KVH DSP-1750

Fiber Optic Gyro

• Dual Axis
• Standard Rate
• Digital Output

Technical Manual

DSP-1750
DSP-1750 Fiber Optic Gyro
Technical Manual (Dual-Axis Version)
This technical manual supports KVH Industries’ standard-rate DSP-1750 dual-axis
interferometric fiber optic gyro with digital asynchronous output.

Technical and performance specifications, interface data, testing and mounting

guidelines, and a brief troubleshooting guide are included.

Please direct questions, comments, or suggestions to:

KVH Industries, Inc.
50 Enterprise Center
Middletown, RI 02842-5279 USA
Tel: +1 401 847-3327
Fax: +1 401 849-0045
E-mail: [email protected]
Internet: www.kvh.com

If you have any comments regarding this manual, please e-mail them to
[email protected]. Your input is greatly appreciated!

KVH Part # 54-0768 Rev. D

© 2011, KVH Industries, Inc., All rights reserved.
Protected by U.S. and foreign patents
KVH is a registered trademark of KVH Industries, Inc.
Nanovate is a trademark of Integran Technologies, Inc.
Table of Contents
Product Specifications.......................................................................1

Storage and Handling ........................................................................6

Maintenance ......................................................................................6

Output Orientation .............................................................................6

Sensor Cable......................................................................................7

Interface Connector ...........................................................................8

Power Requirements .........................................................................9

Digital Data Output ..........................................................................10

Wiring the Gyro ................................................................................13

Testing the Gyro...............................................................................14

Mounting the Gyro ...........................................................................16

Troubleshooting...............................................................................19

Technical Support............................................................................19

Appendix A Patent Protection ..........................................................21

i
Product Specifications
Product specifications are listed in Figure 1.

Figure 1 Specifications
Attribute Rating

Performance

Maximum Input Rate ±490°/sec

Scale Factor, Nominal 1 (±0.2%)

Scale Factor Non-linearity 0 to ±150°/sec input rate:

(@25° C) 200 ppm, 1
Full input rate:
500 ppm, 1
Scale Factor vs. Temperature 300 ppm, 1

Bias Offset (@25° C) Unshielded: ±10°/hr max.

Magnetically Shielded: ±2°/hr max.

Bias Stability (@25° C)*  0.05°/hr

Bias vs. Temperature  3°/hr, 1

Bias Magnetic Sensitivity Unshielded:  15°/hr/Gauss

Magnetically Shielded:  2°/hr/Gauss

Angle Random Walk*  0.8°/hr/Hz

(@25° C)
 0.013°/hr

Initialization Time (@25° C)  3 seconds

Full Performance Time  5 minutes

Data Rate 115.2 Kbps, ±200 ppm

Bandwidth (-3 dB) 440 Hz (±4%)

Axis Misalignment  4 mrad

Sampling Rate/Output Rate 1,000 Hz (±4%)

Motion to Output Latency 1.3 msec

*NOTE: Bias Stability and Angle Random Walk determined by Allan

Variance Method.

1
 Figure 1 Specifications (Continued)
Attribute Rating

Electrical
(see “Power Requirements” on page 9 for additional power requirements)

Input Voltage (±5%) +8 to +15 VDC, 100 mA max.

-8 to -15 VDC, 100 mA max.
+5 VDC, 500 mA max.

Total Power  3.75 W typical, 5.5 W max.

Physical

Dimensions (optical sensor) Unshielded:

ø1.715" x 0.83" h max.
(43.6 mm x 21.1 mm)
Magnetically Shielded:
ø1.81" x 0.925" h max.
(46.0 mm x 23.5 mm)

Dimensions (PCB stack) ø2.870" x 0.565" h max.

(72.9 mm x 14.4 mm)

Weight (optical sensor) Unshielded:

0.10 lb (45 g) max., each
Magnetically Shielded:
0.14 lb (65 g) max., each

Weight (PCB stack) 0.10 lb (45 g) max.

