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Drivers Manual

SBG Systems Delayed Heave UTC - 23

Description

Driver to decode data from SBG systems with a binary log.
Driver is available as:

  • Position Navigation System
  • Gyro Compass
  • Pitch Roll heave sensor
  • Time Synchronization system
  • Acceleration, Velocity & Rotation Rate
  • Miscellaneous System

Driver Information

Driver Ekinox Interface Type TCP/UDP/Serial  Driver Class Type Counted 
UTC Driver (question)  Yes and No Input / Output Input  Executable

DrvQPSCountedUDP.exe
DrvQPSCountedTCP.exe  
DrvQPSCounted.exe

Related Systems
Related Pages

System Configuration

The Ekinox units support multiple interface types (serial, network, CAN, Logic I/O).

QINSy supports the following interfaces:

  • Serial
  • Network 
    • TCP
    • UDP

Time synchronisation

Testing has shown that the TCP interface type is not suitable for the Time Synchronization system as there is too much "jitter" on this interface.

The IP address can be found either on the SBG unit or in the sbgCenter.


The first screen which will appear can be seen below, here you can still see the system interfacing, make sure that you select the correct view which applies to your type of survey.

Status information can be found on the front page as well including:

  • System connection
  • Alignment
  • Timing/clock
  • GNSS mode
  • and other various types of information

Manuals can be found in the top right corner on the web interface with the small booklet icon.


Orientation and offsets

Select the Motion profile:

  • Marine
  • Plane
  • Ground

Select the correct Alignment

  • In this case you can clearly see that the alignment is upside down

Enter the Lever arms, by keeping the alignments in mind

Make sure that you enter the location of the Antennas as well

You can also select if the Position, Velocity and True should be used

3D environment to check your setup


In order to use either of these interfaces, they must be enabled through the embedded web server.

Here interface parameters (e.g. port number, IP-address, baud rate etc.) can be set:


The user must also configure which messages the unit should send out on each interface. Also select the correct Output Monitoring Point.

The status message is a special message because it contains status information of many of the other message types. As such, it is vital for QINSy to determine the quality of the data from the unit and must always be enabled.
The UTC message is another special message that is mandatory when the message time stamp is decoded from the message (see Driver Selection). Which QINSy systems use which messages is described in detail in the remainder of this document. 

The table below summarizes all the logs that this driver can decode. 

Message type Mandatory Contains
STATUS Yes Validity information of other messages
IMU_DATA No Acceleration and Rate-of-turn
EKF_EULER No Roll, pitch and heading
EKF_NAV No Velocity and Position
SHIP_MOTION(1-4) No Heave, Acceleration and Velocity
SHIP_MOTION_HP(1-4) No Delayed heave (may be used for post processing)
UTC_TIME If UTC driver is used UTC time
GPS(1-2)_VEL No Velocity
GPS(1-2)_POS No Position
GPS(1-2)_HDT No Heading
ODO_VEL No Velocity

Output Rate

The Ekinox units are capable of outputting data at high frequencies (up to 200Hz). Due to limited buffer space, it is advised to not select an output rate higher than 40Hz.

Note

The Ekinox Ellipse Series and Ellipse 2 Series do not support the online interfacing. Please refer to the sbgCenter.

SBG Center

Please connect the SBG unit to the computer via Ethernet or serial.

Open the sbgCenter:

  • Check in the Settings to which kind of unit you are connecting:
    • Serial for the Ellips or Ekinox
    • Ethernet for the Ekinox unit
  • Connect your system via the Connect icon.
    • The Select and connect a device windows pops up.
    • Click on Refresh to find the unit connect to the computer.
    • In case an Ethernet is connected, the IP location can be found here as well (this will help to connect via the web browser).
    • Select the device and connect.


SBG information

Device information:

Device information displayed:

  • Type of unit & serial number.
  • Connection:
    • IP Address.
    • In/output port.
    • Speed.
  • Version.

Device UTC time and Date for Ekinox D

  • To check for valid clock and timing.


