CodaOctopus F180R, F180R Series, F190R, F185R+ User Reference Manual

/F180R series

very accurate positioning

and motion data

™

F180R series

User & Reference Guide

Version: 2.0.0

This guide describes the installation and configuration of the F180R™ series hardware and software developed by CodaOctopus that allows to produce highly accurate positioning and motion data in the most dynamic offshore conditions.

™

F180R series

User & Reference Guide

F180R MOTION Sensor User and Reference Guide

All rights reserved. No part of this manual, including the products and software described in it, may be stored in a retrieval system, transmitted, or reproduced by any means, including, but not limited to photocopy, photograph, digitizing, or otherwise - without the written permission of the publisher.

Coda®, Octopus®, F180®, F180R™, F170™ and F175™ are registered trademarks (Reg. U.S Pat & TM Off) or trademarks of Coda Octopus Group Inc.

Other products that are referred to in this document may be either trademarks and/or registered trademarks of the respective owners. The publisher and the author make no claim to these trademarks.

Specifications and information contained in this manual are furnished for informational use only, and are subject to change at any time without notice, and should not be construed as a commitment by Coda Octopus Products. Coda Octopus Products assumes no responsibility or liability for any errors or inaccuracies that may appear in this manual, including the products and software described in it.

While every precaution has been taken in the preparation of this document, the publisher and the author assume no responsibility for errors or omissions, or for damages resulting from the use of information contained in this document or from the use of programs and source code that may accompany it. In no event shall the publisher and the author be liable for any loss of profit or any other commercial damage caused or alleged to have been caused directly or indirectly by this document.

Version: 2.0.0 (16/06/2015)

Introduction 5.3.1 Orientation 5.3.2 Advanced Orientation 5.3.3 Primary Antenna Mounting 5.3.4 Secondary Antenna 5.3.5 Remote Lever Arms 5.3.6 Output Frame of Reference 5.3.7 Correction Type 5.3.8 Altitude 5.3.9 GNSS Environment 5.3.10 Outputs 5.3.11 Advanced Options 5.3.12 Upload Settings 5.3.13 Save Wizard Settings 5.3.14 Finish 5.3.15

5.4 Motion Data

5.5 Diagnostics

................................................................................................................................... 112

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Graphical QC 5.5.1 Heading Initialisation 5.5.2 Connection Properties 5.5.3 System Properties 5.5.4 Help About 5.5.5

5.6 iHeave

................................................................................................................................... 123

Description 5.6.1 iHeave Data Files 5.6.2 iHeave Data Logging 5.6.3 iHeave Status Area 5.6.4 iHeave Alarm Setup 5.6.5 iHeave Alarm Log 5.6.6

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Chapter 6 Appendices

6.1 Technical Specification

6.2 Inertial Attitude and Position System Theory

6.3 Rotation Convention

6.4 Troubleshooting

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Physical 6.1.1 Electrical 6.1.2 Performance 6.1.3 Environmental 6.1.4 Data Logging Rate & Latency 6.1.5 Antenna Cable 6.1.6

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Global Positioning System (GPS) 6.2.1 Inertial Navigation System (INS) 6.2.2 GPS-INS Integration 6.2.3

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System Troubleshooting 6.4.1

6.4.1.1

6.4.1.2

6.4.1.3

6.4.1.4 Network Troubleshooting 6.4.2

6.4.2.1

6.4.2.2

6.4.2.3

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Shock Watch Antenna Differential / RTK Correction Input System Operation

Physical Connection PC LAN Connection Testing The Network Connection

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F180R MOTION Sensor User and Reference Guide

Contents

7

6.4.2.4

6.4.2.5

6.5 System Dimensions

6.6 Measure Installation Worksheet

6.7 Corrosion Prevention

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................................................................................................................................... 156

Changing the IP Address Network Q & A

F180R Reference Point 6.5.1 Antenna Reference Points 6.5.2

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Index

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F180R MOTION Sensor User and Reference Guide

Chapter

1

Export Policy

1 Export Policy

The F180R System Precision Attitude and Positioning System is subject to Export control under the dual-use item list. Dual-use items are goods, software, technology, documents and diagrams which can be used for both civil and military applications. It is important when exporting a F180R System that you always keep a full record of all export destinations, dates and export documents.

This document aims to provide basic guidance and advice for all users and includes links to further sources of information where required.

USA

In the US, the F180R System is export controlled under ECCN: 7A103a1 of the Commerce Control List (CCL) (Supplement No. 1 to Part 774 of the EAR). The Department of Commerce’s Bureau of Industry and Security (BIS) is responsible for implementing and enforcing the Export Administration Regulations (EAR).

For further information in the USA visit: http://beta-www.bis.doc.gov/index.php/licensing/

commerce-control-list-classification/export-control-classification-number-eccn

UK and European Union

The main legal basis for controls on dual-use goods is the European Union Dual-Use Regulation (Council Regulation (EC) No 428/2009 and associated legal amendments). This legislation is directly applicable in all EU countries, including the UK.

Export Policy

9

The F180R System is restricted under entry 7A103a1 of the EU Dual-Use List and the UK Consolidated list.

From the UK, the F180R System may be exported:

Within the EU providing that export documents state that the items require a licence if exported outside the EU and keep appropriate records.

To CGEA countries: Australia, Canada, Japan, New Zealand, Norway, Switzerland and USA providing according registration has been done and records are kept

To other destinations by applying for a Standard Individual Export Licence To other destination by using OGELs (Open General Export Licence). They remove the

need to apply for a Standard Individual Export Licence providing a registration has been done and are subject to conditions. More information available at: https://www.gov.uk/

dual-use-open-general-export-licences-explained

There are also a number of countries where trade embargoes are imposed. These are constantly changing. For further information on embargoes please visit: https://www.gov.uk/

current-arms-embargoes-and-other-restrictions

For further information in the UK visit: https://www.gov.uk/uk-strategic-export-control-lists-

the-consolidated-list-of-strategic-military-and-dual-use-items

The information contained herein is provided for guidance only. CodaOctopus believes this information to be correct as of October 2012; however, it is the sole responsibility of the exporter to ensure that they comply with Export Regulations within the country of export. CodaOctopus accepts no responsibility for any failure to comply with regulations.

Please contact sales@codaoctopus.com for further details and assistance with export guidelines.

F180R MOTION Sensor User and Reference Guide

Chapter

2

Introduction

2 Introduction

WARNING: Although selected for their ruggedness, the solid–state accelerometers and rate sensors used in the IMU are susceptible to excessive shock and vibration. Refer to the environmental specifications for details. Treat the IMU with care when you handle it—store it in the transit case until you are ready to install it. Never drop the IMU or subject it to shocks. A 'Shockwatch' label attached to the IMU casing will show a red central vial if the unit is subjected to severe shock. If this occurs, return the unit to CodaOctopus Limited for test and repair. The solid–state inertial measurement components are not field repairable.

The F180R System Inertial Attitude and Positioning System from CodaOctopus is an instrument for making precision measurements of vessel attitude (including heading), dynamics and geographical position for use in any marine hydrographic survey application. The F180R System is light in weight, compact in size and can be installed and uninstalled easily and quickly. The F180R System Inertial Attitude and Positioning System requires none of the complicated post-installation setup and configuration procedures demanded by other similar systems, yet provides all the functionality required within hydrographic survey applications.

The F180R System is a multi-sensor system consisting of an inertial measurement unit (IMU), built up of three solid-state gyros and three inertial-grade accelerometers, and two survey grade GPS receivers. The F180R System is delivered with the IMU components in a separate waterproof pod (wetpod) in order to allow the IMU to be located close to a transducer head.

Introduction

11

The F180R System integrates the information provided by the attitude and position sensors and takes advantage of their complimentary attributes in order to yield a position and attitude solution more stable than either system in operating in isolation. This blended navigation solution gives the F180R System several key advantages:

Measurement of position, attitude and heading that exhibit the long-term stability of a GNSS navigation system with the short term accuracy of the inertial navigator.

Precise position and attitude information at a high 100Hz update rate ideal for highdynamic applications.

Automatic system calibration compensating for IMU bias, drift and scale factor errors. Robust navigation output capable of maintaining a useful degree of accuracy during

GNSS signal blockage and degradation. Recognises and ignores anomalous transient jumps in the GNSS position solution.

This guide describes the F180R System Inertial Attitude and Positioning System in detail and is an important part of the system. You should retain the guide so that it is available to all those who will install, operate and maintain the system.

Although installation and operation of the F180R System are not complex tasks, you should spend time to familiarise yourself with the contents of this manual before you start to install or use the system. The time that you spend in identifying the task sequence now will help you to have your system operational with minimal delay.

F180R MOTION Sensor User and Reference Guide

Introduction

NOTE: Hints and tips are sparsed through the user guide to help you speed up a process of carrying out an action, or to provide reminders. These are formatted like this.

WARNING: It is strongly recommended that the instructions given in warnings should be followed and important information should be heeded. These are formatted like this.

Unless otherwise stated, all measurements throughout this manual conform to the SI system of units.

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2.1

General Description

The F180R System Inertial Attitude and Positioning System comprises four separate subsystems:

Figure 1: F180R System Unit, Antennas and Interfacing Cables

the Inertial Measurement Unit with the interconnection cables two GNSS antennas and their signal cables software supplied on a Disc with the system IMU components mounted in a separate water-proof housing

Figure 2: F180R System IMU component (wetpod)

F180R MOTION Sensor User and Reference Guide

2.1.1 Inertial Measurement Unit

The F180R System Box unit includes:

dual GPS receiver cards that accept and process data from each GNSS antenna the interface electronics that process signals from the IMU and communicate the

blended position, attitude and heading measurements to the receiving PC four LEDs to indicate the system status

The F180R System IMU unit includes:

an array of accelerometers and rate sensors to measure accelerations and rotations that affect the unit.

The standard system operates from a DC supply in the range 9 to 18V (nominally 12V DC). This is normally supplied through a 110 – 240V mains powered supply.

2.1.2 GNSS System

Two GNSS systems supply the information required by the F180R System to produce a heading solution. The antennas and the dual GNSS receiver cards are all designed for use in harsh marine environments where vibration and extremes of temperature are the norm. Low–loss antenna cables connect the antennas to their ports on the integrated electronics unit and ensure optimal reliability of operation.

Introduction

13

Novatel OEMV cards are the standard receivers integrated in the F180R System. Included are also a matching pair of GNSS antennas. (Novatel GPS 701 for L1 enabled receivers and Novatel GPS 702 for receivers enabled in L1/L2 mode.

The system comes with a standard set of 15m (Novatel CO16) antenna cables with options for 5m (Novatel C006) and 30m (Novatel C031). Refer to Antenna Cable Appendix for further technical information on antenna cables.

2.1.3 Software

The MOTION Control software supplied with the system runs on an IBM–compatible PC under a Microsoft® Windows™ Vista, 7 and 8 both 32 bit and 64 bit environments and provides several important and useful functions:

configuration and real–time data display system calibration and QC diagnostics long period heave processing (iHeave) interface capabilities with external receiving equipment data acquisition and playback

F180R MOTION Sensor User and Reference Guide

Introduction

NOTE: To ship the units between installation sites or to return them to CodaOctopus for repair, package them with care. You should retain the original transit packing cases for this purpose. The use of improper packing for shipping any part of this equipment will invalidate the warranty.

NOTE: In no event will CodaOctopus 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 CodaOctopus with respect to the products described herein.

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2.2

Warranty

Coda Octopus Products Ltd warrants the F180R System Inertial Attitude and Positioning System to be free of defects in materials or workmanship for one year. The warranty period begins on the date when the equipment was shipped from CodaOctopus or from their authorised distributor.

For information concerning the proper return location and procedure, contact CodaOctopus or their authorised distributor. The How To Get Support sections list contact details for CodaOctopus. The responsibility of CodaOctopus 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 CodaOctopus personnel or by personnel expressly authorised by CodaOctopus for this purpose. This warranty will not extend to damage or failure resulting from misuse, neglect, accident, alteration, abuse, improper installation, nonapproved cables or accessories, or operation in an environment other than that intended. A 'Shockwatch' label attached to the IMU casing will show a red central vial if the unit is subjected to severe shock. If this occurs, contact CodaOctopus technical support for test instructions.

2.3

The solid–state inertial measurement components are not field repairable.

Calibration

We recommend to factory calibrate the F180R System hardware every 2 years to ensure maximum accuracy. The calibration can't be performed in the field so please get in touch with the CodaOctopus Support team to arrange a hardware calibration.