Environmental

Operating Temperature -40° C to +75° C

(-40° F to +167° F)

Thermal Rate 1° C/min

Storage Temperature -51° C to +85° C

(-60° F to +185° F)

Shock (functional) 25 g, 11 msec (sawtooth)

Shock (gunfire) 55 g, 1 msec (1/2 sine)

Shock (endurance) 40 g, 11 msec (sawtooth)

Vibration, Random (operational) 8 g rms, 20-2,000 Hz

Vibration, Random (endurance) 12 g rms, 20-2,000 Hz

Altitude (operational) -1,000 to 40,000 ft

(-304.8 m to 12,200 m)

Humidity (operational) 95% at 35° C (95° F), 48 hrs

MTBF (ground mobile)  22,000 hrs

2
 IMPORTANT!
The gyro’s optical sensors and PCB stack are calibrated at the
factory as a matched set. The labels on the optical sensors denote
the channels and the serial numbers of their associated PCBs. To
ensure proper performance, keep the gyro’s components together.
Do not install mismatched optical sensors and PCBs!

The gyro consists of two optical sensors connected to an external PCB

stack (processor PCB mated to channel PCB). The optical sensors may
be equipped with optional magnetic shielding (Nanovate™ plating
and PCB cover) for improved performance within a magnetic field.
The PCB stack is identical for both variants.

Figure 2 on page 4 illustrates the dimensions and mounting holes of

the unshielded sensor and PCB stack. Figure 3 on page 5 illustrates the
dimensions and mounting holes of the magnetically shielded sensor
and PCB stack. All dimensions are shown in inches [millimeters]
format.

NOTE: For simplification, all other illustrations in this manual show the
unshielded optical sensor.

3
 Figure 2 Interface Control Drawing (ICD) - Unshielded Version
Optical Sensor (1 of 2), Bottom View
Ø1.715 [Ø43.56] Max. 3 x #4-40 Mounting Holes
0.200 [5.08] Max. Thread

3 x 120°
Ø0.948 [Ø24.08]

PCB Stack, Top View

Ø2.870 [Ø72.90] Max.

2.185 [55.50]
Max.
1.102 [27.99]

1.360 [34.54] 4 x Ø0.094 [Ø2.39]

Through Holes
Optical Sensor, Side View

0.830 [21.08] Max.

PCB Stack, Side View

0.113 [2.87] Max.

0.565 [14.35] Max.

Processor PCB 0.170 [4.32] Max.

Channel PCB (Connector)

4
Figure 3 Interface Control Drawing (ICD) - Magnetically Shielded Version
Optical Sensor (1 of 2), Bottom View
Ø1.810 [Ø45.97] Max. 3 x #4-40 Mounting Holes
0.200 [5.08] Max. Thread

3 x 120°
Ø0.948 [Ø24.08]

PCB Stack, Top View

Ø2.870 [Ø72.90] Max.

2.185 [55.50]
Max.
1.102 [27.99]

1.360 [34.54] 4 x Ø0.094 [Ø2.39]

Through Holes
Optical Sensor, Side View

0.925 [23.50] Max.

PCB Stack, Side View

0.113 [2.87] Max.

0.565 [14.35] Max.

Processor PCB 0.170 [4.32] Max.

Channel PCB (Connector)

5
 Storage and Handling
The DSP-1750 gyro may be stored in a location with an environmental
temperature between -60° F and 185° F (-51° C and 85° C). Ideally, the
unit should be stored at a room temperature of approximately 70° F
(21° C).

The DSP-1750 gyro is a sensitive measuring device. Take normal safety

precautions when handling the optical sensors or PCB stack to ensure
the integrity of the device. During unpacking and installation, proper
ESD handling procedures should be enforced.

IMPORTANT!
If you need to ship the gyro to another location, be sure to reinstall
it in its original plastic shipping tray and pack it in a larger box
with appropriate packing materials.

Maintenance
The DSP-1750 gyro’s optical sensors are supplied as sealed units; there
are no field maintainable components. Opening the enclosures will
void the warranty and may violate the contract under which the unit
was supplied.

Output Orientation
Each of the DSP-1750 gyro’s optical sensors detects rotation around an
axis perpendicular to the plane of its base. Looking at an optical sensor
from overhead, a counter-clockwise rotation will produce a positive
output (see Figure 4).

Figure 4 Output Orientation (Top View)

Sensor Cable
6
Sensor Cable
A 5.9" (150 mm) ribbon cable connects each optical sensor to the PCB
stack’s channel PCB at the connector locations shown in Figure 5. After
installing the gyro, be sure to secure these cables to the mounting
surface as close as possible to each connector (at the sensors and the
PCB) to relieve strain and help protect them from vibration. Also be
sure the ribbon cables are fully engaged with the connectors at the
sensors and PCB. You should hear a slight click when you connect the cable.

