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SEPTENTRIO AntaRx-S3 User Manual

Gnss/ins smart antenna
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AntaRx-S3 and AntaRx-Si3
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  • Page 1 AntaRx-S3 and AntaRx-Si3 User Manual...
  • Page 2 User Manual Version 1.0 Applicable to version 1.0.1 of the AntaRx-S3 Firmware Applicable to version 1.0.1 of the AntaRx-Si3 Firmware May 13, 2024 Thank you for choosing the AntaRx! This user manual provides detailed instructions on how to use AntaRx and we recommend that you read it carefully before you start using the device.

  • Page 3: Table Of Contents

    AntaRx-S3 GNSS ........
  • Page 4 CONTENTS ..... . . 43 OW TO ALIGN ORIENTATION AND VEHICLE ORIENTATION ? ........44 OW TO VERIFY IF THE IS OUTPUTTING DATA .

  • Page 5: Introduction

    Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense. 1.1.3 ROHS/WEEE Notice AntaRx receivers compliant with latest WEEE, RoHS REACH directives. more information www.septentrio.com/en/environmental-compliance.

  • Page 6: Safety Information

    1.1. USER NOTICES 1.1.4 Safety information The power supply used must match the specifications of the receiver. Ultimate disposal of this product should be handled according to all national laws and regulations. The equipment and all the accessories included with this product may only be used according to the specifications in the delivered release note, manual or other documents delivered with the receiver.

  • Page 7: Support

    1.1. USER NOTICES 1.1.5 Support For first-line support please contact your AntaRx dealer. Further information can be found on our website or by contacting Septentrio Technical Support. http://www.septentrio.com Headquarters Septentrio NV Phone: +32 16 300 800 Greenhill Campus (HQ) Fax: +32 16 221 640 Interleuvenlaan 15i, sales@septentrio.com...

  • Page 8: Antarx Overview

    2 AntaRx overview The AntaRx-S3 provides multi-frequency, multi-constellation GNSS positioning capability together with GNSS Heading and optional mobile 4G communication within a rugged IP69K housing for the broadest range of applications. The AntaRx-Si3 adds sensor fusion capabilities, using the internal INS and the optional vehicle velocity input, ensuring 3D attitude, increased position accuracy in difficult GNSS...

  • Page 9: Connectivity

    2.1. ANTARX KEY FEATURES • A Posteriori Multipath Estimator Technique (APME ), including code and phase multipath mitigation • AIM+ interference unit mitigates against wide and narrow-band interference • IONO+ Advanced scintillation mitigation • RAIM Receiver Autonomous Integrity Monitoring • Real Time Kinematic (rover) •...

  • Page 10: Physical And Environmental

    2.1. ANTARX KEY FEATURES 2.1.4 Physical and Environmental Size: 158 x 166 x 83 mm (including connectors) Weight: 1.1 kg Input voltage: 9-48 V DC Power consumption: 15 W maximum -30 to +70 C (operational, for variants without internal ◦ Temperature Range: cellular modem) -30 to +60...

  • Page 11: Variants

    • AntaRx-Si3 GNSS/INS smart antenna with cellular AntaRx-Si3 modem 410443 • Integrated 4G Cellular modem • For use in Europe & US • AntaRx GNSS Auxiliary antenna AntaRx-Aux • Accessory, for use with AntaRx-S3 or AntaRx-Si3 in 410444 dual-antenna applications...

  • Page 12: Design

    2.3. ANTARX DESIGN 2.3 AntaRx design 2.3.1 Connector panel The connector panel layout of the AntaRx is shown in Figure 2-1. It includes a single connector for power & data and one RF input connector for attaching an auxiliary antenna. Figure 2-1: AntaRx connector panel layout The connector for power &...

  • Page 13: Mounting Instructions

    2.3. ANTARX DESIGN Figure 2-2: SIM card slot on the AntaRx 2.3.3 Mounting instructions The AntaRx can be fixed to the rover structure using 4 bolts. Mounting holes are on a square pattern, 120 +/-0.1mm apart. Install on a flat, solid surface with a flatness tolerance of +/-0.2mm.

