PUBS-MAN-005635_LVX300721

LVX User Guide
Document #: PUBS-MAN-005635
Revision: 7
Date: April 6, 2021
THE INFORMATION CONTAINED HEREIN IS PROPRIETARY TO APPLANIX CORPORATION. RELEASE TO THIRD PARTIES OF THIS PUBLICATION OR OF INFORMATION
CONTAINED HEREIN IS PROHIBITED WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION. APPLANIX RESERVES THE RIGHT TO CHANGE THE
SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE. A RECORD OF THE CHANGES MADE TO THIS DOCUMENT IS CONTAINED IN THE
REVISION HISTORY SHEET. COPYRIGHT © APPLANIX CORPORATION, 2021ALL RIGHTS RESERVED. NO PART OF THIS PUBLICATION MAY BE REPRODUCED, STORED
IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
Table of Contents
1. Introduction ................................................................................................................. 1
1.1. LVX Performance Specification ......................................................................... 1
2. LVX Features .............................................................................................................. 1
3. LVX Hardware Description and Interface .................................................................. 2
3.1. Mechanical .......................................................................................................... 2
3.2. DMI Installation .................................................................................................. 5
3.2.1. Mounting Brackets ...................................................................................... 5
3.2.2. Assemble Distance Measuring Indicator .................................................... 6
3.2.3. Install Distance Measuring Indicator .......................................................... 8
3.2.4. Install DMI Cable ..................................................................................... 10
3.3. Electrical ........................................................................................................... 11
3.3.1. Antenna ..................................................................................................... 11
3.3.2. Power / IO Connector ............................................................................... 12
3.3.1. PPS and Event In ...................................................................................... 12
3.3.2. Serial Ports ................................................................................................ 13
3.3.3. Ethernet ..................................................................................................... 15
3.3.4. Power In .................................................................................................... 15
3.3.5. DMI Connector ......................................................................................... 15
3.4. Front Panel LEDs .............................................................................................. 16
4. LVX Control Software and Configuration ............................................................... 17
4.1. Connecting a Web Browser .............................................................................. 17
4.2. Web User Interface Layout ............................................................................... 18
4.3. Receiver Status, Solution Monitor and Display ................................................ 19
II
THE INFORMATION CONTAINED HEREIN IS PROPRIETARY TO APPLANIX CORPORATION. RELEASE TO THIRD PARTIES OF THIS PUBLICATION OR OF INFORMATION
CONTAINED HEREIN IS PROHIBITED WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION. APPLANIX RESERVES THE RIGHT TO CHANGE THE
SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE. A RECORD OF THE CHANGES MADE TO THIS DOCUMENT IS CONTAINED IN THE
REVISION HISTORY SHEET. COPYRIGHT © APPLANIX CORPORATION, 2021ALL RIGHTS RESERVED. NO PART OF THIS PUBLICATION MAY BE REPRODUCED, STORED
IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
4.4. Data Logging .................................................................................................... 20
4.5. PPS and ASCII Time Tag Synchronization ...................................................... 24
4.5.1. PPS signal: ................................................................................................ 24
4.5.2. 1 PPS ASCII Time Tag Message: ............................................................. 24
4.6. System Configuration ....................................................................................... 25
4.6.1. Antenna Configurations: ........................................................................... 26
4.6.2. Tracking Configuration:............................................................................ 27
4.6.3. Position Configuration: ............................................................................. 29
4.6.4. General Configuration: ............................................................................. 30
4.6.5. INS Configuration:.................................................................................... 31
4.6.6. IMU Body Frame Definition: ................................................................... 32
4.6.7. Reference Body Frame Definition: ........................................................... 32
4.6.8. Vehicle Body Frame: ................................................................................ 33
4.6.9. DMI Frame Definition: ............................................................................. 34
4.6.10. Lever Arm Definitions: ............................................................................. 34
4.6.11. Mounting Angles: ..................................................................................... 36
4.6.12. DMI Scale Factor Calculation .................................................................. 39
4.6.13. I/O Configuration:..................................................................................... 40
4.6.14. Differential Corrections Configuration: .................................................... 41
4.6.15. Ethernet Configuration: ............................................................................ 42
4.6.16. Firmware upgrade: .................................................................................... 43
5. Calibrate Antenna Installation for GAMS ................................................................ 44
5.1. Accurate Baseline Measurement....................................................................... 44
5.1.1. Save Settings ............................................................................................. 45
5.2. GAMS Calibration ............................................................................................ 46
5.2.1. Calibration Set-up ..................................................................................... 47
5.2.2. Calibration................................................................................................. 49
III
THE INFORMATION CONTAINED HEREIN IS PROPRIETARY TO APPLANIX CORPORATION. RELEASE TO THIRD PARTIES OF THIS PUBLICATION OR OF
INFORMATION CONTAINED HEREIN IS PROHIBITED WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION. APPLANIX RESERVES THE
RIGHT TO CHANGE THE SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE. A RECORD OF THE CHANGES MADE TO THIS
DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET. COPYRIGHT © APPLANIX CORPORATION, 2021ALL RIGHTS RESERVED. NO PART OF
THIS PUBLICATION MAY BE REPRODUCED, STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE
PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
5.2.3. Save Calibration ........................................................................................ 51
5.2.4. GAMS Operation ...................................................................................... 51
6. Real Time Output ICD .............................................................................................. 52
6.1. ASCII-NMEA Output ....................................................................................... 52
6.1.1. Nonstandard ASCII messages: ................................................................. 53
6.2. Binary Output.................................................................................................... 57
6.2.1. Binary Data Types .................................................................................... 57
6.2.2. Binary Output ICD.................................................................................... 59
6.2.3. GSOF 49 (31H) INS Integrated Navigation Solution: .............................. 61
6.2.4. GSOF 50 (32H) INS Integrated Navigation Solution RMS: .................... 63
6.2.5. GSOF 51 (33H) Event Marker Information: ............................................ 65
6.2.6. GSOF 59 and 60 (3bH and 3cH)) Event Triggered Navigation
Information: .............................................................................................................. 66
7. Appendix A – RTK Setup ......................................................................................... 69
7.1. RTK using the NTRIP Client on the LVX........................................................ 69
7.2. RTX over IP ...................................................................................................... 71
7.3. RTK using external NTRIP Client SW ............................................................. 72
8. Technical Support ..................................................................................................... 76
IV
List of Figures
Figure 1: LVX Enclosure ................................................................................................................. 1

Figure 2: LVX Mechanical Drawing ................................................................................................ 3
Figure 3: LVX Center of Navigation................................................................................................ 4
Figure 4: LVX Center of Gravity ..................................................................................................... 5
Figure 5: DMI Collet Mounting Guide ............................................................................................ 7
Figure 6: Attach Collets to Universal Hub Adapter ......................................................................... 8
Figure 7: Slip Collets over Wheel Lug Nuts .................................................................................... 9
Figure 8: Slip DMI Restraint Bracket over Restraint Rod ............................................................... 9
Figure 9: Attach Permanent DMI Restraint Bracket to Vehicle Fender ......................................... 10
Figure 10: Attach DMI Cable to Restraint Rod .............................................................................. 10
Figure 11: Attach DMI Cable to Restraint Rod ............................................................................. 11
Figure 12: Power / IO Connector Pin-Out ...................................................................................... 13
Figure 13: Cable Wiring Diagram .................................................................................................. 14
Figure 14: COM 2 Serial Cable ...................................................................................................... 14
Figure 15: COM 1 Serial Cable ...................................................................................................... 14
Figure 16: DMI Connector Pin-Out ............................................................................................... 15
Figure 17: Connection Credentials ................................................................................................. 17
Figure 18: Welcome Screen ........................................................................................................... 18
Figure 19: Language Selection ....................................................................................................... 18
Figure 20: Main Menu .................................................................................................................... 19
Figure 21: System Status- Identity ................................................................................................. 20
Figure 22: Data Logging Start/Stop ............................................................................................... 21
Figure 23: Logging Configuration.................................................................................................. 22
Figure 24: Data Files ...................................................................................................................... 23
Figure 25:PPS Time Tag ................................................................................................................ 24
Figure 26: Receiver Configuration ................................................................................................. 26
Figure 27: Antenna Configuration.................................................................................................. 26
Figure 28: Tracking Configuration ................................................................................................. 28
Figure 29: Position Configuration .................................................................................................. 29
Figure 30: Receiver Reset .............................................................................................................. 30
Figure 31: General Configuration .................................................................................................. 30
Figure 32: IMU Body Frame Definition ........................................................................................ 33
Figure 33: Vehicle Body Frame ..................................................................................................... 34
Figure 34: LVX Reference and IMU Body Frame ......................................................................... 37
Figure 35: Tait-Bryan Planes and Axis .......................................................................................... 37
Figure 36: Tait-Bryan Rotations Diagram ...................................................................................... 38
Figure 37: INS Configuration ......................................................................................................... 39
Figure 38: I/O Configuration .......................................................................................................... 40
Figure 39: Message Selection ......................................................................................................... 41
Figure 40: Differential Solution Display ........................................................................................ 42
Figure 41: Ethernet Configuration.................................................................................................. 43
Figure 42: Firmware Installation .................................................................................................... 44
Figure 43: GAMS Parameter Setup ................................................................................................ 45
Figure 44: ASCII Message Selection ............................................................................................. 53
Figure 45: Binary Message Selection ............................................................................................. 59
VI
1. Introduction
The purpose of this document is to provide an overview and quick guide on how to set
up, configure and operate the LVX product.
The LVX is a single enclosure dual antenna GNSS-Inertial solution designed to provide
high-accuracy real-time and post-processed position and orientation for applications with
constraints on size, weight and power.
Figure 1: LVX Enclosure
1.1. LVX Performance Specification

