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RT3000 T v4
OXTS RT3000 T v4 Manuals
Manuals and User Guides for OXTS RT3000 T v4. We have
2
OXTS RT3000 T v4 manuals available for free PDF download: User Manual
OXTS RT3000 T v4 User Manual (105 pages)
Brand:
OXTS
| Category:
Test Equipment
| Size: 5 MB
Table of Contents
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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OXTS RT3000 T v4 User Manual (107 pages)
Brand:
OXTS
| Category:
Receiver
| Size: 6 MB
Table of Contents
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
11
Easy Operation
12
Self-Correcting
12
Advanced Processing
12
Related Documents
12
Table 1: Supplementary Manuals
12
Scope of Delivery
13
Table 2: Summary of RT3000 V4 Standard Kit Components
13
Conformance Notices
14
Regulator Testing Standards
14
Hardware Description
16
Overview
16
RT3000 V4
16
RT3000 T V4
16
Dual Antenna
16
Quad Constellation
17
Satellite Differential Corrections
17
Specifications
18
Table 3. RT3000 V4 Performance Specifications
18
Table 4: RT3000 V4 Inertial Sensor Specifications
19
Table 5: RT3000 V4 Physical Specifications
19
Heading Accuracy
20
Notes on Specifications
20
Environmental Protection
21
Export Control Classification
21
Table 6. Navsuite Components
22
Software Installation
22
Figure 1: Windows Firewall Warning Message
23
Hardware Installation
24
Mounting
24
Figure 2: RT3000 V4 Mounting Points (MM)
24
Orientation and Alignment
25
Antennas
25
Antenna Placement and Orientation
25
Figure 3: Dual Antenna Orientations
26
Operation
27
Front Panel Layout
27
LED Definitions
27
Figure 4: RT3000 V4 Front Panel Layout
27
Table 7: RT3000 V4 Front Panel Descriptions
27
I/O Connectors
28
Table 8: Power LED States
28
Table 9: Status LED States
28
Table 10: GNSS LED States
28
Figure 5: RT3000 V4 I/O Connector Pin Layout
29
Table 11: Main Connector Pin Description
30
Table 12: Auxiliary Connector Pin Description
30
User Cables
31
Figure 6: RT3000 V4 Main User Cable
32
Table 13: RT3000 V4 Main User Cable Pin Description
32
Figure 7: RT3000 V4 Auxiliary User Cable
34
Table 14: RT3000 V4 Auxiliary User Cable Pin Description
34
Digital Inputs and Outputs
35
1PPS Output
35
Trigger 1 and 2
35
Figure 8: 1PPS Waveform
35
Table 15: Digital I/O Signals
35
Wheel Speed Input
36
IMU Sync Output Pulse
37
Co-Ordinate Frame Conventions
37
IMU Frame
37
Figure 9: RT3000 V4 IMU Coordinate Frame Axes
37
Oxts NED Navigation Frame
38
Figure 10. IMU Measurement Origin
38
Table 16. Oxts NED Navigation Frame Definition
38
ISO 8855 ENU Earth-Fixed System
39
Figure 11: Oxts NED Navigation Frame Definition
39
Table 17: ISO 8855 ENU Earth-Fixed System
39
Oxts Horizontal Frame
40
Figure 12: ISO 8855 ENU Earth-Fixed System
40
Table 18: Oxts Horizontal Frame Definition
40
ISO 8855 Intermediate System
41
Figure 13: Oxts Horizontal Frame Definition
41
Figure 14: ISO 8855 Intermediate System
41
Table 19: ISO 8855 Intermediate System
41
Oxts Vehicle Frame
42
ISO 8855 Vehicle System
42
Figure 15: Vehicle Frame Definition
42
Table 20: Vehicle Frame Definition
42
Ethernet Configuration
43
Figure 16: ISO 8855 Vehicle System
43
Table 21: ISO 8855 Vehicle System
43
Figure 17: Configuring the Computer's IP Address for Ethernet Data Transmission
44
Connection Details for Ethernet Configuration
45
Dual Antenna Systems
45
Figure 18: In-Line RJ-45 Coupler
45
Table 22: In-Line Coupler Connections
45
Multipath Effects on Dual Antenna Systems
46
Configuring the RT
48
Overview
48
Working through Navconfig
