solutions xNAV User Manual Oexrs Inertial GPS 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 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 wil
44. ration it 1s using to the internally stored RD file This option extracts the configuration used for that data set and loads it in the configuration wizard Specify an RD file by selecting this option and clicking the Browse button 2 Oxford Technical Solutions XNAV User Manual JOXTS Inertial GPS Read initial settings from device If the xNAV is connected to the computer via Ethernet then it is possible to read the initial settings directly from the xNAV The settings loaded are the settings that were last committed to the xNAV Select this option and enter the IP address of your xNAV 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 is connected ensure you select the correct system Note the list will not function correctly if NAVdisplay or other software is using the xNAV UDP port unless the OxTS UDP Server is running Orientation The Orientation page shown in Figure 9 1s where the host vehicle co ordinate frame 1s defined relative to the xNAV 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 XNAV if the outputs are not properly rotated to the vehicle frame then the measurements will appear incorrect Figure 9 NA Vconfig Orientation page F2 NAVconfig xNAV Onentation Specify how you have mounted the device in the vehicle S 5 A Mera GAS Y ads po
45. red 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 xNAV in relation the odometer The pulses per metre should also be specified A value that is accurate to 10 is sufficient unless the figure is known more accurately The xNAV will improve this scaling factor itself when GNSS 1s available The xNAV also supports quadrature inputs The Directional odometer checkbox should be selected to enable this feature Figure 15 NAVconfig odometer input properties window Odometer input Enable odometer input Measured from the device Where is the measurement point of the odometer 0 000m 0 100 m i 0 000m 0 100 m 0 100 m E Specify each accuracy separately Overall accuracy 0 100m Pulses per metre 100 000 pulses per metre to within Revision 150701 EJ OXTS Inertial GPS Trigger 1 and Trigger 2 xNAV5 The xNAV5 models have 2 triggers that can be configured as either input triggers output triggers or an IMU sync pulse To enable a trigger click the B button to open the properties window shown in Figure 16 Select the trigger type from the drop down list Figure 16 NAVconfig trigger properties window F Configure trigger 1 General Trigger type Output tigger w Generate pulses every 5 000 m w Output on Falling edge w OK Cancel Input Accepts a trigger input from an external device su
46. ring the LEMO connector J1 Digital VO 4 Trigger 2 J1 12 These joins should be staggered to avoid a single large y Sn J5 Wheel Speed 2 J1 6 bulge in the cable UUM 16 Digital Ground J1 7 7 Digital Ground J1 7 Cable legends should be 10mm from the connectors 8 Digital Ground J1 7 9 Digital Ground J1 7 The two cables going to J2 should be shielded and insulated together until 60mm from the end when the insulation should end with the shielding terminated inside of it The two individual cables should then have 5mm stripped off of their ends and tinned Document xNAV200 User Cable Part 14C0091F Date 10 07 2013 Sheet 1 of 1 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 other parties or used to build the described components without the prior written consent of Oxford Technical Solutions 54 24 _ 6000 0 10 20 30 Print Size A4 Scale 1 1 Units mm Tolerances 1mm RRRS lS S SS w NR S53 lt gt lt gt lt gt lt gt lt gt lt gt S ISSS LLLI 2S x us Projection 3rd Angle x SOOO TNC Connector EKER NY RR SRR KKK RKO SKK a K OOO Date 21 11 1
47. rrectly warmed up system or a forward processed NCOM file The new and improved parameters can then be uploaded to the XNAV and used during subsequent data collection or post processing applications This feature should not be used if there is a risk the xNAV will rotate in the vehicle or that the GNSS antennas can move even by a few millimetres It 1s possible to select which parameters are updated during Step 2 of the Get settings from xNAV window shown in Figure 25 Figure 25 Get settings windows F H 2 Get settings from device 2 Get settings from device ip Read improved configuration Select Configuration N Qoxrs Inertial GPS Choose which settings should be used OXTS eee Orientation in vehicle Choose where to read the configuration from Read configuration from File gt Primary GNSS antenna Step 1of2 Step 2 of 2 Secondary GNSS antenna Wheel speed input Source Saale NCOM File J _My Data Writing OxTS Data axRTK from loan fwd Browse Select all Clear al Confidently Noa ma Beck C mnn conca 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 Revision 150701 Ka extracted from it Use t
48. sabled O O O GPPPS Disabled O O O PRDID Disabled v O O O _epont EA m m m a5 Baud rate 115200 y Maximum chars per second 101 Available chars per second 11520 Allow extended length messages Output approximate values before initialisation OK Cancel OK Cancel Select the message type to output from the Packet drop down list and select the output baud rate and data rate Table 11 gives details of the different messages If the NMEA packet type is selected the NMEA tab will appear in the properties window see Figure 19 In this tab the NMEA messages to output on the serial port 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 Note The xNAV2 s do not calculate measurements in real time so cannot output any measurements over Ethernet or serial However there are two NMEA messages that can be configured to be output over serial GPGGA and GPZDA These are the GPS Fix Data and Date amp Time sentences respectively and are limited to 4 Hz NMEA messages can be generated by falling or rising voltages on the event input trigger Check the falling or rising edge checkbox to compute the message when the event occurs The xNAV5 s can also generate NMEA messages from pulses on the output trigger These messages use interpolation to compute the values at the exact time of the event but may be output on the serial port u