Please refer to the Applanix website for the official specification sheet:
https://www.applanix.com/downloads/products/specs/POS_LVX-Datasheet.pdf
2. LVX Features
The LVX has the following features:
High performance survey grade dual antenna GNSS module using 2 x 336-channel
Trimble Maxwell™ technology that tracks the following frequencies:
 GPS: L1 C/A, L2E, L2C, L5
 BeiDou: B1, B2
 GLONASS: L1 and L2 C/A, L3 CDMA
1
 Galileo: E1, E5A, E5B, E5AltBOC
 IRNSS: L5
 QZSS: L1 C/A, L1 SAIF, L2C, L5, LEX
 SBAS: L1 C/A, L5
Proprietary Trimble MEMS IMU technology with an update rate of 200Hz, calibrated to
meet the needs of mobile mapping applications.
Interfaces:
 1 USB 2.0 device port
 1 physical LAN Ethernet port:
o Supports links to 10BaseT/100BaseT auto-negotiate networks
 2 x RS232 Serial ports (one Tx/Rx and one Tx/Rx/CTS/RTS)
 1 Pulse Per Second Output
 2 x Event Marker Input Support
Supported Network protocols:
 HTTP (web GUI)
 NMEA, GSOF, CMR over TCP/IP or UDP
Supported differential corrections:
 CMR, CMR+™, sCMRx, RTCM 2.1, 2.2, 2.3, 3.0, 3.1, 3.2.
Navigation outputs:
 ASCII: PPS Time Mark,NMEA-0183 (GBS; GGA; GLL; GNS; GRS; GSA;
GST; GSV; HDT; LLQ; AVR; GDP; DTM;BPQ; GGK; PJK; PJT; VGK; VHD;
RMC; ROT; VTG; ZDA).
 Binary: Trimble GSOF.
Control software:
 HTML Web browser (Google Chrome, Internet Explorer®, Mozilla Firefox,
Apple Safari, Opera)
3. LVX Hardware Description and Interface

3.1. Mechanical
The LVX is an IP67 sealed housing with mechanical dimensions as shown in Figure 2.
The location of the center of navigation, or sensing center of the IMU, is shown in Figure
3 along with the associated offsets from the axis target on top of the enclosure.
2
Figure 2: LVX Mechanical Drawing
3
Figure 3: LVX Center of Navigation
4
Figure 4: LVX Center of Gravity
3.2. DMI Installation

The Distance Measuring Indicator (DMI) functions on either rear wheel. Applanix
recommends mounting the DMI on the driver’s side rear wheel to facilitate visual
monitoring of the device.
Do not mount the DMI on a steered wheel, as the DMI will yield
incorrect information. Damage to the DMI and mounting
hardware may result.
3.2.1. Mounting Brackets

Applanix recommends the installation of the Permanent DMI
Restraint Bracket kit. The (optional) Temporary DMI Restraint
Bracket kit is not suitable for use in permanent or long-term
installations. Failure of the temporary bracket components may
result in damage to the DMI assembly.
Each DMI is supplied with a Permanent DMI Restraint Bracket kit containing a bracket
and self-threading metal screws. Optional are extra collets, collet spacers and
replacement parts for the DMI sensor assembly (permanent DMI restraint and temporary
DMI restraint bracket kit). These optional items are available from Applanix.
5
To Attach Permanent Bracket
1. Drill 1/8 in (~3 mm) holes in rear fender lip, above wheel hub - use permanent bracket as
template (Figure 9).
2. Do not mount DMI restraint bracket at this time (to ensure DMI restraint rod is vertical
once DMI is installed).
To Attach Temporary Bracket (“Optional”)
1. Clean vehicle surface for placement of suction cups or magnetic strip.
2. Temporarily attach suction cups or magnetic strip.
3. Predetermine requirement for spacers, note special body features such as fender and
body protrusions (use of spacers is on an ‘as required’ basis).
4. Thread spacers onto temporary bracket.
5. Either thread on suction cups (onto spacers), or use supplied nylon screws to attach
magnetic strip instead.
6. Do not mount DMI restraint bracket and spacers at this time.
3.2.2. Assemble Distance Measuring Indicator

The Universal Hub Adapter (Figure 5) has pre-cut slots to accommodate three, four, five,
six, seven, eight, nine and ten bolt wheels. All installations use the reference slot (marked
with an ‘x’) and the slots labelled with the corresponding number of wheel bolts.
Note: Wheels with six bolts or more may require a larger diameter Universal Hub
Adapter (Figure 5).
The following are installation examples:
• On a four-bolt wheel use the reference slot ‘x’ and the slots labelled 4
• On a three-bolt wheel, use the slots labelled 6 and ‘x’
• On an eight-bolt wheel, use the slots labelled 4 and ‘x’

A minimum of three collets must be used to mount the Universal
Hub Adapter. It is not necessary to use a collet for each lug bolt
on the wheel.
To assemble the DMI, universal hub adapter and collets perform the following
(Figure 5 and Figure 6):
6
1. Select sufficient collet spacers (optional), to position restraint rod perpendicular to road
with DMI and universal hub adapter installed. No interference between restraint rod and
vehicle fender and body is permitted.
2. Select bolts 1 in (2.54 cm) longer than total collet spacer height.
3. Assemble DMI using universal hub adapter, collet spacers, collets, washers and bolts in
order (Figure 5).
4. Keep bolts loose permitting collet jaws to fit over wheel nuts.
Bolt
Universal Hub Adapter
Small Washer
DMI
Encoder
Large Washer
Spacer(s) Optional
if Necessary
Collet(s) Optional if
Necessary
Figure 5: DMI Collet Mounting Guide
7
Figure 6: Attach Collets to Universal Hub Adapter
3.2.3. Install Distance Measuring Indicator
The collet grips the wheel nut as the collet bolt is tightened.
Failure of a collet may result in damage to the DMI components.
Thoroughly remove rust and dirt from each wheel nut. Replace
damaged or corroded wheel nuts.
To install the assembled DMI on the vehicle perform the following:
5. Slip collets over wheel nuts (Figure 7).
6. Use circular grooves etched on universal hub adapter so that collets are equal distance
from DMI encoder shaft; off-centre placement of universal hub adapter will increase data
noise and cause excessive mechanical vibration.
7. Apply thread-lock compound to collet bolt threads prior to insertion. For successful
bonding, knowledge of adhesive characteristics is essential.
Over tightening of the collet bolts may result in thread stripping.
Under tightening of the collet bolts may result in a poor
mechanical connection and subsequent damage to the DMI
assembly.
8. Tighten collet bolts in a uniform manner using supplied 7/16 in or 1/2 in nut driver - do not
exceed a torque value of 25 pound-force-inch (2.83 Newton metres) for the 1/4 in - 20
bolts and 50 pound-force-inch (5.66 Newton metres) for the 5/16 in - 18 bolts.
9. Slip (permanent or temporary) restraint bracket over restraint rod and position rod
perpendicular to road (Figure 8).
8
10. Attach DMI restraint bracket:
• Permanent - attach bracket using predrilled holes in rear fender lip using metal
screws (refer to Mounting Brackets on page 5 and Figure 9).
• Temporary using suction cups - thread spacers (if required) and suction cups onto
fender bracket, then fix fender bracket to vehicle body.
• Temporary using magnetic body strip - thread spacers (if required) and use flat head
nylon screws to attach the magnetic strip, then fix fender bracket to vehicle body.
Figure 7: Slip Collets over Wheel Lug Nuts
Figure 8: Slip DMI Restraint Bracket over Restraint Rod
9
Figure 9: Attach Permanent DMI Restraint Bracket to Vehicle Fender
3.2.4. Install DMI Cable

Use tie-wraps to secure the DMI power and data cable along the routing path. Wrap the
cable/DMI connection with self-fusing tape to keep dust and moisture out of the
connection.
To install the DMI cable perform the following (Figure 10):
1. Plug DMI power and data cable into socket on DMI encoder.
2. Route cable along length of the restraint rod, secure with tie wraps.
Figure 10: Attach DMI Cable to Restraint Rod
10
To prevent damage to the DMI sensor or cable, leave cable
slack at the DMI connector and fender bracket to accommodate
suspension movement.
3. Route DMI power and data cable to PCS.

