Point One Standard Dev Kit User Manual

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Point One Standard Dev Kit

User Manual

V1.21

10/19/2023

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Summary of Contents for Point One Standard Dev Kit

Page 1 Point One Standard Dev Kit User Manual V1.21 10/19/2023...
Page 2: Table Of Contents
Table of contents 1. Introduction 2. Requirements 3. Point One Standard Dev Kit Interfaces 3.1 Hardware Interface 3.1.1 Point One Standard Dev Kit Connectors 3.1.2 Connector Pinouts 3.2 Communications Interface 3.3 Supported Message Types 4. Quick Start Guide 5. Desktop Application Conﬁguration/Use 5.1 Device Setup...
Page 3 6.4 device_bridge – Link Two Devices Over USB 6.5 Testing Dead Reckoning (Fault Control) 7. P1DK Firmware Versions 7.1 Firmware Updates using Point One Desktop Application (GUI) 7.2 Firmware Updates using Command-line ﬁrmware upgrade tool 8. NMEA Message Deﬁnitions 8.1 NMEA $PQTM* Deﬁnition 8.2 NMEA $P1CALSTATUS Deﬁnition...
Page 4: Introduction
1. Introduction This document provides technical guidance for the Point One Navigation Standard Dev Kit. The Point One Standard Dev Kit allows the user to collect precise positioning data using Point One FusionEngine API for various applications. It is available in a small miniPCIe form factor using the Quectel LG69T navigation module.
Page 5 For details on connecting an LG69T-AM/AP navigation engine with a secondary LG69T-AH heading measurement engine, see the Point One Standard Dev Kit AH Heading Firmware Application Note. For details on using a Quectel LG69T evaluation board, see the Quectel LG69T EVB Application Note.
Page 6: Requirements
(included in Ubuntu 21.04 and later). Before 5.9, the driver had an issue that can cause unexpected data loss on some machines. The Point One Standard Dev Kit offers three different types of ﬁrmware available for use: AM, AP and AH.
Page 7 The AH ﬁrmware is used for dual antenna heading conﬁgurations and must be used in conjunction with another AM or AP module. Details on the AH use and conﬁguration can be found in the Point One Standard Dev Kit AH Addendum manual. By default, boards are flashed with the latest AM ﬁrmware. See Section 7.1...
Page 8: Point One Standard Dev Kit Interfaces
3. Point One Standard Dev Kit Interfaces 3.1 Hardware Interface 3.1.1 Point One Standard Dev Kit Connectors J1: 5-pin connector (PPS, wheel tick, wheel direction) J2: 3-pin connector (CAN bus data) J4: 2-pin connector (battery backup) J6: 4-pin connector (GPIO, 3.3Vout)
Page 9: Connector Pinouts
In Linux, UARTs 1 and 2 typically appear as /dev/ttyUSB1 and /dev/ttyUSB0 respectively. Note: We highly encourage the use of the Point One FusionEngine binary protocol over legacy NMEA-0813 messages. The FusionEngine protocol includes more detailed information than is available in standard NMEA messages. PoInt One Standard Dev Kit User Manual...
Page 10 Both applications include a built-in NTRIP client, support for Point One's Polaris corrections network, and data logging support for diagnostics. The device supports the following input and output message types:...
Page 11: Supported Message Types
Rate. 3.3 Supported Message Types The device natively supports the Point One FusionEngine protocol for solution output and command/control, as well as the NMEA-0183 standard for solution output. The following table lists the various messages supported for each protocol, along with their default conﬁguration for UART1 and UART2.
Page 12 VehicleSpeedInput (11106) Input Raw Sensor Data Outputs RawIMUOutput (11002) Output RawWheelTickOutput (11123) Output On Change (*) RawVehicleTickOutput (11124) Output On Change (*) RawWheelSpeedOutput (11125) Output On Change (*) RawVehicleSpeedOutput (11126) Output On Change (*) PoInt One Standard Dev Kit User Manual...
Page 13 *** By default, FusionEngine EventNotiﬁcationMessages are only sent to UART1 in case of a fatal error. The complete list of FusionEngine messages and message format details can be found at http://pointonenav.com/ﬁles/fusion-engine-message-spec. Reference code is available for C++ and Python: https://github.com/PointOneNav/fusion-engine-client. PoInt One Standard Dev Kit User Manual...
