Spectracom VersaPNT Getting Started Manual

Document Part No.: 1228-5000-0057 Revision: 2.0 Date: 5-September-2018

This Getting Started Guide is a supplement to the main user manual for VersaPNT. The latest ver- sion of the main user manual can be found online under manuals.spectracom.com. © 2018 Spectracom. An Orolia brand. Orolia USA, Inc. dba Spectracom 2 CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0

i Product Overview 1 1.1 Interfaces Overview 1 1.1.1 Input Timing Interfaces 2 1.1.2 Output Timing Interfaces 2 1.1.3 Navigation Inputs & Outputs 2 1.1.4 Other Interfaces 3 1.2 Connectors and their Pinouts 4 1.2.1 Power Connector 4 1.2.2 Input/Output Connector 4 1.2.3 Ethernet Connector 5 1.2.4 Optional I/O Connector 6 1.2.5 Coaxial Connectors 6 1.3 Included Cables 7 1.4 Status LEDs 9 1.4.1 Blinking Intervals 9 1.4.2 LED Lighting Patterns 9 1.4.3 Legend, individual LEDs 10 1.4.3.1 LED Patterns during Boot Sequence 11 1.4.4 Blackout Mode 11 1.5 The VersaPNT Web UI 11 1.5.1 The Web UI HOME Screen 11 Quick Start 13 2.1 Network Setup 14 2.2 Zero Configuration Setup 19 2.2.1 Using Zeroconf 20 2.3 Assigning I/O Pins 21 2.3.1 Signal Types 21 2.3.2 I/O Signal Mapping Table 22 2.4 INS Configuration 26 2.4.1 "IMU Output" Tab 27 2.4.2 "Calibration" Tab/Antenna Installation 29

31 2.4.4 "FIR Filter" Tab 31 2.4.5 "Coning/Sculling" Tab 32 2.4.6 "Frame Rotation" Tab 33 2.5 INS Initialization 34 2.6 INS Expert Mode 35 2.7 VICTORY Configuration 36 SAFETY 37 3.1 SAFETY: Before You Begin Installation 37 Technical Support 39 4.1 Regional Contact 39 ii VersaPNT Getting Started Guide • TABLE OF CONTENTS

of the VersaPNT. 1.1 Interfaces Overview All of VersaPNT's interfaces are integrated into the unit's connectors, which are located on the front panel: Figure 1-1: VersaPNT front panel connectors Note: VersaPNT is highly configurable and the connections can be adjusted many different ways. Your interface configuration may vary based on options you selec- ted during the ordering process. The following interfaces are provided: 1.1  Interfaces Overview CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0 1

Table 1-1: VersaPNT timing inputs INPUT SIGNAL Total available DCLS RS-232 RS-485 ETH Connector No. (see Fig. above) TTL 10V 1PPS (1) 1 4 ASCII/HaveQuick/IRIG B (1) 1 4 ASCII/NMEA (1) 1 4 Network Interface (10/100/1000bT): NTP (Stratum 2), PTP (2) 1 5 1.1.2 Output Timing Interfaces Table 1-2: VersaPNT timing outputs OUTPUT SIGNAL Total available DCLS RS- 232 RS-485 ETH Connector No. (see Fig. above) TTL 10V 10 MHz (1+3) SMA 3 1PPS (2) 1 1 4 ASCII/HaveQuick (1) 1 4 ASCII/NMEA (1) 1 4 NTP server, PTP v2 master (1) 1 5 All Multi I/O interfaces (connector no. 4) are software-configurable, see "Assigning I/O Pins" on page 21. 1.1.3 Navigation Inputs & Outputs The following VersaPNT options apply to the INS option board. The standard INS OUT connection will communicate your position and navigation information, while the Options 1-8 provide additional information via the multi I/O connector: Table 1-3: Navigation input and output options SIGNAL TYPE Option Number/ Channel Position DCLS RS- 232 RS-422 (n or p) Connector No. (see Fig. above) TTL INS OUT Channels 1, 4, & 6 1 4 PPS IN Option & Channel 1 1 4 PPS OUT Option & Channel 2 1 4 2 CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0 1.1  Interfaces Overview

Connector No. (see Fig. above) TTL GPS IN Option & Channel 3 1 4 GPS OUT Option & Channel 4 1 4 IMU IN Option & Channel 5 1 (p) 4 IMU IN Option & Channel 6 1 (n) 4 IMU OUT Option & Channel 7 1 (p) 4 IMU OUT Option & Channel 8 1 (n) 4 1.1.4 Other Interfaces USB serial equivalent: CLI interface (Connector 4) 1.1  Interfaces Overview CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0 3

All of VersaPNT's connectors are provided at the front panel of the unit, below the Status LEDs. 1.2.1 Power Connector Note: View in mating direction from front. Table 1-4: Power connector pinout Pin Signal 1 VMain (10 to 32 V) 2 VMain (10 to 32 V) 3 VBatt (10 to 32 V) 4 GND 5 GND 1.2.2 Input/Output Connector VersaPNT has a 26-pin input/output connector that offers 8 software-configurable CHANNELS, plus one fixed DCLS channel, and a USB interface. To learn more about types of interfaces and signals, and how to configure them, see "Assigning I/O Pins" on page 21. 4 CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0 1.2  Connectors and their Pinouts

