Advanced Navigation ILU Reference Manual

Page 1 of 30 Version 1.2 14/12/2016 Table of Contents 1 Revision History.........................................................................................................2 2 Firmware Changelog..................................................................................................3 3 Hardware Changelog.................................................................................................4 4 Introduction...............................................................................................................5 5 Quick Start Guide......................................................................................................6 5.1 Default username and password........................................................................6 5.2 WiFi Access Point................................................................................................6 5.3 Ethernet Port 1...................................................................................................6 5.4 Ethernet Port 2...................................................................................................7 6 Part Numbers and Ordering Options..........................................................................8 6.1 Standalone Unit..................................................................................................8 6.2 Accessories.........................................................................................................8 7 Specifications............................................................................................................9 7.1 Mechanical Drawings..........................................................................................9 7.2 Interfaces Specifications...................................................................................10 7.3 Protocols Specifications....................................................................................10 7.4 Hardware Specifications...................................................................................11 7.5 Electrical Specifications....................................................................................11 7.6 Connectors Pin-out...........................................................................................12 7.6.1 Power Connector.......................................................................................12 7.6.2 INS Connector............................................................................................13 7.6.3 IO Connector.............................................................................................14 7.6.3.1 Differential or Single Ended Encoders................................................15 7.6.3.2 5 Volt Output......................................................................................15 7.6.4 COM Connectors........................................................................................15 7.6.4.1 RS422 Mode.......................................................................................16 7.7 ILU to ODU Cable..............................................................................................16 7.8 ILU to Glenair Cable..........................................................................................17 8 Operation.................................................................................................................19 8.1 Power On..........................................................................................................19 8.2 Connection.......................................................................................................19 8.3 Web Interface...................................................................................................19 8.3.1 Status Indicators........................................................................................20 8.3.1.1 Time Synchronisation Indicator..........................................................20 8.3.2 Menus........................................................................................................21 8.3.2.1 Views Menu........................................................................................21 8.3.2.2 Device Configuration Menu................................................................21 8.3.2.3 ILU Configuration Menu......................................................................22 8.3.2.4 Tools Menu..........................................................................................22 8.4 Data Input/Output Configuration Example........................................................23 8.5 Logging Data....................................................................................................25 8.5.1 File Naming................................................................................................25 8.5.2 Logging Control.........................................................................................25 8.5.3 Logging Configuration...............................................................................26 8.5.4 Managing Log Files....................................................................................27 8.6 NTRIP Client......................................................................................................28 8.7 Connecting with Spatial Manager.....................................................................29

Page 2 of 30 Version 1.2 14/12/2016 1 Revision History Version Date Changes 1.2 14/12/2016 Updated firmware changelog, section 2 Updated IP address for WiFi access, section 5.2 Updated IP address for Ethernet port 2 access, section 5.4 1.1 08/06/2016 Corrected error in part numbers description, section 6 1.0 17/09/2015 Initial Release Table 1: Revision history

Page 3 of 30 Version 1.2 14/12/2016 2 Firmware Changelog Version Date Changes 1.81 14/12/2016 IP subnets updated to less commonly used subnets Log file size split Altitude changed to 3 decimal places in NMEA strings Bug fix for memory leak on NTRIP failed connections Improvements to NTP and PTP timing Bug fix for raw sensors display not updating when overrange occurs Added option to disable WiFi Internal bugfixes and stability improvements 1.0 17/09/2015 Initial Release 0.5 11/05/2015 Beta Release Table 2: Firmware changelog

Page 4 of 30 Version 1.2 14/12/2016 3 Hardware Changelog Version Date Changes 1.0 24/02/2015 Initial Release Table 3: Hardware changelog

Page 5 of 30 Version 1.2 14/12/2016 4 Introduction The ILU (Interface and Logging Unit) is a device server that interfaces to any of Advanced Navigation's systems and provides data logging, a web interface, a time synchronisation server and a wide variety of different industry standard data input/output options. The ILU has no accompanying software and is fully managed through its web user interface available over WiFi and the ethernet ports. If you have any questions please contact [email protected].