F180R MOTION Sensor User and Reference Guide

Chapter

3

Hardware

3 Hardware

Port type

Description

Available Data protocols

Ethernet

(100 Base T)

For control, configuration, acquisition and QC of the F180R System system using the supplied Windows–based application software

MCOM binary data output string

COM1 / COM2

(RS232)

Configurable ports outputting data at rates up to 115200 baud

Attitude data using the TSS1,

EM1000, EM3000 and TSS HHRPdata strings

NMEA data strings for reporting of position, fix, heading, velocity, date, time and error statistic using NMEA GGA, GGK,

GSA, GSV, GST, HDT, PASHR, PPS, PRDID, PTCF, RMC, ROT, UTC, VTG and ZDA strings

MCOM binary data output string

COM3

(RS232)

Differential correction input at rates up to 115200 baud

RTCM RTCA CMR

PPS

(BNC Plug)

The system also supplies a 1 pulse per second (PPS) output synchronised with GPS time

Hardware

16

3.1

Communication

So far you have installed and interconnected the components of the F180R System Inertial Attitude and Positioning System so that they are ready for use. This chapter of the manual describes the various interface options and data output formats that you may use with the F180R System.

The F180R System system communicates with the controlling PC and with external equipment over various protocols using five interface ports: Ethernet, COM1, COM2, COM3 and PPS:

3.1.1 Ethernet

The Ethernet connection allows you to make maximum use of the F180R System system. The system outputs data using a UDP (User Datagram Protocol) broadcast on port 3000 that allows all PCs connected to the network to receive the transmitted MCOM data. It provides significantly greater data transfer capacity than a serial RS232 connection. To receive data from the F180R System system on a PC, the PC must have an Ethernet card fitted and be connected

F180R MOTION Sensor User and Reference Guide

Hardware

WARNING: For optimal performance you should use a direct exclusive connection between your PC and the F180R System, thus avoiding potential data latencies and interference that would otherwise be caused by other traffic existing on the network.

WARNING: Any firewalls between the F180R System and the control computer must be either disabled or allow all traffic to and from the MOTION Control software to pass.

F180R System Default Network Settings

IP Address

195.0.0.180

User configurable

Subnet Mask

255.255.255.0

User configurable

NOTE: The F180R System kit contains an in-line coupler and a CAT5 Ethernet crossover cable which can be used for direct F180R System-to-PC connection.

NOTE: Definitions of Heading, Pitch and Roll that are output by the F180R System can be found in Rotation Convention.

to the same 100 Base T local area network (LAN) over which the system is broadcasting. The PC must be running the supplied MOTION Control software.

You do not need to know details of the output packet format for the UDP broadcast to work effectively. However, if you require a detailed description of the MCOM format, please contact support@codaoctopus.com.

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There is an RJ–45 connector, J6, on the user interface cable that allows direct connection between the F180R System system and a network hub/switch. You may extend the cable if necessary by using commercially available network cables connected to the system through an RJ–45 direct in–line coupler that has a straight–through configuration. You may also connect the F180R System system directly to an Ethernet card in a PC. To do this the Ethernet link must be a crossover connection.

3.1.2 Serial Outputs

The F180R System sends attitude (heave, pitch and roll) information using the TSS1 data string format through a serial RS232 link updated at 100 Hz.

The F180R System sends attitude, heave and heading information using the binary Simrad EM3000 format through a serial RS232 link updated at up to 100 Hz.

The F180R System outputs NMEA 0183 ASCII text sentences for position (GGA), true heading (HDT), velocity (VTG) and Date/Time (ZDA) information through a serial RS232 link updated at up to 50 Hz.

F180R MOTION Sensor User and Reference Guide

Once you have defined the serial output settings, after power–on and initialisation, receiving

NOTE: If you have specified a Remote Lever Arm then the position, velocity, heading and attitude data are for the remote lever arm location.

NOTE: If you have entered a IMU Alignment/Orientation but you have not set a Remote Lever Arm, the position, velocity, attitude data are relative the IMU and the heading data are for the vessel.

NOTE: If you have not set either a Remote Lever Arm or a IMU Alignment/Orientation, then the position, velocity, attitude and heading data are for the IMU.

equipment connected to the serial ports will continue to receive the TSS1 or EM3000 data packets and/or NMEA sentences even with the Ethernet port disconnected. The heave data is processed onboard the F180R System for a 16 second period.

3.1.2.1 MCOM

Binary data output string that include position, attitude, heading, velocity, track and speed, acceleration, status and performance and raw data.

Hardware

18

The MCOM format is a proprietary format defined by CodaOctopus. The format description is available to third parties who wish to implement libraries for decoding the MCOM data stream. Contact CodaOctopus Support for further information.

3.1.2.2 NMEA

3.1.2.2.1 GGA

The NMEA - GGA string contains time, position and fix related data for a GPS receiver.

Figure 3: NMEA - GGA Format

F180R MOTION Sensor User and Reference Guide

Hardware

1. GPS Quality Indicator:

0 = Fix not available or invalid 1 = GPS SPS Mode, fix valid 2 = Differential GPS, SPS Mode, fix valid 3 = GPS PPS Mode, fix valid 4 = Real Time Kinematic. System used in RTK mode with fixed integers 5 = Float RTK. Satellite system used in RTK mode with floating integers 6 = Estimated (dead reckoning) mode 7 = Manual Input mode 8 = Simulator mode The GPS Quality indicator shall not be a null field.

2. Horizontal dilution of precision:

The system adds leading digits as required.

3. Reference Point Altitude:

Which will be the IMU sensing centre or a remote position depending on how the system has been configured. The Altitude output will be to the datum that you have chosen in the Settings Wizard.

4. Age of Differential GPS data:

Time in seconds since last SC104 Type 1 or 9 update, null field when DGPS is not used. The system also adds leading digits as required

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Also, note that commas separate all items, including null fields. If no differential corrections are being received, the Age of Differential GPS data and Digital reference station ID fields are also null.

3.1.2.2.2 GGK

The GGK string is a Trimble proprietary data string that provided time, position, position type, and DOP. It is considered a "pseudo-NMEA" string, because it looks similar to a standard NMEA string, but does not quite adhere to the NMEA specification.

F180R MOTION Sensor User and Reference Guide

Figure 4: NMEA - GGK Format

Field

Description

a

Mode M = Manual, forced to operate in 2D or 3D mode A = Automatic, allowed to automatically change between 2D or 3D

m

Mode 1 = Fix not available 2 = 2D 3 = 3D

ss

IDs of the satellites used in the solution. This field is repeated 12 times. (null for unused fields)

p.p

PDOP

Hardware

20

3.1.2.2.3 GSA

The NMEA - GSA string identifies the GPS position fix mode, the ID of the Satelite Vehicles used for navigation, and the Dilution of Precision (DOP) values.

Figure 5: NMEA GSA String

F180R MOTION Sensor User and Reference Guide

Field

Description

h.h

HDOP

v.v

VDOP

*hh

Checksum

3.1.2.2.4 GSV

Field

Description

t

Total number of messages of this type in this cycle

m

Message number, 1 to 4

ss

Number of theoretically visible satellites according to the current alemanac

xx

Satellite's PRN number

ee

Elevation in degrees, 90° maximum, empty when not tracking

aaa

Azimuth, degree from true north, 000° to 359°

nn

SNR in dB, 00 to 99 dB of L1 signal, null field when not tracking

...

Repeat set of PRN, elevation, azimuth and SNR for the remaining three satellites

*hh

Checksum

The GSV message identifies the number of satellites in view, the pseudorange noise (PRN) numbers, elevation, azimuth, and signal-to-noise (SNR) value.

Hardware

21

3.1.2.2.5 GST

Figure 6: NMEA GSV string

This string, GNSS Psuedorange Error Statistics, is used to support Receiver Autonomous Integrity Monitoring (RAIM). Psuedorange measurement error statistics can be translated in the position domain in order to give statistical measures of the quality of the position solution.

F180R MOTION Sensor User and Reference Guide

3.1.2.2.6 HDT

The NMEA - HDT string contains true heading in degrees.

Figure 7: NMEA - GST Format

Figure 8: NMEA - HDT Format

Hardware

22

Note that, in the case of the true heading field, the system adds leading digits as required. Also, note that commas separate all items, including null fields.

3.1.2.2.7 PASHR

The PASHR sentence contains UTC time, heading, pitch, roll and heave measurements. Accuracy data for the measurements is also included.

3.1.2.2.8 PPS

The PPS (Pulse Per Second) is a non-standard NMEA message which is useful for integrating the F180R System with other devices. This message contains useful information such as the PPS count, the UTC time of the current PPS, and other time-related information.

Figure 9: PASHR String

F180R MOTION Sensor User and Reference Guide

Figure 10: NMEA PPS string

Field

Description

hhmmss.ss

UTC time of PPS in hours / minutes / seconds.decimal seconds

dddddd

Day offset in days in days

wwwwww

GPS week in weeks

fff.ff

UTC time offset in seconds

pppppp

PPS count

*hh

Checksum separator and checksum

Hardware

23

3.1.2.2.9 PRDID

The PRDID sentence contains attitude data.

3.1.2.2.10 PTCF

The PTCF sentence contains the orientation (heading, pitch and roll Euler angles) of the vessel. The angular rates for roll and pitch are also included. This sentence only contains the orientation measurements accurate to 1 decimal place so it is not suitable for high accuracy applications.

Figure 11: PRDID String

F180R MOTION Sensor User and Reference Guide

Figure 12: NMEA PTCF string

Field

Description

HHH.H

True Heading of the navigation system, from 0 to 359.99 degrees, using 1 decimal place.

T

The character ‘T’ is output by the navigation system to represent that the heading is to true north. Grid north and magnetic north are not output.

+RRR.R

Roll of the navigation system, measured in degrees, with leading sign, leading 0’s where needed and 1 decimal place. Positive values mean that the left side is up.

+RRR.R

Roll of the navigation system, measured in degrees, with leading sign, leading 0’s where needed and 1 decimal place. Positive values mean that the left side is up.

+PPP.P

Pitch of the navigation system, measured in degrees, with leading sign, leading 0’s where needed and 1 decimal place. Positive values mean that the front is up.

+rrr.rr

X-axis angular rate (roll rate) of the navigation system, measured in degrees/ second, with leading sign, leading 0’s where needed and 2 decimal places. Positive values mean that the left side is moving up.

+ppp.pp

Lateral angular rate (pitch rate) of the navigation system, measured in degrees/ second, with leading sign, leading 0’s where needed and 2 decimal places. Positive values mean that the front is moving up.

*CS

Checksum separator and checksum

Hardware

24

F180R MOTION Sensor User and Reference Guide

3.1.2.2.11 RMC

Field

Description

hhmmss.ss

UTC time of the position fix in hhmmss.ss format

A

Status A = Data valid V = Navigation receiver warning (V is output whenever the receiver indicates that something is wrong)

llll.ll

Latitude (WGS-84)

L

Latitude direction N = North S = South

yyyyy.yy

Longitude (WGS-84)

Y

Longitude direction W = West E = East

s.s

Speed Over Ground (SOG) in knots

c.c

Course Over Ground in degree

ddmmyy

Date in ddmmyy format

m.m

Magnetic Variation in degrees

a

Direction of magnetic variation E = Easterly variation from True course (subtracts from True course) W = Westerly variation from True course (adds to True course)

i

Mode indicator A = Autonomous D = Differential N - Data not valid

*hh

Checksum

The RMC message identifies the UTC time, status, latitude, longitude, speed over ground (SOG), date, and magnitude variation of the position fix.

Figure 13: NMEA RMC string

Hardware

25

F180R MOTION Sensor User and Reference Guide

3.1.2.2.12 ROT

The ROT sentence contains Rate of Turn data.

3.1.2.2.13 UTC

The UTC sentence contains UTC date and time.

Figure 14: ROT String

Hardware

26

3.1.2.2.14 VTG

The NMEA - VTG string contains the actual course and speed relative to the ground.

Figure 15: UTC String

Figure 16: NMEA - VTG Format

F180R MOTION Sensor User and Reference Guide

3.1.2.2.15 ZDA

The NMEA - ZDA string contains UTC time, day, month, year and local time zone information.

3.1.2.3 TSS1

The TSS1 data string format has five fields and contains 27 ASCII characters. Each string begins with a start character and ends with the carriage return and line–feed characters. All fields contain measurements in real–world units - the F180R System supplies acceleration measurements using ASCII–coded hexadecimal values and heave, pitch and roll as ASCII– coded decimal values.

Figure 17: NMEA - ZDA Format

Hardware

27

Example:

:053C22 0000f-0046 -0563 :043C86 0000f-0048 -0563 :053D1C 0000f-0050 -0563 :073D89 0000f-0052 -0562 :043CF7 0000f-0055 -0562

Figure 18: TSS1 Data String

F180R MOTION Sensor User and Reference Guide

3.1.2.4 TSS HHRP

The HHRP sentence contains attitude data.

Hardware

28

3.1.2.5 EM1000 (Tate-Bryant)

This 10–byte binary format is for use with the Simrad EM1000 multibeam sounder system.

Figure 19: HHRP String

Figure20: EM1000 Format

F180R MOTION Sensor User and Reference Guide

3.1.2.6 EM3000 (Tate-Bryant)

NOTE: The F180R System can only process correction strings if they are referenced to a single base station or differential beacon. Some differential GPS receiver units can receive and output data from multiple differential beacons simultaneously. This type of output is not compatible with the F180R System and a single reference source should be used in the correction input to theF180R System. This input must arrive on the J3 user interface cable.