Pin Channel Signal Pin Channel Signal 1 0 1PPS output (5V) 15 7 Have Quick output (RS- 485 signal +) 2 GND 16 GND 3 1 Have Quick input (RS- 485 signal +) 17 8 Have Quick output (RS- 485 signal –) 4 GND 18 GND 5 2 Have Quick input (RS- 485 signal –) 19 9 (USB ded- icated) GND 6 GND 20 GND 7 3 1PPS output (10 V) 21 Not connected 8 GND 22 GND 9 4 ASCII output (RS-232) 23 USB D– 10 GND 24 GND 11 5 1PPS input 25 USB D+ 12 GND 26 GND 13 6 ASCII input (RS-232) 14 GND 1.2.3 Ethernet Connector Note: View in mating direction from front. 1.2  Connectors and their Pinouts CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0 5

Pin Signal Pin Signal 1 Ethernet_1 A+ 9 Ethernet_2 A+ 2 Ethernet_1 A– 10 Ethernet_2 A– 3 Ethernet_1 B+ 11 Ethernet_2 B+ 4 Ethernet_1 B– 12 Ethernet_2 B– 5 Ethernet_1 C+ 13 Ethernet_2 C+ 6 Ethernet_1 C– 14 Ethernet_2 C– 7 Ethernet_1 D+ 15 Ethernet_2 D+ 8 Ethernet_1 D– 16 Ethernet_2 D– 1.2.4 Optional I/O Connector The Optional I/O connector is used in conjunction with the Option Board that is available for VersaPNT. If the unit is not equipped with an Option Board, this connector is not used. 1.2.5 Coaxial Connectors VersaPNT offers five (5) coaxial connectors, three (3) of which can be configured at the factory to accommodate requirements for e.g., IRIG AM signals or additional 10 MHz outputs. The min- imum configuration includes the GNSS antenna and a 10 MHz sinewave output. Unless otherwise ordered at the factory, all coaxial connectors (aside from the GNSS con- nection) produce a 10MHz output that is not software configurable. All coaxial connectors are standard SMA connectors. ETHERNET connector wiring: 1 through 8: A Ethernet Connect, 4 pairs, 1000bT 9 through 16: B Ethernet Connect, 4 pairs, 1000bT POWER connector pinout 1; 2: VMain, 10 to 32 VDC 3: VBatt, 10 to 32 VDC (Standby Power) 4; 5: Ground return 6 CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0 1.2  Connectors and their Pinouts

Power Cable I/O Cable 1.3  Included Cables CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0 7

Ethernet Data Cable 8 CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0 1.3  Included Cables

the unit's current operating state: The LEDs can be disabled, see "Blackout Mode" on page 11. 1.4.1 Blinking Intervals The status LEDs can communicate five different operating states: "OFF" "ON" "FAST": blinking interval @ 8Hz "SLOW": blinking interval @ 2Hz "HEARTBEAT": sinus-shaped interval @ 1Hz 1.4.2 LED Lighting Patterns The table below indicates LED status light patterns for common VersaPNT operating statuses. Table 1-7: Common light patterns Start-up HEARTB. OFF OFF OFF OFF OFF OFF OFF Acquir- ing fix FAST FAST FAST FAST FAST FAST HEARTB. FAST Software upgrade FAST OFF OFF FAST OFF FAST HEARTB. OFF 1.4  Status LEDs CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0 9

Table 1-8: Legend for Status LEDs Icon Light Meaning OFF No power HEARTBEAT Booting ON Powered OFF No GNSS reception (0 satellites) HEARTBEAT GNSS acquisition in process (≥ 1 satellite(s), or 1PPS OK, or Time OK SLOW Jamming detected FAST Antenna short circuit ON GNSS is available as reference (1PPS and Time OK) OFF Inputs not detected/all inputs are disabled FAST 1 or more input is missing, or invalid timing on 1 or more input detected ON Inputs are enabled OFF Unit is in Holdover (valid) ON System Clock OK (valid) FAST Invalid Time (Holdover period exceeded, or oscillator damaged) OFF No output signal(s) detected/all outputs are disabled FAST Malfunction detected (short circuit, or overload) ON Outputs are enabled OFF No network detected FAST Network malfunction detected (e.g., no auto-negotiation) ON Network OK, configuration OK OFF Unit OK FAST Unit requires attention; check other status LEDs, see Web UI HEARTBEAT See table "LED Lighting Patterns" on the previous page OFF Temperature OK FAST High temperature detected 10 CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0 1.4  Status LEDs

