pos_mv_v4

POS MV V4 User Guide
PUBS-MAN-000513
Revision 3
Copyright © Applanix Corporation, 2009

General Notice
Although every care has been taken to ensure that this manual is reliable and
accurate, Applanix Corporation (here after referred to as Applanix) provides it
“as is” and without express, implied, or limited warranty of any kind. In no
event shall Applanix be liable for any loss or damage caused by the use of
this manual.
This manual describes the POS MV™ V4 and V4-1 in detail and contains full
installation and operating instructions. This manual is an important part of the
system and should remain with the installation.
It is the customer’s responsibility to ensure that there are adequate mounting
facilities, and to carefully plan the component layout. Applanix will not be
responsible for damage caused by improper installation or inadequate
environmental conditions.
Applanix reserves the right to change the specifications and information in this
document without notice.
The information contained herein is proprietary to Applanix. Release to third
parties of this publication or of information contained herein is prohibited
without the prior written consent of Applanix.
Pentium® is a registered trademark of Intel Corporation. Microsoft®,
Windows®, and Windows NT® are registered trademarks of Microsoft
Corporation.
All rights reserved. No part of this publication may be reproduced, stored in a
retrieval system or transmitted in any form or by any means without the prior
written consent of Applanix.
Copyright© Applanix Corporation, 2009.
Printed in Canada.

Liability and Safety Information
Important: All cables connected to the POS MV V4 and POS MV
V4-1 equipment shall be constructed of (in order of preference):
a) halogen free, b) low smoke and c) high temperature materials.
Ethernet Cable - Applanix supplies a suitable Ethernet cable. However, if
supplied by the customer the cable shall incorporate a braid shield, having at
least 90% coverage that has a 360 degree termination at both connectors,
and be rated as CAT5 or better. The RJ45 connectors used in the cable shall
also be shielded.
Serial Cables - Applanix supplies suitable COM port serial cables, each are
about 3.6 m (12.0 ft) in length. If the cables are supplied by the customer
each cable shall incorporate a braid shield, having at least 90% coverage that
has a 360 degree termination at the backshells of both connectors.
Power Cord - Applanix ships a specially constructed power cord with its
POS MV V4 ac products and is detailed in Appendix E. Otherwise, the
customer is responsible for supplying and using a compliant power cord.
Ensure that the destination country electrical codes are adhered to. Applanix
recommends an ac power cord not exceeding 2 m (6 ½ ft) in length and that
can safely handle a maximum of 10 A.
Regulatory Information
Caution: Do not make mechanical or electrical modifications to the
POS MV V4 or the POS MV V4-1 systems or any of their
components. Changes or modifications not expressly approved by
Applanix could void the compliance and negate your authority to
operate the product.
Certification was achieved using the following original or
replacement equipment supplied by Applanix: GNSS antennas,
GNSS antenna cables, Ethernet cable, IMU, IMU cable, RS-232
serial cables and power cord.

DECLARATION OF CONFORMITY
Manufacturer's Name:
Manufacturer's Address: 85 Leek Crescent

Richmond Hill, Ontario, Canada L4B 3B3
EC Representative's Name: Nemko Canada Inc.
EC Representative's Address: 303 River Road, RR#5
Ottawa, Ontario, Canada K1V 1H2
Equipment Model Designation: POS MV V4
Equipment Description: POS MV V4 is a fully integrated, turnkey
position and orientation system for marine
vehicles.
Application of Council Directive: 73/23/EEC on the harmonization of the

laws related to Member States relating to electrical equipment designed
for use within certain voltage limits, as amended by: Council Directive
93/68/EEC and Council Directive 89/336/EEC on the approximation of the
laws related to Member States relating to electromagnetic compatibility,
as amended by: Council Directive 93/68/EEC.
Referenced Safety Standards: Referenced EMC Standards:
EN 60950-1 EN 55022:98 with Amendments
A1:2000 and A2:2003
EN 55024:98 with Amendments
A1:2001 and A2:2003
EN 61000-3-2:2000
(AC powered systems only)
EN 61000-3-3:1995
with Amendment 1:200

DECLARATION OF CONFORMITY
Manufacturer's Name:
Manufacturer's Address: 85 Leek Crescent

Richmond Hill, Ontario, Canada L4B 3B3
EC Representative's Name: Nemko Canada Inc.
EC Representative's Address: 303 River Road, RR#5
Ottawa, Ontario, Canada K1V 1H2
Equipment Model Designation: POS MV V4-1
Equipment Description: POS MV V4-1 is a fully integrated, turnkey
position and orientation system for marine
vehicles.
Application of Council Directive: 73/23/EEC on the harmonization of the

laws related to Member States relating to electrical equipment designed
for use within certain voltage limits, as amended by: Council Directive
93/68/EEC and Council Directive 89/336/EEC on the approximation of the
laws related to Member States relating to electromagnetic compatibility,
as amended by: Council Directive 93/68/EEC.
Referenced Safety Standards: Referenced EMC Standards:
EN 60950-1 EN 55022:98 with Amendments
A1:2000 and A2:2003
EN 55024:98 with Amendments
A1:2001 and A2:2003
EN 61000-3-2:2000
EN 61000-3-3:1995
with Amendment 1:200

FCC Section 15.21 Information to the user.
Changes or modifications not expressly approved by Applanix could void the
user's authority to operate the equipment.
FCC Section 15.105 Information to the user.

NOTE: This equipment has been tested and found to comply with the limits
for a Class A digital device, pursuant to Part 15 of the FCC Rules. These
limits are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial environment.
This equipment generates, uses, and can radiate radio frequency energy and,
if not installed and used in accordance with the instruction manual, may cause
harmful interference to radio communications. Operation of this equipment in
a residential area is likely to cause harmful interference in which case the
user will be required to correct the interference at his own expense.
Industry Canada
This Class B digital apparatus complies with Canadian ICES-003.
Cet appareil numérique de la classe B est conforme à la norme NMB-003 du
Canada.

For Our European Union Customers
A New Recycling Program
Applanix recognizes the importance of minimizing the environmental impacts
of our products. We endeavour to meet your needs, not only when you
purchase and use our products, but also when you are ready to dispose of
them. Applanix is actively pursuing, and will continue to pursue, the expanded
use of environmentally friendly materials in all its products. In addition, we
have established a convenient and environmentally
friendly recycling program.
As Applanix makes additional recycling facilities

available for your use, we will post their locations
and contact information on our recycling
instructions Web page. In the meanwhile see
Appendix A, page A-1, for Applanix contact
information.
WEEE is Waste Electrical and Electronic Equipment, products that operate on

electrical power.

About This Document
Text Conventions
The following text conventions are used in this manual:
• Emphasize a term - italic font or bold italic font (e.g. ‘An Inertial Frame
is’ or ‘An Inertial Frame is’); a mixture is acceptable but, consistency
is preferable
• Referring to another manual or to a file name - italic font (e.g. ‘read

the Power Requirements manual’ or ‘locate the start.exe file’)
• Referring to a placard label - regular font (e.g. ‘the COM (2)

connector’)
• Referring to a screen label - bold font (e.g. ‘press the OK button’)
• Path statement - bold font (e.g. ‘select C:\My Computer\ Working

Files\.Fields’)
• Menu statement - bold font (e.g. ‘select Insert, AutoText, Closing

window menu’ or ‘select Insert | AutoText | Closing window menu’);
a mixture is acceptable but, consistency is preferable
• Web address statement - bold font (e.g. ‘select

http://www.applanix.com from’)

Symbols
The following symbols appear in this manual:
Warning - operating
Caution - procedures,
procedures, practices, etc.,
practices, etc., which, if not
which, if not correctly
correctly followed, could result
followed, could result in
in damage or destruction of
personal injury or loss of
equipment, or loss of data
life
Electrostatic Discharge
Fragile/Breakable
(ESD) sensitive material
Hint - provides a suggested

Electrocution Hazard
method or approach
Document Number
PUBS-MAN-000513, Revision 3, dated 20 January 2009

Table of Contents
1.0 Introduction................................... 1-1
System Description and Overview ..........................................................1-2
Operating Modes ...............................................................................1-5
Subsystems .......................................................................................1-6
GNSS Azimuth Measurement Subsystem.........................................1-8
Functions ........................................................................................ 1-14
Output Summary............................................................................. 1-19
Controller Software................................................................................1-20
2.0 Installation..................................... 2-1

Handling Precautions ..............................................................................2-1
Inertial Measurement Unit..................................................................2-1
POS Computer System......................................................................2-2
GNSS Antennas.................................................................................2-2
Unpacking and Storage...........................................................................2-2
Storage...............................................................................................2-3
Site Preparation.......................................................................................2-3
Power Requirements .........................................................................2-4
Environmental Requirements ............................................................2-5
Installation ...............................................................................................2-6
GNSS System....................................................................................2-6
Inertial Measurement Unit............................................................... 2-10
POS Computer System - POS MV V4............................................ 2-13
POS Computer System - POS MV V4-1......................................... 2-18
Interfaces...............................................................................................2-20
Power Interface............................................................................... 2-21
IMU Interface .................................................................................. 2-22
I/O Interface Connector - POS MV V4-1......................................... 2-22
COM (1) through COM (5) Interface ............................................... 2-26
GNSS 1 and GNSS 2 Interface ...................................................... 2-27
Events Interface .............................................................................. 2-28
Ethernet Interface ........................................................................... 2-33
Analog Interface.............................................................................. 2-35

PPS Interface .................................................................................. 2-35
ANT1 and ANT2 Interfaces ............................................................. 2-37
I2C Interface.................................................................................... 2-37
Ancillary Equipment Interfaces ....................................................... 2-37
Installation Parameters......................................................................... 2-38
Lever Arm Distances....................................................................... 2-41
Antenna Separation ........................................................................ 2-47
Mounting Angles ............................................................................. 2-47
Installation Checklist............................................................................. 2-51
3.0 Interfaces and Data Formats ....... 3-1

LAN (Ethernet) Data ............................................................................... 3-1
I2C (Analog) Data ................................................................................... 3-2
COM Ports .............................................................................................. 3-3
NMEA Data Formats ......................................................................... 3-4
Binary Data Formats ....................................................................... 3-19
GNSS Ports .......................................................................................... 3-29
Physical Interface............................................................................ 3-29
4.0 System Configuration .................. 4-1

Power-On................................................................................................ 4-1
POS MV Power-On ........................................................................... 4-2
Initial Power-On Considerations ....................................................... 4-5
MV-POSView Controller Program .......................................................... 4-6
MV-POSView Controller - Initial Use ................................................ 4-7
POS MV Configuration ......................................................................... 4-11
Configuration Data .......................................................................... 4-12
Initial GNSS Configuration .............................................................. 4-27
Power-Off.............................................................................................. 4-36
Save Changes................................................................................. 4-37
POS MV Power-Off ......................................................................... 4-38
Save Settings........................................................................................ 4-40
Making Changes................................................................................... 4-40
Manage Multiple Configurations ........................................................... 4-40

Password Protection .............................................................................4-41
5.0 System Operation......................... 5-1

MV-POSView Controller Program ...........................................................5-2
Modes of Operation ...........................................................................5-2
PCS Ethernet Connection..................................................................5-2
Monitoring POS MV.................................................................................5-3
Main Window Regions .......................................................................5-3
POS MV Status Region .....................................................................5-4
Sensor Navigation Data .....................................................................5-9
Faults and Messages...................................................................... 5-11
Data Logging .........................................................................................5-14
Ethernet Logging............................................................................. 5-14
Ethernet Real-Time Output ............................................................. 5-15
Data Logging Control ...................................................................... 5-15
Operation with GAMS............................................................................5-18
Normal Operation............................................................................ 5-18
Abnormal Behaviour ....................................................................... 5-22
Repeatedly Rejected Carrier Phase Ambiguities ........................... 5-25
Installation Parameters ................................................................... 5-26
Stand-Alone Operation..........................................................................5-28
6.0 TrueHeave Operation ................... 6-1

Overview..................................................................................................6-1
Configuration Requirements....................................................................6-2
Initialization Requirements ......................................................................6-2
Data Output .............................................................................................6-2
TrueHeave Procedure .............................................................................6-3
7.0 Specifications ............................... 7-1

8.0 Tools and Diagnostics ................. 8-1
GNSS Configuration................................................................................8-1

GNSS Reset ........................................................................................... 8-1
GNSS Data ............................................................................................. 8-2
Diagnostics ............................................................................................. 8-3
Control Diagnostics ........................................................................... 8-3
Display Diagnostics........................................................................... 8-5
Regular Maintenance ............................................................................. 8-5
Inertial Measurement Unit ................................................................. 8-6
GNSS Antennas................................................................................ 8-6
POS Computer System..................................................................... 8-7
Technical Support................................................................................... 8-7
9.0 Fault Identification........................ 9-1

Component Description .......................................................................... 9-2
Inertial Measurement Unit ................................................................. 9-3
GNSS Antennas................................................................................ 9-3
POS Computer System..................................................................... 9-3
Fault Identification................................................................................... 9-4
Front Panel Indicators ....................................................................... 9-5
Fault Detection .................................................................................. 9-7
Message Log................................................................................... 9-11
Status Warning Messages .............................................................. 9-18
Remove and Replace Procedures........................................................ 9-25
Inertial Measurement Unit ............................................................... 9-26
GNSS Antenna................................................................................ 9-28
IMU Cable ....................................................................................... 9-30
GNSS Antenna Cable ..................................................................... 9-31
POS Computer System................................................................... 9-32
Troubleshooting .................................................................................... 9-33
Total System Failure ....................................................................... 9-34
Initialization Failure ......................................................................... 9-35
GNSS Not Available........................................................................ 9-36
GAMS Not Ready............................................................................ 9-39
Serial Communications Problem..................................................... 9-40
Ethernet Communications Problem ................................................ 9-43

Appendices
Technical Support and Service .............................................................. A-1
Contact Applanix............................................................................... A-1
How to Reach Customer Support ..................................................... A-1
Returns.............................................................................................. A-2
Theory of Operation ............................................................................... B-1
Inertial Navigation ............................................................................. B-2
Heave Filter..................................................................................... B-15
GNSS Azimuth Measurement Subsystem...................................... B-24
Heading Measurements.................................................................. B-26
Baselines ........................................................................................ B-26
Baseline Measurement ................................................................... B-29
Carrier Phase Differential Position.................................................. B-32
Alignment ........................................................................................ B-38
Error Sources.................................................................................. B-41
Aided Inertial Navigation ................................................................. B-42
Training................................................................................................... C-1
Software Installation ............................................................................... D-1
Supplied Software.............................................................................D-2
Hardware and Software Requirements............................................. D-2
MV-POSView Controller Program ....................................................D-3
Firmware Upgrade ............................................................................D-4
Drawings................................................................................................. E-1
Patch Test .............................................................................................. F-1
Survey Area ...................................................................................... F-1
Survey Procedure ............................................................................. F-6
IP68 Connector Handling Instructions....................................................G-1
Handling Instructions ........................................................................G-1
POS-GNSS Timing................................................................................. H-1
Background.......................................................................................H-1

GNSS Timing Basics.........................................................................H-3
POS System Timing..........................................................................H-5
Glossary
Index

List of Figures
Figure 1: Typical POS MV Components.......................................................1-2
Figure 2: Heading Measurement without GAMS ........................................1-10
Figure 3: Heading Measurement with GAMS .............................................1-13
Figure 4: GNSS Antenna ..............................................................................2-8
Figure 5: Typical IMU Mounting Features...................................................2-12
Figure 6: PCS Rear Panel - POS MV V4....................................................2-15
Figure 7: PCS Rear Panel - POS MV V4-1 ................................................2-19
Figure 8: PWR Connector Pin Arrangement...............................................2-21
Figure 9: I/O Connector Pin Arrangement - POS MV V4-1 ........................2-25
Figure 10: Type I Event Generator - I/O Configuration...............................2-30
Figure 11: Type II Event Generator - I/O Configuration..............................2-31
Figure 12: Open Collector Transistor Output Event Generator -
I/O Configuration...................................................................................2-31
Figure 13: Mechanical Switch Event Generator - I/O Configuration...........2-32
Figure 14: PPS Port Signal Sources - Functional Diagram ........................2-36
Figure 15: Right-Hand Orthogonal System.................................................2-49
Figure 16: $INGST Sentence Nomenclature ..............................................3-13
Figure 17: PCS Front and Rear Panels - POS MV V4 .................................4-3
Figure 18: PCS Front Panel - POS MV V4-1................................................4-3
Figure 19: POSView POS Internet Address ...............................................4-10
Figure 20: Configuration Data Refinement .................................................4-11
Figure 21: POSView Lever Arms & Mounting Angles Tab .........................4-13
Figure 22: POSView Sensor Mounting Tab................................................4-14
Figure 23: Calibration Control Screen ........................................................4-15
Figure 24: Controller Tags, Multipath & AutoStart Tab...............................4-18

Figure 25: User Time Data Screen .............................................................4-19
Figure 26: POSView Input/Output Port Setup.............................................4-20
Figure 27: POSView Analog Port Setup .....................................................4-22
Figure 28: POSView Heave Filter ...............................................................4-24
Figure 29: POSView GNSS Receiver Configuration ..................................4-26
Figure 30: POSView GAMS Solution..........................................................4-28
Figure 31: POSView GAMS Parameters Setup..........................................4-29
Figure 32: POSView GAMS Installation Wizard .........................................4-30
Figure 33: POSView Settings Menu, Status and Attitude Panes................4-33
Figure 34: PCS Front and Rear Panels - POS MV V4 ...............................4-38
Figure 35: PCS Front Panel - POS MV V4-1 ..............................................4-39
Figure 36: POSView Controller Password Protection.................................4-43
Figure 37: POSView Controller Main Window ..............................................5-4
Figure 38: POSView User Parameter Accuracy ...........................................5-8
Figure 39: POSView Navigation Data at Sensors ......................................5-10
Figure 40: POSView Fault Detection ..........................................................5-12
Figure 41: POSView Message Log.............................................................5-13
Figure 42: POSView Data Logging Control ................................................5-16
Figure 43: POSView GAMS Solution and Status Pane ..............................5-19
Figure 44: POSView GAMS Parameters Setup..........................................5-27
Figure 45: TrueHeave Functional Block Diagram.........................................6-1
Figure 46: POSView Heave Data .................................................................6-3
Figure 47: POSView Status and Accuracy Panes ........................................6-4
Figure 48: POSView GNSS Data..................................................................8-2
Figure 49: POSView Binary/Analog Diagnostics ..........................................8-4
Figure 50: PCS Front Panels ........................................................................9-5

Figure 51: POSView Fault Detection ............................................................9-9
Figure 52: POSView Fault Detection - IMU and GNSS Corr. Tabs............9-10
Figure 53: POSView Message Log.............................................................9-11
Figure 54: PCS Front Panels......................................................................9-25
Figure 55: PCS Rear Panel - POS MV V4-1 ..............................................9-26
Figure 56: PCS Rear Panel - POS MV V4..................................................9-26
Figure 57: POSView Other Diagnostic .......................................................9-35
Figure 58: POSView GNSS Data - Receiver Status Pane .........................9-36
Figure 59: POSView Primary GNSS Diagnostics.......................................9-38
Figure 60: POSView Input/Output Port Setup ............................................9-41
Figure 61: POSView NMEA & Binary Output Diagnostic ...........................9-42
Figure 62: POSView Base 1 Diagnostic .....................................................9-43
Figure 63: (1 of 2) Ethernet Communications Failure.................................9-44
Figure 64: (2 of 2) Ethernet Communications Failure.................................9-45
Figure 65: Example of INS Navigation on a Spherical Earth....................... B-7
Figure 66: Gimballed INS Platform Structure ............................................ B-11
Figure 67: Strap-Down INS Generic Architecture...................................... B-14
Figure 68: Heave Filter Architecture .......................................................... B-16
Figure 69: Percentage Steady State Error with Heave Bandwidth............ B-21
Figure 70: Percentage Steady State Error with Damping Ratio ................ B-22
Figure 71: Heave Filter Transient Behaviour with Heave Bandwidth ........ B-23
Figure 72: Heave Filter Transient Behaviour with Damping Ratio............. B-24
Figure 73: Geographic Antenna Baseline Vector ...................................... B-27
Figure 74: Baseline Comparison ............................................................... B-28
Figure 75: IMU and GNSS Antenna Geometry.......................................... B-31
Figure 76: Carrier Phase Cycle Measurement .......................................... B-34

Figure 77: Feasible Position Solutions from One Satellite......................... B-35
Figure 78: Feasible Position Solutions from Two Satellites....................... B-35
Figure 79: Feasible Position Solutions from Three Satellites .................... B-36
Figure 80: Horizontal Acceleration Error in a Tilted Platform..................... B-39
Figure 81: Example of Complementary Navigation Sensor Blending........ B-46
Figure 82: IMU Type 17 Footprint ................................................................ E-1
Figure 83: IMU Type 2 Footprint .................................................................. E-1
Figure 84: IMU Type 2 Base Plate Footprint................................................ E-2
Figure 85: GNSS Antenna Footprint ............................................................ E-3
Figure 86: Zephyr/GNSS Antenna Footprint................................................ E-3
Figure 87: PCS Footprint – POS MV V4-1................................................... E-4
Figure 88: PCS Footprint - POS MV V4....................................................... E-5
Figure 89: Power Cord - POS MV V4 .......................................................... E-6
Figure 90: Ideal Survey Calibration Area ..................................................... F-2
Figure 91: Correct Roll Calibration............................................................... F-4
Figure 92: Incorrect Roll Calibration ............................................................ F-4
Figure 92: IP68 Connector ...........................................................................G-1
Figure 93: GNSS. TAI and UTC Time.......................................................... H-3
Figure 94: Events Group .............................................................................. H-5
Figure 95: 1PPS Time Synchronization ....................................................... H-6

List of Tables
Table 1: System Performance ......................................................................1-9
Table 2: Connector/Cable Summary - POS MV V4....................................2-15
Table 3: Connector/Cable Summary - POS MV V4-1 ................................2-19
Table 4: PWR Connector Pin Assignment..................................................2-21
Table 5: I/O Connector Pin Assignment - POS MV V4-1 ...........................2-23
Table 6: COM Connectors Pin Assignment - POS MV V4 .........................2-26
Table 7: COM Port Configuration ...............................................................2-27
Table 8: GNSS Connectors Pin Assignment - POS MV V4 .......................2-27
Table 9: GNSS Port Configuration..............................................................2-28
Table 10: EVENT Connector Pin Assignment ............................................2-29
Table 11: Ethernet Connector Pin Assignment - POS MV V4....................2-34
Table 12: Default COM Port Settings ...........................................................3-3
Table 13: $INGGA Sentence Format............................................................3-5
Table 14: $INGGK Sentence Format............................................................3-8
Table 15: $INHDT Sentence Format ..........................................................3-10
Table 16: $INVTG Sentence Format ..........................................................3-10
Table 17: $INGST Sentence Format ..........................................................3-12
Table 18: $PASHR Sentence Format.........................................................3-14
Table 19: $PRDID Sentence Format ..........................................................3-15
Table 20: $INZDA Sentence Format ..........................................................3-16
Table 21: $UTC Sentence Format..............................................................3-17
Table 22: $INPPS Sentence Format ..........................................................3-18
Table 23: TSS1 Output Format...................................................................3-20
Table 24: Simrad 1000 Digital Output Format ............................................3-22

Table 25: Simrad 3000 Digital Output Format ............................................3-24
Table 26: TSM 5265 Digital Output Format ................................................3-26
Table 27: Atlas Output Format....................................................................3-27
Table 28: PPS Digital Output Format..........................................................3-28
Table 29: Time of PPS Digital Output Format.............................................3-28
Table 30: GNSS1 and 2 Port Settings ........................................................3-30
Table 31: PCS Front Panel Indicators - Power-On.......................................4-4
Table 32: Formula Type Definition..............................................................4-22
Table 33: PCS Front Panel Indicators - Fault Identification..........................9-5
Table 34: Message Log Entries ..................................................................9-12
Table 35: Status Warning Messages ..........................................................9-18
Table 36: Effects of Modifying Heave Filter Parameters ........................... B-20
Table 37: Controlling PC Requirements ...................................................... D-3

List of Abbreviations, Synonyms
and Symbols
°C Degree Celsius
°F Degree Fahrenheit
μs Microsecond
A Ampere
ac Alternating Current
ASCII American Standard Code for Information Interchange
BNC Bayonet Neil-Concelman (British Naval Connector)
bps Bits Per Second
C/A Coarse Acquisition
CD Compact Disk
cm Centimetre
CTS Clear to Send
DAC Digital to Analog Converter
dB Decibel
dc Direct Current
DCM Direction Cosine Matrix
deg Degree (plane angle)
DGNSS Differential Global Navigation Satellite System
dia Diameter
DOP Dilution of Position
EMI Electromagnetic Interference

ESD Electrostatic Discharge
FDIR Fault Detection, Isolation and Reconfiguration
ft Foot
g Gravity (acceleration due to gravity)
GAMS GNSS Azimuth Measurement Subsystem
GB Gigabyte
GMT Greenwich Mean Time
GND Ground
gnd Ground
GNSS Global Navigation Satellite System
GNSS Global Navigation Satellite System
GUI Graphical User Interface
HDOP Horizontal Dilution Of Precision
hex Hexadecimal
hr Hour
Hz Hertz
I/O Input/Output
IEC International Electrotechnical Commission
IEEE Institute of Electrical and Electronics Engineers
IMU Inertial Measurement Unit
in Inch
INS Inertial Navigation System
I/P Input
IP Ingress Protection
IP Internet Protocol

kb Kilobit
kB Kilobyte
kbps Kilobits Per Second
kHz Kilohertz
LAN Local Area Network
lb Pound (weight)
LOF List of Figures
LWH Length, Width, Height
m Metre
mA Milliampere
Mb Megabit
MB Megabyte
MHz Megahertz
mm Millimetre
mPOS Mini-Position and Orientation System
N/A Not Applicable
N/C No Connection
NED North, East and Down
NMEA National Marine Electronics Association
NRG No Range Given
NVM Non-Volatile Memory
O/P Output
OTF On-the-Fly
PC Personal Computer
PCS POS Computer system

PDOP Positional Dilution of Precision
POS Position and Orientation system
POS MV Position and Orientation System for Marine Vessels
POSPac Position and Orientation Post Processing Package
PPS Pulse Per Second
pwr Power
QC Quality Control
qty Quantity
RAM Random Access Memory
RD Receive Data
RFI Radio Frequency Interference
RH Relative Humidity
RMS Root Mean Square
RTCM Radio Technical Commission for Maritime Services
RTK Real-Time Kinematic
RTS Ready to Sent
RX Receive Data
s Second (time interval)
SAE Society of Automotive Engineers
SCSI Small Computer System Interface
SI System of Units
SNR Signal-To-Noise Ratio
SV Space Vehicle
sync Synchronous
TCP Transmission Control Protocol

TCP/IP Transmission Control Protocol/Internet Protocol
TNC Threaded-Neill-Concelman (Threaded Navy Connector)
TOV Time of Validity
TR Terminal Ready
TTL Transistor-Transistor Logic
UDP Universal Datagram Protocol
UNC Unified National Coarse (Screw Thread)
UPS Uninterrupted Power Supply
UTC Universal Time Coordinated (or Coordinated Universal Time)
TX Transmit Data
Vac Volt Alternating Current
Vdc Volt Direct Current
VDOP Vertical Dilution of Precision
W Watt

Introduction
1.0 Introduction
The Applanix POS MV is a Position and Orientation System for Marine
Vessels using a system that provides accurate navigation and attitude data
for use by equipment on board the vessel, such as multi-beam sonar, to
correct for the effects of vessel motion during survey operations.
This manual contains full installation and operating instructions for the V4
generation of POS MV and is an important part of the system. The manual
should remain easily available for use by those who will install, operate and
maintain the system.
Installation and operation of POS MV are not complex tasks. However, you
should spend time to familiarize yourself with the contents of this manual
before you start to install or use the system.
Provided you follow the installation, operation and maintenance instructions

included throughout this manual, POS MV will operate reliably and supply
measurements to its specified accuracy.
Unless otherwise stated, the units used throughout this manual conform to the
SI International system of units.
Operators who intend to write their own Ethernet software or data extraction
software should contact Applanix for additional information on the POS MV
V4 Ethernet interface. Refer to Technical Support and Service on page A-1
for contact procedures.
Copyright © Applanix Corporation, 2009 1-1

Introduction
System Description and Overview

Each POS MV system consists of a POS Computer System (PCS) with two
embedded Global Navigation Satellite System (GNSS) receivers, two GNSS
antennas and an Inertial Measurement Unit (IMU).
The PCS has two versions:
POS MV V4 - a 19-inch rack mount chassis, 2U high, ac powered.
POS MV V4-1 - a stand alone mini-POS (mPOS) chassis, dc powered.
The POS MV product family consists of three models:
POS MV 320 - consists of a POS MV V4 PCS and a type 2 IMU.
POS MV WaveMaster - consists of a POS MV V4-1 PCS and a type 17

IMU.
POS MV WaveMaster RM - consists of a POS MV V4 PCS and a type 17

IMU.
Shown in Figure 1 and detailed in Appendix E are the typical components of

the POS MV systems.
Figure 1: Typical POS MV Components
1-2 Copyright © Applanix Corporation, 2009

Introduction
The POS MV delivers an accurate and comprehensive data set, including:

• Geographic position (latitude, longitude and altitude)
• Heading
• Attitude (roll and pitch)
• Vertical displacement (heave)
• Velocity
• Acceleration
• Angular rate of turn
• Performance metrics
• Fault detection and reporting
POS MV combines the IMU and GNSS sensor data into an integrated
navigation solution. There are two navigation algorithm designs incorporated
into the system, namely tightly coupled and loosely coupled inertial/GNSS
integration. Tightly coupled inertial/GNSS integration involves the processing
of GNSS pseudorange, phase and Doppler observables. In this case, the
GNSS receiver is strictly a sensor of the GNSS observables and the
navigation functions in the GNSS receiver are not used. With loosely coupled
inertial/GNSS integration, the GNSS position and velocity solution are
processed to aid the inertial navigator.
POS MV employs tightly coupled integration to enhance performance,

especially rapid Real-Time Kinematic (RTK) recovery after a loss of GNSS
signal reception. Depending on the availability and relative quality of sensor
inputs such as the primary GNSS, auxiliary GNSS and base station GNSS
corrections, POS MV will automatically switch between tightly coupled and
loosely coupled algorithms to ensure maximum performance.

Introduction
With its use of leading-edge technology, POS MV marks a significant

breakthrough in the field of aided inertial navigation and precision motion
measurement for use in marine applications. The accuracy and stability of
measurements delivered by the system remain unaffected by vessel turns,
changes of speed, wave-induced motion, or other dynamic manoeuvres.
Therefore, by using POS MV, you can continue survey operations during poor
weather and throughout deteriorating sea conditions. This allows a more
efficient use of survey time and a reduction in the overall cost of the
operation.
POS MV generates attitude data in three axis. Measurements of roll, pitch

and heading are all accurate to ±0.02° (±0.03° for WaveMaster) or better,
regardless of the vessel latitude. Heave measurements supplied by POS MV
maintain an accuracy of 5% of the measured vertical displacement or ±5 cm
(whichever is the larger) for movements that have a period of up to 20
seconds.
The system includes a compact disk containing the MV-POSView Controller

program, which runs on a PC under Microsoft Windows™. After you install the
POS MV, you can use this program to configure the system and monitor its
status during operation.
After you have configured the POS MV successfully, you can operate the
system in two start-up modes:
• You can use the controller program to enable navigation mode and to
monitor the status and performance of the system, or
• You can operate the POS MV in stand-alone mode. In this mode,
after power-on, the system will enable navigation mode and deliver

Introduction
measurements automatically through whichever ports you have

selected.
Communication between POS MV and the controller program is through a

10/100BaseT Ethernet link:
• Data output by POS MV may use the Universal Datagram Protocol
(UDP) so that other computers attached to the same Ethernet Local
Area Network (LAN) can receive the data or Transmission Control
Protocol (TCP) so that only a single computer can receive the data.
• The controller program uses Transmission Control Protocol (TCP) to
issue commands to POS MV. This blocks other computers on the
LAN from receiving the controlling messages, and prevents POS MV
from responding to any other source of controlling message.
Fault Detection, Isolation and Reconfiguration (FDIR) enhances the operating

reliability of POS MV. This feature allows the system to monitor the health of
its various sensors so that it can reconfigure itself to isolate any that show
degraded performance. POS MV also estimates and corrects sensor errors
on an ongoing basis using a Kalman Filter that allows it to produce consistent
and accurate results.
Operating Modes
POS MV has two operating modes:
Standby Mode: Following power-on, the IMU, GNSS receivers and the
processor perform self-test sequences after which POS
MV enters standby mode. Typically, this process takes 30
to 40 seconds to complete.

Introduction
The system will remain in standby mode until you

command a change to another mode, or unless you have
enabled ‘AutoStart’. With AutoStart enabled, the system
will transition automatically into navigate mode.
Applanix ships the POS MV with AutoStart enabled.
Navigate Mode: Navigate Mode is the normal operating mode of POS MV.
Once you have selected this mode, the system will go

through several stages of navigate mode until it reaches
the final stage, which indicates that POS MV has reached
its full user-defined operating accuracy.
Subsystems
POS MV includes three subsystems: the PCS, IMU and two GNSS receiver
cards. The following paragraphs describe each subsystem individually and
Figure 1, page 1-2, shows these major components.
POS Computer System
The POS Computer System (PCS) comprises the processor, GNSS receivers
and interface cards necessary to communicate with and process the IMU and
GNSS data.
Inertial Measurement Unit
The IMU comprises three solid-state linear accelerometers and three solid-
state gyros arranged in a triaxial orthogonal array. These sensitive
components, together with the electronics to convert their analog outputs into
the digital information required by the PCS, are all contained in a sealed unit
that requires no maintenance.

Introduction
IMPORTANT
Do not open the IMU housing for any reason. Opening the IMU
housing will void the warranty.
While the array of linear accelerometers sense acceleration in all three

directions, the array of gyros sense angular motion around all three axis
centred on the IMU. The PCS receives these measurements from the IMU
and uses them to compute the measurements of motion. Refer to the Theory
of Operation description starting on page B-1 for a more detailed explanation
of the POS MV operating theory.
GNSS Receivers
POS MV includes two GNSS receiver cards:
• A primary receiver card that provides the position, velocity and raw
observation information to the POS MV. It also provides a one Pulse
Per Second (PPS) strobe together with a time message that the POS
MV uses to accurately time-stamp data output with Universal Time
Coordinated (UTC) or GPS Time.
• A secondary receiver card, in conjunction with the primary receiver

card, which allows the POS MV to compute GNSS heading aiding by
performing carrier phase differential measurements between the two
GNSS receivers.
The system includes two identical antennas with 15 metre (~49 ¼ feet) long
connection cables. You must connect each receiver to a GNSS antenna to
receive GNSS signals from the orbiting constellation of satellites.
The antennas supplied with the system have excellent phase centre stability.
If you use alternative antennas with the POS MV, Applanix cannot guarantee
the heading or position performance of the system.

Introduction
GNSS Azimuth Measurement Subsystem

GNSS Azimuth Measurement Subsystem (GAMS) is a unique feature of POS
MV that allows the system to achieve exceptional accuracy in the
measurement of heading. The GAMS subsystem uses two GNSS receivers
and antennas to determine a GNSS-based heading that is accurate to ±0.02°
(±0.03° for WaveMaster) or better (using a two-metre [~6 ½ feet] antenna
baseline) when blended with the inertial navigation solution. POS MV uses
this heading information as aiding data together with the position, velocity and
raw observations information supplied by the primary GNSS receiver.
GAMS provides heading aiding to the POS MV. To understand the effect that
GAMS has on the system it is useful to compare system performance with
and without GAMS, see Table 1.
Note: Operation without GAMS will occur when POS MV has insufficient data
to compute a heading solution.
Before POS MV can deliver valid measurements for use in your application,
you must configure the system with the relative mounting angles between the
IMU, the vessel, and the multi-beam transducer. You do this by selecting a
convenient and fixed reference point on the vessel, and by defining a
reference frame orientation centred on that point.

Introduction
Table 1: System Performance
Parameter Without GAMS With GAMS
Heading 0.2° to 2.0° RMS after POS 0.02° (0.03° for the
accuracy: MV achieves full alignment WaveMaster), or better,
(depending on the nature of independent of vessel
vessel manoeuvres). manoeuvres and latitude.
Heading accuracy degrades POS MV tolerates GAMS
at latitudes above 50°. outages lasting several tens
of minutes with no significant
degradation of heading
accuracy.
Alignment Heading alignment can take Alignment occurs within two
time: as long as 30 minutes. to five minutes.
Vessel More frequent vessel Accuracy is independent of
manoeuvres: manoeuvres will improve the vessel manoeuvres.
accuracy of heading
measurements. To obtain a
faster alignment and better
accuracy the vessel must
perform a calibration
manoeuvre at intervals of ten
minutes or less.
Follow the instructions in the Installation Parameters description on page 2-38

to measure the mounting angles of the IMU, vessel and multi-beam
transducer relative to the reference frame that you have defined. Refer to the
POS MV Configuration description on page 4-11 for instructions to configure
POS MV with these important parameters.
When correctly configured with this information, POS MV delivers

measurements for use by the multi-beam transducer, compensated for any

Introduction
difference in mounting angles between the transducer, the IMU, the vessel
and your chosen reference frame.
Operation without GAMS
Figure 2 and the following paragraphs describe how POS MV computes

heading without GAMS.
After power-on, and the initialization and self-test routines have finished, the
IMU performs a levelling routine to establish a locally level reference frame.
This occurs rapidly and usually finishes within 30 seconds.
POS MV without
GAMS heading aiding
IMU begins levelling

POS MV power-on and heading
alignment
Up to 30 minutes
to complete
Ship frame wrt IMU wrt reference

reference frame Rotation frame mounting
mounting angles angles
Heading
Rotation information
Vessel heading Sensor 1 (Sonar) wrt

accuracy = 0.2 to 2 Rotation reference frame
degrees mounting angles
Sonar heading
accuracy = 0.2 to 2
degrees
Figure 2: Heading Measurement without GAMS
Following its levelling routine, the IMU begins to align itself to true north. This
process, called gyrocompassing, occurs much more slowly and can take from

Introduction
5 to 30 minutes to complete. The time taken to complete this process will

depend on the latitude and on the manoeuvres that the vessel performs
during the operation.
A more accurate and rapid alignment will occur if the vessel performs a
number of calibration manoeuvres during the alignment process. These
manoeuvres consist of full turns, starts and stops, S-curves and figure-of-
eight turns.
After alignment, the IMU delivers measurements of its heading with respect to
true north. These are accurate to between 0.2° and 2.0°, depending on the
manoeuvres made by the vessel and its latitude. Manoeuvres that are more
frequent will yield a more accurate heading result, while operation in higher
latitudes will degrade the unaided heading accuracy.
POS MV rotates the IMU heading measurement, using the relative mounting
angles between the IMU, the vessel, the transducer and your chosen
reference frame, and delivers heading measurements valid for the multi-beam
transducer and the vessel.
Operation with GAMS
Figure 3 and the following paragraphs describe how POS MV computes

heading with GAMS heading aiding.
After power-on, and the Initialization and self-test routines have finished, the
IMU performs a levelling routine to establish a locally level reference frame.
This occurs rapidly and usually finishes within 30 seconds.
Following its levelling routine, the IMU begins to align itself to true north. This
gyrocompassing process is aided by the heading input from GAMS and is
completed within two to five minutes, depending on how long it takes GAMS
to come online.

Introduction
GAMS heading error is largely due to GNSS receiver noise and multipath
errors. By blending this information with the IMU data in the Kalman Filter,
POS MV can average the GAMS heading error down to a blended heading
accuracy of typically 0.02° RMS (0.03° for WaveMaster) or better.
The Kalman Filter uses information in the IMU coordinate frame. POS MV
must therefore rotate GNSS heading information into this frame.
After alignment, the IMU delivers measurements of vessel heading relative to

true north. These possess an accuracy of ±0.02° RMS (±0.03° for
WaveMaster) or better, independent of vessel manoeuvres or latitude.

Introduction
Figure 3: Heading Measurement with GAMS
After alignment, the IMU delivers measurements of multi-beam transducer

heading relative to true north. These measurements possess the same
accuracy as those of vessel heading defined in the paragraph above.

Introduction
Refer to the Theory of Operation description on page B-1 for a more complete
description of GAMS, together with an explanation of GNSS carrier phase
differential position measurement, levelling, gyrocompassing and the Kalman
Filter.
Refer to the Lever Arm Distances, page 2-41, and the Antenna Separation,
page 2-47, descriptions for instructions to measure the mounting angles of the
IMU, multi-beam transducer and ship frames with respect to your chosen
reference frame.
Functions
The Applanix POS MV offers many advanced functions including:
• Motion measurement
• TrueHeave (software option)
• Analog interface (hardware option)
• Position and velocity measurement
• AutoRecovery and fault detection, isolation and reconfiguration
• AutoStart
• Ethernet Data logging
• Event tagging
The following paragraphs describe each of these functions.
Motion Measurement
The principal function of POS MV is to deliver dynamically integrated position

and orientation data. It delivers motion measurements (roll and pitch angle,
true heading and real-time heave) for use by external equipment such as

Introduction
multi-beam sonar. The system also estimates and displays the accuracy of its
attitude and heading measurements.
TrueHeave
TrueHeave (different than real-time heave) is based on an advanced two

sided filter, making use of both past and present vertical motion data to
compute a significantly improved heave estimate. POS MV has sufficient
computational speed such that a secondary estimate of heave can be
accomplished shortly after the sonar acquisition event.
Delayed time heave output not only removes many of the compromises that
must be made in real-time, but provides near real-time Quality Control (QC) of
heave performance. The MV-POSView graphical interface includes a time
series plot of both real-time and TrueHeave estimates, which allows the
operator to react if a divergence between the two heave estimates is
observed.
(As a software option on the MV 320, TrueHeave must be enabled before

use. Contact your Applanix Customer Support representative for the
appropriate authorization code; refer to page A-1 for contact details.)
Refer to the TrueHeave Operation description on page 6-1 for a full

description of the data formats used by POS MV to output these parameters.
Analog Interface
The analog interface hardware option delivers motion measurements (roll,

pitch and heave) for use by external equipment such as an echo-sonar.
Contact your Applanix Customer Support representative for the details; refer
to page A-1).

