CodaOctopus F180R Series Product information sheet

F180R series

User & Reference Guide

Version: 2.0.0

/F180R series

very accurate positioning

and motion data

™

F180R series

User & Reference Guide

This guide describes the installation and

configuration of the F180R™ series hardware

and software developed by CodaOctopus that

allows to produce highly accurate positioning

and motion data in the most dynamic offshore

conditions.

™

F180R MOTION Sensor User and Reference Guide

Version: 2.0.0 (16/06/2015)

stored in a retrieval system, transmitted, or reproduced by any means, including, but not limited to

photocopy, photograph, digitizing, or otherwise - without the written permission of the publisher.

Coda®, Octopus®, F180®, F180R™, F170™ and F175™ are registered trademarks (Reg. U.S Pat & TMOff) or

trademarks of Coda Octopus Group Inc.

Other products that are referred to in this document may be either trademarks and/or registered

trademarks of the respective owners. The publisher and the author make no claim to these trademarks.

Specifications and information contained in this manual are furnished for informational use only, and

are subject to change at any time without notice, and should not be construed as a commitment by Coda

Octopus Products. Coda Octopus Products assumes no responsibility or liability for any errors or

inaccuracies that may appear in this manual, including the products and software described in it.

While every precaution has been taken in the preparation of this document, the publisher and the

author assume no responsibility for errors or omissions, or for damages resulting from the use of

information contained in this document or from the use of programs and source code that may

accompany it. In no event shall the publisher and the author be liable for any loss of profit or any other

commercial damage caused or alleged to have been caused directly or indirectly by this document.

Contents

Table of Contents

Chapter 1 Export Policy 9

Chapter 2 Introduction 11

................................................................................................................................... 12

2.1 General Description

......................................................................................................................................................... 13

Inertial Measurement Unit2.1.1 ......................................................................................................................................................... 13

GNSS System2.1.2 ......................................................................................................................................................... 13

Software2.1.3 ................................................................................................................................... 14

2.2 Warranty

................................................................................................................................... 14

2.3 Calibration

Chapter 3 Hardware 16

................................................................................................................................... 16

3.1 Communication

......................................................................................................................................................... 16

Ethernet3.1.1 ......................................................................................................................................................... 17

Serial Outputs3.1.2 .................................................................................................................................................. 18

MCOM

3.1.2.1 .................................................................................................................................................. 18

NMEA

3.1.2.2 ........................................................................................................................................... 18

GGA ........................................................................................................................................... 19

GGK ........................................................................................................................................... 20

GSA ........................................................................................................................................... 21

GSV ........................................................................................................................................... 21

GST ........................................................................................................................................... 22

HDT ........................................................................................................................................... 22

PASHR ........................................................................................................................................... 22

PPS ........................................................................................................................................... 23

PRDID ........................................................................................................................................... 23

PTCF ........................................................................................................................................... 25

RMC ........................................................................................................................................... 26

ROT ........................................................................................................................................... 26

UTC ........................................................................................................................................... 26

VTG ........................................................................................................................................... 27

ZDA .................................................................................................................................................. 27

TSS1

3.1.2.3 .................................................................................................................................................. 28

TSS HHRP

3.1.2.4 .................................................................................................................................................. 28

EM1000 (Tate-Bryant)

3.1.2.5 .................................................................................................................................................. 29

EM3000 (Tate-Bryant)

3.1.2.6 ......................................................................................................................................................... 29

RTK and Differential Corrections3.1.3 ......................................................................................................................................................... 30

PPS3.1.4 ................................................................................................................................... 30

3.2 Technical Specification

......................................................................................................................................................... 31

Model Specifications3.2.1 ......................................................................................................................................................... 32

Interfaces3.2.2 ......................................................................................................................................................... 33

Reference Frames3.2.3 ................................................................................................................................... 34

3.3 Hardware Installation

......................................................................................................................................................... 34

Component Identification3.3.1 ......................................................................................................................................................... 36

Antenna Installation3.3.2 ......................................................................................................................................................... 40

IMU Installation3.3.3 ................................................................................................................................... 41

3.4 Measure Installation Parameters

......................................................................................................................................................... 42

IMU Orientation3.4.1 ......................................................................................................................................................... 43

Antenna Offset3.4.2 ......................................................................................................................................................... 44

Antenna Separation3.4.3

Contents

......................................................................................................................................................... 45

Antenna Orientation3.4.4 ......................................................................................................................................................... 45

Remote Lever Arms3.4.5 ................................................................................................................................... 46

3.5 Communication

......................................................................................................................................................... 47

Ethernet3.5.1 ......................................................................................................................................................... 48

Serial Outputs3.5.2 .................................................................................................................................................. 49

MCOM

3.5.2.1 .................................................................................................................................................. 49

