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Racelogic VIPS User Manual

Indoor positioning system
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Positioning VIPS User Guide
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01 - VIPS Introduction
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02 - VIPS Hardware Installation
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03 - VIPS Rover Connection to VBOX 3i
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04 - VIPS Site Configuration Software Overview
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05 - VIPS Using with a VBOX 3i/Standalone
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VIPS - Regulatory Information
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VIPS - CAN Output
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VIPS - PIN OUTS
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VIPS - Technical Specification
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Summary of Contents for Racelogic VIPS

  • Page 1 Positioning VIPS User Guide • 01 - VIPS Introduction • 02 - VIPS Hardware Installation • 03 - VIPS Rover Connection to VBOX 3i • 04 - VIPS Site Configuration Software Overview • 05 - VIPS Using with a VBOX 3i/Standalone •...
  • Page 2 3D position and attitude measurement at 100 Hz, to within 2 cm. VIPS can achieve re-acquisition and full accuracy in less than 0.2 of a second, which is considerably faster than GNSS! The system is designed for high dynamic vehicle test and validation procedures which are normally performed outside using GNSS.

  • Page 3: Led Behaviour

    • When combined with a VBOX 3i, the system offers seamless integration between indoor • A minimum of 6 and maximum of 250 beacons can environments (using VIPS) and outdoor be installed in each location allowing continuous environments (using GNSS).
  • Page 4 Flashing Orange The unit is syncing the IMU The unit is waiting for VBOX communication (if VB3i Solid Orange connected is selected) There is a non recoverable fault (such as an invalid reply Solid Red to a radio ID request) https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/01_-_VIPS_Introduction...
  • Page 5 VIPS will need at least 6 beacons in view at any one time to compute a solution. For a simple installation, Racelogic recommend placing the beacons in a ‘Square’ formation with spacing between the beacons of around 25–30 m, as below.
  • Page 6 When mounting the VIPS beacons, there are considerations that should be made. • If operating in an outdoor/indoor mode, then the rover will not switch to use the VIPS until 6 beacons are in view. This means that it is only the first 6 beacons that will need to be placed closer together to ensure that 6 beacons are in view before the vehicle enters the test area.
  • Page 7 • To receive the best accuracies of position and angles, the maximum number of beacons available to a solution (12) should be utilised within line of sight to the receiver. Suitable Beacon Orientations ✔ Side by side https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/02_-_VIPS_Hardware_Installation...
  • Page 8 ✔ Side by side with small height difference ✔ Side by side with large height difference, tops towards each other ✗ ✗ Side by side with large height difference ✗ ✗ Tops together ✗ ✗ Tops to base https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/02_-_VIPS_Hardware_Installation...
  • Page 9 Rover (VIPS-R-V2) Installation • The VIPS Rover looks similar to the Beacon, however the rover contains an internal IMU and so care should be taken to ensure that the Rover is mounted to an area that has the least vibration. If being installed on a vehicle, this is usually towards the rear, just in front of the rear windshield.
  • Page 10 The Rover unit can connect to a standard VBOX 3i and switches seamlessly between GNSS and the indoor positioning system, allowing you to use your original hardware for both outdoor and indoor testing. As the VIPS is designed to be...
  • Page 11 • Insert the 7 way Lemo connector in to the right hand connector on the Rover. • Connect the 25 way connector to the A IN port on the VBOX 3i. • Connect the 5 way Lemo connector to the SER port on the VBOX 3i. https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/03_- _VIPS_Rover_Connection_to_VBOX_3i...
  • Page 12 • Connect the 5 way Lemo connector to the SER port on the VBOX 3i. • Insert the 6 way Lemo connector in to the left hand connector on the Rover. • Insert the other end of the cable in to the CAN / KF port on the IMU04. https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/03_- _VIPS_Rover_Connection_to_VBOX_3i...

  • Page 13: Getting Started

    The full VIPS Site Configuration Software User Guide is available here. For VIPS to work correctly, the rover needs to know the expected site configuration. This configuration informs the rover of the expected Beacon IDs it will be using and their locations. This information needs to be manually entered by the user using the VIPS Site Configuration Software.
  • Page 14 Menu Side Bar The software is navigated by using the menu buttons on the left hand side of the window. Menus include Files, Site, Beacons, Ping Table, Map and Upload. The Map menu will display the beacon locations. https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/04_- _VIPS_Site_Configuration_Software_Overview...
  • Page 15 Define the Beacon IDs that will be used as well as the x,y,z distances to the origin Ping Table Upload Upload the site information to the Rover or the Beacons View the expected order the Rover will receive the ‘Ping’ signals from the beacons https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/04_- _VIPS_Site_Configuration_Software_Overview...
  • Page 16 Site Configuration uploaded to the Rover unit, it is now possible to start testing using a VB3i and VIPS. The VBOX 3i will function the same as when using GNSS in terms of CAN In/Out, data logging (analogue, etc.) and VBOX Test Suite use.
  • Page 17 VIPS normally outputs locations in degrees latitude and longitude, if however an origin of 0,0 is given, then the conversion to latitude/longitude is skipped and the VIPS rover will output in meters X,Y. When operating with a VB3i, an origin is always needed, when operating in standalone mode, this is optional.