Introduction
Position and Velocity Measurement
POS MV supplies parameters such as the position, velocity, speed,

acceleration and angular rate of the vessel. The system also estimates and
displays the accuracy of some of these output parameters.
Refer to Interfaces and Data Formats on page 3-1 for description of the data
formats used by POS MV to output these parameters.
AutoRecover and Fault Detection, Isolation and

Reconfiguration
Because the IMU is the most important sensing subsystem in POS MV, errors
in communication between the PCS and the IMU can cause significant
problems. AutoRecovery is a feature that allows POS MV to recover from
such a communication error.
POS MV is tolerant of data corruption caused by noise or power problems on

board the vessel. However, the MV-POSView Controller program will alert
you if either of these problems becomes insurmountable, so that you can take
appropriate corrective action.
Fault Detection, Isolation and Reconfiguration (FDIR) allow POS MV to

combine data from the GNSS and the IMU sensor subsystems to offer the
best possible navigation solution for the current data quality.
The system monitors its sensor subsystems and determines which of them, if
any, shows a degraded performance. If it finds any sensor subsystem
operating with reduced performance, the system re-combines the available
data to retain the highest possible quality in the navigation solution.

Introduction
AutoStart
You must first configure the system with the following parameters before it
can operate properly when you transition POS MV to its navigate mode:
• The lever arm distances including those from the IMU, multi-beam
transducer and the primary GNSS antenna, to your chosen reference
point
• The sensor mounting angles of the IMU and the multi-beam

transducer relative to your chosen reference frame
These details are generally fixed at the time of installation. You can save
them to non-volatile memory so that POS MV initializes itself correctly during
each power-on sequence. If necessary, you can use the MV-POSView
Controller program at any time to alter and save any of the installation
parameters.
You can configure POS MV to enter navigate mode (the normal operating
mode) automatically after power-on. Alternatively, you can configure the
system to wait until it receives your command to enter navigate mode.
The ability to automatically enter navigate mode is called AutoStart. You can
use the MV-POSView Controller program to enable or disable AutoStart.
Refer to the System Configuration section on page 4-1 for instructions to

configure the system using the MV-POSView Controller program. Refer to
Software Installation on page D-1 for instructions to install the MV-POSView
Controller program on a Personal Computer (PC).
Ethernet Data Logging
You can log processed navigation or raw sensor data through the Ethernet to
a controlling PC. Data gathered by the POS MV during a mission may be

Introduction
post-processed using POSPac to further enhance the quality of seafloor maps

generated by multi-beam sonar systems. Contact Applanix for more
information on POSPac.
Ethernet Real-Time Output
High rate data are available from the PCS data port using Universal Datagram
Protocol (UDP) broadcasts. The emphasis here is outputting timely data, even
though there may be some data loss.
Event Tagging
POS MV provides the facility to ‘time tag’ events using either UTC or GPS
Time.
Note: UTC and GPS Times are not identical. Due to the occasional need for a
‘leap second’ to be applied to UTC, there is an integer number of seconds
time difference between UTC and GPS Time. Transitions between seconds
are precisely coincident for both UTC and GPS Time.
Time tagging of events occurs through the EVENT port on the PCS rear
panel. To tag an event using UTC or GPS Time you must provide POS MV
with a Transistor-Transistor Logic (TTL) level pulse. You can configure POS
MV for a positive edge trigger or a negative edge trigger.
You must also provide a reference ground on one of the ground lines.

Introduction
Event time tagging occurs when POS MV detects a TTL pulse on the Event 1
or Event 2 line, it captures the exact time that corresponds to the trigger edge
(within a window 1 μs wide). Event records are available for output on the
Ethernet data ports. Contact Applanix for advice if you need additional
information about the Ethernet group structure.
Output Summary
There are several types of communication interfaces that POS MV can use to
supply its data. You must select whichever type will be most suitable for the
specific multi-beam sonar in use.
In some cases, a multi-beam sonar can accept data in more than one format
(for example analog or digital). However, for specific installations, one type of
communications interface usually provides for a more accurate data
exchange than the other.
Electrical noise or sonar timing can have a significant effect on the images
produced by the multi-beam sonar. You must consider this when you select
the communications interface used to supply position, attitude and motion
data from POS MV. Because each installation will be different, this manual
cannot include explicit instructions in this area.
POS MV can use a variety of interface protocols to output information:

• RS-232
• Ethernet
• Analog (optional)
Each interface protocol is unique. Refer to the Interfaces and Data Formats
description starting on page 3-1 for information on each of these interface
protocols.

Introduction
Controller Software
You can use the MV-POSView Controller program to configure POS MV; the
controller ships with the POS MV system. For subsequent operation of the
POS MV you can use the controller program or you can configure the system
to start operating automatically with no further need for operator control. A
brief description of the AutoStart feature is located on page 1-17.
Refer to the Software Installation description on page D-1 for instructions to

install the MV-POSView Controller program on your PC. Refer to the System
Configuration description on page 4-1 and the System Operation description
on page 5-1 for instructions on how to use the controller program.

Installation
2.0 Installation
Installation of the Position and Orientation system for Marine Vessels
(POS MV) is reasonably simple, provided the installation instructions, in this
manual, are carefully followed. Installation and connection of the POS
Computer System (PCS), the Inertial Measurement Unit (IMU) and the Global
Navigation Satellite System (GNSS) antennas should only take a few hours.
This section of the POS MV V4 manual explains each stage of the installation.
By following these instructions, you can unpack, install and configure the
system so that it is ready to operate with minimal delay.
Handling Precautions
To prevent damage to the system components handle all POS MV
assemblies with care. The following paragraphs explain the special handling
precautions that apply to the IMU, PCS and GNSS antennas.

The IMU contains sensitive and expensive solid-state
accelerometer and gyro components. Permanent damage to
these components will result if handled roughly.
Exercise care when handling this unit; in particular, be careful when placing
the IMU on or mounting it to any surface. Field repair of the IMU is not
possible. If this unit develops a fault or becomes damaged it must be returned
to Applanix for repair. Refer to Technical Support and Service on page A-1 for
procedures.

Installation
POS Computer System

Field repair of the PCS is not recommended. If this unit develops a fault or
becomes damaged it must be returned to Applanix for repair. Refer to
Technical Support and Service on page A-1 for procedures.
Consider the following when handling the PCS:
• Handle with care.
• Do not drop from any height
• Observe standard Electrostatic Discharge (ESD) procedures.
GNSS Antennas
Applanix supplies the POS MV with two identical GNSS antennas - handle
these with care. Avoid scratching or damaging the antenna housings in any
way.
Any damage to the housings could impair the ability of the antenna to receive
satellite signals and therefore degrade the performance of the associated
GNSS receiver.
Unpacking and Storage

The supplied POS MV components and cables are listed on the packing list
shipped with the system. Physically verify that each item is present.
Applanix tests the POS MV system electrically and mechanically prior to

delivery. The protective transit case prevents damage during shipment and
ensures the operating integrity of the system.

Installation
IMPORTANT
Retain the original POS MV equipment packing case. Transport or
return POS MV equipment in the original packing case. Improper or
inadequate POS MV equipment packing for storage or transport will
void the warranty.
Upon receipt of the system, check all items carefully against the shipping
documents and inspect them for any damage that may have occurred during
transit. If any damage has occurred, file a claim with the carrier and notify
Applanix immediately. Refer to Technical Support and Service on page A-1
for postal address, contact telephone and fax numbers, and e-mail and Web
address for Applanix.
Storage
When storing the POS MV system for an extended period, ensure the
following conditions are maintained:
• Protect the PCS from moisture, excessive humidity and temperature

extremes (see Specifications starting on page 7-1 for details).
• Protect the PCS and IMU from accidental damage by storing in their
original shipping cases.
• Store all remaining components in their original shipping cases.
Site Preparation
You can install the system more efficiently if you give early and careful
consideration to the location and layout of the POS MV components.
You should read and understand the instructions in the Installation and
Installation Parameters topics on pages 2-6 and 5-26 before you commence

Installation
to install the POS MV. By taking this precaution, you will become more
familiar with the requirements of the system and will be less likely to
encounter unexpected problems during this important operation.
Note: Before installing the POS MV, make certain that adequate mounting
provisions exist for all components of the system.
Power Requirements
Applanix strongly recommends that you arrange to supply electrical power to
the POS MV from an Uninterrupted Power Supply (UPS). This is for two
reasons:
• Usually, the electrical supply on board the vessel will be noisy.

Although the POS MV includes power supply conditioning circuitry, it
is a sensible precaution to make certain the power supply is ‘clean’
before it enters the system.
• The electrical supply on board the vessel may be unreliable and may
drop out or fall to an unacceptable level unexpectedly.
A suitable UPS will ‘clean’ the electrical supply before it enters the PCS and
will continue to supply power for a short period if the electrical supply fails for
any reason. The UPS should be able to supply the total power requirements
of POS MV.
PCS POS MV V4 POS MV V4-1

Nominal Voltage 110 Vac at 1.0 A; 24 Vdc at 2.5 A
and Current: 240 Vac at 0.25 A,
47 to 63 Hz
Voltage range: 90 Vac to 264 Vac 20 Vdc to 34 Vdc

Installation
GNSS Antennas Both Models

Voltage: Supplied by the GNSS receiver via the
antenna coaxial cable
IMU Both Models
Voltage: Supplied by the PCS via the IMU cable
Environmental Requirements
GNSS Antennas
To receive GNSS satellite signals without interruption, the GNSS antennas

require a clear view of the sky from horizon to horizon in all directions. You
must mount them outside in an elevated position on the vessel. Follow the
instructions in the GNSS System paragraphs on page 2-6 to install the GNSS
antennas.
Although the antennas are tolerant of an exposed mounting position, please

observe the environmental limits starting on page 7-3 when installing these
components.
The IMU has an enamel coated aluminium housing. If you intend to mount the
IMU against a steel hull, use stainless steel spacers of 5 mm (3/16 in)
thickness between the IMU and the hull to prevent galvanic corrosion of the
housing.
Follow the installation instructions listed on page 2-10, Inertial Measurement

Unit, to select a suitable mounting location for the IMU. Observe the
environmental limits starting on page 7-3 when selecting a mounting location
for the IMU. Although the IMU is sealed in a housing it is not depth-rated; do
not mount the IMU where it can become immersed in water.

Installation
POS Computer System
Applanix ships the PCS in a protective transit case that must be removed
prior to operation. Follow the instructions in the POS Computer System -
POS MV V4-1 paragraphs, starting on page 2-18, to install the PCS. Observe
the environmental limits starting on page 7-3 when installing the PCS.
Installation
Important:
1. Equipment shall be installed by qualified personnel.
2. The PCS (POS MV V4) shall be grounded through the ground prong of
the power plug; if not, then the safety ground screw shall be used.
3. The PCS (POS MV V4-1) shall be grounded via the safety ground screw.
4. Power to the POS system should be protected by a user-supplied,

resettable circuit breaker.
GNSS System
Do not connect any input to the PPS OUT port. Connecting a
signal input to this port will damage the PCS interface circuitry.
The PCS includes a primary and a secondary GNSS receiver for operation
with the POS MV.
Multipath reflections of the received GNSS signals are the dominant source of
measurement errors in the heading aiding information computed by the GNSS
Azimuth Measurement Subsystem (GAMS). Reflectors can include flat
surfaces on the vessel and the surface of the sea.

Installation
The POS MV GNSS antennas may be installed anywhere on the vessel,

provided their locations meet the following criteria:
• Observe the environmental limitations specified on page 2-5, GNSS

Antennas.
• Avoid GNSS antenna locations that may experience multipath

satellite signals caused by reflections off nearby structures.
• Avoid mounting the GNSS antennas where salt deposits can

accumulate and degrade the received signal quality. Remove salt
deposits by washing the antenna with fresh water.
• Do not mount the GNSS antennas closer than 0.5 m (~20 in) to any
radar, UHF, satellite communications or other communications
antennas or transmitters.
• Avoid mounting the GNSS antennas in areas that may experience

high levels of vibration, shock or electrical noise.
• Both antennas must have the clearest possible view of the sky from
horizon to horizon in all directions. This means mounting them
outside and as high as possible on the vessel.
• Mount the GNSS antennas rigidly with respect to each other and with
respect to the IMU within the vessel. This requirement may be difficult
to achieve if the antennas are mounted on separate masts or on a
single mast that can flex with respect to the vessel. Relative
movement of one antenna with respect to the other of more than
0.5 cm (~¼ in), or of both antennas with respect to the vessel, will
introduce an extra source of heading error to degrade the POS MV
heading accuracy.

Installation
• Do not mount the antennas near any large flat surface. Large flat
surfaces are a source of multipath reflections that may degrade the
accuracy of POS MV heading measurements.
• The system includes two GNSS antennas. Install these so that they
have less than 5 m (~16 ½ ft) separation distance between them. The
antenna separation distance must be more than 1 m (~3 ¼ ft) in the
horizontal vector, but it is recommended that the antennas be at least
2 m (~6 ½ ft) apart.
• Mount both antennas so that the labels on their top surfaces point in
approximately the same direction. This precaution means that both
antennas have the same orientation relative to the vessel.
The phase centres of the GNSS antennas may 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 allow a better heading resolution by GAMS.
Install GNSS Antennas
The following instructions refer to the GNSS

antennas as the primary and the secondary
units, although both antennas are physically and
electrically identical. Identify, label and connect Figure 4: GNSS Antenna
the antennas in the following manner:
• Primary antenna to ANT1 port on the PCS
• Secondary antenna to ANT2 port on the PCS
Note: POS MV includes two low-loss antenna cables with connectors at each
end. These cables are standard length of 15 m (~49 ¼ ft). Applanix can

Installation
supply longer GNSS antenna cables on request, up to a maximum allowable

length of 50 m (~164 ft) with a maximum signal loss of eight Decibels (dB). It
is not necessary for both cables to be the same length.
1. Install the primary and secondary antennas at the positions you have
chosen and prepared.
Note: Orient the label on the top surface of the secondary antenna
so that it points in approximately the same direction as the label on
the primary antenna.
2. Connect the Threaded-Neill-Concelman (TNC) cable connector to the

GNSS antenna and tighten the connection. Use waterproof tape and
a suitable silicone sealant to protect the connection against the
ingress of water or dirt.
3. Route the antenna cable from the primary antenna to the PCS
mounting location. Avoid subjecting the cable to sharp bends or other
mechanical stresses; minimum bend radius of LMR 400 cable is one
inch (25.4 mm). Use cable clips to secure the cable at regular
intervals along its length. At the PCS mounting location, identify the
cable clearly as the primary antenna.
4. Connect the primary antenna cable to the ANT1 port on the PCS rear
panel.
5. Route the antenna cable from the secondary antenna to the PCS
mechanical stresses. Use cable clips to secure the cable at regular
intervals along its length. At the PCS mounting location, identify the
cable clearly as the secondary antenna.

Installation
6. Connect the secondary antenna cable to the ANT2 port on the PCS
rear panel.
Note: You must identify the primary and the secondary antennas
clearly. POS MV uses the lever arms distances between your chosen
reference point and the primary GNSS antenna to generate a
navigation solution.
Once the GNSS antennas are installed, measure the antenna separation
distance. POS MV can calculate this distance automatically during the
installation calibration routine, although it will mean the routine will take longer
to complete. If you make a manual measurement instead, record the distance
between the antenna phase centres to an accuracy of ±5 mm (±¼ in). The
GNSS antenna footprint is shown in Figure 85 on page E-3.

these components will result if handled roughly. To prevent
irreversible damage, handle the IMU with care while installing
the system.
The IMU footprints start on page E-1.
Locate the IMU

The IMU is a self-contained unit that must be connected to the PCS using the
supplied shielded cable. Consider the following guidelines when selecting a
location to install the IMU:
• Observe the environmental limitations specified on page 2-5, Inertial

Measurement Unit.

Installation
• Avoid mounting the IMU where it may experience high levels of

vibration, shock or electrical noise.
• The standard IMU connection cable is 8 m (~26 ft) long. Plan the
system layout carefully so that the cable will fit between the IMU and
the PCS. Do not subject the cable to sharp bends or other
mechanical stresses. Applanix can supply a longer cable of up to
50 m (~164 ft) in length if necessary. Use suitable clips to support the
cable at intervals along its length.
• Ensure the mounting location permits easy access to attach the cable
to the IMU.
• Mount the IMU with its base plate nominally level.
• Ideally, install the IMU at a location for which you require roll, pitch,
heading and heave measurements. Usually this implies mounting the
IMU close to, or even on, the multi-beam transducer. The chosen
location must provide rigid support so that the IMU does not move
relative to the GNSS antennas; see GNSS System on page 2-6.
• It is not necessary to install the IMU at the vessel’s centre of rotation.

There is no degradation of POS MV performance if the IMU is
mounted away from the vessel’s centre of rotation, although this
offset should be measured and applied during configuration of the
system; see the POS MV Configuration topic starting on page 4-11.
• There is a label on the top plate of the IMU to identify its sensing axis.
It is not required to align these marks closely with the vessel or the
multi-beam transducer. Instead, measure the mounting angles, save
them in the PCS when you first power-on and configure the system.

Installation
• Two holes are predrilled in the base to accept 0.25 in (6.35 mm)
diameter alignment pins. These holes maintain IMU alignment when
the unit is replaced, see Figure 5.
Mounting holes accept

1
0.25 inch diameter bolt
Ground connection
2
screw
Hole for 0.25 inch

3
alignment pin
4
4 Power and data
1
3 2 connector
1
Figure 5: Typical IMU Mounting Features
Install the IMU
Once a suitable mounting location is selected, perform the following steps to

install the IMU:
1. Attach the IMU to the mounting location using four 0.25 in (6.35 mm)
pan head bolts inserted through the fixing holes in the base plate,
isolating the IMU from the hull by way of an electrically non-
conductive material if possible. Use flat and shake proof washers
under the IMU mounting screws. Ensure that the flat washers (not
shake proof washers) are placed in direct contact with the IMU base
plate.
2. Tighten the mounting bolts in a uniform manner, exercising care not

to over torque. Avoid warping the IMU base plate.

Installation
3. If it is impractical to electrically isolate the IMU from the vessel, attach

a ground strap between the IMU ground connection screw and the
hull of the vessel to ensure adequate electrical noise protection.
4. Attach the IMU connection cable to the IMU connector and tighten the
locking collar by hand. Route the cable from the IMU to the PCS
mechanical stresses. Use cable clips to secure the cable at regular
intervals along its length.
5. Connect the IMU cable to the IMU port on the rear panel of the PCS.
Tighten the locking collar by hand.
6. After IMU installation, measure the lever arm distances and the
mounting angles that POS MV requires to generate its navigation
solutions. Refer to page 2-38, Installation Parameters for details of
these parameters.
POS Computer System - POS MV V4

The PCS is the heart of the POS MV V4 systems and is based on an Intel
Pentium processor. The PCS footprint is shown in Appendix E.
Install the PCS
Remove the PCS from its transit case to allow connection and operation. With
the PCS removed from the transit case, you can install, connect and use the
unit in a 19 in (48.3 cm) instrument rack where it occupies two rack units of
space. Use an instrument rack that provides isolation against shock and
vibration.

Installation
Observe the following installation constraints:

Do not hang the PCS from the loose panel mounting hardware.
Support the PCS weight from underneath while tightening the
panel mounting hardware.
• Observe the environmental limitations starting on page 7-3.
• Do not install the PCS where it may come into direct contact with
water or high concentrations of dust.
• The PCS may be mounted in a shock isolating 19-inch instrument

rack if one is available. The PCS occupies two rack units of space in
a 19-inch (48.3 centimetre) instrument rack.
• Do not mount the PCS to a vibrating surface or one that may

experience severe shocks.
• A minimum of 15 cm (~6 in) clearance is required behind the PCS

cabinet for cable connection and ventilation. Do not restrict the airflow
intakes located on each side of the cabinet. If necessary, provide
additional fan ventilation inside the instrument rack to prevent
overheating.
• Provide sufficient cable lengths to allow easy connection to the ports

on the PCS rear panel.
Rear Panel Electrical Connections
The rear panel of the PCS provides connections for power and
communications with sensors and other devices, see Figure 6.

Installation
ELECTRICAL HAZARD
The PCS employs double pole / neutral fusing on the power
receptacle. Each of the two RoHS compliant fuses are rated at:
• Rating = 250 V
• Current = 3.15 A
• Type = slow blow, long time lag
• Case = 5 mm x 20 mm
Figure 6: PCS Rear Panel - POS MV V4
Use Table 2 as a guide when making cable connections to the PCS rear
panel.
Table 2: Connector/Cable Summary - POS MV V4

Connector Cable Description
PWR, 3-pin Special 3- The internal power supply is auto-switching;
male connector see page 2-4 for details
cable (see
Figure 89)
IMU, 12-pin Double- • RS-422 serial data
male shielded cable • Supplies dc power and data to/from IMU

Installation

LAN, RJ-45 Straight • Ethernet interface communicates with a
female through or controlling PC through this 10/100 Base-T
Cross over port
cable (meets • Port used to complete initial POS MV
Cat5) configuration
Note: The POS MV system may be configured in
the ‘AutoStart’ mode, so that subsequent operations
uses a standalone mode without the further need
for an Ethernet connection.
PPS OUT, 75 ohm • A TTL strobe at one pulse per second is
BNC female coaxial cable active low for 1 ms
(RG59/U) • Falling edge of pulse is coincident with
exact GNSS second
• Provides synchronization with GPS Time
Note: Do not connect an input signal to the PPS
OUT port; otherwise, damage to the PCS interface
circuitry may result.
PPS IN, 75 ohm • I/P BNC connector - one pulse per second
BNC female coaxial cable for synchronization with GPS Time
(RG59/U) • Optically isolated digital input
• Only effective if external GNSS option is
enabled through POSConfig
EVENT, Single- • Optically isolated digital input
DB-9S shielded cable • Event 1 and 2 tagging
I2C, DB-9S Single- Connects to the analog interface hardware
shielded cable option, refer to page 2-37, I2C Interface
GNSS1 Single- • RS-232 Serial I/O port (digital)
(primary shielded cable • I/P primary GNSS receiver software
GNSS upgrade - contact Applanix Customer
receiver), Support for details
DB-9P

Installation

GNSS2 Single- • RS-232 Serial I/P port (digital)
(secondary shielded cable • I/P secondary GNSS receiver software
GNSS upgrade - contact Applanix Customer
receiver), Support for details
DB-9P
422, DB-9P Single- Not implemented
shielded cable
COM(1), Single- RS-232 Serial I/O port (digital)
DB-9P shielded cable
ANT1, TNC 50 ohm Supplies dc power to and receives signals
female coaxial cable from primary GNSS antenna
(RG303/U)
ANT2, TNC 50 ohm supplies dc power to and receives signals
female coaxial cable from secondary GNSS antenna
(RG303/U)
If the POS MV V4 receives power from an Uninterruptible Power Supply

(UPS), make certain that it is operating at the correct voltage; refer to the
Power Requirements description on page 2-4 for details. Good grounding
practices are essential for proper operation of the POS MV V4 systems.

Installation
Note: If the analog interface hardware option is in use, ensure that the PCS
and the multi-beam sonar are grounded at the same point.
POS Computer System - POS MV V4-1

The PCS is the heart of POS MV V4-1 system and is based on an Intel
Pentium processor. The PCS footprint is shown in Appendix E.
Install the PCS

The M4 x 0.7 (8-32 UNC) screws used to secure the mounting
brackets to the PCS cannot be longer than 6.35 mm (¼ in).
Longer screws will cause internal PCS damage.
Applanix recommends mounting the PCS in a right side up orientation.

Maintain a minimum of six inches (15 cm) of clearance (top and rear only) for
cables and ventilation. Two brackets, each with two mounting holes, are
attached to the bottom surface of the PCS and are used to mount the PCS to
a flat surface. The two brackets are attached to the bottom of the PCS using
6.35 mm, M4 x 0.7 (0.25 in, 8-32 UNC) screws.
The POS Computer System (PCS) is designed for mounting in a rack or

mount that provides isolation from both shock and vibration. Do not expose
the PCS to excessive humidity, dust or heat. It has a rear mounted exhaust
fan and requires approximately six inches (15 centimetres) of clearance
behind the rear panel to accommodate proper cooling and cable clearance.
Do not restrict the airflow intake or exhaust located on the top and rear of the
chassis.
Rear Panel Electrical Connections
The rear panel of the PCS provides connections for power and
communications with sensors and other devices, see Figure 7. Connector
interface requirements are described on page 2-20, Interfaces.

Installation
Figure 7: PCS Rear Panel - POS MV V4-1
Use Table 3 as a guide when making cable connections to the PCS rear
panel.
Table 3: Connector/Cable Summary - POS MV V4-1

Connector Port Description
PWR Connects to a power converter; see page 2-
4 for details
IMU • RS-422 serial I/O port
• Supplies dc power and data to/from IMU
I/O COM (1) RS-232 Serial I/O port (digital)
COM (2) RS-232 Serial I/O port (digital)
GNSS 1/2 • RS-232 Serial I/O port (digital)
(GNSS 1 = • Primary GNSS receiver software upgrade
primary) - contact Applanix Customer Support for
(GNSS 2 = details
secondary) • Secondary GNSS receiver software
upgrade - contact Applanix Customer
Support for details

Installation
Table 3: Connector/Cable Summary - POS MV V4-1

Connector Port Description
Event Input • Optically isolated digital input
• Event 1 and 2 tagging
Event Output Digital O/P port, TTL signal level
TTL I/O Digital I/O port, TTL signal level
Ethernet Ethernet port - communication between
POS MV and MV-POSView, 10/100 Base-T
PPS Out O/P BNC connector - one pulse per second
for synchronization with GPS Time, TTL
signal level
PPS In • I/P BNC connector - one pulse per second
for synchronization with GPS Time
• Optically isolated digital input
• Only effective if external GNSS option is
enabled through POSConfig
Analog Only with purchase of analog option
ANT1 I/O TNC connector - supplies dc power and
receives signal from primary GNSS antenna
ANT2 I/O TNC connector - supplies dc power and
receives signal from secondary GNSS
antenna
Note: If the analog interface hardware option is in use, ensure that the PCS
and the multi-beam sonar are grounded at the same point.
Interfaces
Applanix supplies the necessary cables and adapters for POS MV operation.
Customized and additional cables are available and may be procured by
contacting Applanix Customer Support; refer to Technical Support and
Service on page A-1.

Installation
All cables are labelled and in some cases have different terminations on each
end. Route cables away from sources of electrical noise and protect from
physical damage. Secure cables to permanent supports that are close to
cable connectors to provide relief from shock and vibration. Coil and stow
excess cable and secure with tie wraps.
The following paragraphs provide cable and interface details for the active
ports on the PCS rear panel, refer to Table 3 on page 2-19 for the POS MV
V4-1 and Table 2 on page 2-15 for POS MV V4.
Power Interface
Power configuration is performed at Applanix prior to delivery. Table 4 and
Figure 8 identify the pin assignments.
Table 4: PWR Connector Pin Assignment
POS MV V4-1 POS MV V4

PIN Description Pin Description
A 24 Vdc at 2.5 A 3-pin male The internal power supply is
connector auto-switching between:
B Return
accepts special 110 Vac at 1.0 A; 240 Vac at
3-pin power
C N/C cable (see 0.25 A, 47 to 63 Hz
Figure 89)
POS MV V4-1 POS MV V4

POS MV V4-1
Receptacle:
JD38999/24FA98PN Fuse
0
1
Cable Plug:
3 Pin
JD38999/26FA98SN
Figure 8: PWR Connector Pin Arrangement

Installation
IMU Interface
Do not disconnect the IMU cable while the PCS is powered-on.
Damage to the IMU or the PCS hardware may result.
The IMU data/power interface is a multi-pin female circular connector. Contact

Applanix for connection details or longer cables; refer to Technical Support
and Service on page A-1 for procedures.
PHYSICAL INTERFACE
A double-shielded cable connects the IMU to the PCS. Ensure the cable is
secure by locking the connector shell to the base.
I/O Interface Connector - POS MV V4-1

The I/O connector supports a multi-connector breakout cable (I/O cable) that
permits access to the following signals:
• Two ports (one input and one output) for the One Pulse Per Second
(PPS) signal
• Five multi-function COM ports
• One (primary and secondary) GNSS receiver port for software

updates
• One analog port (optional)
• One Ethernet port
• Two Event input ports
Table 5 and Figure 9 provide the pin assignment for the I/O connector and pin
mapping of the I/O cable.

Installation
Table 5: I/O Connector Pin Assignment - POS MV V4-1
I/O Cable
Signal Signal
I/O Pin Pin Description Mapping
Type Direction
PIN Connector
1 PPS Out Ctr BNC 5 V TTL Output
(female)
5 GND Shell PPS Out N/A N/A
6 External PPS In Ctr BNC
(female) ** **
7 External PPS In Return Shell PPS In
8 Event 1 In 2 ** & Event ** & Event
DB-9S Notes Notes
9 Event 1 In Return 7
(female)
10 Event 2 In 3 DIO ** & Event ** & Event
Notes Notes
11 Event 2 In Return 8
18 COM 5 TX 3 RS-232 Output
DB-9P
19 COM 5 RX 2 (male) RS-232 Input
COM 5
20 COM 5 RTS * 7
Pin 5 = GND
RS-232 Output
21 COM 5 CTS 8 RS-232 Input
DB-9P
COM 1
24 COM 1 RTS * 7
Pin 5 = GND
RS-232 Output
26 GND N/A N/A N/A
DB-9P
COM 2
29 COM 2 RTS * 7
Pin 5 = GND
RS-232 Output
31 GND N/A N/A N/A

Installation
I/O Cable
Signal Signal
Type Direction
PIN Connector
DB-9P
COM 3
34 COM 3 RTS * 7
Pin 5 = GND
RS-232 Output
36 GND N/A N/A N/A
DB-9P
COM 4
39 COM 4 RTS * 7
Pin 5 = GND
RS-232 Output
41 GND N/A N/A N/A
42 GNSS 1 TX 2 RS-232 Output
43 GNSS 1 RX 3 DB-9P RS-232 Input
(male)
44 GNSS 2 TX 8 Pin 5 = GND RS-232 Output
45 GNSS 2 RX 9 RS-232 Input
46 Ethernet TX+ 1 N/A Output
47 Ethernet TX- 2 RJ-45 N/A Output
(Socket)
48 Ethernet RX+ 3 Ethernet N/A Input
49 Ethernet RX- 6 N/A Input
50 I2C SCL DB-9P N/A N/A
(female)
51 I2C SDA Analog N/A N/A
52 I2C GND (optional) N/A N/A
53 I2C Chassis GND N/A N/A

Installation
I/O Cable
Signal Signal
Type Direction
PIN Connector
54 I2C Return N/A N/A
55 I2C +VIN N/A N/A
2 to 4;
12 to17; Reserved N/A N/A N/A
50 to 55
* May be used for the TOV pulse output depending on the function assigned to the
port.
** External PPS In, Event 1 In and Event 2 In are optically isolated digital inputs.
** Inputs (and their return lines) are un-referenced and are independent of internal
POS MV V4-1 power supplies and GND.
** External PPS In can be controlled from an external 5 V TTL-level source capable
of supplying a minimum of 5 - 10 mA of sourcing or sinking current.
POS MV V4-1
Receptacle:
JD38999/24FE35SA
Cable Plug:
JD38999/26FE35PA
55 Pin
Figure 9: I/O Connector Pin Arrangement - POS MV V4-1

Installation
COM (1) through COM (5) Interface

PHYSICAL INTERFACE
Serial cables should not exceed 15 m [~49 ft] in length. To ensure data
integrity, use high quality RS-232 cable with its shielding connected through
the back shell to ground at both cable ends. Table 5, page 2-23 (POS MV V4-
1) or Table 6 (POS MV V4) provides connector pin assignments and
mapping.
Table 6: COM Connectors Pin Assignment - POS MV V4
Signal
Pin Pin Description Signal Type
Direction
1 N/C (port 1 through 5) N/A N/A
2 RX (port 1 through 5) RS-232 Input
3 TX (port 1 through 5) RS-232 Output
4 DTR (port 1 through 5) RS-232 Output
5 GND (port 1 through 5) N/A N/A
6 DSR (port 1 through 5) RS-232 Input
7 RTS (port 1 through 5) RS-232 Output
8 CTS (port 1 through 5) RS-232 Input
9 N/C (port 1 through 5) N/A N/A
1 5
POS MV V4 Rear Panel
DB-9P Male Connector
6 9

Installation
INTERFACE CONFIGURATION
Table 7 identifies the configuration for the COM ports.
Table 7: COM Port Configuration
Setting Value
Baud Rate 2400 to 115200
Parity None, Even, Odd
Data Bits 7, 8
Stop Bits 1, 2
Flow Control Hardware, Software, None
GNSS 1 and GNSS 2 Interface

The serial digital port for each GNSS receiver provides access for receiver
upgrading of its software.
PHYSICAL INTERFACE
Table 5, page 2-23 (POS MV V4-1) or Table 8 (POS MV V4) provides

connector pin assignments and mapping.
Table 8: GNSS Connectors Pin Assignment - POS MV V4
Pin Description Signal

Pin Signal Type
GNSS 1 GNSS 2 Direction
2 RX 1 RX 2 RS-232 Input
3 TX 1 TX 2 RS-232 Output
5 GND GND N/A N/A
1, 4,
N/C N/C N/A N/A
6,7,8,9

Installation
Table 8: GNSS Connectors Pin Assignment - POS MV V4

Pin Description Signal
Pin Signal Type
GNSS 1 GNSS 2 Direction
1 5
POS MV Rear Panel
DB-9P Male Connector
6 9
INTERFACE CONFIGURATION
Table 9 identifies the port configuration for the GNSS ports. These settings
may be changed using the MV-POSView software.
Table 9: GNSS Port Configuration
Setting Value
Baud Rate 2400 to 115200
Parity None, Even, Odd
Data Bits 7, 8
Stop Bits 1, 2
Events Interface
The Events digital port provides access to the POS MV V4 event timing
facility for events one and two.
PHYSICAL INTERFACE
A cable that supports the two events is supplied with the system. Table 5,
page 2-23 (POS MV V4-1) or Table 10 (POS MV V4) provides connector pin
assignments and mapping.
To time tag an event with Universal Time Coordinated (UTC) or GPS Time,
supply a TTL level pulse whose rising/falling edge (configurable) corresponds

Installation
to the exact time when the event occurs. Connect the TTL signal to an event
in pin and it’s associated return pin.
Table 10: EVENT Connector Pin Assignment
Signal
Pin Pin Description Signal Type
Direction
2 Event 1 In * see notes * see notes
3 Event 2 In * see notes * see notes
7 Event 1 Return * see notes * see notes
8 Event 2 Return * see notes * see notes
1, 4, 5, 6, 9 N/C N/A N/A
5 1
POS MV V4 Rear Panel
DB-9S Female Connector
9 6
* Event 1 In and Event 2 In are optically isolated digital inputs.

* Inputs (and their return lines) are un-referenced and are independent of internal
POS MV V4 and POS MV V4-1 power supplies and GND.
* Inputs can be controlled from an external 5V TTL-level source capable of
supplying a minimum of 5 - 10 mA of sourcing or sinking current.
Event Notes:
1. PCS Event 1 and Event 2 are optically isolated inputs and for proper
operation require a current flow of 5 - 10 mA between the “Input“ and
“Input Return” terminals.
2. Event 1 and Event 2 inputs can be driven by two types of the external
event generators:
• Type I event generator with an output capable of supplying

(sourcing) a current of 5 - 10 mA. For Event 1, the output
must be connected to the Isolated Event 1 (pin 2) with the

Installation
GND reference connected to Isolated Event 1 Signal Return

(pin 7). For Event 2, the output must be connected to the
Isolated Event 2 (pin 3) with the GND reference connected to
Isolated Event 2 Signal Return (pin 8). Outputs from most of
the 5 V TTL Logic CMOS devices belong to this group and
can directly drive the isolated event inputs.
• Type II event generator with an open collector or open drain

type output capable of sinking (sourcing) a current of 5 - 10
mA. For Event 1, the output must be connected to the
Isolated Event 1 Signal Return (pin 7) with the +5 Vdc source
connected to the Isolated Event 1 (pin 2). For Event 2, the
output must be connected to the Isolated Event 2 Signal
Return (pin 8) with the +5 Vdc source connected to the
Isolated Event 2 (pin 3). Standard TTL or TTL LS devices
with open collector outputs belong to this group.
3. The following four Figures demonstrate the possible configurations for

the Event 1 and Event 2 inputs.
min. 5 mA
1 2
EVENT 1 IN
74HC4050
EVENT PULSE
EVENT 1 IN RETURN
Figure 10: Type I Event Generator - I/O Configuration

Installation
+5VDC
EVENT 1 IN
min. 5 mA
1 2
EVENT 1 IN RETURN
74LS07
EVENT PULSE
Figure 11: Type II Event Generator - I/O Configuration

+5VDC
EVENT 1 IN
EVENT 1 IN RETURN
R
Q1
2N2222
EVENT PULSE
Figure 12: Open Collector Transistor Output Event Generator -

I/O Configuration

Installation
+5VDC
EVENT 1 IN
EVENT 1 IN RETURN
1uF NORMALLY OPEN SWITCH

CLOSE TO GENERATE THE EVENT PULSE
Figure 13: Mechanical Switch Event Generator - I/O Configuration
4. Event 1 and Event 2 inputs (and their return lines) are un-referenced
and are independent of any internal PCS power supplies or GND.
5. Each isolated Event input must be driven from a separate source.
6. Applanix can provide an events interface box for the event generators
(except for Type I and Type II described above). This events interface
box produces the proper PCS event input signals from devices that
output pulses ranging from 3.3 V to 12 V TTL. Please contact
Applanix Customer Support (page A-1) for more information.
INPUT DATA FORMAT
Tagging an event requires one of the following conditions at the input to

the Event digital port:
• 5 - 10 mA current pulse between pins 2 and 7 (rising or falling

edge coincided with the event occurrence) for Event 1

Installation
• 5 - 10 mA current pulse between pins 3 and 8 (rising or falling

edge coincided with the event occurrence) for Event 2
The pulse must assert a logical LOW when the current is less than
0.5 mA and a logical HIGH when the current is greater than 5 mA; the
signal is ambiguous between 0.5 and 5 mA. Minimum pulse width is
500 nanoseconds.
INPUT DATA FORMAT
The EVENT port permits access to the POS MV timing facility; refer to page
1-18, Event Tagging, for a detailed description of this function.
Ethernet Interface
A 10/100Base-T Ethernet interface provides communication between the PCS
and other PCs for monitoring or controlling the system. The Ethernet port can
also be used to transmit POS MV data to a host PC for real-time processing
or for data logging and subsequent post-processing. The Ethernet port
supports both Transmission Control Protocol/Internet Protocol (TCP/IP) and
Universal Datagram Protocol (UDP).
PHYSICAL INTERFACE
Ensure that Ethernet cables meet the RJ-45 foil shielded Cat5 standard to
avoid an impedance mismatch inside the PCS. In addition, the maximum
cable length is determined by the Ethernet specification. Table 5, page 2-23
(POS MV V4-1) or Table 11 (POS MV V4) provides connector pin
assignments and mapping.

Installation
Table 11: Ethernet Connector Pin Assignment - POS MV V4
Signal Signal
Pin Pin Description
Type Direction
1 TX + Analog Bidirectional
2 TX - Analog Bidirectional
3 RX + Analog Bidirectional
6 RX - Analog Bidirectional
4, 5, 7, 8 N/C N/A N/A
1 8
POS MV Rear Panel
RJ-45 Female Connector
Pin out for a 3 TD+ RD+ 3 3 TD+ TD+ 3

Pin out for a 6 TD- TD- 6
straight 6 TD- RD- 6
crossover
through 1 RD+ TD+ 1 1 RD+ RD+ 1
cable
cable 2 RD- TD- 2 2 RD- RD- 2
The Ethernet interface provides a means for configuring and monitoring the
POS MV and conforms to the Institute of Electrical and Electronics Engineers
(IEEE) standard 802.3 that comprise the following types of ports:
• One control port - MV-POSView connects via TCP/IP and transmits

configuration information to the POS MV
• One display port - UDP provides data at a 1 Hz rate for use by MV-
POSView software
• Two data ports - One UDP and one TCP/IP provide the same data as
the Display port, at rates up to 200 Hz - (asynchronous events at
higher rates)

Installation
Note: Data output from the display port (above) is broadcast using UDP
protocol and may be captured by any host on the physical Ethernet
network (regardless of the IP address of the host).
Note: Network routers typically block UDP protocol data transmissions.

