FixPosition Vision-RTK 2 Manuale per l'uso e la cura

Abstract: This document explains how to integrate the Vision-RTK 2 positioning sensor into a

host system and provides comprehensive details on how to conﬁgure it to obtain the maximum

positioning accuracy.

Vision-RTK 2

Fixposition Positioning Sensor

INTEGRATION MANUAL

VERSION 2.0.7

www.ﬁxposition.com

support@ﬁxposition.com

precise global positioning everywhere

Document information

Title Vision-RTK 2

Subtitle Fixposition Vision-RTK 2 Positioning Sensor

Document type Integration manual

Version number 2.0.7

Published Date May 8, 2023

Disclosure restriction Conﬁdential/NDA

Product status Engineering sample

Content status Data based on early testing. Revised and supplementary data will be published later

Glossary

ASCII American Standard Code for Information Interchange

APC Antenna Phase Center

ARP Antenna Reference Point

CAN Controlled Area Network

DHCP Dynamic Host Conﬁguration Protocol

ECEF Earth-Centered Earth-Fixed

ENU East-North-Up

GLONASS Global Navigation Satellite System (Russian)

GNSS Global Navigation Satellite System

GPS Global Positioning System

DOP Dilution of Precision

FP Fixposition

IMU Inertial Measurement Unit

IP Internet Protocol

LLH Latitude Longitude Height

NMEA National Marine Electronics Association

NTRIP Networked Transport of RTCM via Internet Protocol

OBD-2 On-board Diagnostic 2

ROS Robot Operating System

RTK Real Time Kinematics

RTKLIB Real Time Kinematics Library

RTCM Radio Technical Commission for Maritime Services

SMA SubMiniature version A

TCP Transmission Control Protocol

UART Universal Asynchronous Receiver-Transmitter

UAV Unmanned Aerial Vehicle

USB Universal Serial Bus

UTC Universal Time Coordinate

VRS Virtual Reference Station

VRTK2 Vision-RTK 2

WGS-84 World Geodetic System 1984

iii

Contents

Document information ii

Glossary iii

1. Vision-RTK 2 Notices 1

1.1. EuropeanUnion .................................... 1

1.2. FCC ........................................... 2

1.3. Japan .......................................... 2

2. System description 3

2.1. Overview ........................................ 3

2.2. High-precision sensor fusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2.3. Supported dynamics models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

3. Technical Information 5

3.1. Systemindicators ................................... 5

3.2. Physicalconnectors.................................. 5

3.2.1. Connectors overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

3.2.2. Ethernet .................................... 6

3.2.3. I/Oconnector ................................. 6

3.2.4. AUXconnector ................................ 7

3.2.5. Powerconnector ............................... 7

3.2.6. GNSSconnector ............................... 7

3.2.7. Wi-Ficonnector ................................ 7

3.2.8. USB(Type-C) ................................. 8

3.2.9. Sensorframe ................................. 8

3.2.10. Enclosure measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

4. Installation Guidelines 10

4.1. Sensor setup requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

4.2. Otherconsiderations ................................. 11

4.3. Maintenanceprocedure................................ 11

5. Sensor Conﬁguration 12

5.1. Webinterfaceoverview................................ 12

5.2. Networkconﬁguration................................. 14

5.2.1. Network speciﬁcations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

5.2.2. Networkdataports .............................. 16

5.2.3. Outbound connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

5.2.4. Camerastreaming .............................. 17

5.2.5. USB recovery network . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

5.2.6. Time synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

5.3. Input/output system overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

5.3.1. UART port conﬁguration . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

5.3.2. CAN streaming port conﬁguration . . . . . . . . . . . . . . . . . . . . . 20

5.3.3. Outputgenerator ............................... 22

5.3.4. Output messages conﬁguration . . . . . . . . . . . . . . . . . . . . . . 24

5.4. Correction service (RTK) conﬁguration . . . . . . . . . . . . . . . . . . . . . . . 26

5.4.1. Supported RTCM3 messages . . . . . . . . . . . . . . . . . . . . . . . 28

5.5. LocalNTRIPcaster .................................. 28

5.6. Cameraconﬁguration................................. 29

5.7. Wheelspeed sensor conﬁguration . . . . . . . . . . . . . . . . . . . . . . . . . . 30

5.7.1. Fixposition CAN wheelspeed sensor . . . . . . . . . . . . . . . . . . . 33

5.7.2. Fixposition I/O wheelspeed sensor . . . . . . . . . . . . . . . . . . . . 35

5.8. Sensor fusion conﬁguration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

5.9. Logsensordata .................................... 38

5.10.IMUcalibration..................................... 39

5.11.ROS driver installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

5.12.Point of interest conﬁguration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

