OXTS RT3000 16g v4 Manuals

Manuals and User Guides for OXTS RT3000 16g v4. We have 1 OXTS RT3000 16g v4 manual available for free PDF download: User Manual

OXTS RT3000 16g v4 User Manual (105 pages)

Brand: OXTS | Category: Test Equipment | Size: 5 MB

Legal Notices
2
Copyright Notice
2
Revision
2
Contact Details
2
Warranty
3
Product Limitations
3
Limitations of Liability
3
Table of Contents
4
Introduction
10
Easy Operation
11
Self-Correcting
11
Advanced Processing
11
Related Documentation
11
Software Documentation
12
Data Formats Documentation
12
Table 1: Software Manuals
12
Table 2: Data Format Manuals
12
Utilities Documentation
13
Scope of Delivery
13
Table 3: Utilities Manuals
13
Table 4: Summary of RT3000 V4 Standard Kit Components
13
Conformance Notices
14
Regulator Testing Standards
14
Hardware Description
15
Overview
15
RT3000 V4
15
RT3000 T V4
15
Gnss
15
Satellite Constellations
15
Satellite-Based Differential Corrections
15
Dual Antenna
16
Position and Heading Relock
16
Specifications
17
IMU Specification
17
Performance Specification
17
Table 5: RT3000 V4 Inertial Sensor Specifications
17
Notes on Performance Specification
18
Table 6: RT3000 V4 Performance Specifications
18
Notes on Heading Specification
19
Physical Specification
19
Table 7: RT3000 V4 Physical Specifications
19
Export Control Classification
20
Software Installation
21
Table 8: Navsuite Components
21
Figure 1: Windows Firewall Warning Message
22
Hardware Installation
23
Mounting
23
Figure 2: RT3000 V4 Mounting Points (MM)
23
Orientation and Alignment
24
Antennas
24
Antenna Placement and Orientation
24
Dual Antenna Systems
25
Figure 3: Dual Antenna Orientations
25
Multipath Effects on Dual Antenna Systems
26
Operation
26
Front Panel Layout
26
LED Definitions
27
Figure 4: RT3000 V4 Front Panel Layout
27
Table 9: RT3000 V4 Front Panel Descriptions
27
Table 10: Power LED States
27
I/O Connectors
28
Figure 5: RT3000 V4 I/O Connector Pin Layout
28
Table 11: Status LED States
28
Table 12: GNSS LED States
28
Table 13: Main Connector Pin Description
29
Table 14: Auxiliary Connector Pin Description
30
User Cables
31
Figure 6: RT3000 V4 Main User Cable
31
Table 15: RT3000 V4 Main User Cable Pin Description
32
Figure 7: RT3000 V4 Auxiliary User Cable
33
Digital Inputs and Outputs
34
Table 16: RT3000 V4 Auxiliary User Cable Pin Description
34
Table 17: Digital I/O Signals
34
1PPS Output
35
Trigger 1 and 2
35
Figure 8: 1PPS Waveform
35
Wheel Speed Input
36
IMU Sync Output Pulse
36
Co-Ordinate Frame Conventions
36
IMU Frame
36
Oxts NED Navigation Frame
37
Figure 9: RT3000 V4 IMU Coordinate Frame Axes
37
Figure 10: IMU Measurement Origin
37
ISO 8855 ENU Earth-Fixed System
38
Figure 11: Oxts NED Navigation Frame Definition
38
Table 18: Oxts NED Navigation Frame Definition
38
Table 19: ISO 8855 ENU Earth-Fixed System
38
Oxts Horizontal Frame
39
Figure 12: ISO 8855 ENU Earth-Fixed System
39
Figure 13: Oxts Horizontal Frame Definition
39
Table 20: Oxts Horizontal Frame Definition
39
ISO 8855 Intermediate System
40
Oxts Vehicle Frame
40
Figure 14: ISO 8855 Intermediate System
40
Table 21: ISO 8855 Intermediate System
40
ISO 8855 Vehicle System
41
Figure 15: Vehicle Frame Definition
41
Table 22: Vehicle Frame Definition
41
Ethernet Configuration
42
Figure 16: ISO 8855 Vehicle System
42
Table 23: ISO 8855 Vehicle System
42
Connection Details for Ethernet Configuration
43
Figure 17: Configuring the Computer's IP Address for Ethernet Data Transmission
43
Figure 18: In-Line RJ-45 Coupler
44
Table 24: In-Line Coupler Connections
44
Configuring the RT3000 V4
45
Navconfig - Overview
45
Navconfig - Home
45
Navconfig - Start Configuration
46
Figure 19: Navconfig Home Section