In addition, other couplers can only receive UDP data if they are in the
same subnet (i.e. class B or class C). The subnet class (B or C) is
determined by the choice of Ethernet address.
OUTPUT DATA FORMAT
The data available on the Ethernet connection (for both display and data
ports) is organized into a group and message structure. Each port is
configured independently in terms of the groups that are output and only
those groups selected for a port are output on that port.
INPUT DATA FORMAT
The data input to POS MV on the control port is organized into a message
structure. Contact Applanix Customer Support, see page A-1, if control
commands are generated by software other than MV-POSView.
Analog Interface
The optional analog interface provides analog outputs of roll, pitch and
heading data.
PPS Interface
The PCS requires the one Pulse Per Second (PPS) signal for internal timing
requirements. This signal can be obtained from the primary GNSS receiver or
from an external GNSS receiver. In addition, the PPS Out port will duplicate
the 1PPS signal from the selected source. The input signal is only effective if

Installation
the external GNSS option is enabled through the POSConfig menu selection
in MV-POSView (refer to the Manage Multiple Configurations description on
page 4-40). Figure 14 provides a functional diagram.
Figure 14: PPS Port Signal Sources - Functional Diagram
PHYSICAL INTERFACE
A cable must be constructed and installed to couple the 1PPS signals;

Table 5, page 2-23 (POS MV V4-1) or Table 2, page 2-15 (POS MV V4)
provides connector pin assignments and mapping.
The PPS output port is an active circuit. Ensure that an ‘input
signal’ is NOT connected to the PPS output port, otherwise
damage may result.
OUTPUT DATA FORMAT
The 1PPS signal (input or output) is an active ‘LOW’ TTL level strobe that
occurs at a 1 Hz rate. The leading edge of the strobe is coincident with the
exact GNSS second. The corresponding GPS Time message that specifies
the UTC time of the 1PPS may be selected for output from a National Marine
Electronics Association (NMEA) port. Refer to the GNSS Timing Basics
description starting on page H-3.

Installation
ANT1 and ANT2 Interfaces

Signals from the GNSS antennas are coupled to the GNSS receivers using
the ANT1 (primary GNSS) and ANT2 (secondary GNSS) ports located on the
rear panel of the PCS.
PHYSICAL INTERFACE
The operating dc voltage for each antenna is coupled through the centre
conductor of each cable and is supplied by the PCS; GNSS signals are routed
through the same conductor to the respective receiver. If it is necessary to
replace an antenna cable and RG-303 (50 ohm) coaxial cable is not available,
RG-400 (50 ohm) may be used as an alternate. Both the GNSS antennas and
the PCS ANT1 and ANT2 ports are female TNC connectors.
I2C Interface
pitch and heave) for use by external equipment such as an echo-sonar.
Contact your Applanix Customer Support representative for the details; refer
to page A-1.
Ancillary Equipment Interfaces

Auxiliary GNSS Receiver
Any of the five COM ports may be used for connecting one or two auxiliary
GNSS receivers to the PCS. The output of the auxiliary GNSS receiver must
be manually configured before it can be used by POS MV. The PCS will only
use an auxiliary GNSS receiver if its quality is better than the primary GNSS
receiver. The state of the auxiliary GNSS receiver input is displayed in the
GNSS Data window, see Figure 48 on page 8-2.

Installation
Obtain a cable and connector to suit the particular requirements of the GNSS
receiver in use. Refer to Table 5 on page 2-23 for the connector pin
assignments of the COM ports.
Sonar
Any of the five COM ports may be used for connecting the sonar to the PCS.
Echo-Sonar (Analog)
The analog interface feature for the POS MV is a hardware option. Refer to
the I2C Interface description on page 2-37.
Installation Parameters
Once the POS MV components are installed, the installation parameters must
be measured. These measurements allow the POS MV to deliver the best
possible performance.
After you have configured the system with these parameters, save the data to
non-volatile memory for immediate use each time the POS MV is powered-on.
The POS MV configuration information defines the layout of the system and
its associated peripheral equipment relative to a reference point. The
reference point is defined as any convenient location on the survey vessel,
and it may be assigned any orientation that you choose. Once you have
decided on a reference point, make the following measurements as carefully
and accurately as possible.
Lever Arm Distances
Note: Measure distances in metres, resolved into their longitudinal, lateral

and vertical components in the reference frame.
• Reference to IMU - measure to an accuracy of ±0.05 m (~±2 in)

Installation
• Reference to primary GNSS antenna:

o Single frequency - measure to an accuracy of ±0.2 m (~±8 in)
o Dual frequency - (RTK GNSS) measure to an accuracy of
±0.02 m (~±¾ in)
• Reference to vessel - measure to the same accuracy as the
Reference to primary GNSS antenna to prevent a bias in the position
output by POS
• Reference to sensor 1 and sensor 2 - measure to an accuracy of
±0.05 m (~±2 in)
• Reference to auxiliary GNSS antenna:
o Single frequency - measure to an accuracy of ±0.1 m (~±4 in)
o Dual frequency - (RTK GNSS) measured to an accuracy of
±0.02 m (~±¾ in)
• Reference to heave measurement location - measure to an accuracy

of ±0.05 m (~±2 in)
When measuring the lever arm distances, you must resolve them into their
longitudinal, lateral and vertical components using the reference frame. Refer
to the Theory of Operation description on page B-1 for an explanation of the
various frames of reference used by POS MV.
Additionally, the scalar antenna separation distance should be measured to

an accuracy of 5 mm (~¼ in). You can allow POS MV to measure the antenna
separation distance automatically during its calibration routine; this process
will extend the time it takes the calibration to complete its task successfully.
Record the measurements carefully so that you can use the MV-POSView
Controller program to configure the system. These measurements inform

Installation
POS MV of the relative positions of the IMU, the GNSS antenna, the multi-
beam transducer (sensor 1) and the vessel by relating them all to a common
reference point that you have defined. It may be convenient for you to define
the reference point to be coincident with the IMU for example, in which case
the lever arm distances for this relationship will be zero.
Measurements of position, attitude, velocity and dynamics displayed by the

main window of the MV-POSView Controller program (Figure 37, page 5-4)
are valid for the vessel location. You define their precise point of validity by
configuring the system with the lever arm distances between the reference
point and your chosen vessel location.
Mounting Angles
Note: Measure angles in degrees, resolved into the longitudinal, lateral and
vertical axis in the reference frame:
• IMU with respect to the reference frame
• Sensor with respect to the reference frame
When measuring the mounting angles you must resolve them into rotations, in
a strict sequence, about the longitudinal, lateral and vertical axis using the
reference frame.
Record the measurements carefully so that you can use the MV-POSView
Controller program to configure the system. These measurements inform
POS MV of the relative orientations of the IMU and the multi-beam transducer
(sensor 1) by relating them all to a common reference frame that has been
defined. It may be convenient to define the reference frame to be coincident
with the multi-beam transducer for example, in which case the mounting
angles for this relationship will be zero. Note that, by definition, the vessel
frame and the reference frame co-align.

Installation
The accuracy with which you measure the mounting angles will affect the
accuracy of measurements made by the multi-beam sonar:
• Measure the mounting angles to the same degree of accuracy that

you require of POS MV. For example, if you require POS MV to
deliver roll measurements for multi-beam sonar compensation to an
accuracy of 0.02°, then you must measure the mounting angles to an
accuracy of 0.02°.
• Not measuring the mounting angles to the required accuracy will

cause a constant offset in all the images from the multi-beam sonar.
Additionally, some multi-beam sonar may calculate the beam forming
parameters incorrectly.
• Perform a ‘patch test’ to determine whether there is any uncorrected
misalignment between the multi-beam sonar and the POS MV. Many
operators have a defined procedure to complete a patch test to refine
the accuracy of the POS MV and multi-beam sonar interface. The
Patch Test topic on page F-1 describes a suitable patch test
procedure that can be used.
The following subsections of this manual explain how to measure the lever
arm distances and mounting angles in readiness to configure POS MV.
Note: After you have made all the required physical measurements on the
POS MV installation, refer to the System Configuration description on page 4-
1 for instructions on configuring the system and saving all the information to
non-volatile memory.
Lever Arm Distances

Before starting to measure the lever arm distances, you must define a
reference starting point. Choose an easily identifiable point at some

Installation
convenient location on the vessel that allows you to measure offset distances
in three axes. The reference point must be fixed and rigid relative to the IMU,
the GNSS antennas and the multi-beam transducer.
Measure and resolve the lever arm distances using the reference frame:
• X lever arm - the distance measured along the surveyed horizontal
fore-aft axis of the vessel (X is positive towards the bow of the vessel)
• Y lever arm - the distance measured along the surveyed horizontal
port-starboard axis of the vessel (Y is positive towards starboard)
• Z lever arm - the distance measured along the surveyed vertical axis
of the vessel (Z is positive down)
Reference to IMU Lever Arm
Measure and record the distance from your reference point to the centre of
the circular black and white label on top of the IMU, make these
measurements to an accuracy of ±0.05 m (~±2 in):
• A positive value for the X lever arm means the IMU is forward of your
reference point
• A positive value for the Y lever arm means the IMU is to starboard of
your reference point
• A positive value for the Z lever arm means the IMU is below your
reference point

Installation
Reference to Primary GNSS Lever Arm
Measure and record the distance from your reference point to the centre of
the primary GNSS antenna. Make these measurements to an accuracy of
±0.2 m (~±8 in) for a single frequency unit and to an accuracy of ±0.02 m
(~±¾ in) for a dual frequency (RTK) unit:
• A positive value for the X lever arm means the primary GNSS
antenna is forward of your reference point
• A positive value for the Y lever arm means the primary GNSS
antenna is to starboard of your reference point
• A negative value for the Z lever arm means the primary GNSS
antenna is above your reference point
Reference to Vessel Lever Arm
POS MV uses the main window of the controller program to display its
navigation solution, valid for the point you have defined as the vessel datum.
Measure and record the distance from your reference point to the vessel
datum. Make these measurements to the same accuracy as the Reference to
Primary GNSS Lever Arm to prevent a bias in the position output by POS:
• A positive value for the X lever arm means the vessel datum is
forward of your reference point
• A positive value for the Y lever arm means the vessel datum is to
starboard of your reference point
• A positive value for the Z lever arm means the vessel datum is below
your reference point

Installation
Reference to Sensor 1 Lever Arm
Sensor 1 is typically a multi-beam transducer. Measure and record the

distance from your reference point to the sensing centre of the multi-beam
transducer array. Make these measurements to an accuracy of ±0.05 m
(~±2 in):
• A positive value for the X lever arm means the multi-beam transducer
is forward of your reference point
• A positive value for the Y lever arm means the multi-beam transducer
is to starboard of your reference point
• A positive value for the Z lever arm means the multi-beam transducer
is below your reference point
Reference to Sensor 2 Lever Arm
Measure and record the distance from your reference point to the second
sensor. Make these measurements to an accuracy of ±0.05 m (~±2 in):
• A positive value for the X lever arm means the second sensor is
forward of your reference point
• A positive value for the Y lever arm means the second sensor is to
starboard of your reference point
• A positive value for the Z lever arm means the second sensor is
below your reference point
Note: If your application does not use a second sensor, record these lever
arm distances as zero.
Reference to Auxiliary GNSS Lever Arm
The auxiliary GNSS supplies DGNSS, P-Code or RTK measurements to POS

MV. Measure and record the distance from your reference point to the

Installation
auxiliary GNSS antenna. For a DGNSS or P-Code receiver used as an

auxiliary unit, make these measurements to an accuracy of ±0.1 m (~±4 in).
For an RTK receiver used as an auxiliary unit, make these measurements to
the same accuracy as the Reference to Primary GNSS Lever Arm to prevent
a bias in the position output by POS.
• A positive value for the X lever arm means the auxiliary GNSS
antenna is forward of your reference point
• A positive value for the Y lever arm means the auxiliary GNSS
antenna is to starboard of your reference point
• A negative value for the Z lever arm means the auxiliary GNSS
antenna is above your reference point
Note: If your application does not include an auxiliary GNSS receiver, record
these lever arm distances as zero.
Reference to Centre of Rotation
Normal dynamics in a marine environment apply a complex combination of

forces to a survey vessel, causing the vessel to experience a continuously
varying pattern of heave, roll and pitch.
Under the influence of these, vertical movements experienced by the multi-

beam transducer include two components:
• Heave movements as the vessel moves vertically in the water - in the
absence of any changes in vessel attitude, these will be the same
throughout the vessel.
• Apparent heave movements under the influence of roll and pitch - the
amplitude of these will vary directly with distance from the vessel
centre of rotation.

Installation
The vessel centre of rotation is a point of the vessel that experiences only
rotations with changes in attitude. Any heave measured at this point arises
entirely from vertical movements that affect the whole vessel equally.
The multi-beam transducer will be some distance from the vessel centre of
rotation. The transducer will therefore experience a small component of heave
as the vessel moves vertically in the water and a much larger component of
apparent heave with changes in vessel attitude.
To separate these effects, POS MV translates the IMU measurements to the

vessel centre of rotation. Having done so, it applies filtering to the
measurements of pure heave as explained in the Theory of Operation on
page B-1 and then translates the filtered measurements back to the positions
of sensors 1 and 2.
This method for measuring heave avoids the errors that can occur if you filter
direct heave measurements made from a point remote from the vessel centre
of rotation.
Measure and record the distance from your reference point to the vessel
centre of rotation. Make these measurements to an accuracy of ±0.05 m
(~±2 in):
• A positive value for the X lever arm means the vessel centre of
rotation is forward of your reference point
• A positive value for the Y lever arm means the vessel centre of
rotation is to starboard of your reference point
• A positive value for the Z lever arm means the vessel centre of
rotation is below your reference point

Installation
Antenna Separation
The scalar distance measured between the two GNSS antennas.
POS MV can calculate this distance automatically during the installation

calibration routine, although this will mean the routine will take longer to
complete. If you make a manual measurement, record the distance between
the antennas to an accuracy of ±5 mm (~¼ in).
To measure the antenna separation distance manually, use one of the

following methods:
• Use a tape measure to measure the separation distance between the
geometric centres of the antennas; that is between the centres of
both antenna domes.
• Stretch a non-elastic string or wire between the GNSS antennas.
Mark the string or wire where it crosses the centres of the antenna
domes. Remove the string or wire and measure the distance between
the marks.
Note: Both methods assume there is a straight unobstructed vector between

both antennas.
Mounting Angles
General
Measure and record the mounting angles relative to the reference frame that
you have chosen. Resolve these angles into three rotations that you must
apply, in a strictly defined sequence, to align the mounting angles with your
chosen reference frame. The Tate-Bryant sequence of rotations is used.

Installation
Tate-Bryant Rotation Sequence
Apply the rotation in the following order to bring the two frames of
reference into complete alignment:
• Heading rotation - apply a right-hand screw rotation θz about

the z-axis to align one frame with the other
• Pitch rotation - apply a right-hand screw rotation θy about the

once-rotated y-axis to align one frame with the other
• Roll rotation - apply a right-hand screw rotation θx about the

twice-rotated x-axis to align one frame with the other
Frames of Reference
The IMU frame of reference includes the vertical and the horizontal
axis of the IMU with which the orthogonal array of sensing
elements aligns. These are fixed relative to the IMU and are
identified by a label on the IMU housing.
By convention, POS MV uses the right-hand orthogonal co-

ordinate system, with its origin centred on the black and yellow
circle on the top of the IMU.
The sensor 1 reference frame includes the vertical and the

horizontal axis of the multi-beam transducer. These axis are fixed
relative to the multi-beam transducer.
By convention, POS MV uses the right-hand orthogonal coordinate

system, with its origin at the sensing centre of the multi-beam
transducer.
The vessel reference frame co-aligns with your chosen reference

frame.

Installation
Right-Hand Orthogonal System
The right-hand orthogonal system defines the following:
• The x-axis is in the fore-aft direction in the appropriate

reference frame
• The y-axis is perpendicular to the x-axis and points towards

the right (starboard) side in the appropriate reference frame
• The z-axis points downwards in the appropriate reference

frame
Figure 15 shows an example of a frame centred on the vessel and

aligned with its surveyed fore-aft, port-starboard and vertical axis.
Centre of
vessel
y = Horizonral
(port-stbd line)
x = Horizonral
(fore-aft line)
θx
θy
z = Vertical
θz
Figure 15: Right-Hand Orthogonal System
The mounting angles describe the relative angles between one frame and
another, for example between your reference frame and the IMU frame. The
following examples use the mounting angles between your chosen reference
frame and the IMU frame to illustrate how to measure and apply these
parameters.

Installation
The examples use the following assumptions:
• The IMU is installed so that it has a permanent roll angle of -5°

relative to your reference frame. That is, if you consider your
reference frame as level, then the port edge of the IMU is lower than
the starboard edge.
• The IMU is installed so that it has a permanent pitch angle of +2°

relative to your reference frame. That is, if you consider your
reference frame as level, then the bow edge of the IMU is higher than
the stern edge.
The circular label on the top of the IMU identifies the directions of the IMU x
and y-axis.
Example 1 - The IMU x-axis nominally points towards the x-axis of the
chosen reference frame, but with a small yaw offset so that the IMU has a 3°
clockwise rotation relative to your reference frame. Record the following:
• +3° for the IMU with respect to reference frame z mounting angle
• +2° for the IMU with respect to reference frame y mounting angle
• -5° for the IMU with respect to reference frame x mounting angle
Example 2 - The IMU x-axis nominally points towards the starboard side of
the chosen reference frame, but with a small yaw offset so that the IMU has a
3° clockwise rotation relative to the y-axis of your reference frame. Record the
following:
• +93° for the IMU with respect to reference frame z mounting angle
• +2° for the IMU with respect to reference frame y mounting angle
• -5° for the IMU with respect to reference frame x mounting angle

Installation
IMU with respect to Reference Frame
Measure and record the rotations that you must apply, using the Tate-Bryant
sequence explained above, to align your chosen reference frame with the
IMU reference frame.
Sensor 1 with respect to Reference Frame
Sensor 1 is typically a multi-beam transducer. Measure and record the

rotations that you must apply, using the Tate-Bryant sequence explained
above, to align your chosen reference frame with the sensor 1 frame.
Sensor 2 with respect to Reference Frame
Measure and record the rotations that you must apply, using the Tate-Bryant
sequence explained above, to align your chosen reference frame with the
sensor 2 frame.
Note: If your application does not use a second sensor, record these
mounting angles as zero.
Installation Checklist
This checklist is included to help you install the POS MV efficiently and with
minimal disruption to the vessel, its crew or any ongoing operations.
After installing the system correctly and all items have been checked against
this list, refer to the Interfaces and Data Formats description starting on page
3-1 to configure and start using the POS MV.
1. Mechanical Interface
a) IMU Positioning:
Mount the IMU as close as possible to the multi-beam
transducer.

Installation
Mount the IMU rigidly so that it cannot move or rotate

independently of the vessel.
Install the IMU where the data and power cable will reach easily
between the IMU and the PCS.
Ensure there is sufficient clearance for the connectors at both
ends of the data and power cable. Tighten the connectors by
hand only.
Mount the IMU so that it is approximately level.
Do not immerse the IMU in water or any liquid.
Respect the environmental limits listed for the Inertial
Measurement Unit on page 2-5 for storage and operation.
Refer to the Drawings section on page E-1 for dimensional
details to help when you install the IMU.
Connect the IMU housing to a good ground connection.
b) PCS Positioning:
Protect the PCS from shock, vibration and moisture.
Allow easy access to the front and the rear panels of the PCS.
Refer to the Drawings section on page E-1 for dimensional
details to help when you install the PCS.
Connect the primary GNSS antenna to the ANT1 port.
Connect the secondary GNSS antenna to the ANT2 port
If necessary, connect the Differential GNSS corrections to a
COM port.
Connect the IMU data and power cable to the IMU port.
(POS MV V4) Connect an electrical supply of nominal voltage
110 Vac at 1.0 A; 240 Vac at 0.25 A, 47 to 63 Hz (voltage range -
90 Vac to 264 Vac) to the 3-pin IEC mains inlet connector on the
PCS. The PCS uses an auto-switching power supply that
configures itself to the applied ac electrical supply.

Installation
(POS MV V4-1) Connect an electrical supply of nominal voltage

24 Vdc at 2.5 A (voltage range - 20 Vdc to 34 Vdc) to the 3-pin
power inlet connector on the PCS.
c) GNSS Antenna Positioning:

Ensure there is a horizontal separation distance of between 1.0
and 5.0 m (~3 ¼ and ~16 ½ ft) between the primary and the
secondary GNSS antennas.
Mount the antennas as high as possible on the vessel.
Do not mount the antennas close to MF, HF, VHF or UHF
transmitters or antennas. Do not mount the GNSS antennas
within 0.5 m (~±19 ¾ in) of radar or satellite communications
equipment.
Avoid mounting the antennas near large flat surfaces.
Avoid mounting the antennas in a location where they may move,
twist or vibrate significantly relative to the vessel or the IMU.
2. Offset Measurements
Measure the lever arm distances and mounting angles, as
instructed in Lever Arm Distances on page 2-41 and Mounting
Angles on page 2-47. Be as careful and accurate as possible.
Measure the GNSS antenna separation distance, as instructed in
Antenna Separation on page 2-47. Be as careful and accurate as
possible.
3. Power Supply
The application of incorrect electrical power to the PCS may
result in damage to POS MV system.
(POS MV V4) Arrange a clean, stable electrical supply at a

nominal voltage 110 Vac at 1.0 A; 240 Vac at 0.25 A, 47 to 63 Hz
(voltage range - 90 Vac to 264 Vac) for the PCS. If possible,
supply electrical power to the PCS from an uninterruptible power
supply.

Installation
(POS MV V4-1) Arrange a clean, stable electrical supply at a

nominal voltage 24 Vdc at 2.5 A (voltage range - 20 Vdc to
34 Vdc) for the PCS. If possible, supply electrical power to the
PCS from an uninterruptible power supply.
4. Cable Runs
Install all cables carefully so that they do not present a hazard.

Avoid applying sharp bends or other mechanical stresses to the
cables when you install them. Do not run cables where they may
bend or twist after installation. Use cable clips to secure the
cables at regular intervals along their length.
If you need to extend any cables, use approved cables and
connectors of the highest quality. Refer to Applanix for advice,
see Technical Support and Service on page A-1 for procedures.

Interfaces and Data Formats
3.0 Interfaces and Data Formats

This section of the manual describes the data formats for each of the
following interface ports on the POS Computer System (PCS) rear panel.
Note: Each port has a different format. To avoid operating problems, give
careful attention to the structure of each interface.
LAN (Ethernet) Data

The POS MV 10/100BaseT Ethernet interface conforms to the Institute of
Electrical and Electronics Engineers (IEEE) 802.3i standard. It allows you to
configure the system and to monitor its status during operation.
The interface comprises four ports:
• Control port - used to transmit configuration information to POS MV
• Display port - provides navigation and attitude information at a low
update rate for use by the MV-POSView Controller program running
on a separate PC
• Real-time data port - provides the same information as the display
port, but at a higher update rate for use by other computers on a
shared Ethernet LAN
• Logging data port - provides the same information as the display port,
but is buffered for robust logging by other computers on a shared
Ethernet LAN
POS MV broadcasts information from the display and real-time data port
using the Universal Datagram Protocol (UDP) protocol, and the logging data
port using the Transmission Control Protocol (TCP) protocol. Information is
organised into a data group structure and each port may be configured
independently to permit the output of selected data groups.

The MV-POSView Controller program configures the groups transmitted

through the display port automatically according to the specific windows that
the program has open at any one time. The group structure is therefore user
transparent. POS MV enables groups automatically to support the demands
that you make by opening windows within the controller program.
I2C (Analog) Data

Note: The I2C analog interface hardware feature of POS MV is an option.
The following details apply only if you have this option fitted to the PCS.
The analog interface provides roll, pitch and heave information in a format
that matches the input requirements of several types of multi-beam sonar.
Three Digital-to-Analog Converters (DAC) generate the independent analog

outputs, which operate in the range of ±10 volts. The MV-POSView Controller
program may be used to change the polarity and scale factors for each of the
analog output lines.
The analog representations that the user can select are: Tate-Bryant Linear,
Tate-Bryant Trigonometric (Trig), TSS Linear, TSS Trig, RPH (roll, pitch,
heading); the last one is heading instead of heave. POS MV does not
compensate for internal processing delays and at best, the latency is
comparable to that on the binary (real-time) data port.
Note: POS MV 320 updates all three analog output lines simultaneously at a
rate of 200 times per second. POS MV WaveMaster and POS MV
WaveMaster RM update at 100 times per second.

COM Ports
The five RS-232 serial ports, COM(1) through COM(5), allow communication
between the PCS and external equipment. All the COM ports are assignable
for input and/or output. The following identifies the available port assignments:
• NMEA sentence types
• Binary data formats
• Base 1 and 2 GNSS outputs
• Base 1 and 2 GNSS inputs
• Auxiliary 1 and 2 GNSS inputs
Table 12 identifies the default COM port settings.
Table 12: Default COM Port Settings

Baud Rate 9600
Parity None
Data Bits 8 Bits
Stop Bits 1 Bit
Flow Control None
Output Select None
Input Select None

Note: Baud rates may require different settings, other than the default settings, for the
transmission of various sentence formats.

NMEA Data Formats

The PCS can be configured to use any number of the five COM ports to
output data using the National Marine Electronics Association (NMEA) 0183
format at rates up to 50 Hz. POS MV makes ten sentence formats available:
1. $INGGA: global system position fix data
2. $INGGK: time, position, position type and DOP values
3. $INHDT: heading - true data
4. $INVTG: course over ground and ground speed data
5. $INGST: GNSS pseudorange noise statistics
6. a) $PASHR: attitude data
b) $PASHR-TSS: attitude data (TSS indicates the use of the TSS

standard instead of the Tate-Bryant standard, see page 4-22 for a
description)
7. a) $PRDID: attitude data
b) $PRDID-TSS: attitude data (TSS indicates the use of the TSS

standard instead of the Tate-Bryant standard, see page 4-22 for a
description)
8. $INZDA: time and date
9. $UTC: time and date
10. $INPPS: time and offset
Note: Formats that have $IN can be changed to $GP by selecting the
appropriate “Talker ID”; this is controlled on a port by port basis.

Use the MV-POSView Controller program to set the system to output one or
more of these sentences, as well as to set the output frequency of these
sentences.
Note: System performance may degrade if multiple ports are configured for
high rate output simultaneously.
Note: $PASHR and $PASHR-TSS are mutually exclusive; as are $PRDID

and $PRDID-TSS.
Information supplied through the COM port is valid for the point described by
the vessel lever arms and mounting angles, as selected by the user.
NMEA Sentence Formats
1. $INGGA: Global Positioning Fix Data
Time and position fix related data. POS MV supplies information

using the following American Standard Code for Information
Interchange (ASCII) NMEA 0183 sentence format.
$INGGA,hhmmss.sss,llll.lllll,a,yyyyy.yyyyy,b,t,nn,v.v,xxxxx.xx,M,,,ccc,rrrr*hh<CRLF>
Table 13: $INGGA Sentence Format
Item Definition Value Units (If Applicable)

$INGGA Header $INGGA
hhmmss.sss UTC time of N/A hours|minutes|seconds|decimal
position seconds
2 fixed digits for hours
2 fixed digits for minutes
2 fixed digits for seconds
3 digits for decimal seconds


llll.lllll Latitude 0 to 90 degrees|minutes|decimal
minutes
2 fixed digits for degrees
5 digits for decimal minutes
a N (North) or S N or S
(South)
yyyyy.yyyyy Longitude 0 to 180 degrees|minutes|decimal
minutes
b E (East) or W E or W
(West)
t GNSS quality 0 = fix not available or invalid
indicator 1 = C/A standard GNSS; fix valid
2 = DGNSS mode; fix valid
3 = GNSS PPS mode; fix valid
4 = RTK fixed
5 = RTK float
6 = free inertial
nn Number of 0 to 32
satellites used
in the fix
v.v Horizontal
dilution of
precision


xxxxx.xx Altitude above N/A metres
or below mean
sea level; a
negative value
indicates below
sea level
M Units of M
measure =
metres
Null Null
Null Null
ccc Age of 0 to 999 seconds
differential
corrections in
seconds since
last RTCM-104
message
rrrr DGNSS 0000 to
reference 1023
station identity
*hh Checksum
<CRLF> Carriage return <CRLF>
and line feed
Note: Commas separate all items, including null fields. The information is valid at the
location of the vessel frame.

2. $INGGK: Time, Position, Position Type and DOP Values
The message string is shown below.

$INGGK,hhmmss.ss,mmddyy,llll.llllllll,a,yyyyy.yyyyyyyy,b,t,nn,v.v,x.xxx,M*hh<CRLF>
Table 14: $INGGK Sentence Format

$INGGK Header $INGGK
hhmmss.ss UTC of N/A hours|minutes|seconds|decimal
position fix seconds
mmddyy UTC date of N/A month|day|year
position 2 fixed digits for month
2 fixed digits for day
2 fixed digits for year
llll.llllllll Latitude 0 to 90 degrees|minutes|decimal
minutes
a Direction of N or S
latitude
yyyyy.yyyyyyyy Longitude 0 to 180 degrees|minutes|decimal
minutes
b Direction of E or W
longitude

$INGGK,hhmmss.ss,mmddyy,llll.llllllll,a,yyyyy.yyyyyyyy,b,t,nn,v.v,x.xxx,M*hh<CRLF>
Table 14: $INGGK Sentence Format

t GNSS quality 0 = fix not available or invalid
indicator 1 = C/A standard GNSS; fix valid
2 = RTK float
3 = RTK fixed
4 = DGNSS mode; fix valid
5 = free inertial
nn Number of 0 to 32
satellites used
in GNSS
solution
v.v DOP of fix
x.xxx Ellipsoid N/A metres|decimal metres
height of fix 1 fixed digit for metres
(vessel height 3 fixed digits for decimal metres
above WGS84
ellipsoid)
M Ellipsoid N/A metres
height
*hh Checksum
<CRLF> Carriage <CRLF>
return and line
feed

3. $INHDT: Heading - True Data
True vessel heading is in degrees. POS MV supplies information in

the following ASCII NMEA 0183 sentence format.
$INHDT,xxx.x,T*hh<CRLF>
Table 15: $INHDT Sentence Format

$INHDT Header $INHDT
xxx.x True vessel 000.0 to 359.9 degrees|decimal degrees
heading in the 3 fixed digits for degrees
vessel frame 1 digit for decimal degrees
T True T
*hh Checksum N/A
and line feed
4. $INVTG: Course Over Ground and Ground Speed Data
Actual course and speed relative to the ground. POS MV supplies

information in the following ASCII NMEA 0183 sentence format.
$INVTG,xxx.x,T,,M,n.n,N,k.k,K*hh<CRLF>
Table 16: $INVTG Sentence Format

$INVTG Header $INVTG
xxx.x True vessel 000.0 to 359.9 degrees|decimal degrees
track in the 3 fixed digits for degrees
vessel frame 1 digit for decimal degrees
T True T
Null Not supported null

$INVTG,xxx.x,T,,M,n.n,N,k.k,K*hh<CRLF>
Table 16: $INVTG Sentence Format

M M
n.n Speed in the N/A knots
vessel frame
N Knots N
k.k Speed in the N/A km/h
vessel frame
K Kilometres per K
hour
*hh Checksum N/A
and line feed
Note: Commas separate all items, including null fields.
5. $INGST: GNSS Pseudorange Noise Statistics
GNSS pseudorange noise statistics indicate the quality of the

position solution delivered by the integrated navigation solution. POS
MV supplies information in the following ASCII NMEA 0183 sentence
format.

$INGST,hhmmss.sss,,smjr.smjr,smnr.smnr,ooo.o,l.l,y.y,a.a
*hh<CRLF>
Table 17: $INGST Sentence Format

$INGST Header $INGST
position seconds
Null Not supported null
smjr.smjr Standard N/A metres
deviation of
semi-major axis
of error ellipse
smnr.smnr Standard N/A metres
deviation of
semi-minor axis
of error ellipse
ooo.o Orientation of 000.0 to degrees from true north
semi major axis 359.9
of error ellipse
l.l Standard N/A metres
deviation of
latitude
y.y Standard N/A metres
deviation of
longitude
a.a Standard N/A metres
deviation of
altitude

$INGST,hhmmss.sss,,smjr.smjr,smnr.smnr,ooo.o,l.l,y.y,a.a
*hh<CRLF>
Table 17: $INGST Sentence Format

*hh Checksum N/A
and line feed
True
North
0.0
jr
sm
jr.
sm
Error ellipse
sm l.l
nr
.sm
Indicated nr
position
y.y
Figure 16: $INGST Sentence Nomenclature

6. $PASHR ($PASHR-TSS): Attitude Data
POS MV supplies attitude data information in the following ASCII

NMEA sentence format.
$PASHR,hhmmss.sss,xxx.xx,T,RRR.RR,PPP.PP,HHH.HH,
a.aaa,b.bbb,c.ccc,d,e*hh<CRLF>
Table 18: $PASHR Sentence Format

$PASHR Header $PASHR
data string seconds
• 2 fixed digits for hours
• 2 fixed digits for minutes
• 2 fixed digits for seconds
• 3 digits for decimal seconds
xxx.xx True vessel 0 to degrees
heading 359.99
T True T
RRR.RR Roll -90.00 to degrees
+90.00
PPP.PP Pitch -90.00 to degrees
+90.00
HHH.HH Heave -99.00 to metres
+99.00
a.aaa Accuracy roll 0 to degrees
9.999
b.bbb Accuracy pitch 0 to degrees
9.999
c.ccc Accuracy 0 to degrees
heading 9.999

$PASHR,hhmmss.sss,xxx.xx,T,RRR.RR,PPP.PP,HHH.HH,
a.aaa,b.bbb,c.ccc,d,e*hh<CRLF>
Table 18: $PASHR Sentence Format

d Flag - 0, 1, 2 0 = no aiding
accuracy 1 = GNSS aiding
heading 2 = GNSS & GAMS aiding
e Flag - IMU 0, 1 0 = IMU out
1 = satisfactory
*hh Checksum N/A
and line feed
Note: Commas separate all items. Two attitude data strings are available. The strings
are identical except for the definition of roll and pitch angles. One string uses Tate-
Bryant angles and the other uses TSS angles. Use the MV-POSView Controller
program to set the required angle convention. Refer to COM Ports Configuration on
page 4-20 for instructions and for a definition of the Tate-Bryant and the TSS formulas.
The information is valid in the vessel frame, except for heave, which is valid in the
sensor 1 frame.
7. $PRDID ($PRDID-TSS): Attitude Data
POS MV supplies attitude data information in the following ASCII

$PRDID,PPP.PP,RRR.RR,xxx.xx*hh <CRLF>
Table 19: $PRDID Sentence Format

$PRDID Header $PRDID
PPP.PP Pitch -90.00 to +90.00 degrees
RRR.RR Roll -90.00 to +90.00 degrees
xxx.xx Sensor heading 0 to 359.99 degrees

$PRDID,PPP.PP,RRR.RR,xxx.xx*hh <CRLF>
Table 19: $PRDID Sentence Format

*hh Checksum N/A
and line feed
Note: Commas separate all items. Two attitude data strings are available. The strings
are identical except for the definition of roll and pitch angles. One string uses Tate-
Bryant angles and the other uses TSS angles. Use the MV-POSView Controller
program to set the required angle convention. Refer to COM Ports Configuration on
page 4-20 for instructions and for a definition of the Tate-Bryant and the TSS formulas.
The information is valid at the sensor 1 location.
8. $INZDA: Time and Date
POS MV supplies time and date information in the following ASCII

$INZDA,hhmmss.ssss,DD,MM,YYYY,,*hh<CRLF>
Table 20: $INZDA Sentence Format

$INZDA Header $INZDA
hhmmss.ssss UTC time N/A hours|minutes|seconds|decimal
seconds
• 2 fixed digits for hours
DD Day of month 01 to 31
MM Month of year 01 to 12
YYYY Year
Null Null

$INZDA,hhmmss.ssss,DD,MM,YYYY,,*hh<CRLF>
Table 20: $INZDA Sentence Format

Null Null
*hh Checksum N/A
and line feed
Note: Commas separate all items.
9. $UTC: Time and Date
POS MV supplies UTC time and date information in the following

ASCII NMEA sentence format.
$UTC,YYYYMMDD,hhmmss.ssss,*hh<CRLF>
Table 21: $UTC Sentence Format

$UTC Header $UTC
YYYY Year
MM Month 01 to 12
DD Day 01 to 31
hhmmss.ssss UTC time 000000.0000 hours|minutes|seconds|
to decimal seconds
235959.9999 • 2 fixed digits for hours
*hh Checksum N/A
return and
line feed

10. $INPPS: Time and Offset
POS MV supplies UTC time and GPS Time offset information in the
following ASCII NMEA sentence format.
$INPPS,hhmmss.ssss,d,wwww,uu.uu,pppp,*hh<CRLF>
Table 22: $INPPS Sentence Format

$INPPS Header $INPPS
hhmmss.ssss UTC time 000000.0000 hours|minutes|seconds|
to decimal seconds
235959.9999 • 2 fixed digits for hours
d Offset 0 to 6
dayN1
wwww GNSS 0000 to 9999
week
number
uu.uu Offset of 00.00 to seconds|decimal seconds
GPS Time 99.99 • 2 fixed digits for seconds
from UTC • 2 digits for decimal seconds
timeN2
pppp PPS 1 to n
countN3
*hh Checksum N/A
return and
line feed

$INPPS,hhmmss.ssss,d,wwww,uu.uu,pppp,*hh<CRLF>
Table 22: $INPPS Sentence Format

N1
First day of week (Sunday) = 0.
N2
GPS Time = UTC time + UTC offset.
N3
Variable length.
NMEA Update Rate
POS MV outputs NMEA sentences from the COM ports at a settable rate from
one to 50 times per second. You can choose to output only one of the
sentences or any combination of those available.
Binary Data Formats

The PCS outputs attitude data using any of the following output string formats
(any number of COM ports can be independently configured for Binary
output):
1. TSS1 format
2. Simrad 1000 format using Tate-Bryant or TSS angles
3. Simrad 3000 format using Tate-Bryant or TSS angles
4. TSM 5265 format using Tate-Bryant or TSS angles
5. Atlas format
6. PPS format
7. Time of PPS format (copy of Novatel TM1B)

Output String Formats
The following descriptions include the update rate for each output format. To
achieve these update rates, you must set an appropriate communication
speed for the COM port.
Note: System performance may degrade if multiple ports are configured for
high rate output simultaneously.
Information supplied through the COM port is valid for the point described by
the sensor 1 or sensor 2 lever arms and mounting angles, as selected by the
user.
1. TSS1 Format
Format TSS1 consists of five fields and contains 27 ASCII

characters. Each record begins with a start character and ends with
the two-character carriage-return line-feed sequence. All fields
contain measurements in real-world units; POS MV supplies
acceleration measurements in ASCII coded hexadecimal values and
heave, roll and pitch as ASCII coded decimal values. You can use
the MV-POSView Controller program to change the sense of the roll,
pitch and heave outputs. POS MV supplies information in the
following format.
:XXAAAASMHHHHQMRRRRSMPPPP<CRLF>
Table 23: TSS1 Output Format
Field Definition Value Units (If Applicable)

: Start of packet 3A hex ASCII
character
XX Horizontal 0 to +9.81 cm/s2 3.83 cm/s2
acceleration

:XXAAAASMHHHHQMRRRRSMPPPP<CRLF>
Table 23: TSS1 Output Format

2
AAAA Vertical 0 to +40.96 cm/s 0.0625 cm/s2
acceleration
S Space character 20 hex ASCII
MHHHH Heave -99 to +99 m 1 cm
Q Status flag U = unaided mode - settled condition
u = unaided mode - settling
G = GNSS aided mode - settled condition
g = GNSS aided mode - settling
H = heading aided mode - settled condition
h = heading aided mode - settling
F = full aided mode - settled condition
f = full aided mode - settling
MRRRR Roll -90 to +90° 0.01°
S Space character 20 hex ASCII
MPPPP Pitch -90 to +90° 0.01°
<CRLF> Carriage return 0D hex and 0A ASCII
& line feed hex
Note 1: M = space if positive or minus if negative. You can use the MV-POSView
Controller program to change the sense of the roll, pitch and heave outputs.
Note 2: POS MV sends records using the TSS1 format at an update rate from one to
200 Hz. It updates the TOV at the same rate. The recommended minimum baud rate
for use with this format is 9600 baud at 25 Hz.
2. Simrad 1000 Format
You can use this format with the Simrad 1000 multi-beam sonar. The
MV-POSView Controller program is used to select the TSS or the
Tate-Bryant convention of rotations for the attitude measurement.

Refer to COM Ports Configuration on page 4-20 for an explanation of

these conventions.
The Simrad attitude data are a 10-byte message with the following
format.
• Sync format: 90 hex

• Roll format: 2’s complement, LSB = 0.01°, roll sense is
user selectable from the MV-POSView Controller
program
• Pitch format: 2’s complement, LSB = 0.01°, pitch sense is
program
• Heave format: 2’s complement, LSB = 1 cm, heave sense
is user selectable from the MV-POSView Controller
program
• Heading format: LSB = 0.01°, 0 to 359.99°, positive =
clockwise
A frame of Simrad digital attitude data, as supplied by the POS MV,

has the format shown in Table 24.
Table 24: Simrad 1000 Digital Output Format
Item Byte Value Units (If Applicable)

Header LSB 0 0x00
N/A
Header MSB 1 0x99
Roll LSB 2
±180° 0.01°
Roll MSB 3
Pitch LSB 4
±180° 0.01°
Pitch MSB 5


Heave LSB 6
±327 m 1 cm
Heave MSB 7
Heading LSB 8
0 to 359.99° 0.01°
Heading MSB 9
Note: POS MV sends records using the Simrad 1000 format at an update rate from
one to 200 Hz; TOV is updated at the same rate. The recommended minimum baud
rate for use with this format is 19200 baud at 100 Hz.
3. Simrad 3000 Format
You can use this format with the Simrad 3000 multi-beam sonar. The
MV-POSView Controller program is used to select the TSS or the
Tate-Bryant convention of rotations for the attitude measurement.
Refer to COM Ports Configuration on page 4-20 for an explanation of
these conventions.
The Simrad attitude data are a 12-byte message with the following
format.
• Status format: 99 hex
• Sync format: 90 hex

program
program


program
clockwise
A frame of Simrad digital attitude data, as supplied by the POS MV,

has the format shown in Table 25.