Position view for Ekinox D

  • Can compare the INS position to the GPS position.


Device status:

General:

  • Is the system correctly powered.
  • Do we receive all the data.

Solution:

  • Quality of the system.

Aiding Inputs:

  • Is the GNSS information received.
  • In case of a second GNSS system (GNSS 2, not another receiver), do we also receive this kind of information.

Interfaces:

  • Which port is being used.

Sensors:

  • Are all the sensors calculating.


Once all the above is checked and correctly received, the following information can be displayed as well:

Equipment Information:

Position:

  • Solution mode.
  • Position and sd's.

Velocity:

  • Solution mode.
  • Velocity, course and sd's.

True Heading:

  • Heading if two gps receivers are connected.
  • Pitch if two gps receivers are connected.

GNSS information:

  • GPS/GLONASS.
  • Number of Satellites.
  • Base station Id.

Cockpit view:

  • Compare the Ekinox heading with the GPS computed heading.
    • Should be within 1 degrees difference.

3D view:

* Orientation of the SBG system.

Various kinds of graphs can be displayed

Note

Please note that the sbgCenter can be used for troubleshooting, however the sbgCenter should be closed when using QINSy, as it occupies the SBG unit.

Interfacing Notes

When a heading is decoded from the Ekinox:

  • Add a "Time synchronization" system to your template and select the appropriate Ekinox driver

Warning

Do not use the TCP driver for a Time synchronization system. During testing we found out that there is too much "jitter" on this interface to decode the UTC time properly.

  • Select the port and/or IP address of the Ekinox unit
  • On the next page enable the use of your Time Synchronization adapter, or leave it disabled if you do not have a Time Synchronization pulse interfaced to QINSy. Normally the use of a Time Synchronization adapter is highly recommended, but note that in a setup where all other systems are already UTC time-tagged from an external time source (GNSS receiver), there is no need for QINSy to use a Time Synchronization adapter.

Info

Ekinox units with an internal GPS provide the possibility to output the Time Synchronization (PPS) pulse on an output port. Please refer to the Ekinox user manual for additional information.

Warning

If a time synchronization system is used, the unit must be configured to output a UTC_TIME log. For the best performance, set the output rate to "New data".

Database Setup

For each system, the user will have to choose from a number of drivers based on which interface is used (TCP/UDP/Serial) and whether the incoming message is time stamped with the UTC time in the message, or at the time of arrival. 

The table below shows which driver to choose for each interface-UTC combination. The exact name of the driver differs per system, this is indicated in the table by <system type> which should be replaced by a system specific text. (F.i. "Network (TCP) SBG Ekinox (R-P-H) (UTC) " or "Network (TCP) SBG Ekinox Heading (UTC)").

 Interface

Use UTC time in message Driver
Serial Yes SBG Ekinox <system type> (UTC)
No SBG Ekinox <system type>
TCP Yes  Network (TCP) SBG Ekinox <system type> (UTC) 
No  Network (TCP) SBG Ekinox <system type>
UDP Yes  Network (UDP) SBG Ekinox<system type> (UTC) 
No  Network (UDP) SBG Ekinox <system type>

Note

If the Ekinox system is used without a GPS (either internal or external), the user should always choose the non-UTC driver as the GPS's UTC message is used to calculate other messages' time tags.

Note

If UTC drivers are used, make sure that the unit is configured to output the UTC_TIME log. This log is necessary to calculate the UTC time for other messages. If UTC drivers are chosen and the UTC_TIME log is not received, the driver will not function properly!