Figure 5 Sensor Cable Connections

Optical Sensor
(Channel 2) Channel PCB

Sensor Cables

Optical Sensor
(Channel 1)

7
 Interface Connector
The gyro’s channel PCB is equipped with a 15-pin interface connector
of the following type: Tyco part number 5-1734598-5. Figure 6 shows
the interface connector pins and the function of each pin.

Figure 6 Interface Connector Pins on Channel PCB

v

Pin Type Function

1 Power +15 VDC Power Input

2 Power -15 VDC Power Input

3 Power ±15 VDC Power Return

4 RS422 Receive (Rxd-)

5 RS422 Receive (Rxd+)

6 RS422 Transmit (Txd+)

7 RS422 Transmit (Txd-)

8 RS422 Signal Ground

9 Power +5 VDC Power Input

Pin 1 Pin 15
10 Power +5 VDC Power Return

11 - Do Not Connect

12 - Do Not Connect

13 - Do Not Connect

14 - Do Not Connect

15 - Do Not Connect

NOTE: For a suitable mating connector, use a connector of the following

type: Molex part number 51021-1500.

8
Power Requirements
IMPORTANT!
Be sure to follow all of the guidelines provided in this section. The
gyro can become inoperable and/or damaged if all of the power
requirements described in this section are not met.

As noted in “Product Specifications” on page 1, the DSP-1750 gyro

requires three separate DC power supplies:
• +5 VDC
• +15 VDC (+8 to +15 VDC)
• -15 VDC (-8 to -15 VDC)
The return path for all three power supplies reference a common
ground point within the gyro.

To ensure proper operation and avoid potential damage to the gyro,

make sure all three power supplies maintain a stable voltage that is
clean of noise and held within the tolerances specified in “Product
Specifications” on page 1. In addition, make sure each power supply
powers on and off in the proper sequence, as described below.

Power-on Requirements
• The +5 VDC supply must rise above +4 VDC before the
+15 VDC and -15 VDC supplies rise above +5 VDC and
below -5 VDC, respectively.
• All three supplies should transition smoothly and
monotonically to their required voltage levels.
• All three supplies should reach their required voltage
levels within 200 msec of each other.

Power-off Requirements
• The +5 VDC supply must maintain its voltage level above
+4 VDC until the +15 VDC and -15 VDC supplies fall below
+2 VDC and above -2 VDC, respectively.
• All three voltages should settle to within 100 mV of the
common ground reference (and their individual returns) in
less than 2 seconds.

9
 Digital Data Output
Interface connector pins 4 through 8 provide a 1,000 Hz asynchronous
serial interface to the gyro. This interface has the following
characteristics:

Type: RS422

Baud Rate: 115,200

Parity: None

Data Bits: 8

Stop Bits: 1

Flow Control: None

Figure 7 defines the gyro’s output format and burst rate.

Figure 7 Gyro Digital Output Format

Output Characteristics

Burst Rate 1,000/second (approximate*)

Format Each character contains 10 bits:

• 1 start bit (Space, binary 0)
• 8 data bits (1 message byte, starting with LSB)
• 1 stop bit (Mark, binary 1)
An idle line is always marking (in a binary 1 state). Six
characters in sequence constitute a basic message.

*NOTE: The output burst rate might vary by ±5 percent between gyros.
There is also variation over temperature of approximately ±0.2 percent.

10
Message Structure
The output message contains 48 bits (6 bytes), excluding start and stop
bits. The most significant byte is sent first. The least significant bit of
each byte is sent first. Figure 8 and Figure 9 define the message bits.

Figure 8 Message Bits

Bit(s) Usage Values

47, 46 Synchronization See “Synchronization” on page 12.

45 Message Validity, 0 = Hardware BIT signal is low or

Channel 2 axis contents are invalid.
1 = Hardware BIT OK, contents are valid.
44 Message Validity,
Channel 1 axis

43-22 Rate Data, Contents are in two’s complement format.

