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Summary of Contents for OXTS RT Series
- Page 1 RT-Range...
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Page 2: Rt-Range
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. OXTS products are not authorised for use as critical components in life support devices or systems without express written approval of OXTS. -
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
Contents RT-Range ..........................1 Legal notices ..............................1 Copyright notice ..............................1 Revision ................................1 Contact details ..............................1 Warranty ................................2 List of figures ..............................6 List of tables ..............................8 Introduction ........................11 Lane position methodology (V2L feature code) ..................... 11 Distance between multiple vehicles methodology (V2V feature code) ............13 Distance to Fixed points and Feature points methodology ................ - Page 5 Display Data menu ..............................56 Connection configuration using the NAVconnect window ..................56 Associations and tags ............................... 57 Bird’s Eye View ................................58 OXTS data ................................. 58 ISO data ..................................59 View configuration..............................60 Save Data .................................. 60 RT-Range Configuration Wizard ......................... 66 Overview ...................................
- Page 6 Defining Polygons..............................71 Defining Multi-sensor points ............................ 73 Options ................................. 75 CAN .................................... 75 Editing CAN messages ............................. 77 Local Co-ordinates ..............................79 Range Latency ................................80 Range acceleration filter ............................81 Real-time polygon-polygon calculations ......................... 82 Ethernet: bytes 187 and 188 of the RCOM extended range packet................82 CAN: RangeXPolygon message, where X is the target number.
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Page 7: List Of Figures
Lane position measurement effects......................112 Discontinuous distance ............................114 Co-ordinates for measurements with respect to the Lines .................. 115 Acceleration on curves ............................115 Effect of the line survey on the accuracy ......................115 Rules for the Clean Up Line tool in the Map Creation Wizard ................117 Line, map and Feature point file format descriptions .......... - Page 8 Figure 24: Connection icon in the RT-Range Line Survey status bar ..........37 Figure 25: IP addresses RT-Range NAVconnect window ..............37 Figure 26: Add Point menu of the Lane Survey Wizard................37 Figure 27. Adjust trigger options of the Lane Survey Wizard .............. 38 Figure 28: Finish Options of the Lane Survey Wizard ................
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Page 9: List Of Tables
Figure 76: Options in the RT-Range Configuration Wizard ..............75 Figure 77: CAN Message Configuration ....................76 Figure 78: Range, Lane and Hunter messages ..................77 Figure 79: Edit Message ..........................77 Figure 80: Configurable CAN messages for Hunter navigation message ......... 78 Figure 81: Configurable CAN messages for Hunter status messages .......... - Page 10 Table 15 : Number of target points allowed when polygon-polygon calculations are enabled..82 Table 16: Advanced commands ........................83 Table 17: Default CAN bus messages for lane position measurements ..........95 Table 18: Default CAN bus messages for range measurements ............96 Table 19: LaneMapStatus, map identifier and distance, identifier 7A0h (1952) ......
- Page 11 Table 50: RangeFixedPointHH: Altitude and heading of Fixed points, identifiers 5B2h (1458), 5C2h (1474), 5D2h (1490), 5E2h (1506) ......................106 Table 51: RangeSensorLeverArm: Lever arm from the RT to the sensor point, identifiers 5B3h (1459), 5C3h (1475), 5D3h (1491), 5E3h (1507) ....................106 Table 52: RangeBullsEyeLeverArm: Lever arm from the RT to the bulls-eye point, identifiers 5B4h (1460), 5C4h (1476), 5D4h (1492), 5E4h (1508) ..................
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Page 12: Introduction
RT3000 label has a sticker on top to show Range functionality If you are using an old RT-Range S Hunter device alongside a previous generation RT device then you should refer to the previous version of the RT-Range manual available for download on the OXTS support website. -
Page 13: Figure 2: Steps Taken For Lane Position Measurement
Figure 2: Steps taken for lane position measurement RT-Range allows up to eight lane markings to be measured. In addition, RT-Range provides three separate measurement points on the vehicle and gives the distances from these three points to the lane markings. As well as distance, RT-Range measures velocity and acceleration relative to the lane markings. -
Page 14: Distance Between Multiple Vehicles Methodology (V2V Feature Code)
Distance between multiple vehicles methodology (V2V feature code) Distance measurements are made from the hunter vehicle to each target. The measurements are in the reference frame of the hunter vehicle, so a longitudinal, lateral and resultant range can be measured. RT-Range supports up to four mobile targets. -
Page 15: Distance To Parking Space
computed. For example, along a test route on the public highway, the position and classification of 10,000 Feature points is known; as the vehicle drives along the route, the RT-Range will output the distance to the Feature points that are currently in view. Distance to parking space When the Fixed point selected represents a parking space with four polygon points, RT-Range will calculate the centre points of both the vehicle under test polygon and the parking space. -
Page 16: Survey Trolley