  • Page 18: For Customers In The United States

    1. This device may not cause harmful interference, and 2. This device must accept any interference received, Including interference that may cause undesired operation. Changes and Modifications not expressly approved by RACELOGIC can void your authority to operate this equipment under Federal Communications Commissions rules.

  • Page 19: Radiation Exposure Statement

    RSS-102 pour un environnement non contrôle’. L’antenne(s) utilisée pour ce transmetteur doit etre installé pour fournir une distance de séparation d’au moins 20 cm de toutes les personnes et ne doit pas être co-localisés ou fonctionner en conjunction avec une autre antenne ou transmetteur. https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/06_-_VIPS_Technical_Properties/ VBOX_IPS_-__Regulatory_Information...
  • Page 20 VIPS - CAN Output Data Bytes 0x501 (1) Double – X 0x502 (2) Double – Y Beacons 0x503 (3) Altitude (4) Velocity (5) Heading Flags 1. Double – X, value in metres or longitude in degrees. 2. Double – Y, value in metres or latitude in degrees.
  • Page 21 • Horizontal position is good • Confidence level for Z is not -1 Velocity good is set when all of the following conditions are met: • Beacon count ≥5 • Velocity residual ≤1 • Velocity residual is not -1 https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/06_-_VIPS_Technical_Properties/VIPS_- _CAN_Output...
  • Page 22 VIPS - PIN OUTS Beacon Beacon front view https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/06_-_VIPS_Technical_Properties/VIPS_- _PIN_OUTS...
  • Page 23 Connector 1 - POWER (Lemo 2 PIN) Function +12 V Power Ground Connector 2 (Lemo 7 PIN) Function VIPS Rx VIPS Tx https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/06_-_VIPS_Technical_Properties/VIPS_- _PIN_OUTS...
  • Page 24 Function +12 V Power Ground Chassis Shield Rover Rover front view Connector 1 (Lemo 6 PIN) https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/06_-_VIPS_Technical_Properties/VIPS_- _PIN_OUTS...
  • Page 25 Function Do not use Do not use CAN High CAN Low +12 V Power Chassis Ground Connector 2 (Lemo 7 PIN) Function IMU Rx IMU Tx VIPS Rx VIPS Tx +12 V Power Ground https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/06_-_VIPS_Technical_Properties/VIPS_- _PIN_OUTS...
  • Page 26 Function Chassis Shield https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/06_-_VIPS_Technical_Properties/VIPS_- _PIN_OUTS...

  • Page 27: Relative Positioning

    VIPS - Technical Specification Rover Specifications Velocity Accuracy (averaged over 4 samples) 0.1 km/h (averaged over 4 samples) Accuracy (Standalone VIPS) 1 km/h (95% confidence) Update rate 100 Hz Maximum velocity 300 km/h Minimum velocity 0.1 km/h Resolution 0.01 km/h...
  • Page 28 0.01 g Update rate 100 Hz Heading Resolution 0.01° Update rate 100 Hz Accuracy (VB3i Kalman Filtered) 0.1° (95% confidence at 60 km/h) Accuracy (Standalone VIPS) 0.4° (95% confidence at 60 km/h) Time Resolution 0.01 s Accuracy 30 ns https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/06_-_VIPS_Technical_Properties/VIPS_- _Technical_Specification...
  • Page 29 3.64 – 4.38 GHz or 6.16 – 6.69 GHz Transmit power (peak / average) 0 dBm / -41.3 dBm Outputs Rover RS232 Output RS232 Port 1 Position and velocity RS232 Port 2 IMU04 data Output data rate 100 Hz https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/06_-_VIPS_Technical_Properties/VIPS_- _Technical_Specification...
  • Page 30 Low = 0 V, High = 5 V Output type 1 PPS* Beacon RS232 Output RS232 Port 1 Configuration only Inputs Rover Unit Power Input voltage range 6.5 – 30 V DC Power consumption <3 W Digital Input Input Function 1 PPS* https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/06_-_VIPS_Technical_Properties/VIPS_- _Technical_Specification...

  • Page 31: Environmental And Physical

    Environmental and Physical IP rating IP 67 Operating temperature -30°C to +60°C Storage temperature -40°C to +85°C Size (of each beacon/rover) 124 x 124 x 74.5 mm (l x w x h) Weight (of each beacon/rover) 350 g https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/06_-_VIPS_Technical_Properties/VIPS_- _Technical_Specification...
  • Page 32 Beacon/Rover Dimensions Measured in mm. https://en.racelogic.support//VBOX_Indoor_Positioning_System_(VIPS)/VIPS_User_Guide/06_-_VIPS_Technical_Properties/VIPS_- _Technical_Specification...