  • Page 14: Installation Of Anta Rx

    2.4. INSTALLATION OF ANTARX-SI3 INS Figure 2-3: AntaRx with corner plugs removed 2.4 Installation of AntaRx-Si3 INS In order to properly detect motion it is important to mount the AntaRx-Si3 rigidly on the vehicle frame. If possible, to further simplify the setup process, we recommend installing the receiver with the IMU reference X-axis aligned to the vehicle X-axis.

  • Page 15: Internal Memory

    2.4. INSTALLATION OF ANTARX-SI3 INS 2.4.1 Internal memory The AntaRx has 16 GB of internal memory for data logging. Data can be logged in SBF or NMEA format and may be retrieved via the logging tab of the web interface. 2.4.2 Optional items A multi-interface development cable is available for AntaRx.

  • Page 16: Quick Start

    3 Quick start This section details on how to power-up, connect to and communicate with the AntaRx. The AntaRx has an on-board web interface which the user can connect to over Ethernet or USB. The AntaRx is fully configurable using the web interface. Please note that older versions of certain browsers may not display the web interface properly.

  • Page 17: Connecting The Auxiliary

    3.2. CONNECTING THE AUXILIARY GNSS ANTENNA - OPTIONAL 3.2 Connecting the auxiliary GNSS antenna - optional The connector panel of the AntaRx has one TNC connector for the auxiliary GNSS antenna input as indicated in Figure 3-2. Figure 3-2: Antenna connectors For the best performance, AntaRx-Aux is recommended as auxiliary antenna.
  • Page 18 3.3. CONNECTING TO THE ANTARX VIA THE WEB INTERFACE When the drivers have been correctly installed, the USB connection will appear as a removable storage device as shown in Figure 3-4. Figure 3-4: Screenshot showing USB connection after driver installation (Windows 10 example) The USB connection on the AntaRx functions as network adapter and the DHCP server running on the receiver will always assign the AntaRx the IP address 192.168.3.1.

  • Page 19: Using The Ethernet Cable

    AntaRx if the IP address assigned by the DHCP server is unknown. The serial number can be found on a sticker on the receiver. Figure 3-7: AntaRx label showing serial number Figure 3-8 shows a screenshot of an Ethernet connection to a receiver with serial number 3277275 using ‘http://AntaRx-s3-3277275’.
  • Page 20 3.3. CONNECTING TO THE ANTARX VIA THE WEB INTERFACE Figure 3-8: Connecting to the Web Interface via Ethernet...

  • Page 21: Output Over A Serial Com Connection

    3.4 How to configure SBF and NMEA output The AntaRx can output position and GNSS data in both standard NMEA format and Septentrio’s proprietary compact binary format SBF. The following sections detail how to configure connections to other devices in order to send data.
  • Page 22 3.4. HOW TO CONFIGURE SBF AND NMEA OUTPUT Step 2: Configure data output NMEA 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 3-10 and 3-11. Note: the GNSS/INS variant (AntaRx-Si3) can output a limited set of NMEA messages.
  • Page 23 3.4. HOW TO CONFIGURE SBF AND NMEA OUTPUT By clicking ‘New SBF stream’, a second output stream can be configured. In the example shown in Figures 3-12 and 3-13 the PVTCartesian SBF data block will be output over COM1 once per second. Figure 3-12: Selecting to output SBF data on COM1 Figure 3-13: Selecting to output the PVTCartesian SBF block every second...
  • Page 24 3.4. HOW TO CONFIGURE SBF AND NMEA OUTPUT Step 3: Verifying the configuration Having configured data output and clicked on ‘Ok’ the ‘NMEA/SBF Out’ page will now display a summary of all data output as shown in Figure 3-14. Figure 3-14: Summary of all configured data output streams Figure 3-15 shows the actual data output.

  • Page 25: Output Over Ethernet

    3.4. HOW TO CONFIGURE SBF AND NMEA OUTPUT 3.4.2 Output over Ethernet SBF and NMEA data can be sent over an Ethernet connection to the AntaRx. Step 1: Configure an IP connection on the AntaRx The Ethernet port settings can be configured by selecting ‘IP Ports’ from the Communication menu.
  • Page 26 3.4. HOW TO CONFIGURE SBF AND NMEA OUTPUT Step 2: Configure output of NMEA messages In the NMEA/SBF Out window, click on ‘New NMEA stream’ and follow the sequence of windows to configure the data you want to output. In the example shown in Figure 3-17, the NMEA GGA message will be output every second.
  • Page 27 3.4. HOW TO CONFIGURE SBF AND NMEA OUTPUT Step 3: Configure Data Link to listen for NMEA output The screenshots in Figure 3-18 show how the Septentrio GUI tool Data Link can be configured to listen for the AntaRx GGA output.
  • Page 28 3.4. HOW TO CONFIGURE SBF AND NMEA OUTPUT Figure 3-19: The ‘Show data’ window of Data Link showing GGA from the AntaRx...

