Applanix POS MV SurfMaster One INS

Description

The Applanix POS MV SurfMaster One INS is an inertial navigation system that provides attitude, heading, heave, position and velocity data for a marine vessel and its onboard sensors, for georeferencing and motion compensation in hydrographic survey. Its system specifications list one PCS/IMU enclosure of 145 × 160 × 66 mm (L × W × H) and 1.3 kg, powered from 10–32 VDC at 17 W, and a GNSS antenna of Ø178 mm and 0.45 kg.

The SurfMaster One performance summary gives roll and pitch accuracy of 0.04° with DGPS, 0.03° with Fugro Marinestar® or IARTK, < 0.03° with POSPac MMS PPP and 0.025° with POSPac MMS IAPPK. Heading accuracy with DGPS is 0.06° with a 4 m baseline or 0.08° with a 2 m baseline. 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 14 seconds or less), and TrueHeave™ accuracy is 2 cm or 2 % (whichever is greater, for periods of 35 seconds or less).

During GNSS outages, the POS MV SurfMaster One gives position accuracy of ~6 m for 30 s total outages (RTK) and ~3 m for 60 s total outages (IAPPK), with 0.05° roll and pitch and 0.2° (IAPPK) or 0.3° (RTK) heading for a 60 second outage. Features listed for all POS MV models are IN-Fusion 2.0 GNSS aiding, True-Heave™ with no run-in time, SmartCal self-calibration and data time tagged to microsecond accuracy.

Interfaces include 10/100 base-T Ethernet with real-time TCP/IP output at up to 200 Hz, five RS232 COM ports, NMEA output at up to 50 Hz, a 1PPS time sync output and two event inputs for time marking external events (TTL pulses > 1 msec width, max rate 200 Hz). A user-supplied PC running POSView software is required for configuration.

Technical Specification

Position accuracy, DGPS

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 during GNSS outage

~6 m for 30 s total outages (RTK), ~3 m for 60 s total outages (IAPPK)

Roll and pitch accuracy

0.04° (DGPS), 0.03° (Fugro Marinestar), 0.03° (IARTK), < 0.03° (POSPac MMS PPP), 0.025° (POSPac MMS IAPPK), 0.05° (during GNSS outage)

Heading accuracy, DGPS

0.06° with 4 m baseline, 0.08° with 2 m baseline

Heading accuracy during GNSS outage

0.2° (IAPPK, 60 second outage), 0.3° (RTK, 60 second outage)

Heave accuracy

5 cm or 5 %, whichever is greater, for periods of 14 seconds or less (DGPS and during GNSS outage)

TrueHeave™ accuracy

2 cm or 2 %, whichever is greater, for periods of 35 seconds or less (DGPS and during GNSS outage)

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

PCS/IMU enclosure dimensions

145 × 160 × 66 mm (L × W × H)

PCS/IMU enclosure weight

1.3 kg

PCS/IMU enclosure temperature

20 °C to +55 °C (as stated in datasheet)

PCS/IMU enclosure humidity

5–95 % RH

PCS/IMU enclosure power

10–32 VDC, 17 W

GNSS antenna

Ø178 mm, W = 73 mm; 0.45 kg; −50 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

Event inputs

2; time mark of external events, TTL pulses > 1 msec width, rising or falling edge, max rate 200 Hz

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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