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bynav X1 User Manual

Combined navigation system
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X1 Combined Navigation System
USER MANUAL
Description
This document is applicable to the X1 high precision receiver.
No: UG015
Ver.: V1.0
Date: 2024.12.2

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  • Page 1 X1 Combined Navigation System USER MANUAL Description This document is applicable to the X1 high precision receiver. No: UG015 Ver.: V1.0 Date: 2024.12.2...

  • Page 2: Table Of Contents

    2.2.2 Mount X1 Enlosure ..........................7 2.2.3 Measure the Lever Arm and Rotation Parameter (RBV) ................8 2.2.4 Connect X1 to Data Communication Equipment ..................9 2.2.5 Connect I/O Signals to X1 (Optional) ....................10 2.2.6 Connect Odometer to X1 (Optional) ...................... 10 2.2.7 Connect Power to X1 ..........................
  • Page 3 7 Firmware Upgrade ......................26 Appendix A X1 Technical Specifications ................30 A.1 X1 Performance ......................... 30 A.2 X1 Mechanical Specification and Navigation Center ............33 A.3 X1 Electrical and Environmental Specifications ..............34 A.4 X1 I/O Signal ........................35 A.5 X1 Connectors ........................

  • Page 4: X1 Combined Navigation System

    X1 OVERVIEW 1 X1 OVERVIEW X1 is a highly integrated and rugged IMU-enhanced GNSS receiver with the following technical features: Deeply coupled GNSS+INS navigation engine ⚫ Built-in Bynav GNSS high precision positioning and heading board ⚫ Built-in tactical grade IMU module ⚫...

  • Page 5: X1 Connectors

    1.1 X1 Connectors X1 has the following connectors: Figure 1-2 X1 Connectors Table 1-1 X1 Connector List Description Label Type Connectors Connect X1 to the GNSS antenna 1 (primary) ANT1 SMA-K Connects X1 to the GNSS antenna 2 (secondary) ANT2 SMA-K...

  • Page 6: X1 Leds

    X1 OVERVIEW Connect X1 to the Ethernet, communicating with X1 by RJ45 network Provide access to communication signals for X1, including: Push-pull Serial port COM1 (RS-232) COMM1 self-locking 1 EVENT IN (3.3 V LVTTL) connector 1 PPS (shared pin with EVENT OUT) (3.3 V LVTTL)

  • Page 7: X1 Installation

    DB9 and bare wires (COMM2) 2.1.2 Additional Equipment You may need the following additional equipment to have X1 to start working (available from Bynav): ·A +9V ~ +32VDC, direct current power supply capable of at least 10W ⚫...

  • Page 8: Gnss Antenna

    It is recommended to use an active antenna with typical gain 40 ± 2 dB, and the operation frequency supporting GPS(L1/L2/L5), GLONASS(G1/G2), BDS(B1/B2), Galileo(E1/E5b), the noise coefficient is ≤2dB and output impedance is 50Ω. X1 provides 5VDC feed to antenna, which maximum supports 200mA current.

  • Page 9: X1 Installation

    Mount X1 enclosure Connect X1 to GNSS antenna using RF coaxial cable Connect X1 to a computer using Ethernet cable or Serial Communication cable (on demand) Connect X1 to other devices using Communication cable I/O signals (on demand) Connect X1 to external power supply using Power cable...

  • Page 10: Mount Gnss Antenna

    Figure 2-2 Two Recommended GNSS Antenna Installation Mode 2.2.2 Mount X1 Enlosure The X1 must be mounted rigidly on the carrier to ensure the relative position between X1 and the antennas be fixed. Moreover, please ensure the X1 is mounted on a stable and secure surface to...

  • Page 11: Measure The Lever Arm And Rotation Parameter (Rbv)

    2.2.3 Measure the Lever Arm and Rotation Parameter (RBV) After the X1 is mounted for the first time, you need to measure the lever arm of two GNSS antennas. It’s recommended to measure it using professional survey equipment, for example, a total station or laser range finder, and later set the lever arm value into X1.