  • Page 29: Output

    3.5. HOW TO CONFIGURE CAN OUTPUT 3.5 How to configure CAN output The CAN implementation in the AntaRx allows the transmission of several messages, as specified below. To configure CAN using the web interface, go to the Communication menu and select CAN. By default, CAN output is turned off.

  • Page 30: How To Configure Can

    Supported intervals are again 50ms, 100ms, 200ms, 500ms or 1s. Figure 3-23: J1939 PGN configuration 3.5.1 Supported NMEA2000 J1939 messages Septentrio receivers which support the CAN bus interface are able to output the NMEA2000 messages listed below: Description Max. update rate PGN129029 NMEA2000 GNSS Position...
  • Page 31 3.5. HOW TO CONFIGURE CAN OUTPUT Figure 3-24: Calculating position and altitude with high update rate Apart from the NMEA2000 messages listed earlier, the receiver also supports a number of proprietary messages. It should be noted that due to the restrictive nature of the NMEA2000 format, these messages follow the SAE J1939 standard.

  • Page 32: Rover Operation

    4 Rover operation 4.1 How to configure the AntaRx for RTK The AntaRx can use correction data to calculate a cm-level RTK position. The AntaRx can get this correction data in several ways: using the COM port, over GSM or Ethernet. 4.1.1 How to configure the AntaRx in RTK rover mode using the cellular modem and NTRIP Step 1: Enable RTK mode...
  • Page 33 4.1. HOW TO CONFIGURE THE ANTARX FOR RTK Step 2: Configure the cellular modem The on-board cellular modem of the AntaRx can be configured in the Communication > Cellular window as shown in Figure 4-2. A PIN number may or may not be required depending on the SIM configuration.
  • Page 34 4.1. HOW TO CONFIGURE THE ANTARX FOR RTK Step 3: Configure the NTRIP connection Using a cellular connection, you can get RTK correction data from an NTRIP service. Figure 4-4 shows the settings required to retrieve correction data from the FLEPOS NTRIP Caster. Select ‘Client’...

  • Page 35: Closed Network

    4.1. HOW TO CONFIGURE THE ANTARX FOR RTK 4.1.2 How to configure the AntaRx in RTK rover mode using TCP/IP in a closed network Step 1: Configure the Base station receiver Set the Base station position as static Section 5 describes how to configure the AntaRx as an RTK base station. Configure the Ethernet connection and differential corrections output from the Base station receiver In the Corrections Output window click on...
  • Page 36 4.1. HOW TO CONFIGURE THE ANTARX FOR RTK Figure 4-6: Configuring RTK differential corrections output over an Ethernet connection...
  • Page 37 4.1. HOW TO CONFIGURE THE ANTARX FOR RTK Step 2: Configure the Rover receiver Enable RTK positioning mode on the rover receiver Ensure that RTK is enabled as a positioning mode. This can be done in the GNSS Position tab by checking the ‘RTK’...
  • Page 38 4.1. HOW TO CONFIGURE THE ANTARX FOR RTK Step 3: Verifying the configuration If the Base station and rover receivers have been configured correctly then connections in the Communication Ethernet windows should appear similar to those shown in Figures 4-9 and 4-10.

