Computer system,a separete Inertial Measurement Unit(IMU) and 2 GPS receivers. Three Sensors,The IMU and the two Global Positioning System (GPS) receivers deliver an Accurate and Comprehensive data set;including:

Geographic Position (latitude,longitude and altitude)

RTK solution


Attitude(Roll and Pitch)

Vertical ( Heave)


Angular rate of turn

Performance metrics

Fault and Reporting


Underwater vehicles, robotics – navigation

computer science, biomedical – animation, linkage free

Mobile cameras, sonar scanners – image reconstruction

manufacturing – container handling, hydraulic lift systems,

Position and Orientation System



Heading accuracy0.2°( 2 m antenna ) 0.1°( 4 m antenna )

Roll / Pitch  accuracy 0,02°(GPS or DGPS) 0.01 (RTK)

Heave  accuracy 5 cm or %5

Position accuracy 0.3-1 m DGPS

0.02-0.10 m RTK Receiver

Velocity accuracy 0.03 m/s horizontal

GPS RECEIVER (120 Channel) GPS L1 C/A L1/L2 P-code, L2C, L5

– GLONASS L1 C/A, L2 C/A code

– GALILEO E1 and E5 (including GIOVE-A and GIOVE-B test satellites)

– SBAS L1 code and carrier (WAAS/EGNOS/MSAS)

Update Rate 500 Hz

Serial Port 6 Serial RS232(default)  / RS422

Packet Format ASCII NMEA 0183; TSS1, other data strings(optional)

Output 1 serial / 4 analog            ( +/- 10 V)

Configuration Software Yes

Power requirement 10-36V DC, < 10 W – 110-220 V AC

Temperature range -20°C to 60°C operating; -40°C to +80°C storage Shocks

Vibration MIL-STD 810F, Fig. 516.5-10 (40g, 11ms, saw-tooth)

MIL-STD 810F, Fig. 514.5C-17

MTBF 45000 Hours

Depth rating IP66 (standard); IP67 (optional)

Warranty 2 Year

System Description and Overview

PCS Generates attitude data in three axes. Measurements of roll, pitch and heading are all accurate to ±0.02° or better, regardless of the vessel latitude. Heave measurements supplied by PCS maintain an accuracy of 5% of the measured vertical displacement or ±5 cm (whichever is the larger) for movements that have a period of up to 20 seconds.

The system includes a compact disk containing the PCS Controller program, which runs on a PC under Microsoft Windows™. After you install PCS, you can use this program to configure the system and monitor its status during two start-up modes:

You can use the Controller program to enable Navigation Mode and to monitor the status and performance of the system, or You can operate the PCS in stand-alone mode. In this mode,after power-on the system will enable Navigation Mode and deliver measurements automatically through whichever ports you have selected.

Communication between PCS and the Controller program is through a 10BaseT Ethernet link.

GPS Receivers;

PCS includes two GPS receiver cards:

The primary receiver can receive and process differential corrections.This receiver provides the position and velocity information to PCS. It also provides the Pulse Per Second (PPS) strobe that PCS uses to synchronize data output to Universal Time,Coordinated (UTC) or GPS time.

Along with the primary receiver, the secondary receiver allows PCS to compute GPS heading aiding by performing carrier phase differential measurements between the two GPS receivers.

The system includes two identical antennas with 15 metre (~49 ¼ feet) long connection cables. You must connect each receiver to a GPS antenna to receive GPS signals from the orbiting constellation of satellites.The antennas supplied with the system have excellent phase centre stability.If you use alternative antennas with PCS, cannot guarantee the heading or position performance of the system.

GPS system  is a unique feature of PCS  that allows the system to achieve exceptional accuracy in the measurement of heading. The GPS system  uses two GPS receivers and antennas to determine a GPS-based heading that is accurate to 0.2° or better (using a two-metre [~6 ½ feet] antenna baseline) when blended with the inertial navigation solution. PCS uses this heading information as ‘aiding’ data, together with position and velocity information supplied by the primary GPS receiver.

Physical Interface;

 The PCS have a six RS-232 serial ports COM (1), COM (2), COM (3), COM (4) allow communication between the PCS and external equipment.


To supply data using up to eight NMEA sentence types. You can select the sentence format to include position information ($INGGA or $INGGK); heading data ($INHDT); track and speed data ($INVTG); error ellipsoids ($INGST); attitude data ($PASHR or $PRDID), time data ($INZDA or $INGGK), date ,data ($INZDA or $INGGK) and DOP data ($INGGK).To provide attitude and heading data for the multibeam sonar. including TSS1, TSM 5265 and Atlas. You can set the Simrad and the TSM 5265 formats to include angles of attitude using either the TSS standard or the Tate-Bryant standard.

You can select  another data formats(OPTIONAL) if wish.

Base 1 and 2 GPS outputs

Base 1 and 2 GPS inputs

Auxiliary 1 and 2 GPS inputs


GPS 1 and GPS 2  RTK using third-party network corrections: VRS, FKP, MAC,RTMC correction.


4 analog ( +/- 10 V) 16 bit.

Roll,Pitch,Heave,Heading output.


Supplies dc Power to and receives signals from Primary and Secondery GPS antenna


Ethernet interface communicates with a controlling PC through 10/100 Base-T port


10-36V DC, < 10 W – 110-220 V AC



120 channels:

GPS L1 C/A L1/L2 P-code, L2C, L5 – GLONASS L1 C/A, L2 C/A code – GALILEO E1 and E5 (including GIOVE-A and GIOVE-B test satellites)- SBAS L1 code and carrier (WAAS/EGNOS/MSAS)- Fully independent code and phase measurement

Quick signal detection engine for fast acquisition and re-acquisition of GNSS signals

Fast and stable RTK solution

Up to 20 Hz real-time raw data, position and heading (against another receiver) output

Advanced multi-path mitigation technique

RTK base and rovers

Operating temperature: -40° to +85°C

Shock: MIL-STD 810F, Fig. 516.5-10

(40g, 11ms, saw-tooth)

Vibration: MIL-STD 810F, Fig. 514.5C-17


< 50 cm typical Horizontal


< 30 cm + 1 ppm typical Horizontal2,3


5cm + 1 ppm horizontal (steady state) for

baselines up to 1000 km


Horizontal: 1 cm + 1 ppm2,3

Vertical: 2 cm + 1 ppm2,3


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