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CHAPTER 4. COMMON RECE

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VER OPERAT

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ONS

Figure 4-11:

The

Show data

window of Data Link showing the NMEA GGA

message coming from the AsteRx SBi

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Содержание AsteRx SBi

Страница 1: ...AsteRx SBi3 User Manual ...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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 ...

Страница 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...

Страница 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...

Страница 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...

Страница 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 ...

Страница 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...

Страница 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...

Страница 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 ...

Страница 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 ...

Страница 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...

Страница 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 ...

Страница 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...

Страница 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...

Страница 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 ...

Страница 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 ...

Страница 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...

Страница 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...

Страница 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 ...

Страница 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...

Страница 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 ...

Страница 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...

Страница 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...

Страница 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 ...

Страница 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 ...

Страница 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...

Страница 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 ...

Страница 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...

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

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