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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
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Table of Contents
1. SCOPE ............................................................................................................................................... 1
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
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1. Scope
This document presents the functional specification of the Ethernet & Disk Logging interfaces and data
structures used by the POS Computer System (PCS) to communicate. The document is separated into
output data groups and input and output control messages. Each of groups and messages is defined below.
2. Glossary of Acronyms
accel accelerometer
AGC automatic gain control
alt altitude
AutoConfig auto configure
Aux auxiliary
D/A Digital-to-Analog
d/B decibels
DCM direction cosine matrix
deg degrees
deg/s degrees/second
C/A course acquisition
char character
COM1 communications port 1
COM2 communications port 2
D down
DGPS differential global positioning system
DMI distance measurement indicator
double double precision floating point
DSP digital signal processor
E East
FDIR Fault Detection, Isolation, and Reconfiguration
float floating-point precision
GAMS GPS Azimuth Measurement Subsystem
GPS Global Positioning System
H/W hardware
HDOP Horizontal Dilution of Precision
Hz Hertz
I/O input and output
ICD interface control document
IMU Inertial Measurement Unit
IP Internet Protocol
KF Kalman filter
lat latitude
long longitude
LSB least significant bit
m metres
m/s metres/second
m/s2 metres/second/second
ms millisecond
MSB most significant bit
N North
N/A not applicable
NOP No Operation
NVM non-volatile Memory
PCS POS Computer System
POSProc Post-processing software package
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
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POS also provides one Disk Logging interface for logging POS data to a PC Card device called the
Logging port.
POS outputs data in specified group formats defined in the body of this document. Messages are used to
both change and describe the system configuration. Both message and group data are output on four ports:
Display, Primary Data, Secondary Data Port and Logging. Messages are input on the Control port.
The Display port is a low rate UDP output port that is designed to broadcast low rate data and status
information for display. A Windows program, called the POS Controller, is provided with POS to run on
the users computer, client, to both control the system and allow the user to view POS data. The POS
Controller reads the message and group data from this port for display. POS is designed to allow multiple
controllers on different computers to receive display data from the PCS; however, only one Controller at
any time shall be designated as the master and be capable of sending commands to the PCS via the Control
port. This arrangement prevents conflicting Controller information from being received by the PCS.
The port address for the Display port is 5600. The subnet mask is 255.255.255.255.
The Primary Data port is a real-time TCP output port that are designed to broadcast attitude and position,
S/D Nav and Kalman filter data. Because this data is broadcast via TCP, it can be received by only one
computer. The POS Controller can log this data to disk, however care must be taken to ensure the POS
loading is low enough not to cause data gaps.
The Secondary Data port is a buffered TCP output port that are designed to logging data to the disk.
The port addresses for the Primary and Secondary Data ports are 5602 and 5603 respectively. The IP
subnet mask is 255.255.255.255.
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The Logging port logs data to a PC Card device. This file is intended for use in post-processing only. The
data is not output in real-time, but in large buffers written to the device once every 30 seconds.
The user is able to select, from several different options, the data required for output. Each port is
configurable to output different data than the other ports. The user is able to change the output options of
the Display, Primary Data, Secondary Data and Logging ports at any time.
The Control port is designed to receive set-up and control commands from the POS Controller and to
acknowledge the commands to indicate successful reception of the message. The Control port is bi-
directional and uses the TCP protocol to communicate with the POS Controller.
The port address for the Control port is 5601. The IP subnet mask is 255.255.255.255.
In case of POSTrack the FMS Data Port is real time TCP port designated to provide selected groups to
FMS computer, the FMS Control Port is TCP control port used by FMS computer to send messages to
POS.
Regarding functionality there is no differences between FMS Data Port and Real Time Port, as well
between Control Port and FMS Control Port.
The port address for FMS Control Port is 5605. IP subnet mask is 255.255.255.255.
The port address for FMS Data Port is 5604. IP subnet mask is 255.255.255.255.
4. Group Outputs
4.1. Introduction
The output groups have been designed to allow extraction software to easily decode the data in each group.
