INS - Interface Library - IGP

ImportantThis Interface Library document is now common to all inertial products.The protocol availability depends on your product.Refer to the tables of the section II.3.1 (for the output protocols) and to the tables of section II.4.1(for the input ones) to check if the protocol you choose is available for your product.INSInterface Library

INS – Interface LibraryDocument Revision HistoryEditionDateCommentsModifiedpage(s)A10/2010 First Edition-B03/2011 Graphical chart appliedC04/2011 SBE 37 SI protocol updatedD09/2011 New iXBlue colors applied to the documentE10/2001 LRS, S40, DCN FAA, EMLOG VBW, EMLOG VHW addedF02/2012 LONG BINARY NAV updatedG03/2012 Status, input and output protocols quick guides updatedH02/2013 Input and output protocols quick guides updated31-209I04/2013 GPS LIKE SHORT ZZZ, LONG BINARY NAV SM, PRECISEZDA, PEGASE NAV, PEGASE CMS, INSITU added88-119171-157155-108J09/2013 Input and output protocols quick guides updated32-223K10/2013 Page layout updatedL02/2014 Web-based interface user guide references updated9-13-1922-25M06/2014 GPS LIKE, IMU ASCII, AIPOV, POLAR NAV updatedInput and output protocols quick guides updatedSystem status, Algorithm status updated39-8810613-18-20N08/2014 PDS & SEANAV ID1 protocols addedInput and output protocols quick guides updated199-27433-235O10/2014 Heart beat and alerts management addedALERT IN, LONG BIN NAV HR2, ALC, ALF, ALR, ARC,HETHS HEROT protocols addedInput and output protocols quick guides NSIII–AN–001 Ed. O – October 201410-1148- 25138-239i

INS – Interface LibraryCopyrightAll rights reserved. No part of this guide may be reproduced or transmitted, in any form orby any means, whether electronic, printed guide or otherwise, including but not limited tophotocopying, recording or information storage and retrieval systems, for any purposewithout prior written permission of iXBlue.DisclaimeriXBlue specifically disclaims all warranties, either express or implied, included but notlimited to implied warranties of merchantability and fitness for a particular purpose withrespect to this product and documentation. iXBlue reserves the right to revise or makechanges or improvements to this product or documentation at any time without notifyingany person of such revision or improvements.In no event shall iXBlue be liable for any consequential or incidental damages, includingbut not limited to loss of business profits or any commercial damages, arising out of theuse of this product.TrademarksMicrosoft and Windows are registered trademarks of Microsoft Corporation. Intel andPentium are registered trademarks and Celeron is a trademark of Intel Corporation.MU–INSIII–AN–001 Ed. O – October 2014ii

INS – Interface LibraryText UsageboldBold text is used for items you must select or click in thesoftware. It is also used for the field names used into the dialogbox.CourierText in this font denotes text or characters that you should enterfrom the keyboard, the proper names of disk Drives, paths,directories, programs, functions, filenames and extensions.italicItalic text is the result of an action in the procedures.Icons and MentionsThe Note icon indicates that the following information is of interest to the operator andshould be read.ImportantTHE IMPORTANT MENTION INDICATES THAT THE FOLLOWING INFORMATION SHOULD BE READ TOFORBID OR PREVENT A PRODUCT DYSFUNCTION OR A FAULTY OPERATION OF THE EQUIPMENTTHE CAUTION ICON INDICATES THAT THE FOLLOWING INFORMATION SHOULD BE READ TO FORBIDOR PREVENT PRODUCT DAMAGE.THE WARNING ICON INDICATES THAT POSSIBLE PERSONAL INJURY OR DEATH COULD RESULTFROM FAILURE TO FOLLOW THE PROVIDED RECOMMENDATION.Abbreviations and AcronymsAbbreviations and acronyms are described in document Inertial Products – Principle andConventions (Ref.: MU-INS&AHRS-AN-003)MU–INSIII–AN–001 Ed. O – October 2014iii

INS – Interface LibraryOverviewThis document is the library documentation of the iXBlue inertial products.It is divided into several parts: Part 1: Introduction – This part gives a detailed description of Inertial products,algorithm and user status words. These status words act as built-in test and controltools to check for Inertial products operation. Part 2: Digital Interfaces – This part gives a detailed description of the differentdigital inputs and output protocols available. Part 3: Pulse Interfaces – This part gives a detailed description of the different pulseinputs and output protocols available. Part 4: List of the Data Provided by the Inertial Products – This part lists the dataprovided by the Inertial products: navigation data, their standard deviations andexternal sensor data.A Table of Contents is available in the following pages to get quickly the dedicatedinformation.MU–INSIII–AN–001 Ed. O – October 2014iv

