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OXTS RT1003 User Manual

Inertial navigation system
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RT1003
GNSS-aided inertial
navigation system
User Manual
Confidently. Accurately.

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  • Page 1 RT1003 GNSS-aided inertial navigation system User Manual Confidently. Accurately.
  • Page 2 Legal notices Copyright of Oxford Technical Solutions at oxts.com. © 2008–2018, Oxford Technical Solutions Ltd. Unauthorised use, copying or distribution is not permitted. All brand names are trademarks of their respective holders. The software also includes software in binary form from: Xiph.Org Foundation at xiph.org.
  • Page 3 RT1003 Manual Disclaimer Information furnished is believed to be accurate and reliable. However, Oxford Technical Solutions Limited assumes no responsibility for the consequences of use of such information nor for any infringement of patents or other rights of third parties which may result from its use.
  • Page 4 Warranty Oxford Technical Solutions Limited warrants its products to be free of defects in materials and workmanship, subject to the conditions set forth below, for a period of one year from the Date of Sale. 'Date of Sale' shall mean the date of the Oxford Technical Solutions Limited invoice issued on delivery of the product.

  • Page 5: Table Of Contents

    How to install........................26 System requirements ......................26 Admin rights ........................26 To uninstall NAVsuite ......................27 NAVsuite applications ......................27 Documentation........................28 Communicating with the product ....................29 Ethernet..........................29 Serial RS232 ........................33 CAN bus ...........................33 Hardware installation .......................34 Antenna placement and orientation..................34 Configuring the RT1003 ......................36 Revision: 190628...
  • Page 6 Overview.......................... 36 Language selection ......................37 Product selection......................37 Read configuration ......................38 GNSS selection........................ 39 Orientation ........................40 Primary antenna ....................... 44 Secondary antenna......................45 Advanced slip ........................47 Options..........................49 Committing the configuration ..................72 Saving the configuration and finishing ................73 Setting up the base station.......................

  • Page 7: Introduction

    Utilising dual antennas, DGPS corrections, tight-coupling and advanced gx/ix processing technology, the RT1003 delivers up to 2 cm position and 0.1° heading accuracy (2 m antenna separation) with up to 250 Hz output for all measurements. This manual covers the installation, configuration and basic operation of the RT1003.

  • Page 8: Scope Of Delivery

    With the exception of a computer running Microsoft Windows, everything you need to utilise your RT1003 should be included with the delivery. Please check carefully that everything shown on the delivery note is present. The following tables list the standard and any optional components delivered with your product.
  • Page 9 RT1003 Manual Table 2. Compatible accessories (Continued) Product Description RT-Backpack The RT-Backpack is an additional component for the RT-Range systems where car-to- pedestrian tracking is required. It provides a wearable, self-contained and fully powered INS mounting platform RT-Base S The RT-Base S is a portable all-weather GNSS base station suitable for transmitting and logging differential corrections (DGNSS).

  • Page 10: Related Documents

    Explains how to set-up and use the RT-Base S base station to achieve RTK integer operation mode. Local path: C:\Program Files (x86)\OxTS\Manuals\RT-BaseSManual.pdf Online: /Downloads/Support/Manuals/rtbasesman.pdf Note: For online content, enter “www.oxts.com” into your web browser and then append the online path shown. Oxford Technical Solutions...

  • Page 11: Conformance Notices

    RF radiations within 70 MHz of the GNSS frequencies. The RT1003 conforms to the requirements for CE. Any use or misuse of the RT1003 in a manner not intended may impair the protection provided. OxTS is not liable for any damages caused by the misuse of the equipment.

  • Page 12: Getting To Know Your Product

    If the product is used in high-temperature environments, forced convection may be required. Connector panel layout The layout of the RT1003’s connector panel is shown below and the function of each connector is described. Figure 1. Connector panel of the RT1003...

  • Page 13: Leds

    The operating system has not yet booted and the program is not yet running. This occurs at start-up Red-green flash The RT1003 is asleep. Contact OxTS support for further information Red flash The operating system has booted and the program is running. The GNSS receiver has...

