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iNAV System Hardware ICD

1. srssss sssrsssvsssnsvssssssississsss 46 1 3142 SPE OY SOON a 48 7 3 1 4 2 1 DGPS and RTK Correction Data Provision 48 1 314 22 DGPS RTK Data PIOCeSSiN gene ae 48 7 3 1 4 3 INS GPS Solution Hybrid Solution 49 7 3 1 4 3 1 Autonomous Navigation Mode Selection 49 7 3 1422 INS Only Solut ON vase 50 7 3 1 4 4 1 INS Only Solution Performance Explanation 51 7 3 1 5 Power Down Mode unseren nennen nenne 52 1 3 1 6 PET CBIT Br Mile aan 52 1 312 Automatic Behaviour After Power On 52 7 3 2 Simplified Operational Mode Control 53 7 3 2 1 SE 1994 EE 53 7 3 2 2 On Shore Initialzation unse armene 54 L In Flight Initialization eene 55 7 3 2 4 Start Value Acquisition Mode 56 NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 6 of 105 INAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 iNAV 7 3 2 5 Start Position Acquisition arsch 57 7 3 2 5 1 Start Velocity Acquisition ae ne 58 7 3 2 5 2 Start Attitude Acquisitions aa 60 7 3 2 5 3 Start Heading Acquisition 22222 22 2222 22 002 61 7 3 2 6 On Shore Alignment OA Lusnmsamuunesmunsllnemumengvden 63 7 3 2 7 In Flight Allgnmenkt A ee 64 7 3 2 8 NENNE edited 65 7 3 2 9 Power Down Mode na 66 7 3 2 10 PBIT CBIT
2. Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 1 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV Hardware ICD for a iNAV FJI 001 J Q INAV RQH 100x INAV FMS E DA INAV FCAI E DA Commercial in Confidence IMAR GmbH Im Reihersbruch 3 D 66386 St Ingbert Germany www imar navigation de sales imar navigation de 1 Applicable for systems of type iNAV of gr generation manufactured since 05 2011 NAV SYSTEMS DOC EN DOCX LYT101025013 generalDoc de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems amp Page 2 of 105 IiNAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV Issued Date Name Sign Function 29 07 2011 MP EvH 001 DE HD Checked Date Name Sign Function 29 07 2011 EvH 001 HD Approved Date Name Sign Function 30 07 2011 EvH 001 AM Table of Functions Industrial Industriell CEO Managing Director Gesch ftsf hrer PM Production Manager Fertigungsleiter HD Head of Development Entwicklungsleiter DE Design Engineer Entwicklungsingenieur CUST Customer Kunde QM Quality Manager Qualit tsmanagementbeauftragter QA Quality Assurance Qualit tssicherung Aviation Luftfahrt
3. 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 7 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV LIST OF FIGURES Figure 1 INAV FJI 001 RQH EMS EDATECALE DA 9 Figure 2 INAV RQH on Transall C 160 E 10 Figure 3 INAV FJI on a DO 128 TU BS Germany een 10 Figure 4 Operational State Diagram for Simplified Mode Control 18 Fig re 5 NavCommand GUl ua aaa ae 19 Figure 6 Definition of BodyFrame and NavigationFrame PlatformFrame and ECEF not drawn 24 Figure 7 Schuler Oscillation damps the free inertial position error nn 27 Figure 8 Block Diagram IMAR GmbH 222244 2244244244240000R4000H0n na 0nnnHnnaannnannannnannannnnnnnannnnnnann nenn 29 Figure 9 Start Value Acquisition usrnnneeennnnnnennnnnnnennnnnnennnnnnennnnnnennnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nn 38 Figure 10 Start Position Acquisition nenn nn nnnnnnnnnnnnnn nn 39 Figure 11 Stant Velocity ACQUISItION nee cab dagey veaiits S 40 Figure 12 Start Heading Ee eneen gesuerg an ae Ran 41 Figure 13 Alignment Application TloW 2 4 2uuun E 43 Figure 14 On Shore Condition Monitoring ccccccccscceceeseeccecenseneeseeeseceeensenseseeseneeseseeceeesseeeeseeseeceseneeaaes 44 Figure 15 Align Mode Selection essen 46 Figure 16 Navigation Mode Selection 04 22 eines 47 Figu
4. AM Accountable Manager HoA Head of Office of Airworthiness Leiter Musterpr fleitstelle PM Production Manager Fertigungsleiter HD Head of Design Entwicklungsleiter DE Design Engineer Entwicklungsingenieur CVE Compliance Verification Engineer Musterpr fingenieur HoD Head of Design Organisation CUST Customer Kunde QM Quality Manager Qualit tsmanagementbeauftragter QA Quality Assurance Qualit tssicherung NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 3 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 iNAV CHANGE RECORD Date Issue Paragraph Comments 27 07 11 i New Document created updated to INAV system updated architecture base taken from iNAV RQH user manual rev 2 71 those created in 03 2001 and updated untl 06 2011 29 07 11 i Notice regarding STEP files added NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems e Page 4 of 105 INAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV TABLE OF CONTENTS T INTRODUCTION an een een 9 2 SPEL ATI eies 12 2 1 INAV ROH IODTS een 12 2 2 INAV FJI 001
5. Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 25 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV The axes in the above figure BodyFrame perpendicular axes show the direction of positive measured acceleration and the positive direction of angular rates The Pitch is measured according to its definition in the LocalLevelFrame Navigation Frame The True Heading is measured according to its definition in the LocalLevelFrame The True Heading is 0 if the nose of the aircraft is pointing to North and it is 90 if it is point ing to East The velocity in BodyFrame is positive if directed into the direction of the arrows x y Z The Track Angle course over ground is derived by atan2 velocity east velocity north The Track Angle is 0 if flying to North and it is 90 if flying to East The Altitude output of the IMS is given in accordance to the WGS84 definition i e the value increases if the distance of the vehicle to the centre of earth increases The vertical speed output of the IMS is a positive value if the distance of the vehicle to the centre of earth is decreasing Attention due to historical usage of NED coordi nates in aircrafts it has to be recognized by the system integrator that a positive vertical speed leads to a decreasing altitude according to the above given definition The systems are des
