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Table 5: Status LED
Colour
Description
Off
The operating system has not yet booted. This occurs at start-up.
Red-green flash
The system is asleep. Contact OxTS support for further information.
Red flash
The operating system has booted but the GNSS receiver has not yet output a
valid time, position, or velocity.
Red
The GNSS receiver has locked-on to satellites and has adjusted its clock to
valid time (1PPS output now valid). The INS is ready to initialise.
Orange
The INS has initialised and data is being output, but the system is not yet real-
time (the Kalman filter delay is a few seconds). It takes ~10 seconds for the
system to become real-time.
Green
The INS is running and the system is real-time.
Table 6: GNSS LED
Colour
Description
Off
GNSS receiver fault (valid only after start-up).
Red flash
The GNSS receiver is active but has not yet determined heading.
Red
The GNSS receiver has a differential heading lock.
Orange
The GNSS receiver has a floating (poor) calibrated heading lock.
Green
The GNSS receiver has an integer (good) calibrated heading lock.
Coordinate frame
The IMU reference frame shown in Figure 4 is popular with navigation systems
– where the positive X-
axis points forwards, the positive Y-axis points right and the positive Z-axis points down.
The AV200 can be mounted in any orientation, it is not necessary for its axes to match those of the host
vehicle. The configuration file will specify the transformation from the IMU frame to the vehicle frame.