All groups are framed by ASCII delimiters and have identifiers that uniquely identify each group.
The following tables list the Display, Primary Data, Secondary Data and Logging port output groups
available from the POS system. The output parameters are divided into groups that can be selected for
output on the ports. It is not possible to mix and match individual output parameters, but one can choose as
many output groups as required.
The output data rate on the Display port is typically 1 Hz or less. Since this output is strictly for display
update, a higher data output rate is not required. The output data rate on the Primary Data, Secondary Data
and Logging ports is 1-200 Hz group dependent. It is possible to select, from several options, the output
data rate of choice on the Data and Logging ports.
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
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10001 Raw Primary GPS - - - 1-10 1-10 1-10 1-10 1-10 1-10
10002 Raw IMU - - - 200 200 200 200 200 200
10003 Raw PPS - - - 1 1 1 1 1 1
10004 Raw Event 1 - - - 1-200 1-200 1-200 1-200 1-200 1-200
10005 Raw Event 2 - - - 1-200 1-200 1-200 1-200 1-200 1-200
10101 Raw Secondary GPS - - - 1-10 1-10 1-10 1-10 1-10 1-10
10102 Raw Auxiliary GPS - - - 1 1 1 1 1 1
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
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Group Contents Display Port Output Pri/Sec Data Port Logging Port Output
Rate (Hz) Output Rates (Hz) Rate (Hz)
Stby Nav Diag Stby Nav Diag Stby Nav Diag
10200 Raw Gimbal Encoder Data - - - 1-200 1-200 - 1-200 1-200 -
10202 Raw Lidar Data - - - - - - 1-200 1-200 1-200
The header consists of an ASCII group start ($GRP), Group ID, byte count, Time 1, Time, distance tag and
time and distance type flags.
The byte count is a short unsigned integer that includes all fields in the group except the Group start ASCII
delimiter, the Group ID and the byte count. Therefore, the byte count will always be 8 bytes less than the
length of the group.
Time 1 can be the time since power-on (POS time) or GPS/UTC seconds of the week, once the primary
GPS receiver has locked on to satellites, valid for the data in the group. The user can select either GPS or
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Time 2 can be POS time (default), GPS or UTC seconds of the week, or user time of the data in the group.
User time allows the groups to be time tagged with an external computers time clock. All raw data (10000)
and diagnostics (20000) groups set Time 2 to POS time.
Distance tag is either the POS distance travelled as computed by the navigator or the DMI (distance
measurement index) distance tag from the sensor valid for the data in the group.
The group is terminated by the footer which consists of a pad (if required), checksum, and ASCII group
end delimiter ($#).
The pad is used to make all groups a multiple of four bytes in length.
The checksum is calculated so that adding all fields in the group using short (16 bit) integers results in a net
sum of zero.
The byte, short, ushort, long, ulong, float, and double formats are defined in Appendix A.
Note: The validity rule only applies to fields that are not comprised of bit subfields.
Table 3: Group 1: Aircraft Position, Velocity, Attitude, Track, Speed & Dynamics
Item Bytes Format Value Units
Group start 4 char $GRP N/A
Group ID 2 ushort 1 N/A
Byte count 2 ushort 132 bytes
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Next PRN - - - -
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information. Sensor hardware status output in this group is decoded by the POS Controller. FDIR Level 1,
similar to a built-in test, reports problems in communications between the sensors and the PCS. FDIR
Level 2, the direct reasonableness test, compares the sensor data against reasonable magnitude limits for
marine aircrafts. FDIR Level 3, the direct comparison test, compares IMU data against aiding sensor data
and identifies unreasonable differences when they occur. FDIR Level 4, the residual test, monitors the
measurement residuals from the Kalman filter and rejects measurements that fall outside a specified 95%
confidence level. Consistent measurement rejection indicates a potential IMU or aiding sensor failure.
FDIR Level 5, the indirect reasonableness test, monitors the estimates of accelerometer and gyro biases.
Soft sensor failures appear as slow increases in these errors. If a threshold is exceeded, a sensor failure is
flagged.