46
Navconfig - Read Configuration
47
Figure 20: Navconfig Start/Read Configuration Section
47
Navconfig - Hardware Setup
48
IMU Orientation
48
Figure 21: Navconfig Read Configuration Section
48
Primary Antenna Lever Arm
49
Figure 22: Navconfig IMU Orientation Tab in the Hardware Setup Section
49
Secondary Antenna Lever Arm
50
Figure 23: Navconfig Primary Antenna Tab
50
Lateral and Vertical No-Slip Constraints
51
Figure 24: Navconfig Secondary Antenna Tab in the Hardware Setup Section
51
Figure 25: Navconfig Lateral No-Slip Tab in the Hardware Setup Section
52
Figure 26: Measurement Point for Lateral N-Slip
52
GNSS Differential Corrections
53
Figure 27: Navconfig Vertical No-Slip Tab in the Hardware Setup Section
53
Table 25: GNSS Differential Correction Formats
53
Local Base Station
54
Figure 28: Navconfig Differential Corrections Tab in the Hardware Setup Section
54
Table 26: GNSS Differential Correction Datums
54
Internal NTRIP
55
Figure 29: NTRIP Internal Client
55
External NTRIP
56
Network DGPS
56
Forwarding Corrections
56
Sbas
56
Terrastar (RT3000 T V4 Only)
56
Navconfig - Interfaces
56
Ethernet
56
Ucom
57
Figure 30: UCOM Configuration
57
CAN Output
58
Figure 31: Navconfig CAN Output Configuration Tab
58
CAN Acquisition
60
Figure 32: CAN-FD Output Configuration
60
Serial 1 Output
61
Figure 33: CAN-Acquisition Tab
61
Analogue
62
Table 27: Serial Outputs
62
PPS / Triggers
63
Ptp
63
Navconfig - Environment
63
Initialisation
63
Vehicle Starts
64
GNSS Environment
64
Vibration Levels
64
Heading Lock
64
Garage Mode
65
Surface Tilt
65
Figure 34: Navconfig Surface Tilt Properties in the Environment Section Within Navconfig
65
Table 28: Navconfig Heading Lock Options
65
Enable Local Coordinates
66
Navconfig - Advanced Tools
66
Displace Output
66
Acceleration Filters
66
Figure 35: Navconfig Enable Local Co-Ordinates in the Environment Section
66
Wheel Speed Input
67
Figure 36: Navconfig Acceleration Filters Tab in the Advanced Tools Section
67
Figure 37: Navconfig Wheel Speed Input Tab in the Advanced Tools Section
68
CAN Wheel Speed
69
Output Smoothing
70
Figure 38: CAN Wheel Speed Configuration
70
Slip Points
71
Figure 39: Navconfig Output Smoothing Properties Window
71
GNSS Control
72
Figure 40: Navconfig Slip Points Tab
72
Figure 41: Navconfig GNSS Control Tab in Advanced Tools Within Navconfig
73
GNSS Recovery
74
Global Coordinate System
74
Table 29: GNSS Update Rates
74
Accuracies
75
Figure 42: Navconfig Global Coordinate System Properties Window
75
Commands
76
Time Source
76
Navconfig - Write Configuration
77
Navconfig - Improve Configuration
78
Figure 43: Navconfig Home Section
78
Figure 44: Navconfig Read Configuration
79
Figure 45: Navconfig Improve Configuration Data Source
80
Figure 46: Navconfig Improve Configuration Select Settings
81
Setting up the Base Station
82
Figure 47: Navconfig Improve Configuration Write Configuration
82
Using the RT-Base S
83
Initialisation Process
84
Real-Time Outputs
84
Warm-Up Period
84
Table 30: Quantities Required for Initialisation
84
Post-Processing Data
86
Data Retrieval
86
Post-Processing
87
Table 31: List of Supported FTP Commands
87
Laboratory Testing
89
Accelerometer Test Procedure
89
Gyro Test Procedure
89
Testing the Internal GNSS and Other Circuitry
90
Table 32: Status Field Checks
90
Appendix A - Ensuring Optimal Operation
92
Appendix A - Ensuring Optimal
92
Table 33: Optimal Operation Checks
93
Appendix B - Using the Orientation Measurements
94
Appendix C - Drawing List
95
Table 34: List of Available Drawings
95
Revision History
100
Blank for User Notes
100
Table 35: Revision History
100

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