Receive (Rx) pin on J3 is Pin 3 for correction input

This 10–byte binary format is for use with the Simrad EM3000 multibeam sounder system.

Figure 21: EM3000 Format

Hardware

29

3.1.3 RTK and Differential Corrections

The F180R System can decode corrections supplied in RTCM, RTCA and CMR and CMR from external GPS receivers or standalone demodulators. The system is configured by default to receive RTK and differential correction information, using the RTCM format with default input port settings 9600,8,N,1,OFF. You can change the correction configuration in the Configuration Wizard

F180R MOTION Sensor User and Reference Guide

Hardware

Format

Description

RTCM

The F180R System will accept standard RTCM-SC104 messages: Version 1/2.2: 3,9,15,16,16t,18,19,20,21,22,59 Version 3: 1001, 1002, 1003, 1004, 1005, 1006

(Please note that only later releases of OEM4 based system are capable of utilising the RTCM Version 3 messages. Please contact CodaOctopus for exact information on your F180R System model.)

RTCA

The F180R System will accept RTCA Standard Type 7 messages.

CMR/CMR+

Trimble open format and available as an output from their instruments and some other 3rd party.

NOTE: The formats listed above are sent in binary format. Thus you may not see any recognisable data if the data output is viewed on Hyperterminal. This is worth noting when trying to troubleshoot F180R System input issues.

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For further information on correction formats contact CodaOctopus.

3.1.4 PPS

The PPS timing output pulse is a TTL–level high–to–low (>2.4V to <1.2V) transition coincident (to within 1µs) with the PPS strobe of GPS time. The pulse width is 1ms.

In order to minimise the chance of encountering problems related to time synchronisation we recommend that a PPS converter is interfaced to one of the onboard serial ports on the navigation computer and not to external or USB serial ports.

Figure 22: PPS timing output pulse

3.2

Technical Specification

CodaOctopus operates a policy of continual product improvement. The technical specification listed below for the systems manufactured at the time of writing and is therefore subject to change without notice. For details of current specifications, refer to the CodaOctopus website

F180R MOTION Sensor User and Reference Guide

at www.codaoctopus.com or contact CodaOctopus for additional information.

Product

RT20 RTK

L1/L2 on

1st

Antenna

RT2 RTK

Satellite

GPS

L1/L2 on

2nd

Antenna

Description

F180R

Standard F180R with up to 20 cm positional accuracy when used with a suitable external RTK receiver and base-station

F185R

As standard F180R but with improved positional accuracy capability up to 1cm when used with suitable external RTK receiver and base-station

F185R+

As F185R but with L1/L2 enabled on both receivers for rapid heading initialisation.

F190R

As F180R but with integrated satellitebroadcast differential correction receiver providing up to 20 cm positional accuracy. Additional subscription is required.

F190R+

As F190R but with L1/L2 enabled on both receivers for rapid heading initialisation.

3.2.1 Model Specifications

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F180R MOTION Sensor User and Reference Guide

3.2.2 Interfaces

Ethernet 100 Base-T

Function

Control, set–up and QC monitoring of the system using MOTION Control Windows application software.

MCOM Format

Outputs include position, attitude, heading, velocity, track and speed, acceleration, status and performance and raw data.

Serial 1 and 2 Outputs

High data rate output packet (100 Hz) for high–speed interfacing

Attitude data

TSS1, EM3000, EM1000, HHRP, PASHR and PRDID attitude strings. RS232 (DB9) up to 115k baud

NMEA data

GGA position, HDT heading, VTG velocity, ZDA date/time, GST GNSS Error, etc. RS232 (DB9) up to 115k baud

MCOM Format

Outputs include position, attitude, heading, velocity, track and speed, acceleration, status and performance and raw data

Serial 3 Input

RTK/Differential Correction Input

RS232 (DB9) up to 115k baud. Receive (Rx) pin on J3 is Pin 3 for correction input

Other

1 PPS

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Serial outputs 1 and 2 can be configured for any data output type, including the binary MCOM format.

F180R MOTION Sensor User and Reference Guide

3.2.3 Reference Frames

Global Reference System

Horizontal Domain

WGS84 Latitude, Longitude

Vertical Domain

WGS84 Ellipsoidal Height OSU89B Geoid Height User Defined

Time Domain

Coordinated Universal Time (UTC)

Local Reference System - F180R System Standard Orientation

Figure 23: Local Reference System

NOTE: The IMU frame for the F180R System wetpod are defined with positive y-axis through connector plate and positive x and z-axis according to marking on the unit itself.

Lever Arm Convention

If you have specified a Remote Lever Arm then the position, velocity, heading, heave and attitude data are for the remote lever arm location.

If you have not set a Remote Lever Arm, the position, velocity, heave, attitude data are relative the IMU and the heading data are for the vessel.

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F180R MOTION Sensor User and Reference Guide

Hardware

NOTE: Running through the MOTION Settings Wizard before physically installing the F180R System on the vessel could provide helpful as it would give a better understanding of what is required during the hardware installation.

NOTE: It is a relatively easy operation to transfer theF180R System between different vessels. This is of particular benefit for those who will use the system in a series of short–term operations conducted using different vessels.

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3.3

Hardware Installation

While designing the F180R System Inertial Attitude and Positioning System, CodaOctopus has made it a high priority to ensure that the system is easy to install, configure and use. With a need for only the bare minimum of installation parameters to be supplied manually, the system intelligently evaluates the details of its own installation and uses them to deliver navigation measurements of optimal accuracy.

These instructions explain how to install and connect the components of the F180R System. Although it is easy to install and configure the system, you should take some time to read these instructions and identify each of the components of the system before you begin so that you can be sure you have everything you need readily available.

A typical installation should then be accomplished quickly so that you may have the system running and delivering accurate measurements within less than a couple of hours. Unlike other similar systems, the F180R System requires no complex installation measurements that delay progress and make the system susceptible to simple errors of geometry.

The task sequence you need to follow is:

1. Identify the major components of the F180R System.

2. Select and prepare suitable locations in the vessel to install them.

3. Install the cabling and components on the vessel.

4. Configure the installation.

3.3.1 Component Identification

The major components of the F180R System Inertial Attitude and Positioning System as they are shipped are shown below.

The shipping case includes:

F180R MOTION Sensor User and Reference Guide

the F180R System Box Unit

NOTE: For L1 deployment this is the Novatel GPS-701 antenna. For L1/L2 deployment this is the Novatel GPS-702 antenna.

WARNING: Although selected for their ruggedness, the solid–state accelerometers and rate sensors used in the IMU are susceptible to excessive shock and vibration. Refer to the environmental specifications for details. Treat the IMU with care when you handle it—store it in the transit case until you are ready to install it. Never drop the IMU or subject it to shocks. A 'Shockwatch' label attached to the IMU casing will show a red central vial if the unit is subjected to severe shock. If this occurs, return the unit to CodaOctopus Limited for test and repair. The solid–state inertial measurement components are not field repairable.

WARNING: A common point of failure is damage to the two antenna cables. Any exterior or interior damage to the cables can deteriorate the GNSS signal strength to a point where the system turns unreliable. Special care should therefore be considered when installing and fixing the cables to the vessel structure. Cables should not be subject to a short bend radius or stepped on as it can break the internal insulation layer.

Wetpot IMU

two identical GNSS antennas

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antenna mounting components two identical antenna cables with appropriate connectors at both ends the power connection cable

F180R MOTION Sensor User and Reference Guide

3.3.2 Antenna Installation

NOTE: Do not mount the antennas on flexible masts, or on mast platforms that tend to move significantly relative to the vessel.

NOTE: Multipath reflections of GPS signals are the dominant source of errors in theF180R System. Typical reflectors include flat surfaces on the vessel and the surface of the sea. Locating the antennas as high as possible will reduce the multipath reflections from the sea surface and vessel superstructure.

NOTE: You should consult the documentation for any microwave emitters or radar antennas mounted on the vessel close to your proposed F180R System antenna mounting location. The F180R System antennas are sensitive to any electromagnetic radiation that might interfere with electrical equipment.

NOTE: For L1 deployment this is the Novatel GPS-701 antenna. For L1/L2 deployment this is the Novatel GPS-702 antenna. For mixed systems the antennas are marked as primary and secondary in order to avoid confusion.

There are several important points that you must remember when you choose a location for the GPS antennas. You must mount them:

outside in an elevated position on the vessel where they have a clear view of the sky in all directions

rigidly with respect to each other and with respect to the IMU

with a known separation distance between them in locations that are least likely to experience multipath satellite signals caused by

reflections off nearby structures or flat surfaces

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in locations where salt deposits are unlikely to accumulate and degrade the received signal quality

in locations isolated from high levels of vibration, shock or electrical noise more than 5 metres from radar, UHF, satellite communications or other communications

antennas

where they are not exposed to extremes of temperature beyond the acceptable limits listed in the environmental specifications

where the antenna cables can run easily in one continuous length from each antenna to the F180R System Box

To install the antennas you will need:

the supplied antennas

antenna cables

F180R MOTION Sensor User and Reference Guide

NOTE: The F180R System comes with a standard set of 15m (Novatel CO16) antenna cables with options for 5m (Novatel C006) and 30m (Novatel C031). Refer to Appendix

- Antenna Cable for further technical information on antenna cables.

the optional antenna mounting bar (supplied on request)

NOTE: It is essential that you check and record the separation distance between the two GPS antenna centres before you finally mount the antenna assembly, otherwise it might be difficult to obtain an accurate measurement. It is essential that you measure this antenna separation to an accuracy of better than 5mm. This measurement will be used as the Antenna Separation input parameter in the MOTION Control application. Once you have done this, the system will use measurements delivered by the dual GPS receivers to 'aid' the independent measurements of the IMU.

For simplicity and convenience, you may make this measurement as soon as you have mounted the two GPS antennas on their mounting bar. For accurate measurement make sure you measure at the Antenna Reference Points.

a kit of suitable tools waterproof sealing tape or compound cable clips

To install the antennas:

1. Choose a location for the antennas using the guidelines printed above.

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Figure 24: Antenna Installation

2. Fix the optional mounting bar or your antenna support in position using bolts at both ends to ensure rigidity of antenna installation. The bolt dimension is 5/8 inch by 2 inches, UNC stainless steel.

3. Decide which end of the mounting bar will support the primary GPS antenna and which end will support the secondary GPS antenna.

F180R MOTION Sensor User and Reference Guide

Hardware

NOTE: For simplicity, the standard recommended configurations are either:

(a) with the antenna mounting bar level and at right–angles to the ship's heading, and the primary antenna located on the port side of the vessel with the secondary antenna mounted on the starboard side; or

(b) with the antenna mounting bar level and parallel to the ship's heading, with the primary antenna located on the forward end of the mounting bar and the secondary antenna on the aft end of the bar.

However, you may mount the antennas at other orientations if you need to. You must set the antenna orientation chosen in Secondary Antenna Configuration of the Configuration Wizard.

NOTE: The phase centres of the GPS antennas might move by several millimetres as the vessel turns or as satellites move across the sky. When both antennas have the same orientation, their phase centres will move approximately together. This will help to maintain optimal measurement accuracy under all conditions.

4. Fit the primary GPS antenna to the mounting bar at its chosen location by passing the central support stud through the hole and fitting the securing washer and nut.

5. Run one of the supplied cables from the F180R System Box to the primary GPS antenna location. Use clips or adhesive tape to secure the cable at regular spacings. Do not subject the cable to sharp bends, stresses or points where extended vibration might cause wear to the cable.

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6. Connect the cable to the primary GPS antenna and apply waterproof sealing tape to seal the connection against water ingress. Do not over–tighten the connector.

7. The primary antenna cable in F180R System kit is normally marked with a red sleeve. Alternatively attach a label to identify this as the primary antenna cable.

8. Fit the secondary GPS antenna to the mounting bar, following the same procedure that you used for the primary antenna.

9. Before you tighten the fixings on the secondary antenna, turn it so that the connector port faces in approximately the same direction as that on the primary GPS. This gives both antennas the same orientation with respect to the vessel.

10.Run the secondary antenna cable from the F180R System Box to the secondary GPS antenna location.

11.Connect the second supplied cable to the secondary GPS antenna and seal it against water ingress, following the same precautions and instructions used for the primary antenna cable.

12.Attach a label at the bottom end to identify this as the secondary antenna cable.

13.Connect both antenna cables to the F180R System Box through their appropriate connection ports. Upper BNC port is primary antenna connection. Lower BNC port is secondary antenna connection.

14.Connect the user interface cable to the 22–way port on the F180R System Box.

F180R MOTION Sensor User and Reference Guide

Hardware

Port

Identification

Description

Function

J1

Deutsch AS612–35SA 22–way

Main connector to the <%PRODUCTNAME%>

Box.