  • Page 39: Nta R X For Attitude

    4.2. HOW TO CONFIGURE THE ANTARX FOR ATTITUDE 4.2 How to configure the AntaRx for Attitude With an auxiliary antenna connected to the AntaRx, the receiver can calculate Heading and either Pitch or Roll. This section details how to configure the AntaRx in a two-antenna setup. Step 1: Connect the auxiliary antenna Connect an auxiliary antenna to the connector labeled AUX as indicated in Figure 4-11.
  • Page 40 4.2. HOW TO CONFIGURE THE ANTARX FOR ATTITUDE a.) The default setup for which the angle between the antenna baseline and the longitudinal axis is 0 and no heading offset needs to be set. b.) A slight deviation (5 ) from the longitudinal axis in the clockwise direction is reflected by ◦...
  • Page 41 4.2. HOW TO CONFIGURE THE ANTARX FOR ATTITUDE In many cases the antenna baseline will not align perfectly with the vehicle’s longitudinal axis or its perpendicular and in these circumstances the provided attitude offset value can also be used to compensate for small angular deviations. 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.
  • Page 42 Figure 4-15: SBF blocks containing attitude information NMEA You can output the attitude information from the AntaRx in NMEA format by selecting the standard NMEA HDT sentence or the Septentrio proprietary HRP sentence as shown in Figure 4-16. Figure 4-16: NMEA sentences containing attitude information...

  • Page 43: How To Align Imu Orientation And Vehicle Orientation

    4.3. HOW TO ALIGN IMU ORIENTATION AND VEHICLE ORIENTATION 4.3 How to align IMU orientation and vehicle orientation Only applicable to AntaRx-Si3 INS smart antenna. Examples of typical receiver installations in a vehicle frame are given in Figure 4-17. Figure 4-17: Examples illustrating the orientation of the IMU reference frame with the associated IMU orientation for the depicted installation.

  • Page 44: How To Verify If The Imu Is Outputting Data

    4.4. HOW TO VERIFY IF THE IMU IS OUTPUTTING DATA? Figure 4-19: Setting the IMU orientation. If the angles are not known it is also possible to use the orientation helper, that will automatically suggest orientation angles based on a single question: - With the antenna pointing to the sky and the reference to the Vehicle front direction, the connector on the receiver is pointing in which direction? To validate the correctness of the filled-in values, manually or via the helper, an image with...
  • Page 45 4.4. HOW TO VERIFY IF THE IMU IS OUTPUTTING DATA? Figure 4-20: The Data Stream window on the Overview page should show a line symbolizing a connection between the AntaRx 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.

  • Page 46: Vehicle Velocity Input

    AntaRx-Si3 only the velocity values leaving blank the standard deviation. The Fuse+ technology of Septentrio will then assign a confidence value automatically. 4.6 Initialize INS filters...
  • Page 47 4.6. INITIALIZE INS FILTERS floor the the IMU - dynamic alignment: the receiver expects to have the vehicle moving forward and take a few turns with enough dynamics to measure all the IMU axes. During the alignment phase the receiver is outputting the best known position and heading, which comes from only GNSS and not INS because the filters are not yet initialized.

  • Page 48: Base Station Operation

    5 Base station operation 5.1 Configuring the AntaRx NTRIP Caster The AntaRx-S3 includes a built-in NTRIP Caster that makes correction data from the AntaRx available to up to 10 NTRIP clients (or rovers) over the internet. The caster supports up to three mount points and can also broadcast correction data from a remote NTRIP server.
  • Page 49 5.1. CONFIGURING THE ANTARX NTRIP CASTER Click on New mount point as indicated in Figure 5-1. Select ‘Yes’ to enable the mount point and give it a name. This is the name that will appear in the caster source table. Up to 3 mount points can be defined each with a different name.
  • Page 50 5.1. CONFIGURING THE ANTARX NTRIP CASTER If the client rover receivers are configured to send a GGA message to the caster (as was the case in Figure 5-4), then their position will also be visible. Figure 5-3: Connecting as a client to the AntaRx NTRIP Caster On the NTRIP Client side Rover receivers can connect to the NTRIP Caster by going to ‘Corrections >...

  • Page 51: Receiver Monitoring

    6 Receiver Monitoring 6.1 Basic operational monitoring The ‘Overview’ page of the web interface in Figure 6-1 shows at a glance a summary of the AntaRx’s operational status. Figure 6-1: Overview page of the web interface The main information bar at the top of the window gives some basic receiver information: receiver type, serial number and position.
  • Page 52 6.1. BASIC OPERATIONAL MONITORING The icons to the right of the information bar show that, in this example, the position of the receiver is fixed, the overall performance (signal quality and CPU) is Excellent (5 out of 5 bars) and the receiver is logging to the internal disk. The Corrections icon indicates that differential corrections are being sent out to a rover receiver.