Position Navigation System


In order to decode a position from the Ekinox:

  • Add a Position Navigation System to your template and select the appropriate Ekinox driver

  • Select the port and/or IP address of the Ekinox unit

  • Select for Horizontal and Vertical datum WGS84.
  • Position information can be decoded from EKF_NAV, GPS1_POS or GPS2_POS log. Which log is used, is based on the selected receiver number in Database Setup:


Receiver number source Info
1 (preferred) EKF_NAV INS solution. Max data rate 220Hz (25 -50Hz suggested)
2 GPS1_POS Heading measured by Dual Antenna GNSS receiver connected to the inertial sensor (corresponding the GPS1 in the configuration). Max data rate is 5 Hz
3 GPS1_POS2 Heading measured by Dual Antenna GNSS receiver connected to the inertial sensor (corresponding the GPS2 in the configuration). Max data rate is 5 Hz

Quality

The possible values of the quality indicator (displayed as "solution mode" in the Positioning System Display) depend on which log is used for the system. If the position is decoded from the NAV log, the status is decoded from the POSITION_VALID bit in the STATUS log. If either GPS1 or GPS2 is used to decode the position, the quality is decoded from the GPS_POS_STATUS field in the LOG_GPSx_POS log in the following way:

  • If SBG_ECOM_GPS_POS_STATUS is equal to SBG_ECOM_POS_SOL_COMPUTED (a valid position has been computed), the variable SBG_ECOM_GPS_POS_TYPE is returned.
  • If SBG_ECOM_GPS_POS_STATUS is not equal to SBG_ECOM_POS_SOL_COMPUTED, SBG_ECOM_GPS_POS_STATUS  multiplied by -1 is returned. This leads to the following possible values for the position quality:
Log Possible values Value meaning
NAV -1 Position data is unreliable (Position error > 10m)

1 Position data is reliable (Position error < 10m)
GPS1/GPS2 -1

Not enough valid SVs to compute a solution.

-2 An internal error has occurred.
-3 The height limit has been exceeded.
0 No valid solution available.
1

An unknown solution type has been computed.

2 Single point solution position.
3 Standard Pseudorange Differential Solution.
4 SBAS satellite used for differential corrections.
5 Omnistar VBS Position (L1 sub-meter).
6 Floating RTK ambiguity solution (20 cms RTK).
7 Integer RTK ambiguity solution (2 cms RTK).
8 Precise Point Positioning with float ambiguities.
9 Precise Point Positioning with fixed ambiguities.
10 Fixed location solution position.



Gyro

In order to decode a heading from the Ekinox:

  • Add a Gyro Compass System to your template and select the appropriate Ekinox driver

  • Select the port and/or IP address of the Ekinox unit

  • Select type: bearing, unit: degrees
  • Heading data can be decoded from EKF_EULER, GPS1_HDT or GPS2_HDT log. Which log is used is based on the slot value in Database Setup:
Slot value Log Info
EULER (preferred) EKF_EULER INS solution. Max data rate 200Hz (25 -50Hz suggested). Will continue with outputting solution during GNSS drop out.
GPS1 GPS1_HDT  This is the position out from the GNSS receiver defines as GPS1 in the configuration of the sensor. It can be used as backup / secondary, and max output rate is 5 Hz. No solution during GNSS drop out.
GPS2 GPS2_HDT  This is the position out from the GNSS receiver defines as GPS2 in the configuration of the sensor. It can be used as backup / secondary, and max output rate is 5 Hz. No solution during GNSS drop out.

Quality

The possible values of the quality indicator (displayed as "solution mode" in the Positioning System Display) depend on which log is used for the system:

If the EULER log is used to decode heading, the quality of the data is decoded from the SBG_ECOM_SOL_HEADING_VALID bit in the SOLUTION_STATUS field of the LOG_STATUS log.

If either of the GPSx_HDT logs is used to decode the heading, the quality is decoded from the GPS_HDT_STATUS field in the log. This leads to the following possible values for the heading quality.

Log Possible values Value meaning
EULER 1 Heading data is reliable (Heading error < 1°)
-1 Heading data is not reliable (Heading error >= 1°)
GPS1/GPS2 1

A valid solution has been computed.

-1 Not enough valid SV to compute a solution.
-2 An internal error has occurred.
-3 The height limit has been exceeded.


