Applanix POS MV OceanMaster INS IP68

Description

The Applanix POS MV OceanMaster INS IP68 is an inertial navigation system that provides attitude, heading, heave, position and velocity data for a marine vessel and its onboard sensors. The datasheet describes POS MV as a georeferencing and motion compensation system for hydrographic survey. The OceanMaster is listed for all sizes of vessel and for high dynamic operations, such as ASV operations and offshore surveying.

In the OceanMaster performance summary (one sigma unless otherwise stated), roll and pitch accuracy is 0.01° with IARTK, Fugro Marinestar® or CenterPoint® RTX Marine, 0.008° with POSPac MMS IAPPK and 0.03° following a 60 s GNSS outage. Heading accuracy is 0.01° with a 4 m baseline or 0.02° with a 2 m baseline in all listed GNSS modes. IARTK position accuracy is ±(8 mm + 1 ppm × baseline length) horizontal and ±(15 mm + 1 ppm × baseline length) vertical, assuming a 1 m IMU-GNSS antenna offset. Heave accuracy is 5 cm or 5 % (whichever is greater, for periods of 20 seconds or less), and TrueHeave accuracy is 2 cm or 2 % (whichever is greater, for periods of 35 seconds or less).

Features listed for all POS MV models are IN-Fusion 2.0 GNSS aiding, True-Heave™ with no run-in time, SmartCal self-calibration of the inertial measurement unit and data time tagged to microsecond accuracy. The OceanMaster is stated to keep positioning for over 1 minute with GPS dropouts. The submersible IMU measures Ø100 mm (base plate Ø132 mm) × 104 mm (height excludes connector), weighs 2.7 kg, is rated IP68 and operates from −40 to +60 °C.

The Applanix POS MV OceanMaster outputs data over 10/100 base-T Ethernet, with real-time TCP/IP output at up to 200 Hz on the primary port, and over five RS232 COM ports with NMEA output at up to 50 Hz. RTCM V2.x, RTCM V3.x, CMR, CMR+ and CMRx base corrections are accepted at 1 Hz. The datasheet lists two PCS options: a rack mount PCS (AC 120/230 V, 50/60 Hz) and a small form factor PCS (DC 10–34 V, 35 W peak).

Technical Specification

Accuracy basis

One sigma unless otherwise stated

Position accuracy, DGNSS

0.5–2 m (depending on quality of differential corrections)

Position accuracy, Fugro Marinestar®

Horizontal 10 cm 95 %, vertical 15 cm 95 %

Position accuracy, IARTK

Horizontal ±(8 mm + 1 ppm × baseline length), vertical ±(15 mm + 1 ppm × baseline length); assumes 1 m IMU-GNSS antenna offset

Position accuracy, POSPac MMS PPP

Horizontal < 0.1 m, vertical < 0.2 m

Position accuracy, POSPac MMS IAPPK

Horizontal ±(8 mm + 1 ppm × baseline length), vertical ±(15 mm + 1 ppm × baseline length); assumes 1 m IMU-GNSS antenna offset

Position accuracy following 60 s GNSS outage

~6 m (DGPS), ~3 m (RTK), ~2 m (PPDGNSS), ~1 m (IAPPK)

Position accuracy, CenterPoint® RTX Marine

Horizontal 3 cm, vertical 6 cm (real-time Trimble CenterPoint RTX correction service; typical results, subject to regional coverage)

Roll and pitch accuracy

0.02° (DGNSS), 0.01° (Fugro Marinestar), 0.01° (IARTK), < 0.01° (POSPac MMS PPP), 0.008° (POSPac MMS IAPPK), 0.03° (following 60 s GNSS outage), 0.01° (CenterPoint RTX Marine); no range limit

Heading accuracy

0.01° with 4 m baseline, 0.02° with 2 m baseline (DGNSS, Fugro Marinestar, IARTK, POSPac MMS PPP, POSPac MMS IAPPK, CenterPoint RTX Marine); no range limit

