BaseVu Module (Version 1.1) - Gemini Navsoft Technologies
Contents
1. 3207378 0928 0 5000 emeng New Entry Registration Button add Delete Update Station Type fr Base a d fis Station Information ID Mame CSX Base Receiver Ethernet Info on Peer Receiver 2 IP Address Bei Do a D Port 0 Password NONE Receiver 42 TFC IGS UNLISTED ANTENNA xm fo ml t ET T Figure 8 Station Registration form Display Panel Use the computer mouse to select registered station information Depending on station type the record fields associated with the station are activated for input or change ID Unique Station identifier IP Address Unique Station Ethernet IP address Name Station name or description Registration Button New Entry Click to have a new station entry The station information is not registered until the Add button is clicked 12 GEMINI NavSoft Technologies Inc SteerVu BaseVu Module User s Manual v1 1 Add Registers a new entry into the Station Database Delete Deletes an existing station from the Station Database or Cancels the New Entry action Update Updates any change in the Station information into the Station Database Station Type Indicates the type of the station Base Rover or Server As illustrated in Figure 1 Base stands for the Base Station Rover for the Rover Client and Server for the Base Server Station Information ID Unique s2. Figure 7 Mode menu utilities 3 1 1 Mode Station Registration Station Registration is the one of the core functions of BaseVu Once BaseVu is installed on the Base Server computer users must register all devices associated with each station on the network The registered information is logged in the Station Information Database StationlPList sta Users must copy the Station Information Database into the system folder C Gemini Navsoft Technologies RoverVU Application Data of the Rover Client Figure 8 illustrates the Station Registration form Before each device is registered in the Station Information Database it is recommended for users to set up the same information e g IP address for the device If the registered information does not match with the device SteerVu will not perform as designed 11 GEMINI O SteerVu BaseVu Module User s Manual v1 1 NavSoft Technologies Inc 7 Station Registration ID IP Address Name 0000 192 165 123 108 Hosting 0001 192 168 125 108 CSX Base Receive 1000 192 168 123 108 C5X RTG 1 Ethernet Info on Server Client PC Ethernet Info on Peer Receiver 1 IP Address 100 100 1 1 Port 9000 Password antec Receiver 1 Antenna Type JAVTRIANT Survey Mark Coordinates WG5 84 ECEF Antenna Reference Point ARP gi e Baseline Length Between Two GPS Antennas m NONE xm 788673 0913 Y m 5449939 8419 z m
3. GEMINI NavSoft Technologies Inc SteerVu BaseVu Module User s Manual v1 1 Password User password for TCP connection GPS Receiver Antenna Panel Antenna Type Select the installed antenna from the Antenna Database Survey Mark Coordinates WGS 84 ECEF This option is available only for Base Users must input the fixed known Base Station coordinates X Y Z expressed by the WGS 84 Earth Centered Earth Fixed coordinate system Antenna Reference Point ARP Height from the mark on the ground or structure to the bottom of the GPS antenna Baseline Length Between Two GPS Antennas m This option is available only for Rover If the fixed length of the baseline between two GPS antennas installed on the machine is known users can input the value 3 1 2 Mode Admin ID Password Users can change the Administrator s ID and Password any time as illustrated in Figure 9 To access this utility authorization is required through Old Security Code Validation Once authorized users can register a new ID and Password L Admin ID Password Generation Old Security Code Validation Admin ID Admin Password New Security Code Registration Admin ID Admin Password Figure 9 Administrator s ID and Password form 14 GEMINI NavSoft Technologies Inc SteerVu BaseVu Module User s Manual v1 1 4 Main Interface As illustrated in Figure 10 Control and Monitoring utilities are accessed
4. Time Kinematic technigue allows the vehicle to know precisely where it is on the surface of the earth to a positional accuracy of better than one inch Under purely robotic control the vehicle will wander off course due to errors caused by wheel slippage uneven terrain and other mechanically induced errors RoverVu makes use of its GPS RTK navigation solutions and attitude information to correct for errors in the vehicle control system In typical conditions where satellite visibility is favourable and the vehicle is well calibrated the navigation path can be tracked to better than plus or minus two inches A typical field setup of SteerVu is illustrated in Figure 1 GEMINI NavSoft Technologies Inc SteerVu BaseVu Module User s Manual v1 1 Local Area Network Project Site Di Wireless a Ethernet eceivers Wired Ethernet Wide Are Base Station Base Server e GPS receiver e Server PC Figure 1 SteerVu field setup GEMINI NavSoft Technologies Inc SteerVu BaseVu Module User s Manual v1 1 2 BaseVu Layout BaseVu comprises four sub windows as illustrated in Figure 2 including Base Server Software Server Status Base Station Status and Rover Status Base Server Software ca E E CH Base Station Status Mode About Connection Infomation Station ID 0001 IP Address 100 100 1 1 Name C5X Base Receiv Port 3000 Fx mn Control KEN S