Page 6 of 30 Version 1.2 14/12/2016 5 Quick Start Guide Connect to the ILU web interface through the WiFi, Ethernet port 1 or Ethernet port 2 using the instructions below. 5.1 Default username and password The web interface is protected by a username and password. The factory default username and password is listed below. Username Password admin password Table 4: Default username and password 5.2 WiFi Access Point The factory default WiFi SSID and password are listed below. Access Point SSID Access Point Password an-ilu password Table 5: WiFi access point default settings To connect to the WiFi access point follow the steps below. 1. Power on the ILU and wait 30 seconds for it to boot. 2. Connect to the ILU WiFi access point using the SSID and password listed above in Table 5. 3. Open a web browser and type in the address http://10.146.102.1 4. When prompted enter the default username and password listed in section 5.1. 5.3 Ethernet Port 1 By default Ethernet port 1 runs a DHCP client which means this port is intended to be connected to a router. To connect over Ethernet port 1 follow the steps below. 1. Connect ILU Ethernet port 1 to your router with a standard Ethernet cable. 2. Power on the ILU. 3. Install zeroconf (Apple Bonjour) from one of the links below. https://www.advancednavigation.com.au/Bonjour.msi (32-bit installer) https://www.advancednavigation.com.au/Bonjour64.msi (64-bit installer) 4. Open a web browser and type in the address http://an-ilu.local 5. When prompted enter the default username and password listed in section 5.1.

Page 7 of 30 Version 1.2 14/12/2016 5.4 Ethernet Port 2 By default Ethernet port 2 runs a DHCP server which means this port is intended to be connected directly to your computer. To connect over Ethernet port 2 follow the steps below. 1. Connect ILU Ethernet port 2 directly to your computer with a standard Ethernet cable. A crossover cable is not required as the port has automatic crossover. 2. Power on the ILU. 3. Open a web browser and type in the address http://10.146.101.1 4. When prompted enter the default username and password listed in section 5.1.

Page 8 of 30 Version 1.2 14/12/2016 6 Part Numbers and Ordering Options 6.1 Standalone Unit Part Number Description Notes ILU Interface and Logging Unit Interface and Logging Unit No cables included. Requires either ILU-ACDC-PWR or ILU-CAR- 12V power cable. Requires additional cable to interface to other systems. Table 6: Standalone unit part numbers 6.2 Accessories Part Number Description Notes ILU-CBL-ODU ILU cable for Spatial, Spatial Dual or Orientus 2 metre ILU to ODU cable for Spatial, Spatial Dual or Orientus. Supplies power. See section 7.7. ILU-CBL-FOG ILU cable for Spatial FOG or Spatial FOG Dual 2 metre ILU to Glenair cable for Spatial FOG or Spatial FOG Dual. Supplies power. See section 7.8. ILU-CAR-12V 12V car cigarette lighter power supply for ILU 3 metre car cigarette lighter to ILU power connector cable. ILU-ACDC-PWR 100-240V AC power supply for ILU 100 – 240V AC IEC power supply for ILU. 1.2 metre cable length. Included with standalone unit. S40B0C-P02MJG0-50GS ILU power connector unterminated Unterminated ILU power connector. Solder bucket terminals suit 20 to 26AWG wire. Gland fits 5mm diameter round cable. Table 7: Accessories part numbers

Page 9 of 30 Version 1.2 14/12/2016 7 Specifications 7.1 Mechanical Drawings Illustration 1: Mechanical drawings of interface and logging unit

Page 10 of 30 Version 1.2 14/12/2016 7.2 Interfaces Specifications Parameter Value RS232/RS422 Ports 6 Baud Rates 1200 to 1M baud Ethernet Ports 2 Ethernet Features Gigabit Hardware PTP CAN Ports 1 GPIO Pins 8 Encoder Inputs 2 Differential Quadrature 2 Standard Quadrature 4 Frequency WiFi 802.11b 802.11g 802.11n Table 8: Interfaces specifications 7.3 Protocols Specifications Parameter Value Supported Protocols NMEA 0183 NMEA 2000 TSS Simrad Novatel Trimble Hemisphere Topcon Ashtech IxSea Applanix Raw Binary (logging) Raw ASCII (logging) Supported Output Data Rates Up to 1000 Hz Logging Capacity 64GB (128GB option) Simultaneous Logging 16 sources Corrections NTRIP Client Table 9: Protocols specifications