Page 14: Quick Start Guide
Mac and Windows versions available at https://pointonenav.com/docs/#standard-dev-kit. 2. Plug in the Standard Dev Kit into your computer, connect a GNSS antenna (L1//L5) to the device, and launch the Desktop application. 3. Add Device, with any name desired, and select the serial port associated with your Dev Kit...
Page 15 4. Expand GNSS Corrections menu, and enter Polaris or NTRIP credentials, or “Sign Up” in order to get corrections. To sign up for Polaris Credentials, visit https://app.pointonenav.com/login complete the following steps: PoInt One Standard Dev Kit User Manual...
Page 16 Register via Menu below Verify email, and log in, Welcome page will offer options below, in order to get corrections “seat”: iii. After acquiring seat, navigate to “Devices” on the left menu, and select “Add Device”: PoInt One Standard Dev Kit User Manual...
Page 17 Add new device with any unique device name (we recommend using the same name that you chose in step 3) Click device to get NTRIP and Polaris details: Congratulations, you now have RTK corrections ready for use. PoInt One Standard Dev Kit User Manual...
Page 18 6. Click Connect Device on the top left corner to see RTK-corrected position, with an RTK Fix Status (<10cm accuracy) a. Initial GNSS signal acquisition may take a minute while the receiver acquires satellites and constellation information from a cold start. PoInt One Standard Dev Kit User Manual...
Page 19 PoInt One Standard Dev Kit User Manual...
Page 20: Desktop Application Configuration/Use
1. Navigate through the Desktop Application to Devices (car symbol in the menu) 2. Connect the device to your computer and click “Add Device” on the top right corner 3. Input Device Name, select color, Select port, and Baud rate to 460800 before clicking “Add” PoInt One Standard Dev Kit User Manual...
Page 21: Gnss Corrections Settings
5.2 GNSS Corrections Settings In order to achieve <10 cm accuracy with the Point One Dev Kit, it is necessary to have RTK corrections enabled on the application. Point One offers RTK corrections via our website (https://app.pointonenav.com/start). In order to input Polaris credentials in the application, follow steps below: 1.
Page 22: Navigating/Logging
2. Enter Polaris Credentials received from Point One Website on Username/Password prompt, and “Save” 5.3 Navigating/Logging After connecting the device, you can record logs by clicking the “Record” button under the “Connect” button on the Map Menu. Select ﬁle paths for all collected logs, and manage them through the Log Data Menu on the left.
Page 23: Command-Line Python Applications
6. Command-Line Python Applications In addition to the Point One Desktop Application, the device can be operated and conﬁgured using the p1_runner and config_tool command-line applications included in the release package. The client applications are written in Python 3. They include a pip requirements.txt ﬁle, which details the dependencies needed to run the application.
Page 24: Receiving Rtk Corrections
6.1.2 Receiving RTK Corrections For precision applications, you must provide GNSS RTK corrections data. The Python client can be conﬁgured to connect to Point One's Polaris corrections service or to a generic NTRIP server to receive corrections and relay them to the device.
Page 25: Data Logging
6.2 conﬁg_tool – Command-Line Conﬁguration Utility 6.2.1 Running The Conﬁguration Utility The following sections describe various conﬁguration parameters available to the user. These parameters may be set using the provided Python conﬁguration utility. To use the conﬁguration utility: PoInt One Standard Dev Kit User Manual...
Page 26: Saving Changes
● The interface to be conﬁgured (UART1 or UART2) ● The protocol to be conﬁgured (FusionEngine, NMEA, or RTCM) ● The message desired type (GGA, PoseMessage, etc.) ● The desired status or message rate (off, on change, 500 ms interval, etc.) PoInt One Standard Dev Kit User Manual...
Page 27: Enabling Diagnostic Output
When requesting support for an issue, you must enable diagnostic output from the device, which will be captured along with any other messages you have conﬁgured. The diagnostic data is necessary when sending a log to Point One for assistance. Note: When enabled, this feature will automatically enable all diagnostic message types, including RTCM data and FusionEngine PoseMessages, and will override any individual message settings set for those messages.
Page 28: Resetting The Device
The gnss_systems command can be used to enable or disable use of individual GNSS constellations. For example, to disable Galileo: $ python3 bin/config_tool.py apply gnss_systems galileo off To enable GPS and BeiDou, but disable all other systems: $ python3 bin/config_tool.py apply gnss_systems gps,beidou only PoInt One Standard Dev Kit User Manual...