In order to decode a heading from the Ekinox:

  • Add a "Time Synchronization" system to your template and select the appropriate Ekinox driver

Warning

Do not use the TCP driver for a Time Synchronization system. During testing we found out that there is too much "jitter" on this interface to decode the UTC time properly.

  • Select the port and/or IP address of the Ekinox unit
  • On the next page enable the use of your Time Synchronization adapter, or leave it disabled if you do not have a Time Synchronization pulse interfaced to QINSy. Normally the use of a Time Synchronization adapter is highly recommended, but notice that in a setup where all other systems are already UTC time-tagged from an external time source (GNSS receiver), there is no need for QINSy to use a Time Synchronization adapter.

Info

Ekinox units with an internal GPS provide the possibility to output the Time Synchronization (PPS) pulse on an output port. Please refer to the Ekinox user manual for additional information.

Warning

If a time synchronization system is used, the unit must be configured to output a UTC_TIME log. For the best performance, set the output rate to "New data".


Pitch, Roll and Heave

Warning

Ekinox does not pack pitch, roll and heave into a single log. Pitch and roll are packed in the EULER log and heave is packed in one of the SHIP_MOTION logs. The calculation times of these two logs are not synchronized.
As a result, the driver cannot decode pitch, roll and heave for one single point in time.

There are two options to handle this issue:

  • Single Pitch, Roll and Heave system. 
    Configure a Pitch, Roll an Heave system with "R/P/H0", "R/P/H1", "R/P/H2" or "R/P/H3" as slot id. The resulting VRU observation will be timestamped with the time the roll and pitch were calculated. The observation will contain the heave of the SHIP_MOTION_x log received after the EULER log that was the source of the roll and pitch. In this scenario, the heave in the observation may be calculated at a different time than the pitch and roll. If the EULER log and the SHIP_MOTION_x log have the same output rate, the maximum time difference between the pitch/roll and the heave is equal to 1 over the output rate in seconds. This means that if the motion data is outputted at 10 Hz, your maximum time difference is 0.1 seconds.
  • Dual Pitch, Roll and Heave system.
    Configure two Pitch roll and heave systems. 
    • One for pitch and roll, using slot ID "P/R"
    • One for heave, using slot ID "HEAVE0", "HEAVE1", "HEAVE2" or "HEAVE3"
    This option ensures that both pitch/roll and heave are provided with an accurate time tag.

Database Setup single system

  • Add a "Pitch Roll Heave sensor" system to your template and select the appropriate Ekinox driver 

  • Select the port and/or IP address of the Ekinox unit

  • Rotation measurements
    • Unit: degrees
  • Rotation conventions
    • Roll convention: Positive heeling to starboard
    • Pitch convention: Positive bow up
  • Heave measurements
    • sign: Positive downwards
    • unit: Meters
  • Pitch and Roll can only be decoded from EULER data. The heave can be decoded from any of the four SBG_ECOM_LOG_SHIP_MOTION_X logs, where SBG_ECOM_LOG_SHIP_MOTION_0 contains the heave at the position of the unit and the other three contain the heave at a position that can be configured by the user through the embedded web server. Which log is used to decode the heave can be configured through the slot number of the Pitch Roll Heave sensor:
Slot value Log
R/P/H0 SHIP_MOTION_0
R/P/H1 SHIP_MOTION_1
R/P/H2 SHIP_MOTION_2
R/P/H3 SHIP_MOTION_3

Database Setup dual system

  • Add a "Pitch Roll Heave sensor" system to your template for pitch and roll. Select the appropriate Ekinox driver 

  • Select the port and/or IP address of the Ekinox unit

  • Rotation measurements
    • Unit: degrees
  • Rotation conventions
    • Roll convention: Positive heeling to starboard
    • Pitch convention: Positive bow up
  • Select "R/P" as slot.
  • Add a  second "Pitch Roll Heave sensor" system to your template for the heave. Select the appropriate Ekinox driver 