  • Page 53: Aim+: Using The Spectrum Analyzer To Detect And Mitigate Interference

    6.2. AIM+: USING THE SPECTRUM ANALYZER TO DETECT AND MITIGATE INTERFERENCE 6.2 AIM+: Using the spectrum analyzer to detect and mitigate interference The AntaRx is equipped with a sophisticated RF interference monitoring and mitigation system (AIM+). To mitigate the effects of narrow-band interference, 3 notch filters can be configured either in auto or manual mode.

  • Page 54: Narrowband Interference Mitigation

    6.2. AIM+: USING THE SPECTRUM ANALYZER TO DETECT AND MITIGATE INTERFERENCE 6.2.1 Narrowband interference mitigation Configuring the notch filters When the notch filters are set to their default auto mode, the receiver performs automatic interference mitigation of the region of the spectrum affected by interference. In manual mode, as shown configured for Notch1 in Figure 6-3, the region of the affected spectrum is specified by a center frequency and a bandwidth which is effectively blanked by the notch filter.

  • Page 55: Wideband Interference Mitigation

    6.2. AIM+: USING THE SPECTRUM ANALYZER TO DETECT AND MITIGATE INTERFERENCE 6.2.2 Wideband interference mitigation Wideband interference of GNSS signals can be caused unintentionally by military and civilian ranging and communication devices. There are also intentional sources of interference from devices such as chirp jammers.
  • Page 56 6.2. AIM+: USING THE SPECTRUM ANALYZER TO DETECT AND MITIGATE INTERFERENCE When WBI mitigation is enabled, the effect of the interference is dramatically reduced to the extent that, the small signal bump at the GPS L1 central frequency of 1575 MHz is clearly visible as Figure 6-7 shows.

  • Page 57: How To Log Data For Problem Diagnosis

    6.3. HOW TO LOG DATA FOR PROBLEM DIAGNOSIS 6.3 How to log data for problem diagnosis If the AntaRx does not behave as expected and you need to contact Septentrio’s Support Department, it is often useful to send a short SBF data file that captures the anomalous behavior.
  • Page 58 6.4. SUPPORT SBF FILE Step 2: Downloading the logged SBF file To download a data file logged on the AntaRx, click the download icon next to the filename on the Disk Contents tab as shown in Figure 6-10 Figure 6-10: Click the icon next to the file you want to download...

  • Page 59: Activity Logging

    6.5. ACTIVITY LOGGING 6.5 Activity logging The AntaRx reports various events in the Receiver Messages window of the Admin menu that can be used to check receiver operations. The example in Figure 6-11 shows that four, 15 minute SBF files have been successfully FTP pushed to a remote location. Figure 6-11: Events reported by the AntaRx in the Receiver Messages window...

  • Page 60: Receiver Administration Operations

    7 Receiver Administration Operations 7.1 How to change IP settings of the AntaRx The IP settings of the AntaRx can be configured in the Ethernet window of the Web Interface. By default, the AntaRx is configured to use DHCP to obtain an IP address but, a static IP address can also be configured as shown in Figure 7-1.

  • Page 61: How To Configure Dynamic Dns

    7.2. HOW TO CONFIGURE DYNAMIC DNS 7.2 How to configure Dynamic DNS Dynamic DNS allows remote contact with the AntaRx using a hostname. When devices are connected to the internet, they are assigned an IP address by an internet service provider (ISP). If the IP address is dynamic then it may change over time resulting in a loss of connection.

  • Page 62: How To Control Access Using The Antarx Firewall

    7.3. HOW TO CONTROL ACCESS USING THE ANTARX FIREWALL 7.3 How to control access using the AntaRx Firewall You can control access to the AntaRx using the receiver’s firewall in the Firewall window. By default, all Ethernet ports are open as are the cellular IPS ports (i.e. those defined on the IP Ports menu).