Page 11 of 30 Version 1.2 14/12/2016 7.4 Hardware Specifications Parameter Value Operating Voltage 9 to 36 V Input Protection -40 to 100 V Power Consumption 3.5 Watts Operating Temperature -40 to 85 °C Environmental Protection IP68 MIL-STD-810G Shock Limit 40 g Dimensions 204x100x52 mm Weight 550 g Table 10: Hardware specifications 7.5 Electrical Specifications Parameter Minimum Typical Maximum Power Supply Input Supply Voltage 9 V 36 V Input Protection Range -40 V 100 V RS232 Tx Voltage Low -5.4 V -5 V Tx Voltage High 5 V 5.4 V Tx Short Circuit Current ±60 mA Rx Threshold Low 0.6 V 1.2 V Rx Threshold High 1.5 V 2.0 V RS422 Tx Differential Output 1.5 V Tx Short Circuit Current ±250 mA Rx Differential Threshold -0.2 V -0.05 V GPIO Output Voltage Low 0 V 0.3 V Output Voltage High 4.8 V 5 V Output Current 5 mA Input Voltage -20 V 20 V Input Threshold Low 1.5 V Input Threshold High 3.5 V

Page 12 of 30 Version 1.2 14/12/2016 Parameter Minimum Typical Maximum 1PPS Output Output Voltage Low 0 V 0.1 V Output Voltage High 2.4 V 3.3 V Output Current 50 mA Encoder Inputs Input Voltage Range -25 V 25 V Input Threshold Low (Single Ended Input) 2.3 V Input Threshold High (Single Ended Input) 2.7 V Input Threshold (Differential Input) -0.2 V 0.2 V CAN Input Voltage Range -60 V 60 V Differential Output Voltage (Dominant) 1.5 V 2.2 V 3.0 V Differential Output Voltage (Recessive) -0.5 V 0 V 0.05 V Differential Input Voltage Threshold 0.5 V 0.9 V Table 11: Electrical specifications 7.6 Connectors Pin-out The ILU contains 11 different connectors on the back panel, please see Illustration 2. The pin-out for these connectors is detailed below. Advanced Navigation stocks pre- terminated cables for the power and INS connectors. The other 9 connectors are industry standard with connectors and cables widely available. 7.6.1 Power Connector The power connector is labelled “PWR” in Illustration 2. The socket is an ODU G80B0C- P02LJG0-0000 and the mating connector is an ODU S40B0C-P02MJG0-50GS. Advanced Navigation stocks a 100-240V power supply with this connector, a car cigarette lighter power supply with this connector and the unterminated connector. Please see section Illustration 2: ILU back panel connectors

Page 13 of 30 Version 1.2 14/12/2016 6.2 for ordering details. The pin-out is listed below. Pin Function 1 Ground 2 Power Supply Table 12: Power connector pin allocation table 7.6.2 INS Connector The INS connector is intended to be connected to an Advanced Navigation Spatial, Spatial Dual, Spatial FOG or Spatial FOG Dual. It carries RS232 or RS422 communication, 1PPS for synchronisation (over GPIO 1) and also power for the unit connected. The socket is an ODU G81B0C-P08LFG0-0000 and the mating connector is an ODU S41B0C-P08MFG0-50GS. Advanced Navigation stocks two different pre- terminated cable variants. One cable is for connection to Spatial, Spatial Dual or Orientus, see section 7.7. The second cable is for connection to Spatial FOG or Spatial FOG Dual, see section 7.8. Please see section 6.2 for ordering details. The connector pin-out is listed below. The selection of RS232 or RS422 is software configurable. Illustration 3: Power connector socket pins 1 2 Illustration 4: INS connector socket pins