Channel 2 axis LSB represents 476.8°/s or 1.72°/hr.
Channel 2 (C2) axis: Bit 43 = MSB.
21-0 Rate Data, Channel 1 (C1) axis: Bit 21 = MSB.
Channel 1 axis

Figure 9 Message Structure

Note: The least significant
= Start Bit = Stop Bit bit (LSB) is sent first.

Byte 1 Byte 2
40 47 32 39
C2
Data

C1 Valid
C2 Valid

Sync

C2
Data

Byte 3 Byte 4

24 31 16 23
C2
Data

C1
Data

C2
Data

Byte 5 Byte 6
8 15 0 7
C1
Data

11
 Synchronization
Message bits 46 and 47 make up the synchronization field for each
message. These bits conform to an eight-bit, continuously repeating
pattern (00-01-10-11), as shown in Figure 10.

Figure 10 Pattern of Synchronization Bits

1st Message 00
2nd Message 01
3rd Message 10
4th Message 11

This synchronization pattern allows you to design a receiver algorithm

that can detect the first byte of a message. For example, you could
create a “state machine” with two modes: Acquisition and Locked. In
Acquisition mode, the state machine would examine the seventh and
eighth bits of each byte. Once it finds a byte position that exhibits the
defined synchronization pattern for 10 cycles in a row, and no other
byte position has exhibited the pattern for more than 3 of the last 10
cycles, the state machine would designate that byte position as the first
byte in the six-byte message. The state machine would then enter
Locked mode. In Locked mode, the state machine would continue to
monitor each byte. If the byte position designated as “first” does not
match the synchronization pattern for more than 3 out of 10 cycles,
and a different byte position matches 7 or more, the state machine
would then designate the different byte position as the first byte.

12
Wiring the Gyro
Use the wiring diagram in Figure 11 as a guide to connect the gyro to
your application.

Figure 11 Wiring Diagram for Digital Operation

Pin DC Supply
Power
1 +15 VDC*
Power
2 -15 VDC*
Power
3 15V Return
RX-
4
RX+
5
Customer
TX+
6 Interface
TX- (RS422)
7
Signal Ground
8
Power
9 +5 VDC
Power
10 5V Return
Do not connect DC Supply
11
Do not connect
12
Do not connect
13
Do not connect
14 * Acceptable ranges:
Do not connect +8 to +15 VDC,
15 -8 to -15 VDC

IMPORTANT!
Be sure to follow all of the guidelines provided in “Power
Requirements” on page 9. The gyro can become inoperable and/or
damaged if all of the necessary power requirements are not met.

13
 Testing the Gyro
Before connecting and mounting the gyro to your system, a simple
familiarization test is suggested if this is your first introduction to the
product. This test will also verify proper unit operation and assist in
troubleshooting.

Equipment Needed to Test Gyro

• +8 to +15 VDC (±5%) power supply
• -8 to -15 VDC (±5%) power supply
• +5 VDC (±5%) power supply
• Interface cable with a Molex 51021-1500 connector on one
end and an RS422 connector on the other end
• Computer with an RS422 input and a customer-supplied
test acquisition program
TIP: Use a standard RS422-to-RS232 converter to connect the gyro to your
computer’s serial port.

IMPORTANT!
The gyro’s components are static-sensitive. Take proper grounding
precautions before handling (for example, use an ESD wrist strap).

Test Procedure
Follow the steps below to test the gyro for proper operation.

1. Place the DSP-1750 optical sensors on a flat surface with

the mounting surfaces facing down.

2. Make sure the sensor cables are connected between the

optical sensors and the channel PCB, and make sure the
channel PCB is properly mated to the processor PCB.

3. Connect your computer (via a compatible RS422-to-

RS232 converter) to the gyro’s RS422 pins as shown in
Figure 11 on page 13.

IMPORTANT!
Be sure to follow all of the guidelines provided in “Power
Requirements” on page 9. The gyro can become inoperable and/or
damaged if all of the necessary power requirements are not met.

14
 4. Connect the +15 VDC (+8 to +15 VDC), -15 VDC
(-8 to -15 VDC), and +5 VDC power supplies to the gyro
as shown in Figure 11 on page 13.

5. Select the interface cable’s serial port. Open the test

data acquisition program and select the following
program settings:
• 115,200 baud • No parity
• 8 data bits • No flow control
• 1 stop bit

6. With the optical sensors held stationary, the indicated

mean (30-second average) input rate should be less
than ±0.1°/s, excluding Earth rate. If no data is
received, check the wiring for a proper data connection.