NMEA

3.5.2.2 ........................................................................................................................................... 49

GGA ........................................................................................................................................... 50

GGK ........................................................................................................................................... 51

GSA ........................................................................................................................................... 51

GSV ........................................................................................................................................... 52

GST ........................................................................................................................................... 53

HDT ........................................................................................................................................... 53

PASHR ........................................................................................................................................... 53

PPS ........................................................................................................................................... 54

PRDID ........................................................................................................................................... 54

PTCF ........................................................................................................................................... 55

RMC ........................................................................................................................................... 56

ROT ........................................................................................................................................... 57

UTC ........................................................................................................................................... 57

VTG ........................................................................................................................................... 57

ZDA .................................................................................................................................................. 58

TSS1

3.5.2.3 .................................................................................................................................................. 59

TSS HHRP

3.5.2.4 .................................................................................................................................................. 59

EM1000 (Tate-Bryant)

3.5.2.5 .................................................................................................................................................. 60

EM3000 (Tate-Bryant)

3.5.2.6 ......................................................................................................................................................... 60

RTK and Differential Corrections3.5.3 ......................................................................................................................................................... 61

PPS3.5.4

Chapter 4 Operation 63

................................................................................................................................... 63

4.1 Quick Start

................................................................................................................................... 63

4.2 Power-on the System

................................................................................................................................... 65

4.3 Calibration

......................................................................................................................................................... 65

Pre-Calibration Checks4.3.1 ......................................................................................................................................................... 66

Calibration Procedure4.3.2 ......................................................................................................................................................... 68

Calibration Specification4.3.3 ......................................................................................................................................................... 69

Invalid Calibration4.3.4

Chapter 5 Software 72

................................................................................................................................... 72

5.1 Installation / Uninstallation

......................................................................................................................................................... 72

Software Installation5.1.1 ......................................................................................................................................................... 73

Software Uninstallation5.1.2 ................................................................................................................................... 74

5.2 Main Interface

......................................................................................................................................................... 74

Ribbon Bar Tabs5.2.1 .................................................................................................................................................. 75

Data Source - Ethernet

5.2.1.1 ........................................................................................................................................... 76

Ethernet Source - Live Tab

...................................................................................................................................... 76

RD Files ...................................................................................................................................... 77

Change IP Address

...................................................................................................................................... 78

Update Firmware

...................................................................................................................................... 80

Rebroadcast MCOM

...................................................................................................................................... 80

Calibration

........................................................................................................................................... 83

Ethernet Source - Logging Tab

.................................................................................................................................................. 85

Data Source - Replay

5.2.1.2 ......................................................................................................................................................... 86

Real Time Data5.2.2 .................................................................................................................................................. 87

Setup Real Time Data Display

5.2.2.1 ......................................................................................................................................................... 88

System Status5.2.3

Contents

......................................................................................................................................................... 95

Message Log5.2.4 ......................................................................................................................................................... 96

System Indicator5.2.5 ................................................................................................................................... 96

5.3 MOTION Settings Wizard

......................................................................................................................................................... 97

Introduction5.3.1 ......................................................................................................................................................... 98

Orientation5.3.2 ......................................................................................................................................................... 98

Advanced Orientation5.3.3 ......................................................................................................................................................... 100

Primary Antenna Mounting5.3.4 ......................................................................................................................................................... 101

Secondary Antenna5.3.5 ......................................................................................................................................................... 102

Remote Lever Arms5.3.6 ......................................................................................................................................................... 103

Output Frame of Reference5.3.7 ......................................................................................................................................................... 103

Correction Type5.3.8 ......................................................................................................................................................... 106

Altitude5.3.9 ......................................................................................................................................................... 107

GNSS Environment5.3.10 ......................................................................................................................................................... 108

Outputs5.3.11 ......................................................................................................................................................... 109

Advanced Options5.3.12 ......................................................................................................................................................... 110

Upload Settings5.3.13 ......................................................................................................................................................... 111

Save Wizard Settings5.3.14 ......................................................................................................................................................... 112

Finish5.3.15................................................................................................................................... 112

5.4 Motion Data

................................................................................................................................... 113

5.5 Diagnostics

......................................................................................................................................................... 114

Graphical QC5.5.1 ......................................................................................................................................................... 116

Heading Initialisation5.5.2 ......................................................................................................................................................... 119

Connection Properties5.5.3 ......................................................................................................................................................... 119

System Properties5.5.4 ......................................................................................................................................................... 122

Help About5.5.5 ................................................................................................................................... 123

5.6 iHeave

......................................................................................................................................................... 123

Description5.6.1 ......................................................................................................................................................... 124

iHeave Data Files5.6.2 ......................................................................................................................................................... 125

iHeave Data Logging5.6.3 ......................................................................................................................................................... 127

iHeave Status Area5.6.4 ......................................................................................................................................................... 128

iHeave Alarm Setup5.6.5 ......................................................................................................................................................... 129

iHeave Alarm Log5.6.6

Chapter 6 Appendices 131

................................................................................................................................... 131