Page 14 of 30 Version 1.2 14/12/2016 Pin Function 1 Signal Ground 2 RS422 Rx(-) 3 RS422 Tx(-) 4 RS232 Rx / RS422 Rx(+) 5 RS232 Tx / RS422 Tx(+) 6 1PPS Input 7 Power Supply 8 Power Ground Table 13: INS connector pin allocation table 7.6.3 IO Connector The IO connector contains the GPIO, CAN and encoder signals. The socket is a standard female D Sub HD 15 connector and the mating connector is a standard male D Sub HD 15 connector. The connector pin-out is listed below. Pin Function 1 Encoder 1 (Phase A) (+) 2 Encoder 2 (Phase A) (+) 3 Encoder 1 (Phase B) (+) 4 Encoder 2 (Phase B) (+) 5 5 Volt Output, see section 7.6.3.2 6 Encoder 1 (Phase A) (-), see section 7.6.3.1 7 Encoder 2 (Phase A) (-), see section 7.6.3.1 8 Encoder 1 (Phase B) (-), see section 7.6.3.1 9 Encoder 2 (Phase B) (-), see section 7.6.3.1 10 Ground Illustration 5: IO connector socket pins

Page 15 of 30 Version 1.2 14/12/2016 Pin Function 11 GPIO 1 12 GPIO 2 13 CAN Hi 14 CAN Lo 15 Ground Table 14: IO connector pin allocation table 7.6.3.1 Differential or Single Ended Encoders Please note that the encoder inputs can be used as either differential or single ended (non-differential). When using the pins as single ended the signal should be connected to the (+) pins and the (-) pins should be left disconnected. 7.6.3.2 5 Volt Output The 5 volt output is intended for powering encoders and other auxiliary equipment. It is protected by a 400mA current limit. 7.6.4 COM Connectors Each COM connector carries a standard RS232 or RS422 serial port. Each port can be software configured to operate in RS232 mode or RS422 mode. The RS232 connector is industry standard and compatible with third party equipment. The sockets are a standard male D Sub 9 connector and the mating connector is a standard female D Sub 9 connector. The connector pin-out is listed below. Pin Function 1 Not Connected 2 RS232 Rx / RS422 Rx (+) 3 RS232 Tx / RS422 Tx (+) Illustration 6: COM connectors socket pins

Page 16 of 30 Version 1.2 14/12/2016 Pin Function 4 Not Connected 5 Ground 6 Not Connected 7 RS422 Tx (-) 8 RS422 Rx (-) 9 Not Connected Table 15: COM connectors pin allocation table 7.6.4.1 RS422 Mode When operating the port in RS422 mode please be aware that unlike RS232 there is no industry standard pin allocation for RS422 and there is variation across different manufacturers RS422 pin allocation so adaptors may be required when connecting to some third party RS422 equipment. 7.7 ILU to ODU Cable The ILU to ODU cable is required to connect a Spatial, Spatial Dual or Orientus device to the ILU. Please see section 6.2 for ordering information. Illustration 7: ILU to ODU cable

Page 17 of 30 Version 1.2 14/12/2016 ODU 9 Pin Colour Function ODU 8 Pin 1 Black Signal Ground 1 2 Brown Power Supply 7 3 White ILU 1PPS Input (GPIO 1) 6 4 Green GPIO2 5 Red RS232 Tx / RS422 Tx (+) 5 6 Orange RS232 Rx / RS422 Rx (+) 4 7 Yellow RS422 Tx (-) 3 8 Blue RS422 Rx (-) 2 9 Pink Power Ground 8 Table 16: ILU to ODU cable pin allocation table 7.8 ILU to Glenair Cable The ILU to Glenair cable is required to connect a Spatial FOG or Spatial FOG Dual device to the ILU. Please see section 6.2 for ordering information. Illustration 8: ILU to Glenair cable

Page 18 of 30 Version 1.2 14/12/2016 Glenair Pin Colour Function ODU 8 Pin 1 Black ILU 1PPS Input (GPIO 1) 6 2 Brown GPIO 2 3 Red Signal Ground 1 4 Orange Power Ground 8 5 Yellow Power Supply 7 6 Green RS232 Rx / RS422 Rx (+) 4 7 Blue RS422 Rx (-) 2 8 Violet RS232 Tx / RS422 Tx (+) 5 9 Grey RS422 Tx (-) 3 10 White Auxiliary RS232 Tx 11 White/Black Auxiliary RS232 Rx 12 White/Brown GNSS RS232 Rx 13 White/Red GNSS RS232 Tx Table 17: ILU to Glenair cable pin allocation table

Page 19 of 30 Version 1.2 14/12/2016 8 Operation 8.1 Power On The ILU powers on as soon as power is connected to it. To power it off hold the power button on the front panel for 4 seconds or disconnect the power lead. 8.2 Connection Connection to the ILU web interface can be made over WiFi, Ethernet port 1 or Ethernet port 2. Please follow the instructions of the quick start guide in section 5 to establish a connection with the ILU and access the web interface. 8.3 Web Interface The ILU user interface is accessed through a web browser. Upon logging into the ILU you will see the home page shown below in Illustration 9.