Item Qty. Description RT-Range S Target system unit Power cable M12(M) to M12(F) - 14C140A Power cable M12(F) to cigarette lighter plug - 77C0002B RJ45-RJ45 2 m Ethernet cable (UDP straight) RT-Range software on USB memory stick Table 1: RT-Range S Target vehicle components Figure 4: Image of RT-Range S Target with components Note: The RT-Range S components differ slightly from the standard RT-Range system. -
Page 17: Table 2: Rt-Range Survey Trolley Components
Note: Some of these components might already be pre-assembled on delivery. Item numbers refer to the assembly drawing in Figure 5. The Survey Trolley will require a battery. Please note that this is not supplied by OXTS and must be purchased by the customer. -
Page 18: Figure 5: Survey Trolley Assembly
Figure 5: Survey Trolley assembly Registered in England and Wales No. RT-Range Product Manual | 3534778. VAT GB 704 8399 17... -
Page 19: Figure 6: Survey Trolley
Figure 6: Survey Trolley Registered in England and Wales No. RT-Range Product Manual | 3534778. VAT GB 704 8399 17... -
Page 20: Specification
Specification The technical specification of the RT3000 v3 with RT-Range features depends on both the type of wireless LAN communication link and RT systems being used. We recommend the use of the RT-XLAN. Using the RT-XLAN will make it possible to achieve longitudinal ranges of around 1 km and will improve the data integrity at the lower ranges. -
Page 21: Table 7: Technical Specification For Range Measurements - Standard Wireless Lan
1.75 m. However, for a scenario where the vehicles are adjacent, the situation is reversed so the Lateral Range accuracy is 0.03 m RMS and the Longitudinal Range accuracy is 0.00175 × Range RMS. Parameter Range 2 x RT3003 Longitudinal Range ±200 m 0.03 m RMS* Lateral Range... -
Page 22: Installation
If you are using an RT-Range S Hunter device along with a previous generation RT then you should refer to the previous version of the RT-Range manual available for download on the OXTS support website. If you have questions about device compatibility in the case where you are using a mixture of new generation and previous generation devices then you can contact support@oxts.com... -
Page 23: Hunter Vehicle Wiring
Figure 7: RT-Range S front panel layout Label Item Description Power LED Unit is powered up when lit RT-XLAN PoE Dedicated PoE port. Provides Ethernet and power to the RT- XLAN 12 V Power out 2 × 12-volt power output sockets for an RT and a spare 12 V Power in 10–25 V dc power input 6,7,8... -
Page 24: Physical Installation
Range S Target may still be used for this). Details of the connections required using the Y converter cables are shown in Figure 8. Figure 8: Connection diagram for RT1003 or RT3000 v2 using RT-XLAN Y Converter Cable Physical installation The antennas for the radio, RT (GNSS) and the RT-XLAN or standard wireless LAN mag mount antenna should be spaced out across the roof of the vehicle. -
Page 25: Rt Configuration
Figure 9: Ideal antenna locations on top of the vehicle The position where the RT is installed in the vehicle is not critical for the accuracy of the RT measurements. However, normally the user requires the RT to be located at a specific position such as the centre of gravity. -
Page 26: Survey Trolley Installation
For alternative wireless LAN devices, the “base” should be configured as an “access point” in “network bridge” mode, and the “client” should be configured as a “station” in “network bridge” mode. There may be variations to this for different wireless LAN devices and we recommend speaking to the WLAN device manufacturer, asking them for the best way to achieve a Base–Client configuration as specified above. -
Page 27: Figure 11: Connection Diagram For The Rt On The Survey Trolley
Survey Trolley. A suitable configuration for the Survey Trolley is installed in the folder: C:\Program Files (x86)\OXTS\RT-Range\Survey Trolley This can be installed using NAVconfig. To initialise the RT on the Survey Trolley push the Survey Trolley in a forward direction at a speed exceeding 1 m/s. -
Page 28: Physical Orientation
Lead-acid batteries require special disposal in most countries. To dispose of the battery take it to the appropriate waste disposal place. The new RT3000 v3 is physically smaller than the RT3000 v2. To use the RT3000 v3 with the OXTS Survey Trolley it should therefore be located on the specifically designed Acetal adapter plate to ensure the INS remains securely in place on the Survey Trolley base plate. -
Page 29: Table 10: Rt Configuration On The Survey Trolley Changes
Parameter Setting Orientation Default settings: y-axis left; z-axis down Primary Antenna Behind 0.090; left 0.080; above 1.480; overall accuracy 0.01 Displaced Output Ahead 0.26; right 0.09; below 0.12 Table 10: RT Configuration on the Survey Trolley changes Registered in England and Wales No. RT-Range Product Manual | 3534778. -
Page 30: Software
Software RT-Range software consists of five modules. These are: Feature Point Survey – Only accessible if you have the V2L feature code enabled Lane Survey – Only accessible if you have the V2L feature code enabled Map Creation Real-Time Display Post Processing Figure 13 shows the initial page of the RT-Range software. -
Page 31: Pc Configuration
Figure 14 will be shown. For the RT-Range software to operate correctly the other application must be closed. OXTS has a utility that can be installed on a computer so that the data from each RT can be shared. Contact OXTS support to use this utility. -
Page 32: Feature Point Survey Wizard
Figure 15: Windows Firewall warning message Ensure both Private and Public networks are selected so the software can continue functioning when moving from one type to another. Feature point Survey Wizard The Feature point Survey Wizard is designed to allow you to quickly and efficiently create Feature point files using the real-time position information being output by an INS. -
Page 33: Creating Feature Points Using Real-Time Measurements
Figure 16: Feature point Survey Wizard window The Feature point file that is being edited is shown at the top in the window’s title bar. Upon opening the Feature point Survey Wizard, any Feature points already present in the Feature point file are loaded into the plot area and shown in the Feature point list. -
Page 34: Deleting Feature Points