49. signed automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings H Obtain an IP address automatically Use the following IP address IP address 195 0 0 47 Subnet mask 255 255 2755 ol Default gateway Obtain DNS server address automatically Use the following DNS server addresses Preferred DNS server Alternate DNS server E Validate settings upon exit 14 Oxford Technical Solutions xNAV User Manual OXTSs MInertial GPS Once the computer is configured the IP address of an xNAV can be found by running NAVdisplay software this will display the IP address of any system connected Note that it is possible to change the IP address of xNAV systems If the IP address has been changed then NAVdisplay should still be able to identify the address that the xNAV is using as long as the PC has a valid IP address and this is not the same as the XNAV s Revision 150701 15 OXTS Inertial GPS Software installation Included with every xNAV is a CD containing the software package NAVsuite This package contains a number of programs required to take full advantage of the xNAV s capabilities Table 9 lists the contents of NAVsuite Table 9 Installed software components Icon Software Description gt Enginuity Used to view real time data from OxTS products via Ethernet or a serial port It can also be used to trans
50. stance please contact OxTS for support MCOM Used for marine applications Identical to NCOM output but with the addition of heave measurements TSS1 TSS1 format outputting acceleration heave roll and pitch TSSHHRP TSSHHRP format EM3000 Suitable for use with Simrad EM3000 multibeam sounders EM 1000 Suitable for use with Simrad EM1000 multibeam sounders 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 the bottom of the window A serial port data overflow warning message will appear if the data rate is too high for the selected 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 xNAV 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 Ey Oxford Technical Solutions XNAV User Manual a xTs inertial GPS Ethernet output xNAV5 Ether
51. 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 EN 300 440 1 v1 6 1 test methods 8 3 4 radiated emissions EN 55022 2010 EN 55024 2010 e EN 61326 2 1 2006 according to the requirements of EN 61326 1 2006 EN 61326 1 1 2013 according to the requirements of EN 61326 1 2013 e EN 301 489 3 v1 4 1 according to the requirements of EN 301 489 1 v1 9 2 o IEC 61010 1 2010 3rd ed safety Revision 150701 ER Basic information The xNAV has been designed to be simple and easy to operate The front panel and LEDs convey some basic information that aid in configuration and troubleshooting Once powered the xNAV requires no further input from the user to start logging data This section covers some basic information required to operate an xNAV Precautions The xNAV is designed to dissipate heat into the case As such it may be hot after periods of operation The system should be allowed to cool after operation and caution should be taken when handling If the system is used in situations with high operating temperatures forced convection may be required Model variations There are a number of models available in the xNAV series All models use the same inertial measurement unit IMU have dual GNSS receivers as standard and output data at up to 100 Hz as standard or up to 250 Hz with an opt
52. tion on page 13 for more information The configuration file defines where the xNAV is and how it is orientated in relation to the host being measured It also specifies any options to use while processing the data Once a configuration has been committed to the xNAV it will remain there and the system will use that configuration each time on start up There is no need to reconfigure it unless the xNAV or an antenna is moved 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 insta
53. tions XNAV User Manual J a xTs MInertial GPS Measure the distances to the non steered axle position in each axis in the vehicle co ordinate frame Select the direction from the drop down lists and enter the distances Typically the measurements should 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 xNAV 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 xNAV 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 xNAV Figure 14 shows the options available for the xNAV550 Some options are not available on other models 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 1s found below The Serial 1 output and 1PPS options are the only options to affect the real time operation