  • Select the port and/or IP address of the Ekinox unit

  • Rotation measurements
    • Unit: degrees
  • Rotation conventions
    • Roll convention: Positive heeling to starboard
    • Pitch convention: Positive bow up
  • Heave measurements
    • sign: Positive downwards
    • unit: Meters
  • The heave can be decoded from any of the four SBG_ECOM_LOG_SHIP_MOTION_X logs, where SBG_ECOM_LOG_SHIP_MOTION_0 contains the heave at the position of the unit and the other three contain the heave at a position that can be configured by the user through the embedded web server. Which log is used to decode the heave can be configured through the slot number of the Pitch Roll Heave sensor:
Slot value Log
HEAVE0 SHIP_MOTION_0
HEAVE1 SHIP_MOTION_1
HEAVE2 SHIP_MOTION_2
HEAVE3 SHIP_MOTION_3

Warning

Make sure that both Pitch, Roll and Heave systems are included in the Computation.

Quality

The quality of the pitch and roll is decoded from the SBG_ECOM_SOL_ATTITUDE_VALID bit in the SOLUTION_STATUS field of the STATUS log. 

The quality of the heave is decoded from the SBG_ECOM_HEAVE_VALID bit in the status field of the SHIP_MOTION_X log.

This leads to the following possible quality values: 

Possible values Value meaning
-1 Invalid data
1 Valid data


Acceleration, Velocity & Rotation Rate

In order to decode acceleration, velocity and rotation from the Ekinox:

  • Add an "Acceleration, Velocity & Rotation Rate" system to your template and select the appropriate Ekinox driver 

  • Select the port and/or IP address of the Ekinox unit

  • Slots

    • Velocity can be decoded from inertial data. GPS1 data, GPS2 data and Odometer data.

    • Acceleration can be decoded from IMU data and ship motion data.

    • Rotation can only be decoded from IMU data

    • The table below shows which slot value should be used to decode the data from the various log types:

Observation type Slot value Log
Velocity

VEL_N_NAV
VEL_E_NAV
VEL_D_NAV

EKF_NAV Velocity in North, east and and down direction from the INS system.
VEL_N_GPS1
VEL_E_GPS1
VEL_D_GPS1
GPS_1_VEL

Velocity in North, east and and down direction from GPS1.

VEL_N_GPS2
VEL_E_GPS2
VEL_D_GPS2
GPS_2_VEL Velocity in North, east and and down direction from GPS2.
VEL_ODO ODO_VEL Velocity in odometer direction.
Acceleration ACC_X_IMU
ACC_Y_IMU
ACC_Z_IMU
IMU_DATA Filtered accelerometer data. X, Y and Z axis, directly from the IMU.
ACC_X_MOT0
ACC_Y_MOT0
ACC_Z_MOT0
SHIP_MOTION_0 Longitudinal, lateral and vertical acceleration at the location of the unit.
ACC_X_MOT1
ACC_Y_MOT1
ACC_Z_MOT1
SHIP_MOTION_1 Longitudinal, lateral and vertical acceleration at monitoring point 1.
ACC_X_MOT2
ACC_Y_MOT2
ACC_Z_MOT2
SHIP_MOTION_2 Longitudinal, lateral and vertical acceleration at monitoring point 2.
ACC_X_MOT3
ACC_Y_MOT3
ACC_Z_MOT3
SHIP_MOTION_3 Longitudinal, lateral and vertical acceleration at monitoring point 3.
Rotation rate

There is no need to fill in a slot value for the rotation rate.
This value is always decoded from the IMU log.

IMU_DATA Filtered gyroscope X, Y and Z axis. Directly from IMU.