J2

DB9 9–way female D–type.

Serial RS232 attitude data to receiving

equipment. (COM1)

J3

DB9 9–way female D–type.

Serial RS232 RTK/Differential correction

from an external receiver. (COM3)

J4

DB9 9–way female D–type

Serial RS232 navigation data to receiving

equipment. (COM2)

J5

BNC socket

1 PPS timing signal

J6

8–way RJ45 100 Base-T plug

Ethernet connection port to host PC

J8a

Deutsch connector

IMU Pod connection, connection on the <%

PRODUCTNAME%> Box side

J8b

Marine connector

IMU Pod connection, connection on the IMU

pod side

PWR

Open tails

Supply, supply return and ground

15.Use the information in the table below to make connections between the user interface cable and the power supply and external equipment including the host PC and wetpod.

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Figure 25: F180R System Connectors Diagram

F180R MOTION Sensor User and Reference Guide

3.3.3 IMU Installation

WARNING: The F180R System IMU contains a number of sensitive and expensive solid state accelerometer and gyro components. You will cause permanent damage to these components if you handle the F180R System IMU carelessly. To prevent irreversible damage, handle the F180R System IMU with great care while you unpack and install the F180R System IMU.

NOTE: Retain the original packing cases that contain the system during shipment and use them if you must transport the system from one location to another or if you must return it to CodaOctopus for any reason. You will invalidate the warranty if you use improper or inadequate packing to store or transport any part of the system.

NOTE: Definitions of Heading, Pitch and Roll that are output by theF180R System can be found in Appendix - Rotation Convention.

The F180R System IMUcontains a number of sensitive measuring devices. You must always take great care when you handle this unit. In particular, be very careful when you place the F180R System IMU on or mount it to any surface. It is not possible to repair the inertial measurement components of the F180R System IMU in the field. If you suspect the F180R System has developed a fault, return it to CodaOctopus for repair.

Install the F180R System at a suitable location in the vessel:

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Installation Orientation

The default installation orientation for the F180R System IMU relative to the vessel is with the connector end plate (y-axis) pointing to starboard, and the z-axis marked on the unit pointing down. Please note that the unit can be mounted in any orientation where the exact mounting orientations are provided in the Configuration Wizard.

(See Reference Frame for coordinate conventions)

The IMU should be installed as near as is reasonably practical to the sensor whose motion it is to monitor. This will minimise the length of any lever arms and ensure that the IMU motion matches that of the sensor as closely as possible.

The chosen location must provide rigid support so that the IMU does not move relative to either of the GPS antennas. You do not need to install the IMU at or near the vessel's centre of rotation. There will be no degradation in performance if you mount the IMU away from the vessel's centre of rotation.

Special algorithms ensure the IMU will work in any installed orientation with no loss of performance. They also ensure the system performs well in high vibration environments. However, you should avoid high vibration environments where possible because these have additional noise components that will corrupt your measurements. The noise components are due entirely to the vibration motion and do not arise within the F180R System system.

If the mounting location for the F180R System IMU is likely to exceed the limits for vibration and shock listed in the environmental specification, then you should provide special anti– vibration mounting arrangements. Install the IMU away from strong heat sources. Avoid subjecting it to rapid changes in temperature, which can degrade the system performance.

F180R MOTION Sensor User and Reference Guide

Hardware

NOTE: The F180R System Box is NOT waterproof. Do not install it where it is likely to become wet at any time. However the IMU/wetpod is.

Choose a location for the Box and IMU that allows you to connect it to other components of the system easily using the supplied cables.

To install the F180R System System you will need:

the F180R System housing and wetpod all supplied power and interconnection cables a kit of suitable tools waterproof sealing tape or compound cable clips

To install the F180R System Box:

1. Follow the guidelines above to select a suitable mounting location for the <% PRODUCTNAME%> Box.

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3.4

2. Attach the F180R System Box directly to the mounting location using a rigid method of securing the unit in position. The only mounting components supplied by CodaOctopus with the F180R System are the two 90° full length mounting brackets.

3. Attach cables throughout the system.

To install the F180R System wetpod:

1. Follow the guidelines above to select a suitable mounting location for the F180R System IMU.

2. Securely attach the F180R System IMU to the sensor pole.

3. Attach cables throughout the system.

Measure Installation Parameters

The installation parameters you require for system calibration are:

Antenna Baseline (antenna separation distance) Antenna Offsets Antenna Orientation

Additionally, there are a number of configuration parameters which are not required for calibration of the system; however they are required to correctly configure the output of the system.

IMU Orientation Remote Lever Arms

F180R MOTION Sensor User and Reference Guide

All measurements are made in accordance with the conventions stated in the Reference

Heading mounting rotation (about z Axis)

alignment of the IMU x-y axis to vessel's forestarboard axis. Clockwise rotation is positive (looking down on the wetpod).

Figure 26: IMU Orientation

Pitch mounting rotation (about y Axis)

alignment of the IMU x-z axis to the vessel's fore-down axis. Anti clockwise rotation, where the connector moves to the aft, is positive.

Roll mount rotation (about x Axis)

alignment of the IMU y-z axis to the vessel's starboarddown axis. Clockwise rotation looking at the connector is positive.

WARNING: When using an other than standard like installation see the graphics in the wizard for axis alignment changes.

NOTE: Definitions of Heading, Pitch and Roll that are output by the F180R System can be found in Appendix - Rotation Convention.

Frame Chapter.

3.4.1 IMU Orientation

It is rarely possible to install any system on a vessel so that it is perfectly level and oriented in exact fore–aft alignment with respect to the vessel's frame. Any misalignment between the system and the vessel's frame might therefore affect the accuracy of measurements delivered by the system by applying a permanent offset to them. The standard installation orientation of the F180R System relative to the vessel is for the connector end plate to point directly aft. The system should also sit level relative to the mounting surface. This orientation will ensure the system is installed parallel to the vessel's heading axis.

The F180R System allows you to input measured differences between theF180R System frame of reference and the vessel frame of reference. If it is not possible to make these measurements then they can be evaluated after system calibration.

The rotation angles that you require are the differences between the F180R System frame of reference and the vessel's frame of reference. For simplicity the angles are defined as the rotations needed to re-align the F180R System with the vessel, and use the following conventions:

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For ease of use MOTION Control provides visual aid in the Settings Wizard for 90° and 180° orientations in all directions.

F180R MOTION Sensor User and Reference Guide

Measure and write down the rotation angles required to bring the F180R System into

Correction Type

GPS Offset Measurement Accuracy

Stand alone

0.5 metre or less

DGPS

2.0 metre or less

RTK

2.0 metre or less

NOTE: You should measure the antenna offset distances in the vessel frame of reference. MOTION Control sets the Stand Alone accuracy to a maximum of 0.5 metres. As the Differential/RTK positional accuracies are of a higher magnitude, baseline measurements for these systems can be made to 2.0 metres.

NOTE: You should never over–estimate how accurately you have measured the offset distances. When estimating the accuracy of your measurements you should also allow for any misalignment of the unit with the vessel's (X, Y, Z) axes, which will also affect the overall measurement accuracy of the F180R System. For example, if an offset is 10m and you have not allowed for a 1° heading alignment then the Y offset measurements will include 0.17m error arising from this 1° error.

alignment as detailed above. Later, you must input these values in the MOTION Settings Wizard.

3.4.2 Antenna Offset

It is necessary to configure the F180R System with Antenna Offset parameters that describe the position of the primary GNSS antenna relative to the F180R System IMU. To provide this important information you must measure the antenna offset distances.

The antenna offset distances are the differences in the fore–aft, port–starboard and vertical installation positions of the F180R System IMU and the primary GNSS antenna. You must measure each of the antenna offset distances from the F180R System IMU to the primary antenna and ensure that they are measured to within the maximum specified accuracies.

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F180R MOTION Sensor User and Reference Guide

Hardware

Fore-Aft offset—the distance between the installed position of the F180R System IMU and the centre of the primary GNSS antenna along the fore–aft line of the F180R System IMU.

Figure 27: GPS Offsets

Port-Starboard offset—the distance between the

installed position of the F180R System IMU and the centre of the primary GNSS antenna along the port– starboard axis of the F180R System IMU.

Above-Below offset—the distance between the installed position of theF180R System IMU and the primary GNSS antenna along the vertical axis of the F180R System IMU.

WARNING: It is essential that you measure this antenna separation to an accuracy of better than 5mm.

Please refer to the System Dimensions for the IMU reference point. Measure and write down the offset distances as detailed above. Also make an estimation of the accuracy with which you have made these measurements. Later you must type these values into the MOTION Control Settings Wizard.

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3.4.3 Antenna Separation

The antenna mounting arrangement, allows for an antenna separation distance, or baseline length, of between 1 and 4 metres. This is a single, straight–line measurement between the centres of both antennas and is easy to measure after you attach the antennas to the mounting bar and before you install the mounting bar on the vessel.

Optimal system performance during the heading initialisation and calibration phases can be achieved by using the smallest antenna baseline that delivers measurements meeting your specification. A longer baseline will give increased heading accuracy, however the time taken to Heading Initialise and system to calibrate will also take long. Thus optimal heading initialisation periods and calibration times are achievable with baseline lengths of 2.0m or less.

It is essential to measure the straight–line distance - the antenna separation - between the antenna centres as accurately as possible.

This measurement will be used as the Antenna Separation input parameter in MOTION Control. Once you have done this, the system will use measurements delivered by the GNSS receivers to 'aid' the independent measurements of the IMU.

If you have not already done so, measure and record the antenna separation distance to an accuracy of better than 5mm. Later you must input this measurement in the MOTION Control Settings Wizard.

F180R MOTION Sensor User and Reference Guide

3.4.4 Antenna Orientation

With the antenna mounting bar aligned port–starboard with the primary antenna to port, the orientation rotation is nominally +90°.

Figure 28: GPS Orientation

With the antennas mounted fore–aft (in line with the vessel) and the secondary antenna aft of the primary antenna, the orientation rotation is nominally 180°.

With the antennas mounted fore–aft (in line with the vessel) and the secondary antenna forward of the primary antenna, the orientation rotation is nominally 0°.

A height offset positive means that the Secondary Antenna is above or below the Primary Antenna.

NOTE: These nominal GPS orientation rotation and elevation angles must be set accurately to ensure optimal performance. Following the series of calibration manoeuvres the system will refine the measurements to more accurate values, and these are saved with the calibration.

The Antenna Orientation has two components — rotation and elevation — that tell the F180R System what angle the GNSS antenna mounting bar is at relative to the vessel's heading axis, and what elevation angle the GNSS antenna mounting bar makes relative to the vessel's base plane.

Rotation is expressed as the angular difference between the vessel's heading and the antenna mounting bar, using the primary antenna as pivotal point.

Elevation is expressed as height offset of the secondary antenna to the primary antenna, that is, the difference in altitude between the Secondary and the Primary Antennas.

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Measure and write down the Antenna orientation rotation and height offset as detailed above. Later you must type these values into the appropriate fields of the MOTION Control Settings Wizard.

3.4.5 Remote Lever Arms

The F180R System allows you to set a 'Remote Lever Arm' distances X, Y and Z of the F180R System so that you may specify the point at which you want the motion outputs to be computed for. The Remote Lever Arms are configured in Settings Wizard.

With the default zero settings for the X, Y and Z remote lever arm distances, the system outputs all data referenced to its internal measurement point which is marked on the IMU enclosure. If you want the system outputs referenced to some other point, for example at a sonar head, you must enter the lever arm distances between the F180R System IMU and the desired measurement point.

F180R MOTION Sensor User and Reference Guide

Hardware

NOTE: If you have specified a Remote Lever Arm then the position, velocity, heading and attitude data are for the remote lever arm location.

NOTE: If you have entered a Vessel Orientation but you have not set a Remote Lever Arm, the position, velocity, attitude data are relative the IMU and the heading data are for the vessel.

NOTE: If you have not set either a Remote Lever Arm or a Vessel Orientation, then the position, velocity, attitude and heading data are for the IMU.

The remote lever arm must be given in the vessel reference frame. You should try to keep the remote lever arms as short as possible, because vibrations will

introduce motion errors proportional to the lever arm distance. Whenever possible mount the IMU near the required measurement point.

For heave measurements is set to AC coupling, which will generate a heave output that has a long term average of zero.

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3.5

Communication

So far you have installed and interconnected the components of the F180R System Inertial Attitude and Positioning System so that they are ready for use. This chapter of the manual describes the various interface options and data output formats that you may use with the F180R System.

