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OXTS RT3000 User Manual

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Summary of Contents for OXTS RT3000

  • Page 1 RT3000 v4...

  • Page 2: Legal Notices

    No licence is granted by implication or otherwise under any patent or patent rights of OXTS. Specifications mentioned in this publication are subject to change without notice and do not represent a commitment on the part of OXTS. This publication supersedes and replaces all information previously supplied.

  • Page 3: Warranty

    Date of Sale. “Date of Sale” shall mean the date of the OXTS invoice issued on delivery of the product. The responsibility of OXTS in respect of this warranty is limited solely to product replacement or product repair at an authorised location only.

  • Page 4: Table Of Contents

    Performance specification ........................8 Notes on performance specification ........................ 9 Notes on heading specification ........................10 Physical specification ........................10 Export control classification ....................... 11 Registered in England and Wales No. RT3000 v4 Product Manual | 3 3534778. VAT GB 704 8399 17...
  • Page 5 OxTS vehicle frame ............................31 ISO 8855 vehicle system ..........................32 Ethernet configuration ........................33 Connection details for Ethernet configuration ....................34 Configuring the RT3000 v4 ..................36 NAVconfig - Overview ........................36 NAVconfig - Home ..........................36 NAVconfig – Start Configuration ....................... 37 NAVconfig - Read Configuration .......................
  • Page 6 Internal NTRIP .............................. 46 External NTRIP ............................. 47 Network DGPS ............................. 47 Forwarding corrections ..........................47 SBAS ................................47 TerraStar (RT3000 T v4 only) ........................47 NAVconfig - Interfaces ........................47 Ethernet ................................ 47 UCOM ................................48 CAN output ..............................49 CAN acquisition ............................
  • Page 7 Figure 3: Dual antenna orientations ........................16 Figure 4: RT3000 v4 front panel layout ........................ 18 Figure 5: RT3000 v4 I/O connector pin layout ..................... 19 Figure 6: RT3000 v4 main user cable ........................22 Figure 7: RT3000 v4 auxiliary user cable ......................24 Figure 8: 1PPS waveform .............................
  • Page 8 Table 2: Data format manuals ..........................3 Table 3: Utilities manuals ............................4 Table 4: Summary of RT3000 v4 standard kit components ................... 4 Table 5: RT3000 v4 inertial sensor specifications ....................8 Table 6: RT3000 v4 performance specifications ....................9 Table 7: RT3000 v4 physical specifications ......................
  • Page 9 Table 18: OxTS NED navigation frame definition ....................29 Table 19: ISO 8855 ENU earth-fixed system ......................29 Table 20: OxTS Horizontal frame definition ......................30 Table 21: ISO 8855 intermediate system ......................31 Table 22: Vehicle frame definition ........................32 Table 23: ISO 8855 vehicle system ........................

  • Page 10: Introduction

    Important information is highlighted throughout this manual in these boxes. The RT family consists of the RT500 v1, RT1003 v2, RT3000 v3 and RT3000 v4. (N.B. The RT3000 v4 has a variant supporting Terrastar™ called the RT3000 T v4. Both variants have a sub-variant containing 16g accelerometers called the RT3000 16g v4 and the RT3000 T 16g v4.

  • Page 11: Easy Operation

    This manual covers the installation and operation of the device, but it is beyond its scope to provide details on service or repair. Contact OXTS support or your local representative for customer service-related inquiries. Additional manuals provide further information on some of the software and communication types mentioned in this manual.

  • Page 12: Software Documentation

    For viewing real-time information from an RT. Manual https://www.oxts.com/software/navsuite/documentation/manuals/NAVdisplay_man.pdf NAVgraph For plotting and exporting captured data. Manual https://www.oxts.com/software/navsuite/documentation/manuals/NAVgraph_man.pdf NAVsolve Explains how to use the OXTS post-processing application. Manual https://www.oxts.com/software/navsuite/documentation/manuals/NAVsolve_man.pdf RT-Range Explains how to use the OXTS RT-Range application. https://www.oxts.com/software/navsuite/documentation/manuals/RT- Range_RT3000v4_man.pdf Table 1:...

  • Page 13: Utilities Documentation

    The standard kits are supplied complete with user cable, an Ethernet cable and crossover, software, a calibration certificate, a tape measure, and a quick start guide. Table 4 lists all items that are delivered with each standard RT3000 v4 kit. Description...