Page 29: Enabling/Disabling Gnss Frequency Bands
[0.2, 0.4, 0.5] meters and the device orientation facing the left side of the vehicle, run the following: $ python3 bin/config_tool.py apply gnss 0.5 -0.3 1.1 $ python3 bin/config_tool.py apply device 0.2 0.4 0.5 $ python3 bin/config_tool.py apply orientation left $ python3 bin/config_tool.py save PoInt One Standard Dev Kit User Manual...
Page 30: Device (Imu) Orientation
6.3.1 Device (IMU) Orientation Both the Point One Standard Dev Kit and the GNSS antenna must be mounted rigidly to the vehicle. You must specify the rough orientation of the device relative to the vehicle, and then the device calibration procedure will estimate any differences between the device mounting angles and the vehicle axes.
Page 31: Lever Arms
The lever arms are deﬁned as the vector to the sensor from the vehicle body frame origin, resolved in the body frame. For instance, if the device is located behind and above the rear axle, toward the PoInt One Standard Dev Kit User Manual...
Page 32: Hardware Wheel Tick Configuration
The lever arms should be measured at the nominal phase center of the antenna and center of the QR code label on the Point One Standard Dev Kit. Note: If the Dev Kit is moved even slightly, the existing calibration will no longer be valid and the device must be recalibrated by issuing a calibration reset command.
Page 33: Software Wheel Speed Configuration
For best performance, the recommended conﬁguration is differential rear wheel speeds. You can specify the above parameters using config_tool.py. For a complete list of options and their values, run: $ python3 bin/config_tool.py apply wheel_config --help PoInt One Standard Dev Kit User Manual...
Page 34: Software Wheel Tick Configuration
In order to use software wheel ticks, you must conﬁgure the following parameters depending on the type of wheel data being provided: ● The wheel sensor type: differential (i.e., multiple wheels) or single vehicle tick counts PoInt One Standard Dev Kit User Manual...
Page 35 (meters/tick value). For most conﬁgurations, we do not recommend manually specifying the wheel_tick_output_interval parameter in the WheelConfig message (--wheel-tick-output-interval argument to config_tool.py) . 6.3.5.1 Example: Differential Rear Wheel Ticks (Unsteered) $ python3 bin/config_tool.py apply wheel_config --wheel-sensor-type=ticks --applied-speed-type=rear_wheels --wheel-update-interval=0.1 PoInt One Standard Dev Kit User Manual...
Page 36: Device_Bridge - Link Two Devices Over Usb
It is highly recommended that you simulate GNSS outages through software control instead of disconnecting the antenna. Simulating an outage in software allows GNSS data to be captured in the log for diagnostic purposes and avoids unnecessary wear on the antenna connector. PoInt One Standard Dev Kit User Manual...
Page 37: P1Dk Firmware Versions
7. P1DK Firmware Versions The Point One Standard Dev Kit offers three different types of Firmware available for use: AM, AP, and The AM ﬁrmware uses the onboard GNSS receiver and supporting machine to stream RTK corrections and provide precise location.
Page 38: Firmware Updates Using Command-Line Firmware Upgrade Tool
After installing the requirements as instructed through the README.md, the user can use the command below to start the upgrade process on UART1(Typically “Standard COM Port” on Windows and /dev/tty/USB1 for Linux/Mac): $ python3 firmware_tool.py --port=/dev/ttyUSB1 /path/to/quectel-lg69t-am-0.XX.0.p1fw PoInt One Standard Dev Kit User Manual...
Page 39: Nmea Message Definitions
The PQTM* NMEA messages are proprietary messages deﬁned for use by Quectel. See Quectel NMEA message documentation for details. 8.2 NMEA $P1CALSTATUS Deﬁnition This is a proprietary NMEA message deﬁned by Point One and used to convey the current status of the device calibration process. It is deﬁned as follows: $P1CALSTATUS,<stage>,<state_verified>,<gyro_percent_complete>,<accel_percen t_complete>,<mounting_angle_percent_complete>...
Page 40: Nmea Position Indicator Flags
● [lg69t] Report NMEA GLL/VTG position mode 'D' when RTK float or ﬁxed, not 'R' or 'F' (P1-134) ● [conﬁg_tool] Renamed --wheel-tick-interval argument to --wheel-tick-output-interval and clariﬁed its intended usage in config_tool and 6.3.5 Software Wheel Tick Conﬁguration ○ Recommend using default value for most use cases PoInt One Standard Dev Kit User Manual...