Consider suspension movement and vehicle flexing during
cable routing. Prevent cable contact with the ground or moving
parts. Leave cable loops to prevent cable damage.
4. Connect DMI cable to PCS rear connector labelled DMI.
5. Figure 11 provides an example of DMI cable routing. The cable may be routed through
drilled holes or passed through the vehicle’s side doors or screens.
Figure 11: Attach DMI Cable to Restraint Rod
3.3. Electrical
The LVX has 4 connectors; two GNSS antenna connectors, a power/IO connector and a
DMI connector. The connector types, pin-out and electrical interfaces are described in the
following sections.
3.3.1. Antenna
The connector types are TNC and provide direct power to active antennas (5 to 7.5V).
11
The LVX is designed to support a wide variety of GNSS antenna elements. GNSS band
coverage will be dictated by the bandwidth of the chosen antenna. The unit is capable of
supporting antenna elements with a minimum LNA gain of 32dB.
The recommended antenna electrical specifications are outlined below:
Frequency: 1565.5 to 1614 MHz
1217 to 1257 MHz
VSWR: 2.0 max.
Bandwidth: 60 MHz min.
Impedance: 50Ω
Peak Gain: 4dBic min.
Amplifier Gain* (without cable loss) +32 to +41 dB typical
Noise Figure: 1.5 dB typical
Output VSWR: 1.5:1 typical
Filtering: -30dB (±100 MHz)
DC Voltage: +5 to +7.5V dc
DC Current: 300mA max
* Required LNA Gain does not account for Antenna cable insertion loss.
The antenna choice is subject to the particular platform the LVX is being used on.
Special care of antenna placement must be taken during integration of the system to
minimize the impact of possible interferences. Failure to do so will result in the system
not meeting its specification.
3.3.2. Power / IO Connector

The power/IO connector used on LVX is a rugged DE 26 male connector made by
Amphenol, part number MDBR-A26PE-860.
The connector pin-out is shown below in Figure 12.
3.3.1. PPS and Event In

The PPS (Pulse per Second, pin 20) is the signal that indicates the integer epoch of
UTC/GPS time. It is a TTL 3.3V pulse active high with maximum current of 4mA.
The Event In 1 and 2 (pins 3 and 4) are the time markers of an external pulse. They are
used to capture the exact time of the external event initiated by a sensor (usually a
camera).
Event inputs can tolerate 3.3V or 5V TTL.
12
3.3.2. Serial Ports
There are two serial (COM) ports labeled respectively as COM1 and COM2.
COM1 is implemented as an RS232 level port without support for hardware handshaking.
COM2 is an RS232 level port with support for hardware handshaking through associated
CTS and RTS lines.
Pin # Function
1 n/c
2 COM2 RS232 CTS
3 Event 1 input
4 Event 2 input
5 n/c
6 GND
7 COM1 RS232 Tx
8 COM1 RS232 Rx
9 USB DP
10 n/c
11 COM2 RS232 RTS
12 COM2 RS232 Tx
13 n/c
14 n/c
15 USB ID
16 Ethernet RD-
17 Ethernet TD-
18 USB DM
19 USB VBUS
20 PPS out
21 COM2 RS232 Rx
22 n/c
23 GND
24 Power
25 Ethernet RD+
26 Ethernet TD+
Figure 12: Power / IO Connector Pin-Out
13
Figure 13: Cable Wiring Diagram
I/O Pin Pin Description I/O Cable Mapping Signal Signal

PIN Connector Type Direction
4 Event 2 input 1 - Input
21 COM2 Rx 2 RS232 Input
12 COM2 Tx 3 RS232 Output
1 n/c 4 - -
6 GND 5 DE-9 Common Common
3 Event 1 input 6 (Male) - Input
11 COM2 RTS 7 RS232 Output
2 COM2 CTS 8 RS232 Input
5 n/c 9 - -
Figure 14: COM 2 Serial Cable
I/O Pin Pin Description I/O Cable Mapping Signal Signal

Type Direction
7 COM1 Tx 2 RS232 Output
8 COM1 Rx 3 DE-9 RS232 Input
6 GND 5 (Female) Common Common
20 PPS out 9 5V TTL Output
Figure 15: COM 1 Serial Cable
14
3.3.3. Ethernet
LVX supports 10/100 BaseT Ethernet through the DE26 connector.
3.3.4. Power In
The LVX shall be powered by clean DC voltage in the range of 8-32V. Reverse polarity,
over and under voltage protection is provided.
It is recommended to stop logging at the end of a mission before removing the power to
the LVX.
3.3.5. DMI Connector

The DMI connector used on LVX is a rugged DE 9 male connector made by Amphenol,
part number MDBR-E09PE-860.
The connector pin-out is shown below in Figure 16.
Pin # Function
1 DMI 1
2 n/c
3 n/c
4 n/c
5 DMI Reference GND
6 DMI 2
7 n/c
8 n/c
9 DMI Reference Voltage
Figure 16: DMI Connector Pin-Out
The LVX DMI input has a nominal range of 7.5V to 32V. The signal voltage range
applied to DMI1/2 must also be applied to the reference input. For example, if the DMI
output signals 0-12V then 12V must be applied to the DMI reference (pin 9 with respect
to pin 5).
The system integrator is responsible for providing power to the DMI. The recommended
approach is to use a DMI that outputs signals with the same amplitude as the supplied
power and then use the DMI power supply as the DMI reference input.
15
3.4. Front Panel LEDs
LVX has four LEDs on the front panel to indicate, from left to right, power, satellite
tracking, RTK reception and IMU status. The boot up sequence for LVX lights all 4
LEDs for about 3 seconds followed by a brief duration where all LEDs are off. Thereafter
use the following table to determine the operational status.
Power LED On continuous LVX is turned on

Blinks off every 5 seconds LVX is turned on and logging data
internally
Satellite LED Off Not tracking satellites

Blinks at 5 Hz Tracking less than 5 satellites
Blinks at 1 Hz (normal) Tracking 5 or more satellites
RTK LED Off No incoming RTK corrections

Blinks at 1 Hz Receiving incoming RTK corrections
Blinks at 5 Hz Receiving Moving Base corrections at 5 Hz
On continuous Receiving Moving Base corrections at 5 Hz
INS LED Off No navigation solution

Blinks at 5 Hz Coarse levelling
Blinks at 2 Hz Degraded solution
Blinks at 1 Hz (normal) Aligned solution
If the power LED and Satellite LED are on continuously and the RTK LED is blinking at
1 Hz it indicates the LVX is in Boot Monitor mode. In this case it is necessary to use
Winflash to reload the firmware. Contact technical support for more information.
16
4. LVX Control Software and Configuration
Control and configuration of the LVX is via a web server that supports all common
browsers.
4.1. Connecting a Web Browser

The LVX is preconfigured for a static IP address 192.168.53.100 and Subnet Mask
255.255.255.0.
Please follow the next steps in order to perform connections:
 On the address bar of your browser enter the IP address that system is
preconfigured to (etc. http://192.168.53.100).
 You will be prompted to enter exact credentials (User Name and Password) as it
is shown in Figure 17.
 The default credentials are:
User Name: admin

Password: the hardware serial number of the LVX (for example
5750C01796)
Figure 17: Connection Credentials
The credentials can be changed using the WEB UI if required.

Following connection, a splash screen indicating product, system name, serial number,
and firmware version will appear on the screen as shown in Figure 18.
17
Figure 18: Welcome Screen
Note: the receiver type for the LVX product appears as APX-18 LV indicating the
system has been set up for Land Vehicle applications.
4.2. Web User Interface Layout

The top right corner will display the System name (user definable), Serial Number and
flag that represents the language. The default language can be changed by mouse clicking
on the flag and choosing a flag associated with the desired language.
Clicking on the Applanix logo will bring the “Welcome Screen” back on the browser.
Figure 19: Language Selection
The main system many will appear by default on the left side of the browser. Please see
Figure 20.
18
Figure 20: Main Menu
Each of the items on the menu list includes related submenus that are accessible by
mouse click.
The main menu can be divided in three basic categories:
1. Status, Solution Monitor and Display
 Receiver Status
 Satellites
2. Data Logging & Configuration
 Data Logging
 Receiver Configuration
 I/O Configuration
 Network Configuration
 Security
3. Firmware Upgrade Menu

 Firmware
4.3. Receiver Status, Solution Monitor and Display

The Status-Identity menu offers quick preview of the LVX product, including serial
number, IP address, and software and hardware versions.
The System Name is under user control and can be changed any time using the System
Name entry box and applying the OK button. In case of multiple systems it is very useful
to establish a user naming convention. See Figure 21 for location of the System Name
box.
19
Figure 21: System Status- Identity
The Satellites menu offers a rich user interface for monitoring of the real time solution
status, current satellite coverage, position and attitude plots, as well as a direct interface
to Google Earth.
4.4. Data Logging