Page 20 of 30 Version 1.2 14/12/2016 8.3.1 Status Indicators The three status indicators provide the full status of the system and the device connected to it. 8.3.1.1 Time Synchronisation Indicator Every time the ILU powers off its time becomes invalid. On power up the system will acquire time either through the network (NTP or PTP), the navigation device it is connected to or a peripheral device (i.e. NMEA). There are three levels of time synchronisation on the ILU. Illustration 9: Screenshot of ILU home page with features labelled

Page 21 of 30 Version 1.2 14/12/2016 Time Status Time Accuracy Requirement Time Invalid Invalid Coarse Time < 250 ms Not disciplined INS GNSS Fix or Network Time Protocol or NMEA Fine Time < 100 ns Disciplined INS 1PPS Input or Precision Time Protocol Table 18: Time accuracy levels With a Spatial, Spatial Dual, Spatial FOG or Spatial FOG Dual connected the time will automatically be initialised to fine time about a minute after the system has a GNSS fix. 8.3.2 Menus The web interface and menus dynamically reconfigure based upon the device connected to the INS port. The menus shown below are based on a connection to a Spatial device. 8.3.2.1 Views Menu The views menu provides a number of different graphical data displays for viewing data from the connected Advanced Navigation device. 8.3.2.2 Device Configuration Menu The device configuration menu provides several dialogues for configuration of the connected Advanced Navigation device. Illustration 10: Screenshot of views menu

Page 22 of 30 Version 1.2 14/12/2016 8.3.2.3 ILU Configuration Menu The ILU configuration menu contains all the different dialogues for configuration of the ILU itself. 8.3.2.4 Tools Menu The tools menu provides dialogues for updating the connected device firmware, the ILU firmware and a file manager page for log files. Illustration 11: Screenshot of device configuration menu Illustration 12: Screenshot of ILU configuration menu

Page 23 of 30 Version 1.2 14/12/2016 8.4 Data Input/Output Configuration Example 1. Under the ILU Configuration menu, open the Data Streams page. 2. The data streams page provides the ability to configure all of the input and output devices of the ILU. Illustration 13: Screenshot of ILU tools menu Illustration 14: Data streams in menu

Page 24 of 30 Version 1.2 14/12/2016 3. Click on the applicable port. In this example we will select the COM1 serial port. You will be presented with the page shown below. 4. In this example we will configure the port output for NMEA timing (GPZDA) and navigation data (GPRMC). Select NMEA as the output function and the NMEA output options appear. Illustration 15: Data streams page Illustration 16: COM1 port configuration page

Page 25 of 30 Version 1.2 14/12/2016 5. We want timing at 1Hz and navigation at 10Hz so we set GPZDA to 1 and GPRMC to 10. Click save and the configuration is complete and active immediately. 8.5 Logging Data The ILU can log data from many different sources simultaneously. By default the ILU is set to automatically log data from the INS system connected to it. Logging starts automatically at power on if it is enabled. 8.5.1 File Naming When the ILU has valid time from a network or the connected INS device the log file name will consist of the date and time the log file was started. For example the log file COM1_15-09-12_15-24-02.anpp would have been started at 3:24:02pm on the 12th September 2015. When the ILU has invalid time the log file names will consist of a number. i.e. COM1_0001.bin. If the ILU initialises its time while it is recording a log file it will rename the log file to the correct date time at which it was started. 8.5.2 Logging Control The logging indicator on the front of the unit indicates whether the unit is currently logging data. The log button on the front of the unit can be used to start and stop logging at any time, please see Illustration 18. When the button is pressed to stop Illustration 17: Port configuration page with NMEA output options displayed