6. lt 0 02 deg pure inertial lt 0 01deg with DGPS 0 005 deg postproc Position Accuracy lt 3 nm hr unaided lt 1 nm hr unaided after 30 minutes aiding lt 0 3 m DGPS online 2 cm RTK INS postproc lt 0 1 distance travelled with odometer and GPS applic depend lt 0 2 dist trav on underwater vehicles incl RDI DVL interface Velocity Accuracy lt 10 mm s online with DGPS aiding lt 5 mm s in post proc Alignment Time lt 10 minutes static in flight alignment capability 25 minutes dynamic Range 450 deg s no angle limitation 79 The INS shall be switched on while angular rate is lt 150 deg s Drift Offset stability lt 0 003 deg hr const temp lt 20 ug const temp for 2 g range unaided lt 0 01 deg hr Over Temp Range lt 160 ug OTR Random Walk Q 0 001 degh h lt 15 ug sqrt Hz Resolution lt 0 1 urad 0 02 lt 0 001 deg s lt 1 ug Scalef Linearity error lt 30 ppm 10 ppm lt 160 ppm lt 20 ug g Axis Misalignment lt 100 prad lt 100 prad Data Output Rate 1 1000 Hz Data Latency lt 2 ms sampling accuracy better 1 us time stamped according to PPS Data Storage 8 GByte on internal flash drive Data Output options RS232 422 Ethernet TCP IP _ PIO XI NLOG XJ UDP X CAN XJ MIL STD 1553B bus Inputs options integrated GPS RTK GPS GLONASS L1L2 NovAtel external GPS none Marker event trigger input 3 x Odometer input opto coupler A B
7. sample application showing the YH 0 000 aa 0 000 Im IMS Senice basic communication capabili Distance Velocity 0 000 m 0 000 m s ties is delivered as source code Inv Radius of Curv lt Invalid gt 1 m I Inertial Data pre Nee for MS Windows and ist anb E GNU LINUX A DLL for integra p IMS Status Aiding Output Start TMOD Nav Align Att Head GPS CAN Dump Analog Log Alignment tion of the XIO protocol into NI LabView environment is avail EEE EE EEE E Phl m Messages from NavCommand able on request of the measurement The system will use the GPS track angle to set the heading if the velocity is about 5 m s or higher GPS The followi ng two chapters give Track LED must be green j some g ener al h i nts on u sin g th e en an the F2 key The vehicle must not H INS For a detailed view on the INS operation please refer to m Messages from IMS Only 1 4 EV infos items received the chapter Operational Con Only 1 4 EV infos itens received cept Only 1 4 EV infos items received Only 1 4 EV infos itens received Only 1 4 EV infos itens received Only 1 4 EV infos items received mi Only 1 4 EV infos itens received Figure 5 NavCommand GUI 3 5 Start Value Acquisition Alignment After power on and sensor initialization the INAV system has to perform a start value acquisition before it can deliver valid navigation data Position a
8. Accuracy lt 10 mm s online with DGPS aiding lt 5 mm s in post proc Alignment Time lt 10 minutes static in flight alignment capability 25 minutes dynamic Range 450 deg s no angle limitation 79 gt The INS shall be switched on while angular rate is lt 150 deg s Drift Offset stability lt 0 003 deg hr const temp lt 5 ug const temp for 2 g range unaided lt 0 01 deg hr Over Temp Range lt 100 ug OTR Random Walk Q 0 001 deghfh lt 8 ug sart Hz Resolution lt 0 1 urad 0 02 lt 0 001 deg s lt 1 ug Scalef Linearity error lt 30 ppm 10 ppm lt 100 ppm lt 20 ug g Axis Misalignment lt 100 urad lt 100 urad Data Output Rate 1 1000 Hz Data Latency lt 2 ms sampling accuracy better 1 us time stamped according to PPS Data Storage 8 GByte on internal flash drive Data Output options RS232 422 Ethernet TCP IP _ PIO XI NLOG XJ UDP X CAN X MIL STD 1553B bus Inputs options integrated GPS RTK GPS GLONASS L1L2 NovAtel external GPS none Marker event trigger input 3 x Odometer input opto coupler A B PPS SYNC RS422 level Others Synchronization Input for pulse per second PPS SYNC opto coupler input 4 36 V 6 mA Marker Input 4 36 V 6 mA opto coupler input option PPT output TTL and RS422 level output option Shutdown input 4 34 V 6 mA opto coupler input option Power 11 34 V DC lt 45W Connectors according to MIL C
9. Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems amp Page 5 of 105 IiNAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 iNAV 6 4 2 GPS Receiver nennen ehe 32 6 4 2 1 NovAtel GPS Receiver ne 32 6 4 2 2 Javad GPS EE 33 64 3 En E EE 33 6 5 System Status LED sa ea oe ch ce nica cca tee 34 7 OPERATIONAL CONCEP E 35 cl Config ration P ramelers ursseseseinee eu 35 7 1 1 Boresight Angle Adjustment 2 vesens 35 7 1 2 GPS Antenna Lever Arm Adiustment RR gt 36 7 1 3 GPS Heading Installation Offset ennnnnnnnnnnnnnnnnnnnnnnennnnnnnnnn 36 7 1 4 GPS Start Value Acquisition Tmeout 36 7 1 5 Virtual Measurement Point EE 36 FE EEE ren 37 T2N Pr Sale nennen 37 7 2 2 Power On State Power Up ruun une 37 12 3 Operational Stale ns sa 37 EE EG yes ee een 37 1 3 Operational Mose 38 7 3 1 Full Controllable Operational Mode Control 38 7 3 1 1 Standby MOTE Luanda tinn AARRE RER 38 7 3 1 2 Start Value Acquisition Mode EE 38 L Ne Alignment Mode se ae 42 7 3 1 3 1 Alignment Oe 42 7 3 1 3 1 1 On Shore Gyrocompass Alignment OGA 43 7 3 1 3 1 2 In Flight Gyrocompass Alignment GA 45 1 3 1 3 1 3 Quick Alignment OAD aaa 45 7 3 1 3 2 Alignment Sub Mode Selection nsesesesesenenenen 45 7 3 1 4 Navigation Mob Larssen 46 7 3 1 4 1 Navigation Mode Selection
10. Copyright 2008 2010 by iMAR GmbH LYT101025013 generalDoc de Rev 1 03 25 10 2010 Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 28 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 iNAV 5 MOUNTING SYSTEM DIMENSIONS AND SYSTEM INSTALLATION 5 1 Mechanical Considerations The iNAV system comes in a housing given in the drawing given in Section12 A careful mounting of the iNAV system is required to achieve highest navigation performance Therefore the usage of a mounting plate an example is given in Section 12 is recom mended but not mandatory where the INAV system can be installed and removed without additional alignment errors It is recommended to use 2 two dowel pins located on top of a mounting plate to align the IMS accordingly To achieve a mounting accuracy in heading of better than 1 mrad the tolerance of the positioning of the dowel pins shall be smaller than 0 1 mm each 0 05 mm recommended The end caps of connectors which will not be used are attached to the IMS housing by wires Connectors which will be used are not protected by end caps 5 2 GNSS Antenna Localization For aircraft applications the GPS antenna shall be a FAA certified ARINC 743 antenna It is highly recommended to mount the antenna e close on top of a grounded metal plate not smaller than 300 x 300 mm e in sufficient distance to any SatC