  • Page 14: Inputs And Outputs

    1PPS output Figure 2. 1PPS waveform The 1PPS (J5-1) output is a pulse generated by the GNSS receiver. On RT1003 products, the output is active even when the GNSS receiver has no valid position measurement. The falling edge of the pulse is the exact transition from one second to the next in GPS time. The pulse is low for 1 ms, then high for 999 ms and repeats every second.

  • Page 15: Trigger 1 And 2

    RT1003 Manual Trigger 1 and 2 Trigger 1 (J5-2) and Trigger 2 (J5-4) can be used to generate events within the RT1003 for purposes of identifying external events, or to output a time/distance based signal for the purpose of driving external events. Both Triggers are independently configurable in the Options page of NAVconfig.

  • Page 16: Wheel Speed Input

    Wheel speed input signal characteristics: • 0 V to 12 V • low < 0.8 V • high > 2.4 V The wheel that is used should not steer the vehicle. The RT1003 will assume the wheel travels straight. Oxford Technical Solutions...

  • Page 17: Co-Ordinate Frame Conventions

    In order to make sense of the world, and to output measurements in way that describes position, orientation and velocity, an INS such as the RT1003 uses a number of different reference frames and co-ordinate systems. This section describes those frames and co-ordinate systems.

  • Page 18: Oxts Ned Navigation Frame

    OxTS NED navigation frame Figure 4. OxTS navigation frame The OxTS navigation frame is attached to the IMU frame origin but does not rotate with it. The down axis is always aligned to the gravity vector and north always points north.

  • Page 19: Iso 8855 Enu Earth-Fixed System

    RT1003 Manual ISO 8855 ENU earth-fixed system Figure 5. ISO 8855 earth-fixed system The ISO earth-fixed system is attached to the IMU frame origin but does not rotate with it. The north and east axes are perpendicular to the gravity vector and north always points north.

  • Page 20: Oxts Horizontal Frame

    OxTS horizontal frame Figure 6. OxTS horizontal frame The OxTS horizontal frame is attached to the vehicle. The longitudinal and lateral axes remain parallel to a horizontal plane. The longitudinal axis is also parallel to the vehicle's heading when viewed from above.

  • Page 21: Iso 8855 Intermediate System

    RT1003 Manual ISO 8855 intermediate system Figure 7. ISO 8855 intermediate system The ISO intermediate system is attached to the vehicle. The longitudinal and lateral axes remain parallel to a horizontal plane. The longitudinal axis is also parallel to the vehicle's heading when viewed from above.

  • Page 22: Oxts Vehicle Frame

    Figure 8. OxTS vehicle frame definition The OxTS vehicle frame is attached to the vehicle and rotates with it in all three axes. The Y-axis points to the vehicle’s right and is perpendicular to its vertical plane of symmetry. The Z-axis (when the vehicle is level), is essentially aligned to the gravity vector and points down.

  • Page 23: Iso 8855 Vehicle System

    RT1003 Manual ISO 8855 vehicle system Figure 9. ISO 8855 vehicle system The ISO vehicle frame is attached to the vehicle and rotates with it in all three axes. The lateral axis points to the vehicle’s left and is perpendicular to its vertical plane of symmetry. The longitudinal axis and vertical axis (when the vehicle is level), is essentially aligned to the gravity vector and points up.

  • Page 24: Local Co-Ordinates

    Local co-ordinates Figure 10. Local co-ordinate frame Because the local co-ordinate frame is planar, it is not suitable for measurements over large distances. As well as the reference frames already mentioned, the software supplied with your INS makes it possible to define a new frame of reference called local co-ordinates. A local co- ordinate frame is shown in Figure 10.
  • Page 25 RT1003 Manual Table 14. Local co-ordinate frame (Continued) Axis Description The Y-axis is perpendicular the X- and Z-axis The Z-axis is parallel to the gravity vector and centred on the latitude and longitude entered in the local co-ordinate settings panel...

  • Page 26: Navsuite Software

    NAVsuite software NAVsuite is a collection of free software applications that support the use of OxTS inertial navigation systems and base stations. The following section describes the installation process and gives a brief description of the installed applications. How to install A USB memory stick containing the NAVsuite software package is supplied with each inertial navigation system or base station.