The F180R System system communicates with the controlling PC and with external equipment over various protocols using five interface ports: Ethernet, COM1, COM2, COM3 and PPS:

F180R MOTION Sensor User and Reference Guide

Hardware

Port type

Description

Available Data protocols

Ethernet

(100 Base T)

For control, configuration, acquisition and QC of the F180R System system using the supplied Windows–based application software

MCOM binary data output string

COM1 / COM2

(RS232)

Configurable ports outputting data at rates up to 115200 baud

Attitude data using the TSS1,

EM1000, EM3000 and TSS HHRPdata strings

NMEA data strings for reporting of position, fix, heading, velocity, date, time and error statistic using NMEA GGA, GGK,

GSA, GSV, GST, HDT, PASHR, PPS, PRDID, PTCF, RMC, ROT, UTC, VTG and ZDA strings

MCOM binary data output string

COM3

(RS232)

Differential correction input at rates up to 115200 baud

RTCM RTCA CMR

PPS

(BNC Plug)

The system also supplies a 1 pulse per second (PPS) output synchronised with GPS time

WARNING: For optimal performance you should use a direct exclusive connection between your PC and the F180R System, thus avoiding potential data latencies and interference that would otherwise be caused by other traffic existing on the network.

WARNING: Any firewalls between the F180R System and the control computer must be either disabled or allow all traffic to and from the MOTION Control software to pass.

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3.5.1 Ethernet

The Ethernet connection allows you to make maximum use of the F180R System system. The system outputs data using a UDP (User Datagram Protocol) broadcast on port 3000 that allows all PCs connected to the network to receive the transmitted MCOM data. It provides significantly greater data transfer capacity than a serial RS232 connection. To receive data from the F180R System system on a PC, the PC must have an Ethernet card fitted and be connected to the same 100 Base T local area network (LAN) over which the system is broadcasting. The PC must be running the supplied MOTION Control software.

F180R MOTION Sensor User and Reference Guide

Hardware

F180R System Default Network Settings

IP Address

195.0.0.180

User configurable

Subnet Mask

255.255.255.0

User configurable

NOTE: The F180R System kit contains an in-line coupler and a CAT5 Ethernet crossover cable which can be used for direct F180R System-to-PC connection.

NOTE: Definitions of Heading, Pitch and Roll that are output by the F180R System can be found in Rotation Convention.

NOTE: If you have specified a Remote Lever Arm then the position, velocity, heading and attitude data are for the remote lever arm location.

NOTE: If you have entered a IMU Alignment/Orientation but you have not set a Remote Lever Arm, the position, velocity, attitude data are relative the IMU and the heading data are for the vessel.

You do not need to know details of the output packet format for the UDP broadcast to work effectively. However, if you require a detailed description of the MCOM format, please contact support@codaoctopus.com.

There is an RJ–45 connector, J6, on the user interface cable that allows direct connection between the F180R System system and a network hub/switch. You may extend the cable if necessary by using commercially available network cables connected to the system through an RJ–45 direct in–line coupler that has a straight–through configuration. You may also connect the F180R System system directly to an Ethernet card in a PC. To do this the Ethernet link must be a crossover connection.

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3.5.2 Serial Outputs

The F180R System sends attitude (heave, pitch and roll) information using the TSS1 data string format through a serial RS232 link updated at 100 Hz.

The F180R System sends attitude, heave and heading information using the binary Simrad EM3000 format through a serial RS232 link updated at up to 100 Hz.

The F180R System outputs NMEA 0183 ASCII text sentences for position (GGA), true heading (HDT), velocity (VTG) and Date/Time (ZDA) information through a serial RS232 link updated at up to 50 Hz.

Once you have defined the serial output settings, after power–on and initialisation, receiving equipment connected to the serial ports will continue to receive the TSS1 or EM3000 data packets and/or NMEA sentences even with the Ethernet port disconnected. The heave data is processed onboard the F180R System for a 16 second period.

F180R MOTION Sensor User and Reference Guide

NOTE: If you have not set either a Remote Lever Arm or a IMU Alignment/Orientation, then the position, velocity, attitude and heading data are for the IMU.

3.5.2.1 MCOM

1. GPS Quality Indicator:

0 = Fix not available or invalid 1 = GPS SPS Mode, fix valid 2 = Differential GPS, SPS Mode, fix valid 3 = GPS PPS Mode, fix valid 4 = Real Time Kinematic. System used in RTK mode with fixed integers 5 = Float RTK. Satellite system used in RTK mode with floating integers 6 = Estimated (dead reckoning) mode 7 = Manual Input mode 8 = Simulator mode The GPS Quality indicator shall not be a null field.

2. Horizontal dilution of precision:

The system adds leading digits as required.

Binary data output string that include position, attitude, heading, velocity, track and speed, acceleration, status and performance and raw data.

The MCOM format is a proprietary format defined by CodaOctopus. The format description is available to third parties who wish to implement libraries for decoding the MCOM data stream. Contact CodaOctopus Support for further information.

3.5.2.2 NMEA

3.5.2.2.1 GGA

The NMEA - GGA string contains time, position and fix related data for a GPS receiver.

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Figure 29: NMEA - GGA Format

F180R MOTION Sensor User and Reference Guide

3. Reference Point Altitude:

Which will be the IMU sensing centre or a remote position depending on how the system has been configured. The Altitude output will be to the datum that you have chosen in the Settings Wizard.

4. Age of Differential GPS data:

Time in seconds since last SC104 Type 1 or 9 update, null field when DGPS is not used. The system also adds leading digits as required

Also, note that commas separate all items, including null fields. If no differential corrections are being received, the Age of Differential GPS data and Digital reference station ID fields are also null.

3.5.2.2.2 GGK

The GGK string is a Trimble proprietary data string that provided time, position, position type, and DOP. It is considered a "pseudo-NMEA" string, because it looks similar to a standard NMEA string, but does not quite adhere to the NMEA specification.

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Figure 30: NMEA - GGK Format

F180R MOTION Sensor User and Reference Guide

3.5.2.2.3 GSA

Field

Description

a

Mode M = Manual, forced to operate in 2D or 3D mode A = Automatic, allowed to automatically change between 2D or 3D

m

Mode 1 = Fix not available 2 = 2D 3 = 3D

ss

IDs of the satellites used in the solution. This field is repeated 12 times. (null for unused fields)

p.p

PDOP

h.h

HDOP

v.v

VDOP

*hh

Checksum

The NMEA - GSA string identifies the GPS position fix mode, the ID of the Satelite Vehicles used for navigation, and the Dilution of Precision (DOP) values.

Figure 31: NMEA GSA String

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3.5.2.2.4 GSV

The GSV message identifies the number of satellites in view, the pseudorange noise (PRN) numbers, elevation, azimuth, and signal-to-noise (SNR) value.

F180R MOTION Sensor User and Reference Guide

Figure 32: NMEA GSV string

Field

Description

t

Total number of messages of this type in this cycle

m

Message number, 1 to 4

ss

Number of theoretically visible satellites according to the current alemanac

xx

Satellite's PRN number

ee

Elevation in degrees, 90° maximum, empty when not tracking

aaa

Azimuth, degree from true north, 000° to 359°

nn

SNR in dB, 00 to 99 dB of L1 signal, null field when not tracking

...

Repeat set of PRN, elevation, azimuth and SNR for the remaining three satellites

*hh

Checksum

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3.5.2.2.5 GST

This string, GNSS Psuedorange Error Statistics, is used to support Receiver Autonomous Integrity Monitoring (RAIM). Psuedorange measurement error statistics can be translated in the position domain in order to give statistical measures of the quality of the position solution.

Figure 33: NMEA - GST Format

F180R MOTION Sensor User and Reference Guide

3.5.2.2.6 HDT

The NMEA - HDT string contains true heading in degrees.

Note that, in the case of the true heading field, the system adds leading digits as required. Also, note that commas separate all items, including null fields.

3.5.2.2.7 PASHR

The PASHR sentence contains UTC time, heading, pitch, roll and heave measurements. Accuracy data for the measurements is also included.

Figure 34: NMEA - HDT Format

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3.5.2.2.8 PPS

The PPS (Pulse Per Second) is a non-standard NMEA message which is useful for integrating the F180R System with other devices. This message contains useful information such as the PPS count, the UTC time of the current PPS, and other time-related information.

Figure 35: PASHR String

Figure 36: NMEA PPS string

F180R MOTION Sensor User and Reference Guide

Field

Description

hhmmss.ss

UTC time of PPS in hours / minutes / seconds.decimal seconds

dddddd

Day offset in days in days

wwwwww

GPS week in weeks

fff.ff

UTC time offset in seconds

pppppp

PPS count

*hh

Checksum separator and checksum

3.5.2.2.9 PRDID

Field

Description

HHH.H

True Heading of the navigation system, from 0 to 359.99 degrees, using 1 decimal place.

The PRDID sentence contains attitude data.

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3.5.2.2.10 PTCF

The PTCF sentence contains the orientation (heading, pitch and roll Euler angles) of the vessel. The angular rates for roll and pitch are also included. This sentence only contains the orientation measurements accurate to 1 decimal place so it is not suitable for high accuracy applications.

Figure 37: PRDID String

Figure 38: NMEA PTCF string

F180R MOTION Sensor User and Reference Guide

Hardware

Field

Description

T

The character ‘T’ is output by the navigation system to represent that the heading is to true north. Grid north and magnetic north are not output.

+RRR.R

Roll of the navigation system, measured in degrees, with leading sign, leading 0’s where needed and 1 decimal place. Positive values mean that the left side is up.

+RRR.R

Roll of the navigation system, measured in degrees, with leading sign, leading 0’s where needed and 1 decimal place. Positive values mean that the left side is up.

+PPP.P

Pitch of the navigation system, measured in degrees, with leading sign, leading 0’s where needed and 1 decimal place. Positive values mean that the front is up.

+rrr.rr

X-axis angular rate (roll rate) of the navigation system, measured in degrees/ second, with leading sign, leading 0’s where needed and 2 decimal places. Positive values mean that the left side is moving up.

+ppp.pp

Lateral angular rate (pitch rate) of the navigation system, measured in degrees/ second, with leading sign, leading 0’s where needed and 2 decimal places. Positive values mean that the front is moving up.

*CS

Checksum separator and checksum

Field

Description

hhmmss.ss

UTC time of the position fix in hhmmss.ss format

A

Status A = Data valid V = Navigation receiver warning (V is output whenever the receiver indicates that something is wrong)

llll.ll

Latitude (WGS-84)

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3.5.2.2.11 RMC

The RMC message identifies the UTC time, status, latitude, longitude, speed over ground (SOG), date, and magnitude variation of the position fix.

Figure 39: NMEA RMC string

F180R MOTION Sensor User and Reference Guide

Hardware

Field

Description

L

Latitude direction N = North S = South

yyyyy.yy

Longitude (WGS-84)

Y

Longitude direction W = West E = East

s.s

Speed Over Ground (SOG) in knots

c.c

Course Over Ground in degree

ddmmyy

Date in ddmmyy format

m.m

Magnetic Variation in degrees

a

Direction of magnetic variation E = Easterly variation from True course (subtracts from True course) W = Westerly variation from True course (adds to True course)

i

Mode indicator A = Autonomous D = Differential N - Data not valid

*hh

Checksum

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3.5.2.2.12 ROT

The ROT sentence contains Rate of Turn data.

Figure 40: ROT String

F180R MOTION Sensor User and Reference Guide

3.5.2.2.13 UTC

The UTC sentence contains UTC date and time.

3.5.2.2.14 VTG

The NMEA - VTG string contains the actual course and speed relative to the ground.

Figure 41: UTC String

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3.5.2.2.15 ZDA

The NMEA - ZDA string contains UTC time, day, month, year and local time zone information.

Figure 42: NMEA - VTG Format

Figure 43: NMEA - ZDA Format

F180R MOTION Sensor User and Reference Guide

3.5.2.3 TSS1

The TSS1 data string format has five fields and contains 27 ASCII characters. Each string begins with a start character and ends with the carriage return and line–feed characters. All fields contain measurements in real–world units - the F180R System supplies acceleration measurements using ASCII–coded hexadecimal values and heave, pitch and roll as ASCII– coded decimal values.

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Example:

:053C22 0000f-0046 -0563 :043C86 0000f-0048 -0563 :053D1C 0000f-0050 -0563 :073D89 0000f-0052 -0562 :043CF7 0000f-0055 -0562

Figure 44: TSS1 Data String

F180R MOTION Sensor User and Reference Guide

3.5.2.4 TSS HHRP

The HHRP sentence contains attitude data.

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3.5.2.5 EM1000 (Tate-Bryant)

This 10–byte binary format is for use with the Simrad EM1000 multibeam sounder system.

Figure 45: HHRP String

Figure46: EM1000 Format

F180R MOTION Sensor User and Reference Guide

3.5.2.6 EM3000 (Tate-Bryant)

NOTE: The F180R System can only process correction strings if they are referenced to a single base station or differential beacon. Some differential GPS receiver units can receive and output data from multiple differential beacons simultaneously. This type of output is not compatible with the F180R System and a single reference source should be used in the correction input to theF180R System. This input must arrive on the J3 user interface cable.

Receive (Rx) pin on J3 is Pin 3 for correction input

This 10–byte binary format is for use with the Simrad EM3000 multibeam sounder system.