5.13.Web interface indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

6. Status Dashboard 46

6.1. GNSSsolutiontypes ................................. 46

6.2. GNSSstatusdashboard ............................... 47

6.3. Input/outputdashboard................................ 50

7. Input Output Messages 52

7.1. WheelspeedInput ................................... 52

7.1.1. NOV-B_RAWDMI ............................... 52

7.2. GNSScorrectioninput ................................ 53

7.2.1. RTCM3 ..................................... 53

7.3. Fusionoutput...................................... 54

7.3.1. FP_A-ODOMETRY.............................. 54

7.3.2. FP_A-LLH ................................... 57

7.3.3. NOV_B-INSPVAX............................... 58

7.3.4. NMEA-GP-GGA_FUSION . . . . . . . . . . . . . . . . . . . . . . . . . . 60

7.3.5. NMEA-GP-HDT_FUSION . . . . . . . . . . . . . . . . . . . . . . . . . . 60

7.4. TFoutput ........................................ 61

7.4.1. FP_A-TF .................................... 61

7.5. IMUOutput ....................................... 62

7.5.1. FP_A-RAWIMU ................................ 62

7.5.2. FP_A-CORRIMU ............................... 63

7.5.3. FP_A-TF_POIIMUH ............................. 64

7.5.4. NOV_B-RAWIMU............................... 65

7.6. GNSSoutput ...................................... 66

7.6.1. NMEA-GP-GGA................................ 66

7.6.2. NMEA-GP-RMC................................ 67

7.6.3. FP_A-GNSSANT ............................... 68

7.6.4. FP_A-GNSSCORR.............................. 69

7.6.5. NOV_B-HEADING2.............................. 71

7.6.6. NOV_B-BESTGNSSPOS . . . . . . . . . . . . . . . . . . . . . . . . . . 73

7.7. Textoutput ....................................... 75

7.7.1. FP_A-TEXT .................................. 75

A. Software Updates 76

B. Fixposition CAN Frame Deﬁnition 77

C. Coordinate Transformations 78

Vision-RTK 2 |Fixposition Positioning Sensor v

D. Camera FOV Data and Model 81

E. Antenna Selection 82

Vision-RTK 2 |Fixposition Positioning Sensor vi

CHAPTER 1

Vision-RTK 2 Notices

The following notices apply to Vision-RTK 2. Changes or modiﬁcations to this equipment,

not expressly approved by Fixposition AG., could void the user’s authority to operate this

equipment.

1.1. European Union

Fixposition AG. hereby declares that Vision-RTK 2 is in compliance with the essential re-

quirements and other relevant provisions of the 2014/30/EU Directive and UN/ECE Reg-

ulation 10.

Vision-RTK 2 Wi-Fi

Fixposition AG. declares that Vision-RTK 2 is in compliance with:

1. EU Directive 2014/53/EU.

The full text of the EU Declaration of Conformity may be obtained from the Fixposition

website.

Radio Information

•Description of Service: Wi-Fi (802.11b/g/n).

•Operational Frequency: 2400 MHz to 2480 MHz.

•Modulation: OFDM.

•Rated Power: 17.5 dBm e.i.r.p.

The full text of the EU Declaration of Conformity may be obtained from the Fixposition

website.

WEEE Notice

If you purchased your Vision-RTK 2 product in Europe, please return it to your dealer or

supplier at the end of its life. The objectives of Fixposition’s environment policy are, in

particular, to preserve, protect and improve the quality of the environment, protect human

health, and utilize natural resources prudently and rationally. Sustainable development

advocates the reduction of wasteful consumption of natural resources and the preven-

tion of pollution. Waste electrical and electronic equipment (WEEE) is a regulated area.

Where waste generation cannot be avoided, it should be reused or recovered for its ma-

terial or energy. WEEE products may be recognized by their wheeled bin label.

RoHS

The Vision-RTK 2 is in conformity with:

1. Directive 2011/65/EU of the European Parliament and of the Council of 8 June 2011

on restricting the use of certain hazardous substances in electrical and electronic

equipment.