Header LSB 0 0x00
N/A
Header MSB 1 0x90
Roll LSB 2
±180° 0.01°
Roll MSB 3
Pitch LSB 4
±180° 0.01°
Pitch MSB 5
Heave LSB 6
±327 m 1 cm
Heave MSB 7
Heading LSB 8
0 to 359.99° 0.01°
Heading MSB 9
Note: POS MV sends records using the Simrad 3000 format at an update rate from
one to 200 Hz; TOV is updated at the same rate. The recommended minimum baud
rate for use with this format is 19200 baud at 100 Hz.
4. TSM 5265 Format
You can use this format with the Thompson TSM 5265 multi-beam
sonar. The output message supplies the sonar with a time tag (roll,
pitch and heave), heading and sonar velocity. POS MV updates the
message and the TOV from one to 200 times per second.

The message is a 24-byte data string with the following format.

• Header: 90 hex
• Time tag: double precision float, UTC time in seconds of
the week
program
program
program
clockwise
• Longitudinal velocity format: 2’s complement, LSB =
0.1 cm/s, positive = forward
• Transverse velocity format: 2’s complement, LSB =
0.1 cm/s, positive = starboard
• Down velocity format: 2’s complement, LSB = 0.1 cm/s,
positive = down
The recommended minimum baud rate for use with this format is
38400 baud at 100 Hz.
You can use the MV-POSView Controller program to change the

sense of the roll, pitch and heave outputs. You can also select the
TSS or the Tate-Bryant convention of rotations for the attitude
measurement. Refer to subsection COM Ports Configuration on

page 4-20 for instructions to do this and for an explanation of the

TSS and Tate-Bryant conventions.
The time tag attached to the data is Universal Time Coordinated

(UTC) time in seconds of the week. For the purposes of this feature,
a week begins on Sunday morning so that the first second occurs at
00:00:01 UTC.
A frame of TSM 5265 digital attitude data, as supplied by the POS

MV, has the format shown in Table 26.
Table 26: TSM 5265 Digital Output Format

Header LBS 0 0x00
N/A
Header MSB 1 0x90
Time tag 2 to 9 seconds
Roll LSB 10
±180° 0.01°
Roll MSB 11
Pitch LSB 12
±180° 0.01°
Pitch MSB 13
Heave LSB 14
±327 m 1 cm
Heave MSB 15
Heading LSB 16 0 to
0.01°
Heading MSB 17 359.99°
Longitudinal velocity LSB 18 ±32.8
0.1 cm/s
Longitudinal velocity MSB 19 m/s
Transverse velocity LSB 20 ±32.8

0.1 cm/s
Transverse velocity MSB 21 m/s
Down velocity LSB 22 ±32.8

0.1 cm/s
Down velocity MSB 23 m/s

5. Atlas Format
The Atlas format consists of a series of fields of 16-bit 2’s

complement numbers expressed as two binary-coded digits.
POS MV supplies attitude measurements in units of 0.0054931641°

(=360°/65536).
The system uses millimetres for measurements of heave. You can

use the MV-POSView Controller program to change the roll, pitch
and heave sense outputs. POS MV supplies information in the
following format.
DLERrPpHhQDLE
Table 27: Atlas Output Format

DLE Start of packet 10 hex ASCII
character
R Roll MSB
+90 to -90° 0.00549°
R Roll LSB
P Pitch MSB
+90 to -90° 0.00549°
P Pitch LSB
H Heave MSB
+9999 to -9999 mm
H Heave LSB
Q Status flag 0 = unaided mode - settled condition
1 = unaided mode - settling
2 = GNSS aided mode - settled condition
3 = GNSS aided mode - settling
4 = heading aided mode - settled condition
5 = heading aided mode - settling
6 = full aided mode - settled condition
7 = full aided mode - settling
DLE Stop character 10 hex ASCII

Note: POS MV sends records using the Atlas format at an update rate from one to
200 Hz. The recommended minimum baud rate for use with this format is from 9600 to
19200 baud at 50 Hz.
6. PPS Format
Table 28: PPS Digital Output Format

Header LBS 0 0x00
N/A
Header MSB 1 0x99
PPS time (GNSS seconds
into the week, coincident with 2 to 9 seconds
PPS strobe [GPS Time])
Week (GNSS week number) 10 to 13 N/A
UTC offset (offset of GPS
Time from UTC time where
14 to 17 seconds
UTC time = GPS Time - UTC
offset)
PPS count 18 to 21 N/A
Checksum 22 to 23 N/A
7. Time of PPS Format (copy of Novatel TM1B)
Table 29: Time of PPS Digital Output Format

Sync 0 0xAA
1 0x44 N/A
2 0x11
Checksum 3 N/A
Msg ID 4 to 7 3 N/A
Bytes 8 to 11 52 N/A

Table 29: Time of PPS Digital Output Format

Week (GNSS week number) 12 to 15 N/A
PPS time (GNSS seconds
into the week, coincident with 16 to 23 seconds
PPS strobe [PCS time])
Clock offset (PCS clock
offset where GPS Time = 24 to 31 seconds
PPS time - clock offset)
Clock offset standard
deviation (standard 32 to 39 seconds
deviation of PCS clock offset)
UTC offset (offset of UTC
time from GPS Time where
40 to 47 seconds
UTC time = GPS Time +
UTC offset)
Clock model status (PCS
clock model status where 0 is
valid and values -20 to -1 48 to 51 N/A
implies that clock is in
process of stabilization)
GNSS Ports
The PCS configures the primary and secondary GNSS receiver cards
automatically for its own use.
Physical Interface
The serial digital port for each GNSS receiver (GNSS1 and GNSS2) provides
access for receiver upgrading of its firmware; upgrade kits are available from
Applanix. Table 30 lists the factory port settings.

Table 30: GNSS1 and 2 Port Settings
Setting Default Value

GNSS Output Rate 1 Hz
Auto Configuration Enabled
Baud Rate 9600
Parity None
Data Bits 8
Stop Bits 1

System Configuration
4.0 System Configuration

This section of the manual includes instructions on how to power-on, power-
off and configure the Position and Orientation System for Marine Vessels
(POS MV) after installation.
The installation specific parameters described in this section are very

important. The accuracy with which you measure them contributes
significantly to the overall accuracy and performance of the system.
Refer to the Installation Parameters topic on page 2-38 for instructions on

how to measure the installation parameters.
Once POS MV is configured using the installation parameters, save the data
to Non-Volatile Memory (NVM) so that the system takes the same
configuration each time the POS Computer system (PCS) is powered-on. The
MV-POSView Controller program that provides these functions is contained
on the compact disk supplied with the system. Refer to the Software
Installation description on page D-1 for instructions on how to install the MV-
POSView Controller program on your Personal Computer (PC).
Power-On
Once the system is installed and configured, POS MV is ready for operation in
a stand-alone mode. This feature allows POS MV to start processing
information after power-on without further need for the controller program or a
controlling PC.

The initial power-on for the POS MV system occurs in two stages:
a) Power-on the POS MV system
b) Power-on the controlling PC and start the MV-POSView Controller
program
POS MV Power-On
POS MV V4 PCS
Power for the POS MV V4 system is applied to the PCS rear panel PWR
connector, refer to Figure 17. Two power switches are available on the PCS;
a rear panel PWR switch and a front panel POWER switch. Enabling the rear
panel PWR switch applies operating power to an internal power supply, which
in turn supplies power to the internal electronics stack and to the external
Inertial Measurement Unit (IMU) once the front panel POWER switch is
enabled.
The internal electronics stack is the heart of the PCS and interfaces directly
with the front panel switches and indicators. The front panel POWER switch is
an alternate action push-and-hold switch; press once for power-on, press
again for power-off. Press and hold the POWER switch until the light, located
above the switch, illuminates indicating that the PCS is powered-on. To
power-off, press and hold the POWER switch until the light starts blinking,
then release the switch.

Figure 17: PCS Front and Rear Panels - POS MV V4
POS MV V4-1 PCS
Power for the POS MV V4-1 system is applied to the PCS rear panel PWR
connector; refer to Table 3 on page 2-19. The front panel POWER switch
(Figure 18) is an alternate action push-and-hold switch; press once for power-
on, press again for power-off. Press-and-hold the POWER switch until the
light, located above the switch, illuminates indicating that the PCS is powered-
on. To power-off, press-and-hold the POWER switch until the light starts
blinking, then release the switch.
Figure 18: PCS Front Panel - POS MV V4-1

Both Systems (POS MV V4 and POS MV V4-1)
To power-on the POS MV system, perform and observe the following:
1. Ensure PCS rear panel PWR switch is enabled (POS MV V4).
2. Press PCS front panel POWER switch and ensure that:
• Front panel POWER light illuminates
• Various front panel lights illuminate, refer to next step
3. Check status of PCS front panel lights, see Table 31.
Table 31: PCS Front Panel Indicators - Power-On
Note: Front panel indicators have three different colours (red, amber and
green) and three states (flashing, steady-on and steady-off).
SYS light - indicates current status of POS MV:

Steady red: POS MV failure - shows red when PCS is first
powered-on. Changes to a valid condition when PCS
internal program begins to run, but will turn red again
if there is a fault in PCS.
A solid red indication while all the other lights behave
normally indicates a fault in PCS.
If a fault occurs, do not power-off PCS. Refer to
Fault Detection window of controller program; see
Figure 51 on page 9-9.
Steady amber: Standby mode - POS MV is waiting for instructions.
Flashing amber: Navigate mode - initializing and aligning attitude
(coarse levelling).
Flashing green: Navigate mode - degraded attitude performance.
Attitude measurements are acceptable but do not
meet user-set accuracy limits.

Steady green: Navigate mode - normal system operation. System

meets accuracy limits set by user for position,
velocity, attitude and heading.
IMU light - indicates status of IMU:
Steady green: Receiving IMU data and TOV.
Steady red: IMU down, disconnected or an internal hardware
failure.
GNSS light - indicates GNSS reception in loosely coupled mode or
navigation status in tightly coupled mode:
Steady red: No GNSS solution is available.
Steady amber: GNSS receiver is delivering a C/A or P-Code GNSS
solution.
Steady green: GNSS receiver is delivering a DGNSS or RTK
solution.
PPS light - flashes green once per second to indicate reception of GNSS
1PPS signal.
LAN light - indicates transmit and receive local area network activity:
Flashing green: Activity on Ethernet LAN.
Steady red: A LAN fault (e.g. a break in Ethernet line).
Power light - illuminates green when the PCS is operating.
LOGGING light - flashes alternatively red and green for a few seconds
during start-up; pressing the Logging button (during start-up) loads the
factory default settings rather than the user saved settings.
Initial Power-On Considerations

The POS MV AutoStart feature is enabled prior to shipment from Applanix.
The system will transition to navigate mode automatically after start-up.
Before the system can successfully navigate for first time, the installation
parameters measured during the installation procedures need to be entered;
refer to Installation Parameters on page 2-38.

Use the MV-POSView Controller program to enter this information. Save

these parameters to NVM if you require the system to use the same
configuration after each power-on sequence. POS MV retrieves these details
from memory after a power-up or after a reset command. Refer to the POS
MV Configuration description on page 4-11 for instructions on configuring the
system with installation parameters using the MV-POSView Controller
program.
MV-POSView Controller Program

Refer to the Software Installation appendix, page D-1, for instructions on
installing the MV-POSView Controller program on a PC.
The following assumes that the controlling PC has a suitable version of

windows installed and that you are familiar with its operation. If necessary,
refer to the manuals supplied with the controlling PC for instructions on how to
use your version of windows.
• Connect the PCS and the controlling PC to the 10/100BaseT Ethernet

LAN
• Power-on the PCS and the controlling PC, and start Microsoft
Windows™; from windows, launch the MV-POSView Controller
program
MV-POSView connects automatically and starts to display information

broadcast by the PCS over the Ethernet if you have installed and configured
the PCS, the controlling PC and the MV-POSView Controller correctly.
The controller program can operate in either of two modes:
• Monitor mode - the MV-POSView Controller program displays all PCS

data that is broadcast over the Ethernet, however, changes to any of

the PCS settings cannot be made. This mode allows several users to
monitor the PCS data simultaneously.
• Control mode - the MV-POSView Controller program displays all PCS

data that is broadcast over the Ethernet, and allows changes to the
system configuration and the saving of new configurations to NVM.
Only one MV-POSView Controller program can control a given POS
at any time.
MV-POSView Controller - Initial Use

Note: Certain MV-POSView windows have an icon in the lower left
corner. They are either all locked (password protected) or all unlocked
(no password). Refer to the Password Protection description on page
4-41 for more details.
When you install and operate the POS MV for the first time, perform the
procedures described in the following paragraphs.
PCS IP Address
Applanix sets the IP address of the PCS to 129.100.1.231 and the subnet
mask to 255.255.0.0.
Initially, to communicate with the PCS, you must give the controlling PC a
unique address within the same subnet. Applanix recommends using address
129.100.1.230.

IP Addresses
IP addresses consist of four sets of numbers separated by full

stops (e.g. 129.100.0.220). The first three sets of numbers are the
network part of the address and the last set of numbers is the host
part. For example, 129.100.0 are the default value for the PCS
network IP address and 220 is the default value for the PCS host.
To be compatible with a network the first two sets of numbers in

the IP addresses of all items attached to the network must be the
same.
Once communication with the PCS is established you can change the IP
address of the PCS to any suitable address within your subnet. The IP
address of the controlling PC may also be reset back to the original setting.
The following paragraphs provide instructions on doing this.
Running the MV-POSView Controller Program
Check the MV-POSView Controller program main window (illustrated in

Figure 37 on page 5-4) for update activity; the window should update at one-
second intervals. If not, check that the LAN light, located on the front panel of
the PCS, is flashing green.
Changing Address
It is unlikely that the default IP address of the PCS will be compatible with
your local area network. Therefore, you must change the system IP address
before you can exercise control over the POS MV.
Follow the instructions below carefully, noting that you must begin all menu
selections from the main window of the controller.
a) Power-on the PCS, open Windows™ and start MV-POSView.

b) On the MV-POSView menu bar, select Tools, Connect.
c) The tool bar shows the current IP address of the PCS Ethernet
connection (this address may not be compatible with your network).
Make a written note of this address so that you can change the
address of the controlling PC temporarily to a compatible one. This
must be done before you can communicate with the PCS through the
LAN.
d) In MV-POSView, select File, Exit (or press the Alt, F4 keys) to exit
MV-POSView.
e) Select the configure option from the Ethernet driver software included
with your Windows™ environment.
f) Note the original IP address of the controlling PC so that you can

change it back once you have changed the PCS address.
g) Change the IP address of the controlling PC to one that has the same
network identity as the PCS. Set a new and unique address for the
controlling PC (e.g. set the PC to IP address 129.100.1.230).
h) For some versions of Windows™, the new IP address does not

become active until you have rebooted the PC - Exit Windows™ and
power-off the controlling PC; wait thirty seconds and power-on the PC
again.
i) Run Windows™ and start MV-POSView. In MV-POSView, select

Tools, Connect.
j) On MV-POSView menu bar, select Settings, Installation, POS IP

Address and insert a new IP address and/or subnet mask, see

Figure 19. The new address must be valid for the network on which
you will operate the PCS. Press the OK button.
k) The new IP address for the PCS will take effect immediately and a
‘Lost connection with POS’ message is displayed at the controlling
PC.
l) At the controlling PC, select File, Exit (or press the Alt, F4 keys) to
exit the MV-POSView Controller program.
Figure 19: POSView POS Internet Address
m) Follow the instructions in steps e) and g) above and reset the

controlling PC to its original IP address.
n) Exit Windows™ and power-off the controlling PC. Wait thirty seconds
and power-on the PC. The new IP addresses become active during
the PC reboot sequence.
o) At completion of the reboot sequence:
• The IP address of the PCS is set to be compatible with your

network
• The original IP address to the controlling PC is restored

POS MV Configuration
Once the POS MV components are installed and the physical installation
parameters measured, these measurements are then entered in to the MV-
POSView Controller program. The PCS stores this data in non-volatile
memory for use on subsequent start-ups of POS MV.
The POS MV has a built-in feature that permits automatic fine-tuning of the
configuration data. However, the more accurate the initial physical
measurements are the quicker the automatic fine-tuning process. Figure 20
outlines the configuration data refinement process.
Figure 20: Configuration Data Refinement
Automatic fine-tuning permits the accurate measurement of the longitudinal,

lateral and vertical distances between the installed components. Accurate
manual measurements are often difficult to obtain and are subject to errors
caused by accessibility. If it is not possible to measure the installation
parameters to within Real-Time Kinematic (RTK) level accuracy (about 2 cm)
then the automatic lever arm calibration feature should be used to improve
accuracy. Although only the Reference to Primary GNSS measurement is
presently available, other automatic measurements will be available in the
future.

Set the initial configuration of POS MV by performing the following.
a) Connect the PCS and the controlling PC to the 10/100BaseT Ethernet

LAN. Both must have compatible IP addresses; if necessary refer to
the Changing Address description on page 4-8 for instructions on IP
addressing.
b) Power-on the PCS and the controlling PC, and start Microsoft
Windows™; from windows, launch the MV-POSView Controller
program.
c) Select Tools, Connect on the MV-POSView main window menu bar.
Configuration Data
To configure the POS MV consult the list of installation parameters that was
created as you progressed through the physical installation. Refer to the
Installation Parameters description starting on page 2-38 for detailed
instructions.
Configuration - Initial
Note: Select the standby mode prior to changing lever arm or mounting angle
values.
From the menu bar of the MV-POSView Controller program, select Settings,
Installation, Lever Arms & Mounting; the Lever Arms & Mounting Angles
tab is displayed (see Figure 21). Use metres for lever arm distances and
degrees for misalignment angles.
In circumstances where you do not have the complete set of installation

parameters, you must at least enter values in the Ref. to IMU Lever Arm and
the Ref. to primary GNSS Lever Arm panes. This basic information allows
the system to supply useful data to the multi-beam sonar.

Figure 21: POSView Lever Arms & Mounting Angles Tab
Next, select the Sensor Mounting tab (Figure 22) and enter the values for
the lever arm distances and mounting angles. Once these values are entered,
select the OK button.
Note: These settings become active immediately. To save the settings to

non-volatile memory, select Settings, Save Settings. This permits the system
to initialize using these installation parameters whenever the PCS is powered-
on.
Note: Any changes made to the IMU or the Global Navigation Satellite
System (GNSS) lever arm parameters will cause the fields to reset and begin
again automatically.

Figure 22: POSView Sensor Mounting Tab
Configuration - Automatic
Note: Perform a GNSS Azimuth Measurement Subsystem (GAMS)

calibration prior to running this procedure, see Antenna Installation Calibration
on page 4-27.
Note: The integrated navigation solution should be delivering a RTK solution;

may be tightly coupled or using an auxiliary RTK GNSS receiver. The Nav
Status (MV-POSView Status pane) indicates FLOAT RTK or FIXED RTK.
Ensure that GAMS is on-line then select Settings, Installation, Installation

Calibration Control from the menu bar of the MV-POSView Controller
program. The Calibration Control window is displayed (Figure 23).

Figure 23: Calibration Control Screen
LEVER ARM CALIBRATION SELECT PANE
Note: The Figure of Merit (FOM) may not reach 100 if the vessel
dynamics (speed and rate of turn) are not great enough, the GNSS
coverage is not good or the base corrections are not reliably received.
Figure of Merit field - indicates the completeness of the

correction level of the selected parameter; the calibration (X, Y
and Z) are complete when FOM reaches 100
X, Y, Z fields - computed values are complete when the Figure of

Merit reaches 100 and the field values stop changing; the field
values may not correspond with the measured values
Reference to Primary GNSS check box - select to compute

corrected values
Reference to Auxiliary 1 GNSS check box - not enabled
Reference to Auxiliary 2 GNSS check box - not enabled

Position Fix check box - not enabled
CALIBRATION ACTION PANE
Last Calibration Action field - indicates the last action

performed
Stop Calibration button - select to stop the selected calibration

action
Manual Calibration button - (only use for special situations)

select to start the manual calibration procedure; vessel must
prescribe a loose figure eight pattern; the FOM reaches 100 and
continues to update the X, Y, Z fields; next command would be
Normal Transfer of calibrated parameters
Auto Calibration button - (preferred) select to start the auto

calibration procedure; vessel must prescribe a loose figure eight
pattern; once the corrections are complete they become active,
the Kalman filter is reset and POS restarts in the Navigate mode
No Action button - select to cancel all calibration actions
Normal Transfer button - select to make the Manual Calibration

corrections active; the Kalman filter is reset and POS restarts in
the Navigate mode
Forced Transfer button - select to make the corrections active

(FOM must be >0 and <100); the Kalman filter is reset and POS
restarts in the Navigate mode
COMMAND BUTTONS
OK button - enables all window parameter settings and closes the
window, calibration does not start

Close button - closes the window without saving or enabling any

changes
Apply button - enables all window parameter settings, but does
not close the window, calibration does not start
Time Tags
POS attaches time tags to all of its outputs to permit synchronization with data
from other sensors or systems. The time tag is based on Universal Time
Coordinated (UTC), GNSS, POS or User time; has a resolution of 1 µs; and
has an accuracy of less than 10 µs.
Select Settings, Installation, Tags, Multipath & AutoStart on the MV-

POSView Controller menu bar to display (Figure 24) the settings.
Note: UTC and GPS Times are not identical. Due to the occasional need for
the addition of a leap second to UTC, there is an integer difference between
UTC and GPS Time. Transitions between the seconds are precisely
coincident between the two times.

Figure 24: Controller Tags, Multipath & AutoStart Tab
The User Time Data screen (Figure 25) on the controller shows the status of
the user time synchronization; select View, User Time Data. The user's
equipment can send message 55 (see POS MV V4 User Interface Control
Document [Applanix document control number - PUBS-ICD-000551]) with
their own time recovery time and POS will create an internal offset. Also, the
user can then select the User Time (Figure 24) to be output in the time ‘2’ field
of ICD groups. This feature allows the user to synchronize with a time base
other than POS, GNSS or UTC. If more information is required, please
contact Applanix customer support, see page A-1 for contact details.

Figure 25: User Time Data Screen

AutoStart
AutoStart is a feature of POS MV that allows operation in a stand-alone
configuration. With AutoStart enabled, POS MV will transition to navigate
mode after power-on, without operator intervention.
• With AutoStart enabled, POS MV will transition to navigate mode
each time the PCS is powered-on. In this configuration, the PCS can
operate independently without the need for a controlling PC.
• With AutoStart disabled, the system will remain in standby mode after
power-on. The operator must issue a command from the controlling
PC, via the controller program, to make the system transition to
navigate mode.
To enable AutoStart, select Settings, Installation, Lever Arms & Mounting
from the MV-POSView menu bar, then select the Tags, Multipath and
AutoStart tab and click the Enabled option button in the AutoStart pane, see
Figure 24. Select the OK button to accept the change.
Note: The AutoStart configuration change must be saved to NVM to retain its
new setting when POS MV is powered-on again; refer to the Save Settings
description on page 4-26 for instructions.

COM Ports Configuration

Select Settings, Input/Output Ports to display the window shown in
Figure 26. This window allows you to change the configuration of the five
COM ports for use with various applications. The COM Ports description
starting on page 3-3 provides port settings and data format information.
Changes made to the sense parameters of roll, pitch or heave will affect the
output to the multi-beam sonar. Changes to these settings will not affect the
polarity displayed by the controller program for the relevant channel.
Note: Save the settings to NVM so that they will be effective next time POS
MV is powered-up. Refer to the Save Settings topic on page 4-26 for
instructions. Settings become active once the Apply button is pressed.
Figure 26: POSView Input/Output Port Setup

ANALOG I/O Port Configuration

pitch and heave) for use by an external multi-beam sonar equipment. Contact
your Applanix Customer Support representative for the details, see page A-1.
Select Settings, Analog Port from the MV-POSView menu bar to display the
window shown in Figure 27. This window allows you to change the
configuration of the ANALOG I/O port for use with multi-beam sonar
equipment.
Changes to the Scale Factors pane or any of the sense settings will not
appear on the main window Attitude pane because they apply only to the
ANALOG I/O port.

The Tate-Bryant or the TSS

conventions (each defines the roll
angle differently) follow linear or
trigonometric relationships; Table 32
provides a comparison between the
different definition formulas.
• The TSS convention defines

roll relative to a locally level
frame of reference.
• The Tate-Bryant convention

defines roll relative to a plane
made by the deck of the
vessel after it has included the
pitch angle of the vessel.
The relationship between the two Figure 27: POSView Analog Port
definitions is: Setup
RollTSS = sin-1(sin RollTB cos PitchTB)
Table 32: Formula Type Definition
Analog Formula Digital (RS-232) Formula

Tate-Bryant Rollout = Froll x RollTB N/A
Linear Pitchout = Fpitch x Pitch
Heaveout = Fheave x Heave
Tate-Bryant Rollout = Froll x 10sin RollTB N/A
Trig Pitchout = Fpitch x 10sin Pitch

Table 32: Formula Type Definition
Analog Formula Digital (RS-232) Formula

TSS Linear Rollout = Froll x RollTSS N/A
Pitchout = Fpitch x Pitch
TSS Trig Rollout = Froll x 10sin RollTSS N/A
Pitchout = Fpitch x 10sin Pitch
Tate-Bryant N/A Rollout = RollTB
Pitchout = Pitch
Heaveout = Heave
TSS N/A Rollout = RollTSS
Pitchout = Pitch
Heaveout = Heave
Rollout = the roll output on an analog or digital channel
Pitchout = the pitch output on an analog or digital channel
Heaveout = the heave output on an analog or digital channel
Froll = roll scale factor
Fpitch = pitch scale factor
Fheave = heave scale factor
RollTB = roll angle defined using the Tate-Bryant convention
RollTSS = roll angle defined using the TSS convention

Heave Filter
Certain characteristics of the POS MV heave filter can be adjusted to obtain

the best compromise between steady-state heave error and the time that the
filter takes to settle after abrupt changes in vertical displacement; refer to
Figure 28. You may have to modify the
characteristics of the heave filter, for
example, to allow for the dynamic
characteristics of different vessels,
variations of sea state or to meet the
particular requirements of a survey.
Optimum settings for the heave filter can

depend upon a number of factors, Figure 28: POSView Heave Filter
including the size and weight of the vessel, the weather conditions in the
survey area and the direction of travel into the sea.
Refer to the Theory of Operation description starting on page B-1 for a more
detailed explanation of heave filter settings.
The default settings for the heave filter have proved to be satisfactory for use
with a wide range of vessel characteristics and across a broad spectrum of
sea states:
• Heave bandwidth = 20.00 seconds. You can set the heave bandwidth
to any positive number greater than 1.0.
• Damping ratio = 0.707. You can set the damping ratio to any positive
number less than 1.0.

IMPORTANT
Although you cannot harm any part of the POS MV by changing the
heave filter characteristics, inappropriate values for heave bandwidth
and damping factor can severely degrade the measurement
performance.
Do not alter the characteristics of the heave filter unless you are
entirely confident that your changes will improve the performance of
the system for a given set of survey conditions.
Note: Save the settings to NVM so that they are effective next time POS MV
is powered-up. Refer to the Save Settings topic on page 4-26 for instructions.
Settings become active once the OK or the Apply button is pressed.
To modify the characteristics of the heave filter select Settings, Heave from
the menu bar of the MV-POSView Controller program. Enter appropriate
values into the Heave Bandwidth and Damping Ratio fields of the Heave
Filter pane. Select the OK button to activate the settings and close the
dialogue box.
Refer to the Reference to Centre of Rotation instructions on page 2-45 for an

explanation of the method that POS MV uses to measure and filter heave
values.
The Z Altitude option allows the user to replace the heave filter with an
inertial smoothed RTK height in the chosen output string.
GNSS Receiver
Select Settings, Installation, GNSS Receiver from the MV-POSView menu

bar to display the GNSS Receiver Configuration window, refer to Figure 29.
The PCS can assess the GNSS receiver configuration and, if necessary, can
reconfigure the receiver automatically to establish appropriate settings. You

can disable the automatic reconfiguration feature through the GNSS receiver
window by selecting Enabled or Disabled in the Auto Configuration pane.
Figure 29: POSView GNSS Receiver Configuration
Save Settings
Changes made to the POS MV parameters will have an immediate effect on

system operation. However, if you require the changes to apply to all future
occasions when you power-on the POS MV, you must save them to NVM.
The non-volatile memory is resident in the PCS so that all stored operating
parameters will be available to the system during the start-up sequence, even
when it operates in a stand-alone configuration.
To save the system parameters to NVM, select Settings, Save Settings from
the MV-POSView menu bar.
Note: If you do not save any new settings for the installation parameters to
NVM, POS MV will apply the values stored previously (or the factory default
values) when you next power-on the system.

Initial GNSS Configuration

Applanix supplies POS MV with two GNSS receiver cards installed in the PCS
and optimally configured for use with the system.
If either of the GNSS receivers loses its configuration for any reason, the PCS
will reconfigure the receiver cards automatically for its own use. The
messages supplied by the GNSS receivers are only those required by POS
MV.
If you ever need to configure the installed GNSS receivers manually, you
must select Tools, Configure GNSS from the menu bar window of the MV-
POSView Controller program.
Antenna Installation Calibration
A successful antenna installation calibration depends upon the GNSS

Azimuth Measurement Subsystem (GAMS) being able to use data from five or
more satellites with a Positional Dilution of Precision (PDOP) equal to or less
than three. Perform the antenna installation calibration at a time when there is
good satellite geometry.
Note: Applanix recommends that the user make use of the GNSS mission
planning software to identify an optimal time of day during which the PDOP is
at a minimum in order to achieve a good GAMS calibration.
Perform the following steps with the vessel under way in an area where
unrestricted manoeuvring is possible. You have the option of allowing POS
MV to start the calibration automatically (this is called a calibration auto-start)
or to start the calibration manually.
1. Ensure that MV-POSView is Connected as indicated in the status

bar, refer to Figure 37 on page 5-4.

2. Select View, GAMS Solution from

the menu bar to open POS MV
GAMS Solution window shown in
Figure 30.
3. Transition the system to standby

mode by selecting the Standby
icon from the controller tool bar.
4. Select Settings, Installation,

GAMS Parameter Setup from the
Figure 30: POSView GAMS
menu bar to open the GAMS
Solution
Parameter Setup window shown
in Figure 31.
5. In the GAMS Parameter Setup window, enter a value in the Heading

Calibration Threshold field that represents the best achievable with
the vessel, ideally 0.5° or less. Select the OK button.
When the indicated Heading Accuracy (Attitude pane on the

controller main window) falls below the setting in the Heading
Calibration Threshold field and the GAMS status (main window
Status pane) reads Ready Offline, POS MV will start the antenna
installation calibration routine. Choose an easy value for POS MV to
achieve as you perform a series of calibration manoeuvres with the
vessel:
• Set a lower value (approximately 0.5°) if you can manoeuvre

the vessel aggressively.

• Conversely, set a higher value (approximately 1°) if the most

aggressive manoeuvres you can perform are 180° turns
followed by a straight run.
Figure 31: POSView GAMS Parameters Setup
6. Perform the following in the GAMS Parameter Setup window:
a) In most cases, this value is entered as ‘0’. Only if you are able to
measure the antenna separation to 1 mm accuracy should you
enter a value here.
Refer to the Installation Checklist on page 2-51 for instructions on

how to measure the antenna separation distance.

Figure 32: POSView GAMS Installation Wizard

b) In each of the component fields in the Baseline Vector pane,

enter ‘0’. Select the Apply and OK buttons.
7. Manually transition POS MV to the navigate mode. This also

commands GAMS to begin execution of its on-the-fly (OTF) ambiguity
resolution algorithm.
8. Next, perform either the auto-start calibration (steps 9 and 10)or the
manual calibration procedure (steps 11 and 12).
AUTO-START CALIBRATION PROCEDURE
9. Select Settings, GAMS Calibration Control, Start from the MV-

POSView menu bar (Figure 33, page 4-33). The Status pane for
GAMS indicates CAL Requested (Figure 33, page 4-33).
The Start command prepares the system for an automatic start to the
calibration process, but does not actually start it. Instead, the
calibration process will start automatically when the POS MV RMS
heading error falls below the value that you set for the Heading
Calibration Threshold field in step 5 above.
10. If possible, when GAMS has resolved the carrier phase ambiguities
(GAMS on the main window Status pane reads Ready Offline),
perform a series of full turns, ‘S-turns’ or ‘Figure-8’ manoeuvres, each
lasting approximately one minute.
During these manoeuvres, monitor the POS MV Heading Accuracy

field on the MV-POSView main window Attitude pane (Figure 33,
page 4-33). When the value displayed falls below the setting for the
Heading Calibration Threshold field (Figure 31), finish the turns and
manoeuvres and hold the vessel steady on a course and at a fixed
speed.

The Status pane for GAMS now indicates CAL in Progress and this
condition lasts for approximately 60 seconds. When POS MV has
completed the calibration, the displayed GAMS status becomes CAL
Completed. This condition lasts for approximately five seconds and
then changes to Online.
See Options starting with step 13.
MANUAL CALIBRATION PROCEDURE
Note: Before proceeding ensure the GAMS Parameters Setup window

displays the values that you entered in step 5 above.
11. When GAMS has resolved the carrier phase ambiguities, the Status
pane for GAMS indicates Ready Offline (Figure 33, page 4-33). You
can start the calibration manually at any time.
If possible, perform a series of full turns, ‘S-turns’ or ‘Figure-8’

manoeuvres, each lasting approximately one minute. During these
manoeuvres, monitor the POS MV Heading Accuracy on the MV-
POSView main window Attitude pane (Figure 33, page 4-33). Ideally,
the heading accuracy displayed should be as small as possible.
Wait until the heading error becomes as small as possible before

starting the calibration. Simple manoeuvres of the vessel, such as a
change of course, will cause the heading accuracy to improve.
12. To start the manual calibration, select Settings, GAMS Calibration

Control, Force from the MV-POSView menu bar (Figure 33, page 4-
33). This commands an immediate start of the calibration process.
The Status pane for GAMS indicates CAL in Progress and this
condition lasts for approximately 60 seconds. When POS MV has

completed the calibration, the displayed GAMS status becomes CAL

Completed. This condition lasts for approximately five seconds and
then changes to Online.
See Options starting with step 13.
OPTIONS
13. Suspend calibration while in progress: Select Settings, GAMS

Calibration Control, Suspend. The displayed GAMS status then
becomes CAL Suspended.
The system suspends the partially completed calibration process until

you resume it. To resume the calibration process select Settings,
GAMS Calibration Control, Start.
Figure 33: POSView Settings Menu, Status and Attitude Panes

14. Stop calibration while in progress: Select Settings, GAMS

Calibration Control, Stop. The displayed GAMS status then
becomes Ready Offline. The system cancels the partially completed
calibration process.
15. Save calibration data: Select Settings, Save Settings. Wait until the
MV-POSView Controller program displays the Settings Saved
message panel. Select the OK button to close the message panel.
16. Monitor system operation: Indications of a successful calibration

appear in the main window of the MV-POSView Controller program:
• The Status pane for GAMS indicates Online.
• The Altitude pane Heading Accuracy field drops slowly to

less than 0.15° and eventually settles to a value of 0.03° in a
low multipath environment. The actual value that it settles to
depends on the current setting for the multipath environment.
If the calibration was successful and no GNSS dropouts occurred,

POS MV should settle into a steady-state operation using the GAMS
heading aiding, as indicated by the Online status.
If the calibration was not successful, GAMS will reject the carrier
phase ambiguities repeatedly and will eventually reject the installation
parameters. If this occurs, repeat the calibration process.
17. Record data: If the installation parameters appear to be correct,

select Settings, Installation, GAMS Parameter Setup from the
menu bar (Figure 31, page 4-29) and write down the displayed
parameters. Keep the written record in a safe place for future
reference.

Refer to the Operation with GAMS topic on page 5-18 for a description of how
GAMS uses the GAMS installation parameters to aid the On-the-Fly (OTF)
ambiguity search.
Installation Parameter Correction
The surveyed antenna baseline vector may include the following errors:
• The length of the vector may not be correct if there were large
multipath errors during the calibration process. This may affect the
reliability of the GAMS ambiguity resolution during future POS MV
Initialization sequences.
• There may be an azimuth error similar in size to the displayed

heading accuracy that existed during the calibration process. This
results in a constant offset in the displayed heading during normal
operation of the POS MV with GAMS heading aiding.
Correct these errors by:
1. If the displayed antenna separation differs by more than 5 mm (~¼ in)

from the value that you measured after you installed the antennas,
clear the installation parameters and then re-enter the measured
separation distance in the GAMS Parameter Setup window, see
Figure 31 on page 4-29. Select the OK button to install the new
antenna separation distance.
Begin a new calibration procedure, see Antenna Installation

Calibration on page 4-27.
The 5 mm (~¼ in) allowance accounts for differences that may exist
between the antenna phase centres and their geometric centres.

2. If you can identify a heading offset then enter this value in the
Heading Correction field of the GAMS Parameter Setup window,
see Figure 31 on page 4-29. Select the OK button to install the new
correction value.
POS MV will then compute new components of the surveyed antenna

baseline vector having a corrected azimuth.
3. Select Settings, Save Settings from the MV-POSView menu bar to

save the new values to the PCS Non-Volatile Memory (NVM).
Note: The Heading Correction field in the GAMS Parameter Setup window
allows you to correct an inaccurately surveyed baseline vector. You can use
this method to obtain a more accurate vector.
Note: You should not use this facility to implement the installation angles of
the IMU body frame with respect to the echo-sonar frame. Refer to the
Installation Parameters and the Configuration Data descriptions on pages 2-
38 and 4-12 respectively, for instructions on how to measure and enter these
installation parameters.
Power-Off
The initial power-off sequence for the POS MV system occurs in three stages:
a) Save parameter and configuration changes
b) Exit the MV-POSView Controller program and power-off the

controlling PC
c) Power-off the POS MV system

Save Changes
Powering-off the PCS before the MV-POSView displays the
confirmation message panel may corrupt the settings held in
NVM.
Whenever changes are made to the POS MV installation parameters or its
configuration, they must be saved to NVM in order to retain them for the next
power-on sequence.
The MV-POSView Controller program displays a message panel to confirm

that it has saved the settings successfully to NVM. Wait for this message to
appear prior to powering-off the PCS or the POS MV system.
Save Parameter Values
Select Settings, Save Settings from the MV-POSView menu bar to save all
parameter settings to NVM. Refer to the Save Settings description on page 4-
40 for more information.
Perform the following to check that the PCS has stored the parameters
correctly:
1. Select File, Exit (or press Alt, F4) to close the MV-POSView
Controller program.
2. Press and hold the POWER switch on the PCS front panel until the
POWER light starts flashing, refer to Figure 35.
3. Wait thirty seconds and then press and hold the POWER switch to
power-on the PCS and illuminate the POWER light.
4. Start the MV-POSView Controller program.

5. Select Settings, GAMS Calibration Control and check that the PCS
has saved all the GAMS installation parameters correctly. Select the
Cancel button.
Save Configuration
Select File, Save POS Config from the MV-POSView menu bar to save the
new configuration settings to the PC. Refer to the Manage Multiple
Configurations description on page 4-40 for more information.
POS MV Power-Off
POS MV V4 PCS
Power for the POS MV V4 system is applied to the PCS rear panel PWR
connector, refer to Figure 34. Two power switches are available on the PCS;
a rear panel PWR switch and a front panel POWER switch. Refer to the POS
MV Power-On description on page 4-2 for more information.
Figure 34: PCS Front and Rear Panels - POS MV V4
POS MV V4-1 PCS
Power for the POS MV V4-1 system is applied to the PCS rear panel PWR
connector, refer to Table 3 on page 2-19. The front panel POWER switch
(Figure 35) is an alternate action push-and-hold switch; press once for power-

on, press again for power-off. Press-and-hold the POWER switch until the
light, located above the switch, illuminates indicating that the PCS is powered-
on. To power-off, press-and-hold the POWER switch until the light starts
blinking, then release the switch.
Figure 35: PCS Front Panel - POS MV V4-1
Both Systems (POS MV V4 and POS MV V4-1)
To power-off the POS MV system, perform the following steps:
1. Select File, Exit from MV-POSView menu bar to close MV-POSView

Controller program.
2. Press and hold the PCS front panel POWER switch until front panel
POWER light starts flashing.
3. Set PCS rear panel PWR switch to off (POS MV V4).
Leave the POS MV powered-on to reduce the electrical and

thermal stresses that occur when the system is powered-off and
powered-on.

Save Settings
Cycling power while saving may result in lost settings.
Save the POS MV parameters after any modification, otherwise changes will
be lost when the POS MV power is cycled (powered-down and up). Each time
POS MV is powered up, the settings default to the last saved values. To save
these settings, select Settings, Save Settings from the MV-POSView
Controller menu bar. The MV-POSView Controller indicates when the settings
are successfully saved (may take up to 30 seconds to save the settings).
Making Changes
If you need to change any of the POS MV operating parameters, you must
use the MV-POSView Controller program as described throughout this
section of the manual.
Any changes that you make will take effect immediately, although you must
save them to NVM if you require the changes to apply each time you power-
on the system.
Note: To make any parameter changes permanent you must save them to
NVM. Do this by selecting Settings, Save Settings from the main window of
the controller program.
Manage Multiple Configurations

The controlling PC’s hard drive may be used to store multiple configurations.
Select File, Save POS Config on the controller menu bar, specify a file name
and save location, then click the OK button. Repeat this for each
configuration.