Figure 17: Adjust trigger options Deleting Feature points Feature points may be deleted one at a time. To delete a Feature point: Find the Feature point you wish to delete in the Feature point list (RT Measurements), then right-click on the relevant entry. Select ‘Show this point (x) on the graph’. -
Page 35: Offset Setting
The ID and Type are numeric-only values that are used to identify Feature points. Unlike the Description value, which is only used locally, the ID and Type values are transmitted via CAN. Ideally, the ID value should be unique in the Feature point list. It is not necessary for ID numbers to increment sequentially. The Type parameter can be used to identify groups of Feature points. -
Page 36: Finish Options Control
Adjust Auto Add. Opens the Adjust Auto Add window, which allows Feature points to be created automatically based on time or distance. An On/Off option allows the feature to be quickly toggled. Finish Options control Figure 21: Finish Options control in the Feature point Survey Wizard Save And Quit. -
Page 37: Lane Survey Wizard
Lane Survey Wizard The Lane Survey Wizard is used with an RT that is mounted on a trolley, such as the Survey Trolley option. It is also possible to survey the lines with the RT in a car but it is very hard, if not impossible, to drive the car along the lane markings accurate to 2 cm or better. -
Page 38: Connecting To The Rt
We suggest you put all the line files from one survey in their own directory and name the files Line1, Line2, Line3, etc. By putting a number at the end of the filename, the Lane Survey Wizard will automatically increment the number when you come to survey the next line. Connecting to the RT The Lane Survey Wizard will accept data from any RT system on the network. -
Page 39: Finish Option Menu
Add Point Here. The ‘Add Point Here’ menu allows you to add a point to the map at the current point. This can be used as a manual method of adding points; it can be used to add a point when the auto add feature is off or it can be used to add special points in between the points that are automatically added. -
Page 40: Display Data Menu
Save And Start New Line. This option will save the current line file and start a new line file. The line filename automatically increments; for example, if the current filename was “Line1.rtrl” then it will set the new filename “Line2.rtrl”. If the current filename does not consist of an incremental number then the software will prompt for the name for the next file, as shown in Figure 29. -
Page 41: Figure 31: Add Windows In The Configure Display Window
Figure 31: Add Windows in the Configure Display window The user can specify the measurements displayed in each window as shown in Figure 32, and described in Table 11. Figure 32: Add Measurements in the Configure Display window Column Description Enable Enabling this check box allows you to display/hide this measurement on the display window... -
Page 42: Figure 33: Add Measurements Window
background colour. The background colour is useful for quickly identifying different types of measurements in the display. Clicking ‘Add Measurements…’ opens a new window where it is possible to select the required measurements for each individual window, as shown in Figure 33. The Add Measurements dialog box makes it possible to find and add measurements to the Real-Time Display from any of the available measurements. -
Page 43: Spreadsheet Viewer
Please note that the background colour cannot be changed from within the Display Item properties box. Figure 34: Display Item properties Display Items can be moved up and down by dragging and dropping them into the required position. Display Items can also be moved between different windows in the same way. Save Display Page. -
Page 44: Add Line Options
On the left-hand side are the menus and buttons that control the software. In the middle is a map that displays all the points on the lines that have been added. On the right is the spreadsheet viewer, showing numerical values for the points in the lines that have been added. Each line is shown in a tab. The tab contains a spreadsheet view of the line’s measurements such as latitude, longitude, altitude and heading. -
Page 45: Start Line Option
Figure 37: Add Line Options of the Map Creation Wizard Users can also select multiple line files and add them to the map by selecting the line files from Windows Explorer and dragging and dropping them onto the map as shown in Figure 38. Figure 38: Add Multiple Line Files to the Map Creation Wizard Add to Existing Line. -
Page 46: Finish Options
Figure 39: Setting the start line in the Map Creation Wizard Note that the start line is directional and will only trigger in the direction of the map. Define Start Line Position. Once the start line has been set, the ‘Define Start Line position’ option allows the user to change the start line width. -
Page 47: View Options
View Options This menu allows you to zoom in or out and pan the map. It behaves in the same way as the View Options in the Lane Survey Wizard. Zoom+. Click on the Zoom+ to zoom in to the map; the maximum zoom level is a 1 metre grid square. Zoom-. -
Page 48: Map View
The Clean Up Line tool will highlight the first point that violates the rules. This violation will be based on points that are both behind and ahead of the current point. It is not necessarily the first point that is wrong. -
Page 49: Spreadsheet Viewer
Grid size ‘Move’ option shifts points by… 1.0 m 0.02 m 2.5 m 0.05 m 5.0 m 0.10 m 10.0 m 0.20 m 25.0 m 0.50 m 50.0 m 1.00 m 100.0 m 2.00 m 250.0 m 5.00 m 500.0 m 10.00 m 1000.0 m 20.00 m... -
Page 50: Real-Time Display
Reverse all points. This function reverses all the points in this line. To reverse the entire map each line must be individually reversed. Delete this line. This function removes the line from the map. Real-Time Display The Real-Time Display module can display real-time data, with a high update-rate, from a variety of sources. -
Page 51: Rt-Range Quick Config
Configure RT-Range. This option is used to run the RT-Range Configuration Wizard. This wizard is used to set the more permanent parameters of the RT-Range and will probably only be used for a new installation in a vehicle. There are many parameters in the RT-Range Configuration Wizard and it is described in its own section later in this manual. -
Page 52: Figure 48: Longitudinal Offset In The Real-Time Display