Figure 47: EM3000 Format

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3.5.3 RTK and Differential Corrections

The F180R System can decode corrections supplied in RTCM, RTCA and CMR and CMR from external GPS receivers or standalone demodulators. The system is configured by default to receive RTK and differential correction information, using the RTCM format with default input port settings 9600,8,N,1,OFF. You can change the correction configuration in the Configuration Wizard

F180R MOTION Sensor User and Reference Guide

Hardware

Format

Description

RTCM

The F180R System will accept standard RTCM-SC104 messages: Version 1/2.2: 3,9,15,16,16t,18,19,20,21,22,59 Version 3: 1001, 1002, 1003, 1004, 1005, 1006

(Please note that only later releases of OEM4 based system are capable of utilising the RTCM Version 3 messages. Please contact CodaOctopus for exact information on your F180R System model.)

RTCA

The F180R System will accept RTCA Standard Type 7 messages.

CMR/CMR+

Trimble open format and available as an output from their instruments and some other 3rd party.

NOTE: The formats listed above are sent in binary format. Thus you may not see any recognisable data if the data output is viewed on Hyperterminal. This is worth noting when trying to troubleshoot F180R System input issues.

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For further information on correction formats contact CodaOctopus.

3.5.4 PPS

The PPS timing output pulse is a TTL–level high–to–low (>2.4V to <1.2V) transition coincident (to within 1µs) with the PPS strobe of GPS time. The pulse width is 1ms.

In order to minimise the chance of encountering problems related to time synchronisation we recommend that a PPS converter is interfaced to one of the onboard serial ports on the navigation computer and not to external or USB serial ports.

Figure 48: PPS timing output pulse

F180R MOTION Sensor User and Reference Guide

Chapter

4

Operation

4 Operation

Operation

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4.1

Quick Start

The task list that you must follow to configure the F180R System is:

1. Power–on the System

2. Start the MOTION Control software on the host PC

Figure 49: MOTION Control Shortcut

3. Establish a connection with the F180R System by selecting the Ethernet Data Source

4. Ensure the Ethernet System Status is "Green - Connected". If you have a "Yellow - Read Only" or no connection follow the Network Troubleshooting

5. Run the MOTION Setting Wizard to configure the system parameters

6. Once you have completed both wizards the system is ready for calibration. Please refer to the calibration section for further details on performing and evaluating the calibration procedure

4.2

7. When the system accuracies have been achieved through calibration, the system is now fully operational and ready for data logging

8. The system will output the data strings that the COM ports have been configured for

9. To log MCOM data files, including processed iHeave data, select the Log Mode Automatic or Manual. See Logging Tab

10.Define a filename for manual logging or a destination directory for automatic logging

11.Select the start logging button

12.The system is now collecting motion data

Power-on the System

With all the cabling connected, including the Ethernet link to the host PC, start the F180R System by connecting power to it. Watch the LEDs on the system front panel to determine when the system is ready for you to begin using it.

F180R MOTION Sensor User and Reference Guide

Figure 50: F180R System connectors

NOTE: A high data rate will cause the Data LED to show Orange instead of Green. The LED toggles Green - Orange, but at high data rates the Orange output is more frequent.

NOTE: You might find that the receiver begins to supply measurements before the Status LED indicates that it has locked onto the available satellites. This is normal, but you should not use measurements delivered by the system in this condition.

LED

State

Function

Status

Off

System offline or booting up

Red Flashing

System running - GPS card is initializing

Red

GPS is online - Initializing inertial navigator

Orange

The system is running but not in real time

Green

Real time operation

Heading

Off

GPS receiver fault (valid only after start-up)

Red Flashing

GPS is active but has been unable to determine a heading

Red

Integer uncalibrated heading lock

Orange

The receiver has floating (poor) calibrated heading lock

Green

The receiver has integer (good) calibrated heading lock

Position

Green - Off

Shows the internal status of the GPS card. This LED normally flashes between green and off.

The standard LED sequence once the F180R System is ready is : Status - Green; Heading - Green; Position - Green; Data - Green.

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F180R MOTION Sensor User and Reference Guide

Operation

LED

State

Function

Data

Off

There is no power to the system or the system power supply has failed

Green

The 5V power supply for the system is active

Orange

The system is outputting data on J2

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4.3

Calibration

Measurements made describing the system and antenna relationship and input into the software during the configuration process provide an important starting point that the system uses to initialise during its first operation.

Optimal system accuracy can be achieved only after you have made a series of calibration manoeuvres. These manoeuvres allow the system to identify and evaluate the three separate factors that go towards generating the system output. These factors are:

rapid linear and rotational movements caused by intended and imposed vessel motion slow linear and rotational movements as the earth rotates slow apparent linear and rotational movements caused by inevitable and unavoidable

drift in the accelerometers and rate sensors.

A special software algorithm operating in the F180R System allows it to separate out these independent signals when you impose a series of dynamic and rapid manoeuvres on the system after installation.

4.3.1 Pre-Calibration Checks

Ensure the F180R System has been powered–on for 30 minutes from a cold start — it is not necessary to wait 30 minutes from a system restart — to allow the sensors inside the unit to reach a stable operating temperature. This precaution will increase the accuracy of the calibration you obtain.

It is recommended to carry out a GNSS satellite constellation prediction for the planned timeframe before starting the calibration. The F180R System system will still commence it's built-in calibration routines, but the routine might not complete until sufficient satellite constellation is restored. This is especially critical when surveying in high latitudes as well as in environments where signal obstructions might be a problem.

Check that you have entered the required information in the MOTION Settings Wizard:

Antenna Separation Primary Antenna Mounting Secondary Antenna Mounting Correction Type

F180R MOTION Sensor User and Reference Guide

NOTE: The Remote Lever Arm data is not used during calibration and can be entered later if required.

If the settings are correct then you should upload them and restart the F180R System from the

NOTE: The system should only be calibrated when the vessel is performing a sequence of dynamic manoeuvres—circles, figures–of–eight, sudden stops, sudden starts, etc. When you are performing circular manoeuvres it is helpful to occasionally change the direction of rotation. We recommend to perform figures of eight for best possible calibration.

NOTE: DO NOT carry out a calibration when the vessel is stationary (e.g. tied up alongside); in this condition, the motion sensor responses are dominated by noise, which can lead to erroneous calibration data being obtained. If you suspect that calibration data is the result of calibration in a non–dynamic environment, carry out a new calibration.

NOTE: Depending on the vessel size it is not always possible to perform dynamic manoeuvres. In this situation, the minimum requirement is that the vessel is underway and thus subject to a degree of dynamic motion.

MOTION Settings Wizard.

4.3.2 Calibration Procedure

Once the configuration has been saved to the F180R System and the F180R System restarted, the system will commence the calibration routine automatically.

Typically, the F180R System calibration on a small boat will take from 30 to 60 minutes of active manoeuvring. If your calibration is taking an unduly long time, or if you are experiencing other difficulties in completing a calibration, consult the Appendix for troubleshooting tips.

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66

The current calibration status is displayed in the System Status area of the main application and further details can be viewed on the Live tab -> Calibration -Status when an Ethernet connection is active.

MOTION Control reports when the system calibration is complete in the System Status area in the Calibration Status dialog. This will report Calibrated when an acceptable, within specification calibration has been completed.

F180R MOTION Sensor User and Reference Guide

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Figure 51: Calibration Status

When the F180R System has reached a calibrated state, a dialog will be displayed reporting that the calibration has completed. You should then save the calibration values to the F180R System. By doing this you will be updating the latest calibration values stored within the system and in turn these will become the default settings used by the F180R System when it is initially switched on or reset. The dialog also gives you the options of saving the calibration to a text file on the local drive or dismiss and close the dialog without saving the calibration to either unit or disk.

Figure 52: Save Calibration

You will also be able to save the calibrated settings to the F180R System from the Live tab -> Calibration - Save.

After the settings have been stored, you can power–off and power–on the F180R System as necessary without affecting the calibration—the calibration settings are saved to non–volatile memory.

It is recommended that you also save the settings locally to your PC.

F180R MOTION Sensor User and Reference Guide

Once calibrated, the calibration and the settings saved to the F180R System will remain valid

NOTE: It is important when evaluating the F180R System performance that the specified position and velocity accuracies and those achieved by the system are compared using the same units of measurement. This table shows the system specification in all the available application units.

Receiver type

Antenna Baseline Distance

(metres)

123

4

Stand Alone (No GPS Corrections)

Heading (°)

0.25

0.2

0.1

0.07

Attitude (°)

0.075

Position (m)

0.5

(ft)

1.64

(yd)

0.55

Velocity (m/s)

0.04

(km/h)

0.144

(mi/h)

0.089

(knot)

0.077

DGPS

Heading (°)

0.25

0.2

0.1

0.07

Attitude (°)

0.06

Position (m)

0.25

(ft)

0.82

(yd)

0.27

Velocity (m/s)

0.03

(km/h)

0.108

(mi/h)

0.067

(knot)

0.058

RT-20 RTK

for at least 6 months if the F180R System and the GNSS antennas are not disturbed; you MUST recalibrate the system if either the F180R System or the GNSS antennas are moved.

4.3.3 Calibration Specification

The F180R System is calibrated when the heading and attitude accuracies are equal to, or better than the following specifications:

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F180R MOTION Sensor User and Reference Guide

Operation

Heading (°)

0.25

0.2

0.1

0.07

Attitude (°)

0.06

Position (m)

0.1

(ft)

0.33

(yd)

0.11

Velocity (m/s)

0.02

(km/h)

0.072

(mi/h)

0.045

(knot)

0.039

RT-2 RTK (Requires L1/L2 capability)

Heading (°)

0.25

0.2

0.1

0.05

Attitude (°)

0.06

Position (m)

0.02

(ft)

0.065

(yd)

0.021

Velocity (m/s)

0.015

(km/h)

0.054

(mi/h)

0.034

(knot)

0.029

Heave

The greater of 5% of heave amplitude or 5cm.

NOTE: The calibrated specification published here is not the optimum specification that the system can achieve, it is an accuracy level at which we judge the system to be warmed up and operating normally. If the system is in dynamic motion then the accuracies will continue to improve to reach or better than published calibration specification.

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4.3.4 Invalid Calibration

Usually the cause of an invalid calibration will be one or more of the following:

inaccurate measurements of the GNSS offsets overestimation of the accuracy of the GNSS offsets measurements incorrect measurement of the antenna separation distance incorrect antenna angular alignment relative movement between the IMU and the antennas

high GPS multipath environment

F180R MOTION Sensor User and Reference Guide

Operation

If you are unable to achieve an acceptable calibration on the F180R System please contact technical support for further advice.

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F180R MOTION Sensor User and Reference Guide

Chapter

5

Software

5 Software

1. Start the installation by running the MOTIONControlInstaller.exe from the supplied disc or download from the CodaOctopus Support Website.

Click Next to continue and display the End User Licence Agreement.

2. Read the End User Licence Agreement and click the radio button to accept the agreement. You cannot install the software unless you accept the agreement. Click Next to continue.

This chapter describes how to use the MOTION Control to control and view data from the F180R System.

The MOTION Control software supplied with the system runs on an IBM–compatible PC under a Microsoft® Windows™ Vista, 7 and 8 both 32 bit and 64 bit environments and provides several important and useful functions:

configuration and real–time data display F180R System calibration and QC diagnostics long period heave processing (iHeave) interface capabilities with external receiving equipment data acquisition and playback

With MOTION Control the MCOM2CSV application gets installed.

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5.1

Installation / Uninstallation

5.1.1 Software Installation

F180R MOTION Sensor User and Reference Guide

Software

3. If you want to install MOTION Control to another path than the suggested default path click Browse to chose another installation path otherwise click Next to continue.

4. The InstallShield will notify you that it is ready to install the application. If necessary, you can select Back to review any of the settings you have previously selected. If you are happy with your selection then select Install to proceed.

5. The final stage confirms successful installation of the software. Click Finish to close the dialog panel. You will see the new MOTION Control icon on your PC desktop. Double–click this icon to launch the MOTION Control application.

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5.1.2 Software Uninstallation

Choose for:

Windows XP: Start > Settings > Control Panel > Add or Remove Programs Windows Vista/7: Start > Control Panel > Programs > Programs and Features

and use the Windows facility to uninstall the MOTION Control software from your PC.

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5.2

Main Interface

The main MOTION Control application interface provides access to all configuration, control and diagnostic functions that you will require to operate the F180R System hardware.

There are four main areas in MOTION Control:

Ribbon Bar Tabs Real Time Data Display System Status Message Log System Indicator

5.2.1 Ribbon Bar Tabs

The Ribbon Tabs are the means of navigating and accessing options in MOTION Control. The Home Tab allows you to select your Data Source. Depending on your choice the tabs will

then change. The default view consists of the tabs Home and Help.

Figure 53: MOTION Control Main Interface

F180R MOTION Sensor User and Reference Guide

Software

Figure 54: None - Data Source Home Tab

From the Home Tab you can select the Data Source, set the Real Time Data Settings and choose the Skin settings to change the appearance of the software.