  • Page 27: To Uninstall Navsuite

    Used to create, send, and receive configurations from OxTS inertial navigation systems. NAVdisplay Used to view real-time data from OxTS products via Ethernet or a serial port. It can also be used to transmit special commands and replay logged data NAVgraph Used to graph NCOM, XCOM and RCOM files created in post-process.

  • Page 28: Documentation

    In addition to the main applications, the NAVsuite installer also copies a number PDF manuals and help documents to the computer’s disk. The documents are located in C:\Program Files (x86)\OxTS\Manuals and can be accessed via the OxTS folder in the Start menu.

  • Page 29: Communicating With The Product

    If the delivery note is unavailable, the default IP address assigned by OxTS takes the form 195.0.0.sn; where sn are the last two digits of the product's serial number. The serial number is normally displayed on the product’s connector panel.
  • Page 30 4. Right-click the Ethernet option and select Properties. 5. In the window that opens, navigate the list to find Internet Protocol Version 4 (TCP/IPv4). Select it and click Properties. 6. In the TCP/IPv4 Properties window (Figure 11), select Use the following IP address and enter the IP address and subnet mask to use.
  • Page 31 NAVdisplay software; this will display the IP address of any connected system. Note that it is possible to change the IP address of RT1003 systems. If the IP address has been changed, NAVdisplay should still be able to identify the address that the RT1003 is using as long as the PC has a valid IP address in the same range and this is not the same as the RT1003's.
  • Page 32 Figure 12. Windows Firewall warning message A firewall warning message may be triggered the first time OxTS software is run. Ethernet connection details The Ethernet connector on the user cable is designed to be connected directly to a network hub. To extend the cable it is necessary to use an in-line coupler. This is two RJ-45 sockets wired together in a straight-through configuration.

  • Page 33: Serial Rs232

    (from a vehicle CAN bus for example), to be logged inside the INS along with the navigation measurements. Please note that a termination resistor is not built into the RT1003. It is therefore essential to include a 120 ohm resistor at each end of your CAN bus wiring—otherwise the CAN bus will not work.

  • Page 34: Hardware Installation

    For ease of use, it is best to try and mount the RT1003 so the IMU frame is aligned squarely to the vehicle frame (±5° in each axis). If the system must be mounted in a misaligned way, then those angle offsets must be measured and entered into NAVconfig.
  • Page 35 RT1003 Manual Figure 13. Antenna orientation and alignment A) Incorrect—matching alignment, different cable angle. B) Incorrect—different alignment, matching cable angle. C) Correct—matching alignment and cable angle. When measuring the antenna separation, if the antennas are level (i.e. within ±15° of horizontal) then the separation should be measured to within 50 mm.

  • Page 36: Configuring The Rt1003

    Configuring the RT1003 To obtain the best results from an RT1003 it is necessary to configure it to suit the installation and application before using it for the first time. The program NAVconfig is used to do this. This section describes how to use NAVconfig and gives additional explanations on the meanings of some of the terms used.

  • Page 37: Language Selection

    RT1003 Manual Language selection The NAVconfig software can operate in several languages. To change the language, select a language from the menu at the bottom of the page. The language can be changed at any time without affecting the current configuration.

  • Page 38: Read Configuration

    NAVconfig is a universal tool that is used to configure many different devices, so the first step in most configurations is to choose the product that will be configured, as shown in Figure 14. The configuration wizard can be run without a product connected, so it is necessary to select the correct product for configuration.

  • Page 39: Gnss Selection

    RT1003 using NAVconfig. Select this option and enter the correct IP address of your RT1003, or select it from the drop-down list. The list will show all systems that are connected to the network, so if more than one system is connected ensure you select the correct system.