  • Page 12: Connect X1 To Data Communication Equipment

    The X1 can communicate with external communication equipment using serial, Ethernet or CAN Bus. 2.2.4.1 Serial Port The X1 provides two serial ports: COM1 and COM2. COM1 port is provided by COMM1 interface and COM2 port, by COM2 interface. Table 2-3 X1 Serial Port Protocol...

  • Page 13: Connect I/O Signals To X1 (Optional)

    The X1 can be connected to an odometer to improve the positioning accuracy when the satellite signal is lost. The X1 supports odometer inputs in two ways. The first is to transmit the vehicle speed data UG017_ (usually read from OBD) directly to X1 through the communication port. Refer to the Interface Protocol for more details.

  • Page 14: Connect Power To X1

    -VIN marked bare wire to the negative pole. Do not reverse. 2.2.8 Check X1 Status After the X1 is installed, power it on. At this moment you need to confirm X1 system is operating correctly: ·You can check that the PWR LED is solid green ⚫...

  • Page 15: Configuration

    Configuration 3 Configuration Before starting X1 configuration, make sure you have installed X1 as described in Chapter 2 and powered it on. 3.1 X1 Communication Methods X1 can establish communication with external devices by the following methods: Serial Port Communications refer to 3.1.1 ⚫...

  • Page 16: Ethernet Port Communication

    X1 serial ports. Before establishing the communications, ensure the serial configuration of the terminal matches with the X1. A computer can emulate a remote terminal to store data logging files.

  • Page 17: Can Bus Communication

    For more ICOM configuration commands, such as IPCONFIG, ICOMCONFIG etc. refer to Appendix 3.1.4 CAN Bus Communication X1 is equipped with one CAN Bus, which supports maximum data rate up to 1 Mbps. For CAN Bus UG009 CAN Protocol protocol refer to 3.2 Starting Communication...

  • Page 18: Receiving Correction Data

    • After the configuration, you must send the SAVECONFIG command to save the parameters. Otherwise, you’ll need to re-configure as the parameters will be lost when X1 is powered off. • When you reinstall the X1 or move the antenna, you need to re-measure the lever arm and RBV, and then re-configure X1 system.

  • Page 19: X1 Rover Station Configuration

    ·If you use the INTERFACEMODE command to change the input format from the default AUTO format to other formats (such as RTCM), then the commands in BYNAV format will not be recognized or executed. You need to use the INTERFACEMODE command again to change the input data into AUTO or BYNAV format.

  • Page 20: System Alignment

    GNSS data. Therefore, please ensure that X1 is in an open and unobstructed location when it is powered on. ·The IMU data and GNSS data are calculated separately. X1 can output GNSS data even when ⚫...

  • Page 21: Data Collection

    The above INS status is shown in the INS related messages. 3.5.2 Data Collection Once X1 enters the navigation mode, you can configure the output messages to get navigation data. The GNSS/INS data is generally output by the INS related messages, below shows the...

  • Page 22: Post Processing

    Configuration 3.6 Post Processing X1 supports raw data post processing using professional software such as Waypoint Inertial Explorer, through the software ’ s bi-directional solution and smoothing, you will get more accurate positioning results which can be used as a test benchmark. (See the specification in A.1 ).

  • Page 23: Ethernet Configuration

    4.1 Static IP Address Configuration Both X1 and the computer need to be assigned a unique IP address, which is typically used in a test environment. After IP address is configured, connect X1 and computer using the Ethernet cable as illustrated below.

  • Page 24: Configure Static Ip Address -X1

    Gateway: 192.168.8.1 The configuration steps are the following: ·Connect X1 to the computer using the Communication cable 1 or 2 included in the shipping ⚫ · Establish a connection with X1 using Serial Port Debugging Software in order to send ⚫...

  • Page 25: Complete Ethernet Setup

    Figure 4-2 Connect a Computer to X1 by DHCP server To set up a dynamic IP address: ·Connect X1 to a computer using the Communication Cable 1 or 2 included in the shipping ⚫ · Establish a connection with X1 using Serial Port Debugging Software in order to send ⚫...

  • Page 26: Accessing Correction Data By Ethernet Port

    X1 can access correction data using an Ethernet connection. Figure 4-3 Accessing Correction Data from Ethernet Port ·Connect X1 to the computer with the Communication Cable 1 or 2 included in the shipping ⚫ · Establish a connection with X1 using Serial Port Debugging Software in order to send ⚫...

