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Aerobits trkME User Manual

Subsystems for the uas integration into the airspace
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Subsystems for the
UAS integration into
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trkME
Data sheet - User manual

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Summary of Contents for Aerobits trkME

  • Page 1 Subsystems for the UAS integration into the airspace trkME Data sheet - User manual...

  • Page 2: Table Of Contents

    Contents 1 Introduction ............1.1 Features .
  • Page 3 ............Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 4: Introduction

    Data sheet - User manual Introduction The trkME tracker is a versatile, multi-system tracking device designed to enhance the safety and operational efficiency of UAS. It features a comprehensive range of RF systems, including ADS-B MODE A/C/S IN, and precise MODE A/C/S timestamp functionalities.

  • Page 5: Technical Parameters

    Table 2: General electrical parameters Parameter Value Power connector USB-C and JST GH 6 pin Power supply Power consumption < 600 mA Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 6: Jst Pin Definition

    Flashing – send of FLARM frame Green Flashing – reception of RID frame Flashing – send of RID frame continues on next page Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 7: Color Function

    Constant light – LTE communication in progress Off – No mobil network, wait or change position for better network coverage Mechanical specification 2.3.1 Mechanical parameters Table 5: Mechanical parameters of the trkME Parameter Value Dimensions 65 mm x 46 mm x 12 mm...

  • Page 8: Connectors

    USB-C Host USB4110-GF-A Data USB-C PWR/TEL. BM06B-GHS-TBT Power and Data JST GH 6 pin ADS-B MMCX-4058JEGR Antenna ASMK025X174S11 FLARM GNSS LTE1 LTE2 Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 9: Uart Configuration

    Table 7: Descriptions of UART settings. Parameter Min. Typ. Unit Baud 57600 921600 3000000 Stop Bits Number Flow Control None Parity Bit None Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 10: Principle Of Operation

    To acquire this program please contact: sup- port@aerobits.pl. 4.1.2 RUN state In this state module is broadcasting drone identification data. In this state module is working and receiving the data from aircrafts.

  • Page 11: Run To Configuration Transition

    • Send AT+REBOOT and when module enters BOOTLOADER state, prevent transition to RUN state. When entering the bootloader state, the module sends AT+BOOTLOADER_START . Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 12: System Configuration

    Response: Setting: SYSTEM_STATISTICS Description: System statistics protocol(0:none, 1:CSV, 2:JSON) Access: Read Write Type: Integer decimal Range (min.): Range (max.): Preserved: Requires restart: Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 13: Errors

    0 - none 1 - CSV 2 - JSON 5.1.8 Example As an example, to switch The Aerobits device to CSV protocol, one should send following commands. “<<” indicates command sent to module, “>>” is a response. << AT+CONFIG=1\r\n >>...

  • Page 14: Commands

    AT+CONFIG=1 AT+DEVICE=TR-1F AT+FIRMWARE_VERSION=2.72.1.0 (Jun 2024) AT+LOCK=0 AT+SERIAL_NUMBER=22-0000309 AT+SYSTEM_LOG=0 AT+SYSTEM_STATISTICS=0 AT+ADSB_RX_PROTOCOL_DECODED=1 AT+ADSB_RX_PROTOCOL_INC=0 AT+ADSB_RX_PROTOCOL_RAW=0 AT+ADSB_STATISTICS=1 AT+ADSB_TX_EMITTER_CAT=0 AT+ADSB_TX_ENABLED=1 AT+ADSB_TX_ICAO=000000 AT+ADSB_TX_IDENT= AT+ADSB_TX_ON_BOOT=1 (continues on next page) Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...
  • Page 15 AT+INFO [Display device information] AT+REBOOT [Reboot system] AT+REBOOT_BOOTLOADER [Reboot to bootloader] AT+SETTINGS_DEFAULT [Loads default settings] AT+TEST [Responds "AT+OK"] AT+WIFI_MAC [WiFI device mac address] Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 16: Commands In Run State

    AT+CONFIG=1 - transition to CONFIGURATION state (baudrate 115200). AT+CONFIG=2 - transition to CONFIGURATION state (baudrate as set). Note: NOTE: This command also sets lock. Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 17: Protocols

    In future versions, additional comma-separated fields may be introduced to any CSV protocol message, just before CRC field, which is guaranteed to be at the end of message. All prior fields are guaranteed to remain in same order. Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 18: Crc