For the first five seconds after power-up all LEDs will be OFF. Then the Power LED will be blink- ing before it will be lit permanently. If you have configured your unit to operate in Blackout Mode, this will take effect once the blinking cycle ends. 1.4.4 Blackout Mode All LEDs can be turned off via the Web UI. The LED brightness level can be set from 63 (as bright as possible) to 0 (not visable). To disable all LED activity via the WebUI: Navigate to MANAGEMENT > OTHER: LED Configuration, and set the Brightness level to "0". 1.5 The VersaPNT Web UI VersaPNT has an integrated web user interface (referred to as "Web UI" throughout this doc- umentation) that can be accessed from a computer over a network connection, using a standard web browser. The Web UI is used to configure the unit, and for status monitoring during every- day operation. Note: An integrated Command-Line Interpreter interface (CLI) allows the use of a subset of commands that are integrated into the Web UI. The minimum browser requirements for the Web UI are: Internet Explorer ®  9 or higher, Firefox®, or Chrome®. 1.5.1 The Web UI HOME Screen Note: Screens displayed in this manual are for illustrative purposes. Actual screens may vary depending upon the configuration of your product. The HOME screen of the VersaPNT web user interface ("Web UI") provides comprehensive status information at a glance, including: vital system information current status of the references key performance/accuracy data major log events. 1.5  The VersaPNT Web UI CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0 11

the Primary Navigation Bar: The Primary Navigation Bar provides access to all menus: HOME: Return to the HOME screen (see above) INTERFACES: Access the configuration pages for … … references (e.g., GNSS, NTP) … outputs (e.g. 10 MHz, PPS, NTP) and … installed input/output option cards. MANAGEMENT: Access the NETWORK setup screens, and OTHER setup screens e.g., to configure Reference Priorities, System Time, and the Oscillator. TOOLS: Opens a drop-down menu for access to the system maintenance screens and sys- tem logs. HELP: Provides Spectracom Service Contact Information and high-level system con- figurations you may be required to furnish when contacting Spectracom Service. 12 CHAPTER 1 • VersaPNT Getting Started Guide Rev. 2.0 1.5  The VersaPNT Web UI

and the Ethernet cable to the unit. These cables are included in the Evaluation kit. If you plan to use your own cables, some of these instructions may not apply. The step-by-step instructions below outline the VersaPNT installation and configuration process: 1. Install VersaPNT in the designated vehicle: Choose a mounting location within reach of your antenna and networking cables A location near the center of gravity of the vehicle is recommended. It is recommended to orient the unit so that the rear panel of the unit (the opposite of the connector face) points in the direction of travel. Other orientations (includ- ing upside down) are possible, but will require Frame Rotation calculations (see ""Frame Rotation" Tab" on page 33). Ground the unit by connecting the DC negative terminals to the chassis of the unit, and to the vehicle metallic structure. The mounting plate should be in direct contact with the unit base plate, and the mounting surface is even and heat conductive. 2. Install the GNSS antenna(s). Follow your antenna manufacturer's instructions. See ""Cal- ibration" Tab/Antenna Installation" on page 29 for specifications. 3. Wire the antenna cables and interface cables. (Most customers will require the Multi I/O and Ethernet cables for these connections.) USB: Connect the Multi I/O connector to the VersaPNT unit. If you are using the Evaluation Kit, connect the Multi I/O USB output to a PC. Install a terminal emu- lator program on the PC (e.g., TeraTerm® or PuTTY®). Ethernet: Connect the Ethernet cable to the ETH port of the unit. If you are using the Evaluation Kit, connect at least one of the two I/O cable Ethernet ports (ETH0 or ETH1) to a network switch/hub, or to the PC mentioned above (using a stand- ard Ethernet patch cable, or a crossover cable). Requirement Action Evaluation kit cable USB con- nection Connect USB to the Multi I/O connector. Connect the USB connector to a PC with a terminal emulator program (CA08R-CRUB-0002) Network connection Connect at least one of the two Ethernet connectors to a network. Connect the RJ45 jack labeled ETH0 or ETH1 to a network hub/switch or directly to a PC (CA08R- CRET-0002) For pinout tables, see "Connectors and their Pinouts" on page 4. 4. Connect the power supply. The unit will power up, and the ON/OFF status LED will pulsate. CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 13

Power up Connect 12 VDC to the power connector. Attach a cable and apply 12 VDC to the plug labeled "Main" (CA08R-CRPB-0002) 5. Establish a network connection so as to allow access to the web user interface ("Web UI"). See "Network Setup" below for information on the USB driver installation and network address configuration. Note: On a DHCP network, you can also use Zeroconf to access the Web UI (see "Zero Configuration Setup" on page 19). 6. Using the Web UI, configure the following: Software-configurable I/O pins, see "Assigning I/O Pins" on page 21. INS settings, see "INS Configuration" on page 26: IMU data output settings (output format, position type, polling frequency) Calibration settings: antenna offsets Data log settings FIR filter settings Coning and sculling error compensation settings Frame rotation configuration (if required). This list covers the standard configuration options. More complex configurations can be generated using the "INS Expert Mode" on page 35. Other VersaPNT INTERFACES settings and MANAGEMENT settings e.g., network settings, reference priorities (see main product user manual). 2.1 Network Setup After making the connections outlined in the Quick Start list, the following information will help you to establish a network connection. VersaPNT has a Command Line Interpreter ("CLI"). Using the CLI connection, you can set up access to the web user interface ("Web UI") that is used to configure and monitor the unit. Default settings: VersaPNT network settings default to DHCP, i.e. if the unit is connected to a DHCP server via ETH0 or ETH1, it will accept an assigned dynamic IP address. 14 CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 2.1  Network Setup

provide you with an IP address you can use for the unit.) Note: VersaPNT supports zeroconf: If you have a DHCP enabled network, you can use zeroconf for initial setup. For more information, see "Zero Configuration Setup" on page 19. Otherwise follow the instructions below for conventional setup. Network connection: 1. USB Driver On the PC connected to your unit, new hardware (the USB interface) will be detec- ted. The correct driver should be installed automatically. If not, download the driver from www.ftdichip.com/Drivers/VCP.htm, and install it manually via the instructions for your operating system. 2. Network Address a. Start the terminal emulator program on the PC. Select the COM port that is assigned to the USB interface: Access the CLI via ssh or telnet: The required port configuration is 115200 8N1: 2.1  Network Setup CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 15

