Applanix RTK POS MV WaveMaster II RM IP68 INS

Description

The Applanix RTK POS MV WaveMaster II RM IP68 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. The RM IP68 configuration is a rackmount topside with a submersible IMU.

In the WaveMaster II performance summary (one sigma unless otherwise stated), roll and pitch accuracy is 0.02° with IARTK, Fugro Marinestar® or CenterPoint® RTX Marine, 0.015° with POSPac MMS IAPPK and 0.04° following a 60 s GNSS outage. Heading accuracy is 0.015° with a 4 m baseline or 0.03° 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).

The rack mount PCS measures 442 × 356 × 46 mm, weighs 3.9 kg and runs on AC 120/230 V, 50/60 Hz, auto-switching, 40 W. 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. 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.

The Applanix POS MV WaveMaster II 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, and a 1PPS time sync output is provided.

Technical Specification

Configuration

Rackmount topside with submersible IMU (RM IP68)

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 during GNSS outages

~9 m for 60 s outage (RTK), ~3 m for 30 s outages (RTK), ~2 m for 60 s outages (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

0.03° (DGNSS), 0.02° (Fugro Marinestar), 0.02° (IARTK), < 0.02° (POSPac MMS PPP), 0.015° (POSPac MMS IAPPK), 0.04° (following 60 s GNSS outage), 0.02° (CenterPoint RTX Marine); no range limit

Heading accuracy

0.015° with 4 m baseline, 0.03° 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

< 2° 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)

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, 40 W

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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