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Level 1 Pri GPS failure (GPS not in Nav mode) bit 5: set
Level 1 Pri GPS failure (GPS not available for alignment) bit 6: set
Level 1 Pri GPS failure (GPS data gap) bit 7: set
Level 1 Pri GPS failure (PPS time gap) bit 8: set
Level 1 Pri GPS failure (PPS time recovery data not rxd) bit 9: set
Level 1 Pri GPS failure (raw observable data gap) bit 10: set
Level 1 Pri GPS failure (ephemeris data gap) bit 11: set
Level 1 Pri GPS failure (tracking elevation limit incorrect) bit 12: set
Level 1 Pri GPS failure (GPS Datum parameters incorrect) bit 13: set
Level 1 Pri GPS failure (position/velocity Fix Error) bit 14: set
Level 1 Pri GPS failure (incorrect SV selection parameters) bit 15: set
Level 1 Sec GPS failure (GPS data gap) bit 20: set
Level 1 Sec GPS failure (raw observable data gap) bit 21: set
Level 1 Aux GPS failure (GPS data gap) bit 25: set
Spare bits: 3, 4,
16-19,
22-24,
28-31
FDIR Level 1 2 ushort Shows number of FDIR Level 1 Status IMU failures (bits 0 or 1) =
IMU failures Bad IMU Frames
FDIR Level 2 2 ushort Level 2 IMU failure (Nav speed > 300 m/s) bit 0: set
Status Level 2 Pri GPS velocity failure (GPS speed > 300 m/s) bit 1: set
Level 2 Pri GPS position failure (GPS horiz. error > 1000m) bit 2: set
Level 2 Aux GPS position failure (GPS horiz. error > 1000m) bit 3: set
26
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Table 19: Group 102: Reference Frame Position, Velocity, Attitude, Heave & Dynamics
Item Bytes Format Value Units
Group start 4 char $GRP N/A
Group ID 2 ushort 102 N/A
Byte count 2 ushort 128 Bytes
Time 1 8 double N/A Sec
Time 2 8 double N/A Sec
Distance tag 8 double N/A M
Time types 1 byte Value: bits 0-3
Time 1: POS time 0
Time 1: GPS time 1
Time 1: UTC time 2 (default)
Table 20: Group 104: Reference Frame Position, Velocity, and Attitude Performance Metrics
Item Bytes Format Value Units
Group start 4 char $GRP N/A
Group ID 2 ushort 104 N/A
Byte count 2 ushort 68 Bytes
Time 1 8 double N/A Sec
Time 2 8 double N/A Sec
Distance tag 8 double N/A M
Time types 1 byte Value: bits 0-3
Time 1: POS time 0
Time 1: GPS time 1
Time 1: UTC time 2 (default)
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Next PRN - - - -
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Next PRN - - - -
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Positive angles are defined as clockwise from the zero point of the yaw encoder. It is designed to be
superimposed upon the signal from the yaw (kappa) gyro and then fed into the control loop of the stabilized
mount.
The yaw drift correction is automatically activated and de-activated by POS when it detects that the aircraft
has entered or exited straight and level flight. When de-activated the yaw drift correction will return to zero
with a time constant defined by the yaw drift control algorithm. The yaw correction method, desired
heading, cut-off and gain for the yaw drift correction algorithm are set by the user via Message 20201.
Table 29: Group 203: Platform Yaw Drift Correction
Item Bytes Format Value Units
Group start 4 char $GRP N/A
Group ID 2 ushort 203 N/A
Byte Count 2 ushort 48 bytes
Time 1 8 double N/A sec
Time 2 8 double N/A sec
Distance tag 8 double N/A m
Time types 1 byte Value: bits 0-3
Time 1: POS time 0
Time 1: GPS time 1
Time 1: UTC time 2 (default)
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.
The GPS Receiver Type field is used to indicate the type of receiver used during POS operation.
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.
The GPS Receiver Type field is used to indicate the type of receiver used during POS operation.
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.
There are three types of Gimbal messages: GIM01 message has 20 bytes, GIM02 has 14 bytes, and
P30_GIM has 10 bytes.