    • Remote Monitoring: Monitoring the health and status of the UAV during flight. Overall, MAVLink is a versatile and robust protocol that has become the standard for UAV communication, particularly in the open-source community. Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 19: Json Protocols

    If a breaking change occurs in Ground Station with Linux JSON specification, the version number is guaranteed to be incremented. Note: The version number of JSON protocol described in this document is 1. Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 20: Status Section

    CPL - CPU load in % UPT - Time since statistic was enabled CRC - Value is calculated using standard CRC16 algorithm Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 21: Ads-B Receiver Subsystem

    None JSON Note: To reduce sensitivity, set the LNA in bypass mode. 7.1.1 ASTERIX settings Note: Works only if ADSB_RX_PROTOCOL_DECODED=ASTERIX is selected Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 22: Protocols

    PLANE_IS_MILITARY The aircraft is military object 0x0100 PLANE_UPDATE_ALTITUDE_BARO During last second, barometric altitude of this aircraft was updated continues on next page Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...
  • Page 23 Line obstacle. If data of any field of frame is not available, then it is transmitted as empty. For example: #A:4D240E,3F00,,7273,53.47939,14.55892,28550,23,510,1408,-71,5,9,938,28850,,A9FE\r\n #A:4D240E,3F00,,7273,53.52026,14.58906,29075,23,506,1600,,,,,,,C1EC\r\n Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...
  • Page 24 Surface messages needs reference position which is used to determine final position of the aircraft. Aerobits devices if it is possible use their own position as reference. For devices without GNSS functionality reference position is set using last received airborne aircraft.
  • Page 25 "ts": 69061337, "ver": 1, "adsb": [ "icao": "780A3F", "flags": { "groundState": false, "updAltBaro": true, "updAltGeo": true, "updPosition": true, (continues on next page) Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...
  • Page 26 ICAO address, 24-bit value encoded in uppercase hexadecimal, with leading zeros. flags type of message ground- bool True State continues on next page Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...
  • Page 27 NIC value, as described in ED-102A. Omitted if value is 0 (unknown). The emitter category values returned in ecat field is shown in table below: Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 28: Ads-B Raw Protocols

    (47655.123456789s = 13:14:15.123456789) Note: To use multilateration, TS value must be calibrated using calibration value from statistics message. Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...
  • Page 29 • *0363;(979,151,75BCD15, 2B5792B49315)\r\n • *7700;(995,167,75BCD15, 2B5792B49315)\r\n ADS-B HEXd protocol Important: This is RAW HEX protocol standardized for dump1090, without additional fields after ;. Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 30: Frame Structure

    – 1 byte RSSI – 7 byte Mode-S short data • 0x33: Mode-S long frame – 1 byte RSSI – 14 byte Mode-S long data Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...
  • Page 31 "src": "ID-0000001", "ts": 69061337, "ver": 1, "raw": [ "18A9725A4C842D", -78, "295CAB573A77" (continues on next page) Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 32: Ads-B Statstics Protocols

    FPSAC - All received mode A/C frames per second CALIB - Real uC frequency based on GNSS module (PPS) CRC - Value is calculated using standard CRC16 algorithm Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 33: Flarm Receiver Or Transceiver Subsystem

    FLARM CSV protocol This message describes state vector of aircraft received through FLARM radio and is sent once per second. #ALRM:TYPE,ID,ID_TYPE,AIRCRAFT_TYPE,ALARM_LVL,LAT,LON,ALT,TRACK,VELH,VELV,MOVE_MODE, REL_N,REL_E,R_DIST_H,REL_DIST_V,NEAR_DIST,DIR,STEALTH,NOTRACK\r\n Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...
  • Page 34 Aircraft with jet / turboprop engine. Reserved. Balloon (hot, gas, weather, static). Airship, blimp, zeppelin. Unmanned Aerial Vehicle (UAV). Reserved. Static obstacle. Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...
  • Page 35 • The I021/170 (Target Identification) is filled with STEALTH value if FLARM “stealth” flag is set, or NOTRACK value if “notrack” flag is set. • The I021/020 Emitter Category value is determined from FLARM “Aircraft Type” field as shown below. Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...
  • Page 36 "id": "DABABE", "type": 13, "danger": 1, "lat": 53.42854, "lon": 14.55281, "alt": 1725, "track": 72.18, "hVelo": 10.5, "vVelo": 50, "movMode": 5, "stealth": 1, "notrack": Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...
  • Page 37 Aircraft with jet / turboprop engine. Reserved. Balloon (hot, gas, weather, static). Airship, blimp, zeppelin. Unmanned Aerial Vehicle (UAV). Reserved. Static obstacle. Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 38: Flarm Statstics Protocols