Figure 55: Help Tab

The options on the Help tab will always stay the same no matter which Data Source you choose. From the Help tab you can open the MOTION Control Manuals in PDF or CHM (HTML Help) format, have a look at the Release Notes, find out how to Contact Support if needed, Update Version of MOTION Control and find current version, hardware calibration, firmware information and configured receivers in Help About. See Help About for more detailed information.

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5.2.1.1 Data Source - Ethernet

When the Data Source Ethernet is chosen the Home tab will be extended with some View options.

Start the MOTION Settings Wizard by clicking on Setup. From the new View options you can launch the Motion Data window, select from different Diagnostic tools and launch the iHeave display. Rebroadcast MCOM allows you to Rebroadcast the MCOM data to another network and/or port.

In addition to the View options on the Home tab the tabs Live and Logging become available.

Figure 56: Ethernet - Data Source Home Tab

F180R MOTION Sensor User and Reference Guide

5.2.1.1.1 Ethernet Source - Live Tab

NOTE: If you restart the system there may be a degradation in performance for approximately 15 minutes.

NOTE: In the event of any anomalous system behaviour you should save the .rd files from the system and pass them on to CodaOctopus technical support for analysis. There is no capability for field users to process and analyse .rd files.

When the Ethernet Data Source is selected the Live tab becomes available.

The Live tab allows you to make changes to the F180R System setup and Calibration. Select Setup to launch the MOTION Settings Wizard. Select Serial Output to configure the serial ports. See Outputs.

Restart will cause the F180R System to reboot and start a new calibration.

Figure 57: Live Tab

Software

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5.2.1.1.1.1 RD Files

To aid low-level diagnostics and troubleshooting the F180R System records a diagnostic raw data (.rd) file. An .rd file is automatically logged when the F180R System is running and is stored on an internal flash memory in the system. A new .rd file is started each time the F180R System is started or when the file size reaches 20MB and named with a yymmdd_hhmmss_# convention, where # is a sequential number incremented for each file.

Generally, if the system is working well there is no need to save the .rd files. The system operates a continuous write process. This means that when the flash memory reaches full capacity the system will then start overwriting the oldest .rd files. This method ensures that the system always has diagnostic files corresponding to the latest system output.

When the system reaches full capacity the message log will display the following text:

Warning: The System is close to running out of disk space. Once system free space has been exhausted, older raw data files will be replaced with new raw data files. You may wish to save some of these older files before they are permanently deleted. This can be accomplished from the Raw Data File Management dialog, accessed from the Live Tab.

The File Management interface lists all the files stored on the flash memory card and allows you to manage the files. The file management tasks consist of file deletion and download.

To save files to the local host PC:

1. Select Live Tab -> RD Files

F180R MOTION Sensor User and Reference Guide

Software

NOTE: The current active rd file which is still being written is not listed in the file management dialog. This will only be added to the listing when it is closed.

2. Select the check box to set Automatically Save RD file to

3. Select the browse icon and select the required data storage directory

4. Select OK to close the Raw Data Management interface

MOTION Control will then start transferring files from the F180R System to the host PC. This is carried out as a background task. The system will transfer a file and then rest for a few minutes. After the rest period it will start transferring the next file and so on until all the selected files have been transferred. The Download Status will indicate if the the file has been transferred or not.

Files can also be saved individually by highlighting the file entry in the listing and clicking the Save button.

Files are deleted by highlighting the file entry in the listing and pressing the Delete button.

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Figure 58: Raw Data Management Dialog

5.2.1.1.1.2 Change IP Address

This option is used to change the IP address of theF180R System. The default F180R System IP Address is 195.0.0.180 with subnet mask 255.255.255.0. However

the IP Address currently in us by the F180R System will be displayed in the Message Log area when you connect to the system. Initially you will have to set your PC up with a compatible IP Address and subnet. However, once you have established a valid connection to the F180R System you may subsequently change these parameters if necessary.

F180R MOTION Sensor User and Reference Guide

NOTE: If you change the F180R System IP Address, remember that to retain the capability to control the F180R System, you may have to also change your PC IP Address to be included in the same subnet (netmask). To control the F180R System, the host PC must be on the same subnet address as the F180R System. If not, then the F180R System will operate in listen mode only.

5.2.1.1.1.3 Update Firmware

This option will prompt you for the location of the new firmware you want to upload to the F180R System.

Figure 59: Change IP Address Dialog

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Figure 60: Select the folder that contains the firmware

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Periodically, CodaOctopus will release firmware upgrades for the F180R System. The firmware upgrades are generally available on the support download site or can be sent via e-mail. The firmware package is generally sent as a zip file. On receipt of a new firmware package, the zip file should be uncompressed to any directory the host PC.

The unzipped package consists of a containing folder named after the firmware version e.g. 110822i0.14b which in turn contains the firmware packages.

To update the firmware connect to the F180R System over Ethernet and on the Live tab click the Update Firmware button, then select the directory that contains the firmware. You will then have to confirm that you want to update the firmware.

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Figure 61: Select the folder that contains the firmware

Figure 62: Confirm the update of the firmware

F180R MOTION Sensor User and Reference Guide

The message log will show some message about the update progress and the F180R System

WARNING: While updating the firmware do not unplug the F180R System from the network or power supply, since this may damage the system.

NOTE: The current version of the Firmware can be checked on the Help tab -> Help About.

NOTE: Processed iHeave data are included in the retransmitted MCOM signal in order to facilitate the use of external logging software packages. Please refer to the section on iHeave logging for more information.

NOTE: CodaOctopus publishes the MCOM format and it is freely available to third parties to implement decode libraries in their applications. For further details on the MCOM format please contact technical support.

will eventually reboot.

A firmware update my occasionally contain a hardware configuration file (hw.cfg) that will be updated as well. In these cases the serial number in the configuration file must match your system. These combined updated may be specifically issues to you by CodaOctopus.

5.2.1.1.1.4 Rebroadcast MCOM

This function allows reprocessed MCOM files to be retransmitted over the Ethernet link using the UDP protocol. This is used when the receiving application has the capability to decode the MCOM data stream. Receiving applications generally have a designated port number that is used to input the data and the Broadcast MCOM data on UDP port option allows this value to be set to suit the application.

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The IP Address to broadcast to is automatically detected by the application by scanning the network connections of the host PC. If the host PC has more than one network connection (multi-homed) you are able to select what network you are broadcasting to. Broadcasting to IP address x.x.x.255 broadcasts to all IP addresses on the same network, so the pictured example of 192.168.38.255 will broadcast to all IP addresses in the 192.168.38.x range.

5.2.1.1.1.5 Calibration

The Calibration options of the Live Tab presents options that assist you in monitoring the process of the calibration and also saving the calibration once an acceptable calibrated state has been reached.

Figure 63: Retransmit MCOM over UDP

F180R MOTION Sensor User and Reference Guide

Figure 64: Calibration options

Status

Select Status to display the status interface for the F180R System calibration.

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Figure 65: Calibration Status with Advanced State Variables

The four fields reported on the interface are:

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Field

Description

Calibration Status

Unknown - The system is unable to determine the calibration state. This is usually due to an invalid connection

Uncalibrated - A user-requested calibration is not in progress and the F180R System has not reached a calibrated state.

In Progress - The system has been instructed to start a calibration (via new settings uploaded from the MOTION Settings Wizard) but has yet to reach the required specification

Calibrated - The system has reached a calibrated state

Calibration Duration

The length of time the calibration process has been running since first initialised

Heading Accuracy

Current heading accuracy value during calibration (See Calibration Specification for further details)

Attitude Accuracy

Current attitude accuracy value during calibration (See Calibration Specification for further details)

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The bar across the Attitude Accuracy and Heading Accuracy graphs are Calibration Markers and give an indication on how close your configuration is to the accuracy expected for calibration.

In addition to the calibration status summary, the Advanced State Variables show all of the current calibration parameters. Select the Advanced button on the Calibration Status interface to display them.

Save

Select Save to save the calibration settings to the F180R System when the calibration has completed successfully. This commits the current calibration values to the system non-volatile memory.

When the system reboots it will use the values last updated as its initial starting point for the calibration.

The confirmation dialog will appear which you should confirm if want to proceed and commit the settings to the F180R System.

F180R MOTION Sensor User and Reference Guide

Figure 66: Save Calibration dialog

NOTE: Please see the Invalid Calibration chapter on how to spot an invalid calibration and why they can be invalid.

Export

Select Export to write the current Calibration values to a text file on your PC.

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5.2.1.1.2 Ethernet Source - Logging Tab

The Logging Tab presents all the controls that are required to manage data logging on the F180R System. These include logging mode, start logging, stop logging and the file storage location.

Setup

In Setup you must specify the mode, location and properties that affect how MCOM files are logged. You can only change the properties while logging is not active.

Figure 67: Logging Tab

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Figure 68: Logging Setup Dialog

Logging Mode

The Logging Mode specifies the naming convention for the logged MCOM file(s). Two modes are available: Automatic; and Manual.

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Automatic - in this data logging mode the system will automatically log data to a location selected by you. You can define the location by selecting a logging location after choosing the automatic mode. Data will then be logged to a sub-directory of the location selected based on the date of acquisition. The example C:\tmp\061231\102656 shows you have selected a base directory of C: \tmp. MOTION Control then starts a folder on the date of acquisition C:\tmp\061231 and then creates another folder for the time the acquisition was started C:\tmp\061231 \102656. In this example, the acquisition date was 31-12-2006 and data logging was started at 10:25:56 AM. This process continues for each time data logging is stopped and started with a new time folder being created for each logging session in the same day and a new date folder being created for a logging session in a new day.

Manual - in this data logging mode you will have to select a folder location and allocate a file name for logged file.

Location

This is the location the MCOM files will be saved to as mentioned above.

Start new file every

Allows you to automatically create a new file ever x Kilo-, Mega or Gigabytes. It is recommend to use this option to allow easier post-processing of the data and prevent reaching file system restrictions (e.g. 2GB file size on FAT32 file systems).

Start

Start the logging MCOM data with the parameters you have set in the Setup. The option is only available once the setup was completed. When logging is started the button will be highlighted and Stop Logging will become available. Additionally an information message with the logging file location will be written to the Message Log.

F180R MOTION Sensor User and Reference Guide

Stop Logging

NOTE: If the file is stopped immediately at the end of line, the iHeave filter will not have enough collated data to compute processed heave to the end of the line.

NOTE: By using the any of the Stop after iHeave Delay options you can ensure that the motion data acquired for your line will include enough data to allow computation of processed iHeave throughout the full extent of the survey line length.

NOTE: The played back MCOM does not generate the serial string outputs from the serial ports.

This menu will only be available after the logging was started.

Figure 69: Stop Logging Options

Stop Immediately - stops logging immediately.

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Stop After iHeave Delay - stops logging automatically after the iHeave delay has expired. The logged MCOM file will contain iHeave data up to the point that the button was clicked.

Stop After iHeave Delay and Start New File - stops logging after iHeave delay and starts a new file.

5.2.1.2 Data Source - Replay

As well as providing data outputs via serial strings and on the Ethernet network link, MOTION Control also has the facility to log data to a file stored on the host PC. The data file, recorded in MCOM format, captures all the information from the F180R System in real-time throughout the survey. The resulting MCOM file can be played back and the recorded data can be viewed in the application data displays.

In addition, the data can also be re-processed in playback using the iHeave functionality to generate corrected heave output. The iHeave output is generated by default in real-time mode however in playback mode you can alter the filter period characteristics and reprocess the MCOM files.

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Button

Description

Rewind file

Stop playback of data file

Playback data file

Cue data (10x real-time)

Pause data

Upon selecting the Replay button on the Home tab a standard Explorer window from where you can select the relevant MCOM file for playback will be displayed. The Home tab will also show the Replay options, the Calibration Status and the Logging Tab will be added.

Figure 70: Replay - Home Tab

The Replay button are used as follows:

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When in Replay mode the Status bar will show the logging status, which file is currently played back an the file playback progress.

5.2.2 Real Time Data

The real time data area is displayed as part of the main application interface. It displays each of the main outputs of the F180R System as a numeric value and is dynamically updated 4 times per second to reflect the current real-time system outputs.

Figure 71: Replay Status Bar

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Figure 72: Real Time Data Display

The display units of the output can be changed from the Home tab using Settings.

5.2.2.1 Setup Real Time Data Display

Figure 73: Home Tab - Settings

The application settings allow you to define the display units for the F180R System measurements and also set the measurement mode for speed and distance measurements.

Figure 74: Real Time Data Display Settings

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NOTE: The selections you make here do not affect the F180R System itself. They affect only the MOTION Control application. You may change the units at any time so that, for example, a logged data file that you recorded with the speed units set to metres/ second may be replayed with the units set to knots.

LED Colour

Field

Description

Grey

Not Connected

Indicates that no Data Source is selected.

In the Units section, the display units for Speed and Distance in the application are selected.