  • Page 14: Conformance Notices

    RF radiations within 70 MHz of either the GPS frequencies L1 (1575 MHz) or L2 (1228 MHz). The RT3000 v4 conforms to the requirements for CE. The RT3000 v4 is IP65 rated, but not all connections on the user cable are fully IP rated and so the cable is not intended for use in wet locations.

  • Page 15: Hardware Description

    Comes with dual frequency GPS, GLONASS, Galileo and BeiDou enabled as standard. The RT3000 v4 is RTK capable and has dual antennas. 100 Hz, 200 Hz and 250 Hz versions are available. The RT3000 v4 is able to run the OXTS RT-Range Hunter feature codes for ADAS testing.

  • Page 16: Dual Antenna

    Japan; GAGAN is available in India; SDCM is available in Russia. Other parts of the world are not covered and cannot use this service. TerraStar is a 3 party subscription service. The RT3000 T v4 includes the necessary hardware to receive the TERRASTAR-C PRO service. For more information, see TerraStar’s website: http://www.terrastar.net. Dual antenna Dual antenna systems provide high accuracy heading information and almost constant heading performance under all conditions.

  • Page 17: Specifications

    Specifications IMU specification The IMU specification for the IMU10 and IMU10 16g used in the RT3000 v4 is show in Table 5 RT3000 v4 / RT3000 T v4 RT3000 16g v4 / RT3000 T 16g v4 Accelerometers Full range ±8 g ±16 g...

  • Page 18: Notes On Performance Specification

    To achieve full accuracy in real time, the RT products will require appropriate GNSS differential corrections. Alternatively, a RINEX file can be downloaded post-mission and used to post-process the data to full accuracy. Registered in England and Wales No. RT3000 v4 Product Manual | 9 3534778. VAT GB 704 8399 17...

  • Page 19: Notes On Heading Specification

    “1σ” specification is used because the mounting of the RT compared to the vehicle gives an offset the RT cannot measure. The accuracy of the product will depend on the operating mode of the GNSS. For example, an RT3000 v4 operating without differential corrections enabled will have the specifications of the SPS mode only.

  • Page 20: Export Control Classification

    Commerce Control List (CCL). As such, the RT3000 v4 is designated ECCN 7A994 meaning no license is required for export or re-export. The RT3000 v4 is also classified as “Not Listed” by the Export Control Joint Unit, meaning it is not listed as subject to control in the current UK strategic export control legislation.

  • Page 21: Software Installation

    As configurations vary between products there is no manual for NAVconfig. NAVdisplay Used to view real-time data from OXTS products via Ethernet or a serial port. It can also be used to transmit special commands and replay logged data.

  • Page 22: Figure 1: Windows Firewall Warning Message

    32 bit operating systems. The first time some OXTS applications are run, a firewall warning message similar to that shown in Figure 1 may be triggered. This is because the program is attempting to listen for, and communicate with, OXTS devices on the network.

  • Page 23: Hardware Installation

    If the vehicle experiences high shocks, then vibration mounts may be required. The RT3000 v4 is compatible with the RT-Strut product from OXTS to provide a quick and secure vehicle mounting solution.

  • Page 24: Orientation And Alignment

    Antennas The RT3000 v4 has TNC connectors for the primary and secondary GNSS antennas. Antennas used with the RT must at least be capable of tracking the GPS L1 signal for operation and additionally the GPS L2 signal for RTK performance.

  • Page 25: Dual Antenna Systems

    For a 2 m antenna separation the RT orientation and the secondary antenna orientation should be known to within 5°. For wider separations the secondary antenna orientation angle needs to be more accurate. Registered in England and Wales No. RT3000 v4 Product Manual | 16 3534778. VAT GB 704 8399 17...

  • Page 26: Multipath Effects On Dual Antenna Systems

    The level of accuracy can only be achieved if there is little or no multipath. Operation Front panel layout Figure 4 shows the layout of the RT3000 v4 front panel. Table 9 lists the parts of the front panel labelled in Figure 4. Registered in England and Wales No.

  • Page 27: Led Definitions

    Power is applied to the system. Orange (Flashing) The system is powered and Ethernet traffic is present. Table 10: Power LED states Registered in England and Wales No. RT3000 v4 Product Manual | 18 3534778. VAT GB 704 8399 17...