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5. Message I/O
5.1. Introduction
The Control port is used by the PCS to receive command messages from the POS Controller or a users
custom software and to acknowledge successful receipt of the message. The Control port is bi-directional
and uses the TCP protocol to communicate with the POS Controller.
Each message sent to POS initiates an action on the part of the PCS. When the PCS has completed this
action, it replies to the POS controller by sending an Acknowledge message, message ID 0, on the
Control port over which it received the command. The Acknowledge message protocol is defined below.
The purpose of the Acknowledge message is to inform the POS controller that the PCS has received the
message, and has either accepted or rejected it.
A copy of each of the input messages defined below is sent out on each of the Display, Primary Data (ADC
model only) Secondary Data and Logging ports at the rate indicated in the table below. No messages are
sent on the Primary Data Logging port if the POS/AV model is other than ADC. This output of messages
allows the client to monitor the current state of the configuration of the POS system. The content of the
output messages reflects the current state of the PCS system, not the last sent user message. Thus, if the
state of the system changes, as part of the normal operations, it will be reflected in the next output user
messages.
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101 Installation parameter set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
102 COM (1) port set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
103 COM (2) port set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
104 COM (3) port set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
105 Analog port set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
106 Heave filter set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
107 User parameter accuracy set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
108 GAMS parameter set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
109 GAMS calibration control - - - - - - - - - - - -
110 Secondary GPS set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
20001 Reference frame control 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
20101 FDIR Override control 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
20102 COM 2 Port diagnostics 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
20103 Analog port diagnostics 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
20200 Gimbal Encoder Data Input 1.0 1.0 1.0 200* 200* 200* - - - 200* 200* 200*
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.
20201 Platform Yaw Drift Correction Setup 1.0 1.0 1.0 1.0 1.0 1.0 - - - 1.0 1.0 1.0
20202 Free Inertial Mode Command 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0
20203 FMS Data Port Control 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0
20204 FMS Camera Trigger Control N/A N/A N/A N/A N/A N/A N/A N/A N/A
20205 Gimbal Mount Control 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20206 Lidar Logging Control 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20207 Lidar IP Address Settings 1.0 1.0 1.0 1.0 1.0 1.0 0.1 0.1 0.1
20208 Camera 1 Message 1.0 1.0 1.0 200* 200* 200* 200* 200* 200*
20209 Camera 2 Message 1.0 1.0 1.0 200* 200* 200* 200* 200* 200*
20211 Event1/2 Shift Message 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20212 Event1POSEO Settings 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20213 Event1 Mapping Frame Settings 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20214 Event2 POSEO Settings 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20215 Event2 Mapping Frame Settings 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20216 Reserved
20217 Real Time POSPC Settings 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20218 External Lidar Swat Message 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20219 Roll and Pitch scale factor for ZI 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
Mount
20220 YDC Set Point Offset Settings 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
*maximum rate
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.
The header is comprised of an ASCII string ($MSG) followed by a unique message identifying header
byte, a byte count and a transaction number.
The byte count is a short unsigned integer that includes all fields in the message except the Message start
ASCII delimiter, the Message ID and the byte count. Therefore, the byte count will always be 8 bytes less
than the length of the message.
The Transaction # is a number which is attached to the input message by the client. This number is
returned to the user by the PCS in the Acknowledge message, ID 0. This mechanism shall allow the client to
know which message is being responded to by the PCS. This number must be between 0 and 65534.
In between the header and footer of a message is the data. While many messages have associated message
data, it is not the requirement of the protocol. Messages may in themselves act as events or messages may
use the data portion to command a particular state.
Messages end with a footer that contains a pad, a checksum and an ASCII delimiter ($#).
The pad is used to make each message a multiple of four bytes long.
The checksum is calculated so that adding all fields in the group using short (16 bit) integers results in a net
sum of zero.
The byte, short, ushort, long, ulong, float and double formats are defined in Appendix A.
Note: The validity rule only applies to fields that are not comprised of bit subfields.