6.1 Technical Specification

......................................................................................................................................................... 131

Physical6.1.1 ......................................................................................................................................................... 132

Electrical6.1.2 ......................................................................................................................................................... 132

Performance6.1.3 ......................................................................................................................................................... 134

Environmental6.1.4 ......................................................................................................................................................... 134

Data Logging Rate & Latency6.1.5 ......................................................................................................................................................... 134

Antenna Cable6.1.6 ................................................................................................................................... 135

6.2 Inertial Attitude and Position System Theory

......................................................................................................................................................... 135

Global Positioning System (GPS)6.2.1 ......................................................................................................................................................... 138

Inertial Navigation System (INS)6.2.2 ......................................................................................................................................................... 138

GPS-INS Integration6.2.3 ................................................................................................................................... 139

6.3 Rotation Convention

................................................................................................................................... 140

6.4 Troubleshooting

......................................................................................................................................................... 140

System Troubleshooting6.4.1 .................................................................................................................................................. 140

Shock Watch

6.4.1.1 .................................................................................................................................................. 140

Antenna

6.4.1.2 .................................................................................................................................................. 142

Differential / RTK Correction Input

6.4.1.3 .................................................................................................................................................. 142

System Operation

6.4.1.4 ......................................................................................................................................................... 143

Network Troubleshooting6.4.2 .................................................................................................................................................. 144

Physical Connection

6.4.2.1 .................................................................................................................................................. 144

PC LAN Connection

6.4.2.2 .................................................................................................................................................. 146

Testing The Network Connection

6.4.2.3

Contents

.................................................................................................................................................. 147

Changing the IP Address

6.4.2.4 .................................................................................................................................................. 148

Network Q & A

6.4.2.5

................................................................................................................................... 149

6.5 System Dimensions

......................................................................................................................................................... 153

F180R Reference Point6.5.1 ......................................................................................................................................................... 153

Antenna Reference Points6.5.2 ................................................................................................................................... 156

6.6 Measure Installation Worksheet

................................................................................................................................... 156

6.7 Corrosion Prevention

158

Index

Chapter 1

Export Policy

F180R MOTIONSensor User and Reference Guide

1 Export Policy

The F180R System Precision Attitude and Positioning System is subject to Export control under

the dual-use item list. Dual-use items are goods, software, technology, documents and

diagrams which can be used for both civil and military applications. It is important when

exporting a F180R System that you always keep a full record of all export destinations, dates

and export documents.

This document aims to provide basic guidance and advice for all users and includes links to

further sources of information where required.

USA

In the US, the F180R System is export controlled under ECCN: 7A103a1of the Commerce

Control List (CCL) (Supplement No. 1 to Part 774 of the EAR). The Department of Commerce’s

Bureau of Industry and Security (BIS) is responsible for implementing and enforcing the Export

Administration Regulations (EAR).

For further information in the USA visit: http://beta-www.bis.doc.gov/index.php/licensing/

commerce-control-list-classification/export-control-classification-number-eccn

UK and European Union

The main legal basis for controls on dual-use goods is the European Union Dual-Use Regulation

(Council Regulation (EC) No 428/2009 and associated legal amendments). This legislation is

directly applicable in all EUcountries, including the UK.

The F180R System is restricted under entry 7A103a1of the EU Dual-Use List and the UK

Consolidated list.

From the UK, the F180R System may be exported:

Within the EU providing that export documents state that the items require a licence if

exported outside the EUand keep appropriate records.

To CGEA countries: Australia, Canada, Japan, New Zealand, Norway, Switzerland and USA

providing according registration has been done and records are kept

To other destinations by applying for a Standard Individual Export Licence

To other destination by using OGELs (Open General Export Licence). They remove the

need to apply for a Standard Individual Export Licence providing a registration has been

done and are subject to conditions. More information available at: https://www.gov.uk/

dual-use-open-general-export-licences-explained

There are also a number of countries where trade embargoes are imposed. These are

constantly changing. For further information on embargoes please visit: https://www.gov.uk/

current-arms-embargoes-and-other-restrictions

For further information in the UK visit: https://www.gov.uk/uk-strategic-export-control-lists-

the-consolidated-list-of-strategic-military-and-dual-use-items

The information contained herein is provided for guidance only. CodaOctopus believes this

information to be correct as of October 2012; however, it is the sole responsibility of the

exporter to ensure that they comply with Export Regulations within the country of export.

CodaOctopus accepts no responsibility for any failure to comply with regulations.

Please contact sales@codaoctopus.com for further details and assistance with export

guidelines.

Chapter 2

Introduction

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