POS MV V5 Release Notes

Transcription

1 POS MV V5 Release Notes Document # PUBS-CINS Revision: 26 Date: May 31, 2018 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. OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.

2 Table of Contents 1. Introduction POS Software 9.8 (Firmware 9.83 and POSView 9. 81) POS Software 9.72 (Firmware 9.72 and POSView 9.72) POS Software 9.29 (Firmware 9.29 and POSView 9.21) POS Software 9.1 (Firmware 9.13 and POSView 9.12) POS Software 9.0 (Firmware 9.03 and POSView 9.02) POS Software 8.6 (Firmware 8.63 and POSView 8.60) POS Software 8.4 (Firmware 8.46 and POSView 8.46) POS Software 8.3 (Firmware 8.32 and POSView 8.32) POS Software 8.2 (Firmware 8.23 and POSView 8.21) POS Software 8.1 (Firmware 8.15 and POSView 8.15) POS Software 8.01 (Firmware 8.01 and POSView 8.01) POS Software 8.0 (Firmware 8.0 and POSView 8.0) POS Software 7.9 (Firmware 7.92 and POSView 7.92) POS Software 7.8 (Firmware 7.82 and POSView 7.82) POS Software 7.6 (Firmware 7.66 and POSView 7.60) POS Software 7.6 (Firmware 7.61 and POSView 7.60) POS Software 7.4 (Firmware 7.43 and POSView 7.41) POS Software 7.2 (Firmware 7.21 and POSView 7.22) POS Software 7.0 (Firmware 7.00 and POSView 7.00) Firmware Notes Firmware POSView Firmware & POSView Notes Firmware POSView Firmware Notes POSView Notes Firmware POSView Firmware Notes POSView Notes Firmware POSView Firmware Notes POSView Notes POSConfig 2.2 Notes Firmware POSView

3 1. Introduction This document contains software release notes for POS MV V5 products. Significant enhancements, changes and bug fixes from one released version to another are described. 2. POS Software 9.8 (Firmware 9.83 and POSView 9. 81) Release date May 2018 Improvements to NTRIP Client The NTRIP Client now allows user name, server address and Port to be saved. For security, the password must be entered manually. Formatting of the GGA string output by the NTRIP client has been improved in order to ensure compatibility with some additional VRS services. Releasing BD982 GNSS firmware 5.33 Various low level improvements as well as support for Marinestar G2+, G4 and G4+ modes Support for Marinestar G2+, G4 and G4+ POS now supports Marinestar G2+, G4 and G4+ modes. TrueHeave improvements for IMU type 17 Corrected an issue where spikes would very occasionally appear in TrueHeave output from POS MV WaveMaster systems using IMU type 17. Releasing POSConfig 2.8 POSConfig 2.8 removes the option to select an incorrect configuration for startup mode in POS MV SurfMaster One that would otherwise result in the system being unable to power up. SNR display for QZSS and Galileo POSView now decodes and displays QZSS and Galileo Signal to Noise Ratio (SNR) values. Corrected GAMS heading accuracy estimates for short baselines The heading accuracy estimates calculated by POS MV have been changed to correctly reflect performance over shorter GAMS baselines. Introducing POS File Transfer (POS FT) 2

4 POSFT allows backup / internal logged files to be downloaded to your computer quickly and securely. Prior to this release, access to POSPac files logged to the internal memory was via a standard ftp client. POS FT functionality is built into POSView, requiring no additional software. Downloading files via POS FT is 3 to 4 times faster than via ftp. To use POSFT first ensure POS MV is in Standby mode. POS FT may then be launched by clicking POS FT Client under the Tools menu in POSView. Clicking the List button will display all files available for download. Select all the desired files to be downloaded and click the Download button, then select the folder to which to download. Files may also be deleted as desired. Right clicking on POS FT will allow various selection methods as shown in figure above. POS FT must be used when the POS is in standby. 3

5 3. POS Software 9.72 (Firmware 9.72 and POSView 9.72) Release date May 2018 Support for new IMU type Added support for IMU82 in WaveMaster II 4