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1. For the case where the action triggers a change of state within the PCS (in particular a change of state
that may have significant duration associated with the transition), the Acknowledge message is sent to
the POS controller to indicate that the transition is in progress, but not necessarily complete. For
example, a message commanding the PCS to transition to Nav mode is replied to as soon as the initial
transition begins. The POS control computer will typically reply-block after each message it sends.
Accordingly, the PCS shall reply to the message in a relatively short time frame.
2. For the case where the action triggers a change in data (i.e. parameters) within the PCS, the
Acknowledge message indicates whether the data has been successfully incorporated into the PCS
internal structures. The Acknowledge message does not indicate a message accepted status until the
PCS internal data structures are able to process the requested changes.
3. For the case where the action triggers the sending of one or more groups of data, an Acknowledge
message shall indicate successful completion of the requested action, and the requested groups shall be
transmitted on the Display, Primary Data, Secondary Data and Logging ports. If current data for one of
the requested groups is not current at the instant of request, the group is output with stale fields set to
N/A values before it is transmitted. If data for a particular group is unavailable, that group shall not be
transmitted on the three ports until it is available. A reply code shall indicate whether data for a
particular group is available.
5. Individual CSCs must set the newParameters field of Message 0 to indicate whether an accepted
ICD message contains new information or not. This is important for messages that can be saved to
NVM, since it allows the POS Controller to prompt the user to save settings to NVM if the settings
have changed before disconnecting from the PCS.
6. Parameter Name: When POS rejects a certain parameter within a message, it sets the parameter error.
The name of the parameter rejected is displayed in this field.
This message allows the user to select the time tag types used for Time 1, Time 2 and Distance. The user
can select either GPS time or UTC time for Time 1 and POS, GPS, UTC or User time for Time 2. GPS time
will tag the time of validity of all data with the week number since the GPS system was turned on and the
seconds into that week. Week number is available in the Primary GPS group. UTC time tags the time of
validity of the data in week number of the year and seconds of the week.
This message also sets the state for AutoStart. AutoStart allows the PCS to enter Nav mode immediately on
power-up using the parameters stored in NVM. The user does not need to request a transition to Nav mode.
Lastly, this message contains data that is sent to POS that defines the installation parameters of IMU and
GPS sensors and aircraft frame with respect to a user defined reference frame. This data is used by POS to
determine the relative positions of the sensors (IMU and primary GPS antenna). The interpretation of the
items in these fields is as follows:
Distances measured from the user defined reference frame origin to the IMU inertial sensor
assembly origin resolved in the reference frame. From the origin of the reference frame, the x is
positive forwards, y is positive towards the right, and z is positive down (Right-Hand Rule). If the
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.
IMU is mounted on a camera or a scanner, these would be the distances from the perspective
centre to the IMU measured in the camera or scanner frame. When mounting the IMU on a
gimballed platform, these would be the distances from the centre of rotation of the platform to the
IMU.
Distances measured from the user defined reference frame origin to the phase centre of the
primary GPS antenna resolved in the reference frame. When the IMU is mounted on a gimballed
platform, these would be the distances from the centre of rotation to the GPS antenna, measured in
the reference frame, when the gimbal encoders are reading (0,0,0).
Physical angular offsets of the IMU body frame with respect to the user defined reference frame.
The reference frame is defined as the right-handed orthogonal co-ordinate system with its origin
defined at any point the user wishes. The axes are fixed to the reference frame, with the x axis in
the forward going direction, the y axis perpendicular to the x axis and pointing to the right, and the
z axis pointing down. The IMU body frame is defined as the right-handed orthogonal co-ordinate
system with its origin at the sensing centre of the IMU. These axes are fixed to the IMU and are
labelled on the IMU drawings.
The angles define the Euler sequence of rotations that bring the reference frame into alignment
with the IMU body frame. The angles follow the Tate-Bryant sequence of rotation given as
follows: right-hand screw rotation of z about the z axis followed by a rotation of y about the
once rotated y axis followed by a rotation of x about the twice rotated x axis. The angles x, y,
and z may be thought of as the roll, pitch, and yaw of the IMU body frame with respect to the
reference frame.