The raw data required for post-processing in POSPac UAV or POSPac MMS can be
logged to internal memory or to an external USB device. The external USB device needs
to be integrated by the user via the USB port (please refer to PUBS-MAN-005351 for
USB port configuration).
Data are logged to a proprietary file format with extension T04.
The user interface for Data Logging is shown on the Figure 22. Checking/Unchecking the
Enable box (marked with red circle on Figure 22) will automatically start/stop logging to
the selected media.
20
Figure 22: Data Logging Start/Stop
The logging parameters need to be configured before the logging is engaged by click on
Configure button as shown on the Figure 23. Please make sure that the correct media is
selected (etc. Internal if you attempt to perform logging on internal drive). It is
recommended to keep the settings outlined with red rectangle box as they appear on the
Figure 23.
21
Figure 23: Logging Configuration
The Enable checkbox is used to manually start and stop logging, while the Auto Log
checkbox will automatically start logging data when the system is turned on and tracking
satellites.
The Schedule drop-down list allows the user to change the way in which the files are
logged:
 Always: data is logged in one single T04 file.
 Continuous: data is logged in many files of size Duration
 Manual: only one file is logged of size Duration, after which logging is
stopped.
22
Logged data can be transferred to a local computer using the following steps:
 Select the corresponding file system where the data were logged using the
mouse (Internal or External).
 Select the desired files by clicking in the check box to the right of the file
name and then selecting the “Download Selected Files” icon. The files
will be downloaded to the Downloads folder on your PC. If multiple files
are selected for download the web browser may prompt for confirmation,
although the behavior is somewhat dependent on the web browser used.
Figure 24: Data Files
The logged T04 files can also be converted as saved as Google KML files, which can be
used to review the real-time solution in terms of positioning mode (INS-RTK), number of
used SV, etc.
23
4.5. PPS and ASCII Time Tag Synchronization
4.5.1. PPS signal:
The receiver can output a 1 pulse-per-second (1PPS) time strobe and an associated ASCII
time tag message. The time tags are output on a user-selected port.
The leading edge of the pulse coincides with the beginning of each UTC second. The
pulse is driven between nominal levels of 0.0 V and 3.3 V (see Figure 25). The leading
edge is positive (rising from 0 V to 3.3 V). The receiver 1 PPS out is a 3.3 V TTL level
with a maximum source/sink current of 4 mA. If the system requires a voltage level or
current source/sink level beyond these levels, an external buffer must be used.
The pulse is about 8 microseconds wide, with rise and fall times of about 100 nsec. The
resolution is approximately 40 nsec.
Figure 25:PPS Time Tag
4.5.2. 1 PPS ASCII Time Tag Message:

Each ASCII 1 PPS time tag message is output approximately 0.5 second before the
corresponding pulse.
The format of the time tag message is as follows:
24
UTC yy.mm.dd hh:mm:ss ab
Where:
UTC is fixed text.
yy.mm.dd is the year, month, and date.
hh:mm:ss is the hour (on a 24-hour clock), minute, and second. Note: The time is
in UTC, not GPS time.
The letter a is an integer number representing the position-fix type:
 1 = time solution only
 2 = 1D position and time solution
 3 = currently unused
The letter b is the number of GNSS satellites being tracked. If the receiver is
tracking 9 or more satellites, b will always be displayed as 9.
Each time tag is terminated by a carriage return, line feed sequence. A typical printout
looks like:
UTC 02.12.21 20:21:16 56
UTC 02.12.21 20:21:17 56
UTC 02.12.21 20:21:18 56
4.6. System Configuration

The Receiver Configuration menu includes the following configuration options as shown
in Figure 26.
25
Figure 26: Receiver Configuration
4.6.1. Antenna Configurations:

If the antennas being used with the LVX are not on the list under Antenna Type, please
select the type as “Unknown External”. The measurement method should always be set
as the “Antenna phase center”.
Figure 27: Antenna Configuration
26
4.6.2. Tracking Configuration:
This menu offers the user the ability to select a particular tracking elevation mask angle
and which satellite systems to track. It is recommended to use the defaults as set in
Figure 28, and always keep Clock Steering as DISABLE.
27
Figure 28: Tracking Configuration
28
4.6.3. Position Configuration:
Special attention should be taken to select the correct Dynamic Model since it will have
an effect on performance The Dynamic Model selection is based on the LV type:
 Mapping vehicle
 Off-road vehicle
Figure 29: Position Configuration
All other settings should be left as shown in Figure 29.

Once the Dynamic model is selected by clicking the OK button, you will be prompted to
reboot LVX in order to apply changes as indicated on Figure 29.
29
Figure 30: Receiver Reset
4.6.4. General Configuration:

The General Configuration window includes settings of the discrete I/O signals:
 Input signals Event 1 and 2.
 Output 1 PPS signal.
It is recommended to have all signals enabled.
The event slope indicates the active edge of the input event signal that will be registered
and time tagged by LVX.
The event navigation shift is the time, positive or negative, by which the registered event
time is adjusted before interpolating the navigation solution for the event triggered
navigation outputs (NMEA and GSOF). This time shift does not affect the time of the
regular event outputs or logging.
Figure 31: General Configuration
30
4.6.5. INS Configuration:
Once the LVX and antennas are installed on the vehicle, the relative position and
orientation of the LVX with respect to the vehicle and GNSS antennas must be entered.
Two types of measurements are required:
1. Lever arms - vector displacement between two body frames
2. Mounting angles - differences in orientation between two body frames
The correct measurements must be entered into the software for the system to function
properly. Failure to do so will result in degraded performance.
New values must be entered after the location of any component has changed, or the first
time the system is powered-on after a new installation. See the Figure 37 for more
information on storing installation parameters in the LVX.
Accurate measurements of the mounting parameters are necessary to ensure optimum
performance of the system. Six sets of parameters are required to be measured and input
into the system before the LVX can operate. These parameters are as follows:
 Reference frame origin to IMU lever arm
 Reference frame origin to Primary GNSS antenna lever arm
 IMU body frame with respect to reference body frame mounting angles
 Reference frame with respect to vehicle body frame mounting angles
 Primary GNSS antenna to Secondary GNSS antenna baseline vector
 DMI/Rear Wheel lever arm
 DMI Scale Factor
The accuracy requirements of these measurements are important. Mounting angles
(known as misalignment or boresight angles) are measured to the accuracy expected from
the LVX system. For example, if vehicle roll has a required accuracy of 0.05 degrees,
then the IMU body frame with respect to the reference body frame mounting angles must
be measured and entered to better than 0.05 degrees accuracy. If the accuracy of the
measurements does not meet these requirements, a constant angular offset will be present
in the output and the error may manifest itself as a lever arm error.
Precise mounting angle measurements are usually performed by lab calibration or a
boresighting mission. Contact Applanix Customer Support for more information on
measuring mounting angles.
The Applanix Position and Orientation System Post-Processing Package (POSPac) post-
processing software can be used to help refine the installation parameter estimates.
In addition to the lever arm and mounting angles setup under INS Configuration, the
appropriate Receiver Motion (Dynamic model) is indicated, where the options available
include:
31
 Mapping vehicle: raw observables to be used in real-time and for post-processing
 Automotive: raw observables to be used in real-time only
 Off-road vehicle: nonholonomic constraint not in use
*The nonholonomic constraint (which is a constraint on the possible velocities of the

vehicle) is in use for the Mapping vehicle and Automotive dynamic models, where the
plane formed through the rear-wheel axis is constrained.
It is also recommended that the MAG Enable option be unchecked.
4.6.6. IMU Body Frame Definition:

The IMU Body frame is the right-hand orthogonal coordinate system that is measured by
the inertial sensors on the LVX. The origin of the IMU body frame is offset from the
target on top of LVX by the dimensions listed on the target label (see Figure 32).
4.6.7. Reference Body Frame Definition:

The Reference Body frame is defined as the right-hand orthogonal coordinate system
with its origin at the centre of a location to which a related sensor is referenced. For
example, using the LVX mounted on a scanner, the origin of the reference body frame is
at the origin of the scanner measurements, and the x, y, and z are the orthogonal axis of
the scanner frame.
All measurements output by the LVX system are at the Reference frame origin and
aligned to the Reference frame axis.
32
Figure 32: IMU Body Frame Definition
4.6.8. Vehicle Body Frame:

The Vehicle Body Frame is defined as the right-hand orthogonal coordinate system with
its origin at the vehicle’s centreline. Its three axis are referenced to the vehicle’s vertical
and horizontal planes where the:
 X-axis is parallel to the horizontal plane and extends towards the front - called the
vehicle longitudinal axis any rotation about this axis is called ‘roll’.
 Y-axis is parallel to the horizontal plane and extends towards the starboard (right)
side - called the vehicle lateral axis, any rotation about this axis is called ‘pitch’.
33
 Z-axis is parallel to the vertical plane and extends down - called the vehicle
vertical axis (vertically through the center of gravity when the vehicle is level),
any rotation about this axis is called ‘yaw’.
Figure 33: Vehicle Body Frame
4.6.9. DMI Frame Definition:

The DMI Frame is defined as the right-handed orthogonal coordinate system with its
origin at the Instrumented Wheel’s point of contact with the road (located at the centre of
the tread). The DMI Frame is co-located with the DMI sensing centre. The frame’s axes
coincide with the Vehicle Frame’s orientation (i.e. the x-axis point towards the front of
the vehicle, the y-axis points towards the right and the z-axis points down).
DMI Body Frame
4.6.10. Lever Arm Definitions:
4.6.10.1. Reference to IMU Lever Arm

The Reference to IMU Lever Arm is a three-dimensional vector defining the
displacement of the IMU Body Frame (i.e. the sensing centre of the IMU) origin from the
34
Reference Body Frame origin. This displacement is measured in the Reference Body
frame.
The displacement is measured as follows:
 X component: The distance from the Reference Body Frame origin along the x
axis of the Reference Body Frame to the target on LVX plus offset. A positive
value implies LVX is “forward” of the Reference Body Frame origin.
 Y component: The distance from the Reference Body Frame origin along the y
axis of the Vehicle Body Frame to the target on LVX plus offset. A positive
value implies LVX is to the “right” of the Reference Body Frame origin.
 Z component: The distance from the Reference Body Frame origin along the z
axis of the Reference Body Frame to the target on LVX plus offset. A positive
value implies LVX is below the Reference Body Frame origin.
4.6.10.2. Reference to Primary GNSS Lever Arm

The Reference to Primary GNSS Lever Arm is the three-dimensional vector defining the
displacement of the GNSS Antenna Phase Centre (APC) from the origin of the
Reference Body Frame. This displacement is measured in the Vehicle Body Frame,
not the Reference Body Frame.
The displacement is measured as follows:
 X component: The distance from the Reference Body Frame origin along the x
axis of the Vehicle Body Frame to the GNSS APC. A positive value implies the
GNSS antenna is “forward” of the Reference Body Frame origin.
 Y component: The distance from the Reference Body Frame origin along the y
axis of the Vehicle Body Frame to the GNSS APC. A positive value implies the
GNSS antenna is to the “right” of the Reference Body Frame origin.
 Z component: The distance from the Reference Body Frame origin along the z
axis of the Vehicle Body Frame to the GNSS APC. A negative value implies the
GNSS antenna is above the Reference Body Frame origin.
4.6.10.3. Reference to DMI Lever Arm

A Reference to DMI Lever Arm is a three-dimensional vector defining the displacement
from the Reference Frame origin to the sensing center of the DMI. This displacement
vector is measured in the Vehicle Frame.
Lever Distances are measured from the Reference Frame origin to the centre of the tread
(where the wheel makes contact with the road) of the DMI instrumented wheel. The DMI
instrumented wheel must be a non-steering wheel.
35
Example: If the Reference and Vehicle Frames are co-aligned (zero alignment angles),
then from the Reference Frame origin, x is positive towards the front of the vehicle, y is
positive towards the driver’s right side and z is positive down towards the road (right-
hand rule).
In the case where an external DMI is not used, deselect “DMI Enable” in the Web UI
(under INS Configuration menu -> General), and enter the lever arm value in the “Rear
Wheel Lever Arm” section.
Three Dimensional Vector Lever Arm
4.6.11. Mounting Angles:

The Mounting angles are defined as the physical angular offsets of one body frame with
respect to a second body frame (Figure 34).
These angles define the Tait-Bryan sequence of rotations that bring the first body frame
into alignment with the second. For example, when defining body frame A with respect
to B, the mounting angles would be the sequence of rotations of body frame B to bring it
into alignment with body frame A. The orientation angles follow the sequence of rotation
given as follows: right-hand rotation of θz about the z-axis of body frame B, followed by
a rotation of θy about the once rotated y-axis, followed by a rotation of θx about the twice-
rotated x-axis. Refer to the Tait-Bryan Sequence description.
Make note of all measured mounting angles for later input into the LVX and store these
measurements in a secure place for future reference.
36
Figure 34: LVX Reference and IMU Body Frame
4.6.11.1. Tait-Bryan Sequence:

Locate the X1, Y1 and Z1 axis and the XY, YZ, ZX planes of the IMU reference frame.
Locate the user frame axis X2, Y2, Z2 (Figure 20). To bring the IMU into alignment with
the user frame, rotate the user frame about its Z2 axis until the Y2 axis is in the YZ plane
of the IMU (Figure 21). Rotate the user frame about its Y2 axis (already once rotated),
until the X2 axis direction is parallel to the X1 axis direction. Rotate the user frame about
its X2 axis (already twice rotated) until the Y2 axis is parallel to the Y1 axis.
Figure 35: Tait-Bryan Planes and Axis
37
Z2 Z2
Y2
Y2

Y1 X1 Y1 X1
X1
Y1

Y2
 X2
X2
Z1 Z1 Z1
This indicates the area of the circle defined by the

angle  that is in front of the 3D matrix.
This indicates the area of the circle defined by the
angle  that is behind the 3D matrix.
Figure 36: Tait-Bryan Rotations Diagram
Yaw is the angle θ1 from the first rotation. Pitch is the angle θ2 from the second rotation
and Roll is the third rotation angle θ3, shown in the diagram above.
4.6.11.2. IMU wrt Reference Mounting Angles:

Figure 34 shows the LVX (IMU Body Frame) and the Reference Body Fames in different
orientations. The sequence of rotations to bring the Reference Body Frame into alignment
with the IMU Body Frame will require measurement.
4.6.11.3. Reference wrt Vehicle Mounting Angles:

If the axis of the Reference Body Frame and the Vehicle Body Frames do not align, then
the Reference Body Frame must be defined with respect to the Vehicle Body Frame by
entering Vehicle to Reference Mounting angles. These angles follow the same sequence
of rotation as described above. For example, if the x axis of the Reference Body Frame is
pointing to the right of the vehicle, the Vehicle to Reference Body Frame Mounting
Angles would be (0,0,90).
The Lever Arms and Mounting Angles are entered as shown in Figure 37.
38
Figure 37: INS Configuration
For testing the system in the lab while stationary, a Static Bench Mode is provided. This
allows the user to initialize the heading of the LVX manually.
Note: The Static Bench Testing Mode must only be enabled during lab testing when
the system is stationary.
Failure to disable this mode before movement will degrade performance!
After entering the Lever Arms and Mounting Angle settings you will be prompted to
reboot the system in order to apply the changes to software.
4.6.12. DMI Scale Factor Calculation

The DMI measures wheel rotation by generating a fixed number of pulses per wheel
revolution. POS LV converts wheel rotation into distance traveled by multiplying the
DMI pulse count by a scale factor that converts pulses to metres. The following formulas
are used to compute the scale factor:
𝑛
Pulse and Direction DMI (Type 1): s =
𝑑𝜋
4𝑛
Quadrature DMI (Type 2): s=
𝑑𝜋
Where n is the number of DMI pulses per revolution, and d is the Instrumented
Wheel diameter in meters.
Note: The number of DMI pulses per revolution is typically stamped on the DMI
nameplate.
39
The DMI direction sense is programmed by setting the sign on the DMI scale factor
value. If the DMI is mounted on the driver’s left side of the vehicle, use a positive scale
factor value. If the DMI is mounted on the driver’s right side of the vehicle, use a
negative scale factor value.
4.6.13. I/O Configuration:

The I/O configuration refers to output message selection for specific port (see Figure 38).
Figure 38: I/O Configuration
In order to perform a configuration, click on port you want to select (e.g. Serial COM1
port).
The port property settings will be opened as it is on Figure 39. Using the message
selection pull down menu, select the messages of your choice. The messages can be
sequentially added, and one port can be set up to output multiple messages.
40
Figure 39: Message Selection
4.6.14. Differential Corrections Configuration:

The LVX is precise positioning product that supports common differential correction
inputs (CMR, CMR+, RTCM..) from a base station in order to achieve accurate position
in real time.
The most common way to stream corrections to LVX is the serial port interface.
Under Port Summary page in I/O Configuration menu click on corresponding COM port
to access the port settings property. Select the baud rate, parity and flow control under the
41
Serial Port Setup to be compatible with the corrections source. There is no need to select
the correction type as LVX automatically detects the type of correction input.
Depending on the quality of incoming corrections the positioning mode should change to
more accurate such as DGPS or RTK. Please refer to Figure 40(Position Status) as
example that displays RTK mode and corresponding centimetres level error estimates.
Figure 40: Differential Solution Display
4.6.15. Ethernet Configuration:

By default the LVX product is preconfigured with a static IP address. The address can be
changed or reconfigured for DNS.
Figure 41 shows the Ethernet setup properties available under Network Configuration
menu.
42
Figure 41: Ethernet Configuration
4.6.16. Firmware upgrade:

The firmware upgrade can be performed through Firmware menu of the WEB user
interface.
Please, refer to Figure 42 and follow the next steps in order to load the firmware:
- Using button “Choose File”, browse to firmware image file that you want to load.
The firmware image file is provided by Applanix.
- Press the button “Install New Firmware” in order to initiate installation
- Please, make sure that browser is open and there is no power interruption until the
upgrade process is completed.
43
Figure 42: Firmware Installation
5. Calibrate Antenna Installation for GAMS

The Global Navigation Satellite System (GNSS) Azimuth Measurement Subsystem
(GAMS) has the ability to provide vehicle heading aiding to the Aided-Inertial processing
engine by computing the base-line vector in the NED frame between the known
placements of dual antennas on the vehicle.
For GAMS to operate, the baseline vector from the phase centre of the primary antenna to
the phase centre of the secondary antenna must first be measured in the vehicle frame
along with an approximate accuracy (Baseline Length Standard Deviation).
5.1. Accurate Baseline Measurement

If the baseline vector in the vehicle frame can be measured to an accuracy of 0.01m or
better, then the parameters should be entered into the GNSS Lever Arm window in the
GUI and the 1-sigma value set to 0.002. In this case the system will not attempt to
calibrate the vector but will use the entered values after they are saved.
44
Figure 43: GAMS Parameter Setup
5.1.1. Save Settings

The GAMS parameter settings are saved by clicking the OK button at the bottom of the
INS Configuration GUI page as shown below.
45
Once the precise GAMS parameter settings have been saved the user can skip the GAMS
Calibration procedure and proceed to the GAMS Operation section.
5.2. GAMS Calibration

If it is not possible or undesirable to accurately measure the baseline vector, and the
vehicle is capable of sufficient dynamic motion to allow the baseline vector to be
calibrated, then the GAMS Calibration feature may be used. GAMS Calibration is a
separate mode within the navigation engine which will estimate the baseline vector using
the concept of “Dynamic Heading Alignment”. Dynamic Heading Alignment uses
changes in the vehicles acceleration to align the inertially derived heading, thus making
the base-line vector in the vehicle frame observable against the GAMS base-line vector
measurement. Once successful calibration values are stored, this procedure does not need
to be repeated unless the physical location of the antennas is changed.
The GAMS requires data from five or more satellites with a Positional Dilution of
Precision (PDOP) of three, or less, to achieve a successful antenna installation
calibration. Perform the antenna installation calibration at a time when there is good
satellite geometry (i.e. low PDOP and open sky), using GNSS Mission Planning software
to determine a suitable time.
Dynamic Heading Alignment requires rapid changes in vehicle heading or velocity so
choose an area where unrestricted manoeuvring is possible, such as a large, empty, paved
parking area when on a land vehicle.
46
5.2.1. Calibration Set-up
1. Select Receiver Configuration, INS from the menu bar to open the INS Configuration
page.
• Click on the General tab to open it
• Enable GAMS by checking the box next to it.
2. Click on the GNSS Lever Arm tab to open it
• Enter 0,0,0 for the X,Y,Z Primary to Secondary GNSS Baseline Vector lever arms
to allow the system to estimate the values.
• Enter a 1-σ (one sigma) value equal to the approximate antenna separation (i.e. if
the antennas are set 2 m apart use 2 m).
47
• Enter the desired Target Heading Accuracy in degrees. Entries are constrained to
the range from 0.01 to 5 degrees. The more accurate the target the better the
calibration will be, but smaller heading accuracies are more difficult and will take
longer to achieve using Dynamic Heading Alignment, especially with a lower
accuracy system. The default is 0.500 degrees.
• Decide on how to save the calibrated baseline vector. The options are a manual copy
or Auto-copy:
o Manual copy – the copy button will remain greyed out until the INS Heading
Accuracy meets the Target Heading Accuracy. Once the button is active it
may be clicked on at any time to save the estimated baseline vector. The copy
may be delayed if the dynamics are improving the INS Heading Accuracy
beyond what was specified for the Target Heading Accuracy, thereby resulting
in a better calibration.
o Auto-copy – click on the box to enable auto-copy. When the INS Heading
Accuracy meets the Target Heading Accuracy the calibrated baseline vector
values will automatically be copied to the installed values and saved.
48
5.2.2. Calibration
LAND VEHICLES
Once the set-up procedure is complete, proceed with the following calibration procedure
for land vehicles.
1. While the system is static, i.e. the vehicle is not moving, open the Receiver
Configuration, INS page and GNSS Lever Arms tab. Stay on this page for the duration
of the calibration process.
• Click on the Calibrate button. This puts the system into a specific mode to calibrate
the baseline vector.
49
2. Accelerate the vehicle in a straight line as quickly as possible to a speed of at least 60
km/h.
• Once target speed is reached, apply vehicle brakes and come to full stop as quickly
as possible.
• Turn vehicle around and repeat until INS Heading Accuracy values drop
significantly.
Note: Ensure there is no GNSS multipath present. It is important that the vehicle
accelerations be performed in a straight line.
3. Change the maneuver to perform a number of turns (e.g. circular or figure 8) in an area
where there is a minimum of GNSS multipath.
• Monitor the calibration progress in the GNSS Lever Arms window to ensure the INS
Heading Accuracy is getting smaller and approaching the Target Heading
Accuracy.
• Once the INS Heading Accuracy meets, or exceeds, the Target Heading
Accuracy, go to the next section.
MARINE VESSELS
Once the set-up procedure is complete, proceed with the following calibration procedure
for marine vessels
1. Open the Receiver Configuration, INS page and GNSS Lever Arms tab.
• Click on the Calibrate button. This puts the system into a specific mode to calibrate
the baseline vector.
2. Maneuver to perform a number of turns (e.g. figure 8’s or s-turns) in an area where there
is a minimum of GNSS multipath.
• Monitor the calibration progress in the GNSS Lever Arms window to ensure the INS
Heading Accuracy is getting smaller and approaching the Target Heading
Accuracy.
• Once the INS Heading Accuracy meets, or exceeds, the Target Heading
Accuracy, go to the next section.
Please contact Applanix for specific instructions for calibrating GAMS on a UAV.
50
5.2.3. Save Calibration
The calibrated baseline vector values will be copied to the installation parameters in one
of two ways- automatically or manually.
Auto-copy
If Auto-copy was enabled then:
• The calibrated baseline vector values will be copied to the installation parameters
• The updated installation parameters will be saved
• The navigation engine will be restarted with the new parameters
• The GAMS calibration mode will not be active after the restart
Manual copy
Once the manual copy button ( “<<”) becomes active:
• Click on the manual copy button to transfer the estimated baseline vector values to
the installation parameters. If the INS Heading Accuracy is still improving with vehicle
dynamics then it is advantageous to wait until the improvement diminishes before
copying.
• Click the OK button at the bottom of the INS Configuration page to save the settings.
• Reset the system, either by power cycle or by a soft reset from the Receiver
Configuration, Reset page.
The GAMS calibration mode will not be active after the restart.
5.2.4. GAMS Operation

The system will use input from the two GNSS antennas and the primary to secondary
baseline vector installation parameters measured in the vehicle frame to provide heading
aiding as long as GAMS is enabled and is valid. The ability of the GAMS system to
improve the overall heading accuracy will depend on the quality of the installation
parameters, whether entered manually or calibrated, and the dynamics of the vehicle. In
static or low dynamic applications, the heading accuracy of the system will be limited by
51
the accuracy of the GAMS measurement and calibration. In high dynamic environments
the Dynamic Heading Alignment will often produce better accuracy than what can be
achieved with GAMS.
Notes
If the 1-σ value is less then 2 cm then the Current Estimate of the Reference to
Primary GNSS Lever Arm will not be displayed.
In Static Bench Testing mode the Primary to Secondary GNSS Baseline Vector 1-σ
value is disabled.
6. Real Time Output ICD

Real time navigation output is supported over Ethernet and Serial port interface at the rate
of 100Hz.
The message selection (ASCII-NMEA and Binary-GSOF) are configurable through web
browser (I/O Interface, Figure 44).
6.1. ASCII-NMEA Output

Figure 44 represents the ASCII message selection.
52
Figure 44: ASCII Message Selection
6.1.1. Nonstandard ASCII messages:

PASHR (Position Attitude System Heading Reference) is customized ASCII message
that provides real time attitude and heading information.
Table 1: $PASHR Message Format
$PASHR,hhmmss.sss,HHH.HHH,T,RRR.RRR,PPP.PPP,xxx,
a.aaa,b.bbb,c.ccc,d,e,*hh<CR><LF>
Item Definition Value Units