Note: The default login credentials are: User name = spadmin Password = admin123 (will not be displayed on the screen) b. If you are on a DHCP-enabled network, retrieve the IP address assigned to Ver- saPNT by typing the net4 command. The command should return the network set- tings, including the IP address assigned to the unit. Take note of the IP address. You can use this IP address to login to the VersaPNT Web UI and then set a static IP address, subnet mask and gateway (see Step 4. below). 16 CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 2.1  Network Setup

c. below. Note: For your reference, the command helpcli produces a list of available commands. Press the space key to display the next page, or the b key to display the previous page. Note: Should it become necessary to leave the VI editor mode (indic- ated by a command line prompt ":"), press Q, or Ctrl C. c. To disable DHCP type dhcp4set off , (x being 0/1 for ETH0 and ETH1, respectively). Example: dhcp4set 0 off d. Type net4 to confirm that DHCP has been turned off. Setup a new IP address by typing ip4set and –if required– gw4set . For a table with subnet mask values, see manuals.spectracom.com. 3. Log In to the Web UI a. On a PC connected to VersaPNT via ETH0 or ETH1, start a web browser. b. Navigate to the IP address obtained in Step 3.b, or assigned in Step 3.d. c. Login to the VersaPNT Web UI, using the same credentials as mentioned above. d. If so required, you can also change VersaPNT's IP configuration (address, subnet, gateway, ...): i. Navigate to MANAGEMENT > Network Setup. ii. In the Ports panel on the right, click the GEAR button next to ETH0 or ETH1: The Edit Ethernet Port Settings panel will open. 2.1  Network Setup CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 17

DHCPv4, but DO NOT click Submit until after completing all IP configuration settings. e. Click Submit, and start a new Web UI session by entering the new IP address into your browser, and logging into the Web UI again. f. You have now established a network connection with VersaPNT. Continue with other configurations e.g., NTP settings, references, outputs, etc. See the user manual: manuals.spectracom.com. 18 CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 2.1  Network Setup

As an alternative to the conventional network configuration, VersaPNT can also be set up using the zero-configuration networking technology ("zeroconf"). Note: Zeroconf only works on DHCP-enabled networks. When using zeroconf, a TCP/IP network will be created automatically, i.e. without the need for manual configuration: Once VersaPNT's ETH connector is connected to a hub, you can directly access the VersaPNT Web UI, using a standard web browser, without any configuration. This is made possible because zeroconf utilizes these technologies: Automatic allocation of network addresses for all connected devices Automatic distribution and resolution of computer hostnames Automatic detection of all available network services. For more information on zeroconf and the multicast Domain Name System, see https://en.wikipedia.org/wiki/Multicast_DNS. Zeroconf Requirements Prior to using zeroconf, ensure the following requirements are met: Your LAN network must have DHCP enabled. Your VersaPNT unit must have DHCP enabled for its ETH0 port (this is the factory default setting) Note: Zeroconf is only supported on the ETH0 port. Check the serial number label on the side of the unit, and write down the last 6 digits of the MAC 0 address e.g., "0C 00 19" Windows 7/8 users should install Bonjour Print Services, otherwise access to *.local addresses will not be possible. Windows 10 already supports mDNS and DNS-SD, hence there is no need to install additional software. 2.2  Zero Configuration Setup CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 19

1. Connect VersaPNT to a router on your LAN via the ETH connector. 2. Connect the power supply to the VersaPNT unit. 3. On a connected computer, open your web browser and in the URL field type the fol- lowing: versapnt-[xxxxxx].local/ where [xxxxxx] are the last six digits of the MAC 0 address you copied from the serial number label on the unit. You should now be prompted for a username and password. The factory default cre- dentials are: Username: spadmin Password: admin123 Note: If you do not have physical access to the unit, you can obtain the MAC address also by accessing VersaPNT's CLI via the I/O connector USB port, using e.g., the ifconfig command. Once you logged into the VersaPNT via zeroconf, you can retrieve the DHCP address for future use: Navigate to MANAGEMENT: NETWORK > Network Setup, and click General Settings in the Actions panel on the left. The IPV4 ADDRESS will be displayed for each port on the bottom of the window. 20 CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 2.2  Zero Configuration Setup

VersaPNT's I/O connector is software configurable, i.e. the pin interfaces and the signal mod- ulations can be configured by the user via the VersaPNT Web UI. The software-configurable 26-pin I/O connector comprises 9 user-configurable Channels, plus one fixed USB interface. Channels can be used for the following input or output interfaces: Figure 2-1: I/O configuration options 2.3.1 Signal Types The table below shows the maximum number of available interfaces for each signal type. Note that you can assign only one signal for each pin pair, hence only four to nine input and output signals can be transmitted/received at any given time. 2.3  Assigning I/O Pins CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 21