For example, if the IMU were mounted with its x-axis forward and y-axis down as on the side of a
camera, these angles would be (0,90,0)
This set of lever arms are not used and should always be set to 0.
Physical angular offsets of the user defined reference frame with respect to the aircraft body
frame. The aircraft body frame is defined as the right-handed orthogonal co-ordinate system with
its origin at the centre of the aircraft. These axes are fixed to the aircraft, with the x axis positive
through the nose, the y axis positive right wing, and the z axis pointing down through the aircraft
belly.
The angles define the Euler sequence of rotations that bring the aircraft body frame into alignment
with the reference frame. The angles follow the Tate-Bryant sequence of rotation given as follows:
right-hand screw rotation of z about the z axis followed by a rotation of y about the once rotated
y axis followed by a rotation of x about the twice rotated x axis. The angles x, y, and z may be
thought of as the roll, pitch, and yaw of the reference frame with respect to the aircraft frame. For
example, is the camera or scanner were mounted with the x-axis rotated by 90 degrees from the x
axis of the aircraft, these angles would be (0,0,90).
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.
When using a gimballed platform, these would be the roll, pitch and yaw of the platform with
respect to the aircraft frame when the gimbal encoders are reading (0,0,0).
This message also allows the user to select the multipath environment which best describes the present
multipath conditions. POS uses this information to scale the RMS errors on the position and velocity
outputs reported to the user to ensure that the reported errors are reasonable. If LOW is selected the reported
RMS errors are reported unaffected by multipath. If MEDIUM or HIGH is selected the RMS errors are
increased in magnitude to account for the added multipath noise.
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.
Groups 1, 2, 3 and 101 are always turned on for the Display port.
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Sample frequency is specified as one of several available discrete output rates. Note that certain groups
cannot be output at a variable frequency due to their frequency of availability.
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Sample frequency is specified as one of several available discrete output rates. Note that certain groups
cannot be output at a variable frequency due to their frequency of availability.
AutoLog allows the user to start recording data to the Logging port using the automatically incrementing
filename stored in NVM. This feature means that the user does not need to connect a controller to the PCS
to specify a new filename every time a new file is opened.
This message is also used to begin and end logging to an internal disk file and set the filename. The
filename will automatically be set to default.xxx if AutoLog is enabled.
This message must be sent prior to removing a disk from the disk drive and may be saved.
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.
The COM1 Output Rate allows the user to select the rate at which data from the primary GPS receiver will
be output and logged to the Data or Logging ports by the PCS.
This message is used to allow the user to control and select the configuration of the RTCM-104 corrections
(COM2) port used by the primary GPS receiver. COM2 is usually configured to accept RTCM corrections.
When in this mode it will not accept commands. This message will re-configure this port to accept
commands to allow external software to communicate with the primary receiver. This will allow give the
user diagnostic capabilities for the receiver and allow the user to upgrade the firmware on the GPS card.
Note that GPS Autoconfig will be turned off upon receipt of an Accept Commands message and will be
turned on again when either an Accept RTCM or a GPS reconfigure message is issued.
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.
To use this function, the user must first latch the 1 PPS output from POS, and then send the time tag of the
1 PPS to POS in this message. This message shall contain the time of the last 1 PPS discrete signal output
by POS.
The message must be received by POS before the next 1 PPS is issued.
Table 64: Message 12: Time Sync
Item Bytes Format Value Units
Message start 4 char $MSG N/A
Message ID 2 ushort 12 N/A
Byte count 2 ushort 24 N/A
Transaction # 2 ushort Input: Transaction number set by client N/A
Output: 65535
User Time of 8 double Any positive floating point number seconds
Last PPS (default = N/A)
User Time 8 double Any positive floating point number N/A
Conversion (default = N/A)
Pad 2 short 0 N/A
Checksum 2 ushort N/A N/A
Message end 2 char $# N/A
This message is accepted prior to GPS data being available, but will be superseded once GPS data is
available. This message cannot be saved to NVM.
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0 The connected POS Controller is alive and the TCP connection is good.
1 Terminate the TCP connection. This allows the POS Controller to disconnect as controller and re-
connect later.