  • Page 28: I/O Connectors

    GNSS LED states I/O connectors There are two I/O user cable cable connectors on the RT3000 v4 front panel. The main connector is a male 22- pin Deutsch AS612-35PA connector, marked with a yellow ring. The auxiliary connector is a female 22-pin Deutsch AS612-35SN connector, marked with a red ring.

  • Page 29: Table 13: Main Connector Pin Description

    Digital ground Signal ground Digital 4 ETX+ Ethernet transmit + ERX+ Ethernet receive + Ground Ground Table 13: Main connector pin description Registered in England and Wales No. RT3000 v4 Product Manual | 20 3534778. VAT GB 704 8399 17...

  • Page 30: Table 14: Auxiliary Connector Pin Description

    Reserved ERX- Ethernet receive - Reserved Reserved ETX- Ethernet transmit - ERX+ Ethernet receive + Reserved Table 14: Auxiliary connector pin description Registered in England and Wales No. RT3000 v4 Product Manual | 21 3534778. VAT GB 704 8399 17...

  • Page 31: User Cables

    User cables The RT3000 v4 standard kit is supplied with a user cable for quick access to the main interfaces. The J1 connector of the 14C0038 user cable connects to the main I/O connector and connectors J2–J7 provide connections for the inputs and outputs. Figure 6 shows the cable diagram and Table 15 shows the pin descriptions for the interface connectors.

  • Page 32: Table 15: Rt3000 V4 Main User Cable Pin Description

    Supply- J1-2 Sleeved and made safe Table 15: RT3000 v4 main user cable pin description See Table 17 for Digital I/O signal details Registered in England and Wales No. RT3000 v4 Product Manual | 23 3534778. VAT GB 704 8399 17...

  • Page 33: Figure 7: Rt3000 V4 Auxiliary User Cable

    120 Ω terminating resistor must be added between the CAN+ and CAN- pins. Figure 7: RT3000 v4 auxiliary user cable Registered in England and Wales No. RT3000 v4 Product Manual | 24 3534778. VAT GB 704 8399 17...

  • Page 34: Digital Inputs And Outputs

    Sleeved and made safe J1-17 Table 16: RT3000 v4 auxiliary user cable pin description Digital inputs and outputs Table 17 describes each of the signals on the Digital I/O connector J5 of the main user cable. A more detailed explanation of each signal can be found below.

  • Page 35: 1Pps Output

    1PPS output The 1PPS output is a pulse generated by the GNSS receiver. For RT3000 T v4 variants, the output is active even when the GNSS receiver has no valid position measurement. For RT3000 v4 variants the output is not active when the receiver has no valid position measurement.

  • Page 36: Wheel Speed Input

    X-axis points forwards, the positive Y-axis points right and the positive Z-axis points down. The RT3000 v4 can be mounted in any orientation, it is not necessary for its axes to match those of the host vehicle. The configuration file will specify the transformation from the IMU frame to the vehicle frame.

  • Page 37: Oxts Ned Navigation Frame

    IMU measurement origin OXTS NED navigation frame The OXTS navigation frame is attached to the vehicle but does not rotate with it. The down axis is always aligned to the gravity vector and north always points north. Registered in England and Wales No.

  • Page 38: Iso 8855 Enu Earth-Fixed System

    The up axis (U) is co-axial with the gravity vector, and positive in the up direction Table 19: ISO 8855 ENU earth-fixed system Registered in England and Wales No. RT3000 v4 Product Manual | 29 3534778. VAT GB 704 8399 17...

  • Page 39: Oxts Horizontal Frame

    The OXTS horizontal frame (sometimes called the level frame) is attached to the vehicle but does not rotate with the roll and pitch of the vehicle. It rotates by the heading of the vehicle. The definition of the OXTS Horizontal frame is listed in Table 20 and shown in Figure 13.

  • Page 40: Iso 8855 Intermediate System

    OXTS vehicle frame The OXTS vehicle frame is attached to the body of the vehicle. It is related to the INS through the rotations in the Orientation page of NAVconfig. It can be changed while the INS is running using the Quick Config tool of NAVdisplay.