To load a particular POS MV configuration from the PC’s hard disk, choose
File, Load POS Config, highlight the file to load and click the OK button.
POS MV is automatically configured with the settings contained in the
configuration file.
Note: By default, POS MV boots to the last saved configuration located in the
PCS NVM.
Note: Occasionally a change is made in the Ethernet interface that affects

the format of configuration data. The effects of the change are described in
the release notes accompanying the firmware upgrade or contact an Applanix
Customer Support representative for additional information; refer to page A-1
for contact details.
Password Protection
The password protection feature protects the controller’s critical settings from
unauthorized personnel. An authorized user must login from the MV-
POSView Controller program when attempting to change settings in the
following menu selected windows:
• File, Load POS Config menu selection
• Settings, Heave menu selection - Heave Filter window
• Settings, Installation menu selection - Lever Arms & Mounting Angles,

Sensor Mounting and Tags, Multipath & AutoStart windows
• Settings, Installation, GAMS Parameter Setup menu selection -

GAMS Parameter Setup window
• Settings, Installation, User Accuracy menu selection - User Parameter

Accuracy window

• Settings, Installation, POS IP Address menu selection - POS Internet

Address window
• Settings, Save Settings menu selection
Each of the above windows has an icon in the lower left corner. They
are either all locked (password protected) or all unlocked (not protected
or the user has logged in).
Note: The password protection feature can be disabled using the POS
Config utility.
The following outlines the password protection operation:
• Default password is pcsPasswd
• User is prompted to log in when one of the above windows are

selected (a change is made and the OK button is selected), see
Figure 36 left
• User is logged in until one of the following occurs:
o A period of 10 minutes elapses
o User disconnects via the MV-POSView Controller monitor

icon (disconnect) located on the tool bar
o User terminates the TCP connection
• Change the password by selecting Settings, Installation, Set

Password, see Figure 36 right side

• Reset the password to the default setting (pcsPasswd) by:
o Acquire an authorization code, from Applanix Customer Support,

for Option 10 of the POS Config utility (contained on the
installation CD); refer to page A-1 for details
o Start the POS Config utility and select the left box (10 DPW
Disable Password Protection)
o Reset POS MV
o Start the POS Config utility again, select the POS chassis IP
address (appears automatically), then de-select Option 10
o Reset POS MV again, the password protection is enabled and the

password is reset to its default value (pcsPasswd)
Figure 36: POSView Controller Password Protection

System Operation
5.0 System Operation

This section describes how to use the MV-POSView Controller program to
operate the POS MV. To perform the instructions in this section:
• The Position and Orientation System for Marine Vessels (POS MV)
controller program (MV-POSView) must be installed on the controlling
Personal Computer (PC).
• The controlling PC and the POS Computer System (PCS) must both
be connected to the same Ethernet Local Area Network (LAN).
• The controlling PC and the PCS must both have network compatible
Internet Protocol (IP) addresses and subnet masks.
• The POS MV must be configured with the correct installation

parameters, which are saved to Non-Volatile Memory (NVM).
POS MV may be configured to transition directly to navigate mode after

power-on and deliver integrated navigation solutions through the enabled
ports. This is performed by enabling AutoStart, refer to page 4-19 for
instructions.
If necessary, refer to the following instructions for assistance:
• Ethernet Interface starting on page 2-33
• System Configuration starting on page 4-1
• Power-On starting on page 4-1
• PCS IP Address starting on page 4-7
• AutoStart starting on page 4-19
• Power-Off starting on page 4-36

System Operation
• Password Protection starting on page 4-41
• Software Installation starting on page D-1

Modes of Operation
The controller program operates in one of two modes:
• Monitor mode - the controller program displays all the PCS data
broadcast over the Ethernet display port but cannot change any of the
PCS settings. This mode allows several users to monitor the PCS
data simultaneously.
• Control mode - the controller program displays all the PCS data
broadcast over the Ethernet display port and has an established
Transmission Control Protocol (TCP) connection to the PCS control
port. This allows you to change the system configuration and save
any new configurations to NVM. Only one MV-POSView Controller
program can connect to a given PCS at any one time.
In control mode, when a controller window is opened, the controller

automatically requests the appropriate group(s) to be output from the
display port.
PCS Ethernet Connection

Refer to Figure 37 on page 5-4 for this discussion. The MV-POSView
Controller constantly receives broadcast display data and records the
originating PCS IP address. This list of IP addresses is displayed in the tool
bar drop-down field. The user selects the IP address for the PCS of interest

System Operation
from the drop-down field. The controller monitors or connects to the IP

address displayed on the controller tool bar.
Monitoring POS MV
Main Window Regions
Figure 37 shows the main window of the MV-POSView Controller. The
window can be divided into five regions:
Title bar (top): Identifies the controller type; in this case MV-POSView.
Menu bar (top): Select any of these items to display its pull-down menu
tree.
Tool bar (top): Contains icons or action buttons (hot buttons) of
frequently used functions; the IP address of the Ethernet
connection is displayed.
POS MV status Contains sensor and processing data; cannot be
(centre): changed.
Status bar This shows from left to right:
(bottom): • Current date in mm/dd/yyyy format
• Universal Time Coordinated (UTC) or Global
Navigation Satellite System (GNSS) time in
hh:mm:ss format (user selectable)
• POS MV time in hh:mm:ss format since the POS MV
was powered-on (not the time since the controller
program was started)
• Connection status of the MV-POSView Controller
program:
Connected - the controller is communicating with the
specified IP address in control mode
Disconnecting - the controller is terminating
communication with the specified IP address

System Operation
Connecting - the controller is attempting to connect to

the control port of the specified IP address
Monitor - the controller is receiving broadcast data
from the specified IP address
Waiting - the controller cannot communicate with the
specified IP address
Figure 37: POSView Controller Main Window
POS MV Status Region

POS MV status is displayed in the centre area of the MV-POSView Controller
window. The following describes these areas.
Status Pane
Displays the status of POS MV.
POS Mode - POS MV may be in standby mode or in one of its

navigation modes.

System Operation
Levelling Active Basic levelling and heading determination; no

navigation output
Nav: Degraded Navigation active but with loose error model
Nav: Aligned Navigation with full error model correction
Nav: Full All user specified accuracies are met
The normal operating condition for POS MV is navigate mode.
IMU Status - this field may display OK, Warning or Failure.
If the Inertial Measurement Unit (IMU) status field shows anything
except OK, check the Fault Detection window described in
Faults and Messages on page 5-11. Contact Applanix for advice
if necessary.
Nav Status - displays the source and quality of the GNSS sensors
and the resulting mode of the navigation solution.
DR (Dead No GNSS input is available; navigation is using
Reckoning ) only the IMU data
RTCM DGNSS Navigator is tightly coupled using the primary
GNSS raw observables plus base GNSS
corrections (RTCM 1 or 9)
CODE DGNSS Navigator is tightly coupled using the primary
corrections (RTCM 18 and 19, CMR, CMR+)
FLOAT RTK Navigator is tightly coupled using the primary
corrections (RTCM 18 and 19, CMR, CMR+)
FIXED RTK Same as Float RTK but better accuracy
Pri. C/A Navigator is loosely coupled using the primary
GNSS position data in C/A mode
Pri. DGNSS Navigator is loosely coupled using the primary
GNSS position data in DGNSS mode
Pri. P Code Navigator is loosely coupled using the primary
GNSS position data in P-CODE mode

System Operation
Aux. DGNSS Navigator is loosely coupled using the auxiliary

GNSS position data in DGNSS mode
Aux. P Code Navigator is loosely coupled using the auxiliary
GNSS position data in P-CODE mode
Aux. Float RTK Navigator is loosely coupled using the auxiliary
GNSS position data in Float RTK mode
Aux. WL RTK Navigator is loosely coupled using the auxiliary
GNSS position data in Wide Lane RTK mode
Aux. NL RTK Navigator is loosely coupled using the auxiliary
GNSS position data in Narrow Lane RTK mode
GAMS - this field can display Online, Ready Online, Ready Offline,
Cal in Progress, Cal Requested, Cal Complete or Not Ready.
Note: Measurement of attitude, position, velocity and dynamics

described below are valid for the vessel location as determined by the
Reference to vessel lever arm distances. Accuracy indications are
described in the Accuracy Pane heading on page 5-7.
Attitude Pane
Displays angles of roll, pitch and heading using degrees in the vessel
frame of reference.
Position Pane
Displays latitude and longitude solutions in degrees from the equator and
the Prime Meridian respectively, and WGS84 ellipsoid altitude solutions in
metres.
Velocity Pane
Displays velocities in their longitudinal, lateral and downward components

in metres per second.

System Operation
Dynamics Pane
Displays vessel dynamics (angular rates in degrees per second, and

accelerations in m/s2) in their longitudinal, lateral and downward
components.
Accuracy Pane
There are five coloured lights, one adjacent to the Attitude, Heading,
Position, Velocity and real-time Heave labels. The lights show whether
the associated measurement is within a user-defined accuracy threshold
(green) or outside it (red).
These lights provide a visual indication of an acceptable user defined

performance level. The threshold settings do not affect POS MV
performance.
Note: POS MV will not transition to full navigation mode until it has met
all of the user-defined accuracy requirements and the entire Accuracy
pane indicators show green.
ATTITUDE, HEADING, POSITION AND VELOCITY PARAMETERS
To set the thresholds for each measurement, select Settings,

Installation, User Accuracy from the MV-POSView menu bar. Enter the
preferred accuracy threshold for each of the four fields; see Figure 38.
Click the OK button to accept.
The threshold settings do not affect the operation of POS MV, however,
POS MV will not transition to full navigation mode until it achieves the
RMS accuracy setting boundaries.

System Operation
Figure 38: POSView User Parameter Accuracy
In addition, POS MV estimates the accuracy of the data contained in the

Attitude, Position and Velocity panes. These estimations reflect the
confidence boundaries on the displayed parameters; they vary according
to the current performance level of the GNSS receiver, the number of
satellites tracked and whether DGNSS corrections are available to the
navigation algorithm. It also depends on the level of motion that POS MV
is experiencing; more dynamics will tend to improve the accuracy of the
solution (reducing the displayed confidence boundaries).
HEAVE PARAMETER
The real-time heave accuracy parameter is not adjustable by the user.

The fixed setting is based on the industry standard performance ratings of
5 cm or 5% (whichever is greater). For heave amplitudes (peak-to-peak)
of 1 m or less, a 5 cm threshold is used, while for heave amplitudes which
exceed 1 m, 5% of the peak-to-peak amplitude is used.
Events Pane
Displays the identification count number and the time of occurrence for
the most recent recorded events.

System Operation
Speed Pane
Displays the current speed in nautical miles per hour (knots) and the
direction of the velocity vector (Track) in degrees. When the vessel is
travelling in the forward direction, the direction should be similar to the
Heading displayed in the Attitude pane.
Sensor Navigation Data

The Navigation Data at Sensors window, shown in Figure 39, displays the
navigation data for sensor 1 and sensor 2. Access this window selecting
View, Sensor Navigation; a tab is available for each sensor.
Sensor 1 and sensor 2 may be used to define the location of a multi-beam

transducer or other equipment. Refer to the Installation Parameters
description starting on page 2-38 when assigning lever arms and mounting
angles.
Position Pane
The sensor position appears as latitude and longitude in degrees, minutes

and seconds. The altitude of the sensor position is shown in metres
above the WGS84 ellipsoid. POS MV defines latitude, longitude and
altitude with respect to the World Geodetic System 1984 (WGS-84)
referenced ellipsoid.
Latitude is reference to the equator and is either North or South.

Longitude is reference to the Prime Meridian and is either East or West.
Estimations of accuracy are in metres.

System Operation
Figure 39: POSView Navigation Data at Sensors
Attitude Pane
Displays the angles of roll, pitch and heading of the sensor using the
sensor frame of reference. POS MV uses degrees to display the attitude
measurements and their estimated boundaries of accuracy.
Velocity Pane
Velocities of the sensor are given in the longitudinal and down directions.
POS MV uses metres per second to display the velocities and their
estimated boundaries of accuracy.

System Operation
Dynamics Pane
Displays the angular rates and linear accelerations of the sensor in the
longitudinal and vertical directions. POS MV uses degrees per second or
m/s2 to display the dynamics and their estimated boundaries of accuracy.
Wander Angle Field
The navigation frame is derived from the North, East and Down (NED)
frame by a rotation of “ α ” (wander angle) about the down axis. This
provides a locally level coordinate frame that is well-defined at the earth’s
poles.
Heave Field
Heave is the filtered vertical motion (acceleration data) plus roll and pitch
derived heave at the sensor location. Heave is in a positive down
direction in a ‘local level’ or ‘platform’ frame, so the heave is in the gravity
direction.
Faults and Messages

The Fault Detection window displays the status of POS MV system and
reports any fault conditions that may occur during operation, see Figure 40.
Two other tabs on the window show IMU and GNSS Correction fault status.
Three light conditions may occur where; green indicates an acceptable
condition, red indicates an unacceptable condition and greyed is not
applicable. Access to the Fault Detection window is from the MV-POSView
menu bar, select View, Faults.

System Operation
Figure 40: POSView Fault Detection

System Operation
Note: Some fields may display a red indicator (intermittently) during

initialization and operation.
The Fault Identification description starting on page 9-1 includes a list of the
messages that may appear in the message log. If you suspect that a fault
condition has occurred, but the Faults Detection window does not show it,
check the message log. To access the Message Log (Figure 41) select View,
Message Log from the MV-POSView menu bar.
Figure 41: POSView Message Log
POS MV uses AutoRecovery and Fault Detection, Isolation and

Reconfiguration (FDIR) to assist in its recovery from fault conditions.
AutoRecovery helps POS MV to recover from a communications failure
between the PCS and the IMU, and provides alerts for any problems in this
area. Investigate persistent communication failures with the IMU, the most
likely cause being a faulty data cable or connector. Never open the IMU; if
you suspect the IMU is faulty, contact Applanix for return instructions. Refer to
Technical Support and Service on page A-1 for procedures.
POS MV monitors its sensing subsystems continuously and determines which

of them, if any, shows degraded performance. FDIR allows POS MV to
combine data from the GNSS and IMU to offer the best navigation solution for
the current data quality.
For more information on AutoRecovery and FDIR refer to page 1-16.

System Operation
Data Logging
POS MV can log mission data externally to a PC.
Ethernet Logging
High rate logging using the Transmission Control Protocol (TCP) connection
to the PCS data port logs mission data through the Ethernet LAN port to a
disk on a PC running the MV-POSView Controller program. Only one
computer on the Ethernet LAN can connect and receive data.
Logging can be stopped and started as often as required. With Ethernet

logging, the data file is closed each time logging is stopped and started again
using the same filename.
Note: The file size is selectable; unlimited (1file), 64 MB or 128 MB. The file
name extensions are the same for all three cases.
Once logging is initiated, the controller checks for file(s) with the same name
and in the same directory as the user-selected file. If a file(s) is found, the
controller determines the highest extension number and starts logging using
an extension incremented by two (i.e. if the highest extension found is “005”
the controller assigns an extension of “007” to the file). This file extension gap
is created to avoid program confusion when using the POSPac post-
processing software.
For a new file, the controller takes the file string that the user enters (i.e.
test.xyz) and adds an extension starting at “000” (i.e. test.xyz.000). The
smallest file extension is 3-digits (i.e.”87” becomes “087”); once the file
extension exceeds “999”, the controller uses 4-digits (i.e. “1000”).
When logging through the Ethernet the maximum size of the file is set to 128
MB. When this number is exceeded, the file is closed and another file is

System Operation
opened; these files have the same name except that the extension is
incremented by one.
Logging commands are accessed from the MV-

POSView menu bar. Ethernet Logging is intended for
data logging or a delayed processing application where
data loss cannot be tolerated. This selection
implements a very large storage buffer to minimize the risk of data loss.
Ethernet Real-Time Output

High rate data are available from the PCS data port using Universal Datagram
Protocol (UDP) broadcasts. The emphasis here is outputting data in real-time,
even though there may be some data loss due to the nature of UDP.
Data Logging Control

Figure 42 shows the logging control windows. Selecting Logging, Ethernet
Realtime from the menu bar displays the top window, whereas selecting
Logging, Ethernet Logging displays the bottom window. The following
paragraphs describe the window parameter options.
Logging/Output Group Select Field
Identifies the groups selected for logging. Ensure that you have selected
all the desired groups.
POSPac button (all) - selects the groups that POSPac processes
Deselect All button (all) - removes all selections

System Operation
Figure 42: POSView Data Logging Control
Logging/Output Control Pane
Output Rate field (all) - sets the data rate to the internal memory
device or to the Ethernet; other groups are logged at the rate at which
they are generated, refer to the POS MV V4 User Interface Control
Document (ICD)
Log File Pane
File name field (Ethernet Logging Control) - choose a location on the

PC (Browse button) and a filename to store the logged data

System Operation
File Size Control field (Ethernet Logging Control) - file size is

selectable; unlimited (1file), 64 MB or 128 MB; the file name
extensions are the same for all three cases
Command Buttons
Start Logging button (Ethernet Logging Control) - starts logging data;

the window stays open
Stop Logging button (Ethernet Logging Control) - stops logging data

and closes the file; the window stays open
OK button (all) - enables all window parameter settings and closes

the window, logging does not start
Close button (all) - closes the window without saving or enabling any
changes
Apply button (all) - enables all window parameter settings, but does
not close the window, logging does not start
To make the changes active when the PCS is next powered-on, select
Installation, Save Settings to save them to NVM.
The configuration for the Ethernet (LAN) data port affects only the PCS
output. Ethernet data logging is a function of the controlling PC and the MV-
POSView Controller program.
A change to the logged data groups may be made at any time, even when
logging is already in progress. The changes will take effect immediately when
you choose OK or Apply buttons on the Ethernet Logging Control window.

System Operation
Operation with GAMS

Normal Operation
If POS MV has valid installation parameters stored in NVM then it is ready to
operate with GAMS heading aiding.
a) Follow the instructions in the Power-On topic on page 4-1 to power-

on the PCS.
b) If you have not enabled AutoStart, transition POS MV to the navigate

mode by selecting the Nav icon on the MV-POSView tool bar.
View both the GAMS Solution and the Status pane windows (Figure 43) to
follow the GAMS Initialization sequence.
1. Once the POS MV has completed its levelling routine GAMS will start-
up. The controller program will show the following indicators:
• The Status pane will show GAMS as Not Ready. This

indicates that GAMS has not resolved the carrier phase
ambiguities.
• The GAMS Solution window shows SVs in solution, A

priori PDOP and Antenna Separation.
• In addition, the GAMS Solution window shows a list of

satellites (SVs or space vehicles) that are being tracked by
POS MV. The order in which they appear in the window is not
important.
2. If POS MV is tracking fewer than five satellites, or if the indicated

Position Dilution of Precision (PDOP) is greater than 4.5, then GAMS
becomes dormant. In this dormant state, GAMS continues to monitor

System Operation
tracked satellites but does not process the observables from the
GNSS receivers. GAMS status displays Not Ready.
Figure 43: POSView GAMS Solution and Status Pane
3. Following the successful completion of coarse levelling, the POS

Mode transitions to Degraded Navigation status. During this time,
errors in the reported roll and pitch angles will be larger than 0.05°. If
five or more satellites are being tracked and the indicated PDOP is
less than 4.5 then GAMS begins the On-the-Fly (OTF) ambiguity
search, using only the antenna separation distance to aid the search
process. GAMS status displays Not Ready.
4. When the POS Mode transitions to Nav Aligned status, the errors in
the reported angles of roll and pitch will be less than 0.075° RMS.
The heading error remains large - in the order 10° to 15° RMS -
unless the vessel performs dynamic manoeuvres, in which case
errors may fall to below 5°.
The computed angles of roll and pitch are now sufficiently accurate to
be used by GAMS, together with the antenna separation distance, in
the OTF ambiguity search process. Additional aiding data shortens

System Operation
the time that it takes to fix ambiguities from as long as 20 minutes to

as short as two minutes, depending on the satellite geometry.
5. Once GAMS has resolved the carrier phase ambiguities, the GAMS
status displays Ready Online to indicate that GAMS is ready to
provide heading aiding data to the POS MV Kalman Filter.
This status may exist for up to ten seconds. If it exists beyond 20

seconds then this indicates that, for some reason, the Kalman Filter
may have rejected the GAMS heading aiding data.
6. When the POS MV Kalman Filter begins to process the GAMS

heading aiding data GAMS status displays Online. Within 30 seconds
the heading errors should fall to 0.25° RMS and to between 0.02° and
0.15° RMS within two minutes.
7. The GAMS status display will transition from Online to Ready Online
to indicate that the POS MV Kalman Filter has stopped processing
GAMS heading aiding data. This can occur if one of the following
conditions arise:
• A one or two-second GNSS data dropout occurs in

either/both GNSS receivers. A data dropout comprises
either/both of the following:
o Valid phase observables are available from fewer than four

satellites
o The indicated PDOP is greater than 4.5
• The tracking Signal-to-Noise Ratio (SNR) for one or more

satellites in either or both GNSS receivers drops to below 32
Decibels (dB). GAMS processes the observables for a

System Operation
satellite if the corresponding tracking SNR ratio in both

receivers is greater than 30 dB. The POS MV Kalman Filter
rejects GAMS heading aiding data computed from any
marginal observables.
• The POS MV Kalman Filter rejects the GAMS heading aiding

data as being inconsistent with the inertial navigator heading.
This can occur if a large multipath error causes GAMS to
temporarily exhibit an unusually large heading error.
Once the cause of the heading aiding data rejection has been
cleared, GAMS status displays Online.
8. The GAMS status display will transition from Online to Not Ready to
indicate that GAMS has reset (i.e. it has abandoned the current fixed
phase ambiguities and has restarted the OTF ambiguity search).
This can occur for two reasons:
• A GNSS data gap occurs and lasts for longer than two
seconds. This can be caused by a blockage of the GNSS
signal, for example, as the vessel passes under a bridge.
• GAMS has rejected the current fixed phase ambiguities. This

can occur if the carrier phase ambiguity for a recently
acquired satellite is fixed to the wrong integer due to
multipath errors or excessive phase noise.
If the cause of the GAMS reset has been cleared then GAMS will
quickly resolve the carrier phase ambiguities and return to Online
status.

System Operation
Abnormal Behaviour
Abnormal behaviour that occurs after a period of normal operation is
symptomatic of environmental anomalies such as multipath errors, GNSS
signal masking, or unexpected changes in IMU or GNSS antenna geometry.
The following are symptoms of abnormal behaviour together with their

possible causes and some suggested remedies.
Repeated Ambiguity Rejection
Symptom
GAMS repeatedly resolves the carrier phase ambiguities and then rejects
them. This cycle can continue indefinitely or, eventually, POS MV flags the
installation parameters as invalid.
Possible Causes and Remedies
1. Cause - Installation Parameters - The installation parameters are

incorrect or have become incorrect. This can occur if either/both GNSS
antennas move with respect to the IMU by more than a few centimetres or
if the IMU has moved with respect to the GNSS antennas by more than a
few centimetres.
Remedy - Ensure that you have mounted the antennas and the IMU rigidly
with respect to each other. Measure the correct installation parameters
(Installation Parameters on page 2-38) and re-configure the POS MV
installation parameters (POS MV Configuration on page 4-11).
2. Cause - Multipath Environment - A temporarily high multipath

environment may occur if the vessel passes near a large reflecting surface
such as a large ship or a building. SNR degradation for low elevation

System Operation
satellites may occur in either/both GNSS receivers if trees, buildings or a

bridge partially masks the satellite signal paths. If, for example, the vessel
has sailed into a harbour where large ships are moored then their hulls
may generate multipath reflections.
Remedy - Move the vessel away from the source of the high multipath
environment.
GAMS Status Remains ‘Ready Online’ Indefinitely
Symptom
The GAMS status display remains Ready Online for several minutes,
although the Navigator Configuration window commands POS MV to use
GAMS. Select Tools, Configuration to see the Navigator Configuration
window.
1. Cause - Incorrect Ambiguity Resolution - GAMS has identified the

wrong carrier phase ambiguities and has computed the wrong heading.
The POS MV Kalman Filter continuously rejects the GAMS heading aiding
data because it is inconsistent with the heading solution computed by the
system without GAMS aiding.
Remedy - Click on the Standby icon on the MV-POSView tool bar to

transition POS MV to standby mode. Then click on the Nav icon to return
to navigate mode. This action will re-initialize POS MV and GAMS.

System Operation
2. Cause - Incorrect Heading Resolution - POS MV has computed a

heading that is incorrect in spite of the displayed heading accuracy. This
may occur if the POS MV Kalman Filter processes highly inaccurate
GNSS data during the heading alignment.
Remedy - Click on the Standby icon on the tool bar to transition POS MV
to standby mode. Then click on the Nav icon to return to navigate mode.
This action will re-initialize POS MV and GAMS.
3. Cause - Low SNR - GAMS uses one or more satellite observables with a
tracking SNR that is consistently below 32 dB from either/both GNSS
receivers. This can arise from:
• Partial masking of a GNSS signal from a low elevation

satellite; masking of this type may be caused by a bridge,
trees, cliffs or hills along a nearby shore
• Interference from nearby high voltage power lines
• Very long antenna cables or the use of coaxial antenna cables

that have excessive losses at the L1 frequency (1575 MHz)
• GNSS receiver failure
Remedy - The problem of partial masking or interference will go away

when the vessel moves away from the suspected shore-based source of
signal degradation. You can identify a problem with antenna cables by
substituting shorter low-loss cables.
Refer to Figure 40 on page 5-12, Fault Detection window (by selecting

View, Faults), to check the GNSS receiver status and to determine
whether either receiver has reported a fault.

System Operation
Obvious Incorrect Heading
Symptom
The displayed GAMS status is Online and the displayed POS MV Heading
accuracy is less than 0.15°. However, the displayed POS MV heading is
clearly in error by several degrees.
1. Cause - GAMS has resolved the wrong carrier phase ambiguities and
computes the wrong heading. The heading computed by POS MV has
aligned to the incorrect heading reported by GAMS.
Remedy - Click on the Standby icon on the MV-POSView tool bar to

transition POS MV to the standby mode. Then click on the Nav icon to
return to the navigate mode. This action will re-initialize POS MV and
GAMS.
There may be a problem with the IMU being out of specification. Contact
Applanix for advice.
Repeatedly Rejected Carrier Phase Ambiguities

If GAMS is operating in a high multipath environment there may be repeated
ambiguity rejections or an inability to resolve the carrier phase ambiguities.
This may also occur if you experience degraded signal reception in

System Operation
either/both GNSS receivers due, possibly, to satellites being at a low

elevation.
POS MV will continue indefinitely to try to resolve these carrier phase

ambiguities. However, if either GNSS antenna has moved by more than a few
centimetres with respect to the IMU, GAMS will never be able to resolve
ambiguities until you have completed another calibration.
Provided there has been no change to the relative mounting positions of the
antennas or the IMU, the displayed GAMS status will become Ready Online
when GAMS resolves the carrier phase ambiguities. GAMS status will show
Not Ready if GAMS has started a new OTF search.
Without GAMS heading aiding, the POS MV heading accuracy will degrade
slowly at an approximate rate of one arc-minute per minute of operation. This
slow rate of deterioration allows sufficient time to remove the vessel from the
source of GNSS signal degradation while it continues to maintain an
acceptable heading accuracy.
Once you have removed the vessel from the source of GNSS signal
degradation, GAMS status should become Online.
Installation Parameters
Figure 44 shows the GAMS Parameter Setup window. Refer to Antenna
Installation Calibration on page 4-27 for instructions on how to configure this
window with the GAMS installation parameters.
Once you have identified the GAMS installation parameters correctly, save
them to Non-Volatile Memory (NVM). It is unlikely you will ever need to modify
these parameters again unless you move either/both GNSS antennas or the
IMU.

System Operation
Figure 44: POSView GAMS Parameters Setup
GAMS uses the installation parameters to aid the OTF search algorithm.
Please note the following:
• If the antenna separation and the surveyed antenna baseline vector

installation parameters are zero, then the GAMS OTF search
algorithm runs completely unaided. GAMS can be forced to operate in
this mode by clearing the GAMS installation parameters.
• If the surveyed antenna baseline vector components are zero, and:
o The antenna separations are non-zero, or
o If the non-zero surveyed antenna baseline vector components are

flagged as invalid, then
o The GAMS OTF algorithm assumes the non-zero antenna

separation to be correct, and

System Operation
o Uses the antenna separation to aid the OTF carrier phase

ambiguity search.
You can force GAMS to operate in this mode by clearing the GAMS
installation parameters and then entering an antenna separation
distance.
• If the surveyed antenna baseline vector components and the antenna

separation are non-zero and flagged as valid, then the GAMS OTF
algorithm uses the complete set of parameters to aid the OTF search
process.
If the POS MV roll and pitch errors are less than 0.25° RMS, GAMS
constrains the ambiguity search space to a circle centred on the
primary GNSS antenna (ANT 1). Ambiguity resolution in these
circumstances takes less than five minutes.
Additionally, if the POS MV heading error is of the order of 1.0° to 2.0°, then
the ambiguity is a small arc of the circle containing one or two candidate sets
of ambiguities. In these circumstances, ambiguity resolution is nearly
instantaneous and occurs in less than 10 seconds.
Stand-Alone Operation
Note: Prior to power-on and POS MV operation in stand-alone mode, the
AutoStart feature must be enabled. Refer AutoStart on page 4-19 for
instructions on how to enable AutoStart. The following instructions assume
that you have enabled the AutoStart feature.
Follow the Power-On instructions on page 4-1 to power-on the POS MV. The
system will initialize using the configuration parameters that it holds in NVM.
These include the IP address, the installation parameters, the output

System Operation
configuration, the heave filter parameters and the data groups that you
selected for output on the display, and real-time and logging data ports. Once
the system is initialized, it will begin to output data across the enabled ports.
Refer to the Data Logging instructions page 5-14 for a full description of the
data logging facilities available for the POS MV.
When the system operates in stand-alone mode, the front panel lights on the
PCS continue to provide an indication of the system status as described in the
Power-On instructions on page 4-1.
In stand-alone mode, whichever outputs you enabled and saved to the NVM
will be available from the PCS. Data output will begin when the SYS light, on
the PCS front panel, begins to flash green.
The PCS will begin to broadcast Ethernet data as soon as the POS MV is
powered-on. The Ethernet messages contain only POS MV status and time
until the SYS light begins to flash green, at which time the PCS will start to
broadcast all the selected output groups.

TrueHeave Operation
6.0 TrueHeave Operation

Overview
TrueHeave provides an estimate of vessel heave during conditions that often
defeat traditional real-time heave filters. The POS MV TrueHeave solution
uses algorithms that provide a zero phase response across the range of 0.0 3
to 0.2 Hz (30 to 5 s). Traditional real-time heave solutions tend to exhibit their
most notable artefacts in long (>16 s) period swell conditions, often
encountered with vessels in following seas. The frequency range of the
TrueHeave solution dramatically reduces such low frequency artefacts.
Figure 45 illustrates the relationship of the TrueHeave solution to the current

real-time approach and shows how it is computed and applied.
Figure 45: TrueHeave Functional Block Diagram

TrueHeave Operation
Configuration Requirements
TrueHeave is a turnkey solution and requires none of the tuning of standard
real-time heave solutions.
Initialization Requirements
TrueHeave requires a period of up to five minutes after the commencement of
navigation in order to initialize. After this initial period, no further initialization
or settling time is required.
Data Output
The TrueHeave solution is provided at the Ethernet interface, LAN port.
Details of the output message format are provided in the POS MV V4 User
Interface Control Document (Applanix document control number - PUBS-ICD-
000551). This delayed output is provided by the Group 111 heave data
message which provides the TrueHeave output, the equivalent of the real-
time heave solution and the applicable Time of Validity (TOV) signal.
Group 111 data are output on the real-time Ethernet data port at a rate of
25 Hz to provide sufficient resolution on the Heave Data display, see
Figure 46. It may be selected for internal or Ethernet logging.
Note: The heave data output, in real-time, is in no way affected by the

addition of TrueHeave; it can and should continue to be used as normal.

TrueHeave Operation
Figure 46: POSView Heave Data
TrueHeave Procedure
Use the following procedure to enable the TrueHeave feature prior to its first
use.
1. Initialize POS MV ensuring that all pre-set user accuracy values are
acceptable. This is indicated by green light buttons adjacent to the
Attitude, Heading, Position, Velocity and Heading labels in the
Accuracy pane on the MV-POSView Controller, see Figure 47.
2. View real-time heave and TrueHeave data by selecting View, Heave

Plot, see Figure 46. Due to the delay inherent in creating the

TrueHeave Operation
TrueHeave solution, the heave data plot remains blank for the first
three minutes after initialization.
Figure 47: POSView Status and Accuracy Panes
3. TrueHeave data may be used two ways:
a) To adjust the real-time heave parameters to improve the real-time

data available on the COM ports
b) To log the TrueHeave data for post-mission processing
4. Refer to the Data Logging procedures on page 5-14 and to Figure 42

on page 5-16 noting the following points:
a) Select the 111 Heave data and 113 Heave data quality control
check boxes in the Ethernet Logging Control window
b) Since there is a three-minute delay between real-time and the

calculation of the equivalent TrueHeave solution, logging must
continue for at least three minutes past the end of the survey
session or line
Following the survey, the TrueHeave data may be analysed offline by third
party post-processing software. Contact Applanix for a list of software
packages which currently provide support for TrueHeave, refer to page A-1.

Specifications
7.0 Specifications
POS MV 320
Main Specifications (with Differential Corrections)
Roll, Pitch accuracy: 0.02° (1 sigma with GNSS or DGNSS)
0.01° (1 sigma with RTK)
Heave Accuracy: 5 cm or 5% (whichever is greater) for periods of 20 s
or less
Heading Accuracy: 0.02° (1 sigma) with 2 m antenna baseline, 0.01° (1
sigma) with 4 m baseline
Position Accuracy: 0.5 - 2 m (1 sigma) depending on quality of differential
corrections
0.02 - 0.10 m (RTK) with input from auxiliary RTK or
optional internal RTK receiver
Velocity Accuracy: 0.03 m/s horizontal
During GNSS Outages

Roll, Pitch accuracy: 0.02° (1 sigma)
Heave accuracy: 5 cm or 5% (whichever is greater) for wave periods of
18s or less
Heading accuracy: Drift less than 1° per hour (negligible for outages <
60 s)
Position accuracy 2.5 m (1 sigma) for 30 s outages
degradation: <6 m (1 sigma) for 60 s outages
POS MV WaveMaster & WaveMaster RM

Roll, Pitch accuracy: 0.03° (1 sigma with GNSS or DGNSS)
0.02° (1 sigma with RTK)
Heave Accuracy: 5 cm or 5% (whichever is greater) for periods of 20 s
or less

Specifications
POS MV WaveMaster & WaveMaster RM

Heading Accuracy: 0.03° (1 sigma) with 2 m antenna baseline, 0.015° (1
sigma) with 4 m baseline
Position Accuracy: 0.5 - 2 m (1 sigma) depending on quality of differential
corrections
0.02 – 0.10 m (RTK) with input from auxiliary RTK or
optional internal RTK receiver
Velocity Accuracy: 0.05 m/s horizontal
During GNSS Outages

Roll, Pitch accuracy: 0.04° (1 sigma)
Heave accuracy: 5 cm or 5% (whichever is greater) for wave periods of
18 s or less
Heading accuracy: Drift less than 2° per hour
Position accuracy 3 m (1 sigma) for 30 s outages
degradation: <10 m (1 sigma) for 60 s outages
Physical Characteristics
Size
IMU (320) 204 mm X 204 mm X 7.95 in X 7.95 in X 6.55 in
168 mm
IMU (WaveMaster & 160 mm X 160 mm X 6.30 in X 6.30 in X 4.02 in
WaveMaster RM): 102 mm
PCS (POS MV V4): 432 mm X 89 mm X 17.00 in X 3.50 in X
356 mm 14.05 in (2U high)
PCS (POS MV V4-1): 281 mm X 165 mm X 11.06 in X 6.50 in X 3.54 in
90 mm
GNSS Antenna (x2): 187 mm ∅ X 53 mm 7.4 in ∅ X 2.1 in

Specifications
Weight
IMU (320) 3.5 kg 7.7 lb (international)
IMU (WaveMaster & 3.6 kg 7.9 lb (international)
WaveMaster RM):
PCS (POS MV V4): 5 kg 11.0 lb (international)
PCS (POS MV V4-1): 3.0 kg 6.6 lb (international)
GNSS Antenna: <0.5 kg <1.1 lb (international)
Power
IMU: Power provided by PCS
Nominal - PCS 110 Vac at 1.0 A; 240 Vac at 0.25 A, 47 to 63 Hz,
(POS MV V4): auto-switching
Range - PCS 90 Vac to 264 Vac
(POS MV V4):
Nominal - PCS 24 Vdc at 2.5 A
(POS MV V4-1):
Range - PCS 20 Vdc to 34 Vdc
(POS MV V4-1):
GNSS Antennas: Power provided by PCS
Environmental
Temperature Range (Operating)

IMU: -40 °C to +60 °C -40 °F to +140 °F
PCS: 0 °C to +55 °C +32 °F to +131 °F
GNSS Antenna: -40 °C to +70 °C -40 °F to +158 °F
Temperature Range (Storage)

IMU: -40 °C to +60 °C -40 °F to +140 °F
PCS: -20 °C to +70 °C -4 °F to +158 °F
GNSS Antenna: -50 °C to +70 °C -58 °F to +158 °F

Specifications
Humidity
IMU (320) 10 - 80% RH, Ingress Protection of 65
IMU (WaveMaster & 0 - 100% RH, Ingress Protection of 66
WaveMaster RM):
PCS: 10 - 80% RH, non-condensing
GNSS Antenna: 0 - 100% RH
Shock & Vibration (IMU)

320
Operating: 90 g, 6 ms terminal saw tooth
Non-Operating: 220 g, 5 ms half-sine
WaveMaster & WaveMaster RM
Operating: 35 g, 6 ms terminal saw tooth
Non-Operating: 40 g, 5 ms half-sine

Tools and Diagnostics
8.0 Tools and Diagnostics

The Position and Orientation System for Marine Vessels (POS MV) provides
a diagnostics function to help solve some of the problems that may arise
when connecting the system within an integrated suite of survey equipment.
GNSS Configuration
Upon installation, the POS MV configures the GNSS receivers so that they
output only those messages used by the system. When necessary, the POS
Computer System (PCS) will reconfigure the receivers automatically if either
one ever loses its configuration for any reason.
Additionally, you can send the GNSS configuration message to the GNSS
receivers manually by selecting Tools, Configure GNSS from the MV-
POSView menu bar.
GNSS Reset
The MV-POSView Controller program allows you to send a reset command to
the GNSS receivers. To do this, select Tools, Reset GNSS from the MV-
POSView menu bar.
Once the reset command is initiated, the GNSS receivers will take
approximately two minutes before they return to the navigation mode and
POS MV can use their data.
Use the GNSS reset feature only as a final option if the receivers exhibit
inexplicable, uncharacteristic behaviour. Examples of such behaviour include
a failure to track satellites, a failure to compute or a failure to output a valid
navigation solution for an extended period. Before using the GNSS reset

feature, verify that you cannot attribute the cause to faults in cables or
connectors.
GNSS Data
Select View, GNSS Data from the MV-POSView menu bar to view the GNSS
Data window shown in Figure 48.
Figure 48: POSView GNSS Data
The GNSS Data window shows the GNSS navigation status in a polar style
display. POSMV generates an identification number for each satellite in use

and indicates its location in the sky, with the centre of the display directly
overhead. From this display, a person can deduce if a satellite signal is being
blocked.
The bottom of the window displays a list of the satellites in solution and
includes details of their Signal-to-Noise Ratios (SNR) at the important L1
frequency (L1 SNR). Low SNR values for all satellites could indicate
deterioration in the quality of the GNSS antenna cable. The window will show
the L2 SNR for L1/L2 GNSS, if fitted.
Diagnostics
POS MV provides both control and display diagnostic functions. The control
functions permit the selection and setting of various binary and analog outputs
to specific values. The display functions allow the viewing of real-time
parameters. This provides POS MV with a debugging function that can be
used to establish a successful integration of the system into an extended suite
of survey equipment.
Control Diagnostics
Diagnostic values that are entered and enabled for the digital or analog ports
will replace any real-time attitude information on those channels. To resume
normal operation, disable the diagnostic output for the relevant channel.
Enter and enable diagnostic values by following the steps below. The
diagnostic values that are entered have no effect on the configuration of
affected ports; refer to Figure 49.
1. On the MV-POSView menu bar, select Settings, Diagnostics

Control, Binary/Analog to open the Binary/Analog Diagnostics
window.

Note: The Analog tab only appears if the analog output option is
installed.
2. Select the appropriate tab and enter the diagnostic values for the
displayed parameters in the Operator Input pane.
3. Select the Enable option in the Output pane.
4. Select the OK or Apply button. The diagnostic values then appear on

the appropriate output port, using the current configuration for that
port.
5. Return to normal operation by performing the following steps:
a) Set all values in the Operator Input pane to zero (optional)
b) Select the Disable option in the Output pane
c) Finally, select the OK or Apply button
Figure 49: POSView Binary/Analog Diagnostics

Display Diagnostics
Display diagnostics permit the operator to view selected POS MV real-time
internal data as an aid to debugging system problems. Select Diagnostics on
the MV-POSView menu bar to display the following selections:
• Primary GNSS • Display, Data & NVM
• Secondary GNSS • Time & Pulses
• Base GNSS (Base 1 and Base 2) • IMU
• Aux GNSS • NMEA & Binary Output
• Control Port • Other
Contact Applanix Customer Support for assistance, see page A-1
Regular Maintenance
Important:
1. Equipment shall be serviced only by qualified personnel.

POS MV has a minimal requirement for scheduled maintenance on its

subassemblies and components. Performing these procedures at the
recommended intervals enables the POS MV to maintain the highest standard
of service and performance throughout its lifetime.