  • Page 27: Can Bus Configuration

    The Bynav X1 receiver also supports communicate with other devices in the system, such as computers and data loggers using CAN Bus, which is available on the COMM2 interface of X1. First connect to the CAN Bus as described in section 2.2.4.3.

  • Page 28: Event Configuration

    The signal connection is described in section 2.2.5. 6.1 EVENT_IN Configuration The external device can use the EVENT_IN signal to synchronize X1, which is generally used to connect the pulse signal of the odometer or the Data Ready signal of an external sensor such as Camera, Lidar, etc.

  • Page 29: Firmware Upgrade

    Firmware Upgrade 7 Firmware Upgrade The firmware upgrade steps are the following: ·Open the software BY_CONNECT, select correct port number and baud rate and then click ⚫ OPEN. Figure 7-1 BY_connect Interface ·Click BoardUpdate->select to open the upgrade file and select “****.dat”. ⚫...
  • Page 30 Firmware Upgrade Confirm the upgrade file is correct and click the "Upgrade" button. ⚫ Figure 7-3 Firmware Selection *Note: After clicking the “Upgrade” button, the PC interface will prompt you to wait for 3s to confirm whether the communication link is normal. If the communication fails, the following window will pop up. You need to try again after checking that the communication link is normal.
  • Page 31 Firmware Upgrade If the communication is normal, you’ll enter the upgrade interface as shown below: ⚫ Figure 7-5 Updating When reaching 100%, the software starts to count down. At that moment, the upgrade is not ⚫ completed yet. Do not power it off. If failed, you need to reopen the BoardUpdate. If the upgrade successfully completed, the following pop-up window will appear.
  • Page 32 Firmware Upgrade Figure 7-6 Update Success When choosing upgrade via Ethernet port, you just need to switch the connection way, ⚫ configure the correct IP address, port number. Figure 7-7 Ethernet Connection...

  • Page 33: Appendix A X1 Technical Specifications

    Appendix A X1 Technical Specifications Table 7-1 X1 Physical Specifications 116mm * 114.2mm * 38.6mm Size Weight 432g Appendix A mainly describes the X1 technical specifications and the cables included in shipping box. A.1 X1 Performance Table 7-2 X1 Performance Single Point 1.5m...
  • Page 34 Durati ng Mode Horizon Vertic Horizon Vertic Pitc Azimu Roll 0.015 0.020 0.019 0.014 0.084 0.010 0.020 0.016 0.012 0.030 X1-5 0.235 0.140 0.058 0.024 0.110 0.015 0.020 0.020 0.017 0.034 0.010 0.020 0.016 0.012 0.076 0.010 0.020 0.013 0.011 0.020...
  • Page 35 Firmware Upgrade Rate Bias Stability deg/hr Angular Random deg/Öhr 0.08 Walk Range ± 5 ± 10 Rate Bias Repeatability Acceler ometer Rate Bias Stability Velocity Random m/s/Öhr 0.03 0.033 Walk Raw Data Output Ouput Frequency...

  • Page 36: X1 Mechanical Specification And Navigation Center

    Firmware Upgrade A.2 X1 Mechanical Specification and Navigation Center Figure 7-8 X1 Mechanical Parameters...

  • Page 37: X1 Electrical And Environmental Specifications

    Firmware Upgrade Figure 7-9 X1 Navigation Center A.3 X1 Electrical and Environmental Specifications Table 7-5 X1 Environmental Specifications Value Parameter Operating Temperature -40℃ ~ +85℃ Storage Temperature -55℃ ~ +85℃ Humidity 95% non-condensing Vibration JESD22-B103 Table 7-6 X1 Power Parameters...