6 4. POS Software 9.29 (Firmware 9.29 and POSView 9.21) Release date September 2017 New Method for BD982 GNSS Receiver Firmware Upgrades A new, more convenient and more robust method of upgrading GNSS firmware has been introduced. POSLoader 3.2 (released with this firmware version) now provides the facility to upgrade the BD982 firmware at the same time via the same interface. This reduces setup time as well as improving robustness when upgrading receiver firmware. Better diagnostics are also provided to help identify any problems with the GNSS firmware upgrade. BD982 Firmware version 5.03 is packaged with this release, so may already have been installed by many users. POSLoader will check and skip this step as appropriate. Note that this method applies to POS MV V5 systems with BD982 receivers only: NTRIP Client PCS-76 hw rev 2.0 and greater PCS-80 hw rev 1.3 and greater All PCS-84 All PCS-86 All PCS-95 5

7 A dedicated NTRIP client is now built into POSView. The interface can be found via Tools NTRIP Client: To use this tool, enter the server name or IP address, port number, username and password as advised by the service provider. For further details, please see the POS MV manual (rev 16 or higher) or contact Applanix support. As with other methods of applying RTK observables to POS MV, details may be monitored via the Base diagnostic window: Reinstate Default Output Rate of some Groups in Real-time Data Port Starting in firmware 8.53 some groups were output at 0.1Hz if group 1 is not selected. This is now fixed such that groups are output at a minimum of 1Hz. Restrict uploading of NVM files to standby mode only 6

8 Manual changes to lever arms and other settings have long been disallowed while in Navigate mode in order to ensure solution stability. Uploading of nvm configuration files is now disallowed other than in Standby mode, for the same reason. Ethernet logging indicator A visual LED logging indicator has been added for Ethernet logging 8GB USB logging Eliminated false Logging Device is Full flag when logging on 8GB USB devices. Default User Accuracy settings for SurfMaster Increased the heading user accuracy threshold for SurfMaster and SurfMaster One to a more appropriate value (0.08 deg) for this entry level product. Backup logging Fixed an issue where backup logging (as a backup for logging to USB) did not operate as a circular buffer. Note that this issue only affected version

9 5. POS Software 9.1 (Firmware 9.13 and POSView 9.12) Release date March 2017 Decoding of QZSS and Galileo constellations QZSS and Galileo constellations are now decoded on POS MV systems using BD982 GNSS receivers. POSView now shows the number of tracked QZSS and Galileo satellites. Note that BD982 firmware version 5.03 or greater must also be installed. NAD83 Datum Transformation Fix NAD83 datum transformation for RTCM Message 1 and 9 is fixed such that POS will correctly transform corrections in NAD83 to WGS84. In previous releases the transformation was not done correctly and lead to incorrect position. Fixed POSView sqrt:domain error POSView had an issue with rejecting a particular value for lever arm for Primary GNSS. The issue is now fixed and POSView accepts all reasonable lever arms. OEM specific output corrected Corrected Marinestar G2 and HPG2 mode selection Previously MV POSView had the label for G2 and HPG2 swapped. This caused the system to attempt to enable G2 when HPG2 was selected and vice versa. This is now fixed and correct settings are sent for G2 and HPG2. Logging of true heave through Ethernet/USB POSView 9.02 would incorrectly disallow the logging of TrueHeave groups 111 and 113 from OceanMaster / 320 systems, even though this option was enabled. This has been resolved in POSView

10 6. POS Software 9.0 (Firmware 9.03 and POSView 9.02) Release date December 2016 UDP Unicast for Real-Time Output The capability of the Ethernet Real-Time Output has been enhanced by providing a choice of 3 internet protocols; TCP, UDP and UDP Unicast. The Real-Time Output is designed to provide data with minimal latency. UDP is good for this as it has low overhead, but it can flood a network with packets. POS MV previously implemented TCP to create a point to point connection but at the expense of additional overhead impacting latency. With the addition of UDP Unicast it is possible to configure a point to point data connection with minimal overhead. With these choices POS can be configured to use the protocol that best suits a particular installation. RTK Corrections Via Ethernet RTK base station corrections can now be input into POS MV via Ethernet. The interface is configured from the IO Settings window on POSView in a similar way to the COM port interface. Since much of the Ethernet setup structure is common with COM port input selections the COM port setup, message 34 was used to convey the Ethernet input information along with messages 37 and 38. These changes are transparent with POSView but users who write their own interfaces should refer to the Interface Control Document (PUBS-ICD ). Aux GNSS Aux GNSS processing has been corrected. In previous releases, instances existed where Aux GNSS input was not being used although the input data stream was correct. 9