5. JR SteerVu A BaseVu Module GEMINI NavSoft Technologies Inc SteerVu BaseVu Module User s Manual v1 1 GEMINI Navsoft Technologies Inc 20 Barrett Court Fredericton NB Canada E3B 6Y1 www gemini navsoft com GEMINI NavSoft Technologies Inc SteerVu BaseVu Module User s Manual v1 1 Contents EN Eege 3 Me RT ging Le EE 4 BANNE 6 241 Base Server Software ele TEE 6 ST RE lee AM O RN 7 2 3 Base Station Status Ven 7 RTS NN 9 NNDS 11 ENN 11 3 1 Mode Station Regi Ce EE 11 31 2 Mode Admin ID Password siscccnnscicsessvacasenntsanesonnsasniwhsnaaasaionteaiacnnis EE RE EEN DAE EIE 14 ETE EEE EE EEE EE cae 15 EGG d EEE EEE aaa E alaalia aa 15 12 IRON GE CO Ol esc ea aaa Oa E hn alata saa a aaa a cas 16 1 3 2456 e e ln 16 ES Se le EEN 16 REE Ge EEE inde isamaa NR OE ia kn 16 GEMINI NavSoft Technologies Inc SteerVu BaseVu Module User s Manual v1 1 1 Description SteerVu provides the GNT auto steering logic controller with high accuracy high performance GPS navigation solutions and attitude information SteerVu steers vehicles such as rubber tired gantry RTG cranes cargo transport vehicles lawn mowers and tractors using a map and match mode of operation SteerVu is designed for use in repetitive navigation applications SteerVu consists of a Base Server BaseVu and a Rover Client RoverVu BaseVu is connected with one or more GPS Base Stat
6. RTGs on the Server 1 E Figure 6 Rover Status RTG Unique machine identifier Time GPS time stamp corresponding to the machine s response to the Server Track Unique path identifier where the machine is in operation Tx Number of data transmissions from the Server to the machine Rx Number of responses from the machine to the Server RTG Status Operational status of the machine on site Table 2 GEMINI NavSoft Technologies Inc SteerVu BaseVu Module User s Manual v1 1 Table 2 Machine s operational status Status Indication Unknown The status of the machine is unknown No RTK The machine is active but GPS is not ready GPS auto steering is ready for action but the RTK No Auto steering operator has not activated it yet RTK Auto steering GPS auto steering is in action Disconnection er The machine is being shut down requested Number of RTGs on the Server Number of the machines connected to the Server Close Click to close the Rover Status window 10 GEMINI NavSoft Technologies Inc SteerVu BaseVu Module User s Manual v1 1 3 Menu Descriptions 3 1 Mode Menu Station Registration and Admin ID Password utilities are located in the Mode menu as illustrated in Figure 7 JA Base Server Software ha E s 3 Station Registration Admin ID Password
7. ation ID Unique Base Station identifier IP Address Unique Base Station Ethernet IP address Name Base Station name or description Port Base Station Ethernet port number Rx Visualizes the activity of Internet communications between the Server and the Base Station SV Unique GPS satellite identifier the PRN number L1 Indicates the type of GPS pseudorange measurement on the L1 carrier For example c stands for C A code P for P code and cp for C A and P code L2 Indicates the type of GPS pseudorange measurement on the L2 carrier SL Signal to noise ratio in dB Hz for L1 carrier 2 Signal to noise ratio in dB Hz for L2 carrier Total Number of GPS satellites being tracked GPS Time GPS Time in seconds at a given epoch Revr Status The signal light indicates the status of the Base Station receiver using the color scheme outlined in Table 1 GEMINI NavSoft Technologies Inc SteerVu BaseVu Module User s Manual v1 1 Table 1 Color scheme for status indication Signal Indication e Healthy gt amp Unkmown S e Unhealthy gt Close Click to close the Base Station Status window 2 4 Rover Status Window The Rover Status window shows the machine s activities on site Figure 6 illustrates status information of a Rover ep Rover Status Sez RIG Time Track Tx Par RTG Status 1000 424831 1111 000072 00011 RTK Auto Steerin Number of
8. er Status Window The Server Status window displays main activities on the Server computer such as Internet connection information of the Server Base Stations and Rovers and user actions on the Server as shown in Figure 4 This information is logged in the Server database Server Status 02 May 11 06 07 00 SERVER 0000 connected at lt 192 168 123 108 10000 0 gt 02 May 11 06 07 00 BASE 0001 connected at lt 192 168 123 108 8000 0 gt 102 May 11 06 07 00 BASE 0001 receiver activated 02 May 11 06 12 21 BASE 0001 warning receiver inactive 102 May 11 06 12 27 BASE 0001 receiver warning removed 02 May 11 06 12 35 ROVER 1000 connected at lt 192 168 123 108 9000 1 gt 07 May 11 06 15 05 ROVER 1000 disconnected from lt 192 168 123 108 9000 1 02 May 11 06 15 12 ROVER 1000 connected at lt 192 168 123 108 9000 1 EEE Figure 4 Server Status window 2 3 Base Station Status Window The Base Station represents the GPS receiver antenna that is used for recording GPS data at a fixed known geographical location Figure 5 illustrates status information of a Base Station GEMINI NavSoft Technologies Inc SteerVu BaseVu Module User s Manual v1 1 Base Station Status Ge Pez Connection Infomation Station ID NNN IP Address 100 100 1 1 Name CSX Base Receiv Port S000 Rx mn 2 ST 82 GPS Time 424691 000 Revr Status i Close Figure 5 Base Station Status St