  • Page 63: How To Upgrade The Firmware Or Upload A New Permission File

    Format) and can be uploaded to the AntaRx as shown in the steps below. Firmware upgrades can be downloaded from the Septentrio website and are free for the lifetime of the receiver. Step 1: Select the .suf file and start upgrade The upgrade procedure is started by clicking on Choose file in the Admin Upgrade tab as...
  • Page 64 7.4. HOW TO UPGRADE THE FIRMWARE OR UPLOAD A NEW PERMISSION FILE Figure 7-6: The AntaRx upgrade window Step 2: Verifying the upgrade If there were no problems with the upgrade the message ‘Upgrade successful’ will appear. You can then check on the Admin About tab that the AntaRx firmware or permission file has correctly been updated to the new version as indicated in Figure 7-7.

  • Page 65: To Its Default Configuration

    7.5. HOW TO SET THE ANTARX TO ITS DEFAULT CONFIGURATION 7.5 How to set the AntaRx to its default configuration You can set the AntaRx configuration to its default settings via the Admin Configurations tab as shown in Figure 7-8. Select ‘RxDefault’ from the ‘Source’ drop-down list and either ‘Current’ or ‘Boot’...

  • Page 66: How To Copy The Configuration From One Receiver To Another

    7.7. HOW TO COPY THE CONFIGURATION FROM ONE RECEIVER TO ANOTHER 7.7 How to copy the configuration from one receiver to another In the Admin > Configurations tab, the configuration of an AntaRx can be easily saved to a PC as a text file. A saved configuration can also be uploaded to an AntaRx. Step 1: Downloading the configuration from an AntaRx Click the green download arrow next the configuration you wish to download as shown in Figure 7-10.

  • Page 67: How To Share Cellular Internet Connection Over Ethernet

    7.8. HOW TO SHARE CELLULAR INTERNET CONNECTION OVER ETHERNET Select the configuration file to be uploaded then click on OK on the status pop-up as shown in Figure 7-12. Figure 7-12: Select the configuration file to upload 7.8 How to share cellular Internet connection over Ethernet If AntaRx is equipped with a cellular modem, the Internet connection can be shared with other devices connected to the same local network.
  • Page 68 7.8. HOW TO SHARE CELLULAR INTERNET CONNECTION OVER ETHERNET Devices connected to the same network as AntaRx can access the internet by using the IP address of the AntaRx as gateway. The IP address of AntaRx can be set under the Communication >...

  • Page 69: Security

    8 Security 8.1 Default access to the AntaRx You can manage the access that users have to the AntaRx in the ‘User Administration’ window of the ‘Admin’ menu. By default, all communications are assigned User-level access as shown in Figure 8-1. ‘User’ level allows full control of the receiver while ‘Viewer’...

  • Page 70: User Access: An Example

    8.3. USER ACCESS: AN EXAMPLE Figure 8-2: Click on ‘New user’ and fill in the user details and the default access when not logged in 8.3 User access: an example Figure 8-3: An example with two defined users In the example shown in Figure 8-3: Web Interface: Anonymous users (without password) can connect to the receiver via the web interface as Viewers.

  • Page 71: Using Ssh Key Authentication

    8.3. USER ACCESS: AN EXAMPLE configuration. Anonymous users can neither change or view the receiver configuration over these connections. After defining the Users/Viewers and their access levels, they can login on the web interface by clicking on Log in on the upper-right corner as shown in Figure 8-4. Figure 8-4: Logging in to the AntaRx web interface 8.3.1 Using SSH key authentication By default, anonymous users have full access over FTP, SFTP and rsync to the files logged...

  • Page 72: Http/Https

    8.4. HTTP/HTTPS Figure 8-5: Generating SSH keys using the PuTTY Key Generator. The public key is highlighted. The generated public key is the highlighted text that can be pasted directly into the SSH Key field of the AntaRx Web Interface as shown in Figure 8-6. Figure 8-6: Using an SSH Key 521-bit ECSDA keys offer the best security however, ECSDA 256 and 384-bit keys can also be used.
  • Page 73 8.4. HTTP/HTTPS Figure 8-7: Uploading a certificate to the receiver...

  • Page 74: Appendix

    9 Appendix 9.1 Power & data connector description Figure 9-1: 23-pin male socket pin-numbering guide as viewed end on. PIN # Name Comment GND (USB) USB Ground USB D- USB 2.0 data signal negative TxD+ Ethernet 10/100 TX+ TxD- Ethernet 10/100 TX- RxD+ Ethernet 10/100 RX+ RxD-...

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