11. LIB Mode un ea 66 7 3 2 11 Automatic Behaviour After Power On 66 8 CONNECTORS AND INECC 67 XAF System GEN re 67 82 22 ee E 67 83 X3 SEIIICB LONNELI nee 68 8 4 X4 Interface Connector COMs odometers CANT 69 8 5 X6 GPS Antenna Connector Master Receiver 22 222 22 22 22 70 8 6 X8 GPS Antenna Connector Slave Receiver 2 222444444444400 70 8 7 JOIN MIL STD 1553 COMME CONS wi ner eee 70 8 8 X11 Earthing Screw and Table u eek 71 8 9 X5 SYNG Output and General Purpose Output ss 71 8 10 XT PPT and EE 72 9 MIL STD1553B BUS COMMUNIERTION uses 13 9 1 MIL STD 1553B Mux Data Bus nenn 73 92 MIL STD 1553B External Interfaces aan ea 13 10 SUPPORT ZEECHNEN 73 11 APPENDIX A PARAMETERS ON THEIMU n nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnne 73 12 APPENDIX B DRAWINGS aan ee ea 74 13 APPENDIX C ENVIRONMENTAL AND EMI QUALIFICATION ee 80 13 1 Environmental Performances Qualifications e erennnnnnnnnennnennnenenenen 80 13 2 Electromagnetic Requirements nee 84 1921 Cable Connection unsere 84 13 3 Input Power Reguiremens ae u 84 122 41 Bonding Resistance menu 84 14 APPENDIX D MODE TRANSITION DIAGRAMS FULL OPERATIONAL MODE SELECTION eege 86 15 APPENDIX E MODE TRANSITION DIAGRAMS SIMPLIFIED OPERATIONAL MODE SELECTION erter See Ee 95 NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008
12. Main State Transition Diagram ivsvsieviskereven a ea E EEEE ER 86 Figure 40 Start Value ACQUISITION E 87 Figure 41 Start Position Acquisitions EEA 87 Figure 42 Start Velocity e IT 88 Figure 43 Start Heading Acquisition aaeseeeeesneeesrneseeennneeinnnnennensnnnnntennnntinantennentananatannnananaantananenananaeean 89 Figure 44 Align Mode Selection nenn 90 NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 8 of 105 INAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV Belle lu EN Figure 46 On Shore Condition Check u 2 uura ek 92 Figure 47 Navigation Mode Selection ersero rinii Ei na n E E ER 93 Figure 48 Navigation EE 93 Figure 49 CBIT ur aa OA OAE E OAE OSEAS 94 Figure 50 Main State Transition Diagram Simplified Control Version 95 Figure 51 CBIT Simplified Control Version 96 Figure 52 On Shore Initialization Simplified Control Version ssssesssessessnnenseesseensrnnnrtertnnrnnssrernrnnnnnenene 97 Figure 53 In Flight Initialization Simplified Control Version 98 Figure 54 Start Value Acquisition Simplified Control Version rnrrrrrnrnrnronnrnrrrrrnnnnrnrrnnnrrnnrnnrrrrrnnnnnnnnen 99 Figure 55 Start Position Acquisition Simplified Control Version 100 Figure 56 Start Velocity Acqu
13. PPS SYNC RS422 level Synchronization Input for pulse per second PPS SYNC opto coupler input 4 36 V 6 mA Marker Input 4 36 V 6 mA opto coupler input option PPT output TTL and RS422 level output option Shutdown input 4 34 V 6 mA opto coupler input option Power 11 34 V DC lt 45W Connectors according to MIL C 38999 Ill Temperature XX 10 55 C operating standard temp range GI 40 55 C oper with selected option of internal heating at low temp X 40 71 C operating with sligthly degraded specification 40 85 C storage Magnetic insensitivity lt 200 uTesla 2 Gauss Rel Humidity 8 100 IP67 MTBF MTTR gt 25 000 hrs estimated for surveying appl lt 30 minutes Shock Vibration 259 11 ms 60 g 5 ms operating 90 g 11 ms survival 20 2000 Hz 3 g rms Weight approx 11 kg Total Size approx 360 x 213 x 179 mm Qualification MIL STD 810F MIL STD 461E MIL STD 704D DO160E Software online INS GNSS navigator NavCommand open I F XIO IWP INS GNSS post processing NAV SYSTEMS DOC EN DOCX LYT101025013 generalDoc de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 15 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV 2 4 TT iNAV FMS E DA no export restrictions The system i
14. Q E 13 2 3 INAV FJI 001 J no ITAR export restrictions nnnnnnnnnnnnnnnnnnnnnnnnnnn 14 2 4 INAV FMS E DA no export restrictions 2 2222222 24222444444444444444000 15 2 5 Summary Of Factory Set FOAM CS arcsec een 16 3 USAGE OF THE SYSTEM een een ee 17 SN reinen 17 3 2 Getting Started E 17 3 3 Standard USET Sissener MN 17 3 4 Advanced users and system programmers s e 19 3 5 Start Value Acquisition Alignment nee ee 19 3 6 Measuring Navigation Surveying Guidance 20 3 7 Access to the IMS s file system using the SMB protocoOl 20 3 8 Definition of Euler Angles E ESA EENS ENEE 20 3 9 Definition Of Coordinate Fate ae a a 22 3 9 1 Example NED output for airborne applications sssssoseneeennnnnn 24 INERTIAL BRIEFING see ee 26 MOUNTING SYSTEM DIMENSIONS AND SYSTEM INSTALLATION 28 5 1 Mechanical Considerations summen vennene een 28 5 2 GNSS Antenna Localizalion ue nn en dal ahes 28 6 HARDWARE STRUCTURE uvenner 29 Gol GROUND DefiMitidN zusnseisereeeeeeeehe 29 6 1 1 _EARTHING SCREW een 30 6 2 Discrete INDUS ee 30 6 2 1 OYNC PPS IN ee nea EER A E E A de 30 622 MARKER ccrte E ae 30 bes ONWDOWN EE 30 6 24 POWER ON POM EEN 31 6 3 e e 31 8 371 SNE Ju PPS vvs 31 06 42 PPT Parse ere 31 6 3 3 General Purpose GP Output nemne 32 6 4 Aiding Sensor Interfaces aa 32 64 1 e ei 32 NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010
15. angles roll pitch and yaw for rotational transformations between two arbitrary orthogonal coordinate systems x y z and X Y Z 1 Rotate yaw around the Z axis until the X axis is in coincidence with the projec tion of the x axis into the X Y plane gt new frame R S Z 2 Rotate pitch around the S axis to get the R axis parallel to the x axis gt new frame T S U where T x NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 21 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV 3 Rotate roll around the T x axis to bring the S axis parallel to the y axis which automatically rotates the U axis into the z axis gt new frame T V W x y z The order of rotation yaw gt pitch gt roll is essential in this definition It should be noted that the IMS navigation algorithm does not use the Eulerian angles for it s internal calculations They are only used for input and output NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 22 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV 3 9 Definition
16. iNAV FJI or 300 Hz at iNAV RQH or 400 Hz at iNAV FMS and INAV FCAI Each data packet can have a time stamp in relation to the IMU time or the GPS time UTC or second of day Lever arm corrections can be activated with special commands NAV SYSTEMS DOC EN DOCX LYT101025013 generalDoc de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 11 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV to transform the center of navigational calculation to a so called virtual measuring point A LabView DLL is available on request for those users which want to integrate the command interface into their own software The housing is precision machined screwed and glued It is water resistant according to IP67 if the cap is mounted using the sealing ring The connectors of type Amphenol MIL C 38999 Series III are standard The sensor mount is not decoupled from the hous ing by shock mounts to provide highest angular accuracy but on request the system can be equipped by the user with outside mounted shock absorbers to prevent damag ing the inertial sensors during rough handling The iNAV systems can be delivered with an integrated high performance L1 L2 RTK GNSS GPS GLONASS GALILEO receiver This and the high sampling rate togeth er with its open interface architecture makes the iNAV systems