9. ions BaseVu receives raw GPS observations from the Base Station s in real time The status of the Base Station s is constantly monitored RoverVu is installed on a vehicle and is connected with BaseVu Upon receiving a reguest from RoverVu BaseVu transmits the raw GPS observations received from the Base Station s to RoverVu Map and match programming allows a human operator to map a navigation path by driving the vehicle over the path to be matched while RoverVu is in map mode During map mode RoverVu records and stores GPS positioning data which allows RoverVu to autonomously reproduce the mapped path Multiple paths can be mapped and stored for a project site Each path is uniguely defined by the GPS coordinates within the path Navigation paths are stored locally in RoverVu memory and can be downloaded to a removable USB flash memory drives With the navigation paths stored the vehicle is capable of retracing the mapped paths whenever necessary When the vehicle is in the vicinity of the desired path the operator can select the desired navigation path to be matched from a list of paths saved for the site in RoverVu memory Once the path has been selected and connection to BaseVu has been achieved the operator moves the vehicle near the start of the navigation path The operator then places the vehicle in automatic operation mode and the vehicle enters the navigation path moving to the desired locations automatically The GPS RTK Real
10. tation identifier Valid range 0 4095 Name Station name or description Ethernet Info on Server Client PC If the type of the station is Server or Base this information is associated with the Ethernet on the Server computer For Rover stations this information describesthe Ethernet setup on the Client computer IP Address For Server and Base stations the Ethernet IP address of the Server computer is automatically assigned For Rover stations users must input the Ethernet IP address of the Client computer Port For Server and Base stations default Ethernet port numbers are automatically assigned e g 10000 for Server and 8000 for Base For Rover stations users must input an appropriate port number Valid range 0 65535 Port Forwarding Select the check box if the Server computer is sitting behind an Ethernet router This option is available only for Base stations Users must input router s IP and Port information which forwards incoming packets to the default Base IP and Port explained above Ethernet Info on Peer This information describes the Ethernet setup of the GPS receiver For Server stations no information is available For Base stations users must register a single GPS receiver For Rover stations two GPS receivers must be registered IP Address Ethernet IP address of the GPS receiver Port Port number of the GPS receiver for TCP connection Valid range 0 65535 13
11. through the Base Server interface Base Server Software EE rer tal Mode About a Advanced GNSS Tochootegy f r Control BASE Figure 10 Main interface for user actions 4 1 Base Control The Base Control allows users to select one of the registered Base Stations from the Station Database The selected Base Station serves the Rovers running on site The information of the Base Station and Ethernet communications is displayed as illustrated in Figure 11 15 GEMINI NavSoft Technologies Inc SteerVu BaseVu Module User s Manual v1 1 er Base Station Selection Station Type ID IP Address Name Yp 0001 192 168 123 108 Cox Base Receive Station Information o mm Name CSX Base Receiver Ethernet Info on Peer IP Address 100 100 Move up and down to select one EEN Figure 11 Base Station Selection window 4 2 Rover Control This function is not available for the BaseVu Version 2 0 4 3 Base Monitoring The Base Monitoring button is used to re open the Base Station Status windows when this window is closed 4 4 Rover Monitoring The Rover Monitoring button is used to re open the Rover Status window when this window is closed 4 5 Server Monitoring The Server Monitoring button is used to re open the Server Status window when this window is closed 16
12. v LI LE 51 52 Total 10 GPS Ti Base MU RTG Elli FAEN Revr Status Close EP Rover Status L ENE En SCH RIG Time Track Tx Fix RIG Status 1000 424986 1111 000213 00039 RTK No Auto steering Server Status 02 May 1106 07 00 SERVER 0000 connected at lt 192 168 123 108 10000 0 gt 02 May 11 06 07 00 BASE 0001 connected at lt 192 168 123 108 8000 0 gt 02 May 11 06 07 00 BASE 0001 receiver activated 02 May 11 06 12 21 BASE 0001 warning receiver inactive 02 May 11 06 12 27 BASE 0001 receiver warning removed 02 May 11 06 12 35 ROVER 1000 connected at lt 192 168 123 108 9000 1 gt 02 May 11 06 15 05 ROVER 1000 disconnected from lt 192 168 123 108 9000 1 02 May 11 06 15 12 ROVER 1000 connected at lt 192 168 123 108 9000 1 gt RS Number of RTGs on the Server 1 Close Figure 2 BaseVu layout 2 1 Base Server Software Window As shown in Figure 3 the Base Server Software window is the main window of BaseVu The menu system is used to access the utilities for Base or Rover station registration and user authorization see Section 3 Menu Descriptions The utilities associated with user actions are activated through the button system see Section 4 Main Interface GEMINI NavSoft Technologies Inc SteerVu BaseVu Module User s Manual v1 1 Z Base Server Software Soe Mode About Figure 3 Base Server Software window 2 2 Serv
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