101 Reset POS to clear pending problems. All parameters will be loaded from NVM after a reset.
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102 Shutdown POS in preparation for power-off. This function allows disk files to be closed and
operating parameters to be saved to NVM.
103 Re-initialize internal logging drive. Applicable only for OEM configuration. All internal data will
be lost after the command is issued. No affect on SA (Stand Alone) POS .
The PCS continuously monitors the TCP connection between itself and the POS Controller. It expects to
receive at least one message from a Controller every 30 seconds or it will automatically terminate the TCP
connection. The prime purpose of this function is for the PCS to determine when the Controller has failed,
so that the TCP port can be reset. This message can be used with a value of 0 as a no operation (NOP)
message when no other messages need to be sent to the PCS.
Sample frequency is specified as one of several available discrete output rates. Note that certain groups
cannot be output at a variable frequency due to their frequency of availability.
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This message contains data that is sent to POS in order to set Primary GNSS receiver for subscribed
OmniSTAR service.
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This message contains data that is sent to POS in order to set Secondary GNSS receiver for subscribed
OmniSTAR service.
Distances measured from the user defined reference frame origin to the phase centre of the
Auxiliary GPS antenna resolved in the reference frame. When the IMU is mounted on a gimbaled
platform, these would be the distances from the centre of rotation to the GPS antenna, measured in
the reference frame, when the gimbal encoders are reading (0,0,0).
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OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
.
This message is accepted at anytime and may be saved. The new parameters must be saved in NVM after
they are changed or POS will use the old values the next time the PCS is reset or powered-on.
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
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11 N/A
12 N/A
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
.
The COM1 Output Rate allows the user to select the rate at which data from the secondary GPS receiver
will be output and logged to the Data or Logging ports by the PCS.
This message is used to allow the user to control and select the configuration of the COM2 port used by the
secondary GPS receiver. This message will re-configure this port to accept commands to allow external
software to communicate with the receiver. This will allow give the user diagnostic capabilities for the
receiver and allow the user to upgrade the firmware on the GPS card.
Note that GPS Autoconfig will be turned off upon receipt of an Accept Commands message and will be
turned on again when either an Accept RTCM or a GPS reconfigure message is issued.
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
.
This message is used to reconfigure the processing of the aiding data in POS Kalman filter. The user may
choose to force (enable) aiding data to be used regardless of the status of the sensor data, or prevent
(disable) aiding data from being used. POS uses GPS data as aiding data.
6-31 spare
Pad 2 byte 0 N/A
Checksum 2 ushort N/A N/A
Message end 2 char $# N/A
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
.
Gimbal processing using data from the Ethernet is turned on via the Gimbal processing control byte. Once
turned on, and Message 20200 is not received within 1 sec, then a gimbal data gap will be declared. The
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.
user can turn off Gimbal processing by issuing Message 20200 at least once with the control byte set to 0.
Default is 0 (OFF).
The Angle Definition field tells POS how to interpret the 3 encoder angles. Value 0 is for when the IMU is
mounted on a pod type platform such as a WESCAM mount. In this case the sequence of rotations
starting with the aircraft frame is tz, ty, tx. The value 1 is for when the IMU is mounted on a traditional
aerial camera stabilized mounts such as the PAV30 or T-AS. In this case the sequence of rotations in tx, ty,
tz. All angles are defined as positive clockwise. Please see the POS/AV Installation and Operation Manual
for details.
Table 81: Message 20200: Gimbal Encoder Input
Item Bytes Format Value Units
Message start 4 char $MSG N/A
Message ID 2 ushort 20200 N/A
Byte count 2 ushort 44 N/A
Transaction # 2 ushort Input: Transaction number set by client N/A
Output: N/A
Time 1 8 double N/A Sec
Time types 1 byte Value: bits 0-3
Time 1: User time 0
Time 1: GPS time 1
Time 1: UTC time 2 (default)
Method 0: The yaw of the platform is continuously steered so that it equals the mean track of the aircraft.
This method requires no input from the operator regarding the desired track of the current flight line.