DCLS, TTL DCLS, 10V RS485 RS 485, 120 Ω RS232 PPS out (5), in (2) out (1), in (1) out (4), in (4) in (4) IRIG out (5), in (2) out (1), in (1) out (4), in (4) in (4) HQ out (5), in (2) out (1), in (1) out (4), in (4) in (4) GPIO out (5) out (1) ASCII out (4), in (4) in (4) out (3), in (3) INS out (3), in (3) Note: ASCII Time Code is abbreviated in the UI as ATC. DCLS Signal Lines Up to six TTL (5V) or 10 V DCLS outputs and three DCLS inputs are available for e.g., 1PPS, xPPS, IRIG B 00x, HaveQuick, ASCII ToD signal transmission. Single-ended Serial Lines VersaPNT provides up to 3 RX and 3 TX RS232 interfaces for e.g., ASCII ToD – NMEA 0183 (ICD-GPS-153). Differential Serial Lines Up to four differential serial lines are available. Each of them can be set in either RS422 or RS485 electrical standard, and used as input or output. One can be used in CAN mode. PPS or Time-of-Day messages will be available, as well as HaveQuick and ICD GPS-060. Note that this kind of interface uses two Channels. Non-Configurable Pins Channel # 0 provides a DCLS TTL output signal that is not user-configurable. Also note that pins # 19 through 26 are reserved for the USB command line interface. 2.3.2 I/O Signal Mapping Table Each Channel (i.e., each pin pair e.g., "3&4" = Channel 1) can serve as only one interface, and not all combinations are possible due to the internal multiplexer architecture. Spectracom provides an online interactive I/O switch matrix configurator that can be used to design a custom I/O configuration: http://manuals.spectracom.com/VSS/Content/VSS/SETUP/IOpinConfiguration.htm. The table below illustrates the signal combinations that can be assigned to the 18 configurable pins. 22 CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 2.3  Assigning I/O Pins

Notes: Pins to Channels (e.g., pins 3 & 4= Channel 1) green = Signal Message Type can be assigned to this Channel (RS485 requires two Channels) red = This Signal Message type cannot be assigned to this Channel ATC = ASCII Time Code Configuring a new Input or Output 1. In the VersaPNT Web UI, navigate to MANAGEMENT > NETWORK: Pin Layout. The Pin Layout screen will be displayed. 2. Prior to assigning the new output, identify a pin pair in the pin Layout table that is not used (Signal = "None") or not needed. You can Delete it, but you may also simply assign the new PPS Output as described below, thus overwriting the existing Input or Output. 3. Add a pin configuration by clicking the PLUS icon in the top-right corner. The Add Pin window will display. 2.3  Assigning I/O Pins CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 23

type. 5. From the Signal drop-down menu, select a signal. 6. From the Pins drop-down menu in line 3, select the pin pair you chose in Step 2. (Note that you will need 4 pins if you selected a RS485 signal Type.) 7. Click Submit. 8. In the Actions panel, click Apply Changes. Navigation Pinout Configuration VersaPNT has navigation-specific options that can be configured through the multi I/O con- nector"I/O signal mapping to Channels" on the previous page To configure INS IN or OUT via RS232, follow the steps for "Configuring a new Input or Out- put" on the previous page. To configure any of the navigation options listed in the following chart(Options 1-8): 1. Navigate to MANAGEMENT > NETWORK > Pin Layout as above and click to PLUS sign in the top right corner.. 2. Under Signal, select OPTION. 3. Select the correct Pins from the drop-down menu that correspond to the Option number. 4. You can then click Submit. Be sure to also Apply Changes in the Actions menu. SIGNAL TYPE Option Number/ Channel Position Pins DCLS RS- 232 RS-422 (n or p) TTL INS OUT Channels 1, 4, & 6 (3 &4), (9 & 10), or (11 & 12) 1 PPS IN Option 1 & Channel 1 3 & 4 1 PPS OUT Option 2 & Channel 2 5 & 6 1 GPS IN Option 3 & Channel 3 7 & 8 1 GPS OUT Option 4 & Channel 4 9 & 10 1 IMU IN Option 5 & Channel 5 11 & 12 1 (p) IMU IN Option 6 & Channel 6 13 & 14 1 (n) IMU OUT Option 7 & Channel 7 15 & 16 1 (p) IMU OUT Option 8 & Channel 8 17 & 18 1 (n) Restoring the Default I/O Configuration VersaPNT is shipped with a default I/O configuration that you can be customized. However, if required you can restore the default configuration at any time after applying changes. To restore the default I/O pin configuration: 24 CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 2.3  Assigning I/O Pins

B. In the Actions panel on the left, click Restore Default Layout. Reloading the Current I/O Configuration To reload the currently used I/O configuration after adding pin layout changes, but before clicking Apply Changes: A. Navigate to the MANAGEMENT: NETWORK > Pin Layout screen. B. In the Actions panel on the left, click Reload Layout. 2.3  Assigning I/O Pins CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 25