IMPORTANT
Unauthorised opening of the IMU housing will void the warranty. The
IMU is a sealed unit that contains no user serviceable parts and does
not require internal maintenance.
Maintenance Procedures:
• Wipe the IMU housing with a damp cloth every six months, or more
often if necessary, to protect the finish and to remove oil and salt
deposits.
• Check the cables and connectors for signs of damage, degradation or

contamination. Repair or renew them as necessary.
• Ensure that cables are securely connected.
GNSS Antennas
Do not place metallized labels on the radome. Signal
attenuation will result.
• Use fresh water to wash any deposits of salt or other contamination

from the antennas.
• Inspect the antennas, cables and connectors every six months, or

more often if necessary, for signs of damage, degradation or

• When operating in very cold conditions, use an appropriate method to

remove any ice accumulation from the antennas.
POS Computer System

If you protect the PCS from moisture and dust in its mounting location, the
unit will require very little regular maintenance.
• Wipe the PCS housing with a damp cloth every six months, or more
often if necessary, to protect the finish and to remove oil and dust
deposits.
• Check all cables and connectors for signs of damage, degradation or

Technical Support
Refer to the Technical Support and Service information and procedures on
page A-1.

Fault Identification
9.0 Fault Identification

Important:
1. Equipment shall be serviced only by qualified personnel.

Position and Orientation System for Marine Vessels (POS MV) development
efforts are centred on the need for the system to operate for long periods in
rigorous marine environments with minimal maintenance requirements.
POS MV incorporates self-diagnostics in the form of a Fault Detection

Isolation and Reconfiguration (FDIR) algorithm. FDIR monitors the health of
the various system components and, in the case of sensor degradation or
failure, automatically reconfigures the system to minimise the effect of the
degradation.
The POS MV uses two methods simultaneously, to inform you that the system
has experienced a failure or performance degradation:
• Lights on the POS Computer System (PCS) front panel will show a
fault condition
• The MV-POSView Controller program will provide a more detailed

description of the problem

9-1
By planning and conducting regular maintenance procedures, described in

the Regular Maintenance description starting on page 8-5, the POS MV will
continue to provide a high standard of service and performance.
If you suspect a fault condition on the POS MV, follow the instructions in this
section of the manual to identify the cause. Field maintenance procedures
allow the following operations only:
• Identifying problems associated with system integration
• Identifying the cause of system failures
• Repairing the system by replacement of the PCS, cables, or sensing

subsystems
Component Description
POS MV comprises the following subsystem components:
• One Inertial Measurement Unit (IMU)
• One POS Computer System (PCS)
• Two Global Navigation Satellite System (GNSS) antennas
In addition to the above hardware, the POS MV includes all cables to

interconnect the components of the system and certain additional cables that
can be used to connect to external equipment.
Previous sections of this manual describe the cables, the connection ports
and the data formats; refer to the Table of Contents at the beginning of the
manual or the Index at the end of the manual for specific items. The Handling
Precautions on page 2-1 describes the precautions that should be exercised
when unpacking and installing the POS MV subsystems.


The IMU includes an orthogonal array comprising three accelerometers and

three gyros. The accelerometers sense translational acceleration along one of
three axis (x, y, and z) and the gyros sense angular rate around each axis.
Incremental velocities and angles are output across a digital interface to the
PCS.
The IMU is a sensitive device and must be handled carefully to prevent

damage to the sensing elements. Refer to the Inertial Measurement Unit
description on page 2-1 for instructions pertaining to IMU handling and care.
GNSS Antennas
The GNSS antennas are solid state devices with no moving parts. They are
rugged and reliable and, with a little care, will provide long-term trouble free
operation. Follow the steps outlined in the GNSS Antennas topic on page 8-6
to maintain their operating efficiency.
To prevent damage caused by moisture ingress, ensure that the TNC

connection between the GNSS antenna receptacle and its mating cable plug
is waterproof. Use a good waterproof tape and sealant.
POS Computer System

Note: An optional field support kit includes a replacement PCS.

9-3
The PCS contains a computer module, an interface module, two GNSS

receivers, and power supplies for the internal electronics and the remote IMU.
Constructed of rugged, industrial grade components, the PCS should be
handled with care to minimize risk of damage.
Field maintenance for the POS MV involves the following actions:
• Identification of a fault condition
• Repair of the fault by substitution or product return
POS MV has self-diagnostics to assist with isolating a fault to the following

subsystems:
• IMU subsystem, including the IMU and the IMU cable
• PCS subsystem
• GNSS subsystem, including the GNSS antennas, GNSS antenna

cables and GNSS receivers
If POS MV detects a failure condition in either the GNSS or IMU subsystems,

it will use two methods to alert you:
• Indicates a fault condition through status lights on the PCS front panel
• Outputs appropriate status warning messages to the various MV-

POSView Controller windows (Fault Detection and Message Log)

The following paragraphs describe both types of failure indications.
Front Panel Indicators

The lights on the PCS front panel display status information about the PCS
system, the IMU, the one pulse per second signal and the LAN connection.
The GNSS light indirectly indicates the status of the GNSS receivers; refer to
Figure 50. To isolate faults on any of these subsystems, follow the advice and
instructions provided in Table 33.
Figure 50: PCS Front Panels
Table 33: PCS Front Panel Indicators - Fault Identification
Note: Front panel indicators have three different colours (red, amber and
green) and three states (flashing, steady-on and steady-off).
SYS light - indicates current status of POS MV:

Steady red: POS MV failure - shows red when PCS is first
powered-on. Changes to a valid condition when PCS
internal program begins to run, but will turn red again
if there is a fault in PCS.

9-5
A solid red indication while all the other lights behave

normally indicates a fault in PCS.
If a fault occurs, do not power-off PCS. Refer to
Fault Detection window of controller program; see
Figure 51 on page 9-9.
Steady amber: Standby mode - POS MV is waiting for instructions.
Flashing amber: Navigate mode - initializing and aligning attitude
(coarse levelling).
Flashing green: Navigate mode - degraded attitude performance.
Attitude measurements are acceptable but do not
meet user-set accuracy limits.
Steady green: Navigate mode - normal system operation. System
meets accuracy limits set by user for position,
velocity, attitude and heading.
IMU light - indicates status of IMU:
Steady green: Receiving IMU data and TOV.
Steady red: IMU down, disconnected or an internal hardware
failure.
GNSS light - indicates GNSS reception in loosely coupled mode or
navigation status in tightly coupled mode:
Steady red: No GNSS solution is available.
Steady amber: GNSS receiver is delivering a C/A or P-Code GNSS
solution.
Steady green: GNSS receiver is delivering a DGNSS or RTK
solution.
PPS light - flashes green once per second to indicate reception of GNSS
1PPS signal.
LAN light - indicates transmit and receive local area network activity:
Flashing green: Activity on Ethernet LAN.
Steady red: A LAN fault (e.g. a break in Ethernet line).
Power/PWR light - illuminates green when the PCS is operating.

LOGGING light - flashes alternatively red and green for a few seconds
during start-up; pressing the Logging button (during start-up) loads the
factory default settings rather than the user saved settings.
Fault Detection
To access the Fault Detection window select View, Faults from the MV-
POSView menu bar. This window, shown in Figure 51, shows the faults
detected by the POS MV during operation. A fault is present if an indicator
shows red against any item in the list. Three tabs provide a list of the system
health monitoring items: General, IMU and GNSS Corrections.
If you suspect that a fault condition has occurred, but the Fault Detection
window does not show it, check the Message Log. The Message Log
description starting on page 9-11 lists the possible messages that may appear
in the message log. Of interest, at this point, are the items in Figure 51. The
monitored items are organized by category and each fault has a brief
description.
If you suspect that the system has developed a fault, note the condition of the
indicators on the Fault Detection window. If necessary, contact Applanix for
advice, refer to Technical Support and Service on page A-1 for procedures.
General Tab
The Primary GNSS pane, Figure 51, shows the status of the primary GNSS
receiver and any faults reported by it. If this pane reports any persistent faults,
they could be caused by a faulty GNSS antenna or its cable.
The Secondary GNSS pane monitors the data gaps from the secondary
GNSS receiver. A persistent loss of secondary GNSS information will prevent
GNSS Azimuth Measurement Subsystem (GAMS) from performing carrier
phase differential measurements to determine the heading. Investigate the

9-7
secondary GNSS antenna and its cable as a possible cause of persistent data
gaps.
Data gaps experienced by both GNSS receivers simultaneously are likely to

occur if nearby buildings or structures block the satellite signals (this is not a
system fault). During such data gaps, the POS MV will continue to navigate
inertially with only a gradual degradation in position and heading accuracy.
The Auxiliary GNSS pane reports the status of navigation solutions supplied
from any auxiliary GNSS receiver connected to the PCS.

Figure 51: POSView Fault Detection
The IMU pane reports the status of the IMU, with additional information
appearing on the IMU tab shown in Figure 52. There is also an additional field

9-9
that appears at the bottom left-hand side of each Fault Detection tab to show
the number of bad data frames received from the IMU. An occurrence of
several consecutive bad IMU frames will cause the POS MV to reinitialize and
start coarse levelling.
Figure 52: POSView Fault Detection - IMU and GNSS Corr. Tabs

IMU Tab
The IMU Status pane, Figure 52, identifies the raw status bits from the IMU. If
any of these bits have a red light please contact Applanix Customer Support
representative for assistance, refer to page A-1.
GNSS Corr. Tab
The In Use pane, Figure 52, shows the types of corrections that the
navigation algorithm may use. A green light indicates the item that is currently
being used.
The Base GNSS pane indicates the status of received data on the base
GNSS COM port. A green light indicated no problems; a red light indicates a
problem.
Message Log
Access the Message Log by selecting View, Message Log from the MV-
POSView menu bar, see Figure 53.
Figure 53: POSView Message Log
Table 34 contains messages that can appear in the message log. Messages
marked with an asterisk (*) relate to indicators on the Fault Detection
window.
Note: Some cases of incorrect GNSS configuration is handled automatically

if the GNSS automatic reconfiguration feature is enabled; refer to the GNSS

9-11
Receiver topic on page 4-25 and Figure 29 on page 4-26. The automatic
reconfiguration logic checks for expected messages from the GNSS receiver,
and will send a configuration command to the receiver if the expected
messages are not present. The contents of messages are not checked.
Table 34: Message Log Entries
Message Text Description

*PPS data not received Time recovery data not received
PPS data received Flag reset
HDOP data not received Dilution of precision data not
received; receiver not configured
properly; send configuration file
HDOP data received Flag reset
*Ephemeris data gap detected There is a gap in GNSS data; Short
periods when this occurs are normal
Ephemeris data gap cleared Flag reset
*Primary GNSS raw observable data There is a gap in GNSS data; short
gap detected periods when this occurs are normal
Primary GNSS raw observable data Flag reset
gap cleared
*Secondary GNSS raw observable There is a gap in GNSS data; short
data gap detected periods when this occurs are normal
Secondary GNSS raw observable Flag reset
data gap cleared
*Auxiliary GNSS data gap detected There is a gap in auxiliary GNSS
data
Auxiliary GNSS data gap cleared Flag reset
Horizontal acceleration out of range Receiver not configured properly
Horizontal acceleration out of range Flag reset
cleared


*GNSS not available for alignment POS MV failed to receive GNSS data
for > 60 s
GNSS available for alignment Flag reset
*GNSS data gap detected Gap in GNSS data; short periods
when this occurs are normal
GNSS data gap cleared Gap discontinued
*PPS time gap Gap in PPS signal; short periods
when this occurs are normal
PPS time gap cleared Gap discontinued
Time recovery message not The GNSS receiver is not configured
received properly
Time recovery message received Flag reset
*GNSS not in navigate mode GNSS receiver has not entered
navigate mode; still searching for
satellites
GNSS in navigate mode Receiver in navigation mode
*GNSS tracking elevation limit GNSS receiver is not configured
incorrect
GNSS tracking elevation limit Flag reset
corrected
HDOP/VDOP less than 10 GNSS receiver is not configured
HDOP/VDOP less than 10 cleared Flag reset
GPS Time output mode is not UTC GNSS receiver is not configured
GPS Time output mode is UTC Flag reset
Incorrect time parameters GNSS receiver is not configured
Incorrect time parameters cleared Flag reset
Incorrect GNSS datum parameters The GNSS receiver is not configured
properly

9-13

Incorrect GNSS datum parameters Flag reset
cleared
Position/velocity fix error Positions and velocities reported by
the IMU and the GNSS are
inconsistent; likely cause is an
incorrect entry of GNSS lever arms in
the installation data
Position/velocity fix error cleared Flag reset
Incorrect differential GNSS Flag reset
configuration cleared
Incorrect SV selection parameters The GNSS receiver is not configured
properly
Incorrect SV selection parameters Flag reset
cleared
GAMS ambiguity resolution failure The GNSS receiver is not configured
properly
GAMS ambiguity resolution failure Flag reset
cleared
GNSS failure GNSS velocity or position failure
GNSS failure cleared Flag reset
*Speed out of range fault Navigation algorithm speed is out of
range (speed > 35 m/s); algorithm
will reset itself
Speed out of range fault cleared Flag reset
*GNSS velocity failure GNSS reports speed > 35 m/s;
problem will probably correct itself
GNSS velocity failure cleared Flag reset
*GNSS position failure GNSS reports horizontal position
error > 1000 m; problem will
eventually correct itself


GNSS position failure cleared Flag reset
Auxiliary GNSS position failure The GNSS receiver is not configured
properly
Auxiliary GNSS position failure Flag reset
cleared
*GNSS position measurement Position reported between IMU and
rejected GNSS are inconsistent; likely GNSS
Lever Arms are incorrect in
installation data
GNSS position measurement reject Flag reset
cleared
*GNSS velocity measurement Velocity reported between IMU and
rejected GNSS are inconsistent; likely GNSS
Lever Arms are incorrect in
installation data
GNSS velocity measurement reject Flag reset
cleared
GAMS heading failure The GNSS receiver is not configured
properly
GAMS heading failure cleared Flag reset
Aux GNSS position measurement The GNSS receiver is not configured
rejection properly
Aux GNSS position rejection cleared Flag reset
IMU Messages - Message Log
*Multiple consecutive IMU failures Communications problem between
IMU and PCS; check cable
Multiple consecutive IMU failures Flag reset
cleared
IMU X accelerometer failure IMU diagnostics indicate failure of X
accelerometer channel

9-15

IMU X accelerometer failure cleared Flag reset
IMU Y accelerometer failure IMU diagnostics indicate failure of Y
IMU Y accelerometer failure cleared Flag reset
IMU Z accelerometer failure IMU diagnostics indicate failure of Z
IMU Z accelerometer failure cleared Flag reset
IMU X gyro failure IMU diagnostics indicate failure of X
gyro channel
IMU X gyro failure cleared Flag reset
IMU Y gyro failure IMU diagnostics indicate failure of Y
gyro channel
IMU Y gyro failure cleared Flag reset
IMU Z gyro failure IMU diagnostics indicate failure of Z
gyro channel
IMU Z gyro failure cleared Flag reset
IMU A/D converter failure IMU diagnostics indicate failure of
A/D converter
IMU A/D converter failure cleared Flag reset
IMU pickoff test failure IMU diagnostics indicate failure of
voltage pickoff
IMU pickoff test failure cleared Flag reset
IMU power supply failure IMU diagnostics indicate problems in
external power delivered to IMU
IMU power supply failure cleared Flag reset
*IMU/POS checksum error Error in data checksum between
POS MV and IMU
IMU/POS checksum error cleared Flag reset


IMU failure IMU status test failure set by IMU
sensor
IMU failure cleared Flag reset
IMU warning One of the IMU bias estimates is out
of range
IMU warning cleared Flag reset
X accelerometer bias estimate out of The Kalman Filter’s estimate of the X
range accelerometer bias is outside the
allowable range of 4000 micro-g
X accelerometer bias estimate error Flag reset
cleared
Y accelerometer bias estimate out of The Kalman Filter’s estimate of the Y
Y accelerometer bias estimate error Flag reset
cleared
Z accelerometer bias estimate out of The Kalman Filter’s estimate of the Z
Z accelerometer bias estimate error Flag reset
cleared
X gyro bias estimate out of range The Kalman Filter’s estimate of the X
gyro bias is outside the allowable
range of 20 deg/hr
X gyro bias estimate error cleared Flag reset
Y gyro bias estimate out of range The Kalman Filter’s estimate of the Y
range of 20 deg/hr
Y gyro bias estimate error cleared Flag reset

9-17

Z gyro bias estimate out of range The Kalman Filter’s estimate of the Z
range of 20 deg/hr
Z gyro bias estimate error cleared Flag reset
*These messages correspond to faults reported by the Fault Detection
window.
Status Warning Messages

POS MV provides status information on the complete system and each
individual subsystem. The MV-POSView Controller program decodes some of
the bits automatically and displays the relevant status information. Some
examples of the faults represented by the status bits appear in Table 35.
Table 35: Status Warning Messages
IMU
The IMU can experience a communication failure between the IMU
and the PCS, or a loss of calibration.
Communication Failure
The IMU can experience a permanent or intermittent communication
failure. If the IMU develops a fault that causes permanent loss of
communication, you will see the following symptoms:
• The IMU front panel light will show clear (off).
• The IMU tab on the Fault Detection window will show intermittent
failures in IMU communications.
• The IMU transmits a checksum in each data frame. POS MV uses
the checksum to validate the data received from the IMU. If the
validation fails, then POS MV sets a bit to declare that it has
detected a bad IMU frame.

IMU
Simultaneously, it increments a counter that keeps track of the
number of bad IMU frames. The Fault Detection window shows
the count of Bad IMU Frames in its bottom left-hand corner.
• An occurrence of several consecutive bad IMU frames will cause
POS MV to reinitialize and start coarse levelling. However, due to
the communications handshaking used by the IMU, bad IMU
frames are highly unlikely.
If bad IMU frames do occur, their likely cause is one of the following:
• Problems in the data cable that connects the IMU to the PCS
• Problems with the IMU or the power supplied to the IMU
• Problems within the PCS
Loss of Calibration
If IMU performance falls below specification (as may happen if the
IMU experiences excessive shock or vibration), the IMU Status field
on the controller main window will indicate an IMU failure.
Refer to the Fault Detection and the Message log windows
(described in Fault Detection on page 9-7 and Message Log on page
9-11) for a more detailed identification of the fault.
Note: If POS MV detects that the IMU performance is outside
specification, it will alert you and continue navigation.
If POS MV detects a hardware failure in the IMU, the controller main
window will display the warning message IMU Failure. Note any
indications on the Fault Detection or the Message Log windows, and
contact Applanix for advice.

9-19
GNSS
The GNSS subsystem can experience a permanent loss of satellites,
or a breakdown of communication between the GNSS receiver and
the PCS.
Permanent Loss of Satellites
POS MV provides continuous information on the status of the GNSS
receivers. The status of the GNSS receivers may be monitored on the
GNSS Data window; select View, GNSS Data from the MV-POSView
menu bar. Additionally, the GNSS Data window includes detailed
information on the satellites that the receiver is tracking and on the
receiver mode (i.e. tracking, navigate, etc).
The GNSS subsystem may experience periodic GNSS dropouts
caused, for example, by antenna obstruction. The controller program
indicates a GNSS dropout by displaying GNSS Not Available or
GNSS Data Gap in the GNSS Status field on the main window.
However, if a GNSS dropout occurs and persists without any
apparent antenna obstruction, then one of the following problems may
exist:
• A loss of GNSS receiver configuration
• A failure in the GNSS antenna
• A failure in the GNSS antenna cable
• A failure in the GNSS receiver
The above diagnoses assume that the PCS continues to receive
messages from the primary GNSS receiver. If this is true, the front
panel GNSS light will behave normally for the GNSS service in use.
If the front panel GNSS light shows red, then there are no GNSS
navigation solutions available to the PCS. The most likely cause of
this is a loss of communication with the receiver. If this occurs, refer to
the following Loss of Communications heading.

GNSS
Correct a loss of configuration by selecting Tools, Configure GNSS
from the MV-POSView menu bar.
The GNSS antenna is a solid-state device with a low failure rate.
Faults in the GNSS subsystem are more likely to arise from damaged
antenna cabling or a receiver failure. If examination of the GNSS
antenna installation reveals damage to a cable, replace the cable.
If none of the above actions resolves the problem, contact Applanix
for advice.
Loss of Communications
If the front panel GNSS light shows red, then there is a
communications failure between the PCS and the primary GNSS
receiver. Typical causes for this fault are:
• There is a failure in the internal PCS wiring harness
• There is a failure in the GNSS receiver
If Auto Configuration is enabled (select Enabled in the Auto
Configuration pane on the GNSS Receiver Configuration window),
then during the power-on sequence the PCS will establish a proper
configuration for the GNSS receiver. Therefore, incorrect settings for
baud rate should not be possible unless the Auto Configuration
feature is disabled.
The GNSS receiver may be configured manually be sending a
configuration command by selecting Tools, Configure GNSS from
the controller menu bar.

9-21
GNSS
If proper operation is not restored within a minute, select Tools,
Reset GNSS from the controller menu bar. The GNSS receiver is
reset to the factory defaults. This action takes a couple of minutes.
Also. if the auto configuration feature is enabled, the receiver will
assume an appropriate POS configuration.
Finally, if all else fails, cycle the PCS power (off and on) to provide a
hard reset of the GNSS receiver. Refer to the Power-On and Power-
Off procedures on pages 4-1 and 4-36 respectively.
GAMS
The GAMS subsystem can experience a permanent loss of satellites,
or a communication failure between the GNSS receiver and the PCS.
Permanent Loss of Satellites
The GAMS Solution window provides information on satellites being
tracked and the status of GAMS; select View, GAMS Solution to
view this window or see Figure 30 on page 4-28.
GAMS may experience periodic GNSS dropouts caused, for example,
by an antenna obstruction. During these dropouts, GAMS is unable to
compute a heading solution and the controller Status pane indicates
Not ready in the GAMS field.
However, if a GAMS dropout occurs and persists without any
apparent antenna obstruction, one of the following problems may
exist:
• A failure in the GNSS antenna
• A failure in the GNSS antenna cable
• A failure in the GNSS receiver

GAMS
The above diagnosis assumes that the PCS continues to receive
messages from the secondary GNSS receiver. Select View, GAMS
Solution to see the GAMS status.
GAMS Ambiguity Resolution Failures
If there is a GAMS ambiguity resolution failure, the controller Status
pane indicates Not ready in the GAMS field. The same status is
indicated when there is satellite signal loss due to an antenna
obstruction.
The POS MV Message Log window specifically indicates GAMS
ambiguity resolution failures; see Figure 53 on page 9-11.
Occasional failures of ambiguity resolution, for example at intervals of
10 to 20 minutes, are quite common and may be the result of changes
to the satellite constellation.
Repeated or continuous failures in ambiguity resolution may be the
result of a poor GAMS calibration or excessive vibration at the
antennas. These failures may also indicate weak signal reception
from the satellites, requiring changes to the installation.
Use the following steps to further diagnose the problem:
1. Select View, GNSS Data and examine the L1 Signal-To-Noise

Ratios (SNR) for the available satellites, see Figure 48 on page 8-
2. If the L1 SNR is below 38 dB for more than one satellite, the
GNSS antenna cables are introducing too much signal
attenuation. To correct this fault, shorten the cables or substitute
them with new low-loss cables.

9-23
GAMS
2. Examine the antenna mountings; they must be rigid with respect
to each other and with respect to the IMU. Make any necessary
modifications to secure the antenna mounting positions so that
they experience no significant twisting or movement relative to the
IMU.
3. Repeat the GAMS calibration and ensure that:
• The Positional Dilution of Precision (PDOP) is below 2.5
(preferable below 2.0)
• The GAMS Solution window (see Figure 30 on page 4-28)

shows at least six Space Vehicles (SVs) in the solution
Prior to the calibration, perform a series of calibration manoeuvres

and ensure the heading accuracy is better than 2.0°. Refer to the
Initial GNSS Configuration description on page 4-27 for the
instructions to complete this calibration procedure. Try to achieve
a heading accuracy better than 1.0°.
Within the first ten minutes after calibration, GAMS uses dynamic
inputs to verify the calibration. Therefore, once the calibration is
completed, perform a series of dynamic and vigorous
manoeuvres with the vessel for ten minutes to support this
process.
4. If the ambiguity resolution problem persists, contact Applanix for
further instructions. Refer to Technical Support and Service on
page A-1 for procedures.

Remove and Replace Procedures

The following paragraphs explain how to remove and replace the various
components and subassemblies of the POS MV system.
ELECTRICAL HAZARD
Mains electrical voltages can cause death or serious injury by
electric shock.
Only a competent person who has received the relevant training
and experience should perform maintenance work on electrical
equipment.
Power-off and isolate the equipment from the electrical supply
before you work on any equipment that uses mains voltage.
Arrange to safely discharge any power supply storage
capacitors.
Observe all relevant local and national safety regulations while
performing any maintenance work on electrically powered
equipment.
After completing maintenance, refit all safety covers and ground
connections to the equipment.
Figure 54: PCS Front Panels

9-25
Figure 55: PCS Rear Panel - POS MV V4-1
ELECTRICAL HAZARD
The PCS employs double pole / neutral fusing on the power
receptacle. Each of the two RoHS compliant fuses are rated at:
• Rating = 250 V
• Current = 3.15 A
• Type = slow blow, long time lag
• Case = 5 mm x 20 mm
Figure 56: PCS Rear Panel - POS MV V4

these components will result if handled roughly. To prevent
irreversible damage, handle the IMU with care.

If you suspect a fault condition with the IMU please return it to Applanix for
service and repair. To remove or replace the IMU complete this procedure.
Tools
• Set of metric open-end or combination wrenches appropriate to

remove or secure IMU to its mounting location
Remove
1. Observe PCS front panel power-off procedures (starting on page 4-

36).
2. Remove power cable from PCS rear panel (starting page 9-26).
3. Release and disconnect power and data cable from IMU (see Figure
82 on page E-1). Protect free end of power and data cable from
damage or contamination.
4. If fault suspected on power and data cable, disconnect and install a

new one. Refer to IMU Cable procedure on page 9-30 for details.
5. Release IMU from installed position noting orientation. Retain fixing

screws or bolts.
6. Handle IMU with care and pack into original transit case.
Note: It is imperative that proper packing is used to transport IMU.
7. Contact Applanix Customer Support for shipping instructions; refer to

page A-1.
Replace
Note: Each IMU is designed with alignment holes to ensure consistency

in the physical mounting of the IMU (within certain tolerances); refer to

9-27
Figure 5 on page 2-12. The internal accelometers and gyros have

tolerances that affect the overall alignment. Any time a repaired or new
IMU is installed the calibration procedure, starting on page 2-38, should
be followed. Contact Applanix Customer Support for additional
information, refer to page A-1 for instructions.
1. Same location:
a) Place IMU in installed position noting orientation. Secure fixing

screws or bolts.
b) Connect power and data cable to IMU (see Figure 82 on page E-

1). Protect free end of power and data cable from damage or
contamination.
c) Replace power cable to PCS rear panel (starting page 9-26).
d) Observe PCS front panel power-on procedures (starting on page

4-1).
2. New location - Follow installation instructions for Inertial Measurement

Unit starting on page 2-10.
GNSS Antenna
If you suspect a fault condition on the GNSS antenna, replace it with the
same type and ensure its serviceability. To remove or replace the GNSS
antenna complete this procedure.
Tools
• Self-amalgamating tape

• Waterproof spray
• Sharp knife or scalpel
• Set of SAE open-end or combination wrenches appropriate to remove

or secure GNSS antenna
Remove

36).
3. Remove waterproof sealing tape or silicone sealant protecting TNC

antenna connector (see Figure 85 on page E-3).
4. Disconnect TNC antenna connector. Protect free end of cable from

5. Note direction of arrow on top of antenna dome.
6. Remove antenna by turning in a counter-clockwise direction.
Replace
1. Same location:
a) Install antenna by turning in a clockwise direction.
b) Note direction of arrow on top of antenna dome and align with

previous installation.
c) Connect TNC antenna connector. Protect free end of cable from

d) Apply waterproof sealing tape or silicone sealant to protect TNC


9-29
e) Replace power cable to PCS rear panel (starting page 9-26).
f) Observe PCS front panel power-on procedures (starting on page

4-1).
2. New location - Follow installation instructions for GNSS System on

page 2-6.
IMU Cable
If you suspect a fault condition on the IMU power and data cable, install a new
cable. To remove or replace the IMU power and data cable complete this
procedure.
Tools
No tools are required.
Remove

36).
3. Disconnect IMU power and data cable at both IMU (Figure 82 on

page E-1) and PCS (Figure 87 on page E-4).
4. Inspect cable and connectors for signs of damage or contamination.

Perform repairs to cable as necessary. Protect free ends of cable
from damage or contamination.
5. Replace cable if not repairable.

Replace
1. Connect IMU power and data cable at both IMU (Figure 82 on page
E-1) and PCS (Figure 87 on page E-4). Protect free ends of cable
2. Replace power cable to PCS rear panel (starting page 9-26).
3. Observe PCS front panel power-on procedures (starting on page 4-

1).
GNSS Antenna Cable

If you suspect a fault condition on the GNSS antenna power and data cable,
install a new cable. To remove or replace the GNSS antenna power and data
cable complete this procedure.
Tools
• Self-amalgamating tape
• Waterproof spray
• Sharp knife or scalpel
• Slip joint pliers appropriate to remove or secure the GNSS antenna

connector
Remove

36).
3. Remove waterproof sealing tape or silicone sealant protecting TNC


9-31
4. Disconnect GNSS antenna power and data cable at both GNSS and
PCS (Figure 87 on page E-4).
5. Inspect cable and connectors for signs of damage or contamination.

Perform repairs to cable as necessary. Protect free ends of cable
6. Replace cable if not repairable.
Replace
1. Connect GNSS antenna power and data cable at both GNSS (see
Figure 85 on page E-3) and PCS (Figure 87 on page E-4). Do not
over tighten. Protect free ends of cable from damage or
contamination.
2. Apply waterproof sealing tape or silicone sealant to protect TNC

3. Replace power cable to PCS rear panel (starting page 9-26).
4. Observe PCS front panel power-on procedures (starting on page 4-

1).
POS Computer System

There are no user replaceable parts inside. Service shall be
performed by trained and qualified personnel. If you suspect a
fault condition with the PCS contact Applanix Customer
Support, refer to page A-1 for instructions.
To remove or replace the PCS complete this procedure.
Tools
• Cross tipped screwdrivers
• Straight tipped screwdriver

• Set of SAE or metric open-end or combination wrenches appropriate

to remove or secure the PCS to its mounting location
Remove

36).
3. Remove PCS from mounting location.
4. Tag and remove PCS rear panel connectors.
Replace
1. Same location:
a) Install PCS rear panel connectors.
b) Install PCS in mounting location.
c) Replace power cable to PCS rear panel (starting page 9-26).
d) Observe PCS front panel power-on procedures (starting on page

4-1).
2. New location - Follow installation instructions for POS MV V4-1 on

page 2-18 and POS MV V4 on page 2-13.
Troubleshooting
Note: If the POS MV system fails to operate when you first try to use it after
installation, check that you have installed and configured the system correctly.
Contact Applanix for advice if necessary, refer to Technical Support and
Service on page A-1 for procedures.

9-33
Refer to this subsection if the system develops a fault after a period of normal
and successful operation, or if you experience some problems during the
initial integration of POS MV into the survey suite.
The following subsections cover six categories of system failure:
• Total system failure
• Initialization failure
• GNSS Not Available
• GAMS Not Ready
• Serial communications problem
• Ethernet communications problem
Total System Failure

A total system failure is indicated by the following symptoms:
• Real-time and NMEA data communication stops
• Ethernet LAN communication stops
Use the following procedure to diagnose and isolate a total system failure:
1. Power-off PCS. Wait for thirty seconds and then power-on PCS again
to reboot the system. If failure symptoms persist, continue with
procedure.
2. Check IMU light, it should be solid green. If not, there is problem with
IMU subsystem. Refer to Fault Identification subsection on page 9-4
for further IMU diagnostic advice.

3. Check SYS light, if red there may be a software problem. If Ethernet

is functioning, select Diagnostics, Other from the controller menu
bar, see Figure 57. Record any dead tasks and inform Applanix.
4. Check quality of electrical power supplied to PCS.
Figure 57: POSView Other Diagnostic
5. Check PCS connection to ground through electrical supply cable. If

necessary, connect separate ground strap to grounding lug on PCS
rear panel.
6. If failure still exists, system may have experienced a board failure.

Substitute working PCS for failed unit.
Return the failed PCS to Applanix for repair. Provide a report of your
findings with the returned PCS, refer to Technical Support and Service on
page A-1.
Initialization Failure
The system Initialization procedure requires POS MV to compute the
approximate tilt of the IMU relative to a locally level reference, taking into
account the present position. This is called coarse levelling. If POS MV fails to
complete its coarse levelling procedure, the most likely cause is the lack of
GNSS aiding data.

9-35
If the system fails to complete coarse levelling, follow the instructions below to
isolate the problem:
1. Check Nav Status on controller main window.
2. If Nav Status shows DR (Dead Reckoning), select View, GNSS Data

from the controller menu bar, see Figure 58. If Receiver Status
Mode indicates No Nav Data follow GNSS Not Available procedure
starting on page 9-36.
Figure 58: POSView GNSS Data - Receiver Status Pane
3. Check IMU Status on controller main window. If IMU Status shows

Failure or Warning, power-off system and contact Applanix for
instructions to return IMU for repair.
4. If IMU Status shows OK, check IMU base plate is mounted in

nominal horizontal orientation. If necessary, adjust installation to
make base plate of IMU as close to horizontal as possible.
5. If problem still exists, contact Applanix for instructions to return POS

MV system for evaluation and repair.
GNSS Not Available

When the POS MV system is powered-on, the GNSS receivers require
approximately two minutes to acquire satellites and to begin computing a
navigation solution. During this time, the Nav Status display on the controller
main window shows DR.

If this status does not change after several minutes, or if the status changes
from a valid mode to DR and remains unavailable, there is likely a problem
with the GNSS subsystem.
There are two classes of GNSS problems associated with the POS MV:
a) A communication fault between the receiver and the PCS
b) The receivers are not tracking a sufficient number of satellites
a) Improper Communication
Note: The GNSS lights are controlled by the navigation software; the
system must be in the navigate mode for the proper indication of the
GNSS lights.
Follow the instructions below to identify a communications fault:
1. Examine GNSS light on PCS front panel:
• If light shows red, there is no communication between PCS

and GNSS receiver. Follow instructions relating to loss of
GNSS communications in Status Warning Messages on page
9-18 and the following step below.
• If light shows amber or green, select View, GNSS Data from

controller menu bar; see Figure 48 on page 8-2.
• If GNSS Data window shows system is tracking fewer than

four satellites, go to Insufficient Satellites on page 9-38.
2. Select Diagnostics, Primary GNSS from controller menu bar and

check that messages are being received, see Figure 59. If no, fault
may be in GNSS receiver or in communications between GNSS and
PCS. Please contact Applanix Customer Support, see page A-1.

9-37
Figure 59: POSView Primary GNSS Diagnostics
b) Insufficient Satellites
Follow the instructions below to identify a problem caused by insufficient

satellite signals:
1. From controller main window select View, GAMS Solution and note
how many satellites appear in SVs in Solution field, see Figure 60.
2. If SVs in Solution field has fewer than four satellites, mounting

location for GNSS antennas may be
cause. Ensure mounting position of
antennas provides unobstructed
view of sky in all directions. If either
antenna is moved, refer to
Installation section starting on page
2-1 and System Configuration
description starting on page 4-1 for
instructions.
3. If mounting locations for both GNSS

antennas are optimal and DR status Figure 60: POSView GAMS
Solution

persists, move vessel to area that has better satellite visibility.
4. If problem persists after moving vessel, problem exists with GNSS

receiver card, antenna cable or connections. Examine cable and
connections for damage, degradation or contamination, e.g. moisture
ingress. Use low-loss cable to replace defective cables. Ensure cable
connectors are waterproofed.
5. If problem persists, contact Applanix for advice.
GAMS Not Ready

After the POS MV system is installed, the GNSS Azimuth Measurement
Subsystem (GAMS) requires calibration. Refer to the Initial GNSS
Configuration description starting on page 4-27 for instructions.
Once GAMS is calibrated, it will initialize itself and deliver heading

measurements automatically each time the system is powered-on and enters
the navigate mode. Depending on the availability of satellites, the GAMS
Initialization process may take up to five minutes.
If there is a temporary loss of satellites, e.g. caused by a signal obstruction,

the GAMS Status may show Not Ready for brief periods. However, if GAMS
Status shows Not Ready for an extended period after power-on, or if it
transitions from Online to Not Ready and remains there, take the following
steps to determine the cause.
1. Select View, GAMS Solution from controller menu bar, see

Figure 60 on page 9-38. In GAMS Solution window, check number of
SVs tracked and value displayed for PDOP. GAMS must track five
SVs minimum and have PDOP value <3 before it can solve

9-39
ambiguities. Wait for satellite constellation to improve or move to a

location that has better satellite visibility.
2. If number of SVs tracked does not increase or if PDOP remains too

high, problem may be GNSS antenna installation. Examine GNSS
antennas, cables and connectors for damage or degradation.
3. GAMS may experience problems caused by invalid calibration or

excessive vibration in the antennas. Check antenna installation and
ensure antennas are rigid relative to each other and relative to IMU.
Serial Communications Problem

A serial communications problem may occur on any of the user configurable
COM ports. Use the following steps to determine the nature of the problem.
1. Select Settings, Input/Output Ports from controller menu bar. Verify

parameter settings; see Figure 60 and the COM Ports description
starting on page 3-3.
2. Verify serial port connection.

Figure 60: POSView Input/Output Port Setup
Note: Dynamically configurable COM ports add great flexibility, but can also
cause problems if inadvertently reassigned.
To check the output functions (NMEA and Binary) perform the following steps:
1. Ensure that POS is navigating and is in Degraded Nav mode or

better. Binary data is not output until this mode is reached.
2. Select Diagnostics, NMEA & Binary Output from controller menu

bar. Verify displayed Port# matches selected COM port (e.g. Port# 1
= COM 1), see Figure 61.
3. Check Write Failure field. If value increases, indicates PCS hardware

interface problem; try another COM port. Reassign NMEA or Binary

9-41
output to unused COM port. If communications restored, note

defective COM port for future reference.
Figure 61: POSView NMEA & Binary Output Diagnostic
4. Check that baud rate is sufficient to transmit data selected.
5. Check serial cable integrity.
6. Disconnect remote end of cable from sonar or other receiving

equipment and connect cable to PC running serial program (e.g.
ProComm or Hyper Terminal). Adjust baud and protocol to match
PCS output settings. If data received from POS, problem is receiving
equipment.
To check the input functions (Base GNSS and Auxiliary GNSS) perform the
following steps:
1. Select Diagnostics, Base GNSS, Base 1 or 2, or Diagnostics, Aux

GNSS from controller menu bar, see Figure 62.

2. Check Bytes Received

field. If no bytes received,
may indicate PCS
hardware interface
problem; try another COM
port. Reassign Base or
Aux GNSS input to
unused COM port. If
communications restored,
note defective COM port
for future reference.
3. Check serial cable

integrity.
4. Disconnect PCS end of

serial cable and connect
to PC running a serial
program (e.g. ProComm
or Hyper Terminal).
Figure 62: POSView Base 1 Diagnostic
Adjust baud and protocol
to match Base GNSS or Aux GNSS output settings. If data received
from GNSS, problem is PCS.
Ethernet Communications Problem

Loss of Ethernet communications will result in the loss of communications
between the PCS and the controlling PC. The MV-POSView Controller
program indicates this by displaying an appropriate error message. Figures

9-43
63 and 64 provide troubleshooting procedures to identify the causes of

Ethernet communications failures.
Ethernet
Communications
Failure
(Broadcast)
Check SYSTEM
LED on PCS front
panel
Y Y Refer to Total
SYSTEM LED Reboot the PCS SYSTEM LED System Failure
red? red? procedure
N N
N PCS on
multinode
network?
Disconnect PCS
and PC from
network
Establish stand
alone connection
between PC and
PCS
Check
communication
between PC and
PCS
PC to PCS Y Check network cables

comms OK? and integrity
Figure 63: (1 of 2) Ethernet Communications Failure

Check LAN Tx LED
Y Reboot PC and
LAN Tx LED restart Controller
flashes? program
N
Check
communication
Reboot the PCS between PC and
PCS
Check Ethernet
Check LAN Tx LED
cable and
connectors
Problem with TCP
drivers or Ethernet
LAN Tx LED flashes adapter in PC
Y
Cable OK?
Y Intermittent failure,
PC to PCS log for future N
comms OK? reference
N Replace Ethernet
cable
Reconnect PCS and
Swap GPS PC to network
receivers and
change PCS
Reboot the PCS
Y System working, re-

PC to PCS install and initialize
comms OK? parameters
Contact Applanix
Figure 64: (2 of 2) Ethernet Communications Failure

9-45
APPENDICES

Technical Support and Service
Appendix A
Contact Applanix
Applanix LLC Applanix Corporation Applanix Corporation
17461 Village Green Drive 85 Leek Crescent Forester’s House
Houston, TX 77040 Richmond Hill, ON L4B 3B3 Old Racecourse
USA Canada Oswestry, SY10 7PW
UK
Tel: (713) 896-9900 Tel: (905) 709-4600 Tel: +44 (1691) 659359
Fax: (713) 896-9919 Fax: (905) 709-6027 Fax: +44 (1691) 659299
Web site: http://www.applanix.com
How to Reach Customer Support

For technical support on POS regarding installation or operation, contact
Applanix customer support at the numbers listed on our Web site. On the
home page, select Support. If voice communication is required, select the
Contact Support link. For general inquiries, please visit our Web site or call
(905) 709-4600.
Copyright © Applanix Corporation, 2009 A-1

Returns
In the event that it becomes necessary to return any component of the POS
MV system for repair, please follow the procedure below.
1. Call your Applanix Customer Support Representative and request a

Return Material Authorization (RMA) number and shipping
instructions.
2. Carefully disconnect and remove the part(s) to be returned.
3. Pack the part(s) to be returned in their original packing containers.