Method 1: The user sets the desired heading of the next flight line. POS then steers the yaw of the platform
so that the platform heading is always equal to the desired heading. The activation threshold defines the
region about the heading set-point where the yaw drift correction is active. If this method is chosen and the
operator does not send the desired heading in time for the current line, POS will default to Method 0.
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.
Methods 2 and 3: Similar to Method 0 and 1 respectively, but POS outputs the heading difference instead
of continuously steering the platform.
The cut-off period is the tracking filter cut-off in seconds. The gain is the used to scale the drift correction
output.
The drift correction output is designed to be superimposed upon the signal of the yaw gyro of the stabilized
mount, and then fed into its control loop. Hence the cut-off period is chosen to match the bandwidth of the
control loop.
The default cut-off period is 5 seconds, with a gain of 0.5. These values can be optimized by the user
depending upon the type of platform and aircraft.
In order to run this feature the real time software has to be optionally configured to run in Free Inertial
Mode, otherwise sending this message will do no changes to real time solution.
When free inertial mode is selected it will disable closed loop error control inside real time software and
POS will run in Free Inertial Mode.
Sample frequency is specified as one of several available discrete output rates. Note that certain groups
cannot be output at a variable frequency due to their frequency of availability.
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
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Reserved 1 4 Long 0
Reserved 2 4 Long 0
Pad 1 byte 0 N/A
Checksum 2 ushort N/A N/A
Message end 2 char $# N/A
Reserved 4 Long
Reserved 4 Long 0
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
.
This command sets lidar IP and commands to POS to connect to specify address.
Table 88: Message 20207: Lidar IP Address Control Command
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
.
This message provides information about the last camera 1 trigger. It is used only in POSTrack product
Table 89: Message 20208: Camera 1 Message
This message provides information about the last camera 2 trigger. It is used only in POSTrack product
Table 90: Message 20209: Camera 2 Message
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
.
0 X N/A
1 Y
2 Z
0 Omega
1 Phi N/A
2 Kappa
0 X N/A
1 Y
2 Z
0 Omega
1 Phi N/A
2 Kappa
0 X N/A
1 Y
2 Z
0 Omega
1 Phi N/A
2 Kappa
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
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Table 93: Message 20213: Real Time POSEO Mapping Frame Settings Event1
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
.
0 X N/A
1 Y
2 Z
0 Omega
1 Phi N/A
2 Kappa
0 X N/A
1 Y
2 Z
0 Omega
1 Phi N/A
2 Kappa
0 X N/A
1 Y
2 Z
0 Omega
1 Phi N/A
2 Kappa
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
.
N/A
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
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POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
.
5.3.3.47. Message 20219: ZI Mount Roll and Pitch Scale Factor Settings
This message provides the scale factor setting for roll and pitch that POS uses to level the Z/I mount. This
message applies to ZI mount only. The recommended settings of the scale factor is 2.0.
Table 98: Message 20219: Roll and Pitch Scale Factor
Item Bytes Format Value Units
Message start 4 char $MSG N/A
Message ID 2 ushort 20219 N/A
Byte count 2 ushort 76 N/A
Transaction # 2 ushort Input: Transaction number set by client N/A
Output: N/A
Reserved 1 1 char 0 N/A
Reserved 2 8 double 0 N/A
Reserved 3 8 double 0 N/A
Reserved 4 8 double 0 N/A
Gain Roll 8 double 0.001 to 10,000 N/A
Recommended 2.0
Reserved 5 1 byte 0 N/A
Reserved 6 8 double 0 deg
Reserved 7 8 double 0 N/A
Reserved 8 8 double 0 sec
Gain Pitch 8 double 0.001 to 10,000 N/A
Recommended 2.0
Reserved 9 1 byte 0 N/A
Pad 3 Byte N/A N/A
Checksum 2 ushort N/A N/A
Message end 2 char $# N/A
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.
The short integer format of the POS data is the INTEL style byte order as follows:
The long integer format of the POS data is the INTEL style byte order as follows:
The floating point format of the POS data is INTEL byte order IEEE FP standard (754) and is as follows:
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