  • Page 40: Orientation

    The Orientation page is used to tell the product how its IMU co-ordinate frame is orientated relative to the vehicle co-ordinate frame. Unless the RT1003 happens to be installed in the default orientation, it will need to be told which way the IMU's Y- and Z-axis point.
  • Page 41 The Get improved settings button provides the ability to read the configuration settings from a warmed up system. While the RT1003 is running it tries to improve some of its configured parameters. This option is useful if a calibration run has been done and the Kalman filter's values are known to be good.
  • Page 42 Figure 18. Proccess of using Get improved settings To read the improved values from the RT1003, click Get improved settings on the Orientation page. This opens the Get settings from device window shown in Figure 19. Figure 19. Source selection page for Get improved settings In the Read configuration from box, select the source for the improved settings.
  • Page 43 • Ethernet: This will get the information that the product is currently using. Use this setting if the RT1003 is running, has initialised and has warmed-up. Select the correct IP address for the product in the drop-down list. Note: The list will not function correctly if NAVdisplay or other software is using the UDP port unless the OxTS UDP Server is running.

  • Page 44: Primary Antenna

    It is recommended to measure the GNSS antenna position to an accuracy of 10 cm. Measure the distances from the RT1003 to the GNSS antenna along each of the axes in the vehicle's co-ordinate frame. On the Primary Antenna page, shown in Figure 21, select the directions (Ahead/Behind, Right/Left, and Above/Below) and enter each of the measurements.

  • Page 45: Secondary Antenna

    Care should be taken if specifying a greater accuracy. Do not overstate the accuracy as doing so may cause the RT1003 to look in the wrong place, increasing the time taken to find the correct solution.
  • Page 46 Select the Enable secondary antenna check box to allow the configuration to be entered. If it is not enabled, the RT1003 will ignore the secondary antenna and will not use it to compute a heading solution. By default, the Antennas are level box is checked. This means the antenna baseline should be within ±5°...

  • Page 47: Advanced Slip

    Specifying the position of the non-steered wheels makes a huge difference to the lateral drift performance of the RT1003 when GNSS is not available. The vertical drift performance can also be improved by specifying some additional measurements.
  • Page 48 Typically, the measurements should all be made to an accuracy of 10 cm. Selecting an accuracy better than 10 cm does not improve results. Using an accuracy figure worse than 20 cm will increase the drift of the RT1003. Use the accuracy fields to select or specify the accuracy of the measurements.