TIP: To calculate the Earth rate for your geographic area, use the following
formula: Earth rate = 15.04107 x sin (latitude).
Northern latitudes are positive and southern latitudes are negative.

7. Grasp one of the two optical sensors and slowly rotate

it counter-clockwise (see Figure 12). The output for that
sensor’s channel should indicate a positive change.

Figure 12 Output Orientation (Top View)

Sensor Cable

8. Slowly rotate the optical sensor in the opposite

(clockwise) direction. The output data should indicate a
negative change.

9. After the initial 5-second startup, the data message’s

Validity bit (bit 44 for channel 1, bit 45 for channel 2)
should show binary 1 (“data valid”) at all times. If the
Message Validity bit shows binary 0 (“fault”), the gyro
has malfunctioned.

10. Repeat steps 7-9 to test the second optical sensor.

15
 Mounting the Gyro
First, remove the optical sensors and PCB stack from their plastic
shipping tray (secured by four #2-56 Phillips screws and six #4-40 Phillips
screws).

IMPORTANT!
The gyro’s components are static-sensitive. Take proper grounding
precautions before handling (for example, use an ESD wrist strap).

Mount the base of each optical sensor to your mounting structure

using three  stainless steel screws at the mounting hole locations
shown in Figure 13. Be sure the screws engage the threads of the
mounting holes to at least one screw body diameter (0.112" [2.85 mm]
min., 0.200" [5.08 mm] max.). Tighten the screws to 7 in-lbs of torque.
IMPORTANT!
Be sure to mount the optical sensors in the proper orientation for
your application – perpendicular to the desired sensing axes.

Figure 13 Optical Sensor Mounting Holes, Bottom View

3 x #4-40 Mounting Holes

0.200 [5.08] Max. Thread

3 x 120°

Ø0.948 [Ø24.08]

16
Make sure the processor PCB is still securely mated to the channel
PCB. Then mount the PCB stack to your mounting structure using four
#2-56 screws through the hole locations shown in Figure 14. Use
standoffs to ensure the PCB components do not come into contact with
the mounting surface. Tighten the screws to 3 in-lbs of torque.

Figure 14 PCB Stack Mounting Holes, Bottom View

1.102 [27.99]

1.360 [34.54] 4 x #2-56 Mounting

Holes

The mounting surface should be flat, less than 0.005" (0.127 mm)
peak-to-peak. The material should be greater than 0.2" (5 mm) thick
with the overall stiffness of the structure designed to be compatible
with the natural frequency specified for the gyro or as required for the
specific installation. The chassis ground must be mechanically
connected to mounting hole #1 on the channel PCB, as shown in
Figure 15, for proper shielding.

Figure 15 Ground Point on Channel PCB

Mounting Hole #1,

PCB Ground Point

NOTE: Performance of the gyro as a sensor is determined by the design of the

mounting structure as well as the gyro’s mechanical components. The
mounting structure material should be fabricated from a material, such as
aluminum, that has a low thermal time constant. In addition, the gyro should
not be mounted near equipment that generates time-varying magnetic fields
(e.g., stepper motors, servo motors, or solenoids).

17
 Cable Strain Relief
Once you have mounted the gyro, make sure the ribbon cables are
fully engaged with the connectors on the optical sensors and channel
PCB. Then secure each cable to the mounting structure in two
locations, as close as possible to each connector, to relieve strain and
help protect it from vibration (see Figure 16).

Figure 16 Optimal Strain Relief Locations on Sensor Cables

Optical Sensor (Channel 2) Channel PCB

Optical Sensor
(Channel 1)

18
Troubleshooting
This section is intended to provide a simple means of determining if a
problem exists in the KVH DSP-1750 gyro and assumes that the unit
has passed the bench testing described earlier.

IMPORTANT!
The DSP-1750 optical sensors are supplied as sealed units.
Opening the enclosure voids the warranty and may violate the
contract under which the unit was supplied.

The warranty does not apply if the unit has been damaged by
misuse or as the result of service or modification other than by
KVH Industries.

Figure 17 Basic Troubleshooting

Symptom Possible Cause Action

No output No DC power Check power (measure at the

PCB).