$PASHR Header $PASHR
hhmmss.sss UTC time of N/A Hours /
data string minutes /
seconds.
decimal sec
HHH.HHH True Heading 0 to 360 degrees.
decimal
degrees
T True T N/A
RRR.RRR Roll -180 to 180 degrees
53
PPP.PPP Pitch -180 to 180 degrees
xxx Reserved filed N/A N/A
(Not supported)
a.aaa Roll accuracy N/A degrees
b.bbb Pitch accuracy N/A degrees
c.ccc Heading N/A degrees
accuracy
d Flag: GNSS 0 - Fix not available N/A
quality 1 - GNSS SPS Mode, fix valid
2 - Differential GPS, SPS
3 - GNSS PPS Mode
4 – Fixed RTK Mode
5 - Float RTK.
6 – DR Mode
e Flag: IMU 0 - GPS Only N/A
Alignment 1 - Coarse leveling
status 2 - Degraded solution
3 - Aligned
4 - Full navigation mode
*hh Checksum N/A
<CR><LF> Carriage return N/A
and line feed
EVT (Event Output Time Tag Message) provides accurate timing information for
captured event pulses.
Table 2: $PTNL,EVT Message Format
$PTNL,EVT,hhmmss.ssssss,e,n,wwww,d,oo*hh<CR><LF>

$PTNL,EVT Header $PTNL,EVT N/A
HHMMSS. UTC time data N/A Hours /
ssssss string minutes /
seconds. decimal sec
54
e 1- corresponds to 1 or 2 N/A
pulse detection
on Event 1 Input
line
2- corresponds to
pulse detection
on Event 2 Input
line
n Event counter 1 to 65535 N/A
value of Event 1
or Event 2
GPS week GPS week number N/A
WWWW since Jan 1980
D Week Day Offset 0 to 6
OO Leap seconds Seconds
offset GPS/UTC
time
*hh Checksum Hexadecimal N/A
value (NRG)
<CR><LF> Carriage return <CR><LF> N/A
and line feed
EN1/EN2 (Event 1/2 Triggered Navigation Output) provides a real time navigation
solution interpolated to the Event time after adjustment for the Event Navigation Shift.
Table 3: $EN1/2 Message Format
$PAPLEVT1, ssssss.ssssss,t,cccccccc,llll.llllllll,a,yyyyy.yyyyyyyy,b,xxxx.xxx,
M,gg.ggg,M,rrr.rrr,ppp.ppp,hhh.hhh*hh<CRLF>
$PAPLEVT1 Header $PAPLEVT1 N/A
ssssss. ssssss Time of Validity 0-604800 Seconds in seconds

of the current week
55
t Time tag G or U GPS or UTC time
cccccccc Event counter 0 to 99999999 N/A
llll.llllllll Latitude 0° to +90° Degrees ( with 8

decimal digits)
a N (North) or S N or S N/A
(South)
yyyyy.yyyyyyyy Longitude 0° to +180° Degrees (with 8

decimal digits)
b E (East) or W E or W N/A
(West)
xxxx.xxx Altitude of the NRG Metres ( with 3

IMU above or decimal digits)
below mean sea
level; a leading “-
” indicates below
mean sea level
M Units of measure M metres
gg.ggg Geoidal NRG metres

Separation =
WGS-84 Earth
ellipsoid mean
sea level; a
leading “-”
indicates below
mean sea level
M Units of measure M metres
56
rrr.rrr Roll -90 to +90 Degrees (with 3

decimal places)
ppp.ppp Pitch -90 to +90 Degrees ( with 3

decimal places)
hhh.hhh Heading 0 to 359.999 Degrees ( with 3

decimal places)
*hh Checksum Hexadecimal N/A

value (NRG)
<CRLF> Carriage return & <CRLF> N/A

line feed
NRG stands for No Range Given.
Default time tag shall be coded as GPS time “G”
The same format applies for PAPLEVT2 message related to event 2.
6.2. Binary Output

6.2.1. Binary Data Types
The LVX stores numbers in Motorola format. The byte order of these numbers is the
opposite of what personal computers expect (Intel format). To supply or interpret binary
numbers (8-byte DOUBLES, 4-byte LONGS and 2-byte INTEGERS). Table 2 defines
integer data types.
Table 4: Integer Types
Type Bytes Value ( Signed ) Value (Unsigned)

CHAR 1 –128 to 127 0 to 255
SHORT 2 –32768 to 32767 0 to 65535
LONG 4 –2147483648 to 2147483647 0 to 4294967295
57
The FLOAT data type is stored in the IEEE single-precision format which is 32 bits long.
The most significant bit is the sign bit, the next 8 most significant bits are the exponent
field, and the remaining 23 bits are the fraction field. The bias of the exponent is 127. The
range of single-precision format values is from 1.18 × 10–38 to 3.4 × 1038. The floating-
point number is precise to 6 decimal digits.
31 30 23 22 0
S Exp. + Bias Fraction
0 000 0000 0 000 0000 0000 0000 0000 0000 = 0.0

0 011 1111 1 000 0000 0000 0000 0000 0000 = 1.0
1 011 1111 1 011 0000 0000 0000 0000 0000 = -1.375
1 111 1111 1 111 1111 1111 1111 1111 1111 = NaN
The DOUBLE data type is stored in the IEEE double-precision format which is 64 bits
long. The most significant bit is the sign bit, the next 11 most significant bits are the
exponent field, and the remaining 52 bits are the fractional field. The bias of the exponent
is 1023. The range of single precision format values is from 2.23 x 10–308 to 1.8 x
10308. The floating-point number is precise to 15 decimal digits.
63 62 52 51 0
S Exp. + Bias Fraction
0 000 0000 0000 0000 0000 ... 0000 0000 0000 = 0.0
0 011 1111 1111 0000 0000 ... 0000 0000 0000 = 1.0
1 011 1111 1110 0110 0000 ... 0000 0000 0000 = -0.6875
1 111 1111 1111 1111 1111 ... 1111 1111 1111 = NaN
58
6.2.2. Binary Output ICD
Binary output is provided using Trimble GSOF message format. The Figure 31 represents
binary message selection selectable through web user interface.
Figure 45: Binary Message Selection
GSOF messages are outputted as a part of Report Package 40H represented in Table 5:
General Output Record Report 40H.
Table 5: General Output Record Report 40H
Byte # Item Type Value Description
0 STX CHAR 02h Start transmission
1 Status CHAR Bit 1 -> Low

battery
Bits0,2-7->
Reserved
2 Packet Type CHAR 40h Report package 40H
59
3 Length CHAR ??h Single byte # of data bytes,
limits data to 255 bytes
Data Byte Start
4 Transmission CHAR ??h unique number assigned to a

Number chapter of pages
indicating that the pages are
from the same group.
5 Page Index CHAR ??h page number of this page in a

sequence (chapter) of pages
and is zero based.
6 Max Page Index CHAR ??h the index of the last page
GSOF Message Type
GSOF Message Type
Data Byte End
n-2 Checksum CHAR ??h (status + type + length + data

bytes) modulo 256
n-1 ETX CHAR 03h End transmission
If the data portion exceeds maximum length limit of 255 bytes, the data packet will be
broken in two or more consecutive pages where the Page Index indicates the current page
and MAX Page Index indicates the total number of pages to be received in order to obtain
full data section.
Page Numbering – The Page Index and Max Page Index fields are 0-based, so for
example the first transmission of a 2-page set will be 0/1 (PAGE/MAX PAGE) and the
2nd (last) page will be 1/1. The total number of pages is MAX PAGE INDEX + 1.
The full set of GNSS-INS navigation parameters including position, attitude, velocity and
accuracy is captured by two GSOF messages “INS Full Navigation Info” and “INS RMS
Info”
60
GSOF Message Types for output of integrated navigation solution and corresponding
RMS values are listed in Table 4 and Table 5.
6.2.3. GSOF 49 (31H) INS Integrated Navigation Solution:

Table 6: GSOF 49 (31H)
0 Output CHAR 31h GSOF Message Type

Record Type
1 Record CHAR Length of this sub

Length record starting from
byte# 2
2-3 GPS Week SHORT GPS week number since

Jan 1980
4-7 GPS Time ULONG GPS Time in msec of

current week.
8 IMU CHAR 0 - GPS Only INS quality infdicator

Alignment
Status 1 – Coarse leveling
2 - Degraded
3 - Aligned
4 - Full Nav
9 GNSS Status CHAR 0 - Fix not available GNSS Quality Indicator

1 - GNSS SPS Mode
2 - Differential GPS,
SPS
3 - GNSS PPS Mode
61
5 - Float RTK.
6 – DR Mode
10-17 Latitude DOUBLE (-90,90] degrees
18-25 Longitude DOUBLE (-180,180] degrees
26-33 Altitude DOUBLE (,) meters
34-37 North FLOAT (,) meters/sec

Velocity
38-41 East Velocity FLOAT (,) meters/sec
42-45 Down FLOAT (,) meters/sec

Velocity
46-49 Total Speed FLOAT (,) meters/sec
50-57 Roll DOUBLE (-180,180] degrees
58-65 Pitch DOUBLE (-180,180] degrees
66-73 Heading DOUBLE [0,360) degrees
74-81 Track Angle DOUBLE [0,360) degrees
82-85 Angular Rate FLOAT (,) degrees/sec