  • Page 41: Iso 8855 Vehicle System

    Vehicle frame definition The OXTS vehicle frame is attached to the vehicle and rotates with it in all three axes. The X-axis remains parallel to the vehicle’s heading, while the Y-axis points to the right and is perpendicular to the vehicle’s vertical plane of symmetry.

  • Page 42: Ethernet Configuration

    In the TCP/IPv4 Properties window (Figure 17), select ‘Use the following IP address’ and enter the IP address and subnet mask to use. Click ‘OK’ when finished. Registered in England and Wales No. RT3000 v4 Product Manual | 33 3534778. VAT GB 704 8399 17...

  • Page 43: Connection Details For Ethernet Configuration

    The connections in the crossed coupler are given in Table 24. Note that this is not the normal configuration sold and it may be necessary to modify an existing coupler to suit. Registered in England and Wales No. RT3000 v4 Product Manual | 34 3534778. VAT GB 704 8399 17...

  • Page 44: Figure 18: In-Line Rj-45 Coupler

    Pin 8 Pin 8 Table 24: In-line coupler connections A typical in-line coupler is shown in Figure 18. Figure 18: In-line RJ-45 coupler Registered in England and Wales No. RT3000 v4 Product Manual | 35 3534778. VAT GB 704 8399 17...

  • Page 45: Configuring The Rt3000 V4

    Improve configuration sets up a workflow within NAVconfig to generate improved settings from a device following a completed warm-up and recommit these settings. Registered in England and Wales No. RT3000 v4 Product Manual | 36 3534778. VAT GB 704 8399 17...

  • Page 46: Navconfig - Start Configuration

    Select the type of vehicle the device is being installed in. This will adjust the options available in the configurator to suit the vehicle type. Registered in England and Wales No. RT3000 v4 Product Manual | 37 3534778. VAT GB 704 8399 17...

  • Page 47: Navconfig - Read Configuration

    Select the type of vehicle the device is being installed in. This will adjust the options available in the configurator to suit the vehicle type. Registered in England and Wales No. RT3000 v4 Product Manual | 38 3534778. VAT GB 704 8399 17...

  • Page 48: Navconfig - Hardware Setup

    The maximum allowable error in this measurement is 10°. If the measurement is incorrect the navigation output will be incorrect, or the unit may not initialise. Registered in England and Wales No. RT3000 v4 Product Manual | 39 3534778. VAT GB 704 8399 17...

  • Page 49: Primary Antenna Lever Arm

    If the antenna measurements are incorrect, the device will still initialise but will not self-optimise to the correct value, causing poor quality navigation data. Registered in England and Wales No. RT3000 v4 Product Manual | 40 3534778. VAT GB 704 8399 17...

  • Page 50: Secondary Antenna Lever Arm

    5 m. Beyond this body flexion and practicalities of conducting an accurate physical measurement are likely to degrade navigation performance. Registered in England and Wales No. RT3000 v4 Product Manual | 41 3534778. VAT GB 704 8399 17...

  • Page 51: Lateral And Vertical No-Slip Constraints

    By default, the maximum allowable error for this measurement is 10 cm. If the no-slip measurements are incorrect, this will increase the drift of the device. Registered in England and Wales No. RT3000 v4 Product Manual | 42 3534778. VAT GB 704 8399 17...

  • Page 52: Figure 25: Navconfig Lateral No-Slip Tab In The Hardware Setup Section

    Figure 25: NAVconfig Lateral No-slip tab in the Hardware setup section Figure 26: Measurement point for Lateral N-slip Registered in England and Wales No. RT3000 v4 Product Manual | 43 3534778. VAT GB 704 8399 17...

  • Page 53: Gnss Differential Corrections

    RTCMv3.X formats. Proprietary GNSS correction format developed by Trimble. This option encompasses CMR and CMR+ formats. Table 25: GNSS differential correction formats Registered in England and Wales No. RT3000 v4 Product Manual | 44 3534778. VAT GB 704 8399 17...

  • Page 54: Local Base Station

    Figure 28: NAVconfig Differential corrections tab in the Hardware Setup section Note: TerraStar configuration settings are only available on RT3000 T devices. Local base station To use correction from a local base station sent over radio to the J3 serial radio connection on the RT, select “Base Station (Serial RS232 port)”...

