The 2.1 firmware release brings support for the new Navsight product line. With Navsight introduction, a lot of enhancements and refinements have been done to improve the product reliability stability and performance.

The 2.1 series conclude the work that has been done with 2.0 series with completely rewritten key components such as data time stamping, output generation and algorithms including the Extended Kalman Filter and Heave algorithms.

These new algorithms bring a lot of new features and performance improvements especially in difficult environments.

A brand new and groundbreaking automatic GNSS lever arms and Dual Antenna alignment estimation tool has been added directly from the embedded web interface.

The firmware update also focuses on reliability with a lot of bug fixes and stability improvements.

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Import highlights from this release

  • Add support for Navsight product line
  • Reworked data time stamping and output generation for better reliability and reduced jitter
  • Completely redesigned Extended Kalman Filter with improved accuracy in multipath environments
  • Brand new and groundbreaking automatic GNSS lever ams and alignment estimation tool
  • Enhanced Inertial Navigation Solution robustness and repeatability
  • Reduced initial alignment time drastically with now 100% success rate
  • Completely new heave algorithms that drastically reduces out of phase waves measurements
  • Refined GUI and behavior for a better user experience
  • Lot of bug fixes and improvements

Important notes

  • The Navsight, Ekinox and Apogee need the NMEA GST frame to use an external NMEA GNSS receiver. Please make sure the GGA, RMC, GST, HDT messages are sent at 5Hz and the ZDA at 1Hz. You can refer to the NMEA Integration Operating Handbook for more information.
  • Trimble GNSS binary protocol is now fully supported by the Ekinox and Apogee. Please update your GNSS and INS configuration to use the GSOF Trimble binary protocol. You can refer to the Trimble Integration Operating Handbook.

Your device settings should be automatically migrated however, please review them before using the unit for production

This 2.1 update is ONLY compatible with Navsight products and should NOT be applied to Ekinox and Apogee products.

All changes for release 2.1.12986-stable

New Feature

  • [EKIFW-1203] - Add a virtual odometer sync output
  • [EKIFW-1204] - Add support for Horizon FOG IMU
  • [EKIFW-1228] - Add baseline length field in SBG_ECOM_LOG_GPS#_HDT log
  • [EKIFW-1263] - Add support for Quanta product line
  • [EKIFW-1287] - Add support for latest Ekinox/Apogee IMU firmware

Improvement

  • [EKIFW-1163] - Reduced GNSS raw data size for products integrating a Septentrio receiver
  • [EKIFW-1182] - DVL: Added :WD,##message to improve water-mass velocity time stamping
  • [EKIFW-1183] - ekfAutoCal: Now the baseline between antenna 1 and 2 is estimated in real time
  • [EKIFW-1184] - Web: changed fixed GNSS position type to static
  • [EKIFW-1207] - Improved APOGEE performance with a better IMU model and timing
  • [EKIFW-1262] - Reduced error log for GNSS information that are not correctly timed
  • [EKIFW-1304] - Integrated latest sbgEkf revision with improved performance
  • [EKIFW-1305] - Improved Horizon IMU error model to improve outage accuracy
  • [EKIFW-1306] - Improved initial INS alignment in single antenna mode
  • [EKIFW-1321] - Improved interfaces (serial/ethernet) error reporting
  • [EKIFW-1346] - Updated documentations to latest revision
  • [EKIFW-1350] - Improved error / protocol models handling

Bug fixes

  • [EKIFW-1148] - Fix lack of RS-485 turn-around delay enforcement
  • [EKIFW-1179] - Fix a product crash for Navsight-S if the internal GNSS board settings was changed by user
  • [EKIFW-1180] - Make sure a lever arm calibration can only be started if a valid UTC date is available
  • [EKIFW-1181] - DVL: Fixed incorrectly parsed range to bottom value in PD6 format (:BD,##)
  • [EKIFW-1193] - Impossible to receive external GNSS messages via UDP port
  • [EKIFW-1259] - Fix IMU reference point issue when a user defined alignment is defined
  • [EKIFW-1261] - UDP: Fix UDP interface that could freeze if too much data are output
  • [EKIFW-1289] - Fix EKF Euler/Nav data output that wasn't correctly aligned on UTC
  • [EKIFW-1297] - Virtual odometer: only output pulses when we have a valid navigation solution
  • [EKIFW-1301] - Fix NMEA HDT messages that wasn't correctly decoded on Navsight units
  • [EKIFW-1316] - Fix Navsight boot issue when data are being sent over COM D/E during startup
  • [EKIFW-1322] - Fix potential issue when the GNSS is sending out of delay time messages
  • [EKIFW-1323] - Fix missing IMU data in the datalogger when a new mechanical calibration is started
  • [EKIFW-1324] - Fix missing IMU data when the Kalman filter resets in calibration mode
  • [EKIFW-1325] - Fix GNSS license upload for Septentrio based products
  • [EKIFW-1352] - ekfAutoCal: Fix wrong UTC date/time reported in the calibration

All changes for release 2.1.12433-stable

New Feature

  • [EKIFW-1128] - Add RTCM status indicator in web page aiding input status window
  • [EKIFW-1072]- Added support to Navsight for high performance FOG IMU
  • [EKIFW-1081] - Added new asynchronous IMU short log used for post processing

Improvement

  • [EKIFW-1158]- Improved WGS48 to NED transformation precision, resulting in better performance
  • [EKIFW-1160]- Improved NMEA HDT message time stamping
  • [EKIFW-1161]- Added System status log to Hypack Output preset
  • [EKIFW-879]- Added OEM7 series Novatel logs for Post Processing in GNSS raw payload
  • [EKIFW-1093]- Disabled delayed heave output in Post Processing output preset
  • [EKIFW-1022]- Updated motion profile description and text with removed magnetic based heading
  • [EKIFW-1053]- Web: Improved cache control policy for Firefox
  • [EKIFW-1054]- Web: Improved look and feel for web interface and Linux Firefox browser
  • [EKIFW-1124]- Automatically output a GGA message at 1 Hz on Port D when RTCM module is enabled
  • [EKIFW-1042]- Removed initial conditions for date time and position as it's not relevant
  • EKIFW-1092]- Enabled Log Event Marker A to E for Post Processing and Support output preset
  • [EKIFW-1152]- Improved enhanced altitude mode operation in case of good RTK availability
  • [EKIFW-1025]- Web: Improved Motion Profile selection with a better looking version
  • [EKIFW-1147]- Now the internal Ax4 GNSS will work even if the user has manually changed some settings
  • [EKIFW-176]- ShipMotion: Synchronize Ship Motion outputs with generator (UTC Second)

Bug fixes

  • [EKIFW-1164] - Changed update url from http to https to avoid implicit redirect that could lead to issues
  • [EKIFW-1162] - Fixed PASHR output log availability for EKINOX-A products
  • [EKIFW-1145] - Fix Center of Rotation lever arm that is affecting delayed heave output and not real time
  • [EKIFW-428] - Fix invalid GNSS data timestamping when the time is older than boot time