11 Faster CMR RTK Fix CMR 94 is required for RTK Fixed but the base station information is spread over several sub messages transmitted once each epoch. Intelligent selection of the required information results in a much faster RTK Fix. Better Base GNSS Diagnostics The Base GNSS diagnostics window is more informative as to what data is received and processed. See pages 8-4 to 8-6 of the accompanying POS MV manual for further details TSS1 Heave corrected when Degraded The Heave output in the TSS1 message now contains 0 and the status is set to U when the POS mode is Degraded. Manual Updates 10

12 The User Manual and ICD have received a number of minor updates. For users that write their own POS interface software it is important to review the changes in the ICD. 11

13 7. POS Software 8.6 (Firmware 8.63 and POSView 8.60) Release date July 2016 IN-Fusion 2.0 Significant performance improvements achieved through a change in the handling of available aiding information. In IN-Fusion 2.0, all available observables are included in the solution at all times, improving the quality of the solution, especially in marginal GNSS environments such as near large vessels, cranes and buildings. Marinestar Performance improvement achieved through modifications to the processing of various Marinestar modes as well as filter tuning. Also implemented handling for Marinestar dual modes. Beidou Satellite Display Restored the display of Beidou satellites following the deployment of GNSS receiver firmware RTCM QZSS Support RTCM messages containing QZSS observables are now supported. Ethernet Realtime Output Reduction in output timing jitter on the Ethernet Realtime output. Please note that time of validity within these groups was and remains microsecond accurate this fix relates to the jitter associated with the output of each packet. Correct SV Decoding Expanded the internal capability to handle GPS, GLONASS, Beidou, QZSS and SBAS. Previously GNSS data decoding could fail if a large variety of satellites were being tracked. 12

14 Regional Settings on PC Corrected an error in handling POSView installation on PCs where a comma is used to indicate the decimal point per regional settings. This error was introduced in POSView GAMS 2.0 IMU Warning Corrected GAMS 2.0, introduced in firmware 8.46, had the unintended side effect of causing an IMU warning in some cases, depending on the GAMS installation parameters and specified accuracy. This problem has been corrected. 13

15 8. POS Software 8.4 (Firmware 8.46 and POSView 8.46) Release date December 2015 GAMS 2.0 Significant improvements to heading performance have been made, particularly in marginal GNSS environments. Faster acquisition and reacquisition are afforded by state of the art algorithms utilizing all available GNSS observations. The process for GAMS calibration remains largely the same as before, although the options available via Settings GAMS Calibration Control have been simplified to include only a Start command: A progress bar has been added to the View GAMS Window to show how far from completion the calibration is. 14

16 As before, the GAMS calibration will take approximately 1 minute to complete once the heading accuracy threshold is met, GAMS status reads Ready Offline and the Start command is issued. Note that, for entry level products especially (e.g. POS MV SurfMaster and POS MV SurfMaster One), it is recommended that the dynamics (figure 8 s and S- turns) used to drive the heading accuracy down below the threshold be continued once the Start command is issued. This may be contrary to previous instructions where a static or steady heading was recommended, but ensures the most reliable and accurate calibration. TrueZ performance improvement Further improvements to TrueZ during RTK outages. Heave Fixed an issue where heave would occasionally output invalid values due to the incorrect initialization of a variable. GGA for VRS In order to be compatible with VRS position input requirements, low (< 1Hz) output rates for NMEA $xxgga have been implemented. IMU enclosure separation For new IMUs supported, the IMU enclosure type (e.g. between decks or submersible) will be explicitly shown separate to the sensor type. For example, POS MV SurfMaster with between decks IMU and POS MV SurfMaster One will benefit from this change. This has no impact on existing IMU types the statistics window will not change for these products. 15