This MEMS-based unit incorporates 3-axis accelerometers, gyros, magnetometer (all of which 3- axis), as well as a barometric pressure sensor, a temperature sensor and two separate 50-chan- nel L1 GPS receivers. To configure the INS: 1. In the VersaPNT Web UI, navigate to MANAGEMENT > NETWORK: INS Setup (1). The INS screen will appear: The INS screen has two panels: Actions: Toggle ON/OFF Expert Mode, which allows you to write directly into the configuration file. Toggle ON/OFF Panacea Support. Restore the Default INS Configuration Status: This panel lists INS configuration settings and status messages. INS Model HW Version FW Version 26 CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 2.4  INS Configuration

for accurate navigation. GPS Fix [3D, 2D, no fix, time only]: For accurate positioning, the unit needs a 3D fix (at least 4 satellites). Num Sats: The number of tracked satellites Output format [Binary, NMEA]: user settings Polling Rate: user settings Initial Heading [Enabled/Disabled]: user settings 2. In the INS Status panel, click the GEAR icon (2). The Edit INS Settings window opens: This window is used to configure the INS. The window has six tabs which are described below: 2.4.1 "IMU Output" Tab VersaPNT provides two different means of obtaining measurements, using either human-read- able ASCII messages in an NMEA format, or user-configurable custom binary output messages: 2.4  INS Configuration CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 27

easily be distinguished in the data stream. Output Format: [Binary/NMEA] Select NMEA to output the IMU data in an NMEA ASCII format. ASCII Type: This register selection controls the type of data that will be asynchronously output. You can specify which data register will be automatically output once it is updated with a new reading. Select an ASCII output type from the drop-down list: Table 2-3: ASCII output settings Header Output Type VNOFF Asynchronous output turned off VNYPR Yaw, Pitch, Roll VNQTN Quaternion VNQMR Quaternion, Magnetic, Acceleration and Angular Rates VNDCM Directional Cosine Orientation Matrix VNMAG Magnetic Measurements VNACC Acceleration Measurements VNGYR Angular Rate Measurements VNMAR Magnetic, Acceleration, and Angular Rate Measurements VNYMR Yaw, Pitch, Roll, Magnetic, Acceleration, and Angular Rate Meas- urements VNYBA Yaw, Pitch, Roll, Body True Acceleration, and Angular Rates VNYIA Yaw, Pitch, Roll, Inertial True Acceleration, and Angular Rates VNIMU IMU Measurements VNGPS GPS LLA VNGPE GPS ECEF VNINS INS LLA VNINE INS ECEF VNISL INS LLA 2 VNISE INS ECEF 2 VNDTV Delta theta and delta velocity VNG2S GPS2 LLA VNG2E GPS2 ECEF To learn more about the settings listed above, see the main user manual. 28 CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 2.4  INS Configuration

described above will be sent out. Binary Output For high-rate data, or custom message outputs, VersaPNT supports the ability to construct your own binary output messages. This selected measurement subset will be packaged into a single compact binary packet provided at any rate from 1 to 400 times per second. Output Format: [Binary/NMEA] Select Binary to output the IMU data in binary format. Position: [checkbox] Select ON to output IMU position data. Raw Position: [checkbox] Select ON to output raw sensor position data (i.e., unprocessed by Kalman filter), instead of processed position data. Orientation: [checkbox] Select ON to output orientation data. Acceleration: [checkbox] Select ON to output IMU acceleration data. Raw Acceleration: [checkbox] Select ON to output raw sensor acceleration data (i.e., unprocessed by Kalman filter), instead of processed acceleration data. Temperature: [checkbox] Select ON to output temperature data. Magnetometer: [checkbox] Select ON to output magnetometer data. Raw Magnetometer: [checkbox] Select ON to output raw (unprocessed) mag- netometer data. Time: [checkbox] Select ON to output time data. Polling Frequency: [Hz; default=50; min.=1; max.=400] 2.4.2 "Calibration" Tab/Antenna Installation VersaPNT can be connected to one or two GNSS antennas., depending on the model type. When selecting antenna installation locations, make sure that the following requirements are met: the view of the sky is unobstructed the antennas are located on opposite ends of the vehicle, as far away from the Ver- saPNT unit as possible, but the antenna cables are not longer than necessary. Should only one GNSS antenna be used, the antenna can be installed at any location on the vehicle with an unobstructed view of the sky. The X-Y-Z distances between the first antenna and the X-Y-Z etching on the lid of the VersaPNT unit, as well as the distance between the second antenna and the first antenna are referred to as offsets and need to be configured under the Calibration tab. The illustration below shows an example configuration: 2.4  INS Configuration CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 29

Antenna 1 Offset X: [m] The X-offset from the X-Y-Z etching on the VersaPNT lid to the GNSS antenna number 1. Antenna 1 Offset Y: [m] The Y-offset from the X-Y-Z etching on the VersaPNT lid to the GNSS antenna number 1. Antenna 1 Offset Z: [m] The Z-offset from the X-Y-Z etching on the VersaPNT lid to the GNSS antenna number 1. Antenna 2: [checkbox] Select ON when using a second GNSS antenna. Note that the use of a second antenna is optional, but a second antenna is required for compassing functionality. Also note that the offset of antenna 2 is relative to antenna 1, not to the Ver- saPNT X-Y-Z etching (see illustration below). Antenna 2 Offset X: [m] The relative Y-offset from antenna 2 to antenna 1. Antenna 2 Offset Y: [m] The relative Y-offset from antenna 2 to antenna 1. 30 CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 2.4  INS Configuration