17. of Coordinate Frames Several coordinate systems are used They are explained in the following e Platform Coordinate System This is the coordinate system of the Inertial Meas urement System with its inherent coordinate axes x y Z e Body Coordinate System This is the coordinate system of the aircraft We define x in forward direction y in left direction and z in down direction e Local Levelled Coordinate System it is also called Navigation Frame and is de fined by its x axis to North its y axis to East and its z axis downwards NED e Geographical Coordinate System it is defined by the geoid of the earth and it is not local levelled also the height is different to those of the Navigation Frame e ECEF Frame The Earth Centred Earth Fixed Coordinate System is defined with its origin in the centre of the earth The IMS is measuring in the Platform Coordinate System As the measurements shall be provided in the aircrafts Body Coordinate System a transformation can be parame terized inside the IMS firmware to transform all Platform data into Body data These pa rameters are called misalignment adjustment values or boresight correction values They are described by three angles delta_roll delta_pitch delta_yaw The angles of the IMS in space will be calculated inside the IMS in a so called East North Up co ordinate system e The Navigation Frame can be an ENU or an NED frame ENU NED X axis directed
18. of the oscillation is approx 84 minutes The position error increases approx line ar with time instead of quadratically increase over the first minutes during free iner tial navigation mode the reason for that is the spherical contour of the earth An example of such Schuler Oscillation is given in the next plot The drift after 1 hour is called free inertial position performance and is in the area of 0 04 5 nm hr de pending on the INS performance NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH FJI FMS E DA FCAI E DA EMAR Hardware ICD for iNAV Systems I gt I lt O g2 gt gt D om N gt N ez et oO CH 8 Z 02 oA AW LO CH SC N2 e Re So ES ON JEG ag SS gt Do D vw Oo 00 O Kan DD 300 000 INS 335 003 date 2009 10 01 29 714098 Height Free inertial navigation height fixed at Lon 95 497904 deg Lat X 4 5464 Y 1 2810 Delta Lat Ed Se wu ul uge wo 80uSJSLJIG 10 Sy PB ENE Bt i l T Se ge 6 gt Aa i ft oo 1 sag o a OO i ito LO CH eo e G Q T Bap ul ups woy a9ua yq 10 Time since start in h Figure 7 Schuler Oscillation damps the free inertial position error NAV_SYSTEMS_DOC_EN DOCX
19. to East directed to North y axis directed to North directed to East Z axis directed to Up directed to Down e IMU co ordinate system PlatformFrame X axis see label on the IMU s housing y axis Z axis see label on the IMU s housing see label on the IMU s housing e Vehicle s co ordinate frame BodyFrame X axis longitudinal in vehicles forward direction y axis lateral direction so that a right hand system is defined by x y z Z axis upwards land vehicles or downwards aircrafts e RPY angles rotation from NavigationFrame to BodyFrame to obtain the orientation of the BodyFrame in space starting from the NavigationFrame Yaw v Align the start coordinate system with x to North y to East z to Down Rotate this coordinate system by angle v Psi around the z axis of the NavigationFrame start of rotation NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 23 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV Pitch 0 Rotate by angle 0 Theta around the y axis of the current BodyFrame which is already turned with w around the NavigationFrame z axis Roll 9 Rotate by angle A Phi around the x axis of the current BodyFrame Having done these consecutive rotations you have aligned the BodyF
20. 38999 Ill Temperature X 10 55 C operating standard temp range DG 40 55 C oper with selected option of internal heating at low temp X 40 71 C operating with sligthly degraded specification 40 85 C storage Magnetic insensitivity lt 200 uTesla 2 Gauss Rel Humidity 8 100 IP67 MTBF MTTR gt 25 000 hrs estimated for surveying appl lt 30 minutes Shock Vibration 259 11 ms 60 g 5 ms operating 90 g 11 ms survival 20 2000 Hz 3 g rms Weight approx 11 kg Total Size approx 360 x 213 x 179 mm Qualification MIL STD 810F MIL STD 461E MIL STD 704D DO160E Software online INS GNSS navigator NavCommand open I F XIO IWP INS GNSS post processing NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 14 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV 2 3 TT iNAV FJI 001 J no ITAR export restrictions The system iNAV FJI 001 J fulfils the following specification 1 sigma Data Output Heading Roll Pitch Angular Velocity Velocity body and world Position Raw data internal statuis information odo GPS inf True Heading lt 0 1 deg sec lat pure inertial lt 0 01 deg with DGPS motion dependent lt 0 008 deg postproc with RTK Attitude Accuracy
21. NAV FMS E DA fulfils the following specification 1 sigma Measurement parameters Measurement range Accuracy Position error Velocity error Alignment duration Resolution Nonlinearity Scale factor error AngularRandomWalk Accel Noise Bias repeatability Dynamics capability Axis misalignment Sampling rate Output rate Latency Data output options Data input options GNSS aiding Weight Size MTBF Temperature Shock Vibration Qualification Power supply Software Roll pitch yaw acceleration velocity rate position 450 s angular rate 10g acceleration 5g 20 g as option lt 0 1 true north with GPS GNSS under motion no gyro compassing capability 0 1 true north with dual antenna GPS and 5 m antenna distance lt 1 br heading drift during outages of GPS lt 0 1 roll pitch initially after power on lt 0 05 roll pitch INS GPS under dynamic flight conditions lt 0 03 roll pitch INS GPS under static flight conditions lt 10m with GPS S A off lt 1m with DGPS Omnistar supported lt 10 cm RTK mode option lt 0 1 m s aided with DGPS lt 1 minute on land for roll pitch inertially heading by dual antenna GPS lt 4 minutes on the fly with GPS aiding 0 1 arcsec roll pitch yaw lt 50 ug accel averaged lt 300 ppm gyro lt 100 ug g accel lt 500 ppm gyro lt 1 500 ppm accel 0 1 deg sart hr 100 ug sqrt Hz 0 75 de