Quality

The table below describes from which messages the quality numbers for the different observations are decoded and what the values mean:

Observation type Log Quality decoded from  Possible values Meaning
Velocity EKF_NAV

SBG_ECOM_SOL_VELOCITY_VALID bit
from STATUS log 

1.0 Velocity value valid (velocity error < 1.5 m/s)
-1.0 Velocity value invalid (velocity error >= 1.5 m/s)
GPS_1_VEL/
GPS_2_VEL 
GPS_VEL_STATUS

1.0

A valid solution has been computed
-1.0 Not enough valid SV to compute a solution
-2.0 An internal error has occurred.
-3.0 Velocity limit exceeded.
ODO_VEL
0.0 Quality unknown
Acceleration IMU_DATA

SBG_ECOM_IMU_ACCEL_?_BIT
in IMU_STATUS from IMU_DATA log

1.0 Accelerometer passed built in test
-1.0 Accelerometer did not pass built in test
SHIP_MOTION_X
0.0 Quality is unknown
Rotation rate IMU_DATA SBG_ECOM_IMU_GYRO_?_BIT
in IMU_STATUS from IMU_DATA log
1.0 Gyro passed built in test
-1.0 Gyro did not pass built in test

Miscellaneous System - Delayed heave


Ekinox units are able to output a delayed heave message which contains a delayed computation, which provides a better heave value, but is delayed. As such, it cannot be used in online computations, but the data can be used in post processing. The delayed heave can be viewed by adding a miscellaneous observation.

Database Setup

  • Add a "Miscellaneous" system to your template and select the appropriate Ekinox driver 

  • Select the port and/or IP address of the Ekinox unit

  • Select the desired delayed heave value through the slot id: "DEL_HEAVE0", "DEL_HEAVE1", "DEL_HEAVE2" or "DEL_HEAVE3" 

Online

As soon as you go on-line and delayed heave messages are being sent by the Ekinox unit (independent of whether or not a miscellaneous system for delayed heave has been configured), the delayed heave messages will be logged to two files:

  • Binary file
    A binary file will be created in your project's Import folder, containing all incoming SHIP_MOTION_HP_x logs.
    The binary file contains the raw log data (e.g. TIME_STAMP, HEAVE_PERIOD, SURGE, SWAY, HEAVE, ACCEL_X, ACCEL_Y, ACCEL_Z, VEL_X, VEL_Y, VEL_Z and STATUS).
    File name convention will be "Ekinox delayed heave MOTION_HP_<monitoring point index> - <System Name> (dd-mm-yyyy).bin".
  • ASCII file
    At the same time an ASCII file is created in the same folder with the same file name, but with extension *.txt.
    This file contains a readable representation of the delayed heave.
    In order to keep this file compatible with other drivers that log delayed heave variants the ASCII file will contain the following comma separated values::
    • UTC date and time,
    • Difference between Real and Delayed heave,
    • Delayed heave,
    • Delayed heave RMS,
    • Real heave,
    • Real heave RMS

    Warning

    The Ekinox unit does not output "real heave" along with the delayed heave. As a result we will only log the delayed heave with the corresponding time stamp to file. The real heave will always be zero.
    As a result, the difference between Real and Delayed heave will always be equal to the delayed heave multiplied by -1.

    All RMS values will be zero as well.

    True Heave logging

    Warning

    If Delayed Heave data is to be used, it is important to remain Online for at least 3 - 5 minutes after logging has stopped in order for the stored file to cover all of the logged data.

Offline / Replay

  • Binary file
    • The delayed heave recorded in the binary file can be imported into the recorded DB files and needs to be replayed after the data is imported.

      Note that the delayed heave only imports the heave value and no Heading, Pitch and Roll.
      When replaying the data make sure to set the following priorities for the delayed heave observations in the Computation Setup :

      • Heading
        • Heading Real Heave - Primary
        • Heading Delayed Heave - Secondary or less
      • Pitch and Roll

        • Motion Real Heave - Primary
        • Motion Delayed Heave - Secondary or less
      • Heave

        • Delayed Heave - Primary
        • Real Heave - Secondary

      The above settings could also be used when recording data online, as the Heave will automatically fall through to the secondary device because the True Heave is not decoded online by the Pitch Roll and Heave Sensor : POS-MV - True Heave.

Processing 

Please refer to driver manual POS MV V5 (Binary Group 111 - True Heave for more information about importing this ASCII or binary file into your QPD files. 