    ERI - For developer purpose only ERW - For developer purpose only ERR - For developer purpose only FTX - All sent frames per second Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 39: Gnss Receiver Subsystem

    "altMsl": 508.6, "track": 127.3, "hVelo": 10.5, "vVelo": 25, "gndSpeed": [ 5.2, "acc": { "lat": 5.2, "lon": 2.1, "alt": "nacp": 12, "nacv": 2, "nic": Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...
  • Page 40 Navigational Accuracy Category for Velocity value, as defined in ED-282. Omitted if unknown. Navigation Integrity Category as defined in ED-282. Omitted if unknown. Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 41: Remoteid Transceiver Subsystem

    Operation category: 0 – None 1 – Open 2 – Specific 3 - Certified DRONE_ID_OPERATOR_ID Operator message payload continues on next page Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 42: Protocols

    This message describes state vector of aircraft determined from remoteID messages and is sent once per second. The message format is as follows: #B4\B5\WN\WB :UAS_ID,ID_TYPE,UAS_TYPE,LAT,LON,HEIGHT,ALT_GEO,ALT_BARO,TRACK, VELH,VELV,STATUS_FLAG,OPERATOR_ID,OPERATOR_ID_TYPE,OPERATOR_LAT,OPERATOR_LON, OPERATOR_LOC_TYPE,TIMES,RSSI,CRC\r\n Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...
  • Page 43 Serial Number. CAA Assigned Registration ID. UTM Assigned UUID. Below is a list of emitter category values returned in UAS_TYPE value field. Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...
  • Page 44 If data of any field of frame is not available, then it is transmitted as empty. For example: #B5:18099300000170,1,0,53.3960175,14.6283543,-0.5,58.0,86.5,0,0.0,0.0,0,,0,0. 0000000,0.0000000,0,103.7,-46,0,,15,84:f7:03:28:e3:1a,420C\r\n #B5:18099300000170,1,0,53.3960175,14.6283543,-0.5,58.0,86.5,0,0.0,0.0,0,,0,0. 0000000,0.0000000,0,103.7,-46,0,,15,84:f7:03:28:e3:1a,420C\r\n Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 45: Remoteid Mavlink Protocol

    "idType": 1, "uasType": 2, "lat": 53.42854, "lon": 14.55281, "height": 1, "baroAlt": 17, "geoAlt": 17, "track": 72.00, "hVelo": 10.5, (continues on next page) Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...
  • Page 46 Set to 1 if plane is on earth surface. Omitted if plane is in air or unknown. self-id selfIdType Self id type (page 47). selfId Test Self ID status continues on next page Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...
  • Page 47 Table 42: Descriptions of RemoteID Frame Type value field. ID Type value Description Basic ID. Location. Self ID. System. Operator ID. Packed all in one. Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 48: Network Communication System

    Network communication modes MQTT 11.1 The trkME communicates through the LTE network using MQTT 3.1 protocol. Connection can be configured to use username and password authentication, as well as TLS encryption. All data can be transmitted into multiple or single MQTT topic.
  • Page 49 Use websocket when con- necting to broker: 0 – disable 1 – enable REMOTE_ID_TOPIC OpenDroneID MQTT topic TELEMETRY_TOPIC JSON Telemetry plot MQTT topic Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 50: Sensors Receiver Subsystem

    12.2.2 Sensor JSON protocol The sensor section contains values acquired from miscellaneous sensors present in Aerobits device hardware and consists of fields shown below. This message is sent once per second. All fields are optional - they are sent only if appropriate sensor is enabled.
  • Page 51 Current temprerature sensor value in °C. HumiditySen- type of sensor Temperature °C 36.9 Current temperature sensor value in °C. Humidity Current humidity sensor value in %. Date: 2024-12-10 Document ref: 43p-v2.77.8 This document is subject to change without notice. For technical questions, contact: support@aerobits.pl...

  • Page 52: Disclaimer

    If any part of this document refers to any third party products or services, it shall not be deemed a license granted by Aerobits for use of such third party products or services, or any intellectual property contained therein or considered as a warranty covering use, in any manner whatsoever, of such third party products or services or any intellectual property contained therein.

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