Speed - Options: km/h, m/h, m/s or kts

Distance - Options: m, ft or yrd The Mode section determines how the F180R System measures Speed and Distance. The Speed dropdown determines whether the F180R System includes any vertical motion in

its calculation of speed, or whether it just uses horizontal motion. There are two options:

'2D' - this excludes vertical motion in the calculation of speed

'3D' - this includes vertical motion in the calculation of speed The Distance dropdown determines the F180R System's response when the vessel's speed is

very slow. There are two options:

'Hold' - distance measurement is not incremented if actual speed of vessel is less than

the precision available from the F180R System. This effectively removes jitter and noise

from the distance measurement.

'Free' - any motion at any speed is included in the distance measurements

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5.2.3 System Status

The System Status area is displayed as part of the main application interface. It displays a summary of the main system information regarding the current F180R System session.

The Data Source will change to the Source you are using (Ethernet/Replay) and it's LED indicates the status of the current connection to the selected Source. The LED can be one of four colours:

Figure 75: System Status Display

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LED Colour

Field

Description

Red

Not Connected

Indicates that there is not a connection on the selected source.

Yellow

Connected (read only)

Indicates that there is a connection to the F180R System on the Ethernet port, but that it is a read-only connection.

Green

Connected

Indicates that there is a valid connection to the F180R System and that the system is receiving data. Also, in Ethernet mode the F180R System can be controlled by the application.

NOTE: It is important to note the difference between a read-only connection and a control connection. Only if there is a control connection you can actively change the F180R System setup. Read-only connections occur if the application is running in playback mode; communicating with the F180R System using a COM port; or the PC with MOTION Control installed has the incorrect IP address set. See Change IP Address for information on how to change the IP Address.

LED Colour

Field

Description

Grey

Not Connected

There isn't a valid connection to the Data Source.

Green

Operating Normally

There is a valid connection to the selected Source and the system appears to be operating normally.

Yellow

Heading Initialisation

The F180R System is initialising the heading. Further details are displayed in the Heading Initialisation dialog.

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Double clicking the Data Source LED will display the Connection Properties dialog. The Status LED area displays the real time status of several parameters. And the Status field

displays the current system status. This can be one of six states:

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LED Colour

Field

Description

Yellow

Nav Locking...

The F180R System is fixing its GPS position. This state is usually seen after a Heading Initialisation.

Red

Insufficient Sats

There are not enough GPS satellites in view for the F180R System to operate. At least 4 satellites are required.

Red

No External GNSS

An external GNSS is used as a primary position provider, but no position is received from the external GNSS.

Red

System Fault

The F180R System has detected a fault condition. Further information should appear in the form of message popups.

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Double clicking the Status LED will display the Graphical QC dialog.

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LED Colour

Field

Description

Grey

Not Connected

Indicates that no Data Source is selected.

Yellow

Unknown

The system is unable to determine the calibration state. This is usually due to an invalid Connection.

Yellow

In Progress

The system is been instructed to Start a Calibration (via new settings uploaded from the

MOTION Settings Wizard) but

has yet to reach the required specification.

Red

Uncalibrated

A user-requested calibration is not in progress and the F180R System has not reached a calibrated state.

Green

Calibrated

The system has reached a calibrated state and the outputs can now be used.

The Calibration field displays the current calibration state of the F180R System. The system's outputs should not be used until the F180R System calibration is complete. This field can be one of five states:

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To display the Calibration Status dialog go to Live Tab - Calibration Status. This dialog displays the current calibration status, the duration of the current calibration and the current Heading and Attitude Accuracies.

Double clicking the Calibration LED will also display the Calibration Status dialog.

F180R MOTION Sensor User and Reference Guide

The Power/Comms field can take one of the following three options:

LED Colour

Field

Description

Grey

Not Connected

The application does not have a valid connection to an F180R System data source.

Yellow

No Serial Data

The system is not yet ready to output data on a serial port.

Green

Good

The system is operating normal and outputting serial data if it was configured to do so.

LED Colour

Field

Description

Grey

Not Connected

The application does not have a valid connection to an F180R System data source.

Red

Invalid

The navigation information is classed as invalid and will not be used.

Red flashing

Waiting for GPS Time

System waiting for GPS time sync.

Red

Ready to initialise

System has acquired GPS time sync and is ready to lock the nav position.

Yellow

Not Real Time

System is in the process of locking nav position.

Green

Real Time

The system has a real-time lock on the nav position.

Double clicking the Power/Comms LED will display the System Properties dialog. The Navigation field can take one of the following 6 options:

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Double clicking the Navigation LED will display the Graphical QC dialog. The GPS Heading field can take one of the following 7 options:

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LED Colour

Field

Description

Grey

Not Connected

The application does not have a valid connection to an F180R System data source.

Red

Unknown

The current Heading status is unknown.

Red

Fault

There is an error associated with the heading status.

Red flashing

Searching

The system is initialising the heading and trying to find an unambiguous solution.

Yellow

Locking

The system is locking on to the heading solution.

Yellow

Poor

The system is locked but has a poor heading solution.

Green

Good

The system has a good lock on the heading solution.

LED Colour

Field

Description

Grey

Not Connected

The application does not have a valid connection to an F180R System data source.

Red

No External GNSS

An external GNSS is used as a primary position provider, but no position is received from the external GNSS.

Red

Invalid

The positional information is classed as invalid and will not be used.

Green

Valid

The positional information is valid and is being used.

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Double clicking the GPS Heading LED will display the Heading Initialisation dialog. The GPS Position field can take one of the following three options:

Double clicking the GPS Position LED will display the Graphical QC dialog.

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Field

Description

None (Stand Alone)

The user has indicated that there are no corrections being supplied to the F180R System system.

DGPS

The user has indicated that DGPS corrections are being supplied to the F180R System system.

RTK

The user has indicated that RTK (2cm or 20cm) corrections are being supplied to the F180R System system.

LED Colour

Field

Description

Grey

Not Connected

The application does not have a valid connection to an F180R System data source.

Red

Last Calibration Date

The F180R System is due for recalibration

Yellow

Last Calibration Date

The F180R System is within 90 days of when the system needs re-calibrated

Green

Last Calibration Date

The F180R System is calibrated and is not due for recalibration

The Correction field indicates the type of GPS correction that the user has selected to apply to this session. The correction type is selected in the Configuration Wizard. It is very important to select the type of correction that is applicable to the session. Failure to do so can result in the system incorrectly reporting its Calibration Status. The Correction field can be one of three states:

The Recalibration Date field can take one of the following 3 options:

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F180R MOTION Sensor User and Reference Guide

5.2.4 Message Log

Field

Text Colour

Description

Error

Red

System has encountered an error condition and you should note the error and take any recommended action contained within the error message.

Warning

Blue

System is warning about a condition that may require user intervention.

Info

Black

System behaving normally and message is for information purposes only.

User

Olive Green

You have added own comment to log

iHeave

Maroon

The iHeave Message Log Area is setup to copy through messages to the main window. This message is generated by the iHeave subsystem

The Message Log Area displays time-tagged system and user messages. Displayed messages will be categorised into one of five categories.

Figure 76: Message Log Area

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The symbols after the time stamp mean: (U) = UTC time obtained from system

(L) = local time of PC

F180R MOTION Sensor User and Reference Guide

You can add your own comments to the text window if they wish by clicking on the Add

NOTE: You can only run the MOTION Settings Wizard when you are connected to a F180R System.

Comment icon .

You can clear all lines from this window by clicking the Clear Log icon . A confirmation

dialog will appear.

You can save the contents of the text window to a text file by clicking the Save Log icon

.

5.2.5 System Indicator

Once you are connected via ethernet to the MOTION Sensor it will display the system model in the right hand corner of the Main Interface. For example /F175 Series, /F180 Series etc.

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5.3

MOTION Settings Wizard

Each F180R System deployment has its own characteristics due to the physical setup of the system and antenna. Coupled with this there are a choice of options on what outputs to use.

The MOTION Settings Wizard allows you to sequentially browse through and configure the parameters to suit your deployment. As well as being easy to setup, the F180R System is also easy to configure taking only a few minutes to complete the configuration prior to calibrating and using the system.

F180R MOTION Sensor User and Reference Guide

5.3.1 Introduction

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Figure 77: MOTION Settings Wizard - Introduction

There are 4 options to choose from when starting the configuration:

Download Settings From System - This will read the current configuration settings from

theF180R System and display the values in the application. It will be greyed out if there

isn't a valid control connection to the F180R System.

Use New Settings - The configuration will be started with the default setting and you

can change them to suit your needs.

Load Settings From Disk - This option lets you load a previously defined system

configuration which has been saved on your PC.

Use Previous Settings - Will load the last settings that were entered into the application.

These will not necessarily be the same as the last settings saved to the F180R System.

F180R MOTION Sensor User and Reference Guide

5.3.2 Orientation

NOTE: The angular offsets can be updated later after the results of an alignment procedure such as a multi-beam patch test.

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Figure 78: MOTION Settings Wizard - Orientation

This dialog specifies the orientation of the F180R System IMU in the vessel frame of reference. It is important that the F180R System IMU orientation in relation to the vessel frame is accurately measured and input. Any unaccounted-for offset between the vessel's heading and the F180R System's longitudinal axis results in "crosstalk" between pitch and roll; that is, some of the movement that should correctly be interpreted as changes in pitch are interpreted as roll, and vice versa. Even a small discrepancy between the vessel and F180R System IMU orientations can result in serious errors due to crosstalk.

There are some standard configuration parameters suggested in MOTION Control that can be accessed from the Connector and X Axis drop down, the system image on the right will help you visualising the orientation.

If your F180R System IMU has any other orientation click the Advanced button and tick the Make changes to Standard Orientation on Next Page checkbox to specify offsets from the chosen standard orientation in the next step.

5.3.3 Advanced Orientation

This setup step will only be displayed if you have tick the Make changes to Standard Orientation on Next Page checkbox in the Orientation step of the wizard.

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Rotation about Z-axis

Yaw (Heading)

Positive direction clockwise

Rotation about Y-axis

Pitch

Positive direction bow up

Rotation about X-axis

Roll

Positive direction starboard down

NOTE: The coordinate axis on the vessel drawing indicate the alignment using dashed red lines for IMU axis and solid black lines for Vessel axis.

NOTE: Definitions of Heading, Pitch and Roll that are output by the F180R System can be found in Rotation Convention.

In this dialog you are able to enter any possible mounting rotation between the Vessel and IMU frames. All measurements are with respect to the Vessel frame and the rotation convention used is:

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Figure 79: MOTION Settings Wizard - Advanced Orientation

F180R MOTION Sensor User and Reference Guide

5.3.4 Primary Antenna Mounting

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Figure 80: MOTION Settings Wizard - Primary Antenna Mounting

The mounting offsets define the location of the primary antenna relative to the F180R System IMU. The reference for these measurements is the F180R System IMU measure point, which is also shown on top of the F180R System, to the phase centre of the primary antenna in the

Vessel Frame of Reference. You must measure each of the GNSS offset distances and ensure

they are measured to within the maximum specified accuracies. The accuracy field tells the system how accurately the measurement has been made. You should measure the GPS Offsets as accurately as possible, and certainly to within 0.5m if not providing DGPS or RTK corrections and to within 1m if DGPS or RTK corrections are being provided.

When you specify the mounting direction and the offset the system image will show the position of the antenna relative to the F180R System IMU.

F180R MOTION Sensor User and Reference Guide

CodaOctopus F180R, F180R Series, F190R, F185R+ User Reference Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

Export Policy

Introduction

General Description

2.1.1 Inertial Measurement Unit

2.1.2 GNSS System

2.1.3 Software

Warranty

Calibration

Ethernet

Hardware

Communication

3.1.2 Serial Outputs

3.1.3 RTK and Differential Corrections

Technical Specification

3.2.1 Model Specifications

3.2.2 Interfaces

3.2.3 Reference Frames

Hardware Installation

3.3.1 Component Identification

3.3.2 Antenna Installation

3.3.3 IMU Installation

Measure Installation Parameters

3.4.1 IMU Orientation

3.4.2 Antenna Offset

3.4.3 Antenna Separation

3.4.4 Antenna Orientation

3.4.5 Remote Lever Arms

Communication

Ethernet

3.5.2 Serial Outputs

3.5.3 RTK and Differential Corrections

Operation

Quick Start

Power-on the System

Calibration

4.3.1 Pre-Calibration Checks

4.3.2 Calibration Procedure

4.3.3 Calibration Specification

4.3.4 Invalid Calibration

Software

Installation / Uninstallation

5.1.1 Software Installation

5.1.2 Software Uninstallation

Main Interface

5.2.1 Ribbon Bar Tabs

5.2.2 Real Time Data

5.2.3 System Status

5.2.4 Message Log

5.2.5 System Indicator

MOTION Settings Wizard

5.3.1 Introduction

5.3.2 Orientation

5.3.3 Advanced Orientation

5.3.4 Primary Antenna Mounting