2. The Restriction of the Use of Certain Hazardous Substances in Electrical and Elec-

tronic Equipment Regulations 2012 (S.I. 2012/3032).

1.2. FCC

This device complies with part 15 of the FCC Rules. Operation is subject to the following

two conditions: (1) this device may not cause harmful interference, and (2) this device

must accept any interference received, including interference that may cause undesired

operation. Vision-RTK 2 has been tested and found to comply with the radiated and

conducted emission limits for a Class B digital device. The Class B limits are designed

to provide reasonable protection against harmful interference in a residential installation.

The equipment listed generates, uses, and can radiate radio frequency energy and, if not

installed and used in accordance with the instructions, may cause harmful interference

to radio communications. However, there is no guarantee that interference will not occur

in a particular installation. If this equipment does cause harmful interference to radio

or television reception, which can be determined by turning the equipment off and on,

the user is encouraged to try to correct the interference by one or more of the following

measures:

•Re-orient or relocate the Vision-RTK 2.

•Increase the separation between the equipment and the Vision-RTK 2.

•Connect the equipment to an outlet on a circuit different from that to which the

Vision-RTK 2 is connected.

•Consult the dealer or an experienced radio/TV technician for help.

To maintain compliance with the limits of a Class B digital device, you must use shielded

interface cables.

The Vision-RTK 2 has been authorized for use in Mobile applications. At least 20 cm (8

in) of separation between the Vision-RTK 2 and the User must be maintained at all times.

Wi-Fi

The Vision-RTK 2 contains a Wi-Fi radio with the following approvals:

•FCC ID: TFB-1004

1.3. Japan

Wi-Fi

Vision-RTK 2 contains a Wi-Fi radio with the following approvals:

Remarks and observations

The following conditions are applicable:

•Antennas for IEEE 802.11a/b/g/n/ac.

•Listed are 2 Dipoles, 1 PIFA, and 1 Chip antenna with a max antenna peak gain of

2.5 dBi at 2.4 GHz and 4.0 dBi at 5.0 GHz.

Vision-RTK 2 |Fixposition Positioning Sensor 2

CHAPTER 2

System description

2.1. Overview

The Vision-RTK 2 is a high-end sensor fusion solution that provides real-time high-accuracy

pose information in all scenarios, including GNSS degraded and denied environments.

The system includes two multi-frequency Real-Time Kinematics (RTK) GNSS receivers

for instant heading calculation after initialization, an embedded camera, and an Iner-

tial Motion Unit (IMU) to provide continuous high-accuracy positioning even in extended

GNSS outages.

The system can also receive information from additional auxiliary sensors (such as wheel-

speed) to increase performance whenever required.

(a) Agriculture (b) Urban (c) Lawn mowing (d) Mining

The Vision-RTK 2 is the ideal solution for applications in robotics, precision agriculture,

autonomous driving, infrastructure mapping, outdoor industrial applications, and many

others.

2.2. High-precision sensor fusion

Vision-RTK 2 provides accurate and reliable position, velocity, and orientation measure-

ments by fusing visual odometry with several sensor data streams, including in extended

GNSS outages.

2.3. Supported dynamics models

Vision-RTK 2 supports several navigation modes to adjust to different platforms’ speciﬁc

dynamics. These modes capture the data streams from the selected vehicle type and

tune the sensor fusion algorithm to improve performance based on the platform restric-

tions. Table 2.1 summarizes the characteristics of each tuning mode.

Mode Application vrange ωrange

Car Dynamics similar to that of a passenger

car.

±22 m/s 0.5 rad/s

Handheld Dynamics similar to that of a human gait. ±3 m/s 1.5 rad/s

Lawnmower Dynamics similar to that of a lawnmower

robot.

±3 m/s 1.0 rad/s

Slow robot Dynamics similar to that of a slow-moving

utility robot.

±3 m/s 0.5 rad/s

Table 2.1.: Supported sensor fusion modes

·v: Velocity

·ω: Angular velocity

Enabling a wheelspeed sensor is recommended for optimal performance. All tuning

modes except handheld support wheelspeed. Note that the above vand ωvalues cor-

respond to the expected dynamics for these vehicles. However, even though the sensor

does not strictly enforce these ranges, exceeding these values can degrade performance.

Vision-RTK 2 |Fixposition Positioning Sensor 4

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