  • Page 38: X1 I/O Signal

    Firmware Upgrade Table 7-7 X1 RF Input/LNA Power Output SMA-K female, 50Ω impedance Antenna Connector GPS L1: 1575.42MHz GLONASS L1: 1593-1610MHz GPS L2: 1227.60MHz GLONASS L2: 1237-1254MHz GPS L5: 1176.45MHz GLONASS L3: 1202.025MHz RF Input Frequency BDS B1I: 1561.098MHz Galileo E1: 1575.42MHz...
  • Page 39 ANT1 SMA-K Connect X1 to the GNSS antenna 1 (primary) ANT2 SMA-K Connects X1 to the GNSS antenna 2 (secondary) Connect X1 to the Ethernet, communicating with X1 by RJ45 network Provide access to communication signals for X1, Push-pull including:...

  • Page 40: X1 Power Cable (Pwr)

    RS232_RXD2 Input CAN_H Input / Output CAN Bus CAN_L Input / Output *Note: The direction of signal is defined for X1 A.6 X1 Power Cable (PWR) Figure 7-11 X1 PWR Cable Table 7-13 Power Cable Connectors Direction Comments PWR 2-pin...

  • Page 41: Communication Cable 1 (Comm1)

    Table 7-14 Pins of Communication Cable 1 (COMM1) COMM1 COM1 Direction Comments 7-pin connector Bare wire Signal male female —— —— Unconnected RS232_TXD1 output RS232 RS232_RXD1 input PPS_GND EVENT_GND output 3.3V LVTTL EVENT_IN input 3.3V LVTTL EVENT_IN *Note: The direction of signal is defined for X1.

  • Page 42: Communication Cable 2 (Comm2)

    Figure 7-13 X1 COMM2 Cable Table 7-15 Pins of Communication Cable 2 (COMM2) COMM2 COM2 Bare Direction Comments 7-pin connector Signal wire male female Reserved Reserved RS232_TXD2 output RS232 RS232_RXD2 input CAN_H input/output CAN_L input/output *Note: The direction of signal is defined for X1.

  • Page 43: Appendix B Frames, Lever Arm And Rbv

    N-axis – pointing north (In a plane perpendicular to the U axis, the direction from the user to the North Pole) U-axis – pointing up (Ellipsoid normal direction) The origin of the Local Level frame is the navigation center marked on the X1 housing. Figure 7-14 The Local-Level Frame (ENU)

  • Page 44: The Imu Body Frame

    Firmware Upgrade B.1.2 The IMU Body Frame Both the axis and origin point of the IMU Body frame are marked on the X1 housing, and the origin of the IMU Body Frame is the navigation center of X1. Figure 7-15 IMU Body Frame Marking B.1.3 The Vehicle Frame...

  • Page 45: The User Output Frame

    SETINSTRANSLATION command plus the determined frame offset. By default, the attitude output by X1 is the rotation angle from the Local Level frame (ENU Coordinates) to the IMU Body frame. You can set the attitude as the rotation angle from the Local Level frame to another frame using the SETINSROTATION command.
  • Page 46 X-axis, Y-axis and Z-axis directions be consistent with the Vehicle frame. Below shows an example of the Lever Arm from X1 to the GNSS dual antenna. In this example, the origin is the enclosure navigation center and the arrow indicates the direction of the axis of the Vehicle frame.

  • Page 47: Rotation Parameter (Rbv)

    Firmware Upgrade Enter SETINSTRANSLATION command to set lever arm: SETINSTRANSLATION ANT1 -0.520 0.820 1.000 0.05 0.05 0.05 VEHICLE SETINSTRANSLATION ANT2 -0.560 1.800 1.030 0.05 0.05 0.05 VEHICLE Note: the smaller the lever arm error, the better, because this error will directly affect the integrated navigation accuracy B.2.2 Rotation Parameter (RBV) The error in attitude between the IMU Body Frame and the Vehicle Frame are called rotation...

  • Page 48: Rbv Calibration

    ·Verify that X1 is properly configured, including accurate lever arm and approximate RBV ⚫ value (accuracy better than 5 degrees); ·Verify that X1 is powered on normally and complete the alignment and error convergence; ⚫ ·Enable RBV calibration using the INSCALIBRATE command: ⚫...
  • Page 49 This manual provides information about the products of Hunan Bynav Technology Co., Ltd. (hereinafter referred to as Bynav Technology). The manual does not transfer any rights or licenses under the patents, copyrights, trademarks, ownership, etc. of the company or any third party in any form, implied or implied.

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