Applanix will not be responsible for damage to parts during shipment,
if returned in any container other than the original shipping cases.
New cases are available - please contact your Customer Support
Representative for details.
4. Address shipping cartons to the address listed on the packing list
shipped with the system.
Please DO NOT ship any POS components to Applanix without an RMA

number.
A-2 Copyright © Applanix Corporation, 2009

Theory of Operation
Appendix B
Theory of Operation
This appendix provides a simplified explanation of the POS MV theory of
operation. The explanation includes some details on each of the main
techniques that the system uses to compute an integrated navigation solution.
Inertial Navigation: An introduction to the theory of inertial navigation.
Heave Filter: You can tune the characteristics of the heave

filter to provide optimal performance of POS MV
through a wide range of dynamic conditions.
GNSS Azimuth GAMS uses information from two GNSS

Measurement Subsystem: receivers to improve the accuracy of heading
measurement.
Heading Measurements: The unaided system can deliver heading

measurements with reduced accuracy.
Baselines: An explanation of the baseline definitions used

throughout this appendix.
Baseline Measurement: How the system measures the baseline vectors

of the GNSS antennas and the IMU.
Carrier Phase Differential A simplified description of the process by which

Position: POS MV measures the difference in position
between the two GNSS antennas.
Alignment: How POS MV levels itself and aligns with true

north in an unaided condition.
Copyright © Applanix Corporation, 2009 B-1

Theory of Operation
Error Sources: How the position measurements of a free inertial

navigation system would degrade with time
caused by unavoidable errors in the sensing
subsystems.
Aided Inertial Navigation: POS MV uses a Kalman Filter to compensate for

the effects of errors to deliver a blended
navigation solution that maintains a high degree
of accuracy.
Inertial Navigation
An Inertial Navigation System (INS) computes its position on the Earth by a
sophisticated form of dead reckoning. In its simplest form, dead reckoning
estimates the current position by measuring the speed, direction and time of
travel from a known starting point. The errors inherent in this form of
navigation arise from two sources:
• Uncertainty in determining the position of the starting point. This

contributes a fixed error in the dead reckoning position. The
magnitude of this error is the same as the error in determining the
position of the starting point.
• Inevitable inaccuracies in the measurement of speed and heading.

Errors in the dead reckoning position will increase with time as the
effects of these inaccuracies accumulate.
Dead reckoning requires no external support from radio navigation aids. It can
be reasonably accurate if the system compensates for errors in the
measurement of speed and heading, and for the effects of wind, tide and
current.
B-2 Copyright © Applanix Corporation, 2009

Theory of Operation
To implement dead reckoning an INS contains sensitive components that

include:
• Accelerometers to sense the specific forces of gravity, plus the forces

that accelerate the INS with respect to the Earth.
• Gyros to sense all angular rates of rotation experienced by the INS

with respect to an inertial frame of reference.
From the inertial measurements delivered by these components the INS

solves Newton’s equations of angular and translational motion on the
approximately spherical surface of the Earth, and computes a full range of
motion parameters:
• The orientation of the IMU (roll and pitch) with respect to a locally
level reference plane.
• The heading of the IMU with respect to geographical north.
• The latitude, longitude and altitude of the IMU on the surface of the
Earth.
In addition to these, appropriate calculations will also deliver measurements

of velocity and track over the ground.
How INS Navigates
The accelerometers and gyros sense specific forces and angular rates
relative to an inertial frame of reference. An inertial frame of reference is one
that experiences no accelerations or angular rates of its own. Therefore, in
such a reference frame, Newton’s laws of motion apply without requiring
corrections for accelerations or rotations of the frame.
Navigation on the Earth introduces forces and angular rates due to gravity
and the rotation of the Earth. The accelerometers and gyros will sense these

Theory of Operation
forces and movements, even when the INS is stationary relative to the Earth:
Any object on the surface of the Earth experiences the force due to gravity. It
also has an angular rate with respect to the inertial frame of reference frame
because the Earth rotates about is north-south axis at 15°/hour.
An INS that is designed to operate on the surface of the Earth must first
subtract the gravitational force and Coriolis acceleration from the sensed
specific forces, to obtain the acceleration of the INS with respect to the Earth.
• Gravitational acceleration - Essentially a constant over the surface of

the Earth (although small variations exist from one place to another).
The standard acceleration of gravity g ≅ 9.80665 ms 2 . The
convention used throughout this manual defines gravitational
acceleration g ≅ 9.81.
• Coriolis acceleration - The apparent tendency of a freely moving body

to swing to one side when its motion is referred to a set of axis that is
itself rotating in space. The magnitude of Coriolis acceleration
measured by an INS moving horizontally on the surface of the Earth
is:
∫ c = 2θν ⋅ sin φ
Where: θ = is the angular magnitude of the angular
velocity of rotation of the Earth
ν = is the speed of the INS

φ = is the latitude
The acceleration is perpendicular to the direction of ν and is towards the right

in the Northern Hemisphere.

Theory of Operation
The INS must also subtract the 15°/hour Earth rotation rate from the sensed
angular rates to obtain the angular rate of the INS relative to the Earth.
After it has performed these functions, the INS integrates the corrected
accelerations and angular rates to compute changes in velocity, position,
attitude and heading relative to the Earth.
Figure 65 on page B-7 is a simplified view of inertial navigation on a spherical

non-rotating Earth. The vessel is moving north at an initial velocity ν n
.
The INS housing and its internal accelerometers are fixed to the vessel,
forming a ‘strap-down’ arrangement. One accelerometer aligns with the fore-
aft line of the vessel, another aligns with the vertical and a third accelerometer
aligns with the port-starboard axis of the vessel. For convenience, this
explanation considers only the fore-aft and the vertical accelerometers
(although the INS uses all three to compute the solution).
With the vessel on a northerly course as shown, the fore-aft accelerometer

also aligns with true north and therefore senses any change in the northerly
velocity.
Similarly, as the vessel heaves, the vertical accelerometer senses the specific
force:
∫ =αdown down
+g
Where: α down = is the vertical motion
g = is the steady state acceleration due to
gravity
This is the varying vertical acceleration experienced by the vessel caused by
vertical motion, added to the steady state acceleration due to gravity.

Theory of Operation
As the vessel moves northwards, the gyro aligned with the lateral axis senses
two rotations:
1. The varying short-term rotations about the pitch axis as the bow
pitches up and down with the dynamic action of the vessel.
2. A slow rotation about the pitch axis as the vessel translates towards
latitudes that are more northerly. This slow rotation is called the
transport rate and can be determined by:
ν north
δ east = −
r
Where: δ east = the transport rate about the eastward
axis of the INS platform
ν north = the northerly velocity of the vessel
r = the radius of the Earth

This is the negative of the rate at which latitude changes. Consequently, if the
INS knows the starting latitude, it can compute the current latitude of the
vessel as follows:
t
λ = λstart − ∫ δ east
0
Where: δ east = the transport rate about the eastward

axis of the INS platform
λstart = the starting latitude

Theory of Operation
Figure 65: Example of INS Navigation on a Spherical Earth
In Figure 65, the vessel that supports the INS has no applied angles of roll or
pitch, and moves along a fixed northerly heading.
Ideally, the INS platform defines a navigation frame that is both locally stable
and locally level:
• A locally stable reference frame always maintains a constant

orientation relative to the surface of the Earth at its current position.
• A locally level reference frame is always level relative to the surface

of the Earth at its current position.
In Figure 65, the navigation frame of the vessel coincides with the geographic
frame of reference.

Theory of Operation
Inertial Navigation Frames of Reference
This appendix refers to a number of different frames of reference:
• Inertial frame
• Earth frame
• Geographic navigation frame
• Body frame
• IMU body frame
For clarity, the following subsections define each of these reference frames as
they apply throughout this appendix.
a) Inertial Frame
The inertial frame of reference is a Newtonian reference frame that

experiences zero specific force and angular rate of its own. It is an
absolute frame of reference and has a fixed, convenient orientation in
space.
b) Earth Frame
The Earth co-ordinate frame is fixed to the Earth with its axis arranged as
follows:
• The x-axis coincides with the axis of Earth rotation.
• The z-axis is in the equatorial plane at zero longitude (on the

Greenwich meridian).
• The y-axis completes the right-handed orthogonal frame.
Note: This definition of the Earth frame differs from the WGS-84
definition in which the z-axis coincides with the Earth rotation axis and the

Theory of Operation
x-axis coincides with the intersection of the Greenwich meridian and the
equator.
The Earth frame rotates relative to the inertial frame at a nominal 15°/hr
(or, more accurately, 15.04107°/hr).
c) Geographic Navigation Frame
The geographic navigation frame is a locally level frame of reference. The

north and east axis are tangential to the Earth surface at the current
latitude and longitude, and are defined by the north and east directions
respectively.
The third axis of the geographic navigation frame is the down axis and is
a local vertical that passes through the centre of the Earth.
d) Body Frame
The body frame is a co-ordinate frame fixed to the vessel with its axis
arranged as follows:
• The x-axis coincides with the surveyed fore-aft line of the

vessel.
• The y-axis is perpendicular to the x-axis and coincides with

the port-starboard line of the vessel.
• The z-axis is perpendicular to both the x- and the y-axis and

coincides with the surveyed vertical of the vessel.
e) IMU Body Frame
The IMU body frame uses the right-handed orthogonal co-ordinate

system with its origin at the sensing centre of the IMU. These axis are
fixed relative to the IMU and are marked by a label on the IMU housing.

Theory of Operation
INS Platform
An INS platform is one that has its accelerometers mounted on a

mechanically gimballed platform. The platform is stabilized so that it always
remains level relative to the local geographic navigation frame.
Note: POS MV does not use a mechanically stabilized platform of the type
described in this subsection. This explanation is included because it may be
easier to visualise an inertial navigation system based on a mechanical
platform than one based on a strap-down INS arrangement.
Note: POS MV uses a strap-down INS of the type described in Strap-Down

INS on page B-12.
Figure 66 on page B-11 represents a simplified INS platform suspended by

three gimbals. The platform defines a locally level navigation frame as long as
it maintains a level orientation with respect to the surface of the Earth, in spite
of any motion applied externally.
Feedback systems and a servomechanism maintain platform stability in each

axis of suspension:
• An arrangement of three gyros senses any angular rate of motion of

the platform about each axis. The arrangement places each of the
gyros orthogonally so that each responds to rotations in one axis
only.

Theory of Operation
Outer gimbal Angular resolver
Z-axis Z-axis
Middle gimbal
X-axis
Y-axis
X-axis G=Gyro
A=Accelerometer
Inner gimbal
Y-axis
Figure 66: Gimballed INS Platform Structure
• A servomotor in each axis receives the amplified signals from its

complementary gyro and rotates the gimbals axis to correct for the
measured rate of rotation. In an ideally configured and compensated
INS platform, the net angular rotation of the platform is almost entirely
removed.
This action gives the platform stability in the inertial reference frame.
In this condition, to an observer on the surface of the Earth the
platform would appear to rotate at the Earth rate of 15°/hour relative
to a locally level navigation frame.

Theory of Operation
To remove this apparent rotation, the control system makes the

platform locally level by adding to the respective feedback signals,
reference signals that cause the three gimbals axis to rotate at the
Earth rate plus the transport rate.
• With the INS housing fixed to the vessel and the platform north
aligned and locally level, the INS can measure the roll, pitch and
heading of the vessel directly from the gimbals angles of the INS
platform. It takes these measurements from angular resolvers in each
gimbals axis.
The accelerometers are also mounted orthogonally on the platform to

sense accelerations in the x, y and z directions relative to the surface
of the Earth. When the platform is aligned and level with respect to
the Earth surface, its x-axis points in a known direction, usually
towards true north.
With the platform aligned and maintained locally both stable and
level, the accelerometers align to a geographic navigation frame. In
this orientation, the accelerometer array measures specific forces that
the INS experiences relative to the inertial reference frame, and
resolves them in the geographic navigation frame.
From these measurements, the INS computes its accelerations with

respect to the surface of the Earth, also resolved in the geographic
navigation frame. The INS integrates these accelerations in the
navigation frame to obtain velocity and changes in position.
Strap-Down INS
A strap-down INS has its rate gyros and accelerometers fixed to the INS or
IMU housing. This housing is fixed to the vessel. The inertial sensor array

Theory of Operation
therefore moves and rotates with the vessel. This is the inertial navigator
mechanization used by POS MV.
The accelerometers sense specific forces with respect to the inertial frame.
These are resolved in the IMU body frame defined by the orthogonal
accelerometer and gyro arrangement.
Similarly, the gyros sense all angular rates with respect to the inertial frame.
These too are resolved in the inertial sensor frame.
The INS uses the sensed angular rates, the computed Earth rate and
transport rates to update a Direction Cosine Matrix (DCM), which describes
the mathematical transformation from the IMU body frame to a mathematically
defined geographic navigation frame.
Following transformation of the measured specific forces into the geographic

navigation frame, the navigation computations are the same as those for the
INS platform.
The navigation platform, though not a physical entity as was the gimballed
platform, exists in the navigation computer as an IMU-to-navigation frame
DCM. For this reason, the geographic navigation frame is sometimes called
the mathematical platform.
Figure 67 shows the functional architecture of a strap-down INS. The

arrangement contains an inertial sensor assembly comprising a triad of
accelerometers and a triad of gyros. Each of the three orthogonal axis of the
IMU body frame includes one accelerometer and one gyro.
The inertial sensor processor collects the digitised accelerations and angular
rates from the inertial sensor assembly and compensates these for
temperature-dependent sensor errors.

Theory of Operation
Together, the inertial sensor assembly and the inertial sensor processor
comprise the Inertial Measurement Unit (IMU). In POS MV, the IMU is a
separate self-contained unit that interfaces to the PCS through a data
interface cable.
Δθx, y , z Δθx, y , z
Gyros
Inertial Sensor Strapdown
ΔVx, y , z Processor ΔVx, y , z Navigator
Accelerometers
Inertial Sensor Inertial Sensor

Assembly Temperatures Alignment
Algorithm
Inertial Measurement Unit (IMU)
Navigation and Alignment

Navigation Solution Processor
Figure 67: Strap-Down INS Generic Architecture
The compensated inertial measurements pass to the navigation and

alignment processor, which implements the alignment algorithm and
computes the INS navigation solution.
The alignment algorithm initializes the navigation equations, implements

levelling and gyrocompassing, and obtains a mathematical platform
alignment.
In POS MV, the navigation and alignment processor is located inside the
PCS.
The strap-down INS ‘navigates’ the inertial sensors and computes the roll,
pitch and heading angles of the inertial sensor assembly relative to the
geographic navigation frame.

Theory of Operation
Generally, the housing of the INS (the IMU in POS MV) is assumed to be
aligned with the inertial sensor frame. With the inertial sensor installed so that
its x, y and z axis coincide with the forward, starboard and down directions of
the vessel hull respectively, the INS will measure the vessel roll, pitch and
heading directly. Otherwise, the INS must apply a constant installation offset
transformation to the computed roll, pitch and heading to transform the inertial
sensor assembly attitude to the hull attitude.
POS MV includes a user orientation input capability. This makes it possible to

correct the orientation of the IMU so that it delivers measurements valid for an
alternative reference frame, such as that of a multi-beam transducer or of the
vessel.
The small size and lightweight of the IMU allow it to be mounted directly on
the multi-beam transducer. From here, it can measure the transducer position
and orientation directly.
Heave Filter
POS MV measures heave by performing a double integration on the
measurements of vertical acceleration computed by the strap-down navigator,
see Figure 68.
The high pass filter limits the appearance of noise in the vertical
measurement channel caused by the strap-down navigator. Sources of such
noise could include Schuler oscillations, GNSS noise, etc.
The performance characteristics of the heave filter are:
• Filter settling time
• Steady state heave error

Theory of Operation
Filter settling time describes the time required for a transient in the heave filter
to settle to a negligible level. The filter has a transient behaviour that is
stimulated by sudden changes in the filter input. This occurs when you power-
on POS MV and when the vessel experiences abrupt changes in vertical
displacement.
Information from
POS MV Strapdown
Navigator
Vertical Acceleration
First Integration
Vertical Velocity
Second
Integration
Vertical Displacement
High Pass Filter
Heave Estimate
Figure 68: Heave Filter Architecture
Abrupt changes of this type can occur if the vessel experiences induced
heave because of speed changes. Lighter vessels respond rapidly to changes
in engine throttle settings and are therefore more likely to experience abrupt
induced heave. Conversely, larger vessels that have a heavier displacement
are not so responsive to changes in engine throttle settings and tend to
exhibit a reduced tendency towards induced heave.

Theory of Operation
If the IMU is located close to the bow of the vessel then a significant induced
heave can occur as the vessel climbs its own bow wave and pitches upwards.
Steady state heave error describes the error in measured heave after the filter
transients have decayed. This error can be characterized as follows for an
approximately sinusoidal heave motion with magnitude A and frequency ω:
Steady state heave error =
Where: ΔΑ = the gain error introduced by the heave

filter
φ= the phase error introduced by the heave

filter
Steady state heave error becomes greater at lower heave frequencies in the
frequency band of interest.
The high pass component of the heave filter is characterized by the following
parameters, both of which are configurable through the MV-POSView
Controller program:
• Heave bandwidth
• Damping ratio
The corner frequency is the lower (band reject) cut-off frequency of the high
pass filter. Its setting should be at least one decade below the lowest heave
frequency of interest. For example, if you require a heave measurement
bandwidth of 0.05 Hz (for heave periods up to 20 seconds), then you should
set the heave bandwidth to 20 seconds, and thus the corner frequency will be
0.005 Hz or lower (a heave period of 200 seconds or longer).

Theory of Operation
The damping ratio defines the transient characteristics of the heave filter and
affects the steady state heave error. The largest recommended value for the
damping ratio is 0.707, which causes the heave filter to be ‘critically damped’.
In general, this setting provides the shortest settling time among the available
damping ratios for a fixed corner frequency. A smaller damping ratio causes
the filter transient response to exhibit a decaying sinusoidal behaviour whose
settling time is longer than the critically damped settling time.
Default Heave Filter Parameters
The default heave filter parameters are:
• Heave bandwidth = 20 seconds
• Heave damping ratio = 0.707 (critically damped)
These default values give the best compromise between settling time and
steady state heave error for a vessel performing multi-beam surveys in sea
conditions up to sea state five.
On a different class of vessel in a different sea state, a different combination

of heave filter parameters may provide better results. The following guidelines
assist in selecting appropriate heave filter parameters.
Guidelines for Setting Heave Filter Parameters
The best combination of heave filter parameters will depend on the following
factors:
• Survey conditions - how often does the survey vessel change speed
or direction?
• The dynamic characteristics of the survey vessel, in particular the

induced heave following changes to engine throttle settings.

Theory of Operation
• Significant heave amplitudes caused by the response of the survey

vessel to the sea state.
You can determine empirically the correct combination of parameters for a

particular survey vessel during trials. The following are guidelines for selecting
appropriate values:
3. Select heave filter parameters according to the following criteria:
• Heave bandwidth - equal to or greater than the longest heave

period
• Heave damping ratio - in the range 0.45 to 0.71
4. Calculate the maximum allowable steady state percentage error as

follows:
Maximum heave error
Maximum percentage error =
Significant heave amplitude
Choose a heave bandwidth and damping ratio to achieve the required

maximum percentage error with the shortest settling time.
Usually, the maximum heave error is comparable with the resolution

of the bathymetric sonar that requires heave compensation. The
significant amplitude will change from one day to the next with sea
state and, therefore, so will the maximum percentage error.
For example, if the heave error should be no more than 10 cm

(comparable with the bathymetric sonar resolution), and the
significant heave amplitude is 0.5 metres on a given day, then the
maximum percentage error for that day is 20%.
5. A vessel that has a large displacement will usually exhibit more

gradual changes of speed than one that has a small displacement.

Theory of Operation
Since the dynamics of a large vessel will not significantly excite the
transient behaviour of the filter, configure the heave filter to achieve a
small percentage steady state error at the expense of a long settling
time.
Table 36 describes the variations of steady state heave error and settling time
with changes in damping ratio and bandwidth. Figure 69 through Figure 72 on
pages B-21 through B-24 respectively show plots of steady state heave error
and transient behaviour for different combinations of heave filter parameters.
Table 36: Effects of Modifying Heave Filter Parameters
Steady State
Heave Filter Tuning Settling Time
Error
Increase Increase Decrease

Damping ratio
Decrease Decrease Increase
Increase Decrease Increase
Heave bandwidth
Decrease Increase Decrease

Theory of Operation
Figure 69 shows a plot of the steady state heave error as a percentage of

heave amplitude against heave frequency for four heave bandwidths at the
default damping ratio of 0.707.
Figure 69: Percentage Steady State Error with Heave Bandwidth

Theory of Operation
Figure 70 shows a plot of steady state heave error as a percentage of heave

amplitude against heave frequency for four damping ratios at the default
corner heave bandwidth of 20 seconds.
Figure 70: Percentage Steady State Error with Damping Ratio

Theory of Operation
Figure 71 shows a plot of the heave filter response against time for four heave
bandwidths at the default damping ratio 0.707. The filter settling time is for the
impulse response to settle to 20% of the impulse magnitude.
Figure 71: Heave Filter Transient Behaviour with Heave Bandwidth

Theory of Operation
Figure 72 shows a plot of the heave filter response against time for four
damping ratios at the default heave bandwidth of 20 seconds. The filter
settling time is for the impulse response to settle to 20% of the impulse
magnitude.
Figure 72: Heave Filter Transient Behaviour with Damping Ratio
GNSS Azimuth Measurement Subsystem

POS MV delivers heading measurements with an optimal accuracy of ±0.02°.
It does this by using two distinct and independent methods:
1. Dynamic Heading Alignment - A method that uses data supplied by

the IMU and GNSS receivers to achieve a heading that is, at best,
accurate to within 0.35°.

Theory of Operation
Dynamic heading alignment delivers its best performance when the

measurement unit experiences rapid changes of direction and varying
forces of acceleration. Drift will begin to appear in the heading
measurements when these dynamic manoeuvres cease and the
vessel follows a steady course and speed.
2. GNSS Azimuth Measurement Subsystem (GAMS) - A system that

determines the geographic vector between two GNSS antennas fixed
to the vessel. It does this by comparing the phase of satellite signals
arriving at each antenna.
You can expect carrier phase differential measurements to deliver

differential range measurements with an accuracy of between two
and 10 millimetres, and heading measurements with an accuracy of
between 0.1° to 0.5° RMS. These specifications are typical of multi-
antenna GNSS attitude sensors that have antenna separations of
between one and three metres. They will vary according to the
multipath signal environment affecting the antennas.
Each of the above heading measurement methods have advantages and

disadvantages:
• An inertial navigator that undergoes dynamic heading alignment

delivers heading measurements that suffer from drift but are relatively
unaffected by noise.
• GAMS heading error is largely due to noise but exhibits no drift.
POS MV uses the advantages of each method to compensate for the

disadvantages of the other. By blending the measurements delivered by
GAMS with those delivered by the inertial navigator, POS MV averages the

Theory of Operation
heading error over time and delivers blended measurements to an accuracy

of between 0.02° and 0.1° RMS.
Heading Measurements
Heading measurements calculated by GAMS provide aiding data to the
Kalman Filter to improve the heading estimate made by the strap-down
navigator.
Baselines
Heading measurements used by POS MV are:
• The true heading of the vessel in a geographic navigation frame of

reference
• The ‘heading’ of the IMU in a geographic frame of reference - that is,

the geographic heading of the x-axis of the IMU body frame
To deliver heading measurements of the required accuracy, POS MV blends

measurements made by GAMS and measurements made by the inertial
navigator. A Kalman Filter performs this blending operation.
POS MV includes a primary and a secondary GNSS receiver, each with its
own antenna. The GNSS System topic on page 2-6 of this manual includes
instructions to install both GNSS antennas so that they are rigid relative to
each other and relative to the IMU, and are separated by a distance of
between one and five metres.
By using a carrier phase differential GNSS algorithm, POS MV can measure

the vector between the two antennas in a geographic frame of reference.
Figure 73 illustrates this situation. The Carrier Phase Differential Position

Theory of Operation
topic on page B-32 explains the process of carrier phase differential GNSS
measurement.
N Antenna 2
E
ФANT = tan-1
N
E
Antenna 1
Figure 73: Geographic Antenna Baseline Vector
POS MV computes a carrier phase differential position solution in geographic

co-ordinates of Antenna 2 with respect to Antenna 1. This is the geographical
antenna baseline vector:
E
ФANT = tan-1
N
Where: ФANT = the geographical antenna baseline vector
E = the easterly component of the position

difference between Antenna 1 and Antenna 2
N = the northerly component of the position

difference between Antenna 1 and Antenna 2

Theory of Operation
Because the geographical antenna baseline vector is referenced to true north,

it varies as the vessel changes course. However, the heading aiding data
required by POS MV is the heading of the antenna baseline referenced to the
x-axis of the IMU.
POS MV transforms the geographic antenna baseline vector ФANT to the
geographic IMU heading ФIMU using the surveyed antenna baseline vector
v
Δr 12 , which is the antenna baseline vector resolved in the IMU co-ordinate
frame. Figure 74 illustrates these headings and angles.
N
ФIMU
Antenna 2
ФANT
v
Δr 12
Antenna 1
&
IMU
YIMU
Figure 74: Baseline Comparison
Where: ФANT = geographic antenna baseline vector - the

geographic vector of the line that joins the two
GNSS antennas; this vector varies as the
heading of the vessel changes
ФIMU = geographic IMU vector - the geographic

heading of the IMU x-axis; this vector varies
as the heading of the vessel changes

Theory of Operation
v
Δr 12 = surveyed antenna baseline vector - the vector
that joins the two GNSS antennas; because
the IMU and the GNSS antennas are mounted
rigidly on the vessel, this vector remains fixed
Note: The example shown in Figure 74 is greatly simplified. It shows only the
relative yaw angles made by the baseline vectors. In practice, the
transformation of one baseline vector to another may possibly involve
rotations in all three axis - roll, pitch and yaw.
Baseline Measurement
Geographic Antenna Baseline Vector
To compute a highly accurate value for ФANT based on carrier phase

differential GNSS, GAMS must first resolve the phase ambiguities in the
differential carrier phase observables.
The GNSS receivers in POS MV use the L1 GNSS signal, which has a carrier
frequency of 1575.42 MHz and a wavelength of 19 cm. You can consider the
range between each GNSS satellite and a GNSS antenna as an integer
number of L1 wavelengths plus a fraction of a wavelength.
Each receiver can measure the fraction of a wavelength from each tracked
satellite but cannot determine the integer number of wavelengths between the
transmitting satellite and the antenna.
By using satellite pseudo-range, the receiver can reduce the uncertainty in

knowing the integer number of wavelengths to less than 100. The remaining
unknown integer number of wavelengths is the carrier phase ambiguity.

Theory of Operation
GAMS uses an On-the-Fly (OTF) ambiguity resolution algorithm to resolve the

carrier phase ambiguities. On-the-fly implies that the algorithm resolves the
phase ambiguities while the antennas are moving.
The OTF algorithm uses carrier phase measurements from five or more
satellites to estimate and, eventually, to identify a set of integer phase
ambiguities for each satellite being tracked by both receivers. The Carrier
Phase Differential Position topic on page B-32 explains this process simply.
For the OTF algorithm to work, both receivers must track at least five common
satellites to resolve the ambiguities. Preferably, they should track six or more
to resolve the ambiguities within a reasonable length of time.
The GAMS OTF algorithm uses the roll, pitch and initial heading computed by
POS MV (without GAMS heading aiding) to accelerate the ambiguity
resolution process. Practically, if POS MV uses the IMU heading alignment
process to compute the heading with an RMS accuracy of 1° or better, then
ambiguity resolution is almost instantaneous and can be completed in less
than ten seconds. You can achieve this degree of heading measurement
accuracy without GAMS heading aiding by executing a few vessel turns after
you power-on POS MV.
This facility also allows GAMS to recover very quickly following a GNSS
dropout caused by a signal blockage when passing under a bridge for
example.
Surveyed Antenna Baseline Vector
Figure 75 shows the geometry of the two GNSS antennas and the IMU. The
antenna baseline vector is shown as ∆RAB.

Theory of Operation
During normal operation, GAMS measures this vector resolved in the

geographic or North-East-Down frame (the geographic antenna baseline
vector) by using a carrier phase differential GNSS algorithm.
Antenna A
RAB
Antenna B
RA RB
xb
yb
IMU body
frame
zb
Figure 75: IMU and GNSS Antenna Geometry
To compute the heading of the IMU (that is the heading of the x-axis of the
IMU body frame) GAMS must have the components of ∆RAB resolved in the
IMU body frame (the surveyed antenna baseline vector).
These components and the length of the vector are the GAMS installation
parameters.
You can measure the GAMS installation parameters using a direct survey
method, or POS MV can calibrate them automatically as part of an antenna
installation calibration.

Theory of Operation
Both methods have advantages and disadvantages:
• Direct measurement of the parameters using precision survey

techniques provides the best heading accuracy and allows POS MV
to deliver full operational performance immediately. However, it also
involves a laborious and complicated survey exercise using qualified
survey personnel, special equipment and detailed engineering
drawings of the vessel.
• Conversely, a POS MV installation calibration provides calibration

parameters that are initially less accurate. However, the system can
perform the procedure during normal survey operations without the
need for any special additional equipment or personnel. You can
improve the accuracy of this type of calibration by empirical methods,
or by making a direct comparison with another heading instrument
such as a gyrocompass.
Refer to Initial GNSS Configuration on page 4-27 for instructions to complete

an installation calibration.
Carrier Phase Differential Position

GNSS measurements possess long-term stability and an accuracy that, with
DGNSS, can be within a few metres. However, the measurements do not
possess sufficient accuracy to allow a precise determination of the geographic
antenna baseline vector.
Instead, POS MV uses carrier phase differential position measurements to

determine the relative position of one GNSS antenna with respect to the
other.

Theory of Operation
Using this method, the differential position computed by GAMS for the two
antennas has an accuracy of between two and 10 millimetres, depending on
the local multipath environment. The heading data supplied can therefore
exhibit accuracy of the order 0.1° to 0.5° RMS, depending on the multipath
environment and on the horizontal separation distance between the two
antennas. Errors of this magnitude are typical of installations where the
antenna separation distance is between one and three metres.
Figure 76 represents the signal from one satellite in the GNSS constellation
received by the GNSS receiver. The drawing shows the true position of the
receiver, although the receiver knows this position only to a finite limit of
accuracy.
Pseudorange is the distance measured between the transmitting satellite and

the receiver, based on the correlation between the transmitted code and the
local reference code in the receiver. This measurement includes no correction
for errors in synchronization between the satellite and the receiver clocks.
In the example in Figure 76, the predicted position is shown as calculated

from the satellite pseudo-range.
GNSS signals at the L1 frequency (1575.42 MHz) have a wavelength of 0.19

metres. A GNSS receiver could compute its precise distance from a
transmitting satellite if it knew two facts:
• The exact number of integer wavelengths between the transmitter

and the receiving antenna
• The phase of the received signal
Although the GNSS receiver can measure the phase of the received signal, it
cannot determine exactly how many integer wavelengths exist between the
transmitter and the receiving antenna. It knows this value to within

Theory of Operation
approximately one hundred cycles by knowing the satellite pseudo-range, but

there remains some uncertainty in its precise determination.
Predicted position from

satellite pseudo-range
Measured
phase
Number of cycles in
transmission path
Feasible positions
Figure 76: Carrier Phase Cycle Measurement
Because of the uncertainty in its knowledge of the number of integer

wavelengths in the transmission path, the receiver has a number of feasible
true positions. These all lie along the circumferences of circles, centred on the
satellite and varying in radius by the signal wavelength.
The range to any satellite is very large and so, for the purposes of this
explanation, the feasible positions lie along parallel straight lines. These lines
are 19 cm apart and are within a circle of radius ‘R’ equal to the uncertainty in
the GNSS position solution. This is represented by the shaded circle in
Figure 77.
The uncertainty in determining which line is the one on which the actual
position lies is the carrier phase ambiguity. It can be resolved by performing
the same operation using multiple satellites.
Figure 78 shows that, by performing the same operation using signals from
two satellites, the range of feasible position solutions is reduced to a number

Theory of Operation
of points where the lines intersect. For this to be effective, the satellites must
be spaced with respect to each other so that the lines intersect at a
reasonably wide angle.
19 cm
True position lies

along one of
these lines
Figure 77: Feasible Position Solutions from One Satellite
Feasible positions
Figure 78: Feasible Position Solutions from Two Satellites

Theory of Operation
Figure 79 shows how the range of feasible position solutions reduces still
further when three satellites are used to resolve the carrier phase ambiguities.
Feasible positions
Figure 79: Feasible Position Solutions from Three Satellites
In practice, the operation is more complex than the simple explanation above.
This is for the following reasons:
• The radius of the circle of uncertainty in knowing the position of the

GNSS antenna is usually much larger than the simple examples
shown above. There are therefore many more points within the circle
that could be feasible true positions.
• Although the illustrations above show the situation in two dimensions,

the actual computation performed by POS MV involves the resolution
of carrier phase ambiguities in three dimensions.
In POS MV, resolution of the carrier phase ambiguities is one of the functions
performed by the GNSS Azimuth Measurement Subsystem (GAMS). The
process uses an aided OTF algorithm to resolve the carrier phase ambiguities

Theory of Operation
while the antennas are moving and uses the following information to reach a
resolution more rapidly:
• Antenna baseline length - the distance between the two GNSS

antennas. You can measure this distance with a tape measure to the
required accuracy of 5 mm (3/16 in). The measurement allows GAMS
to achieve ambiguity resolution within two to five minutes.
• Antenna baseline vector - the vector of the line joining the two GNSS
antennas measured in the vessel frame of reference. You can use
direct survey techniques to measure this, or POS MV can make the
measurement automatically during the installation calibration (refer to
the Surveyed Antenna Baseline Vector topic on page B-30). The
measurement allows GAMS to achieve ambiguity resolution within 10
to 30 seconds.
• Roll, pitch and heading - information supplied by the strap-down

navigator allows GAMS to achieve ambiguity resolution in one to five
seconds.
GAMS uses these three sources of information to reduce the space within
which the OTF algorithm searches for the correct ambiguity resolution.
The desired result of the carrier phase cycle measurement is the

determination of the geographic antenna baseline vector.

Theory of Operation
Alignment
Alignment is the process by which an INS determines the down and the north
directions. It does this by sensing the gravity and Earth angular rate vectors to
obtain a levelled and aligned platform.
• A gimballed INS platform (refer to the INS Platform topic on page B-

10) undergoes alignment when its servomotors physically rotate the
platform to make it level and oriented in a known direction, called the
wander angle, with respect to north.
• A strap-down INS undergoes alignment when the navigation

processor continuously updates the computed sensor-to-navigation
Direction Cosine Matrix (DCM) until the DCM describes a
transformation to a mathematical platform that is level and has a
known wander angle with respect to true north.
Both these alignment mechanisms are conceptually equivalent. The

explanations below therefore refer to the gimballed platform arrangement
because it is easier to visualise than the strap-down arrangement.
Levelling
A horizontally unaligned INS will have a tilted platform with respect to the true
horizontal of a navigation frame of reference. This tilt causes the horizontally
pointing accelerometers to sense some component of gravity coupled by the
angle of tilt, as shown in Figure 80. From this component of horizontal
acceleration, the INS computes an erroneous horizontal velocity.
A platform-levelling algorithm matches the INS-computed velocity with an

independent velocity reference and attributes the resulting velocity differences
to platform tilt errors.

Theory of Operation
During a stationary alignment, the velocity reference is zero. Tilt estimates are
then computed and applied as feedback signals to the gimbal servomotors in
a INS platform, or as corrections to the sensor-to-navigation DCM in a strap-
down INS. Because of these corrections, the velocity errors are nulled. The
platform (whether real or mathematical) is then considered horizontally
levelled.
ax
az
Figure 80: Horizontal Acceleration Error in a Tilted Platform
Gyrocompassing
Full alignment is complete when the platform is level and its x-axis points in a
known direction with respect to true north. The method by which an INS seeks
north during an alignment is called gyrocompassing.
A properly aligned platform will rotate about its north axis at Ω cos λ and
about its azimuth (yaw) axis at -Ω sin λ, where Ω is the Earth’s rotation rate
(15°/hour) and λ is the latitude. This combined motion about two axis will
compensate for the rotation of the Earth so that the platform remains locally
level.
If a heading error exists (i.e. the platform x-axis points away from north) then
there will be a small component of the Earth rate appearing in the east axis
that remains uncompensated by the INS. The platform will rotate slowly at the

Theory of Operation
Earth rate about the east axis causing the platform to tilt away from the level
at a constant rate.
This slowly increasing platform tilt causes a sensed horizontal acceleration in

the north direction due to gravity coupling as shown in Figure 80. This
northward acceleration error has the distinct characteristic of growing linearly
with time and it is therefore clearly recognisable if there are no other large
sources of acceleration error present.
In a gimballed INS platform, the ramping northward acceleration can be used

as a feedback signal to a proportional-integral feedback servomechanism.
This servomechanism rotates the platform about its azimuth axis and drives
the heading error towards zero. The levelling mechanism already described
continuously returns the platform to the level.
In a strap-down INS, the alignment algorithm separates the ramping

northward acceleration due to heading error from other constant acceleration
errors due to platform tilts. It then computes the correction needed by the
sensor-to-navigator DCM to null the acceleration error and therefore remove
the heading error.
INS operation is similar to the mechanization of a gyrocompass.
Because gravity is an observable quantity through the accelerometers,

levelling occurs rapidly, usually within 30 seconds. The actual time that it
takes to achieve levelling depends on the slewing rate of the gimbal motors of
a INS platform, or the iteration rate of a strap-down INS algorithm.
Once levelling is complete, the ramping northward acceleration error caused

by heading error becomes weakly observable against a background of
acceleration transients due to vessel motion and accelerometer noise.

Theory of Operation
The alignment algorithm must filter these random disturbances in the

acceleration signal. Therefore, a heading alignment will take longer to
complete, typically from 10 to 30 minutes depending on latitude.
Error Sources
Once the heading alignment is complete, the INS can begin to navigate free
Inertially. Free inertial navigation allows an INS to reach a navigation solution
without input from any independent form of navigation aid.
The problem with this form of navigation is that it relies totally on the accuracy
and stability of the inertial sensor assembly. In practice, there are a number of
errors to consider, each of which contributes in some way to a deterioration in
the accuracy of the navigation solution supplied by an INS:
• Alignment errors - these are errors in roll, pitch and heading

measurements following the completion of an alignment. They arise
from errors in the inertial sensing assembly and from motion
disturbances during alignment.
• Accelerometer bias - this is a constant offset in the accelerometer

output. It changes randomly each time you power-on the INS. Typical
values for high quality accelerometers, as used in POS MV, are
between 50 and 500 μg.
• Accelerometer scale factor -This is an error in the assumed scale

factor on the accelerometer output. It results in an acceleration error
proportional to the sensed acceleration. Typical values for high quality
accelerometers, as used in POS MV, are 0.01 to 0.02%.

Theory of Operation
• Gyro drift -This appears as a constant output from a gyro when there
is no angular rate of rotation present. The gyros used in POS MV
exhibit drift rates of between 1° and 5° per hour.
• Gyro random noise -This is an uncorrelated error caused by the

internal noise characteristics of the gyro. The high quality gyros used
in POS MV exhibit a spectral noise density of (0.07°)2 per hour.
The above component-specific errors cause the following navigational errors

to occur:
• Schuler oscillations having a period of 84.4 minutes (see the

information on the Schuler Oscillations on page B-44)
• Space rate oscillations having a nominal period of 24 hours
• Linear position error rate
Over short navigation periods of several hours, the space rate and the linear
position error rate are not separately observable and are therefore viewed
together.
Because of the above sources of error, POS MV cannot perform free inertial
navigation for extended periods without the introduction of an increasingly
significant error.
Instead, POS MV implements an aided inertial navigator that controls the

navigation errors and calibrates the inertial sensor errors using GNSS data as
a reference.
Aided Inertial Navigation

The primary purpose of an aided inertial navigation system, also called an
integrated inertial navigation system, is to compute a blended navigation

Theory of Operation
solution. It does this by using a complementary blending algorithm to combine

inertial navigation data with aiding data from another source.
In POS MV, the aiding data comes from the integral GNSS receivers. The
IMU and the GNSS navigation sensors are complementary because they
meet the following conditions:
• The set of navigation sensors together generate all the information

required to compute a complete navigation solution.
• The navigation sensors have complementary error dynamics because

all their error dynamics are observable. Each complementary sensor
can calibrate the errors of the other because their respective errors
are separately observable in any linear combination of their outputs.
The important characteristics of the two navigation sensors used by POS MV

can be summarised:
• The INS position error grows by several nautical miles per hour in the
long term (over several hours) but is smooth and dynamically
accurate in the short term (over a few minutes). The output also
exhibits a strongly recognisable Schuler oscillation superimposed on
the growing position error.
• The GNSS position error is noisy in the short term but exhibits a
constant long-term error of only a few metres (with DGNSS).