Clicking on Longitudinal Offset brings up the Quick Config window on the Longitudinal Offset page, as shown in Figure 48. There may be a short delay while the software reads the current settings from the RT-Range. Figure 48: Longitudinal Offset in the Real-Time Display The display shows the current longitudinal range to the selected target. -
Page 53: Figure 49: Using Lateral Offsets Causes Problems On Turns
Figure 49: Using lateral offsets causes problems on turns The display shows the current lateral range to the selected target. This is only refreshed when ‘Refresh’ is pressed. To adjust the lateral range, enter the adjustment in the ‘Adjust Lateral Range by’ edit box or use the <... -
Page 54: Figure 51: Fixed Target Setup Window In The Real-Time Display
It is best to measure the sensor and bulls-eye position as accurately as possible and only rely on the longitudinal and lateral offsets for small adjustments. Range Mode. There are three ranging modes in the RT-Range: car-to-car, Fixed point and Feature point. In Fixed point mode, the RT-Range measures the distance from the hunter vehicle to a Fixed point rather than the distance to the target vehicle. -
Page 55: Figure 53: Set Fixed Point Window In The Real-Time Display
The Fixed point is stored in a file. Select the file holding the latitude, longitude and altitude of the Fixed point from the dropdown list. The Fixed point files have extension RTFP. New Fixed points can be made by clicking on ‘Edit Lat/Lon’ … or ‘New From RT…’ The ‘Edit Lat/Lon’ … button shows the Set Fixed Point dialog box, as shown in Figure 53. -
Page 56: File Selection Menu
Figure 54: RT-Range Quick Config, Local Co-ordinates window Local Co-ordinates can be configured temporarily to the RT-Range or they can be saved as part of the RT-Range configuration. To save them temporarily choose the ‘Just use this setting until the RT-Range is reset’... -
Page 57: Display Data Menu
Download Feature Point Files. This function can be used to download a Feature point file to the RT- Range unit. Feature point files have the extension FTL. The RT-Range will start using the new Feature point file as soon as the download cycle completes. The RT-Range software remembers the last Feature point file that was downloaded to the RT-Range and uses this file in the Bird’s Eye View. -
Page 58: Associations And Tags
Associations and tags The Association tag and Tag id is used to pass identifiable information about the vehicle against the vehicle type (hunter or target) through to the Real-Time Display windows. This information is extremely useful for validating the actual measurement back to its source in a very user-friendly way. To set the Association tag and Tag id, first locate the IP address of each device (vehicle) in the list in the NAVconnect window, then select one of either Hunter, Target1, Target2, Target3 or Target4 in the Association tag dropdown list as appropriate to your system. -
Page 59: Bird's Eye View
Reduce the size of the text in the graph and measurement panel (Shift+-) Hide the measurement panel (Shift+H) Show the measurement panel (Shift+S) The secondary display frame (bottom right) can be toggled to graph OXTS or ISO data from the dropdown menu. The options are: OXTS data... -
Page 60: Iso Data
Shows the configuration window for the Bird’s Eye View OXTS Toggle Selects either OXTS or ISO graph Table 13: Icon functions in the Bird’s Eye View The Bird’s Eye View presents data in three different tabbed views called Hunter view, Plan view and Origin view. -
Page 61: View Configuration
The width of the window can be resized by placing your cursor on the window boundary and click- dragging. The widths of the columns within each tabbed section can also be adjusted in the same way. When testing a park assist scenario, selecting the target corresponding to the parking space provides the APA (Automated Park Assist) feature where you can find the difference between the vehicle and parking space centres and headings. -
Page 62: Figure 60: Rt-Range Data Logger
The Data logging module logs the data from the Hunter, Targets and selected RT-Range as they appear in the NAVconnect window. The logged files will have their file names saved using the following format: filename-000_ Tag id [Association Tag].xcom filename-000_ Tag id [Association Tag].rcom There will be a file logged for each of the enabled devices in the NAVconnect Connection Manager window. -
Page 63: Figure 61: Rt-Range Data Logger, File Tab
Next file Displays the name of the next test file to be recorded File size Sum of all the file sizes being logged combined Logging start condition Displays all options selected for starting the test Logging stop condition Displays all options selected for stopping the test Sound Displays whether any of the start or stop sounds are active Table 14:... -
Page 64: Figure 62: Rt-Range Data Logger, Start Tab
Once a test file has been created, it can be automatically opened in NAVgraph. To enable this option, select Open NAVgraph automatically after each test. The menu below this option allows a NAVgraph template to be selected. To access NAVgraph templates not located in the default location, use the … button to navigate to this folder. -
Page 65: Figure 63: Rt-Range Data Logger, Define Start Line
Selecting the ‘Start Line of’ option will start the test when the chosen INS crosses a predefined line in the correct direction. This option cannot be selected until a valid start line is either defined or selected. Pressing ‘Edit...’ opens the Define Start Line window as shown in Figure 63. To create a new start line, enter the desired name in the ‘File Name’... -
Page 66: Figure 64: Stop Tab
Stop tab The Stop tab shown in Figure 64 is used to define the conditions under which a test file will be stopped. Tests can be configured to end in response to trigger events, crossing a start line or conditional evaluation of measurement values –... -
Page 67: Rt-Range Configuration Wizard
Figure 65: Display tab RT-Range Configuration Wizard The RT-Range Configuration Wizard is accessed through the Real-Time Display. The parameters in the RT-Range Configuration Wizard are normally only changed when the system is installed in a vehicle. Overview To configure the RT-Range correctly the following information is required: IP Addresses of the RTs and of the RT with RT-Range enabled. -