  • Page 55: Internal Ntrip

    Figure 29: NTRIP internal client Registered in England and Wales No. RT3000 v4 Product Manual | 46 3534778. VAT GB 704 8399 17...

  • Page 56: External Ntrip

    Select “Advanced Settings” checkbox to change the frequency and baud rate. TerraStar-X, TerraStar-C Pro and TerraStar-L services are all supported on the RT3000 T v4 from firmware version 240917 onwards. NAVconfig - Interfaces This section contains options for configuring the interfaces of the device.

  • Page 57: Ucom

    The filter box can be used to search for any specific measurement. Figure 30: UCOM configuration Registered in England and Wales No. RT3000 v4 Product Manual | 48 3534778. VAT GB 704 8399 17...

  • Page 58: Can Output

    (not greyed-out). The DBC file does not include channels defined under the acquisition tab. The navigation status message binary format is described in the CAN Interface manual. The status message binary Registered in England and Wales No. RT3000 v4 Product Manual | 49 3534778. VAT GB 704 8399 17...
  • Page 59 Enable CAN-FD by selecting it from the CAN version dropdown. Error! Reference source not found. displays the options available when configuring the RT for CAN-FD output. Registered in England and Wales No. RT3000 v4 Product Manual | 50 3534778. VAT GB 704 8399 17...

  • Page 60: Can Acquisition

    Changes made using NAVconfig are independent of the DBC file and will not affect it or be saved. Registered in England and Wales No. RT3000 v4 Product Manual | 51 3534778. VAT GB 704 8399 17...

  • Page 61: Serial 1 Output

    30 ms late and out of order compared to the normal messages. To enable these messages check the appropriate checkbox. Registered in England and Wales No. RT3000 v4 Product Manual | 52 3534778. VAT GB 704 8399 17...

  • Page 62: Analogue

    NMEA sentences. Javad I+RTK A special set of messages output in GREIS format to be used with Javad receivers. For assistance please contact OXTS for support. (Deprecated) MCOM Used for marine applications. Identical to NCOM output but with the addition of heave measurements.

  • Page 63: Pps / Triggers

    If a speed less than 5 m/s is selected, then care should be taken to make sure that the RT is travelling straight when it initialises. Registered in England and Wales No. RT3000 v4 Product Manual | 54 3534778. VAT GB 704 8399 17...

  • Page 64: Vehicle Starts

    Tight and Very tight are better when trying to reduce position drift in poor GNSS environments and traffic jams. Table 28 gives a more detailed description on each of the heading lock options. Registered in England and Wales No. RT3000 v4 Product Manual | 55 3534778. VAT GB 704 8399 17...

  • Page 65: Garage Mode

    NAVconfig. Figure 34 shows the Surface tilt properties settings. Figure 34: NAVconfig surface tilt properties in the environment section within NAVconfig Registered in England and Wales No. RT3000 v4 Product Manual | 56 3534778. VAT GB 704 8399 17...

  • Page 66: Enable Local Coordinates

    The RT is able to filter the linear acceleration and the angular acceleration before they are output. These filters affect the outputs on the CAN bus. On the NCOM output the non-filtered values are output together with the Registered in England and Wales No. RT3000 v4 Product Manual | 57 3534778. VAT GB 704 8399 17...

  • Page 67: Wheel Speed Input

    NCOM decoders provided by OXTS will implement the chosen filter. The linear acceleration and the angular acceleration can be configured separately. Due to vibration the accelerations (both linear and angular) are noisy. In particular, angular acceleration is normally filtered when it is used.

  • Page 68: Figure 37: Navconfig Wheel Speed Input Tab In The Advanced Tools Section

    Enter the pulses per metre of the wheel speed. A value that is accurate to 10% is sufficient unless you know the figure more accurately. The RT will improve this scaling factor itself when GNSS is available. The Improve Registered in England and Wales No. RT3000 v4 Product Manual | 59 3534778. VAT GB 704 8399 17...

  • Page 69: Can Wheel Speed

    Once this is given, the lever arm to the chosen wheel should be measured and provided in the Lever Arm tab. Registered in England and Wales No. RT3000 v4 Product Manual | 60 3534778. VAT GB 704 8399 17...