Damaged or Check the interface cable

disconnected cable connecting the channel PCB to
your system. Also check the
ribbon cables* connecting the
optical sensors to the channel
PCB.

Erratic or low Faulty ground Ground shield at gyro end only.

output
Magnetic field near Check for new wiring or
gyro sensor equipment.

High noise Ground loop Check grounds and grounding.

*NOTE: Replacement ribbon cables are available from KVH. Order KVH
part number 19-0587-15.

Technical Support
For technical support, please e-mail your question or a description of
your problem to [email protected].

19
Appendix A Patent Protection
One or more of the following U.S. and international patents* protect
the technology in KVH fiber optic gyros:

KVH Patent Numbers

DE 69734809.1 US 5,739,944

EP 1,314,002 US 5,768,462

EP 60130780 T2 US 6,041,149

US 4,773,759 US 6,134,356

US 5,120,130 US 6,351,310 B1

US 5,153,676 US 6,370,289 B1

US 5,340,371 US 6,429,939

US 5,444,534 US 6,718,097

US 5,481,358 US 6,763,153

US 5,552,887 US 6,836,334

*Additional patents pending

21
 KVH Industries Limited Warranty
DSP-1750
LIMITED WARRANTY ON HARDWARE

KVH Industries, Inc. warrants the KVH Fiber Optic Gyro purchased against defects in
materials and workmanship for a period of ONE (1) year from the date of original retail
purchase by the original purchaser. If you discover a defect, KVH will, at its option, repair,
replace or refund the purchase price of the product at no charge to you, provided you return it
during the warranty period, transportation charges prepaid, to the factory direct.

Please attach your name, address, telephone number, a description of the problem and a copy
of the bill of sale or sales receipt as proof of date of original retail purchase, to each product
returned to warranty service.

This Limited Warranty does not apply if the product has been damaged by accident, abuse,
misuse, or misapplication or has been modified without the written permission of KVH; if any
KVH serial number has been removed or defaced; or if any factory-sealed part of the system
has been opened without authorization.

THE EXPRESS WARRANTIES SET FORTH ABOVE ARE THE ONLY WARRANTIES GIVEN
BY KVH WITH RESPECT TO ANY PRODUCT FURNISHED HEREUNDER; KVH MAKES
NO OTHER WARRANTIES, EXPRESS, IMPLIED OR ARISING BY CUSTOM OR TRADE
USAGE, AND SPECIFICALLY DISCLAIMS ANY WARRANTY OF MERCHANTABILITY
OR FITNESS FOR A PARTICULAR PURPOSE. SAID EXPRESS WARRANTIES SHALL NOT
BE ENLARGED OR OTHERWISE AFFECTED BY TECHNICAL OR OTHER ADVICE OR
SERVICE PROVIDED BY KVH IN CONNECTION WITH ANY PRODUCT.

KVH’s liability in contract, tort or otherwise arising out of or in connection with any product
shall not exceed the price paid for the product. IN NO EVENT SHALL KVH BE LIABLE
FOR SPECIAL, PUNITIVE, INCIDENTAL, TORT OR CONSEQUENTIAL DAMAGES OR
LOST PROFITS OR GOODWILL (INCLUDING ANY DAMAGES RESULTING FROM
LOSS OF USE, DELAY IN DELIVERY OR OTHERWISE) ARISING OUT OF OR IN
CONNECTION WITH THE PERFORMANCE OR USE OR POSSESSION OF ANY
PRODUCT, OR ANY OTHER OBLIGATIONS RELATING TO THE PRODUCT, EVEN IF
KVH HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.

If any implied warranty, including implied warranties of merchantability and fitness for a
particular purpose, cannot be excluded under applicable law, then such implied warranty
shall be limited in duration to ONE (1) YEAR from the date of the original retail purchase of
this product by the original purchaser.

Some states do not allow the exclusion or limitation of implied warranties or liability for
incidental or consequential damages, so the above limitations may not apply to you. This
warranty gives you specific legal rights, and you may also have other rights which vary from
state to state.
 DSP1750_standard_2axis_cover

KVH Industries, Inc.

50 Enterprise Center • Middletown, RI 02842-5279 • U.S.A.
Phone: +1 401 847-3327 • Fax: +1 401 849-0045 • E-mail: [email protected] • Internet: www.kvh.com

KVH is a registered trademark of KVH Industries, Inc.

®