The antenna 2 uncertainty settings indicate how accurate the actual distances could be measured. Antenna 2 Uncert X: [m; default=0.0254] The stated offset dimension is certain to be accurate within 2.54 cm. Antenna 2 Uncert Y: [m; default=0.0254] The stated offset dimension is certain to be accurate within 2.54 cm. Antenna 2 Uncert Z: [m; default=0.0254] The stated offset dimension is certain to be accurate within 2.54 cm. Initial Heading: [checkbox] Set to ON if each mission shall start with a pre-set initial com- pass heading. Initial Compass: [Deg] Set the initial compass heading here. 2.4.3 "Log" Tab You can configure your unit to stop logging events in this tab or to change the file name that your logs are stored in. Log To CSV File: [checkbox: OFF] Select ON to log to a comma-separated values file. File Name: Change the file name and the path to its location if a log file other than the default one shall be used. 2.4.4 "FIR Filter" Tab Prior to sending the IMU sensor data to the INS Kalman filter it can be processed by a finite impulse response filter. To configure the FIR filter, use the following settings (for additional information, see the OEM documentation): Mag Window Size (default 400 Hz): Define the number of magnetometer samples at the IMU rate which will be averaged for each output measurement. 2.4  INS Configuration CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 31

at the IMU rate which will be averaged for each output measurement. Gyro Window Size (default 400 Hz): [Range: ] Define the number of gyroscope samples at the IMU rate which will be averaged for each output measurement. Temp Window Size (default 400 Hz): [Range: ] Define the number of temperature sensor samples at the IMU rate which will be averaged for each output measurement. Pres Window Size (default 400 Hz): [Range: ] Define the number of pressure sensor samples at the IMU rate which will be averaged for each output measurement. The Filter Mode parameters for each sensor select which output quantities the filtering should be applied to. Filtering can be applied to either the uncompensated IMU measurements, com- pensated (HSI and biases compensated by onboard filters, if applicable), or both. Mag Filter Mode: [No Filtering/Uncompensated/Compensated/(Uncom- pensated/Compensated)] Accel Filter Mode: [No Filtering/Uncompensated/Compensated/(Uncom- pensated/Compensated)] Gyro Filter Mode: [No Filtering/Uncompensated/Compensated/(Uncom- pensated/Compensated)] Temp Filter Mode: [No Filtering/Uncompensated/Compensated/(Uncom- pensated/Compensated)] Pres Filter Mode: [No Filtering/Uncompensated/Compensated/(Uncom- pensated/Compensated)] 2.4.5 "Coning/Sculling" Tab The IMU's coning and sculling algorithms can be configured to operate in multiple frames and with different compensations applied. The IMU computes and accumulates the coning and scull- ing integrals which track the delta angle and delta velocity. Integration Frame: [Body Frame/NED Frame/ECEF Frame] This setting selects the reference frame used for coning and sculling. Note that using any frame other than the body frame will rely on the onboard Kalman filter’s attitude estimate. The factory default state is to integrate in the sensor body frame. Gyro Compensation: [checkbox: OFF] This setting selects the compensation to be applied to the angular rate measurements before integration. If set to ON, the Kalman filter’s real-time estim- ate of the gyro biases will be used to compensate the IMU measurements before integration. For additional information, see the OEM documentation. To configure the compensation (if set to ON), the INS needs to be operated in Expert Mode. Acceleration Compensation: [checkbox: OFF] This setting selects the compensation to be applied to the acceleration measurements before integration. If set to ON, the Kalman filter’s real-time estimate of the accel biases will be used to compensate the IMU measurements before integ- ration. 32 CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 2.4  INS Configuration

By default VersaPNT will output the heading, pitch, and roll with respect to the VersaPNT ref- erence frame as it is shown on the etching on the lid of the unit. To ensure that the output is con- sistent with the attitude of the vehicle VersaPNT is used in, you will need to align the unit to the unit such that the X-axis points out the front of the vehicle (bow), the Y-axis points out the right (starboard), and the Z-axis points down. If it is not possible to orient VersaPNT in this con- figuration with respect to the vehicle, then you will need to use the Reference Frame Rotation to set the relative orientation of the unit with respect to the vehicle. Please note: Some VersaPNT units were released with incorrect axis chassis markings. For the purpose of these instructions, the correct default X-Y-Z orientation at startup is: The X-axis pointing toward the back of the unit (along the cover, from the connections side to the back) The Y-axis pointing toward the right when looking at the connections face The z-axis pointing down. The frame rotation matrix allows for the transformation of measured acceleration, magnetic, and angular rates from the VersaPNT body frame to any other arbitrary frame of reference. The frame rotation matrix allows for the sensor to be placed in any arbitrary orientation with respect to the user’s desired body coordinate frame. This register can also be used to correct for any orientation errors due to mounting VersaPNT on the user’s vehicle or platform. The variables {X,Y,Z}Body are a measured parameter such as acceleration in the body ref- erence frame with respect to the VersaPNT unit. The variables {X,Y,Z}U are a measured para- meter such as acceleration in the user’s frame of reference. The reference frame rotation register thus needs to be loaded with the transformation matrix that will transform measurements from the body reference frame of the VersaPNT unit to the desired user frame of reference. Note: The matrix C in the Reference Frame Rotation Register must be an orthonor- mal, right-handed matrix. The sensor will output an error if the tolerance is not within 1e-5. The sensor will also report an error if any of the parameters are greater than 1 or less than -1. 2.4  INS Configuration CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 33

