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AsteRx SBi3

User Manual

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Summary of Contents for AsteRx SBi

Page 1: ...AsteRx SBi3 User Manual ...

Page 2: ...ot support functions speciﬁc to certain variants While we try to keep the manual as complete and up to date as possible it may be that future features functionality or other product speciﬁcations change without prior notice or obligation The information contained in this manual is subject to change without notice We recommend you to look for new or updated information in our Knowledge Base at http...

Page 3: ...1 3 1 2 Connecting via COM 12 3 2 HOW TO MEASURE AND COMPENSATE FOR THE ANTENNA LEVER ARM 13 3 3 HOW TO COMPENSATE FOR DEVIATIONS IN THE ANTENNA ORIENTATION 14 3 4 HOW TO COMPENSATE ALTERNATIVE IMU RECEIVER ORIENTATIONS 17 3 5 HOW TO SEE IF THE IMU IS OUTPUTTING DATA 20 3 6 VEHICLE VELOCITY INPUT 22 4 Common Receiver Operations 23 4 1 HOW TO CONFIGURE SBF AND NMEA OUTPUT 23 4 1 1 Output over a ser...

Page 4: ... and 93 68 EC CE marking Directive With regards to EMC the AsteRx SBi3 receiver is declared as class A suitable for residential or business environment In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures 1 1 2 ROHS WEEE Notice The AsteRx SBi3 is compliant with the latest WEEE RoHS and REACH directives For more informa...

Page 5: ...d must match the speciﬁcations of the provided power supply In addition the power supplies needs to comply with safety standard IEC 62368 1 and SELV Statement 2 Ultimate disposal of this product should be handled according to all national laws and regulations Statement 3 The equipment and all the accessories included with this product may only be used according to the speciﬁcations in the delivere...

Page 6: ...tware suite including RxControl and RxLogger The Septentrio website has a dedicated Support section http www septentrio com support where the User Manual the Firmware Reference Guide and the latest oﬃcially supported Firmware version are readily available for download In case the AsteRx SBi3 does not behave as expected and you need to contact Septentrio s Technical Support department you should at...

Page 7: ...antenna receiver for systems with no slip motion Use of the AsteRx SBi3 as a single antenna INS solution should be limited to use cases where the heading of the vehicle matches the direction of motion 2 1 Physical and Environmental Speciﬁcations Size 102 x 36 x 118 mm 4 0 x 1 4 x 4 6 in Weight 490 g 17 3 oz Operating temperature 30 C to 65 C 22 F to 149 F Storage temperature 40 C to 75 C 40 F to 1...

Page 8: ... not use Ethernet and to turn oﬀ the associated hardware This can be done with the setEthernetMode command The activation of the Wideband Interference mitigation WBI with the setWBIMitigation command The following table shows the nominal power consumption measured when 12 VDC is supplied to the PWR connector Conﬁguration Typical Power Consumption GPS GLONASS L1 L2 RTK Single antenna externally pow...

Page 9: ...OM2 3 USB socket a 7 pin female COM1 GPIO socket and a 4 pin female ETH socket A full description of the connector PIN layout of the rear panel ports can be found in Appendix A Figure 2 2 The rear panel of the AsteRx SBi3 2 4 3 Top case The AsteRx SBi3 s top of the case shows the Septentrio logo as well as the engraving of the IMU reference point to be used for deﬁning the antenna lever arm see se...

Page 10: ...CHAPTER 2 ASTERX SBI3 OVERVIEW Figure 2 3 The top of the AsteRx SBi3 10 ...

Page 11: ...nd 36 V DC Figure 3 1 Rear panel Ethernet socket Step 2 Open a web browser and connect to the AsteRx SBi3 By default the AsteRx SBi3 has the hostname http asterxsbi3 xxxxxxx where xxxxxxx are the 7 digits of the serial number of the receiver board inside the AsteRx SBi3 This hostname can be used on a local area network to connect to the AsteRx SBi3 if the IP address assigned by the DHCP server is ...

Page 12: ...l port Now connect the power cable to the receiver and make sure the correct input voltage is applied between 4 5 and 36 V DC Figure 3 3 Rear panel COM1 socket Step 2 Open RxControl and connect to the AsteRx SBi3 Once connected open RxControl on the computer to which the receiver is connected and follow the sequence of steps described in Figure 3 4 to open a connection to the AsteRx SBi3 Note that...