  • Page 49: Options

    IMU output rate The standard output rate of the RT1003 is 100 Hz, however this can be increased to 250 Hz with the application of a special IMU high-rate feature code. On devices where the feature code has been applied, the IMU output rate option allows the output rate to be set to 100, 200 or 250 Hz.
  • Page 50 In high vibration environments Not level may not work and so the RT1003 can only start if the vehicle is level and the Level option has been specified. Vibration There are three options available to describe the level of vibration the system will be exposed to.
  • Page 51 Frequency and Baud rate. RT1003 systems can be configured to send and receive data via a CAN bus. This allows measurements to be sent to external logging devices, and signals from a test vehicle's CAN bus to be logged alongside navigation data inside an RT1003.
  • Page 52 Figure 26. NAVconfig CAN messages configuration window (General tab) Depending on the baud rate selected, the suggested maximum CAN messages per second will change. A warning message will appear if the combined rate of all current navigation and status messages will overload the CAN bus at the selected baud rate. Disabling or reducing the frequency of navigation or status messages will remove the warning and ensure reliable operation of the CAN bus.
  • Page 53 RT1003 Manual The Navigation tab (Figure 27) is where navigation-related CAN messages are configured for output. The table can be sorted in ascending or descending order by clicking any column header. This is particularly useful when checking for enabled/disabled messages.
  • Page 54 On RT1003 systems the default set of CAN messages may overload the CAN bus (depending on how many slip points are used and whether local co-ordinates are configured). It may be necessary to reduce the number of messages that are output on an RT1003 system.
  • Page 55 RT1003 Manual The Acquisition tab (Figure 29) is where incoming CAN signals are defined. These signals can be viewed in real-time along with the RT1003's native data using NAVdisplay, or at a later time using NAVgraph. Channels are added to the acquisition list by clicking on the Load DBC file button and selecting a valid CAN DBC file.
  • Page 56 Figure 30. NAVconfig CAN signal properties window Heading lock When stationary for extended periods of time, the heading of systems using only one GNSS antenna can drift. The heading lock option solves this by locking the heading to a fixed value while the system is stationary.
  • Page 57 When Garage mode is active, a gentle velocity update is applied the system assumes the vehicle is stationary. This keeps the roll, pitch and velocity within acceptable limits while there are no GNSS signals. With heading lock enabled as well, the RT1003 can also maintain an accurate heading while stationary.
  • Page 58 Trigger 1 and Trigger 2 The RT1003 has two triggers, each of which can be configured as an input trigger, output trigger or an IMU sync pulse. To define a trigger, click in the Settings column, then select the button to open the properties window, shown in Figure 31.
  • Page 59 RT1003 Manual 0.6 V as low and more than 2.6 V as high. The input range should be kept between 0 V and 5 V. Output trigger: Generates a pulse based on distance. Select the distance interval to generate the pulses on from the drop-down list, or type in a value. The output has 0.8 V or less for a low and 2.4 V or more for a high.
  • Page 60 Figure 33. NAVconfig Analogue outputs configuration window Acceleration filter The RT1003 is able to filter the linear acceleration and the angular acceleration before they are output. These filters affect the outputs on the CAN bus. On the NCOM output the non- filtered values are output together with the filter characteristics and the NCOM decoders provided by OxTS will implement the chosen filter.
  • Page 61 (i.e. same amplitude across the frequency spectrum). A graph showing the delay with respect to frequency can also be plotted. The delay is the additional delay of the filter and not the total delay of the acceleration output. The RT1003 has other delays, like calculation delay, too.
  • Page 62 If the odometer signal is being sourced from a prop shaft, then the measurement point entered should be half way between the two wheels. The illustrations in the window will change depending on the settings you choose, to help visualise the position of the RT1003 in relation the odometer. Oxford Technical Solutions...
  • Page 63 GNSS is available. Local co-ordinates The RT1003 can output the displacement from an origin in a local co-ordinate grid. To use this option, a new origin must be defined; the latitude, longitude and altitude for the origin must be entered along with an angular offset for the X-axis. Local co-ordinates are fully explained on page 24.
  • Page 64 NMEA messages can also be generated in response to event input triggers. Check the falling or rising edge check box to compute the message when the event occurs. The RT1003 can also generate NMEA messages from pulses on the output trigger. These messages use interpolation to compute the values at the exact time of the event but may be output on the serial port up to 30 ms late and out of order compared to the normal messages.
  • Page 65 Selecting Output approximate values before initialisation forces output of the raw GNSS measurements before the RT1003 is initialised. Currently just the position is output and this is the position of the antenna, not the inertial measurement unit. Note that there will be a jump (from the antenna to the inertial measurement unit) when initialisation occurs.
  • Page 66 Output smoothing Figure 38. NAVconfig output smoothing properties window When the Kalman filter in the RT1003 determines that there is some error to correct, this error correction is applied smoothly rather than as a jump. The output smoothing controls how fast the correction is applied to the outputs.
  • Page 67 Care should be taken not to make the smoothing too small. If these parameters are too small then the RT1003 will not be able to make suitable corrections to the outputs and it will not work correctly.
  • Page 68 Figure 40. NAVconfig GNSS control properties window The GNSS control option (Figure 40) contains advanced options that control how the GNSS information is managed in the RT1003. To adjust the feature, click in the Settings column, then click the button to open the properties window.
  • Page 69 GNSS to be accepted. Both the velocity and the position can be controlled separately. In the default state the RT1003 will reject up to 20 GNSS measurements before it forces the GNSS to be accepted. However, in high multipath environments or when wheel speed measurements are used, it may be desirable to reject more GNSS measurements.
  • Page 70 The surface tilt settings are used to compute the roll, pitch (and heading) compared to a planar inclined surface. The roll and pitch from the RT1003 are measured compared to gravity. Most test tracks are built at an angle so rain water runs off and the track dries faster. As the vehicle drives up the incline, the pitch shows a positive value;...
  • Page 71 RT1003 Manual Coordinate system Figure 42. NAVconfig coordinate system properties window The RT1003 can output position relative to different coordinate frames. Click the button to open the properties window, shown in Figure 42. From the Coordinate datum section you can choose which reference datum to output latitude and longitude relative to.