54. trut RT UPS An uninterruptible power supply capable of powering the xNAV for up to 1 minute after power is lost Input 9 48 V dc Oxford Technical Solutions XNAV User Manual a XxTs Mm Inertial GPS Introduction Thank you for choosing the xNAV It is a high performance GNSS aided inertial navigation system designed to meet the tough demands of aerial and ground based surveying applications especially where space and weight are important As a one box solution it is quick and easy to install and configure but does not compromise on accuracy or reliability Utilising dual antennas DGPS corrections tight coupling and advanced gx ix processing technology the xNAV delivers up to 2cm position and 0 1 heading accuracy 2 m antenna separation with up to 250 Hz output for all measurements 4 GB of raw data max 2 GB per file corresponding to over 24 hours worth of IMU GNSS data can be logged and stored internally and quickly downloaded via Ethernet The xNAV5 models can output all measurements in real time with very low latency The xNAV2 models log data automatically which can be post processed later with the powerful software included with NA Vsuite This manual covers the installation configuration and basic operation of the xNAV Separate manuals are provided for the post processing and graphing software of NAVsuite An xNAV quick start guide is available on the OxTS website but we suggest reading the entire manual
55. vate and Public networks are selected to ensure the software can continue functioning when moving from one type to another Revision 150701 a7 OXTS Inertial GPS Hardware installation Installing the xNAV is not difficult but it is a precision instrument and care should be taken not to subject it to extreme shock vibration or temperature Bear in mind the minimum clearance required for the antenna connectors and user cable is 39 mm from the front panel see Figure 5 Figure 5 Clearance required for connectors and user cable a a a a When mounting the xNAV a minimum of 39 mm is required for the user cable At the minimum distance it will not be possible to remove the main connector without also uninstalling the xNAV The xNAV does not need to be located at the desired measurement point as the outputs can be displaced using NAVconfig However any displacement should try to be kept to a minimum Once configured the xNAV s output will appear the same as if it was mounted at the displaced location It is essential to install the xNAV rigidly in the vehicle It should not be able to move or rotate compared to either GNSS antenna otherwise the performance will be reduced The xNAV is compatible with the RT Strut product from OxTS when used with additional mounting brackets The RT Strut can be used to provide a quick and secure vehicle mounting option The orientation of the xNAV s local axes is shown on page 13 For eas
56. ve a copy of the configuration in a folder on your computer This can then be easily loaded back into the system if using the same 44 Oxford Technical Solutions XNAV User Manual JOXTS Inertial GPS configuration again The Save Finish page also lets you know if the settings have been committed successfully or not Figure 24 shows the Save Finish page Figure 24 NAVconfig Save Finish page F2 NAVconfig xNAV Finish Save configuration to a folder i Ty amp You have not yet committed your changes to the device Go back to the Commit screen to retry Save settings W Save settings in the following folder J xNAV settings Product Selection Read Configuration GNSS Selection Onentation Primary Antenna Secondary Antenna Wheel Configuration Options Commit Dev ID 150610 14am English 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 Revision 150701 45 Operating the xNAV Initialisation and warm up For a short period after powering on the xNAV will not conform to specification The Kalman filter requires data in order to tighten its model of the system This applies to both real time accuracy and post processed
57. vices loss of use data or profits or business 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 150701 See Revision History for detailed information Contact Details Oxford Technical Solutions Limited Tel 44 0 1869 238 O15 77 Heyford Park Fax 44 0 1869 238 016 Upper Heyford Oxfordshire OX25 5HD Web http www oxts com United Kingdom Email support oxts com eal Oxford Technical Solutions xNAV User Manual Oexrs Inertial GPS Warranty Oxford Technical Solutions Limited OxTS warrants xNAV 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
58. without the writt ission of Oxford Technical J5 9 way female d type and shell FEC 1342695 en eee ESTED ASE STE Aes Wl EEEIEE Scale Not to scale 0 10 20 30 Pin Function Conn Projection N A Print Size A4 1 Ethernet ETX J1 14 Units Tol T W EJ 2 Ethernet ETX J1 9 nits mm olerances 5mm 8 Ethemet ERX Jie Notes en 2 J3 is a RJ45 UTP patch lead which is cut to length and terminated at J1 ji Wire Types Y 14C0091F J2 Red J2 Black 16 0 2 O All others 7 0 12 pippa Pin Function Conn J1 14 amp J1 9 Twisted pair F i D RS232 RX J1 13 J1 11 amp J1 8 Twisted pair e A o 3 RS232 TX J1 2 S Ui l5 Ground J1 7 Cables outers braided and connected to J1 5 J1 shell and a 800mm J3 shell through cable assembly braiding Please populate all unused pins with empty crimps Ensure that the cable legend text precisely matches that given in diagram Pin Function Conn 1 1PPS J1 10 All wires not included in cable assemblies should be 7 0 12 Sy an tS Trigger 1 J1 3 and wires in cable assemblies can be changed to 7 0 12 mp 3 Wheel Speed 1 J1 1 wire with a join before ente
59. xNAV GNSS aided inertial measurement system User Manual Covers all xNAV models Confidently Accurately Legal Notices 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 watranties 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 ser

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