17 Modified Options Field on Statistics Window ICD group 99 was expanded to add a new Options field at the end of the group. Software options are now displayed in a separate field found via View Statistics, rather than at the end of the System Version field where they sometimes became truncated. Correct ZDA week bug Corrected the case where NMEA ZDA week number could be ahead by one week during GNSS outages. SurfMaster and SurfMaster One IMU data handling Changes made to improve IMU data handling and to eliminate data gaps with AIMU-M5. Minor enhancements Some additional minor bug fixes and cleanup for POS firmware and POSView. 9. POS Software 8.3 (Firmware 8.32 and POSView 8.32) Release date June 2015 Improve TrueZ performance TrueZ provides an enhanced vertical solution during GNSS outages. This release improves performance, especially in real time. Support for POS MV SurfMaster IP68 (IMU Type 70) Satellite tracking improvement GNSS receiver configuration changed to track L2C whenever possible. This ensures the best possible L2 signal from all satellites. 16

18 Heave performance improvement Enhanced heave performance, especially during changes in GNSS conditions. POSView initiated shutdown correction Corrected the occasional situation where POS SA would not power down after receiving a shutdown command from POSView. 10. POS Software 8.2 (Firmware 8.23 and POSView 8.21) Release date April 2015 New GGA format ($xxggat) option to better support DP and VRS applications Some third party systems (notably DP and VRS RTK) require additional information (geoidal separation and associated unit of measure) to be included in the $xxgga message output from POS MV. To support these requirements a new option ($xxggat, where xx = IN or GP as with other NMEA outputs) has been implemented. Note that the additional fields mean that the $xxggat message is longer than the standard NMEA character limit. The standard $xxgga message is still available for those applications which adhere to this limit. Further Improvements to RTK performance Better timestamping of incoming RTK messages to improve performance, especially in marginal environments. Fix for selection of WAAS / EGNOS / MSAS SBAS options with BD960 based POS MV Fix for incorrect formatting of $PASHR sentence Inserted missing field delimiter between heading and heading accuracy fields in $PASHR sentence 11. POS Software 8.1 (Firmware 8.15 and POSView 8.15) Release date December 2014 Support for RTCM v3.x POS MV now includes support for RTCM v3.x in both tightly and closely coupled modes. 17

19 As of firmware v7.92, POS MV will automatically distribute RTK base station observables for optimal positioning in tightly or closely coupled modes. The addition of RTCM v3.x support in this new version ensures all major formats are supported in both modes. Enhancements to Input / Output Port Configuration When the GNSS1 (or GNSS2) option is selected for a particular COM port, the baud rate is now configured directly from the Input / Output Port window, rather than from the GNSS Receiver Configuration as had been the case previously. This provides a much more intuitive interface. New options for optimal altitude performance during RTK operations To ensure optimal altitude performance during RTK operations, a new option has been implemented, accessed via Settings Lever Arms and Mounting Angles, Tags and Autostart. For operation where heave or TrueHeave TM are to be used, the Heave option should be selected; otherwise small artefacts may be observable in the heave solution. 18

20 Note that, like other options on this page, the system must be in Standby mode in order to change this. 12. POS Software 8.01 (Firmware 8.01 and POSView 8.01) Release date August 2014 Resolved the occasional occurrence where POS MV reverts to DR mode when the number of satellites tracked is large especially when multiple BeiDou-2 satellites are tracked Support for Fugro Marinestar HP 13. POS Software 8.0 (Firmware 8.0 and POSView 8.0) Release date July 2014 Enhancement to precision timing of IMU-57 OEM enhancements 14. POS Software 7.9 (Firmware 7.92 and POSView 7.92) Release date April 17,

21 Vertical solution enhancement in RTK mode Optimal distribution of RTK reference station data 15. POS Software 7.8 (Firmware 7.82 and POSView 7.82) Release Date: Dec 12, 2013 Added GAMS for MV Elite systems Model 620. Added MarineStar G2 Added BeiDou (COMPASS) support. Added IMU type 57 to Model 610 and POS Software 7.6 (Firmware 7.66 and POSView 7.60) Release Date: Aug 14, 2013 Added new IMU options - internal release only. 17. POS Software 7.6 (Firmware 7.61 and POSView 7.60) Release Date: June 20, 2013 Added missing mode for NMEA output VTG format. Added -t option for Ethernet TCP logging ability. Fixed the DGPS menu item flickers inside of MV POSView. 18. POS Software 7.4 (Firmware 7.43 and POSView 7.41) Release Date: April 15, 2013 Support for COM5 on specific models (PCS-84) Secondary GNSS Data Gap detection and reporting for all receiver types Added Ethernet logging file splitting options base on file size, interval, or time of day MV Misalignment calculator can now be found inside of MV POSView 20