  • Page 72: Committing The Configuration

    NAVconfig is an off-line configuration tool, so configurations must be explicitly uploaded to the RT1003 via Ethernet when finished. On the Commit page (Figure 43) enter the IP address of the RT1003 that you want to configure or select it from the drop-down list. The drop-down Oxford Technical Solutions...

  • Page 73: Saving The Configuration And Finishing

    The list will not work if NAVdisplay or other software is using the RT1003 UDP port unless the OxTS UDP server is running. Click Commit to save the configuration to the RT1003. This will automatically reset the RT1003 so the changes take effect.
  • Page 74 To save a copy of the configuration in a local folder check the Save settings in the following folder box and use Browse… to select a folder. The configuration has a number of files associated with it so it is recommended to create a new folder. Click Finish to save the configuration to the selected folder and close NAVconfig.

  • Page 75: Setting Up The Base Station

    RT1003. In order to relate the RT1003 signals to maps, or other items on the world, it is necessary to have a surveyor measure the position of the GNSS antenna and then tell the base station GNSS receiver what position to use.

  • Page 76: Initialisation

    Initialisation Each time an inertial navigation system or GNSS receiver is powered-up, it has no way of knowing where it is or how it’s orientated. So the first thing all INS or GNSS receivers do before they output useful measurements is to calculate some initial values. In the case of this product;...

  • Page 77: Static Initialisation

    RT1003 Manual Figure 45. Illustration of dynamic initialisation As the INS assumes the vehicle is travelling straight during initialisation, any misalignment can be estimated. Static initialisation Static initialisation—which is only possible on dual antenna systems—requires both primary and secondary antennas to be configured. When static initialisation is selected, the system will attempt to calculate an initial heading based on the position of the two GNSS antennas relative to the IMU, as defined in the configuration.

  • Page 78: Real-Time Output During Initialisation

    • On slow moving vehicles, where a lack of speed means errors in the GPS velocity are relatively large in proportion to the vehicle speed. • On heavy vehicles like trains and plant equipment that can’t accelerate quickly enough (while above the initialisation threshold) to trigger dynamic initialisation.

  • Page 79: Warm-Up

    RT1003 Manual Warm-up For the first 15 minutes after power-up, the system will not conform to specification. During this period the Kalman Filter runs a more relaxed model for the sensors. By running a more relaxed model, the system is able to: •...
  • Page 80 The time on the graphs is the time from initialisation. In this example the INS was initialised 25 seconds after starting up; the quality of initialisation would be the same if it had been not been initialised for the first 10 minutes, then initialised and driven for five minutes. Figure 46.
  • Page 81 RT1003 Manual Figure 47. Example warm-up accuracy estimates (a) Forward velocity. (b) Position accuracies. (c) Velocity accuracies. (d) Orientation accuracies. Revision: 190628...
  • Page 82 You can see the INS is nearly at specification after just this small amount of driving. However, experience tells us the Kalman filter will continue to make some improvements (not obvious) during the first few figures of eight. The main part of the motion occurs after 1100 seconds when the vehicle was driven in figures of eight for six minutes.

  • Page 83: Post-Processing Data

    RT1003 Manual Post-processing data Data is stored on the RT1003 in a raw, unprocessed format; these raw data files have an RD extension. The advantage of storing data in a raw format is that it can be reprocessed at a later time using different configuration settings.

  • Page 84: Can Messages And Signals

    CAN messages and signals CAN-DB file NAVconfig can output a CAN DBC file that contains all the measurements the RT1003 is configured to output. CAN bus messages Table 20 lists all the messages the RT outputs on the CAN bus and the identifiers that are used for each message.
  • Page 85 1577 (629h) ApproxLatitudeLongitude Approximate latitude and longitude Table 46 1578 (62Ah) ApproxAltitude Approximate altitude Table 47 1579 (62Bh) ApproxVelocity Approximate OxTS NED frame velocity Table 48 1580 (62Ch) Reserved 1581 (62Dh) FallingTrigger Trigger 1 falling edge Table 49 1582 (62Eh) RisingTrigger...