  • Page 70: Output Smoothing

    Figure 39 shows the Output smoothing tab in the Advanced Tools section within NAVconfig. Click the checkbox to enable output smoothing and unlock the properties for editing. Registered in England and Wales No. RT3000 v4 Product Manual | 61 3534778. VAT GB 704 8399 17...

  • Page 71: Slip Points

    Select the number of Slip Points you wish to set up and enter the distances and directions from the RT to the Slip Point. Registered in England and Wales No. RT3000 v4 Product Manual | 62 3534778. VAT GB 704 8399 17...

  • Page 72: Gnss Control

    Kalman filter. The Recovery tab can be used to decide how to begin using GNSS measurements if they have been rejected or ignored for a period of time. Figure 41 shows both tabs in the GNSS control properties window. Registered in England and Wales No. RT3000 v4 Product Manual | 63 3534778. VAT GB 704 8399 17...

  • Page 73: Figure 41: Navconfig Gnss Control Tab In Advanced Tools Within Navconfig

    Kalman filter. Use OXTS gx/ix™ raw data processing - uses the raw data from the GNSS and custom algorithms to compute position and velocity tailored to the needs of the Kalman filter. It also improves performance in poor GNSS environments using single satellite aiding technology and tightly coupled GNSS and inertial measurements.

  • Page 74: Gnss Recovery

    The RT can output position relative to different coordinate frames. You can change the coordinate frame settings in the Global Coordinate System tab within Advanced Tools in NAVconfig, shown in Figure 42. Registered in England and Wales No. RT3000 v4 Product Manual | 65 3534778. VAT GB 704 8399 17...

  • Page 75: Accuracies

    Geoid (receiver default) is selected, the altitude will be relative to the geoid used in the GNSS receivers. A Custom geoid file can be used for local variations. To download supported geoid files, go to http://support.oxts.com/local-geoid-files. The UGF file must be saved in C:\Users\username\Documents\OXTS\Shared\Custom geoid files.

  • Page 76: Commands

    Using the Commands tab you can enter device-specific commands that apply specific features or perform actions onto the RT. The OXTS technical support team often use these and can provide you with a list of useful commands if you request them at support@oxts.com.

  • Page 77: Navconfig - Write Configuration

    Choose whether to commit the configuration changes immediately to the unit or save them until the next time the unit is reset or power cycled. Registered in England and Wales No. RT3000 v4 Product Manual | 68 3534778. VAT GB 704 8399 17...

  • Page 78: Navconfig - Improve Configuration

    If the file has been logged to the PC already then you can choose ‘Read settings from a data (RD) file’ or ‘Read settings from a folder’ by locating the file or folder on your PC. Registered in England and Wales No. RT3000 v4 Product Manual | 69 3534778. VAT GB 704 8399 17...

  • Page 79: Figure 44: Navconfig Read Configuration

    Click ‘Next’ to continue. Confirm whether the improved data should be read from: The Device, or a File. Click ‘Next’ to continue. Registered in England and Wales No. RT3000 v4 Product Manual | 70 3534778. VAT GB 704 8399 17...

  • Page 80: Figure 45: Navconfig Improve Configuration Data Source

    The Select Settings screen will appear. From the list displayed, select the settings that you wish to view. These will be determined according to what is enabled on your device. Registered in England and Wales No. RT3000 v4 Product Manual | 71 3534778. VAT GB 704 8399 17...

  • Page 81: Figure 46: Navconfig Improve Configuration Select Settings

    For the improved settings to apply to the device in the case where the device will remain in the car for some time, it is recommended that you apply the improved settings and reset the device. Registered in England and Wales No. RT3000 v4 Product Manual | 72 3534778. VAT GB 704 8399 17...

  • Page 82: Setting Up The Base Station

    RT signals to maps, or other items on the world, it is necessary to have a surveyor measure the position of the GNSS antenna and then tell the base station GNSS receiver what position to use. Registered in England and Wales No. RT3000 v4 Product Manual | 73 3534778. VAT GB 704 8399 17...

  • Page 83: Using The Rt-Base S

    The RT-Base S is supplied with a radio modem. This should be connected to the radio connector of the RT user cable supplied. This cable supplies power to the radio modem as well as sending the differential corrections to the RT. Registered in England and Wales No. RT3000 v4 Product Manual | 74 3534778. VAT GB 704 8399 17...