It is recommended that you maneuver in a known, repeating pattern for approximately five minutes in order to align with your surrounding satellites. (The length of time necessary for ini- tialization may vary by location, size of route, time of day, etc.). A figure-eight pattern is ideal in order to excite all possible axes. There are three possible INS modes: Aligned indicates the solution is reliable and GNSS verified Aligning indicates either that the current solution is outside the range of validity, or that the INS is working to develop a solution None indicates that no INS solution is currently available. This message also occurs at startup. The goal of initialization is to reach an aligned state before dependence on your solution. To verify your INS status in the WebUI, navigate to MANAGEMENT > INS Setup > Status. In the Status panel, INS Mode will indicate your current alignment state. 34 CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 2.5  INS Initialization

Advanced INS configuration is possible via the INS Expert Mode, which allows you to write dir- ectly into the configuration file. Caution: INS Expert Mode should only be utilized by advanced users, as incor- rectly altering the configuration file can cause NTP to stop working (if NTP is con- figured as an input reference, VersaPNT could lose synchronization). To access the INS Expert Mode, navigate to MANAGEMENT > INS Setup. The switch for the INS Expert Mode is in the ACTIONS panel. Caution: Any configurations made in INS Expert Mode will be lost as soon as INS Expert Mode is disabled. If changes are made to the INS configuration file while in the Expert mode, Expert mode should remain enabled from that point forward. 2.6  INS Expert Mode CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 35

figuration files while in the Expert Mode. The INS configuration file can be reset back by clicking Restore Default INS Configuration. To learn more about INS configuration, see the OEM documentation. 2.7 VICTORY Configuration VersaPNT is equipped with an interface that complies with the VICTORY (Vehicular Integration for C4ISR/EW Interoperability) standard. The use of the VICTORY interface is optional. Prior to using it, however, the interface needs to be configured. To configure the VICTORY interface, see the separate document "VICTORY Configuration". 36 CHAPTER 2 • VersaPNT Getting Started Guide Rev. 2.0 2.7  VICTORY Configuration

Symbol Signal word Definition DANGER! Potentially dangerous situation which may lead to personal injury or death! Follow the instructions closely. CAUTION! Potential equipment damage or destruction! Follow the instructions closely. NOTE Tips and other useful or important information. ESD Risk of Electrostatic Discharge! Avoid potential equipment damage by following ESD Best Practices. CHASSIS GROUND This symbol is used for identifying the functional ground of an I/O signal. It is always connected to the instrument chassis. Analog Ground Shows where the protective ground terminal is connected inside the instrument. Never remove or loosen this screw! Recycle Recycle the mentioned components at their end of life. Follow local laws. 3.1 SAFETY: Before You Begin Installation DANGER! If the equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired. DANGER! — INSTALLATION OF EQUIPMENT: Installation of this product is to be done by authorized service personnel only. This product is not to be installed by users/operators without legal author- isation. 3.1  SAFETY: Before You Begin Installation CHAPTER 3 • VersaPNT Getting Started Guide Rev. 2.0 37

DANGER! — DO NOT OPEN EQUIPMENT, UNLESS AUTHORIZED: The interior of this equipment does not have any user serviceable parts. Contact Spectracom Technical Support if this equipment needs to be serviced. Do not open the equipment. Follow Spectracom Safety Instructions, and observe all local electrical regulatory requirements. Caution: Electronic equipment is sensitive to Electrostatic Discharge (ESD). Observe all ESD precautions and safeguards when handling Spectracom equip- ment. 38 CHAPTER 3 • VersaPNT Getting Started Guide Rev. 2.0 3.1  SAFETY: Before You Begin Installation

Spectracom Corporate website, where you can not only submit a support request, but also find additional technical documentation. Phone support is available during regular office hours under the telephone numbers listed below. To speed up the diagnosis of your VersaPNT, please send us: the current product configuration (navigate to TOOLS > Upgade/Backup > System Con- figuation panel), and the events log. Thank you for your cooperation. 4.1 Regional Contact Spectracom operates globally and has offices in several locations around the world. Our main offices are listed below: Table 4-1: Spectracom contact information Country Location Phone Address China Beijing +86 10 8231 9601 Spectracom China Room 208, No. 3 Zhong Guan Village South Road Hai Dian District Beijing 100081 France Les Ulis, Cedex +33 (0)1 64 53 39 80 Spectracom France Parc Technopolis – Bat. Sigma 3, Avenue du Canada 91974 Les Ulis Cedex USA Rochester, NY +1 585 321 5800 Spectracom USA 1565 Jefferson Road, Suite 460 Rochester, NY 14623 Additional regional contact information can be found on the Contact page of the Spectracom website. 4.1  Regional Contact CHAPTER 4 • VersaPNT Getting Started Guide Rev. 2.0 39