Theory of Operation
Schuler Oscillations
Schuler oscillations appear as regular oscillations about a mean

position in the output of a free inertial navigator. You can also see
them on the output from a gyrocompass. These oscillations have a
period of 84.4 minutes, which is the theoretical period of a
pendulum having a length equal to the radius of the Earth.
In a free inertial navigation system, the oscillations occur as the

platform (whether mechanical or mathematical) over-corrects for
small residual errors in platform levelling and alignment. These
residual errors may arise because of uncorrected bias in the
accelerometers or the gyros.
You can expect the best performance from the aided inertial navigation
system when the advantages of one navigation sensor compensate for the
disadvantages of the other.
The following is a simplified example of how navigation data from an INS and
a GNSS receiver can be blended or integrated in a complementary fashion
(refer to Figure 81). Note that POS MV uses a significantly more complex
process involving a Kalman Filter.
1. The position solution determined by the INS includes an error that

varies with time. This error comprises a drift, which increases at a
linear rate with time, and the Schuler oscillations having a period of
84.4 minutes. Depending on the quality of components used in the
INS, the overall combined effect of these two error sources can be
considerable.
2. The DGNSS receiver delivers a position solution that is stable in the

long term and includes an error of only a few metres (depending on

Theory of Operation
the quality of differential correction information supplied). However,

the DGNSS position solution includes short-term errors of several
metres amplitude that appear as ‘noise’ on the position solution.
3. Calculating the difference between the INS position and the DGNSS
position, and then passing this difference through a low-pass filter can
determine a good estimate of the INS position error. The filter
smoothes the random noise from the DGNSS solution and passes the
INS position error and the small steady-state DGNSS position offset.
4. Having obtained this estimate of the INS position error, the system
then subtracts it from the INS computed position. This delivers a
blended solution with the long-term INS position error and the
DGNSS short-term noise removed. The only remaining error is the
constant position offset from the DGNSS that has passed through the
filter.
The blended position solution now has the best characteristics of both the INS
and the DGNSS; the position solution is smoothed like the INS solution, and
has a bounded error that is less than or equal to the DGNSS solution.

Theory of Operation
1nmi
M 2m
DGPS
INS
INS position error
INS position error GPS position error
-
+
1 M
1 nmi
INS - GPS position

INS- difference
Low - pass
filter
11nmi
M
2m
20 m
+
-
Blended North position

Blended North position error Filtered INSINS- GPS
Filtered
error -
position difference
Figure 81: Example of Complementary Navigation Sensor Blending
In-Motion Alignment
The paragraphs contained under the Alignment topic on page B-38 describe
how an inertial navigation platform achieves alignment under static conditions.
An important feature that the integration of inertial navigation and GNSS
offers is in-motion alignment of the inertial navigator.

Theory of Operation
The magnitude of Schuler oscillations in the inertial navigator depends on the

quality of platform alignment. Similarly, the rate at which the position error
grows depends partly on the quality of alignment and partly on the magnitude
of gyro bias.
To accomplish in-motion alignment the simple low-pass filter shown in

Figure 81 on page B-46 is a more sophisticated filter that has built into it a
mathematical model. This mathematical model includes details of the
relationship between the quality of INS alignment, the gyro and accelerometer
errors, and the respective magnitudes of the Schuler oscillations and position
error growth.
Such a filter is an algorithm that combines the operations of filtering and

estimation. Its main function is to estimate the internal dynamics of a system
using measurements of the system outputs.
POS MV uses this ‘Kalman’ filter with the INS-GNSS position difference to
estimate the position error, and the cause of the INS position error (i.e. the
alignment errors and the inertial sensor errors).
• The INS uses the estimated alignment error to correct and therefore
improve the alignment of the INS.
• The INS uses the estimated errors in the inertial sensors to correct
and calibrate the outputs from the inertial sensors.
This process does not require the INS platform (and therefore the vessel) to
be stationary. In fact, movements of the vessel actually assist the calibration
process and provide a faster and more accurate inertial sensor calibration.

Training
Appendix C
Training
The POS MV Aided Inertial Navigation System is a complex assembly of
interactive subsystems that delivers position and attitude measurements for
use in a variety of survey applications. Those who will install, operate and
maintain the system will do so more effectively after they receive training in all
aspects of its operation.
In support of this philosophy, Applanix has developed a comprehensive

training program for all personnel who may be involved with POS MV.
Items covered by the course include:
• POS MV Overview
• Principles of Operation - Inertial Navigation Systems, GAMS, GNSS
• Hardware Installation and Configuration
• MV-POSView Controller Program Overview
• Simple Maintenance
The course includes simplified explanations for each subject. There is no

requirement for participants to be entirely familiar with electronics or
computers, although it may prove easier to grasp some of the concepts if
attendees possess some basic knowledge in these areas.
Copyright © Applanix Corporation, 2009 C-1

Software Installation
Appendix D
Applanix supplies a copy of the MV-POSView Controller software, for use with
a PC based Microsoft Windows™ environment, with each POS MV system.
This program is used to configure the POS MV once the system components
have been installed and connected.
Subsequently, you can use the program to control POS MV and to view and
log its data. Alternatively, for installations where the use of a controlling PC is
not convenient, you can configure POS MV to run in a stand-alone mode
without the need for a controlling PC.
Refer to the System Configuration and the System Operation descriptions on

pages 4-1 and 5-1 respectively for instructions on how to configure and
control the POS MV using the controller program.
Supplied Software A compact disk containing POS MV

software is included with each system.
Hardware and Software The minimum requirements of a Personal

Requirements: Computer (PC) running the POS MV
software are listed.
MV-POSView Controller The MV-POSView Controller program must

Program: be run from the hard disk of the controlling
PC. You cannot run the program from the
installation Compact Disk (CD).
Copyright © Applanix Corporation, 2009 D-1

Firmware Upgrade: Upgrading the POS MV embedded

firmware from a PC connected through the
Ethernet port.
Supplied Software
A compact disk containing POS MV software is included with each system.
The following provides a brief description of the software contained on the
CD.
• MV-POSView Controller - required to configure the various POS MV

components, operate the system, access and display information,
and to monitor system health.
• POSLoader - windows based Graphical User Interface (GUI)

application that is required when upgrading the POS MV firmware; it
automates firmware upgrades through an Ethernet port. The software
checks the current version of POS firmware and updates the
requested new firmware. POSLoader requests a password prior to
operation.
• POSConfig - windows based GUI application that is required for

enhancements or automating changes to the POS MV system setup
(e.g. enabling the Analog Output software option). Pricing and
enabling passwords are available from Applanix Customer Support.
Hardware and Software Requirements

Make certain the controlling PC meets or exceeds the requirements outlined
in Table 37.
D-2 Copyright © Applanix Corporation, 2009

Table 37: Controlling PC Requirements
Item Minimum Requirements
Processor Intel Pentium® III or equivalent

Memory 128 MB RAM
Operating System Microsoft Windows® 2000 or XP
Free Disk Space 8 MB
Ethernet Card 10/100 Base-T Ethernet; IEEE 802.3 Standard

You must install the MV-POSView Controller program on the hard disk of the
controlling PC. You cannot run the program directly from the installation
compact disk.
This program communicates with POS MV through an Ethernet LAN port. You
must have Microsoft Windows™ 2000 or XP installed on your PC before you
can install and use the controller program.
Note: Applanix recommends the removal of previous versions of the POS

Controller. Keeping previous versions may result in user confusion and
program instability.
To install the MV-POSView Controller program:
1. Open Windows™ on controlling PC.
2. Insert Compact Disk (CD) containing POS MV software into

controlling PC’s CD drive.
3. Select Start, Run from Windows™ Desktop.
4. Enter a:setup.exe.

5. Select OK to start software installation.
6. PC should display setup window with MV-POSView Controller Setup

dialogue. This includes a default installation directory that can be
changed to another location.
7. Select Continue. If controller directory does not exist, installation

software will create it. During installation, program copies a number of
files from compact disk to controller directory. These files include
posmv.exe executable file; posmv.hlp file, a read.me file and a set of
dynamically linked library files (*.dll).
8. Installation software prompts for creation of icons. Skip this step if

default icons are preferred. Otherwise, select default program group
or a new program group (either of which are created by installation
software through Windows™). Also, icons may be installed into an
existing program group.
This completes the installation of the MV-POSView Controller program.
Firmware Upgrade
You can upgrade the embedded software inside the PCS by connecting to the
PCS through its Ethernet interface and using the POS Loader program to
upload the new files.
1. Contact Applanix for an authorization code. Also, S/N of PCS is

required.
2. Copy upgrade file to PC. Upgrade file is available from Applanix or

may be downloaded from Internet site. Upgrade file is larger than two
MB and may take a considerable time to download.
D-4 Copyright © Applanix Corporation, 2009

3. Once file saved to PC hard disk, run POS Loader program. Program
locates PCS on your network and displays its network address. Select
PCS and then continue with upgrade procedure.
4. A dialogue panel appears and lists product identification and serial

number. Write these details down carefully and contact Applanix.
5. In Loader program, type authorization code into its text field and
continue with upgrade.
6. Observe progress of file transfer and wait for software prompts.

During reboot sequence, PCS decodes and error-checks upgrade
software prior to beginning normal operation. These additional steps
mean that first Initialization sequence, after installing an upgrade, will
take considerably longer to complete than normal. Resulting total
boot time will be approximately three to four minutes. Subsequent
Initializations will proceed normally.
7. Run MV-POSView Controller program and select View, Statistics to

verify that system is successfully upgraded. Note software revision
level.
This completes the upgrade procedure.
Note: The error checking routine performed by the PCS prevents the system
from overwriting the current version of firmware until it has error-checked the
new version. If the PCS finds a corruption in the new file, it will abort the
upgrade procedure and retain the previous version of software.

Drawings
Appendix E
Drawings
Figure 82: IMU Type 17 Footprint
Figure 83: IMU Type 2 Footprint
Copyright © Applanix Corporation, 2009 E-1

Drawings
Figure 84: IMU Type 2 Base Plate Footprint
E-2 Copyright © Applanix Corporation, 2009

Drawings
Figure 85: Zephyr Model 1 GPS Antenna Footprint
9.37 CM
Figure 86: Zephyr Model 2 GNSS Antenna Footprint

Drawings
Figure 87: PCS Footprint – POS MV V4-1

Drawings
Figure 88: PCS Footprint - POS MV V4

Drawings
Figure 89: Power Cord - POS MV V4

Patch Test
Appendix F
Patch Test
This appendix suggests a simple procedure for performing a patch test to
remove any residual errors in the POS MV mount angle configuration. You
should perform a patch test before you use POS MV data for survey
purposes.
Note: The calibration procedures explained in this appendix provide generic

guidance only.
Note: Specific survey sonar may require different procedures, or individual

survey companies may set their own patch test procedures. You should follow
the instructions in this appendix only if there are no preferred procedures
already in force.
Survey Area
To complete the calibration operations detailed in this appendix successfully,
the vessel should perform a series of survey lines and manoeuvres over an
area of seabed that conforms closely to the following requirements:
1. There should be two distinct regions:
• A region where the seabed is flat and level
• A region immediately adjacent where the seabed slopes at a

relatively steep angle (greater than 10°)
Figure 90 shows an ideal survey calibration area.
Copyright © Applanix Corporation, 2009 F-1

Patch Test
2. Ideally, the survey calibration area should also include a readily

identifiable target object at a fixed position on the seabed. This could
be a rock, a wreck or any other relatively small structure.
3. The survey calibration area should be sufficiently large so that the

survey vessel can manoeuvre freely within its boundaries and can
perform a series of straight survey lines approximately 300 to 500
metres long.
D C
X
E
B
A X
Figure 90: Ideal Survey Calibration Area
Calibration
The procedure outlined in this appendix includes a calibration check on the

following parameters. Perform the following:
• Roll measurement
• Position time delay
F-2 Copyright © Applanix Corporation, 2009

Patch Test
• Gyrocompass heading
• Pitch measurement
Roll Calibration
Complete the gyrocompass calibration routine and remove any offset that
may exist.
1. Sail a line to survey the flat region of the test area (A to B of Figure 90
on page F-2).
2. Turn through 180° and sail a reciprocal course along the same line.
Log this line separately from the first survey line.
3. Use the multi-beam software and select a single point along both
survey lines (point O of Figure 90 on page F-2). Examine the profile of
the seabed perpendicular to the course of the vessel at this point (the
line X–X of Figure 90 on page F-2) and confirm that both survey lines
show the same seabed profile. They should be substantially
coincident as shown in Figure 91 on page F-4. If they are not (as
shown in Figure 92 on page F-4), this indicates that there is a
constant steady state roll offset in the mounting angles. Use the multi-
beam software to compensate for this offset.
4. Repeat the above survey tests to confirm that any adjustments you
make to the multi-beam software have removed the roll offset.
5. As a final check, perform a similar survey following the line D–E in

Figure 90 on page F-2. At the end of the survey line, turn through
180° and repeat the survey line E–D, logging both lines separately.
Check that the profiles from both survey lines coincide where they
cross the line B–C.

Patch Test
Figure 91: Correct Roll Calibration
Figure 92: Incorrect Roll Calibration
Position Time Delay
1. Complete a sound velocity profile for the multi-beam sonar and

correct any errors that may exist.
2. Set a vessel speed of 4 knots and sail a straight line that crosses the
flat and the sloping regions of the test area (line A-C in Figure 90 on
page F-2). Repeat the line on a reciprocal heading and at the same
speed. Log both lines separately.
3. Increase the vessel speed to 8 knots and repeat both lines. Log both
lines separately.
4. Compare the two lines surveyed in the same direction but at different
speeds. Any offset that appears on the seabed chart between the two
runs arises from a position time delay. Use the multi-beam software to
correct any such error.
5. Now compare the two lines that run in opposite directions but at the
same speed. Any offset that appears on the seabed chart between
these two runs arises from a pitch offset in the mounting angles. Use
the multi-beam software to correct any such error.

Patch Test
6. Finally, repeat the survey lines to verify that you have removed all
offsets successfully.
Gyrocompass Heading
a) Harbour Calibration
Ideally, you should perform the gyrocompass calibration while the vessel
is in a harbour:
1. Power-on the POS MV and allow it to settle in accordance with

instructions supplied by the manufacturer.
2. With the vessel tied alongside use survey techniques to

determine the precise heading against a known landmark. Record
this value together with the heading displayed by the
gyrocompass.
3. Turn the vessel through 180° and again measure the precise
heading of the vessel. Record this value together with the
heading displayed by the POS MV.
4. Note any offsets that may exist between the two values for
surveyed heading and the corresponding values for gyrocompass
heading. Follow the instructions supplied by the sonar
manufacturer to configure the system with these gyrocompass
offset values.
b) Sea Calibration
You can use the following procedure to calibrate the gyrocompass at sea.
However, this method is inherently less accurate than the preferred
method detailed above and you should use it only where there are no
alternatives.

Patch Test
1. Sail a straight course while making a calibration survey chart of

the seabed. Observe the position of a target object on the chart
which, ideally, should occur at about the halfway point of the
survey line.
2. At the end of the first survey line, turn the vessel through 180°
and repeat the survey line in the opposite direction. Again, note
the position of the target object.
3. Any gyrocompass offset will appear as an apparent shift in the
position of the target on the seabed.
Survey Procedure
Each operator is likely to have a standard procedure that you should follow
when performing a multi-beam survey. Similarly, the manufacturer of the
multi-beam system is likely to have a set of specific instructions detailing how
to configure and use their system within such a survey. You should give
precedence to any existing instructions and operating procedures over the
procedures outlined in this appendix.
Generally, the following procedures should be included as part of any multi-

beam survey:
1. Verify the sound velocity profile.
2. Even if the system was previously calibrated, the first and the last
survey lines should be sailed in both directions to enable a post-
processing calibration check.
3. Finally, an extra line should be sailed perpendicular to the other
survey lines. This allows detection of any changes in sound velocity
or tidal action during post-processing.

IP68 Connector Handling Instructions
Appendix G
IP68 Connector Handling Instructions
Handling Instructions
• The connector should not be exposed to long term heat or sunshine.
• If this occurs, and the connectors are very dry, soak in fresh water before
use.
• Ensure the connectors are lubricated - the recommended lubricant is
Loctite 8021 as a spray or Molykote 44 Medium as a paste - use either
sparingly.
• Any accumulation of sand or mud in the female contact should be
removed with fresh water. Spraying or the application of grease could
dammage the the female seals; see Figure 93.
• Do not over tighten the bulkhead nuts
• Do not disconnect by pulling on the
cable and avoid sharp bends at cable
entry.
• When disconnecting, pull straight, not
at an angle.
Ensure the above points are fulfilled to get
the best out of your connectors. If in
doubt, please contact Applanix.
Figure 93: IP68 Connector
Copyright © Applanix Corporation, 2009 G-1

POS-GNSS Timing
Appendix H
POS-GNSS Timing
Background
Global Navigation Satellite System (GNSS) time is a continuous
measurement of time from an epoch started on January 6, 1980 at midnight
(0 hours 0 minutes 0 seconds) Universal Time Coordinated (UTC). GPS Time
is often stated in a number of weeks and seconds from this GPS Time epoch.
GPS Time does not introduce leap seconds and therefore, is ahead of UTC
by a number of seconds.
The GNSS Master Control Station, located at Schriever AFB in Colorado,

steers GPS Time to within one microsecond (less leap seconds) of UTC.
Navigation messages transmitted by the Space Vehicles (SVs) contains
parameters that permit users to compute an estimate of the current
GNSS/UTC sub-microsecond difference as well as the number of leap
seconds introduced into UTC since the GNSS epoch. GPS Time is derived
from the GNSS Composite Clock (CC), consisting of the atomic clocks at
each Monitor Station and all of the GNSS SV frequency standards.
The following identify a few of the many time standards:
• Local time is the date/time reported by your PC (as seen by your web
browser). Local time differs from UTC by the number of hours for your
time zone (plus local PC clock errors).
• UTC, popularly known as GMT (Greenwich Mean Time), or Zulu time.
Copyright © Applanix Corporation, 2009 H-1

POS-GNSS Timing
• GNSS, Global Navigation Satellite System time, is the atomic time

scale implemented by the atomic clocks in the GNSS ground control
stations and the GNSS satellites.
• TAI, Temps Atomique International, is the international atomic time

scale based on a continuous counting of the International System of
Units (SI) second.
Because GNSS and TAI time do not have leap seconds, they will change by
one second with respect to UTC whenever a leap second is inserted. GNSS
and UTC time scales were aligned when GPS Time began on January 6,
1980. TAI and UTC time scales were aligned when TAI time began on
January 1, 1958.
GNSS to
TAI to UTC
Date UTC Offset Date
Offset (sec)
(sec)
Jan 6, 1980 0 Jan 1, 1980 19

Jul 1, 1981 1 Jul 1, 1981 20
Jul 1, 1982 2 Jul 1, 1982 21
Jul 1, 1983 3 Jul 1, 1983 22
Jul 1, 1985 4 Jul 1, 1985 23
Jan 1, 1988 5 Jan 1, 1988 24
Jan 1, 1990 6 Jan 1, 1990 25
Jan 1, 1991 7 Jan 1, 1991 26
Jul 1, 1992 8 Jul 1, 1992 27
Jul 1, 1993 9 Jul 1, 1993 28
Jul 1, 1994 10 Jul 1, 1994 29
H-2 Copyright © Applanix Corporation, 2009

POS-GNSS Timing
GNSS to
TAI to UTC
Date UTC Offset Date
Offset (sec)
(sec)
Jan 1, 1996 11 Jan 1, 1996 30

Jul 1, 1997 12 Jul 1, 1997 31
Jan 1, 1999 13 Jan 1, 1999 32
Jan 1, 2006 14 Jan 1, 2006 33
Notes:
1. GNSS and TAI are ahead of UTC time, see Figure 94.
Figure 94: GNSS. TAI and UTC Time
2. Consult the International Earth Rotation Service (IERS) web

pages for more quantitative information.
GNSS Timing Basics

One Pulse Per Second
The basis for all time and frequency functions is the One Pulse Per Second
(1PPS) signal supplied by the GNSS receiver. This signal is typically a short
logic pulse, one edge of which is adjusted by the receiver to be ‘on time’ with
respect to the one second epoch of UTC. In order to do this, the GNSS
receiver needs to know its position.

POS-GNSS Timing
If the position is unknown, the receiver can find its own position and solve for
time by tracking four or more GNSS satellites. This is called the dynamic
mode, and is the mode used in moving platform applications.
Alternatively, timing receivers can be told to use a known fixed position, in

which case the receiver can solve for time by tracking a minimum of one
satellite. This is called the static mode, and it is used in applications where the
position is fixed.
Timing Accuracy
Errors in the time of occurrence of the 1PPS pulses from the GNSS receiver
consist of three parts:
• Bias - a fixed offset due to uncompensated delay errors in the

receiver/antenna system
• Drift - variations in timing over long periods due primarily to

differences in satellites tracked over time
• Jitter - short-term variations in timing from pulse to pulse
These error sources are inherent in the both the GNSS system and the GNSS
receiver. The sum of these errors can be as low as a few tenths of a
microsecond or up to a few microseconds. This high level of accuracy is
possible because the timekeeping maintained within the GNSS system is
continuously adjusted to null out timing errors.
Output Characteristics
The 1PPS signal (from the GNSS) is usually in the form of a pulse of whose
duration varies between microseconds and milliseconds, at Transistor-
Transistor Logic (TTL) or RS-232 signal levels.

POS-GNSS Timing
Time Message
The 1PPS signal provides an accurate time mark, but is ambiguous unless
coupled with a time stamp. Most timing systems specify a time message that
is transmitted (usually over a serial data port) that gives the date and time of
day for each occurrence of the 1PPS signal. This time message is sent in
between the 1PPS signals and may be specified to time-tag either the 1PPS
that has just occurred, or the one that is just about to happen.
POS System Timing

To synchronize external equipment time with received GPS Time, the external
equipment reads and records the occurrence of the 1PPS signal (present at
the rear panel PPS OUT port at a rate of 1 Hz) in user time. With the time
differential known, the external device calculates the GPS Time.
The Events pane in MV-POSView, see Figure 95, displays the UTC time of
the two most recent signals (known as events) from sources external to the
Position and Orientation System (POS) system. In addition, the PPS field
displays the UTC time of the most recent PPS pulse transmitted by the
primary GNSS receiver. The Count field for PPS indicates the total number of
signals recorded from the GNSS receiver, while the Count fields for Events 1
and 2 indicate the number of event pulses recorded.
Figure 95: Events Group

POS-GNSS Timing
1PPS Timing
For external timing purposes, the PCS outputs a 1PPS signal that is available
at the PPS OUT connector on the POS Computer System (PCS) back panel.
The PPS signal (1 ms) is an active low TTL strobe with the falling edge
coincident with the exact GNSS second; refer to Figure 96.
There are two NMEA (page 3-4) and two binary (page 3-19) messages that
convey timing, the $UTC and $INZDA, and the PPS and TM1B respectively.
Both message formats are synchronized to the 1PPS and are available on
any COM port.
Figure 96: 1PPS Time Synchronization
The NMEA and binary time outputs are synchronized to the PPS signal.
Specifically, the PPS signal initiates the generation of the time message,
which occurs from 0 to 5 ms after the pulse. The time stamp contained in the
time message is the time when the message was constructed, not the integer
time of the PPS signal. In addition, there is a maximum of 5 ms latency in the
output of the message on the COM port. The exact timing will vary during the
course of a survey mission.

POS-GNSS Timing
Time and Distance Tags
POS is capable of simultaneously making Time and Distance tag events.

These tags can be used to identify the start and/or end of data collection, and
to synchronize POS data with data from other sensors or systems.
EVENT TAGS
Events are tagged with GNSS, UTC, POS or User time. Distance is computed
by the PCS from the POS distance data. To tag an event, a Transistor-
Transistor Logic (TTL) level signal is input into POS. The rising or falling edge
corresponds to the exact time and distance of the event. The TTL signal is
connected to either the Event 1 or Event 2 line.

GLOSSARY
Acceleration of Gravity
Acceleration of Gravity (g), not to be confused with the force of gravity
(Fgrav), is the acceleration experienced by an object when the only force
acting upon it is the force of gravity. On and near the Earth's surface, the
value for the acceleration of gravity is approximately 9.8 m/s/s. It is the
same acceleration value for all objects, regardless of their mass (and
assuming that the only significant force is gravity).
Angular Rate
Defines how quickly an angle is changing. The faster the angle changes,
the higher the angular rate. Can be expressed as:
change in angle .
duration of angle change
ASCII
American Standard Code for Information Interchange. A code in which
each alphanumeric character is represented as a number from 0 to 127,
translated into a 7-bit binary code for the computer.
Attitude
Attitude determination is the process of estimating the orientation of a
vehicle (space, air, marine or land) by using known reference points and
vehicle attitude. Vehicle attitude sensors supply roll, pitch, and yaw data to
a computer for processing with navigational data (reference points).
Baseline Vector
X, Y and Z components of the displacement from the Primary to secondary
GNSS antenna phase centre. The baseline vector is resolved in the
Vehicle body frame.
Copyright © Applanix Corporation, 2009 Glossary-1

Baud Rate
Baud Rate, in computer science, is commonly a reference to the speed at
which a modem can transmit data. Often incorrectly assumed to indicate
the number of bits per second (bps) transmitted, baud rate actually
measures the number of events, or signal changes, that occur in one
second. Because one event can actually encode more than one bit in high-
speed digital communications, baud rate and bits per second are not
always synonymous, and the latter is the more accurate term to apply to
modems. For example, a so-called 9600-baud modem that encodes four
bits per event actually operates at 2400 baud but transmits 9600 bits per
second (2400 events times 4 bits per event) and thus should be called a
9600 bps modem.
Bit
The smallest element of computer storage, the bit is a single digit in a
binary number (0 or 1). Groups of bits make up storage units in the
computer, called "characters," "bytes," or "words," which are manipulated
as a group. The most common is the byte, made up of eight bits and
equivalent to one alphanumeric character.
Bits are widely used as a measurement for transmission. Ten megabits

(Mb) per second means that ten million pulses are transmitted every
second. Measurements for storage devices such as disks, files and
databases are given in bytes rather than bits.
Byte
The common unit of computer storage from micro to mainframe, the byte
is made up of eight binary digits (bits). A ninth bit may be used in the
memory circuits as a parity bit for error checking. The term was originally
coined to mean the smallest addressable group of bits in a computer (has
not always been eight).
Glossary-2 Copyright © Applanix Corporation, 2009

C/A
The coarse/acquisition or clear/acquisition code modulated onto the GNSS
L1 signal. This code is a sequence of 1023 pseudorandom binary bi-phase
modulations on the GNSS carrier at a chipping rate of 1.023 MHz, thus
having a code repetition period of one millisecond. The code was selected
to provide good acquisition properties. Also known as the "civilian code".
Control Port
Accessed via the LAN connector, the Control Port is designed to receive
and acknowledge setup and control commands from MV-POSView
Controller. The Control port is not a physical port. Rather, it is a subset of
the Ethernet Interface.
Data Port
Accessed via the LAN connector, the Data Port is designed to broadcast
high rate navigation and raw sensor data. The Data port is not a physical
port. Rather, it is a subset of the Ethernet Interface.
DGNSS
Differential GNSS. A technique used to improve positioning or navigation
accuracy by determining the positioning error at a known location and
subsequently incorporating a corrective factor (by real-time transmission of
corrections or by post-processing) into the position calculations of another
receiver operating in the same area and simultaneously tracking the same
satellites.
Dilution of Precision
Dilution of Precision (DOP) is a dimensionless number that accounts for
the purely geometric contribution of the position of the satellites to the
uncertainty in a position fix. Standard terms for the GNSS application are:
GDOP-Geometric Dilution of Precision (three position coordinates plus
clock offset in the solution); PDOP-Position Dilution of Precision (three

coordinates); HDOP-Horizontal Dilution of Precision (two horizontal
coordinates); VDOP-Vertical Dilution of Precision (height only); TDOP-
Time Dilution of Precision (clock offset only); RDOP-Relative Dilution of
Precision (normalized to 60 seconds).
Display Port
Accessed via the LAN connector, the display port is designed to broadcast
low rate (once per second) data and status information for display by MV-
POSView Controller. The display port is not a physical port; it is a subset
of the Ethernet Interface.
Dropout
Loss of signal.
Ephemeris
The predictions of current satellite positions transmitted to the user in the
data message. A list of accurate positions or locations of a celestial object
as a function of time. Available as "broadcast ephemeris" or as post-
processed "precise ephemeris."
Force of Gravity
Gravity is a force that exists between the Earth and objects which near it.
All objects on Earth experience this force and is represented it by the
symbol Fgrav.
GNSS
Global Navigation Satellite System. A constellation of satellites that allows
precise determination of position by analysis of satellite signals.
GPS Time
Highly accurate time system with units of Weeks and Seconds. GPS Time
is offset from UTC time by an integer number of seconds.

IP Address
An Internet Protocol Address is a series of numbers that identifies a
specific computer.
Kalman Filter
A Kalman Filter is an algorithm that refines imprecise data to provide a
more accurate estimate of a system’s current state.
NMEA
National Marine Electronics Association. NMEA is a standard for
interfacing electronic devices. This standard includes the definition of
specific message formats.
Point of Validity
The Point of Validity defines the geographical location to which a particular
set of data applies.
Post-Processing
Non real-time navigation solution computation from previously collected
and recorded raw sensor data.
Pound
The pound (avoirdupois) or international pound is the mass unit defined as
exactly 0.45359237 kilograms (or 453.59237 grams). It is part of the
avoirdupois system of mass units. There are 16 ounces in a pound
(avoirdupois). The pound is equal to exactly 7000 grains, where a grain is
officially defined as exactly 0.06479891 gram. The legal definition of the
pound in the United Kingdom and Canada are the same as in the United
States, and were unified to their current value in 1960.

PPS Mode
Precise Positioning Service capable GNSS receivers have higher
accuracy than C/A code receivers, but are currently only available for
military use.
PPS Strobe
The Pulse per Second Strobe is a TTL-level signal; generated once per
second, whose falling edge is coincident with the GNSS second.
Pseudo-range
A GNSS distance measurement that has not been corrected for
differences in synchronization between the satellite and receiver clocks.
TCP/IP
TCP/IP is a routable protocol, and the TCP part provides transport
functions, which ensures that the total amount of bytes sent is received
correctly at the other end.
The IP part of TCP/IP provides the routing capability. In a routable

protocol, all messages contain not only the address of the destination
station, but the address of a destination network. This allows TCP/IP
messages to be sent to multiple networks within an organization or around
the world, hence its use in the worldwide Internet. Every client and server
in a TCP/IP network requires an IP address that is either permanently
assigned or dynamically assigned at start-up.
Time of Validity
Time of Validity defines the exact time at which a particular set of data are
current.
TTL Level Signal

TTL Level Signals are DC signals interpreted in a discrete fashion. A
signal below 0.8V is interpreted as a LOW, and a signal above 3.3V is

interpreted as a HIGH. TTL signals can be likened to a binary system,
where LOW is equivalent to 0, and HIGH is equivalent to 1.
UDP
UDP is a collection of protocols similar to TCP/IP. Most notable among the
differences is that data broadcast in UDP can be read by any computer on
the network. In contrast, TCP/IP messages are directed at particular
computer.
UTC
Coordinated Universal Time is a precise atomic time system, offset from
GPS Time by an integer number of seconds. Also known as Greenwich
Mean Time (GMT).

INDEX
1PPS TSM 5265, 3-24
binary time message, H-6 TSS1, 3-20
message, H-5 Cables
NMEA time message, H-6 analog port, 2-36
Analog Interface Feature, 2-38 ANT, 2-38
Analog Interface Option, 1-16, 4- COM ports, 2-26
21 event ports, 2-29
Antenna Separation, 2-48 GNSS ports, 2-28
Assembly Procedures, 9-25 I2C port, 2-38
GNSS antenna, 9-28 IMU, 2-22
GNSS antenna cable, 9-31 LAN, 2-34
IMU, 9-27, 9-33 mPOS
IMU cable, 9-30 I/O, 2-23
AutoRecovery, 1-16, 5-13 power, 2-21
AutoStart, 1-6, 1-17, 4-6, 4-19, 5- PPS ports, 2-36
18, 5-29
special for 19-inch RM, E-6
enable, 4-19
Change Parameters, 4-40
Auxiliary GNSS Receiver, 2-38
COM Port Settings, 3-3
Binary Formats, 3-19
COM Ports
Binary String Formats
default configuration, 2-27
Atlas, 3-27
Component Descriptions, 9-2
Simrad 1000, 3-21
GNSS antennas, 9-3
Simrad 3000, 3-23
IMU, 9-3
Copyright © Applanix Corporation, 2009 Index-1

PSC, 9-4 heave, 5-8
Configuration, 4-12 attitude pane, 5-6
automatic, 4-15 data logging, 5-14
GNSS, 4-27, 8-1 dynamics pane, 5-7
antenna calibration, 4-27 events pane, 5-9
parameter correction, 4-35 faults window, 5-11
GNSS reset, 8-1 GAMS, 5-18
initial, 4-12 hardware requirements, D-3
AutoStart, 4-19 installation, D-1
GNSS receiver, 4-25 IP address, 4-8
heave filter, 4-24 load configurations, 4-41
output ports, 4-20 main window, 5-3
parameters, 4-13 position pane, 5-6
save settings, 4-26 save configurations, 4-41
Connector Pin Assignment save settings, 4-40
IMU, 2-22 sensor data window, 5-9
mPOS attitude pane, 5-10
I/O, 2-23 dynamics pane, 5-11
power, 2-21 heave field, 5-11
Connector Summary position pane, 5-9
mPOS, 2-19 velocity pane, 5-10
rack mount, 2-15 wander angle field, 5-11
Control Port, 2-35 software requirements, D-3
Controller, 4-6 speed pane, 5-9
accuracy pane, 5-7 status pane
Index-2 Copyright © Applanix Corporation, 2009

GAMS, 5-6 window, H-5
IMU status, 5-5 Events, 2-29, 2-30
nav status, 5-5 generators, 2-31
POS mode, 5-4 type I generator, 2-30
velocity pane, 5-7 type II generator, 2-31
Data Logging Fault Finding, 9-4
Ethernet, 1-18 fault detection window, 9-7
Data Port, 2-35 fault warning messages, 9-18
Diagnostics, 8-3 indicators, 9-5
control, 8-3 message log, 9-11
display, 8-5 Fault Identification, 9-1
Display Port, 2-35 FDIR, 1-16, 5-13
Echo-Sonar, 2-39 Front Panel Indicators, 4-4
Environmental Functions
GNSS antenna, 2-5 POS MV V4, 1-14
IMU, 2-5 Galvanic Corrosion, 2-5
PCS, 2-6 GAMS, 4-27
Ethernet abnormal behaviour, 5-22
control port, 3-1 normal operation, 5-18
display port, 3-1 operation with, 1-12
logging data port, 3-1 operation without, 1-10
real-time data port, 3-1 overview, 1-8
Event 1/2, H-7 parameter setup, 5-26
Event Tagging stand-alone operation, 5-29
signal format, 2-29 GNSS

configuration, 4-27, 8-1 tightly coupled, 1-3
reset, 8-1 Install
GNSS Antenna GNSS antenna, 2-8
Applanix, 2-8 GNSS system, 2-6
GNSS Antennas IMU, 2-10
cables, 2-38 mPOS
GNSS Receiver Subsystem, 1-7 PCS, 2-18
GNSS Status Light, 4-5, 9-6 PCS cables, 2-19
Grounding, 2-18 rack mount
19-Inch Rack Mount, 2-6, 8-6, 9- PCS, 2-13
1 PCS cables, 2-15
mPOS, 2-6, 2-21, 8-6, 9-1 Installation Checklist, 2-53
Handling, 2-1 Installation Parameters, 2-39
GNSS antenna, 2-2 antenna seperation, 2-48
IMU, 2-1 checklist, 2-53
PCS, 2-2 lever arm distance, 2-40, 2-43
Heave mounting angle, 2-41
analog interface option, 1-16, 4- mounting angles, 2-49
21
reference to -
trueheave, 1-15
aux GNSS lever arm, 2-46
trueheave operation, 6-1
GNSS lever arm, 2-44
IMU Status Light, 4-5, 9-6
heave lever arm, 2-46
IMU Subsystem, 1-7
IMU lever arm, 2-43
Inertial/GNSS Integration
sensor 1 lever arm, 2-45
loosely coupled, 1-3
sensor 2 lever arm, 2-45

vessel lever arm, 2-44 LOGGING, 4-5, 9-7
Interface Power, 4-5, 9-7
analog port, 2-36 PPS, 4-5, 9-6
ANT, 2-38 SYS, 4-4, 9-5
COM ports, 2-26 LOGGING Status Light, 4-5, 9-7
event ports, 2-29 Maintenance, 8-6
GNSS ports, 2-28 GNSS antenna, 8-7
I2C, 2-38 IMU, 8-7
IMU, 2-22 PCS, 8-8
LAN, 2-34 Mounting Angles, 2-41, 2-49
mPOS frames of reference, 2-49
I/O, 2-23 right-hand orthogonal, 2-50
power, 2-21 Tate-Bryant rotation, 2-49
PPS ports, 2-36 wrt to reference frame -
special power cable, E-6 IMU, 2-52
Interfaces sensor 1, 2-52
POS MV V4, 1-19 sensor 2, 2-53
IP Address Navigate Mode, 1-17, 4-5, 4-6, 4-
changing, 4-9 19, 4-31, 5-5, 5-18, 9-6, 9-40
LAN Status Light, 4-5, 9-7 NMEA Formats, 3-3
Lever Arms, 2-40 NMEA Sentence Formats
Light $INGGA, 3-5
GNSS, 4-5, 9-6 $INGGK, 3-8
IMU, 4-5, 9-6 $INGST, 3-11
LAN, 4-5, 9-7 $INHDT, 3-10

$INVTG, 3-10 mPOS
$INZDA, 3-16 power-off, 4-38
$PASHR, 3-14 power-on, 4-3
$PRDID, 3-15 PCS, 2-4
$UTC, 3-17, 3-18 power-off, 4-36
Operating Modes, 1-6 power-on, 4-1
Password Protection, 4-41 rack mount
PCS Subsystem, 1-7 power-off, 4-38
Port Formats, 3-1 power-on, 4-2
ANALOG, 3-2 Power Status Light, 4-5, 9-7
Ethernet, 3-1 PPS, 2-36
LAN, 3-1 PPS Ports
Port Settings, 3-1 signal format, 2-37
COM, 3-3 PPS Status Light, 4-5, 9-6
GNSS, 3-30 RTK, 2-46
NMEA Sensors, 1-3
update rate, 3-19 Software
POS Config Utility, 4-43 MV-POSView Controller, D-2
POS Timing, H-5 POSConfig, D-2
Power, 2-4 POSLoader, D-2
both systems requirements, 1-20
power-off, 4-39 Sonar, 2-39
power-on, 4-4 Specifications, 7-1
GNSS antenna, 2-4 Standby Mode, 1-6, 4-6, 4-19
IMU, 2-4 Storage, 2-3

Support, A-1 UTC, H-1
SYS Status Light, 4-4, 9-5 Troubleshoot, 9-34
System Overview, 1-1 Ethernet communications, 9-44
Tags GAMS not ready, 9-40
events, H-7 GNSS not available, 9-37
time, 4-17 initialization failure, 9-36
Time & Distance, H-7 serial communications, 9-41
Time total system failure, 9-35
1PPS, H-3 TrueHeave, 1-15
accuracy, H-4 Unpacking, 2-2
atomic, H-2 Upgrade
GNSS, H-1 primary GNSS software, 2-16,
leap second, H-2 2-20
local, H-1 secondary GNSS software, 2-

17, 2-20
tags, 4-17
UPS, 2-17
user, H-5
User Time Data, 4-18
user time data, 4-18

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POS MV V4 User Guide

Copyright © Applanix Corporation, 2009

Copyright © Applanix Corporation, 2009

Copyright © Applanix Corporation, 2009

Manufacturer's Address: 85 Leek Crescent

Application of Council Directive: 73/23/EEC on the harmonization of the

Copyright © Applanix Corporation, 2009

Manufacturer's Address: 85 Leek Crescent

Application of Council Directive: 73/23/EEC on the harmonization of the

Copyright © Applanix Corporation, 2009

FCC Section 15.105 Information to the user.

Copyright © Applanix Corporation, 2009

As Applanix makes additional recycling facilities

WEEE is Waste Electrical and Electronic Equipment, products that operate on

Copyright © Applanix Corporation, 2009

• Referring to another manual or to a file name - italic font (e.g. ‘read

• Referring to a placard label - regular font (e.g. ‘the COM (2)

• Referring to a screen label - bold font (e.g. ‘press the OK button’)

• Path statement - bold font (e.g. ‘select C:\My Computer\ Working

• Menu statement - bold font (e.g. ‘select Insert, AutoText, Closing

• Web address statement - bold font (e.g. ‘select

Copyright © Applanix Corporation, 2009

Hint - provides a suggested

Copyright © Applanix Corporation, 2009

2.0 Installation..................................... 2-1

Copyright © Applanix Corporation, 2009

3.0 Interfaces and Data Formats ....... 3-1

4.0 System Configuration .................. 4-1

Copyright © Applanix Corporation, 2009

5.0 System Operation......................... 5-1

6.0 TrueHeave Operation ................... 6-1

7.0 Specifications ............................... 7-1

Copyright © Applanix Corporation, 2009

9.0 Fault Identification........................ 9-1

Copyright © Applanix Corporation, 2009

Copyright © Applanix Corporation, 2009

Copyright © Applanix Corporation, 2009

Copyright © Applanix Corporation, 2009

Copyright © Applanix Corporation, 2009

Copyright © Applanix Corporation, 2009

Copyright © Applanix Corporation, 2009

Copyright © Applanix Corporation, 2009

Copyright © Applanix Corporation, 2009

Copyright © Applanix Corporation, 2009

Copyright © Applanix Corporation, 2009

Copyright © Applanix Corporation, 2009

Copyright © Applanix Corporation, 2009

Copyright © Applanix Corporation, 2009

Provided you follow the installation, operation and maintenance instructions

Copyright © Applanix Corporation, 2009 1-1

System Description and Overview

The PCS has two versions:

POS MV V4 - a 19-inch rack mount chassis, 2U high, ac powered.

POS MV V4-1 - a stand alone mini-POS (mPOS) chassis, dc powered.

The POS MV product family consists of three models:

POS MV 320 - consists of a POS MV V4 PCS and a type 2 IMU.

POS MV WaveMaster - consists of a POS MV V4-1 PCS and a type 17

POS MV WaveMaster RM - consists of a POS MV V4 PCS and a type 17

Shown in Figure 1 and detailed in Appendix E are the typical components of

Figure 1: Typical POS MV Components