22. celerometers due to accelerometer sensor and roll and pitch errors A roll error or a pitch error of 0 005 deg leads to an acceleration error on the horizontal axes x and y of 0 1 mg i e g x sin 0 005 deg 10E 4 g 0 001 m s This error can be reduced by using external information to aid the internal Kalman filter Gravity mod els as well as the knowledge of depth are used to perform best error compensation e Heading Accuracy The optical gyros inside of the iNAV FJI allow to perform an au tonomous north seeking with high accuracy This heading gets worse over time with the gyro drift if no aiding is available If the vehicle s dynamics is measured by the inertial measurements together with GPS and or other position velocity updates this allows the integrated Kalman filter to provide best heading accuracy mostly in dependent of the duration of the mission A heading error or better said a track angle error of 0 057 deg 1 mil 1 mrad leads to a position error of 1 m over 1 000 m or of 100 m over 100 km distance here for simplification a constant heading error is assumed e Free Inertial Navigation If the INS is operating over a longer time without any addi tional aiding information like external velocity or position updates the INS is in free inertial navigation mode In this mode the position and velocity error of the INS be haves similar to a harmonic function which is called Schuler Oscillation The peri od
23. g hr 1 sigma 2 mg 1 sigma gt 17500 s lt 200 urad 400 Hz 1 400 Hz Ethernet CAN MIL Bus lt 3 ms time stamp 10us RS232 422 Ethernet TCP IP PIO XI NLOG XJ UDP XX CAN XX MIL STD 1553B bus internal external RTK GNSS marker event trigger 3 x odometer RS422 level PPS SYNC integrated L1 L2 GPS GLONASS GALILEO receiver dual antenna approx 9 5 kg approx 360 x 213 x 179 mm or 299 x 213 x 179 mm gt 20 000 hrs estimated for surveying applications 40 71 C operating and 45 85 C storage case temper 25 g 11 ms 60 g 5 ms 3 g rms 10 2 000 Hz endurance MIL STD 810F MIL STD 461E MIL STD 704D DO160E 11 34 V lt 50 W 50 ms hold up time according to DO160E online INS GNSS navigator NavCommand realtime open I F XIO iWP postproc NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems amp Page 16 of 105 IiNAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV 2 5 Summary of Factory Set Features The iNAV system for the customer named on the front page of this document is config ured factory settings according to the following list To understand details of it please first read the other chapters of this manual and the NavCommand manual 1 D OOOOOORRRRORORROR wo
24. gation and Surveying Systems for inertial navigation surveying guidance stabilization control gyro compassing and dy namically motion measuring equipped with fiber optic or ring laser gyros which covers applications which require accuracy reliability and an open interface to the user This family consists of following systems e iNAV RQH 100x Ring laser gyro based navigation system with highest gyro compass performance in autonomous and aided operation ring laser gyros provide best long time bias and scale factor performance lt 0 002 deg hr lt 5 ppm e iNAV FJI 001 J Q Fiber optic gyro based navigation system of class 0 01 deg hr 0 001 deg sqrt hr with high gyro compass performance in autonomous and aided operation silent operation e iNAV FMS E DA Fiber optic gyro based system of class 1 deg hr 0 1 deg sqrt hr with dual antenna GNSS for heading support not export license required e iNAV FCAI E DA Fiber optic gyro based system of class 1 deg hr with low ARW 0 02 deg sqrt hr and dual antenna GNS for heading support Details can be found in the related datasheets and product specification of these sys tems All these systems have the same data interface and mechanical interface and hence are fully exchangeable The iNAV systems designed for advanced airborne naval AUV UAV ROV surface and railway applications consist of three high precision ring laser RLG or fiber optic FOG gyroscopes three servo accel ero
25. igned for operation within 80 deg latitude Flying over the pole requires specific system software on request NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 26 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV 4 INERTIAL BRIEFING To get highest performance of the iNAV systems it is useful to understand the principle of operation of an inertial measurement system To estimate the influence of measuring duration and motion on the measurement result the following hints might be useful numbers given here are for example only and depend on specific system e Gyro Drift The gyro drift in deg h gives an indication for the angular error over time A drift of 0 002 deg h means that the unaided system will drift in roll pitch and yaw approx with 0 002 deg h 1 sigma no extended motion if no other error sources would be present e Gyro Scale Factor Error It gives an indication about the angular error due to change of angles l e if the scale factor error is 10 ppm and the heading of the vehicle is changing over 180 degree then the heading error due to scale factor error is 10E 06 x 180 deg 0 0018 deg due to this error source e Acceleration accuracy A main error source is the imperfect gravity compensation on the ac
26. isition Simplified Control Version 101 Figure 57 Start Attitude Acquisition Simplified Operational Control Mode nenn 102 Figure 58 Start Heading Acquisition Simplified Control Version 103 Figure 59 On Shore Alignment Simplified Control Version 103 Figure 60 In Flight Alignment Simplified Control Version 104 Figure 61 Navigation Simplified Control Version 104 LIST OF TABLES Table 1 GPS and DGPS RIK Performance mmmrvrrnanvovennnnvnvnnnnnrnvevnnnnannnnnnranentnnnnnnnnnnanennnnnanennnneanenennen 48 Table 2 INS DGPS Performance iAV FJI RQH FMS E DA FCAI murunnrvnnnnnnvrvnnnnnrrnnnnnnrrnnrrnnrrnnrennnr 49 Table 3 INS Only Solution Performance urrnnrrnnnnnrrnnnnnnvrnnnnennrrnnnennrrnnnennrnnnnensrnnnsnsrnensensrnnnsensrnnnsennnrensennnn 50 Related Documents Name Content DocNumber ICD_iNAV 1553B ICD MIL STD 1553B Interface DOC100425002 of INAV Systems MAN_NavCommand Manual NavCommand Software DOC090814002 MAN iNAV IMS Operation with XIO xXIO open interface description DOC091204003 NAV SYSTEMS DOC EN DOCX LYT101025013 generalDoc de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 9 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV 1 INTRODUCTION iNAV is a product family of one of iMAR s Inertial Navi