Page 68: Reading The Initial Configuration
Reading the initial configuration Figure 66 shows the first page of the wizard. Figure 66: Read Configuration page of the RT-Range Configuration Wizard Note that there are two products you can choose from on this page. If you are using an RT-Range S Hunter with a previous generation RT3000 then you should select the RT-Range S Hunter from the dropdown. -
Page 69: Figure 67: Rt Addresses Rt-Range Configuration Wizard
Error! Reference source not found. shows the Hunter/Targets Setup page of the wizard where the IP addresses are selected. Figure 67: RT addresses RT-Range Configuration Wizard After selecting the IP address of the RT in the hunter vehicle, select the data rate of that RT. By default, this is likely to be 100 Hz unless the IMU_HIGH_RATE feature code is enabled or an RT4000 is used. -
Page 70: Lane Measurements
Lane measurements The RT-Range calculates lane position measurements from three different locations on the vehicle. These locations are configured relative to the RT output. Figure 68 shows the typical positions on the vehicle where the lane position measurements are made. Figure 68: Typical positions for points ABC on a vehicle Figure 69 shows the page in the RT-Range Configuration Wizard that configures points A, B and C. -
Page 71: Range Measurements
The measurements are from the displaced output position of the RT to Point A, B or C. For best results, you should not use the Displace Output option of the RT as this can be confusing. The measurements are in the vehicle co-ordinate frame. These are the co-ordinates that you have configured the RT to use in the Orientation page of the RT configuration software. -
Page 72: Defining Polygons
Configuring sensor point/bullseye To configure the location of the hunter’s sensor point or a target’s bullseye, first enter the dimensions of the vehicle in the “Physical dimension tab”. See Figure 71. Next, we want to determine a reference particular point on the vehicle to measure to/from. We call this the Vehicle origin. This should be set in the “Vehicle origin”... -
Page 73: Figure 72: Configuring Polygon Points
the Vehicle origin. This should be set in the “Vehicle origin” tab. There are three presets that can be chosen – the centres of the front/rear bumper or the centre of the vehicle. Alternatively, another location can be chosen if required. Next, the location of the INS within the vehicle must be known. -
Page 74: Defining Multi-Sensor Points
polygon points can be selected in the graphic on the right. This is done by clicking/dragging a single point or using the sliders at the top and to the left of the diagram to move a point forward/back or left/right. The zoom slider at the top can be used to increase precision. Instead of manually measuring the locations of each polygon points, a survey pole and the RT itself can be used to find these values. -
Page 75: Figure 74: Configuring Multi-Sensor Points
To define the number of sensors, choose the number of sensor points (up to 12) from the dropdown menu. To position the points on the top-down view vehicle, drag and drop them into position. Figure 74: Configuring Multi-sensor points For more accuracy, expand the sensor points table as shown in Figure 75 and enter the measurement. Re-size the table or individual columns to view and enter data. -
Page 76: Options
Figure 75: Multi-sensor point measurements Options The Options page is used to configure the RT-Range options. Figure 76 shows the Options page of the RT-Range Configuration Wizard. Each of the options is described below. To edit options, click in the Settings column. -
Page 77: Figure 77: Can Message Configuration
Figure 77: CAN Message Configuration The CAN configuration tabs list ISO and OXTS measurements. As there is more than one co-ordinate system available, CAN messages are disabled by default and must be enabled to view messages required. As there are now so many potential CAN messages it is almost always essential to use advanced settings and choose the messages that are needed. -
Page 78: Editing Can Messages
Figure 78: Range, Lane and Hunter messages Editing CAN messages Once the Use Advanced settings option is checked on the General tab, the CAN messages on all subsequent tabs become editable. To edit a single message, simply double click on it to open the CAN Message Configuration window (Figure 79). -
Page 79: Figure 80: Configurable Can Messages For Hunter Navigation Message
Note: please exercise caution when using the “Copy Previous” function. If each message is copied incorrectly it may the stop CAN output from working correctly. The << Previous Msg or Next Msg>> buttons allow you to quick-scroll through the messages without leaving the Edit Message window. -
Page 80: Local Co-Ordinates
Figure 81: Configurable CAN messages for Hunter status messages The Hunter status messages are configured slightly differently compared to the other messages. The Ethernet transmission from the RT to the RT-Range does not transmit every status message every 100 Hz (or 250 Hz) cycle; instead only one status message is transmitted each cycle. The RT-Range will apply the same principle. -
Page 81: Range Latency
Figure 82: Local Co-ordinate setup in the RT-Range Configuration Wizard The Local Co-ordinates translate the curved earth into a grid that is locally flat. The transformation cannot do this accurately over a large range (in fact no transformation can) and the Local Co-ordinates should only be used over a small area, up to about 10 km square. -
Page 82: Range Acceleration Filter
ABD Robot Setup. If the RT-Range is being used to output data to an ABD steering robot, then it will need to be configured so that the correct information is sent to the robot. Figure 83 shows the ABD Robot Setup dialog box. Figure 83: ABD Robot Setup dialog box The standard IP address for the ABD steering robot is 195.0.0.100. -
Page 83: Real-Time Polygon-Polygon Calculations
Longitudinal Range Offset of Target... The Longitudinal Range Offset is normally configured using the Quick Config, Longitudinal Offset page. It can be configured here too. This value will show the value that is committed to the RT-Range. If the value has not been committed using the Longitudinal Offset page, but is being used until the RT-Range is reset, then the real-time value will not be read from the RT- Range. -
