Racelogic VBOX SIGMA Manuale utente
VBOX Sigma User Manual
•01 - VBOX Sigma Introduction
•02 - VBOX Sigma Hardware Overview
•03 - VBOX Sigma Getting Started
•04 - VBOX Sigma Configuration
•05 - VBOX Sigma Display
•06 - VBOX Sigma Data Analysis Software
•VBOX Sigma - CAN Output Format
•VBOX Sigma - PIN OUTS
•VBOX Sigma - RS232 Output Format
•VBOX Sigma - Technical Specification
•How to Update the VBOX Sigma Firmware
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01 - VBOX Sigma Introduction
VBOX Sigma (RLVBSIGMA) is a cost-effective, RTK enabled 10 Hz data logger with integrated NTRIP modem. Its multi-
constellation, multi-frequency GNSS engine offers outstanding RTK performance even in areas with poor and multi-path
satellite coverage.
When used in conjunction with an RTK base station or NTRIP correction service, VBOX Sigma is accurate to within a
centimetre and is the ideal reference for ground truth.
The in-built NTRIP modem makes it easy to receive RTK correction messages from an NTRIP network, either via Wi-Fi
or a 4G cellular connection. In order to use this type of correction you have to register and subscribe to a cellular data
plan with your local NTRIP provider, such as Topnet in the UK and Germany, Swepos in Sweden or Unavco in the USA.
Features
•Accuracy - When used in conjunction with an RTK
base station or NTRIP correction service, VBOX
Sigma is accurate to within a centimetre and is the
ideal reference for ground truth.
•Reliable GNSS Reception - Its multi-constellation,
multi-frequency GNSS engine offers outstanding
RTK performance even in areas with poor and
multi-path satellite coverage.
•Cost-effective - Using the latest GNSS receiver,
VBOX Sigma is an incredibly cost-effective solution
for reliable PNT measurement.
•In-built NTRIP Link - The integrated NTRIP
modem makes it easy to receive RTK correction
messages from an NTRIP network, either via Wi-Fi
or a cellular connection.
https://en.racelogic.support//Product_Info/VBOX_Data_Loggers/VBOX_Sigma/VBOX_Sigma_User_Guide/01_-
_VBOX_Sigma_Introduction
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•Data Recording - VBOX Sigma records data at 10
Hz and saved it to an SD card for data analysis.
•CAN Bus Output - VBOX Sigma has a CAN Bus
output for connection to a 3rd party data logger or
another device.
•Live Data Display - VBOX Sigma has a serial
output for live data display on your PC (running
VBOX Test Suite software).
•Integration - VBOX Sigma can be used as an add-
on product or built into your own solution to provide
accurate ground truth. Please ask us for options to
integrate.
Inputs
Unit Power
Input Voltage Range (automotive)
• 7 V to 30 V DC (Hirose)
• 5 V (USB-C)
Power Consumption <5 W
GNSS Antenna Supply
Supply Voltage 3 V DC
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Outputs
CAN Bus
Output Data Rate 125 kbit/s, 250 kbit/s, 500 kbit/s and 1 Mbit/s selectable
baud rate. Software controlled CAN termination
Data available
Satellite count, time, position, speed, heading, altitude,
vertical velocity, longitudinal acceleration, lateral
acceleration, solution type, date, correction age, serial
number
RS232
Output Data Rate 10 Hz
Data available
Satellite count, time, position, speed, heading, altitude,
vertical velocity, longitudinal acceleration, lateral
acceleration, solution type, date, correction age
How Does RTK Work
Standard GNSS looks for changes in the signal codes sent by each satellite. This is done by measuring the times of
signal edges, and then calculating the time for the signal to arrive.
When comparing two signals, we are measuring a time delay of about ~0.07 s. This is the time delay from satellite to
receiver, which is about 20,000 km.
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To obtain accuracy up to 1 cm, we need to measure the time delay between these signals down to 0.00000000003 (1/
30th of a nanosecond). The picture below shows a single rise between 0 and 1 (highlighted in the image above).
It is difficult to compare this with the reference to 1/30th of a nanosecond, as we do not know at which exact point along
this rise, the change from 0 to 1 happened.