27. ls in using these features please refer to the NavCommand manual NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 17 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV 3 USAGE OF THE SYSTEM 3 1 Inventory The iNAV system will be delivered together with a set of lab cables These cables can be used to supply the power to the system and to setup the communication with the customers computer RS232 RS422 Ethernet Also external sensors like GPS receiv ers Doppler velocity logs or odometers can be connected using this cables An inte grated GPS engine can be included Also a MIL STD 1553B interface one dual redundant channel transformer coupled can be integrated as an option Nota The set of delivered lab cables must not be used to integrate the iNAV into the application It is useful to have these cables available e g if the system has to be re calibrated later or if some changes shall be made at the factory Due to the fact that every INAV system may have customer specific interfaces these cables must be sent together with the iNAV system to the factory in Germany if service is to be performed at IMAR 3 2 Getting Started The open XIO interface allows the customer to fully integrate the iNAV into his ap
28. mbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 19 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV 3 4 Advanced users and system programmers The advanced user has full access to the INAV system He can access to calibrated and raw data to all internal status information and can even adjust Kalman filter parameters if desired Connect the iNAV system via an Ethernet link RJ45 connector make sure that your PC IP address is set to the same network address area but not the same routing ad dress to avoid conflicts according to Ethernet network standards which is used by the iNAV system or via the serial port 1 and a crossed RS232 cable 2 3 5 to an external laptop and start the program XIO EXE After the connection is established between the XIO program and the iNAV system one can enter so called XIO commands by text and transmit them to the IMS Also the full internal system configuration is accessible using simple tree structures To allow the user to integrate El NavCommand S S0256 connected to IMS 0256 001 lol xi the INS into it s own application ms Data RR a set of C C header files de eae Logging 57506 8 0 0 s Sane fining the XIO protocol can be PallPitch Yaw 0 0387 0 4604 0 0836 deg delivered Also a fully functional Lenstude Latitude 7 159481 49 274250 deg Commands
29. meters a powerful strapdown proces sor integrated GNSS receiver with 2 cm accuracy up to 3 odometer interfaces and provide CAN and Ethernet and RS422 232 UART interface optional MIL STD 1553B bus interface analog interface and offer an open and flexible user communication inter face Figure 1 iNAV FJI 001 RQH FMS E DA FCAI E DA The iNAV systems are designed for com mercial applications and are fully military qualified MIL STD 810F MIL STD 461E MIL STD 704D partially DO160E with 50 ms hold over time at power interrupt to meet highest reliability standards This document covers the operation of all above mentioned systems named iNAV in the following chapters Where necessary specific explanations are made for specific systems NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 10 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV The systems work with an external connected GPS receiver or they contain an integrat ed L1 L2 RTK GNSS receiver The iNAV provides several additional interfaces for con necting aiding sensors like external RTK GPS or incremental encoders Furthermore together with MARS iSCU Stabilisation and Control Unit the system can provide control output for antenna or came
30. nd velocity can be de termined by the integrated GPS receiver or set on the user interfaces or taken from stored values obtained from the last mission Roll and pitch is determined be levelling using the accelerometers The iNAV FJI and iNAV RQH can determine the heading by performing a north seeking gyro compassing using an integrated Kalman filter algo NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 20 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV rithm duration at standstill is 10 15 minutes and in flight up to 20 minutes The iNAV FMS E DA and iNAV FCAI can determine the heading from the integrated 2 antenna GPS solution or from motion together with GPS The start value acquisition alignment procedure can be activated automatically after power on or started manually by commands sent on one of the communication interfac es XIO PIO MIL STD 1553B Also the NavCommand software can be used for this 3 6 Measuring Navigation Surveying Guidance After the start value acquisition is successfully performed the system switches to navi gation mode where it continuously calculates the attitude heading Eulerian angles roll pitch and yaw quaternion etc position referenced to WGS84 coordinate system and velocit
31. ng 56 85 C not operating lt 500 uTesla 5 Gauss 8 100 IP67 gt 25 000 hrs estimated for surveying appl lt 30 minutes 25 g 11 ms 60 g 5 ms operating 20 2000 Hz 3 g rms approx 9 8 kg approx 360 x 213 x 179 mm or 299 x 213 x 179 mm MIL STD 810F MIL STD 461E MIL STD 704D DO160E online INS GNSS navigator NavCommand open I F XIO iWP INS GNSS post processing NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 13 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV 2 2 TT iNAV FJI 001 Q The system iNAV FJI 001 Q fulfils the following specification 1 sigma Data Output Heading Roll Pitch Angular Velocity Velocity body and world Position Raw data internal statuis information odo GPS inf True Heading lt 0 1 deg sec lat pure inertial lt 0 01 deg with DGPS motion dependent lt 0 005 deg postproc with RTK Attitude Accuracy lt 0 01 deg pure inertial lt 0 005with DGPS 0 002 deg postproc Position Accuracy lt 3 nm hr unaided lt 1 nm hr unaided after 30 minutes aiding lt 0 3 m DGPS online 2 cm RTK INS postproc lt 0 1 distance travelled with odometer and GPS applic depend lt 0 2 dist trav on underwater vehicles incl RDI DVL interface Velocity