Page 41 (P1-133) ● [lg69t] Fixed unexpected "resetting GNSS engine" messages in high multipath (P1-133) ● [lg69t] Fixed UART "output rate exceeded" error caused by a large burst of corrections data after an internet outage PoInt One Standard Dev Kit User Manual...
Page 42 ● [lg69t] Fixed GPS week rollover handling issue caused by incorrect Teseo rollover value (P1-99) ● [lg69t] Fixed crashes caused by very high CPU usage when >20 BDS satellites are present (P1-124) ● [lg69t-am/ap] Fixed incorrect NMEA RMC and GLL status ﬁeld values PoInt One Standard Dev Kit User Manual...
Page 43 ● [lg69t] Reduced ﬁx losses caused by signal tracking challenges after obstructions ● [lg69t] Improved modeling to signiﬁcantly reduce vertical error when ﬁxed ● [lg69t-ap] Reset the position after accumulating too much dead reckoning drift PoInt One Standard Dev Kit User Manual...
Page 44 ● [lg69t-am/ap] Enabled support for RTK base stations using MSM7 with station ID 1 ● Note that in this case, the station ID in the output from the device will be set to 4095 to avoid conflicts with the internal Teseo measurement data PoInt One Standard Dev Kit User Manual...
Page 45 ○ Previous WheelSpeedMeasurement and VehicleSpeedMeasurement messages no longer supported ● [lg69t] Added new FusionEngine raw (uncorrected) IMU and wheel speed/tick output message deﬁnitions ● [lg69t] Added new InterfaceConﬁg option to FusionEngine SetConﬁg message PoInt One Standard Dev Kit User Manual...
Page 46 Changes ● [lg69t-ah] Improved heading accuracy in high multipath environments Fixes ● [lg69t] Fixed missing FusionEngine event notiﬁcations during COCOM limits and region blackouts ● [lg69t-ap] Fixed output hang during a COCOM limit PoInt One Standard Dev Kit User Manual...
Page 47 ● [lg69t-ah] Corrected data conflict/loopback issues when diagnostic data is sent between AM/AP primary and AH secondary devices ● [conﬁg_tool] Fixed handling of apply uartN_message_rate "all" option AM 0.15.4, AP 0.12.4, AH 0.1.0 (2023-2-17) New Features ● [lg69t] Added FusionEngine HeadingMeasurement support PoInt One Standard Dev Kit User Manual...
Page 48 ● [lg69t] Added a watchdog to restart the device if the IMU or Teseo GNSS receiver stops operating ● [lg69t] Halt operation in restricted geographic regions (P1-97) Fixes ● [lg69t] Fixed handling of NMEA PQTMVERNO requests (P1-102) PoInt One Standard Dev Kit User Manual...
Page 49 ● [lg69t] Fixed high CPU usage before initialization ● [lg69t] Reduced CPU usage during RTK float operation ● [lg69t] Fixed incorrect week number when starting up with ephemeris data saved ½-1 week ago PoInt One Standard Dev Kit User Manual...
Page 50 ● [lg69t] Fixed infrequent crash due to stack overflow when requesting a cold start (P1-37) ● [lg69t] Fixed CRC errors on FusionEngine VehicleTickMessages ● [lg69t-ap] Fixed hardware wheel tick handling when going in reverse PoInt One Standard Dev Kit User Manual...
Page 51 ● [lg69t] Added support for setting/querying output rates for multiple messages in one command Changes ● [lg69t] Improved performance in high multipath and obstructed environments (driving under overhead roads, overpasses, etc.) (P1-22, P1-84) PoInt One Standard Dev Kit User Manual...
Page 52 ● [lg69t] Route version messages only to conﬁgured destination port (P1-77.2) ● [lg69t] Fixed a bug affecting SetConﬁg request with save ● [lg69t] Fixed RTCM MSM decoding bug affecting B1C signals ● [lg69t] Handle delayed cold starts of internal Teseo GNSS receiver PoInt One Standard Dev Kit User Manual...
Page 53 New Features ● [lg69t-am] Added FusionEngine control messages for enabling/disabling individual messages on each UART ● [lg69t, conﬁg_tool] Added watchdog to restart automatically on crash (disabled by default; to enable: config_tool.py apply watchdog_enabled true) PoInt One Standard Dev Kit User Manual...
Page 54 ● [lg69t-ap] Improved dead reckoning performance with and without wheel speed data ● [lg69t-ap] Reduced latency of calculated position solutions ● [lg69t-ap] Improved yaw and vehicle direction initialization in highly challenged GNSS environments PoInt One Standard Dev Kit User Manual...