  • Page 86: Signals

    + This is the value of the signal when the integer value in the CAN message is zero. It is zero for all the RT1003 signals and can usually be discarded. Name. This is a short name by which the signal is identified in the CAN DBC and in NAVconfig.
  • Page 87 Bit Len Type Unit × + Description Name m/s2 0.01 0 OxTS output frame longitudinal (forward) IMU acceleration AccelX m/s2 0.01 0 OxTS output frame lateral (right) IMU acceleration AccelY m/s2 0.01 0 OxTS output frame vertical (down) IMU acceleration...
  • Page 88 °/s 0.01 0 OxTS output frame longitudinal (forward) IMU angular AngRateX rate °/s 0.01 0 OxTS output frame lateral (right) IMU angular rate AngRateY °/s 0.01 0 OxTS output frame vertical (down) IMU angular rate AngRateZ Table 30. Identifier 609h (1545), RateLevel Bit Len Type Unit ×...
  • Page 89 0 Horizontal distance without hold Distance a. Distance with hold will not increase when the RT1003 measures a speed less than 0.2 m/s whereas the Distance field will drift by the noise of the RT when stationary. The distances start from zero when the RT CAN unit is powered up.
  • Page 90 Table 35. Identifier 60Eh (1550), AngAccelVehicle Bit Len Type Unit × + Description Name °/s² 0.1 0 OxTS output frame longitudinal (forward) IMU angular AngAccelX acceleration °/s² 0.1 0 OxTS output frame lateral (right) IMU angular AngAccelY acceleration °/s² 0.1 0 OxTS output frame vertical (down) IMU angular...
  • Page 91 RT1003 Manual Table 39. Identifier 622h (1570), TrackSlipCurvaturePoint3 Bit Len Type Unit × Description Name ° 0.01 0 Measurement point 3 track angle AngleTrackPoint3 ° 0.01 0 Measurement point 3 slip angle AngleSlipPoint3 0.0001 0 Measurement point 3 curvature CurvaturePoint3 a.
  • Page 92 Table 43. Identifier 626h (1574), TrackSlipCurvaturePoint6 (Continued) Bit Len Type Unit × Description Name ° 0.01 0 Measurement point 6 slip angle AngleSlipPoint6 0.0001 0 Measurement point 6 curvature CurvaturePoint6 a. The slip angle of point 6 will be close to 180° when driving backwards. Table 44.
  • Page 93 Table 48. Identifier 62Bh (1579), ApproxVelocity Bit Len Type Unit × + Description Name 0.01 0 Approximate OxTS NED frame north velocity ApproxVelNorth 0.01 0 Approximate OxTS NED frame east velocity ApproxVelEast 0.01 0 Approximate OxTS NED frame vertical (down)
  • Page 94 Table 52. Identifier 630h (1584), MilliTime Bit Len Type Unit × Description Name 0 Milliseconds since the start of GPS time MilliTime 0.001 0 Seconds since the start of GPS time MilliTimeSeconds 0 GPS UTC offset UtcOffset a. MilliTime and MilliTimeSeonds both refer to the same bits on the CAN bus-however they are decoded twice with a different scale in the DBC file.
  • Page 95 RT1003 Manual Table 56. Identifier 636h (1590), IsoVsAgularVelocity Bit Len Type Unit × + Description Name °/s 0.01 0 ISO 8855 vehicle system roll (longitudinal IsoVsRollVelocity angular) velocity °/s 0.01 0 ISO 8855 vehicle system pitch (lateral angular) IsoVsPitchVelocity velocity °/s...
  • Page 96 Table 59. Identifier 639h (1593), IsoIsAcceleration (Continued) Bit Len Type Unit × + Description Name m/s² 0.01 0 ISO 8855 intermediate system IsoIsVerticalAcceleration vertical (up) acceleration Table 60. Identifier 63Ah (1594), IsoIsAngularVelocity Bit Len Type Unit × + Description Name °/s 0.01 0 ISO 8855 intermediate system roll (longitudinal IsoIsRollVelocity...
  • Page 97 RT1003 Manual Table 63. Identifier 63Dh (1597), IsoEfsAcceleration (Continued) Bit Len Type Unit × + Description Name m/s² 0.01 0 ISO 8855 earth-fixed system north IsoEfsNorthAcceleration acceleration m/s² 0.01 0 ISO 8855 earth-fixed system vertical IsoEfsVerticalAcceleration (up) acceleration Revision: 190628...