Page 84: Committing The Configuration To The Rt3000 V3
Command Description range_meas_plane_hunter These commands are used to change the measurement plane used for each target range2_meas_plane_hunter from the horizontal plane (2D) to the hunter range3_meas_plane_hunter plane (3D). Figure 74 shows the difference range4_meas_plane_hunter diagrammatically. Further explanation is available in the Calculation details section (page 100) at the end of the manual target1_rate[xx.x] These commands are used to advise the RT-... -
Page 85: Saving A Copy Of The Rt-Range Configuration Locally
Figure 85 shows the Commit page of the RT-Range Configuration Wizard. Figure 85: Commit page in the RT-Range Configuration Wizard Saving a copy of the RT-Range configuration locally Before finishing, it is possible to save a copy of the settings in a file on the local computer. This is useful for storing configurations for several vehicles or several setups on one vehicle. -
Page 86: Rt-Range Post-Processing Wizard
Figure 86: Finish page in the RT-Range Configuration Wizard To save a copy of the setting in a local file check the Preserve these settings in file check box and enter the filename. The RT-Range software will make the folder automatically if it does not exist. RT-Range Post-Processing Wizard The RT-Range Post-Processing Wizard is used to reprocess the NCOM files of hunter and target vehicles and extract the lane position or range measurements in CSV file format. -
Page 87: Figure 87: Workflow To Convert Rd Files To Ncom Files
Figure 87: Workflow to convert RD files to NCOM files Figure 88: Workflow to convert NCOM files to RCOM and CSV files Once all the NCOM files are available the RT-Range Post-process software can be used to combine them together. The settings can be changed; one of the target vehicles can be used as the hunter so that measurements in the reference frame of the target vehicle can be obtained;... -
Page 88: Select Data Source
Select Data Source To reprocess the data using RT-Range Post-process it is essential to have an NCOMfile from the hunter vehicle; Figure 89 shows the screen for selecting the NCOM file from the hunter vehicle. If an RCOM file is available, then it can be exported to CSV format but the parameters used for processing the data cannot be changed. -
Page 89: Lane Tracking Mode
Figure 90: Read Configuration in RT-Range Post-Processing Wizard Default Settings. To use the default settings, select the radio button. The lane and range settings will contain the default settings that the RT-Range system was delivered with. Read from file. The range and lane parameters will be read from the defined RTRange.cfg file. To select a different configuration file, use the browse button to select a different file. -
Page 90: Target Setup
Figure 91: Lane Position Map file selection in RT-Range Post-Processing Wizard Target setup The RT-Range Post-Processing Wizard can compute the range from the hunter vehicle to Fixed points or to target vehicles. Either a Fixed point file or a target NCOM file is required to do this. The range mode can be disabled so that no range measurements are output. -
Page 91: Lane Measurements Setup
These options behave in the same way as the RT-Range Configuration Wizard. The Advanced option can be used to manually enter commands to configure RT-Range Post- Processing. Contact OXTS for further information. Registered in England and Wales No. RT-Range Product Manual |... -
Page 92: Set Fields
Set Fields The fields in the CSV file can be selected individually. If only some fields are needed, then this can significantly reduce the size of the CSV file. To select which fields should be output check or uncheck the fields, as shown in Figure 94. Figure 94: Set Fields in the RT-Range Post-Processing Wizard Registered in England and Wales No. -
Page 93: Output Config
Output Config The Output Config page of the RT-Range Post-Processing Wizard allows you to set the conditions for writing the output file and some of the units for the measurements. Figure 95 shows the Output Config page. Figure 95: Output Config options Seconds to skip at start. -
Page 94: Output File
Output file The output file needs to be chosen for the measurements. Figure 96 shows the Select output file page of the RT-Range Post-Processing Wizard. Figure 96: Output Files page in the RT-Range Post-Processing Wizard Check the Export to main output file checkbox and enter a filename for the output file. When the Export button is clicked, the software will start processing the data. -
Page 95: Finish Page
Finish Page The Finish Page allows you to launch Explorer in the folder where the output file is created. Figure 97 shows the Finish Page of the RT-Range Post-Processing Wizard. Figure 97: Finish Page in the RT-Range Post-Processing Wizard Registered in England and Wales No. RT-Range Product Manual | 3534778. -
Page 96: Outputs
Outputs The RT3000 v3 outputs its data over Ethernet and over CAN. The Ethernet output is proprietary and is not described here; contact OXTS for more information. The CAN bus output is described in this section of the manual. A CAN DBC file is generated by the wizard in the CAN page in the RT-Range software. This DBC file reflects the configuration of the CAN bus that the user chooses. -
Page 97: Heartbeat Messages
Identifier (hex) Data contents Table 7B0h 7C0h 7D0h 7E0h Longitudinal measurements Table 38 7B1h 7C1h 7D1h 7E1h Lateral measurements Table 39 7B2h 7C2h 7D2h 7E2h Resultant measurements Table 40 7B3h 7C3h 7D3h 7E3h Position of hunter in local co-ordinates Table 41 7B4h 7C4h 7D4h... -
Page 98: Signals
messages are received, check that some operation of the RT-Range is configured and that the CAN bus is configured to output the heartbeat messages. Table heading definitions The fields in the tables have the following meanings. Offset (bits). This is the offset into the message where the signal starts. To compute the offset in bytes, divide the value by 8. - Page 99 Offset Length Type Units Factor Offset Description 0.001 RightLinePosLateral: Lateral distance from Point A to line 0.01 RightLineVelLateral: Lateral velocity from Point A to line m/s² 0.01 RightLineAccelLateral: Lateral acceleration from Point A to line RightLineNumber: Line number on right of Point A Reserved Table 21:...