Page 55 AM 0.8.4, AP 0.5.4 (2022-6-14) Changes ● [lg69t] Adjusted memory pool allocations Fixes ● [lg69t] Fix crash with large number of signals ● [lg69t] Fix crash logging when debug probe is not attached PoInt One Standard Dev Kit User Manual...
Page 56 RTK base station ● [lg69t] Apply US DoC COCOM limits ● [lg69t] Added support for software-commanded processor reboot ● [lg69t-ap] Added software shutdown command to save calibration data PoInt One Standard Dev Kit User Manual...
Page 57 ● [conﬁg_tool] Output quectel_runner position updates based on P1 time when GPS time isn't available ● [conﬁg_tool] Fixed distutils deprecated warning in Python 3.10+ AM 0.7.2-rc1 (2022-5-18) Changes/Improvements ● [teseo] Updated to latest Teseo ﬁrmware (5.8.18.1;BETA0510) to resolve signal quality and other issues PoInt One Standard Dev Kit User Manual...
Page 58 ● [lg69t] Added combined conﬁguration apply-and-save support (FusionEngine SetConﬁgMessage) ● [lg69t-ap] Added external wheel speed support via FusionEngine messages ● [quectel_runner, conﬁg_tool] Added baud rate controls to Python applications ● Include QGNSS and GNSS Flash Tool in the release PoInt One Standard Dev Kit User Manual...
Page 59 ● [lg69t] Fixed use of invalid measurements when Teseo clock bias is not yet stabilized AM 0.6.7, AP 0.3.2 (2022-3-21) Fixes ● [lg69t] Fixed missing Python ﬁles AM 0.6.6, AP 0.3.1 (2022-3-20) New Features ● [lg69t-ap] Added FusionEngine and NMEA calibration status output messages PoInt One Standard Dev Kit User Manual...
Page 60 ● [lg69t-ap] Added navigation/calibration reset support ● [lg69t-ap] Added temperature data logging support Changes/Improvements ● [lg69t-ap] Performance improvements, particularly when operating in challenging environments ● [lg69t-ap] Resolved stability issues due to memory usage PoInt One Standard Dev Kit User Manual...
Page 61 ● [lg69t-am] Output NMEA $PQTMGNSS and $PQTMVER messages on startup, not $PQTMVERNO ● [lg69t-am] Output "invalid" FusionEngine and NMEA solution messages on startup before the GNSS receiver starts tracking Fixes ● [lg69t-am] Resolved stability issues PoInt One Standard Dev Kit User Manual...
Page 62 ● [lg69t-am] Disabled use of B2a for standalone operation (accurate group delay information not available from Teseo) ● [lg69t-am] Improved ﬁxing performance Fixes ● [lg69t-am] Addressed unexpected position resets and ﬁxed position issues in high multipath environments ● [lg69t-am] Resolved NMEA-0183 output format issues PoInt One Standard Dev Kit User Manual...
Page 63 ● [lg69t-am] Fixed issues with base station data when GPS is not present ● [lg69t-am] Increased RTCM max signal type limit, needed to use data from certain base stations ● [lg69t-am] Ignore bogus RTCM MSM lock times if all identical (seen on LG69T-AS) PoInt One Standard Dev Kit User Manual...
Page 64 ● [lg69t-am] Fixed rare initialization failure in certain locations due to satellite geometry AP 0.1.0 (2021-10-15) Initial version (GNSS/INS+RTK) Features ● GNSS and IMU sensor fusion support ● GNSS RTK support using supplied RTCM3 MSM4-7 corrections ● NMEA-0183 and Point One FusionEngine message formats supported PoInt One Standard Dev Kit User Manual...
Page 65 ● [quectel_runner] Fixed Python handling of NTRIP server hostname without leading http:// AM 0.3.0 (2021-8-20) New Features ● [lg69t-am] Added BeiDou B2a support (must be supported by base station for use during RTK operation) PoInt One Standard Dev Kit User Manual...
Page 66 ● [quectel_runner] Changed Python --ntrip and --polaris options to use comma-separated values Known Issues ● [lg69t-am] System halts from memory fragmentation during RTK operation in open sky environments after extended periods of time AM 0.1.0 (2021-7-23) Initial version (GNSS+RTK navigation) PoInt One Standard Dev Kit User Manual...