GNSS Antenna Offset

The GNSS antenna offset is measured from the centre of the INS unit to the phase centre of the primary antenna in the orientation of the Body Coordinate Frame: (X positive forward, Z positive down).

Odometer Offset

The odometer offset is measured from the centre of the INS unit to the point at which the vehicle's tyre being measured makes contact with the road in the body co-ordinate frame (X positive forward, Z positive down). If your odometer is not measuring a specific wheel, the offset should be to the point on the ground beneath the measurement point. If, for example, your car is a front wheel drive and you are using the velocity from the car OBDII port, the measurement point would be midway between the two front wheels.

External Data Offset

These values are only required for speciality applications operating with an external source of velocity and position data. The offsets are used when providing NMEA Input, External GNSS, or with an Air Data Unit. When using a DVL, use the odometer offset. Please contact support@advancednavigation.com for further assistance.

GPIO

This page allows the user to configure the input and output functions of the GPIO and Auxiliary ports. These functions are described in detail in Dynamic Pin Functions. These functions change dynamically and are effective immediately upon clicking Save Changes.

Note: The GPIO port functions at RS232 levels for data functions and 0 to 5 volt (or 0 to 3.3 V) levels for all other functions. The auxiliary port functions at RS232 or RS422 levels for data functions and 0 to 5 volt (or 0 to 3.3 V) levels for all other functions. The internal hardware automatically reconfigures based upon the selected function.

The default values for these settings are Inactive. The dedicated 1PPS signal is active by default.

INS Manager Web GPIO Configuration Page

Odometer

The Odometer page allows the user to configure the odometer pulse length and offset, and . See Odometer and Odometer Pulse Length for more information on the use of odometers. The odometer offset is also applied when using a DVL input.

INS Manager Desktop Odometer Dialogue

Reference Point Offsets

The Reference Point Offsets page allows the user to set measurement points away from its default position at the physical centre of the INS unit. The primary reference point offset applies to data from all ANPP packets as well as all peripheral output such as NMEA messages and Heave Point 1. When the values are zero the measurement point is the centre of the INS unit.

The Heave Points 2 to 4 allow the user to offset reference points for the heave values 2 to 4 in the Heave Packet.

The Centre of Gravity (COG) Lever Arm Offset should be used to define where the centre of gravity is for the vehicle. It is useful in applications, such as a surface vessels, to improve the ability of the North Seeking Gyrocompass Heading to complete coarse alignment.

These offsets are applied to the values in the Heave Packet and Vessel Motion Packet.

Note: These values only apply to the Heave Packet and Vessel Motion Packet. NMEA, TSS and Simrad heave is not affected by the values in this dialogue which are always measured at the centre of the INS unit.

INS Manager Desktop Reference Position Offset Dialogue

Dual Antenna

The Dual Antenna configuration page is only used if the primary and secondary GNSS antennas are not installed in their recommended and default positions of primary front and secondary rear, at the same height.

If it is not practical to mount the antennas in the recommended alignment, the alternate alignments must be entered into this page. It is recommended to try and use one of the automatic offsets where possible, where the antennas must be installed in one of four different automatic offset orientations aligned on an axis.

If it is not possible to use one of the automatic offsets, the antennas can be installed in any configuration and a manual offset should be entered. The manual offset is measured from the central base of the secondary antenna to the central base of the primary antenna in the body co-ordinate frame (X+ forward, Z+ down). If using a manual offset, be careful to measure the offset accurately, as even small offset errors can result in relatively large heading errors. For example, 2 cm error = 1.15 degrees heading error with a 1 metre antenna separation.

• When using an automatic offset, the manual offset values are ignored.
• When using a manual offset, the automatic offset selection is ignored.
• When using automatic offset, the manual offset values will show the distance that the INS has automatically measured.

INS Manager Desktop Dual Antenna Dialogue

Gimbal

[INS Manager Desktop only]

The Gimbal configuration dialogue is only used in gimbal specific applications.

Contact support@advancednavigation.com for more information on using the INS inside a gimbal.

INS Manager Desktop Gimbal Dialogue

Ethernet Settings

The Ethernet Settings page allows you to enable or disable the DHCP Client. When the DHCP Client is disabled you need to enter the TCP/IP settings if you wish to access the INS Manager Web interface.

If you are only connecting to the INS via the primary serial port these settings can be ignored.

The default is for the Ethernet mode to be set to DHCP.

Note: Ethernet settings are only available for INS devices with an ethernet interface.

INS Manager Desktop Ethernet Settings Dialogue

NTRIP Client

[INS Manager Web only]

The NTRIP client built into the INS can be used to connect to a network DGPS (Differential GPS, an older standard for GNSS corrections of lower performance than RTK) or RTK service to stream correction data to the INS for DGPS or RTK. The NTRIP client requires the INS has an available internet connection to the NTRIP Caster to function.

The source of the corrections data can be either your own base station, configured as an NTRIP Caster, or a third-party service. Either way, you will need the login details for connecting to and authenticating with the NTRIP Caster, and identifying the nearest mountpoint. For more details on the connection steps, refer to the Manual Initialisation page.

Troubleshooting NTRIP Caster Connections

Some mount points require the INS send its position. To do this, click the Report Position check box, and then click Save Changes. The current INS position will then be sent to the NTRIP Caster every 10 seconds.

If you cannot get the list of mount points, ensure the Host Address and Port number are correct for your NTRIP Caster.

If the Connection Status is not green, and says UNAUTHORISED this indicates an incorrect username or password.

INS Manager Web NTRIP Client Page

CAN Settings

The CAN Settings page allows you to enable or disable the CAN functionality. If you are only connecting to the INS via the primary serial port then these settings can be ignored.

The default for CAN is Enabled at 1,000,000 baud rate. A CANOpen EDS file is bundled with the firmware download or can be downloaded from the Advanced Navigation webpage.

INS Manager Desktop CAN Settings Dialogue

Advanced

[INS Manager Web only]

The Advanced page allows you to set the voltage level of the GPIO and 1PPS signals lines along with the packet rates.

The options are 5 V, 3.3 V, or Disabled. The default is 5 V.

Note: The dedicated 1PPS signal is active whenever the voltage is set to 5 V or 3.3 V, and is therefore active by default.

The CANopen output packet rates can be configured as the period between packets in milliseconds within the range of 10 ms to 10,000 ms. The default is 50 ms.

INS Manager Web Advanced Page

GNSS Configuration

The GNSS Configuration page allows you to select constellation configurations based on the type of GNSS receiver installed.

If an invalid configuration is entered, the system will revert to the previous configuration when you try to save the changes. To confirm that changes have been successfully saved, close and re-open the GNSS Configuration page.

INS Manager Desktop GNSS Configuration Dialogue

U-blox GNSS Receiver Configuration

When using a u-blox GNSS receiver, the following configuration rules are applicable:

• By default, GPS, Galileo and GLONASS are enabled, along with SBAS and QZSS correction services.
• When selecting a GNSS constellation, all frequencies for that constellation must be selected, with the exception of GPS and Beidou.
• GPS and Beidou can be enabled with L1/B1 frequency only, and a second frequency is optional.
• SBAS and QZSS correction services can also be enabled for all constellation configurations, except when using GPS, Galileo and BeiDou together, or when GPS L1 is not enabled.

INS Manager Web U-blox GNSS Configuration Page

The table below lists the supported constellations and the corresponding GNSS sample period depending upon the number of constellations selected. When setting the Configuration Menu, the packet rate of the Raw GNSS Packet and Raw Satellite Data Packet are automatically adjusted to the next lower integer multiple of the sample period.

U-blox Supported GNSS Constellation Configurations