Page 26 of 30 Version 1.2 14/12/2016 logging the current log files will be closed and logging will cease. When the button is pressed again new log files will be started. There is no upper limit on a single log file size. The only limit is that logging will stop when the system runs out of space. 8.5.3 Logging Configuration 1. Under the ILU Configuration menu, open the Data Streams page. 2. The data streams page shows a list of all the ports and the far right column indicates whether logging is enabled on each port. Click on the port you would like to enable logging on. Illustration 18: Logging button on the front panel of the ILU Illustration 19: Data streams in menu

Page 27 of 30 Version 1.2 14/12/2016 3. Set logging to enabled and click save. 8.5.4 Managing Log Files 1. In the Tools menu, open the Log Files page. Illustration 20: Data streams page Illustration 21: Port configuration page

Page 28 of 30 Version 1.2 14/12/2016 2. The log files page displays all the log files currently on the device. The log files currently being logged are highlighted in green. Click on the file name of a log file to download it. 8.6 NTRIP Client When the ILU is connected to a network that has access to the internet, it can stream differential corrections from an NTRIP network corrections service to the INS device to offer higher accuracy differential or RTK positioning. 1. In the ILU Configuration menu, open the NTRIP page. 2. Enter the details provided by your NTRIP network corrections service provider. Illustration 22: Log files in menu Illustration 23: Log Files page

Page 29 of 30 Version 1.2 14/12/2016 8.7 Connecting with Spatial Manager Spatial Manager can easily connect to the connected device through the ILU over a network connection. Please follow the steps below to connect. 1. In the Tools menu, click on the Network Connect dialogue. 2. Type in the address used to connect to the ILU web page and the port 16718 and press connect. Illustration 24: NTRIP configuration page Illustration 25: Spatial Manager ILU connection

Page 30 of 30 Version 1.2 14/12/2016 Information in this document is provided solely in connection with Advanced Navigation products. Advanced Navigation reserves the right to make changes, corrections, modifications or improvements, to this document, and the products and services described herein at any time, without notice. All Advanced Navigation products are sold pursuant to Advanced Navigation’s terms and conditions of sale. Purchasers are solely responsible for the choice, selection and use of the Advanced Navigation products and services described herein, and Advanced Navigation assumes no liability whatsoever relating to the choice, selection or use of the Advanced Navigation products and services described herein. No license, express or implied, by estoppel or otherwise, to any intellectual property rights is granted under this document. If any part of this document refers to any third party products or services it shall not be deemed a license grant by Advanced Navigation for the use of such third party products or services, or any intellectual property contained therein or considered as a warranty covering the use in any manner whatsoever of such third party products or services or any intellectual property contained therein. UNLESS OTHERWISE SET FORTH IN ADVANCED NAVIGATION’S TERMS AND CONDITIONS OF SALE ADVANCED NAVIGATION DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY WITH RESPECT TO THE USE AND/OR SALE OF ADVANCED NAVIGATION PRODUCTS INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE (AND THEIR EQUIVALENTS UNDER THE LAWS OF ANY JURISDICTION), OR INFRINGEMENT OF ANY PATENT, COPYRIGHT OR OTHER INTELLECTUAL PROPERTY RIGHT. UNLESS EXPRESSLY APPROVED IN WRITING BY TWO AUTHORIZED ADVANCED NAVIGATION REPRESENTATIVES, ADVANCED NAVIGATION PRODUCTS ARE NOT RECOMMENDED, AUTHORIZED OR WARRANTED FOR USE IN MILITARY, AIR CRAFT, SPACE, LIFE SAVING, OR LIFE SUSTAINING APPLICATIONS, NOR IN PRODUCTS OR SYSTEMS WHERE FAILURE OR MALFUNCTION MAY RESULT IN PERSONAL INJURY, DEATH, OR SEVERE PROPERTY OR ENVIRONMENTAL DAMAGE. ADVANCED NAVIGATION PRODUCTS WHICH ARE NOT SPECIFIED AS "AUTOMOTIVE GRADE" MAY ONLY BE USED IN AUTOMOTIVE APPLICATIONS AT USER’S OWN RISK. Resale of Advanced Navigation products with provisions different from the statements and/or technical features set forth in this document shall immediately void any warranty granted by Advanced Navigation for the Advanced Navigation product or service described herein and shall not create or extend in any manner whatsoever, any liability of Advanced Navigation. Information in this document supersedes and replaces all information previously supplied. © 2016 Advanced Navigation - All rights reserved