- Page 100 Offset Length Type Units Factor Offset Description 0.001 LeftFromBPosLateral: Distance from Point B to line on left of A RightOfBNumber: Line number on the right of B RightOfBNumber: Line number on the right of B 0.001 CurvatureOfB: Instantaneous curvature of Point Table 24: LinesFromB, line to Point B, identifier 7A5h (1957) Note: When the RT-Range is not computing the lane position then the measurements will be 8000h (full scale negative).
- Page 101 Offset Length Type Units Factor Offset Description 0.01 Line5VelLateralA: Velocity from Point A to Line 0.01 Line6VelLateralA: Velocity from Point A to Line 0.01 Line7VelLateralA: Velocity from Point A to Line 0.01 Line8VelLateralA: Velocity from Point A to Line Table 27: Lines5To8VelLateralA, Lines 5 to 8 to Point A velocity, identifier 7A8h (1960) Note: When the RT-Range is not computing the lane position then the measurements will be 8000h (full scale negative) Offset...
- Page 102 Offset Length Type Units Factor Offset Description 0.001 Line1PosLateralB: Distance from Point B to Line 0.001 Line2PosLateralB: Distance from Point B to Line 0.001 Line3PosLateralB: Distance from Point B to Line 0.001 Line4PosLateralB: Distance from Point B to Line Table 31: Lines1To4PosLateralB, Lines 1 to 4 to Point B, identifier 7ACh (1964) Note: When the RT-Range is not computing the lane position then the measurements will be 8000h (full scale negative).
- Page 103 Offset Length Type Units Factor Offset Description 0.001 Line5PosLateralC: Distance from Point C to Line 0.001 Line6PosLateralC: Distance from Point C to Line 0.001 Line7PosLateralC: Distance from Point C to Line 0.001 Line8PosLateralC: Distance from Point C to Line Table 34: Lines5To8PosLateralC, Lines 5 to 8 to Point C, identifier 7AFh (1967) Note: When the RT-Range is not computing the lane position then the measurements will be 8000h (full scale negative).
- Page 104 Offset Length Type Units Factor Offset Description 0.001 RangePosForward: Longitudinal range 0.01 RangeVelForward: Longitudinal velocity 0.001 RangeTimeToCollisionForward: Longitudinal time to collision, computed using range and velocity but not acceleration Table 38: RangeForward, Longitudinal measurements, identifiers 7B0h (1968), 7C0h (1984), 7D0h (2000), 7E0h (2016) Offset Length Type...
- Page 105 Offset Length Type Units Factor Offset Description – – – RangeHunderGpsPosMode: Hunter GPS position mode – – – RangeTargetGpsPosMode: Target GPS position mode 0.001 RangeRangeTargetLatency: Prediction used for target measurements 0.001 RangeRangeOutputLatency: Output latency (range delay) – – – RangeStatusByte –...
- Page 106 Offset Length Type Units Factor Offset Description RangePolygonVisible: Percentage of the target that is not hidden behind other targets RangePolygonInside: Check whether the hunter is inside the target polygon. If this is true then the answers may be incorrect (and the vehicles may have crashed).
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Page 107: Table 50: Rangefixedpointhh: Altitude And Heading Of Fixed Points, Identifiers 5B2H (1458), 5C2H (1474), 5D2H (1490), 5E2H (1506)
Offset Length Type Units Factor Offset Description 0.001 RangeFixedPointAlt: Altitude of the Fixed point degrees 0.01 RangeFixedPointHea: Heading of the Fixed point Table 50: RangeFixedPointHH: Altitude and heading of Fixed points, identifiers 5B2h (1458), 5C2h (1474), 5D2h (1490), 5E2h (1506) Offset Length Type... -
Page 108: Table 54: Rangeposstdev: Standard Deviation Of The Range Measurements, Identifiers 5B6H (1462), 5C6H (1478), 5D6H (1494), 5E6H (1510)
Offset Length Type Units Factor Offset Description 0.001 RangePosForwardStdev: Standard deviation of the range in the longitudinal direction 0.001 RangePosLateralStdev: Standard deviation of the range in the lateral direction 0.001 RangePosDownStdev: Standard deviation of the range in the vertical direction 0.001 RangePosMagStdev: This is the standard deviation of the resultant range measurement. -
Page 109: Calculation Details
Calculation details Although in an overview the problem of computing the range or tracking the line seems trivial, there are some aspects of the physics that require some explanation. There are different interpretations on range (2D or 3D for example). This can lead to differences in the measurements between the RT-Range and the outputs of other sensors. -
Page 110: Polygons
In mathematical terms the 3D range vector from the sensor point on the hunter to the bulls-eye point on the target (or closest part of the polygon) is computed. Then this 3D vector is projected into the forward and lateral (right) directions of the hunter vehicle. The hunter z-axis information is not output. Figure 99: Hunter (3D) measurement plane calculation When using the hunter measurement plane, it is important to align the pitch measurements of the RT in... -
Page 111: Range Velocity With Polygons
Figure 100: Polygon point or edge tracking For the red hunter, the Range Polygon output message will identify point 1 as the point on the right and point 6 as the point on the left. For the blue hunter, the Range Polygon output message will identify point 3 for both the left and the right points. -
Page 112: Lateral Velocity Effects
Range to Target Lateral Range Error 0.9 cm 10 m 1.7 cm 20 m 3.5 cm 50 m 8.7 cm 100 m 17 cm Table 57: Lateral error for different ranges for 0.1 deg heading error Lateral velocity effects Consider the lateral velocities of the hunter and target vehicles in Figure 101; they are both zero. Yet the lateral range velocity is not zero. -
Page 113: Lane Position Measurement Effects
acceleration; it assumes a communication link delay of 70 ms, which is about the peak expected from the wireless LAN when the vehicles are close. Figure 102: Example transient error for 0.8 g acceleration on target vehicle It can be seen from the graph that the effect on the velocity measurement for this transient is large (0.1 m/s is over 3 times larger than the RMS specification). -
Page 114: Figure 103: Fitting Between The Points On The Lines