INS – Interface LibraryTable of ContentsIINTRODUCTION . 1I.1Conventions . 1I.1.1Export Regulation Limitations . 1I.1.2Reference Frame Notations . 3I.1.3Time Management in the Inertial Products . 4I.1.4GNSS quality factor management at input and output of INS . 5I.1.5Pressure to Depth Conversion Formula . 6I.1.6Sound velocity conversion formula . 7I.1.7NMEA Checksum Computation . 9I.2IIFirmware restrictions . 9DIGITAL INTERFACES. 10II.1General Overview . 10II.2Heart beat management . 10II.3Alerts Management . 10II.4 Status description . 15II.4.1Status Overview . 15II.4.2 PIXSE,STATUS: System Status 1, 2 and 3 . 17II.4.3 PIXSE,ALGSTS: Algorithm Status 1 and 2 . 24II.4.4 PIXSE,SORSTS: Sensor Status 1 and 2 . 28II.4.5User Status . 31II.4.6 PIXSE, HT STS: High Level Repeater Status . 35II.5 Digital Output protocols . 37II.5.1Quick Guide to Output Protocols . 37II.5.2Detailed Specifications for Output Protocols . 43AIPOV . 45ALC . 47ALF . 48ALR . 49ARC . 50ANSCHUTZ STD20 . 51AUVG 3000 . 53BINARY NAV 1 . 55BINARY NAV . 57BINARY NAV HR . 59BUC . 61CONTROL. 62CONTROL NO G . 63DCN FAA . 64DCN NAV1 FAA . 66DCN NAV 1-FLF . 70DCN STD NAV 1 . 74DCN STD NAV10 . 77DOLOG HRP. 78DORADO . 79DORADO 2 . 80DIST TRV . 82EMT SDV GCS . 83EVENT MARKER . 84EXT SENSOR BIN . 85GAPS BIN . 86MU–INSIII–AN–001 Ed. O – October 2014v

INS – Interface LibraryGEO3D . 90GPS LIKE . 92GPS LIKE SHORT. 95GPS LIKE SHORT ZZZ . 96GRAVI DOV CORR . 98GYROCOMPAS . 99GYROCOMPAS 2 . 100HALLIBURTON SAS . 101HDMS . 104HEAVE POSTPRO . 105HEHDT . 107HEHDT FIXED. 108HEHDT HEROT. 109HETHS HEROT . 110HYDROGRAPHY . 111IMU ASCII. 112IMU BIN . 113IMU RAW DATA . 114INDYN . 116INHDT . 117INSITU . 118IXSEA ICCB1 . 120IXSEA TAH . 121KVH EXTENDED . 123LANDINS STANDARD . 124LONG BINARY NAV . 129LONG BIN NAV HR . 132LONG BIN NAV HR2 . 135LONG BIN NAV SM. 138LRS 10 78 IC . 141LRS 10 78 IIC . 141LRS 100 32 IC . 147LRS 100 32 IIC . 147LRS 100 35 IC . 149LRS 100 35 IIC . 149MDL TRIM CUBE . 151NAV AND CTD . 152NAV BHO . 154NAV BHO LONG . 157NAV BINARY . 160NAV BINARY 1 . 162NAV BINARY HR . 164NAVIGATION . 166NAVIGATION HDLC . 167NAVIGATION LONG . 169NAVIGATION SHORT . 171OCTANS STANDARD . 172PEGASE CMS . 174PEGASE NAV . 176PHINS STANDARD . 178POLAR NAV . 185POSIDONIA 6000. 190POS MV GROUP111 . 191POSTPROCESSING . 193PRDID . 194PRDID TSS . 195PRECISE ZDA. 196PTNL GGK . 197RDI PD11 . 198RDI PING. 199RDI SYNC . 200RIEGL LAS SCAN . 201S40 NAV 10 . 202S40 NAV 100 . 208SEANAV ID1 . 210SEAPATH . 214SEATEX DHEAVE . 216SENIN . 218SENSOR RD . 221MU–INSIII–AN–001 Ed. O – October 2014vi

INS – Interface LibrarySIMRAD EM . 223SIMRAD EM HEAVE2 . 224SIMRAD EM TSS . 225SOC AUTOSUB . 226SPERRY ATT. 227STOLT OFFSHORE . 229SUBMERGENCE A . 230SUBMERGENCE B . 231TECHSAS . 233TECHSAS TSS . 234TOKIMEC PTVF . 235TMS CCV IMBAT . 237TSS1 DMS . 238TSS335B . 239TUS . 240VTG GGA . 242VTG GGU. 244II.6 Digital Input Protocols . 245II.6.1Quick Guide to Input Protocols . 245II.6.2Detailed Specifications for Input Protocols . 249ALERT IN . 250APOS PSIMLBP. 251APOS PSIMSSB . 253AUVG 3000 . 255DCN STD LOCH . 257EIVA . 258EM LOG VBW . 259EM LOG VHW . 260EXT SENSOR BIN . 261GAPS STANDARD . 262GPS . 265GRAVI DOV CORR . 268GSM 3000 . 269HALLIBURTON SAS . 270IXSEA AUV . 273IXSEA USBL INS 1 . 279MICRO SVT P . 282MINISVS . 283ODOMETER . 284PAROSCIENTIFIC . 285PDS . 286POSIDONIA 6000 . 287PRESSURE SENSOR .

This document is the library documentation of the iXBlue inertial products. It is divided into several parts: Part 1: Introduction - This part gives a detailed description of Inertial products, algorithm and user status words. These status words act as built-in test and control tools to check for Inertial products operation.