Page 13: ... receiver As shown in Figure 3 5 lever arm oﬀsets can occur in three dimensions Figure 3 5 Example of the relative IMU antenna position in the vehicle s frame in blue In this example the lever arm X and Y components are equal to X and Y positive while the Z component is Z negative 1 7cm Values representing the relative position of the main antenna ARP with respect to the IMU reference point in the...

Page 14: ... For temporary setups or test purposes where the accuracy of the INS solution is not of paramount importance it may be suﬃcient to measure the lever arm manually e g using a tape ruler However this should never be the method of choice for permanent installations 3 3 How to compensate for deviations in the antenna orientation The attitude of a vehicle can be determined from the orientation of the b...

Page 15: ...d to compensate for small angular deviations Note that in order to ensure the integrity of the solution oﬀsets greater than 5 degrees from the longitudinal axis or its perpendicular are not recommended An increase in angle between the antenna baseline and the vehicle s longitudinal axis in the clockwise direction corresponds to a positive change in the value of the heading oﬀset To better explain ...

Page 16: ...he antennas are placed perpendicular to the longitudinal axis with a small deviation The examples above all relate to a heading oﬀset but the antenna orientation can also be characterized by a vertical oﬀset Vertical oﬀsets can be compensated for by adjusting the Pitch oﬀset This may be necessary in cases where the antenna baseline is not exactly parallel to the longitudinal axis of the vehicle or...

Page 17: ...r therefore the IMU in the body frame of the vehicle To correctly translate the motion of the receiver in the same axes of the body frame it is essential to account for the diﬀerences in the axes orientations As such for many installations including when the receiver is installed horizontally with the front panel facing the direction of travel it will be necessary to compensate for the IMU s orien...

Page 18: ...CHAPTER 3 CONFIGURING THE ASTERX SBI3 Figure 3 10 Setting the IMU orientation Examples of typical receiver installations in a vehicle frame are given in Figure 3 11 18 ...

Page 19: ...CHAPTER 3 CONFIGURING THE ASTERX SBI3 Figure 3 11 Examples illustrating the orientation of the IMU reference frame with the associated IMU orientation for the depicted installation 19 ...

Page 20: ...indow on the Overview page should show a line symbolizing a connection between the AsteRx SBi3 and the IMU which is connected to SPI A more robust way of verifying that the IMU is not only connected but that the IMU data is being received and processed correctly involves inspecting the IMU View in RxControl or web interface After establishing a connection with the AsteRx SBi3 using RxControl navig...

Page 21: ...CHAPTER 3 CONFIGURING THE ASTERX SBI3 Figure 3 13 Checking the IMU view in RxControl provides an unambiguous way of checking whether ot not the IMU is outputting data 21 ...

Page 22: ...ocity input improves the dead reckoning performance and heading performance in single antenna It is important to highlight that the contribution of the vehicle velocity input to the AsteRx SBi3 performance is function of the velocity computation accuracy and latency The expected velocity input is an already computed vehicle speed NMEA VSM stream and not raw sensor data For the communication detail...

Page 23: ...ction 4 2 1 and 4 3 detail how to log data on the receiver and how to download data logged on the receiver 4 1 1 Output over a serial COM connection The AsteRx SBi3 can be connected via a serial COM cable to an RS 232 compatible secondary device Step 1 Conﬁgure the serial COM port The COM port of the AsteRx SBi3 should be conﬁgured with the same baud rate and ﬂow control setting of the coupled dev...

Page 24: ...In the NMEA SBF Out tab clicking on New NMEA Stream will guide you through the steps needed to conﬁgure NMEA output as shown in Figures 4 2 and 4 3 Figure 4 2 Selecting to output NMEA data on COM3 Figure 4 3 Selecting to output the GGA and ZDA NMEA message every second 24 ...

Page 25: ...t window a second output stream can be conﬁgured In the example shown in Figures 4 4 and 4 5 the PVTCartesian SBF data block will be output over COM1 once per second Figure 4 4 Selecting to output SBF data on COM1 Figure 4 5 Selecting to output the PVTCartesian SBF block every second 25 ...

Page 26: ...e 4 6 Figure 4 6 Summary of all conﬁgured data output streams Figure 4 7 shows the actual data output NMEA is in ASCII and is thus readable unlike SBF which is formatted in binary In this example the serial COM was connected to a PC via a USB adapter which maps the serial connection to a virtual COM9 of the PC Figure 4 7 Example showing output of NMEA GGA left panel and SBF PVTCartesian right pane...

