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

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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

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