22 Allow simultaneous output of binary formats on multiple COM ports 19. POS Software 7.2 (Firmware 7.21 and POSView 7.22) Release Date: August 23, 2012 Support for initialization at high latitude Fix for random Ethernet lockup during Ethernet logging Updated max allowed age of corrections for SBAS (WAAS / EGNOS / MSAS) aiding Corrections to fields in ICD Groups 11, 12,13, and Addition of IMU fault information in POSView Ability to enter long filenames for USB/Primary Internal Logging Addition of new Trimble UTC Time Recovery Message output Improved NavCom / C-Nav integration Factory default Time Tag 1 is now set to UTC in all logged groups Fugro Marinestar GPS/GNSS support New command to delete POS logged data from internal drive Addition of IMU 39 tophat offsets Support for the following new IMU types 45, 48, 49, and 50 Fix for outputting $GPGGA and $GPGST NMEA sentences on GNSS1 port 20. POS Software 7.0 (Firmware 7.00 and POSView 7.00) Release Date: Mar 2, Firmware Notes Added support Type 42 IMU for POS MV WaveMaster E Added MarineStar support Additional NMEA output message such as GLL Improved handling of usd internal file management Improved performance model for closely coupled mode Improved auxiliary interface to C-Nav / NAVCOM receivers 21

23 Removed false errors associated with GAMS in POS MV Elite 21. Firmware POSView 6.24 Release Date: Feb 2, Firmware & POSView Notes Corrected GNSS configuration problem introduced in release Firmware POSView 6.24 Release Date: Jan 13, Firmware Notes IMU type 40: Add a new IMU type 40 to MV320 Model. RTCM v3 Loosely-Coupled Allow the decoding of Primary GNSS data when the receiver is directly fed RTCM v3 corrections (loosely-coupled mode) although base station ID is not NMEA compliant. Position RMS improvement Improvement in reported position RMS when running loosely coupled RTK GNSS Com Port Control Fix the control of the GNSS COM port via POSView so the baud rate can be set. This facilitates connection of external corrections to the receiver. IMU type 17: Fix IMU type 17 random data spikes. NMEA PPS time stamp Fix NMEA PPS output time stamp to integer value. Config corruption Minimize the possibility of POS configuration corruption if power cut during critical section soon after power up. In the extremely small chance that corruption does occur the system is recoverable by re-installing the firmware POSView Notes Logging disc usage 22

24 Logging disk usage is displayed immediately after POS starts rather than waiting for the user to start logging. Disk usage is also automatically updated when the logging media is changed. 23. Firmware POSView 6.13 Release date: August Firmware Notes Support for BD982 GNSS Receiver Fixed IP Address echo at start up POSView Notes Support for BD982 GNSS Receiver 24. Firmware POSView 6.11 Release date: May Firmware Notes Correct access to logged data from various FTP clients. Correct problem with IMU type 17 data spikes. Implement new IMU types to describe µpos IMU top-hat and IP68 SFF top-hat target to sensing centre offsets. Requires POSPac MMS 5.4 SP1 to process the new IMU types. Correct GGK solution status flag when Primary GNSS in DGNSS mode. Implement ability to upgrade CPU boot image in the field. Output IP address on COM 4 for Stand-Alone PCS, COM 5 for AP systems. Implement PCS Startup Mode control from POSConfig. Note that POSConfig version 2.2 must be used POSView Notes Display correct number of COM port tabs based on system. Display resulting IMU lever arm taking into account user entered measurements to target, target to sensing centre offsets and mounting angles POSConfig 2.2 Notes Includes new drop down menu to control the Startup Mode. NB: Changing the mode to CONTROLLED can render the system unusable 23

25 unless there is a switch connected directly to the POS power control input, as in the Stand Alone products. If in doubt, do not change the mode. 25. Firmware POSView 6.05 Release date: January 2011 Initial MV V5 release. 24