48
Navconfig Home Section in Navconfig
49
Figure 19: Navconfig Home Section
49
Start/Read Configuration Section in Navconfig
50
Read Configuration Section
50
Figure 20: Navconfig Start/Read Configuration Section
50
Hardware Setup Section in Navconfig
51
Figure 21: Navconfig Read Configuration Section
51
Figure 22: an RT Device Mounted on Our RT-Strut
52
IMU Orientation Tab
52
Figure 23: Navconfig IMU Orientation Tab in the Hardware Setup Section
53
Primary Antenna Tab
53
Figure 24: Navconfig Primary Antenna Tab
54
Secondary Antenna Tab
54
Figure 25: Navconfig Secondary Antenna Tab in the Hardware Setup Section
55
Figure 26: Navconfig Lateral No-Slip Tab in the Hardware Setup Section
56
Lateral No-Slip and Vertical No-Slip Tabs
56
Figure 27: Measurement Point for Lateral No-Slip
57
Figure 28: Navconfig Lateral No-Slip Tab in the Hardware Setup Section
58
GNSS Differential Corrections Tab
58
Figure 29: Navconfig Differential Corrections Tab in the Hardware Setup Section
59
Table 23: Navconfig Differential Corrections Formats
59
Figure 30: NTRIP Internal Client
60
Ntrip
60
Networked DGPS (WLAN)
62
Sbas
62
Terrastar Corrections
62
Interfaces Section in Navconfig
63
Ethernet Tab
63
CAN Output Tab
63
Figure 31: Navconfig CAN Output Configuration Tab
64
Figure 32: Navconfig CAN Output Configuration Tab - Navigation
65
CAN Acquisition Tab
67
Figure 33: CAN-FD Output Configuration
67
Serial 1 Output Tab
68
Figure 34: CAN-Acquisition Tab
68
Table 24: Serial Outputs
69
Analogue Tab
70
PPS / Triggers Tab
70
PTP Tab
70
Navconfig Environment Section
70
Initialisation
70
Vehicle Starts
70
GNSS Environment
71
Vibration Levels
71
Heading Lock
71
Table 25: Navconfig Heading Lock Options
71
Garage Mode
72
Surface Tilt
72
Figure 35: Navconfig Surface Tilt Properties in the Environment Section Within Navconfig
72
Enable Local Coordinates
73
Advanced Tools Section
73
Displace Output Tab
73
Acceleration Filters Tab
73
Figure 36: Navconfig Enable Local Co-Ordinates in the Environment Section
73
Wheel Speed Input
74
Figure 37: Navconfig Acceleration Filters Tab in the Advanced Tools Section
74
Figure 38: Navconfig Wheel Speed Input Tab in the Advanced Tools Section
76
Output Smoothing Tab
77
Figure 39: Navconfig Output Smoothing Properties Window
77
Slip Points Tab
78
GNSS Control Tab
79
Figure 40: Navconfig Slip Points Tab
79
Figure 41: Navconfig GNSS Control Tab in Advanced Tools Within Navconfig
80
Table 26: Gx/IX™ Compatibility
80
GNSS Recovery Tab
81
Global Coordinate System Tab
81
Table 27: GNSS Update Rates
81
Figure 42: Navconfig Global Coordinate System Properties Window
82
Accuracies Tab
83
Commands Tab
83
The Write Configuration Section of Navconfig
83
Setting up the Base Station
84
Figure 43: Navconfig Write Configuration Page
84
Using the RT-Base S
85
Initialisation Process
86
Real-Time Outputs
86
Warm-Up Period
86
Table 28: Quantities Required for Initialisation
86
Improving the Configuration after a Warm-Up
87
Committing the Configuration to the RT
87
Figure 44: Navconfig Home Section
87
Read Configuration Section in Navconfig Improved Configuration Wizard
88
Figure 45: Navconfig Read Configuration
88
Post-Processing Data
92
Appendix A - Ensuring Optimal Operation
93
Table 29: Optimal Operation Checks
93
Appendix B - Using the Orientation Measurements
95
Appendix C - Drawing List
96
Table 30: List of Available Drawings
96
Table 31: Revision History
102
Blank for User Notes
103
Blank for User Notes
105
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