Heading following 60 s GNSS outage

1° per hour degradation (negligible for outages < 60 s)

Heave accuracy

5 cm or 5 %, whichever is greater, for periods of 20 seconds or less (DGNSS, Fugro Marinestar, IARTK, following GNSS outage, CenterPoint RTX Marine)

TrueHeave accuracy

2 cm or 2 %, whichever is greater, for periods of 35 seconds or less (same modes as heave)

Roll and pitch (OceanMaster, page 1)

Up to 0.01°

Positioning with GPS dropouts

Over 1 minute

Features (all POS MV models)

IN-Fusion 2.0 GNSS aiding, True-Heave™ (no run-in time required), SmartCal self-calibration of the IMU, data time tagged to microsecond accuracy

Rack mount PCS dimensions

442 × 356 × 46 mm (L × W × H)

Rack mount PCS weight

3.9 kg

Rack mount PCS temperature

−20 to +70 °C

Rack mount PCS humidity

10–80 % RH

Rack mount PCS power

AC 120/230 V, 50/60 Hz, auto-switching

Small form factor PCS dimensions

167 × 185 × 68 mm (L × W × H)

Small form factor PCS weight

2.5 kg

Small form factor PCS temperature

−20 to +60 °C

Small form factor PCS humidity

0–100 % RH

Small form factor PCS power

DC 10–34 V, 35 W (peak)

Submersible IMU dimensions

Ø100 mm (base plate Ø132 mm) × 104 mm (height excludes connector)

Submersible IMU weight

2.7 kg

Submersible IMU temperature

−40 to +60 °C

Submersible IMU IP rating

IP68

GNSS antenna (540AP)

Ø178 mm, W = 73 mm; 0.45 kg; −50 to +70 °C; 0–100 % RH

GNSS antenna (GA830)

Ø149 mm, W = 99 mm; 0.82 kg; −40 to +70 °C; 0–100 % RH

Ethernet

10/100 base-T

Ethernet output parameters

Time tag, status, position, attitude, velocity, track and speed, dynamics, performance metrics, raw IMU data, raw GNSS data

Display port

Low rate (1 Hz) UDP protocol output

Control port

TCP/IP input for system commands

Primary port

Real-time (up to 200 Hz) TCP/IP protocol output

Secondary port

Buffered TCP/IP protocol output for data logging to external device

Serial RS232

5 COM ports, user assignable to: NMEA output (0–5), binary output (0–5), auxiliary GNSS input (0–2), base GNSS correction input (0–2)

NMEA output messages

Position ($INGGA), heading ($INHDT), track and speed ($INVTG), statistics ($INGST), attitude ($PASHR, $PRDID), time and date ($INZDA, $UTC)

NMEA output rate

Up to 50 Hz (user selectable); output selections and rate individually configurable on each assigned COM port

High-rate attitude output

User selectable binary messages: attitude, heading, speed; up to 200 Hz (user selectable)

Auxiliary GNSS inputs

NMEA $GPGGA, $GPGST, $GPGSA, $GPGSV; uses Aux input with best quality; 1 Hz

Base GNSS correction inputs

RTCM V2.x, RTCM V3.x, CMR, CMR+ and CMRx, combined with raw GNSS observables in navigation solution; 1 Hz

1PPS output

1 pulse-per-second time sync output, normally high, active low pulse

PC for POSView software (user supplied)

Required for configuration: Pentium 90 processor (minimum), 256 MB RAM, 2 GB free disk space, Ethernet adapter (10/100 Base-T Ethernet; IEEE 802.3 standard), Windows 7 SP1, Windows 7 Embedded, Windows 8 and Windows 10

PC for POSPac MMS post-processing (user supplied)

Intel Pentium series 1 GHz or faster 64-bit processor (minimum), 2 GB RAM, 2.6 GB free disk space, USB port (for security key), Windows 7 SP1, Windows 8.1, Windows 10

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