32. nput X1 PPT_OUT TTL level Output X1 PPS SYNC_OUT RS485 level Output X5 GP_OUT RS485 level Output X5 PPT_OUT RS485 level Output X7 Accelerometer Axes 11 34 V DC A B each RS422 level opto coupler input 8 mA max protected against wrong A B each RS422 level polarity and over voltage 50 ms hold over opto coupler input 8 mA max A B each RS422 level 2 opto coupler input smAmax gt Structure of the Inertial Measurement Systems PPS TTL INAV ROH iNAV FJI INAV FMS iNAV FCAI with TCP IP UPD CAN RS422 MIL STD1553B Bus Interface EE IMAR GmbH St Ingbert Germany RTK INS_NAV_ROH FJI FMS FCAICDR c IMAR GmbH 03 2011 Figure 8 Block Diagram iMAR GmbH all inertial sensors at the same time The external trigger e g PPS globally called SYNC can be generated by an integrated GPS receiver or an external source and is used to synchronize the internal clock which time stamps the inertial and all other I O data on usec level The processor operates with a multitasking real time kernel used in industrial as well as in demanding military projects 6 1 GROUND Definition The system uses three separate GND networks e PGND Power Ground from power supply LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH
33. om antenna to avoid interference for GPS signal reception e in sufficient distance to reflecting metal plates inside the field of view of the an tenna to avoid disturbances induced by multi path e in an area where a sufficient view to the sky is possible for elevation larger than 10 deg outages caused by obstacles etc should not happen permanently For surface or naval application a standard L1L2 GPS antenna optionally including GLONASS GALILEO Omnistar shall be used NAV SYSTEMS DOC EN DOCX LYT101025013 generalDoc de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems amp Page 29 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV 6 HARDWARE STRUCTURE The structure of the system hardware is shown in the following figure The internal bus structure is the so called I Bus iMAR Bus which is designed to trigger Bus IA32 Architecture RS 232 422 for maintenance commun and data I O and Interface 0 0 0 Ethernet 10 100 1000BaseT for configuration maintainance Gyro Axes real time data I O and postproc data download Inertial Algorithms ER and MIL STD 1553B for data I O and commands Control Software CAN bus for data I O and commands Discrete I Os ShutDown OptoCoupler Input X1 SYNC_IN OptoCoupler Input X1 MARKER_IN OptoCoupler I
34. owo wz 25 EN E The PPS is fed from the internal GPS receiver to the IMU processor electron ics and to the output connector Inside of the housing of the iDIS FMS there is a switch which can be used to feed PPS and external GPS to the processor The delivered system is equipped with CAN bus to support an operation at the user without requiring programming PIO interface is installed NLOG interface is installed NMEA data output Analog output is implemented 10 channels Analog input is implemented 8 channels Data transmission via Ethernet TCP IP for fast digital dat a storing on user s laptop is implemented UDP protocol is installed iDRPOS algorithm for dead reckoning is implemented Data Flash Drive installed 8 GByte PPT output is implemented pulse per time PPD output is implemented pulse per distance odometer based Marker input is implemented Odometer input is implemented RTK GNSS GPS and optional additional GLONASS GALILEO L1L2 GNSS GPS and optional additional GLONASS GALILEO Omnistar aiding capability for GNSS applied Advanced INS GPS Kalman filter Interface via CAN to iSCU implemented HPST mode is implemented RDI DVL interface implemented MIL STD 1553B interface CDU Control amp Display Unit Shut Down digital input line to stop data storing of measurement data inside the iNAV system and controlled power down of the system before performing a power off Customized features For detai
35. plica tion To get iNAV system started first time without the need of interface adapta tion programming at the customer some test software is delivered together with the system Connect the odometer to the A B input port 4 30 V opto coupler and install the GPS antenna on your vehicle 3 3 Standard users Use the software NavCommand Windows See the additional documentation The NavCommand documentation describes the usage of the software and defines the available data logs and operational modes For autonomous operation without NavCommand i e direct commanded by the user via XIO interface or MIL STD 1553B bus interface beside of the full control by the us er the system provides two automated control schemes which are described in detail in chapter 7 Powerful integrated state machines are provided to allow the standard user a simple operation of the iNAV system NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 i Date 29 07 2011 Hardware ICD for iNAV Systems e Page 18 of 105 IiNAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV onEmor cmdNavMode 1 cmaNavMode 10 cmdNavMade 9 Figure 4 Operational State Diagram for Simplified Mode Control NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by IMAR G
36. ra stabilisation gimballed plat form with up to 3 axes as an option where the iSCU is con nected to the INAV via CAN interface The data interface to an external control computer is Ethernet 100BaseT UDP TCP IP and or RS232 RS422 UART Additional an internal flashdisk 8 32 GByte can be provided as an option to store all desired data during opera tion and to allow a post processing and to log real time results and other mission in formation A CAN interface is also available as an option for real time data output up to 1 MBit s baud rate Figure 2 iNAV RQH on a Transall C 160 integrat ed in the German Airforce Synthetic Aperture Radar DOSAR x 7i The user software NavCommand allows the d user a full control of the system as well as data storing and to perform maintenance ac tivities e g download of stored data NavCommand is operable on all standard MS Windows platforms XP VISTA Windows 7 With the software IWP furthermore a power ful post processing tool is available for ad vanced surveying applications The iNAV systems offer an open user inter face With this XIO interface the user has ac cess to all important internal data structures of the navigation system like sensor raw data Figure 3 iNAV FJI on a DO 128 earth rate compensated rates and gravity TU BS Germany compensated accelerations data of external sensors etc with an internal update frequency of up to 1000 Hz at
