========================= Sensor Recommendations ========================= The ANELLO Maritime INS has been successfully integrated with a variety of speed sensors, GNSS antennas, and M-Code receivers. The following recommendations are based on tested integrations and typical maritime deployment requirements. Speed Sensors ------------- The Maritime INS requires a speed sensor to provide aiding data for optimal navigation performance. ANELLO recommends selecting a sensor that supports the full operating speed range of the vessel. Paddle Wheel ^^^^^^^^^^^^ **Recommended Model:** Airmar DST-810 (NMEA 2000) Advantages: * Most cost-effective and widely used option for unmanned surface vessels (USVs) * Provides continuous water-speed measurements, including during brief vessel planing events Installation Notes: * Available in both thru-hull and transom-mount configurations * Thru-hull installation is recommended for best performance Ultrasonic ^^^^^^^^^^ **Recommended Model:** Airmar UDST-800 (NMEA 2000) Advantages: * No moving parts, improving long-term reliability * Can provide improved accuracy at low speeds Considerations: * May lose valid speed measurements when the vessel is planing at high speed Doppler Velocity Log (DVL) ^^^^^^^^^^^^^^^^^^^^^^^^^^ **Recommended Model:** Nortek Nucleus 1000 Interface: * RS-232 with Nortek proprietary output Advantages: * Provides ground-referenced velocity when bottom lock is available (typically within 50–100 m of the seabed) * Can also provide speed-through-water measurements * Best choice for extended GPS-denied operation when bottom lock can be maintained, such as on UUVs Considerations: * Maximum measurable speed is approximately 10 knots Speed Sensor Installation Guidelines ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ * Ensure the selected sensor supports the full speed range of the vessel * Follow the manufacturer's installation guidelines * Mount the sensor near the centerline of the hull whenever possible * Avoid obstructions that could disrupt water flow across the sensing element GNSS Antenna Recommendations ---------------------------- ANELLO recommends using active L1/L2/L5 all-constellation GNSS antennas. The following models have been successfully integrated with the Maritime INS. u-blox ANN-MB2 ^^^^^^^^^^^^^^ A cost-effective all-band active GNSS antenna featuring: * 5 m SMA cable * Magnetic or screw mounting options * IP67 environmental rating Recommended for: * Rapid integration efforts * Cost-sensitive programs Tallysman TW3972 ^^^^^^^^^^^^^^^^ A rugged triple-band GNSS antenna featuring: * Permanent-mount design * IP69K environmental rating * L-band correction support * Low current consumption * Strong RF filtering Recommended for: * General-purpose maritime deployments * Ruggedized installations Calian VeroStar VSP6337L ^^^^^^^^^^^^^^^^^^^^^^^^ A high-performance marine GNSS antenna featuring: * IP69K environmental rating * IEC 60945 and IEC 61108 compliance * Low phase-center variation * Strong low-elevation satellite tracking * Iridium and Inmarsat interference rejection Recommended for: * High-performance marine navigation systems * Challenging RF environments Antenna Installation Guidelines ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ * The Maritime INS supplies 3.3 V bias power for active antennas * The antenna baseline must be at least 1 meter; longer baselines improve dual-antenna heading accuracy * Ensure clear sky visibility for both antennas * Follow any ground-plane requirements specified by the antenna manufacturer * Use the same antenna model and identical cable type and length for ANT1 and ANT2 unless otherwise validated M-Code Receiver Recommendations ------------------------------- The Maritime INS has been successfully integrated with the following external M-Code receivers. Supported Receivers ^^^^^^^^^^^^^^^^^^^ * Collins NavHub 100 * SFS Valiant Splash Integration Requirements ^^^^^^^^^^^^^^^^^^^^^^^^ The Maritime INS accepts M-Code aiding as external GNSS position and velocity aiding through the receiver's decoded NMEA 0183 output. Minimum required NMEA 0183 messages: * RMC * GGA * GSA Requirements: * Message update rate of at least 0.5 Hz * RMC must indicate active status * Position, date, and time fields must be valid * GSA must report a valid 3D fix with finite PDOP, HDOP, and VDOP values Supported Interfaces ^^^^^^^^^^^^^^^^^^^^ * RS-232 * Ethernet using NMEA UDP RS-232 direct connection is the most common integration method. Operational Guidance ^^^^^^^^^^^^^^^^^^^^ * Use keyed M-Code operation whenever available * Treat unkeyed or fallback modes as lower-assurance aiding sources For any questions or concerns regarding external sensors, contact support@anellophotonics.com