This means that the positional accuracy when using corrected GNSS signals (called code-phase signals) alone is
around 0.5 m.
To obtain a higher level of accuracy, up to 1 cm, another technique needs to be used in conjunction.
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We use a GNSS ‘carrier wave’ signal, transmitted at a very high frequency (1575 MHz) to pinpoint the exact moment
the signal rises from 0 to 1.
You can see from the image above that the phase of the carrier signal flips when the data signal changes.
Because this signal is being transmitted at such a high frequency, it means that we can measure with far greater
precision, exactly when the signal change occurred.
This provides a much higher timing resolution, so, when we are lining up our real time and corrected signals, we know
with a much greater accuracy, when that signal changed. Therefore, we know to a much greater accuracy what the true
https://en.racelogic.support//Product_Info/VBOX_Data_Loggers/VBOX_Sigma/VBOX_Sigma_User_Guide/01_-
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distance is between the satellite and the receiver.
The difference this makes is shown on a 24 hour plot below. The un-aided GNSS is shown in red, while the RTK is
shown in green at the centre.
RTK versus un-aided GNSS
NTRIP Guidance
In order for some NTRIP Casters to work, they require your position. This is true if the service you are using has multiple
reference stations over a large area, in which case it will need to know which one is closest to you.
This is achieved by your GNSS engine sending a GGA NM A message to the caster, which needs to be enabled on
your GNSS engine. This message can be set to transmit every 10 s, it is not necessary to send it more often than that.
Note that if the NTRIP service you are using requires a GGA message, and it is not sent, you will not receive any data. If
you are using your own Base Station, or a service with only one Base Station, then the GGA message is not needed.
NTRIP delivered RTCM v3 messages are usually sent once a second or once every two seconds. RTK can usually still
be accurate even if the message is up to 60 s old, but for best performance, keep this as short as possible.
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The VBOX Sigma GNSS engine can use the following signals:
• GPS L1/L2C
• Glonass L1OF, L2OF
• Galileo 1B/C, 5b
• Beidou B1I, B2I
Therefore it is important that the NTRIP service you use transmits all of these corrections.
The transmission of these correction signals at 1 Hz uses approximately 1 kB per second depending on how many
satellites are visible, so if you are intending to use a SIM card to connect to the NTRIP server, ensure that you have
enough data available.
Registration
So that Racelogic can continue to provide you with notification of the latest software releases, firmware upgrades and to
offer technical support, please register your VBOX Sigma.
Register your unit here.
Standard Inventory
Product Code Quantity Description
VBSIGMA-V1 1 VBOX Sigma Unit
RLACS308 1 GNSS Antenna
TTV1AM20MB31 1USB-A to USB-C Fast Data/Power
Cable
RLCAB010H 1Hirose 3 W Plug to Cigar Plug
Power Cable, 2 m
8 GB SD Ultima Pro UHS-1
Memory Card 1 RLACS313
ANTMSTUBSMAM 1 Multi Band Antenna
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Optional Accessories
Product Code Description
RLCAB170 6 Way Hirose to 5 Way Lemo - 2 m
RLCAB001-H 6 Way Hirose to 9 Way D-Connector - Serial cable
RLCAB181 6 Way Hirose to 9 Way D-Connector - CAN cable
RLCAB164 6 Way Hirose to Unterminated
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02 - VBOX Sigma Hardware Overview
VBOX Sigma has various connections/ sockets on the top and bottom of the unit, along with an OL D display and
buttons.
Front
OLED Display
The front panel of the unit contains an OL D screen
which displays status and connection information. Three
screens are available to view, more information on these
is available here.
Buttons
Back Button
Pressing the Back Button on the left will return to
the Home Display Screen if currently on another
display screen.
Up/Down Buttons
The Up and Down Buttons are used to navigate
between the three different display screens, more
information on these is available here.
Square Button
Pressing the Square Button on the right will start/stop
logging irrespective of the Logging Strategy selected
within the VBO Log Settings area of the Wi-Fi hotspot
configuration interface. More information on logging is
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