Page 27: ... 8 port 600 has been conﬁgured as connection IPS1 in TCP2Way mode so data can be received as well as transmitted over the connection When choosing a port number avoid conﬂicts with other applications such as the commands port 28784 the webserver port 80 the FTP port 21 as well as the default NTRIP port 2101 and the NTP port 123 Note that a new IP port can also be conﬁgured by followings the sequen...

Page 28: ...quence of windows to conﬁgure the data you want to output In the example shown in Figure 4 9 the NMEA GGA message will be output every second Ensure that the previously conﬁgured IPS1 port is selected for output as highlighted Figure 4 9 Outputting NMEA GGA over the conﬁgured IPS1 connection Similar steps can be followed to output SBF messages 28 ...

Page 29: ... TCP IP Client button to conﬁgure the connection In the highlighted ﬁelds insert the IP address or hostname of the receiver and the port number conﬁgured in Step 1 Click on Connect Figure 4 10 Conﬁgure the TCP IP connection settings in Data Link The info line at the bottom of the window should indicate that a connection has been made Click on the Show Data button to display the GGA data coming fro...

Page 30: ...CHAPTER 4 COMMON RECEIVER OPERATIONS Figure 4 11 The Show data window of Data Link showing the NMEA GGA message coming from the AsteRx SBi 30 ...

Page 31: ...at you would like to happen when the internal memory is full This can be conﬁgured in the Advanced tab of the main page of the Logging menu as shown in Figure 4 12 There are two options either the receiver stops logging when the memory is full or it continues logging by making space for new ﬁles by deleting the oldest ﬁles The default setting is Stop logging in all sessions Figure 4 12 Selecting w...

Page 32: ...ging session In the Edit SBF Stream window the messages required for RINEX generation have been selected as well as those useful for the Support department for diagnosing problems SBF messages can also be selected individually In the SBF Logging Parameters ﬁeld you can select the naming convention The IGS options names ﬁles according to IGS convention but ﬁles can also be freely named using either...

Page 33: ...n you have ﬁnished conﬁguring the logging session the Log Sessions window will show a summary of the deﬁned logging sessions as in Figure 4 15 An estimate of the daily size of data generated with the current logging conﬁguration is also given Figure 4 15 A summary of the newly deﬁned logging sessions showing the expected amount of data generated daily 33 ...

Page 34: ...Pro can be downloaded using the web interface using the Disk Contents tab on the main page of the Logging menu Individual ﬁles can be downloaded by clicking on the green download arrow next to the ﬁle name as shown in Figure 4 16 Obsolete ﬁles can be deleted by clicking the button Figure 4 16 Downloading logged ﬁles 34 ...

Page 35: ...1 3A Pink wire with Red heat shrink tube 2 Black GND GND Ground Brown wire with Black heat shrink tube 3 Green RxD3 USB D EITHER Serial COM3 receive line OR Negative USB 2 0 FS device node Selection is done via pin 7 4 Yellow TxD3 Not connected Serial COM3 transmit line 5 Grey RxD2 USB D EITHER Serial COM2 receive line OR Positive USB 2 0 FS device node Selection is done via pin 7 6 White TxD2 Not...

Page 36: ...VIH 2V Max VIH 24V Internal delay to detection 1 µs 15 KΩ pull down 2 Black GND Ground Brown wire with Black heat shrink tube 3 Green COM1 CTS EVENTB COM1 Clear to Send This also connects to the second event EVENTB input It has the same electrical speciﬁcations as EVENTA see pin 1 4 Yellow COM1 RTS PPS OUT COM1 Request To Send PPS Out PPS OUT low 0V PPS OUT high 5V 5 Grey RxD1 Serial COM1 receive ...

Page 37: ...n at the connectors antenna gain minus cable losses must be in the range 15 to 50dB By default the receiver provides a 3 3V DC supply on both the MAIN and AUX connectors to feed the antennas The supplied antenna voltage can be changed to 5V DC with the command setAntennaVoltage The maximum supported current is 150mA Never inject a DC voltage into the MAIN or AUX connectors as it may damage the rec...

Page 38: ...APPENDIX A REAR PANEL PORT DESCRIPTIONS 38 ...

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