True Heave logging

The old Validator method of applying delayed heave is not available for the delayed heave logged by the Ekinox since we do not log the difference between the delayed and the real heave.

QINSy Online


Quality Control

Position navigation system Quality

The possible values of the quality indicator (displayed as "solution mode" in the Positioning System Display) depend on which log is used for the system. If the position is decoded from the NAV log, the status is decoded from the POSITION_VALID bit in the STATUS log. If either GPS1 or GPS2 is used to decode the position, the quality is decoded from the GPS_POS_STATUS field in the LOG_GPSx_POS log in the following way:

  • If SBG_ECOM_GPS_POS_STATUS is equal to SBG_ECOM_POS_SOL_COMPUTED (a valid position has been computed), the variable SBG_ECOM_GPS_POS_TYPE is returned.
  • If SBG_ECOM_GPS_POS_STATUS is not equal to SBG_ECOM_POS_SOL_COMPUTED, SBG_ECOM_GPS_POS_STATUS  multiplied by -1 is returned. This leads to the following possible values for the position quality:
Log Possible values Value meaning
NAV 0 No quality information available.
GPS1/GPS2 -1

Not enough valid SVs to compute a solution.

-2 An internal error has occurred.
-3 The height limit has been exceeded.
0 No valid solution available.
1

An unknown solution type has been computed.

2 Single point solution position.
3 Standard Pseudorange Differential Solution.
4 SBAS satellite used for differential corrections.
5 Omnistar VBS Position (L1 sub-meter).
6 Floating RTK ambiguity solution (20 cms RTK).
7 Integer RTK ambiguity solution (2 cms RTK).
8 Precise Point Positioning with float ambiguities.
9 Precise Point Positioning with fixed ambiguities.
10 Fixed location solution position.


To display which Solution mode you are in an Alert display can be created to add the solution mode for the Positioning.

Change the Alert Setup to the Solution mode you are expecting and system you are using.


Gyro System Quality

The possible values of the quality indicator (displayed as "solution mode" in the Positioning System Display) depend on which log is used for the system:

If the EULER log is used to decode heading, the quality of the data is decoded from the SBG_ECOM_SOL_HEADING_VALID bit in the SOLUTION_STATUS field of the LOG_STATUS log.

If either of the GPSx_HDT logs is used to decode the heading, the quality is decoded from the GPS_HDT_STATUS field in the log. This leads to the following possible values for the heading quality.

Log Possible values Value meaning
EULER 1 Heading data is reliable (Heading error < 1°)
-1 Heading data is not reliable (Heading error >= 1°)
GPS1/GPS2 1

A valid solution has been computed.

-1 Not enough valid SV to compute a solution.
-2 An internal error has occurred.
-3 The height limit has been exceeded.


Select the Quality indicator outside limit.

If the value remains 1 a reliable heading is computed, if not see above what might be going on.

Pitch Roll Heave Quality

The quality of the pitch and roll is decoded from the SBG_ECOM_SOL_ATTITUDE_VALID bit in the SOLUTION_STATUS field of the STATUS log. 

The quality of the heave is decoded from the SBG_ECOM_HEAVE_VALID bit in the status field of the SHIP_MOTION_X log.

This leads to the following possible quality values: 

Possible values Value meaning
-1 Invalid data
1 Valid data

Select the Quality indicator outside limit.

If the value remains 1 a reliable motion is computed.


Generic Display

Add a Generic Display and open this .xml :

To view the following information:


Additional Information

Registry Tweak settings

  • An advanced user may tweak the following registry key, in order to change the default behavior:

    "HKEY_CURRENT_USER\Software\QPS\QINSy\8.0\Drivers\POS MV True Heave Logger\Settings"



    • Append is by default set to 1. If you change it to 0, any existing file will be overwritten.
    • Ascii is by default set to 1. If you change it to 0, no ASCII file will be stored.
    • Binary is by default set to 1. If you change it to 0, no binary Group 111 records will be stored.
    • LogAlways is by default set to 1. If you change it to 0, no data will be stored to disk.