  • Page 98: Specifications

    Specifications Table 64. RT1003 specification Parameter (unit) RT1003 Positioning L1, L2 GLONASS L1, L2 (optional) Position accuracy (m) [CEP] SBAS DGNSS L1/L2 RTK 0.02 0.95 Drift (m) [RMS] 60 s GNSS outage Velocity accuracy (km/h) [RMS] Roll/pitch (°) [1 0.05 ...
  • Page 99 RT1003 Manual Table 64. RT1003 specification (Continued) Parameter (unit) RT1003 Dimensions (mm) 142 × 77 × 41 Mass (kg) 0.435 Operating temperature (°C) -40–70 Specification temperature (°C) -10–70 Vibration 10–2000 Hz 4.12 g RMS Shock survival (g) Environmental protection IP65...

  • Page 100: Appendix A: Troubleshooting

    3. Click the Calibration button, then select the Navigation tab and ensure the X, Y, and Z accelerations (values 19 to 21) are within specification when the RT1003 is placed on a level surface in the orientations according to Table 65.

  • Page 101: Testing The Internal Gnss And Other Circuitry

    For further calibration testing it is necessary to return the unit to OxTS. Note that the RT1003 is capable of correcting the error in the angular rate sensors very accurately. It is not necessary to have very small values for the angular rates when stationary since they will be estimated during the initialisation process and warm-up period.
  • Page 102 Table 67. Status field checks Field Incriment rate IMU packets 100 per second or 250 per second, depending on IMU speed IMU chars skipped Not changing (but not necessarily zero) GPS packets Between 2 and 20 per second (depending on system) GPS chars skipped Not changing (but not necessarily zero) Between 2 and 20 per second (depending on system)

  • Page 103: Index

    Index Index Velocity VelocityLevel VelYawLocal Numerics CAN signal AccelDown 1PPS output AccelForward AccelLateral AccelSlip AccelX Antenna AccelY AccelZ Altitude AngAccelDown Cable length AngAccelForward Camera mode AngAccelLateral CAN message AngAccelX AccelLevel AngAccelY AccelVehicle AngAccelZ Altitude AngleHeading AngAccelLevel AngleHeadingFromSurf AngAccelVehicle AngleLocalTrack ApproxAltitude AngleLocalYaw ApproxLatitudeLongitude AnglePitch...
  • Page 104 Index ApproxVelNorth TimeCentury Curvature TimeDay CurvaturePoint1 TimeHour CurvaturePoint2 TimeHSecond CurvaturePoint3 TimeMinute CurvaturePoint4 TimeMonth CurvaturePoint5 TimeSecond CurvaturePoint6 TimeYear CurvaturePoint7 TriggerCountFalling CurvaturePoint8 TriggerCountRising Distance TriggerDistanceFalling DistanceWithHold TriggerDistanceRising IsoEfsEastAcceleration TriggerTimeFalling IsoEfsEastVelocity TriggerTimeRising IsoEfsNorthAcceleration UtcOffset IsoEfsNorthVelocity VelDown IsoEfsVerticalAcceleration VelEast IsoEfsVerticalVelocity VelForward IsoIsLateralAcceleration VelLateral IsoIsLateralVelocity VelLocalX IsoIsLongitudinalAcceleration VelLocalY...
  • Page 105 Index regional settings RS232 horizontal frame 10, 27 RT Post-process RT-ANA RT-Backpack RT-Base S 17, 34 IMU frame RT-Strut In-line coupler RT-UPS input mode RT-XLAN Installation installation intermediate system IP address SBAS ISO 8855 serial number Specifications static IP static IP address Language status information LEDs...
  • Page 106 24.10...

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