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FixPosition Vision-RTK 2 Quick Start Manual

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Version 2024.04
QUICK START GUIDE
Vision-RTK 2
Legal notice: Fixposition or third parties may hold intellectual property rights in the products, names, logos and designs included in
this document. Copying, reproduction, modification or disclosure to third parties of this document or any part thereof is only
permitted with the express written permission of Fixposition.
The information contained herein is provided "as is" and Fixposition assumes no liability for its use. No warranty, either express or
implied, is given, including but not limited to, with respect to the accuracy, correctness, reliability and fitness for a particular purpose
of the information. This document may be revised by Fixposition at any time without notice. For the most recent documents, visit
https://docs.fixposition.com/fd/.
Copyright © 2024, Fixposition AG

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Summary of Contents for FixPosition Vision-RTK 2

  • Page 1 Fixposition. The information contained herein is provided "as is" and Fixposition assumes no liability for its use. No warranty, either express or implied, is given, including but not limited to, with respect to the accuracy, correctness, reliability and fitness for a particular purpose of the information.

  • Page 2: Table Of Contents

    Contents Technical data Setup overview Step 1: Power on the Vision-RTK 2 Step 2: Connect to the Web-interface Step 3: Configure network Step 4: Configure GNSS corrections Step 5: Configure the Fusion engine Step 6: Configure output Step 7: Check GNSS Status...

  • Page 3: Technical Data

    0.75 % Acquisition time 25 s (cold start) Automotive mode with wheel odometry input Communication and configuration Data formats NMEA, ROS1, ROS2, Fixposition messages, others Operation modes Automotive, Generic, Lawnmower, Ground robot RTK correction format RTCM3 Data interfaces (input/output) UART, TCP, CAN...

  • Page 4: Setup Overview

    (Step 1) and connect to the sensor over Ethernet or Wi-Fi (Step Ethernet 10.0.2.1 Wi-Fi 10.0.1.1 fp-xxxxxx SSID 1234567890 password 2. Provide internet access to the Vision-RTK 2 Wi-Fi client Connected (Step Connection Actions fixposition 192.168.43.19/24 Connected Default  ...

  • Page 5: Step 1: Power On The Vision-Rtk 2

    Do not disconnect the power while recording, as information might be lost. After stopping a recording, wait ◦ at least 15 seconds before powering down. While it is possible to power the Vision-RTK 2 via the USB-C port, it is not recommended to do so during ◦ operation.

  • Page 6: Step 2: Connect To The Web-Interface

    ◦ Connect the provided Ethernet cable to your network ◦ Open the browser and visit http://10.0.2.1/ http://fp-xxxxxx.local/ B. Wi-Fi ◦ Plug the provided Wi-Fi antenna to the Vision-RTK 2 ◦ Connect to the Wi-Fi SSID fp-xxxxxx using the default password 1234567890 ◦...

  • Page 7: Step 3: Configure Network

      Add Wi-Fi connection Additional information The Vision-RTK 2 can only access the Internet if set as a DHCP client or with an static IP ◦ An Ethernet connection is always prioritized over Wi-Fi for Internet access ◦ Set the network as default to automatically reconnect to it after a disconnection or reboot ◦...

  • Page 8: Step 4: Configure Gnss Corrections

    Step 4: Configure GNSS corrections 1. Navigate to Configuration ↪ GNSS 2. Select a source for corrections among: A. NTRIP client (recommended) ◦ Fill in the required configuration fields (optionally, can also be be filled using a path) × Correction stream Enter the correction data stream path: - NTRIP: user:pass@host:port/mount - TCP: tcpcli://host:port...

  • Page 9: Step 5: Configure The Fusion Engine

    Step 5: Configure the Fusion engine 1. Navigate to Configuration ↪ Fusion 2. Select the tuning mode based on the following table Mode Application v range ω Range Generic Default mode that covers most platforms’ dynamics ± 3 m/s ± 1.5 rad/s Slow robot Dynamics similar to that of a slow-moving robot ±...

  • Page 10: Step 6: Configure Output

    A higher output frequency requires a higher I/O bandwidth. For example, IMU messages require significant ◦ bandwidth and should be enabled with discretion All available messages are documented at https://docs.fixposition.com/fd/i-o-messages ◦ For the LLH output, the sensor assumes that the correction data employs the WGS84 geodetic datum ◦...

  • Page 11: Step 7: Check Gnss Status

    Step 7: Check GNSS status 1. Navigate to Status ↪ GNSS 2. Ensure the correction data is connected and stable Correction data connected Stability Latency Update rate Data rate Message rate Last 10 seconds 0.5 s (max 1.4 s) 1.0 Hz 0.7 KiB/s 6.6 msgs/s Good...

  • Page 12: Step 8: Check Camera View

    Step 8: Check camera view 1. Navigate to Configuration ↪ Camera 2. Ensure that feature-sparse regions and static objects (e.g., vehicle’s structure) are cropped from the image Camera Configuration Camera Configuration Camera image Camera image Refresh live stream Refresh live stream Image cutout Top % Bottom %...

  • Page 13: Step 9: Start The Fusion Engine

    Step 9: Start the Fusion engine 1. Navigate to Status ↪ Fusion 2. Click the Start button and head into an open area with a clear view of the sky to achieve an “RTK fixed” on both GNSS receivers. This process should take less than 2 minutes IMU-GNSS VIO-GNSS NOT STARTED...

  • Page 14: Step 10: Calibrate The Imu

    Step 10: Calibrate the IMU The Vision-RTK 2 requires a start-up procedure before being fully operational. The user must ensure the following requirements are fulfilled to start the calibration procedure: 1. Ensure both receivers obtain RTK fixed status 2. Start the Fusion engine, and ensure extrinsics are correct 3.

  • Page 15: Data Logging And Customer Support

    C. Report other technical issues at Fixposition JIRA platform D. Request customer support at support@fixposition.com All shared data is visible only to the uploader, the uploader’s company domain (if explicitly asked to do so), and selected Fixposition employees.

  • Page 16: Software Update

     Update not started.  Messages Additional information Find the latest available software and release notes at Current Software Version ◦ Firmware updates are released every 6-10 weeks. Please email support@fixposition.com to be added to the ◦ distribution list...

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