  • Page 84: Initialisation Process

    Track the errors in the inertial sensor during their warm-up period (when their errors change more quickly than normal). Registered in England and Wales No. RT3000 v4 Product Manual | 75 3534778. VAT GB 704 8399 17...
  • Page 85 The NCOM output message (and CAN outputs) includes status information that can be used to identify when the required specification has been met. Registered in England and Wales No. RT3000 v4 Product Manual | 76 3534778. VAT GB 704 8399 17...

  • Page 86: Post-Processing Data

    In FileZilla: type the IP address of the device into the “Host” box and press enter. Copy and paste the chosen files to a local folder. Additionally, the device supports the FTP commands listed in Table 31. Registered in England and Wales No. RT3000 v4 Product Manual | 77 3534778. VAT GB 704 8399 17...

  • Page 87: Post-Processing

    The software suite provided with the RT includes the NAVsolve software which can be used to reprocess the data. The NAVsolve Wizard also gives the user the ability to change the NCOM binary output format to text. A full explanation of NAVsolve is given in the “NAVsolve manual”, which can be downloaded from the OXTS support website.
  • Page 88 Registered in England and Wales No. RT3000 v4 Product Manual | 79 3534778. VAT GB 704 8399 17...

  • Page 89: Laboratory Testing

    Under “Templates”, select the Bench testing template and click the ‘Load Template’ button next to it. Rotate the RT according to 29 and check the angular rate measurements occur. Registered in England and Wales No. RT3000 v4 Product Manual | 80 3534778. VAT GB 704 8399 17...

  • Page 90: Testing The Internal Gnss And Other Circuitry

    It is hard to do a more exhaustive test using the angular rate sensors without specialised software and equipment. For further calibration testing it is necessary to return the unit to OXTS. Note that the RT is capable of correcting the error in the angular rate sensors very accurately. It is not necessary to have very small values for the angular rates when stationary since they will be estimated during the initialisation process and warm-up period.
  • Page 91 These checks will ensure the signals from the GNSS and from the inertial sensors are being correctly received at the navigation computer. Registered in England and Wales No. RT3000 v4 Product Manual | 82 3534778. VAT GB 704 8399 17...

  • Page 92: Appendix A - Ensuring Optimal Operation

    Appendix A – Ensuring optimal operation In order to maximise performance and ensure optimal operation, there are a number of areas to consider during installation and operation of the RT3000 v4 system. Table 33 lists the topics to pay attention to. Topic Consideration...

  • Page 93: Table 33: Optimal Operation Checks

    Avoid extended periods in blocked or obstructed GNSS environments without additional aiding sources such as a wheel speed Table 33: Optimal operation checks Registered in England and Wales No. RT3000 v4 Product Manual | 84 3534778. VAT GB 704 8399 17...

  • Page 94: Appendix B - Using The Orientation Measurements

    ���� is the roll angle. Remember: heading, pitch and roll are usually output in degrees, but the functions sin and cos require these values in radians. Registered in England and Wales No. RT3000 v4 Product Manual | 85 3534778. VAT GB 704 8399 17...

  • Page 95: Appendix C - Drawing List

    Note that the ‘x’ following a drawing number is the revision code for the part. If you require a drawing, or different revision of a drawing, that is not here then contact OXTS.
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  • Page 98 OXTS 77 Heyford Park Upper Heyford Oxfordshire OX25 5HD www.oxts.com Confidential Registered in England and Wales No. RT3000 v4 Product Manual | 89 3534778. VAT GB 704 8399 17...
  • Page 99 Registered in England and Wales No. RT3000 v4 Product Manual | 90 3534778. VAT GB 704 8399 17...

  • Page 100: Revision History

    240821 Information added for 16g variants of the RT3000 v4. 241011 Clarification added on difference in PPS behaviour on RT3000 v4 and RT3000 T v4 variants. 241024 Sections added configuration of hotstart, CAN wheel speed, and time source features. 250430...
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  • Page 105 China Room 901-902, 9th Floor, Building C, Guanghualu SOHO II, Building No.9, Guanghualu Chaoyang District, Beijing, 100020, China linkedin.com/company/oxts/ x.com/oxts_official info@oxts.com oxts.com Registered in England and Wales No. RT3000 v4 Product Manual | 96 3534778. VAT GB 704 8399 17...

This manual is also suitable for:

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