37. rame now according to the three angles Roll Pitch Yaw The order of rotation is Yaw Pitch Roll starting with the NavigationFrame co ordinate system In NED the heading angle is zero if the BodyFrame s x axis directs to North and head ing value increases clockwise In ENU the heading angle is zero if the BodyFrame s x axis directs to East and heading value increases counter clockwise NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Page 24 of 105 Hardware ICD for iNAV Systems INAV RQH FJI FMS E DA FCAI E Document P N Reference DOC110728050 IEP 1000113 INAV a MAR 3 9 1 Example NED output for airborne applications If required by the application a transformed output is used The output coordinate sys tem can be e g defined in NED North East Down With the selection of output data logs the user has the possibility to get data in ENU as well as in NED co ordinate system The MIL STD 1553B implementation will provide data in NED north east down The following figure shows the coordinate system definition North Lon East Lat Navigation Frame Down Figure 6 Definition of BodyFrame and NavigationFrame Platform Frame and ECEF not drawn NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH
38. re 17 Overview of Simplified Operational Mode rennene 53 Figure 18 On Shore Initi lization eu ee ea ei 54 Figure 19 In Flight InitialiZation aec cece ee nenn EE E EEA EET EE 55 Figure 20 Start Value Acquisition nn 56 Figure 21 Start Position Acquisition rvraravvnnnnnvvrnnnravvrnnnnrnvvrnnnrrrrrnnnrsn venners verersnnnnessennnnnsnsnnrnesrrnnrnensennnne 57 Figure 22 Start Velocity ACQUIS esssS ON OG 58 Figure 23 Start Velocity ACQUISHION es nn east 58 Figure 24 Start Attitude ACQuisStttOM se etd VEER EES nane au EECH 60 Figure 25 Start Heading ACQuISILION iicsiccddviastineeasieeeeaveaiine enw adbadiibineenivaaninnwcdanee 61 Figure 26 On Shore Alignment OA 63 Figure 27 In Flight Allgnment A ee ea es einen 64 Figure 28 Ee Ettel MOUE an rkeknahahlan 65 Figure 29 IERT 74 Figure 30 INAV RQH FI Front View ueeeennnesnnnnnennennnnnnnnennnnnnennnnnnnennnnnnnen nennen nennen nn nnnnnnnnnnnnn rn 75 Figure 31 INAV FMS E DA FCAI E DA Front View two GNSS antenna connectors 75 Figure 32 iNAV drawing housing for all versions available X8 only for dual antenna systems available 76 Figure 34 Mounting dE EE 77 Figure 36 iNAV drawing small housing version available only for INAV RQH and iNAV FMS 78 Figure 37 GPS ARING 743 Antenna u e eannaaeeean 79 Figure 38 Vibration Power Spectral Density for operation eesseesssssesrreeesrnnnseennnsrnnnnnennnnnnnnnntennnennnnaneean 82 Figure 39
39. th DGPS 0 005 postproc RTK lt 0 01 free inertial lt 0 005 with DGPS 0 002 postproc with RTK aiding 0 6 nm hr free inertial lt 1 m GPS S A off and lt 10 cm RTK online lt 30 cm DGPS and 2 cm RTK INS postproc lt 0 1 distance travelled with odometer and GPS applic depend lt 0 2 dist trav on underwater vehicles incl RDI DVL interface 5 mm s aided with L1 L2 RTK GPS receiver lt 2 mm s postproc RTK lt 10 minutes on shore lt 25 minutes off shore 400 s no angle limitation 209 lt 0 002 hr lt 25 ug lt 0 002 hr const temp lt 10 ug lt 0 0015 eh lt 8 ug sqrt Hz 0 0003 1 13 lt 0 001 s lt 5 ug depends on data rate lt 5 ppm lt 5 ppm lt 100 ppm lt 20 ug g lt 25 urad 1 300 Hz internal bandwidth 300 Hz lt 2 ms sampling accuracy better 1 us time stamped according to PPS 8 GByte on internal flash drive RS232 422 Ethernet TCP IP PIO XY NLOG XX UDP X CAN X MIL STD 1553B bus integrated GPS RTK GPS GLONASS L1L2 NovAtel external GPS none Marker event trigger input 3 x Odometer input opto coupler A B PPS SYNC RS422 level Others Input for pulse per second PPS SYNC opto coupler input 4 36 V 6 mA 4 36 V 6 mA opto coupler input option TTL and RS422 level output option 4 34 V 6 mA opto coupler input option 11 34 V DC lt 45W according to MIL C 38999 II 40 71 C operati
40. the unique solution for all high precision surveying navigation and control CAUTION The iNAV systems are high precision inertial measurement systems Never theless the internal sensors are shock mounted resistant according to MIL STD 810F extreme shock shall be avoided NAV_SYSTEMS_DOC_EN DOCX LYT101025013 generalDoc_de Rev 1 03 25 10 2010 Copyright 2008 2010 by iMAR GmbH Rev 1 01 Date 29 07 2011 Hardware ICD for iNAV Systems Page 12 of 105 iINAV RQH FJI FMS E DA FCAI E DA EMAR Document P N DOC110728050 Reference IEP 1000113 INAV 2 SPECIFICATION 2 1 iNAV RQH 10018 The system iNAV RQH 10018 fulfils the following specification 1 sigma Data Output True Heading Attitude Accuracy Position Accuracy Velocity Accuracy Alignment Time Range Drift unaided Offset Bias Stability Random Walk Q Resolution Scale Linearity Error Axis Misalignment Data Output Rate Data Latency Data Storage Data Output options Inputs options Synchronization Marker Input PPT output Shutdown input Power Connectors Temperature case Magnetic Insensitive Rel Humidity MTBF MTTR Shock Vibration Weight Total Size Qualification Software Heading Roll Pitch Angular Velocity Velocity body and world Position Raw data internal status information odo and GPS inf lt 0 025 sec lat free inertial 0 01 wi
41. y referenced to the local level frame East North Up or North East Down Also earth rate compensated rotation rates and gravity compensated acceleration can now be supplied to the user The raw data as well as the processed data can be transmitted via Ethernet 10 100 1000BaseT RS232 422 UART or CAN bus The data rate is lim ited by the INS data sampling rate and the bandwidth of the transmission channel Also all data can be stored on an internal flash disk up to 16 GByte as an option A post processing software iWP can be provided on request to achieve highest accu racy using raw GNSS data and performing a forward backward calculation requires raw data storing on the internal flash drive or online raw data transmission to an external computer 3 7 Access to the IMS s file system using the SMB protocol Using the SMB protocol integrated in all MS Windows systems under Unix Linux sys tems available by the SAMBA software the user can access the internal file system of the IMS This is helpful for downloading data files collected during the mission on the internal flash drive or to backup the IMS configuration files Also updates of the IMS sys tem software are accomplished by copying the new software to the IMS file system The access to the internal file system is fully supported by the NavCommand software and described in the manual of that software 3 8 Definition of Euler Angles The IMS uses the following definition of Euler

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