Initially splines are an obvious choice but there are problems in the detail. Figure 103 shows five points with three different fitting techniques. Figure 103: Fitting between the points on the lines Spline fitting exactly on all the points. A spline that fits exactly on all the points is drawn in red in Figure 103. -
Page 115: Discontinuous Distance
Discontinuous distance Consider the Line in Figure 104. In this example the vehicle is driving on the outside of the bend. There are sections that the vehicle has to travel, but there is no distance moved along the bend. This leads to jumps in the distance output. -
Page 116: Co-Ordinates For Measurements With Respect To The Lines
Co-ordinates for measurements with respect to the Lines There are two co-ordinate frames that are possible for the distance to the line measurement. One is perpendicular to the hunter vehicle and the other is perpendicular to the line. The RT-Range measures the distance that is perpendicular to the line, as shown in Figure 105. -
Page 117: Figure 106: Error Using Straight Lines To Approximate Curves
Figure 106: Error using straight lines to approximate curves Figure 106 shows the effect of having the points too far apart on a curve lane marking. The error gets larger as the points get further apart and as the curve gets tighter. The small angle approximation for the maximum error is: where d is the distance between the points and R is the radius of the curve. -
Page 118: Rules For The Clean Up Line Tool In The Map Creation Wizard
Rules for the Clean Up Line tool in the Map Creation Wizard The points above, relating to the effects of the survey on accuracy, have been used to set some rules of the Clean Up Line tool. We would recommend using a point spacing of 1 m or 2 m, but the Clean Up Line tool will accept points with a separation down to 0.5 m. -
Page 119: Line, Map And Feature Point File Format Descriptions
Line, map and Feature point file format descriptions The line, map and Feature point files are stored in text format. It is possible to generate either file using different software. A brief description of the file formats is provided here. Line file format The line file stores each point used to mark the straight-line segments during the line survey. -
Page 120: Header Fields
Figure 107: Example map file Note: Not all the line information has been shown; “...” has been used to show where more information continues. There would be six lines in this file, only two are shown here. Header fields The fields in the header are shown in Table 60. Field Description Map number... -
Page 121: Line Fields
Line fields Each line in the map file has its own header. This holds the line number, the filename used to create the line and the number of points in the line. This is followed by the line data points. Table 61 shows the fields for the line in the map file. -
Page 122: Table 62: Feature Point File Header Fields
Table 62 gives the definitions of the fields. Field Description Feature list The RT-Range will use this to identify that this is a Feature point file This is the Feature point file reference number and it is output on RCOM and displayed in the Real-Time Display (as “Reference number of feature set”). -
Page 123: Figure 108: Example Feature Point File
“4”, making it easier to identify when this type of sign is in view. OXTS does not have a classification of Feature points and it is up to each application to categorise them. This field is an integer number from 1 to... -
Page 124: Rt-Range And The Ibeo Feature Fusion Adas Reference System
RT-Range and the Ibeo Feature Fusion ADAS reference system The integration of the RT-Range and RT-Range S systems with Ibeo laser scanner environment perception allows test drives in public traffic. All relevant objects are displayed in every situation. It can be automatically determined if and how well the target vehicle is visible to an on-board sensor-under-test. -
Page 125: Ibeo Laser View (Ilv) Visualisation
Ibeo Laser View (ILV) visualisation The Ibeo visualisation of a Feature Fusion system fused with an RT-Range system is shown in Figure 109. It shows the scenario from above (bird view). Figure 109: Ibeo Laser View (ILV) data visualisation Hunter (ego) vehicle. This box shows the hunter vehicle in correct sizing and driving direction. Scan points. - Page 126 For more information about the Ibeo-OXTS integration, please refer to the Ibeo-OXTS Integration Customer Documentation and the Ibeo Feature Fusion Customer Documentation which is available from Ibeo Automotive Systems GmbH https://www.ibeo-as.com Registered in England and Wales No. RT-Range Product Manual |...
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Page 127: Revision History
Revision history Revision Comments Registered in England and Wales No. RT-Range Product Manual | 3534778. VAT GB 704 8399 17... - Page 128 051018 Initial version 051114 Typing corrections 051118 More corrections and change of CAN IDs to 7A0h/7B0h range 060803 Updated for new RT-Range box 061211 Software changes 070611 Software changes 071214 Software change. Logging added; Longitudinal Offset added; wireless LAN SSID and IP Address added 080613 Added multiple Targets 081212...
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Page 129: Blank For User Notes
210514 Survey trolley section updated. Rebranded throughout 211102 Addition of Y converter cables and updates to installation 211216 Updated park assist information 240731 Updated Polygon generation procedure Table 64: Revision history Blank for user notes Registered in England and Wales No. RT-Range Product Manual | 3534778. - Page 130 Registered in England and Wales No. RT-Range Product Manual | 3534778. VAT GB 704 8399 17...
- Page 131 Registered in England and Wales No. RT-Range Product Manual | 3534778. VAT GB 704 8399 17...
- Page 132 Registered in England and Wales No. RT-Range Product Manual | 3534778. VAT GB 704 8399 17...
- Page 133 +1 248 260 1981 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. RT-Range Product Manual | 3534778. VAT GB 704 8399 17...
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