(X)
Longitudinal axis

(Y)
Transverse axis

(Z)
Down axis
62
94-97 Acceleration FLOAT (,) meters/sec2
(X)
Longitudinal axis

(Y)
Transverse axis
102- Acceleration FLOAT (,) meters/sec2

105 (Z)
Down axis
6.2.4. GSOF 50 (32H) INS Integrated Navigation Solution RMS:


Record Type

Byte# 2

Jan 1980
4-7 GPS Time ULONG GPS Time in msec of

current week.
8 IMU CHAR 0 - GPS Only INS quality indicator

Alignment
2 - Degraded
3 - Aligned
4 - Full Nav
63
1 - GNSS SPS Mode
SPS
3 - GNSS PPS Mode
5 - Float RTK.
6 – DR Mode
10-13 North FLOAT ( 0, ) meters

Position
RMS
14-17 East Position FLOAT ( 0, ) meters

RMS
18-21 Down FLOAT ( 0, ) meters

Position
RMS
22-25 North FLOAT ( 0, ) meters/sec

Velocity
RMS
26-29 East Velocity FLOAT ( 0, ) meters/sec

RMS
30-33 Down FLOAT ( 0, ) meters/sec

Velocity
RMS
34-37 Roll RMS FLOAT ( 0, ) degrees
38-41 Pitch RMS FLOAT ( 0, ) degrees
42-45 Heading FLOAT ( 0, ) degrees

RMS
64
6.2.5. GSOF 51 (33H) Event Marker Information:

Record Type

Byte# 2
2 Event Port CHAR 1 or 2 Event In port associated

with captured pulse
3-4 GPS Week ULONG GPS week number since

Number Jan 1980
5-12 Event Time DOUBLE GPS Time of event

occurrence in seconds of
current GPS week
13-16 Event ULONG Event mark number

Number
[1, 65535]
65
6.2.6. GSOF 59 and 60 (3bH and 3cH)) Event Triggered Navigation Information:
0 Output CHAR 59 or 60 GSOF Message Type

Record Type
1 Record CHAR 108 Length of this sub

byte# 2
2 Event Port CHAR 1- Event 1

2-Event 2

Jan 1980
5-8 Event nav ULONG Registered Event time GPS Time in msec of
time of + shift current week.
validity
9-12 Event ULONG Event Mark number

Counter
13 IMU CHAR 0 - GPS Only INS quality indicator

Alignment
2 - Degraded
3 - Aligned
4 - Full Nav

1 - GNSS SPS Mode
SPS
66
3 - GNSS PPS Mode
5 - Float RTK.
6 – DR Mode
15-22 Latitude DOUBLE (-90,90] degrees
23-30 Longitude DOUBLE (-180,180] degrees
31-38 Altitude DOUBLE (,) meters
39-42 North FLOAT (,) meters/sec

Velocity
43-46 East Velocity FLOAT (,) meters/sec
47-50 Down FLOAT (,) meters/sec

Velocity
51-54 Total Speed FLOAT (,) meters/sec
55-62 Roll DOUBLE (-180,180] degrees
63-70 Pitch DOUBLE (-180,180] degrees
71-78 Heading DOUBLE [0,360) degrees
79-86 Track Angle DOUBLE [0,360) degrees

(X)
Longitudinal axis

(Y)
Transverse axis
67
(Z)
Down axis

(X)
Longitudinal axis

105 (Y)
Transverse axis

109 (Z)
Down axis
68
7. Appendix A – RTK Setup
The LVX can be setup to accept real time corrections in several different ways. This
Appendix reviews the use of the built-in NTRIP client on the LVX, as well as the setup
for use of an external NTRIP client.
7.1. RTK using the NTRIP Client on the LVX

The LVX needs to be connected to a router/network switch which is able to route into the
internet. The IP address should remain static and be in the subnet of the DHCP router
range.
Setup the static IP address, Subnet, Gateway and DNS server. This can be done from the
LVX WEB GUI:
Tips: 1) If the Gateway is unknown use ipconfig to determine the value

69
2) The DNS address of 8.8.8.8 can also be used
Select the NTRIP Client 1 port (1, 2 or 3) from the IO Configuration:
Enable the NTRIP Client and enter the required settings (e.g. NTRIP Caster address and
port number, username and password, MountPoint):
70
The NTRIP Client will automatically send the NMEA string to provide the current LVX
position to the VRS Service. Upon selection of the MountPoint the RTK correction
stream will be received:
The final check whether RTK correction are received and applied can be done under
Receiver Status/INS Status:
7.2. RTX over IP

If the RTK corrections are to come from an RTX subscription over the internet, please
follow the steps outlined in Section 6.1 with the only difference being the setup in the
NTRIP client section:
71
7.3. RTK using external NTRIP Client SW
If the LVX NTRIP Client cannot be used, an alternative is to use an external NTRIP
client such as the GNSS Surfer Client Software, Lefebure NTRIP Client, etc.
To setup the LVX for RTK using the TCP port, select one TCP/IP Port from the I/O
Configuration GUI:
72
Next, make the required settings for the TCP/IP port (mind the port ID), by selecting to
output the NMEA string (GGA) to share the current position with the NTRIP Server:
In the external NTRIP client, make the appropriate configurations. The configured
TCP/IP port on the LVX should indicate in green that correction data are received:
To setup the LVX for RTK using the COM Port, select COM1 port (for example) from
the I/O Configuration GUI:
73
Next, make the required settings for the COM port by enabling output of the NMEA
string (GGA) to share the current position with the NTRIP Server:
74
In external NTRIP software select COM port as the output device (software dependent).
Settings are identical as above under TCP/IP configuration. For the COM port settings
ensure to select the corresponding COM port on your computer and the proper baud rate.
The baud rate is usually either 19,200 or 38,400.
Start the RTK streaming. The COM port on the LVX should indicate that correction data
are received under the “Input” column.
The final check if RTK is applied can be done under the Receiver Status/Position:
75
8. Technical Support
If you have any problem and cannot find information you are looking for, please contact
your regional Applanix support office.
https://www.applanix.com/contact.htm#support
76

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LVX User Guide

Date: April 6, 2021

Figure 1: LVX Enclosure ................................................................................................................. 1

Figure 1: LVX Enclosure

1.1. LVX Performance Specification

3. LVX Hardware Description and Interface

3.2. DMI Installation

3.2.1. Mounting Brackets

To Attach Temporary Bracket (“Optional”)

1. Clean vehicle surface for placement of suction cups or magnetic strip.

2. Temporarily attach suction cups or magnetic strip.

4. Thread spacers onto temporary bracket.

6. Do not mount DMI restraint bracket and spacers at this time.

3.2.2. Assemble Distance Measuring Indicator

• On a three-bolt wheel, use the slots labelled 6 and ‘x’

• On an eight-bolt wheel, use the slots labelled 4 and ‘x’

Figure 5: DMI Collet Mounting Guide

3.2.3. Install Distance Measuring Indicator

To install the assembled DMI on the vehicle perform the following:

5. Slip collets over wheel nuts (Figure 7).

Figure 7: Slip Collets over Wheel Lug Nuts

Figure 8: Slip DMI Restraint Bracket over Restraint Rod

3.2.4. Install DMI Cable

Figure 10: Attach DMI Cable to Restraint Rod

3. Route DMI power and data cable to PCS.

4. Connect DMI cable to PCS rear connector labelled DMI.

Figure 11: Attach DMI Cable to Restraint Rod

3.3.2. Power / IO Connector

3.3.1. PPS and Event In

I/O Pin Pin Description I/O Cable Mapping Signal Signal

Figure 14: COM 2 Serial Cable

I/O Pin Pin Description I/O Cable Mapping Signal Signal

Figure 15: COM 1 Serial Cable

3.3.5. DMI Connector

Power LED On continuous LVX is turned on

Satellite LED Off Not tracking satellites

RTK LED Off No incoming RTK corrections

INS LED Off No navigation solution

4.1. Connecting a Web Browser

User Name: admin

Figure 17: Connection Credentials

The credentials can be changed using the WEB UI if required.

4.2. Web User Interface Layout

Figure 19: Language Selection

3. Firmware Upgrade Menu

4.3. Receiver Status, Solution Monitor and Display

4.4. Data Logging

Figure 24: Data Files

Figure 25:PPS Time Tag

4.5.2. 1 PPS ASCII Time Tag Message:

4.6. System Configuration

4.6.1. Antenna Configurations:

Figure 27: Antenna Configuration

Figure 29: Position Configuration

All other settings should be left as shown in Figure 29.

4.6.4. General Configuration:

Figure 31: General Configuration

*The nonholonomic constraint (which is a constraint on the possible velocities of the

4.6.6. IMU Body Frame Definition:

4.6.7. Reference Body Frame Definition: