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RT3000 User Manual

1. m A Siart ine 1 001 zl Easting 41 2567588718701 Northing 79 4020660463707 of line 1 rtrl Control ID 30 4m line 1 ttl fine 2 line 7st line 8 0 LAT LON 51 94335388 1 24829591 51 94333035 1 24831766 51 94330676 1 24833943 91 94328312 1 2483613 51 94325954 1 24838319 51 94323598 1 24840509 51 94321246 1 24842713 51 94318896 1 24844918 51 94316541_ 1 24847111 51 94314191 1 24849308 51 94311843_ 1 24851491 51 94309491 1 24853673 51 94307142 1 2485585 51 94304762 1 2485802 51 94302428 1 24860188 51 94300073 1 24862339 51 9429772 1 24864483 51 94295378 1 24866644 51 94293035 1 24868823 51 94290692 1 2487099 51 94288347 1 24873134 51 94286001 1 24875267 51 94283651_ 1 24877415 51 94261309 1 2487957 51 9427897 _ 1 24881745 51 94276639 1 24883922 51 94274314 1 2 51 94268769 001 51 94267285 1 24892609 51 9426494 1 24894764 51 942626 1 24896919 51 94260256 1 24899085 51 94258013 1 24901175 51 94255667 1 24903326 51 94253313 1 24905463 51 94250959 1 24907598 51 9424861 1 24909742 l ALT a 51 9433538 51 9433303 51 9433067t 51 9432831 51 9432595 51 9432359 51 9432124t 51 9431889 51 9431654 51 9431419 51 9431184 51 9430949 51 9430714 51 9430478 1 9430242 51 9430007 51 9429772 51 9429537t 51 9429303 51 9429069 51 9428834 51 9428600 51 9428365 51 9428130 51 9427897 51 9427663 51 94274
2. Hunter Path Lateral Range WZ WZ We Wy WG In normal circumstances this is not a problem Distance is normally only used as an indication of track position and it is not normally critical to the plotting of the graph Also the jumps are much smaller than the ones shown here The lateral distance from the line is also discontinuous for the same reason It should be noted that the jumps increase as you get tighter bends and as you get further away from the reference line Line 1 Co ordinates for Measurements with respect to the Lines There are two co ordinate frames that are possible for the distance to the line measurement One is perpendicular to the hunter vehicle and the other is perpendicular to the line The RT Range measures the distance that is perpendicular to the line as shown in Figure 95 Revision 131210 123 Oaxrs Figure 95 Co ordinate System for the Line Measurements Vf Velocity along the Line Acceleration on Curves There are two terms for the acceleration of the hunter vehicle with respect to the line There is the acceleration of the hunter vehicle plus the curvature of the line The curvature of the line accounts for the circumstance where the hunter vehicle travels straight with no acceleration and the line curves towards or away from the hunter vehicle In Figure 95 the hunter vehicle could be travelling in a straight line however the line is curved and so there is some accelerat
3. J Cancel Display Mode This tab is used to select whether the Bird s Eye View will use the hunter vehicle as the origin or have a plan view view from above Any of the target vehicles can also be the origin for the measurements Scale The scale tab can be used to set the scaling of the axes Either a fixed scale or an auto scale can be used The aspect ratio can be set so that the display is square Hunter Target The Hunter Target tab can be used to set the colour and shape for the hunter and target vehicles The caption used can be changed which is useful for labelling fixed points Map View The Map View tab shows which map file is loaded and can be used to change the colour of the map lines Save Data The Save to RCOM option can be used to store the RT Range data to a file The data is stored in a binary format called RCOM This data can be converted to text using the Post Processing Wizard The Logging RCOM Data dialog box is shown in Figure 51 Revision 131210 a Figure 51 RT Range Logging RCOM Data O Save to RCOM X General Fie Stat Stop Workind direc C Data RT Range Test Last RCOM fil Next ACOM file mobile O00 rcom RCOM file size Logging start Logging stop Sound Sound on start logging and stop logging Test status Puing Start now w General tab The General tab shows a summary of the logging File tab The Fi
4. Curvature Maximum Error 10m 1 25cm 50m 0 25cm 100m 0 125cm Unless your survey includes some curves that are tighter than 10m radius then there is little point in surveying points with a separation less than 1m Revision 131210 e Oaxrs The noise on the curvature depends on speed The faster you travel the noisier the acceleration becomes The instantaneous error in acceleration is ev 2 d where e is the survey error V is the velocity of the hunter vehicle and d is the distance between the survey points For a lcm survey error on a vehicle travelling at 20m s 72km h and a distance between survey points of 1m the instantaneous error in acceleration is 8m s 2 To make the acceleration acceptable a considerable amount of filtering will be required the survey will need to be more accurate than lcm or the separation will need to be more than Im Rules for the Clean Up Line Tool in the Map Creation Wizard The points above relating to the effects of the survey on the accuracy have been used to set some rules of the Clean Up Line tool We would recommend using a point spacing of 1m or 2m but the Clean Up Line tool will accept points with a separation down to 0 5m For straight lines the acceleration becomes unacceptably noisy when the angle between the points exceeds about 0 5 degrees However this is not acceptable as a limit since a 10m radius bend with a point separation of 1m has a 5 7 degree angle between th
5. EI Oxford Technical Solutions RT Range User Manual Qaxrs Figure 85 Output Configuration Options O RT Range Post Processing Wizard RT Range Seconds to skip at start Select Data Source Read Configuration Duration in seconds JACINE Lane Tracking Mode conditions Output data rate Target Files Setup Lane Measurements Distance Units Range Measurements Options Select Fields Speed Units Acceleration Units Output Files Time Reference Units Finish Page Confidenthy Dev ID 110330 14bd i i Cancel Seconds to skip at start If a value is entered for this option then the output CSV file will have the first part of the data truncated from the file This option helps split long CSV files in to smaller sections Duration in seconds If a value is entered for this option then the CSV file will only include a short duration of data rather than all the data until the end of the file Output data rate This option can be used to decimate the output data to a lower data rate e g 25Hz Distance Units The units metres feet and yards can be selected for the distance based measurements e g longitudinal range Speed Units The units m s km h mph and knots can be selected for the velocity based measurements Acceleration Units The acceleration can be measured in m s or in G Note that G is an approximation since gravity is not constant across the earth Time Reference Units The time
6. SS RT Range Post process ixed F F SS Used to combine ncom files Points i iii i map files and fixed point files Feature A Points D D A hunter rcom hunter csv 88 Oxford Technical Solutions RT Range User Manual Qaxrs Once all the NCOM files are available the RT Range Post Process software can be used to combine them together The settings can be changed one of the target vehicles can be used as the hunter so that measurements in the reference frame of the target vehicle can be obtained different maps and fixed points can be selected The RT Range Post process software outputs an RCOM file just like the file logged by the Real time Display It can export this RCOM file to CSV format so that it can be loaded in to Excel Matlab or other software packages The RT Range Post Processing wizard can also be used to convert captured RCOM files and turn them in to CSV format When an RCOM file is selected then the wizard will jump directly to the Select Fields page Select Data Source To reprocess the data using RT Range Post process it is essential to have an NCOM file from the hunter vehicle Figure 79 shows the screen for selecting the NCOM file from the hunter vehicle If an RCOM file is available then it can be exported to CSV format but the parameters used for processing the data cannot be changed Figure 79 Hunter NCOM File Selection in the RT Range Post Processing Wizard O RT Range Post Processing Wi
7. User Manual Confidently Accurately Oaxrs Legal Notice Information furnished is believed to be accurate and reliable However Oxford Technical Solutions Limited assumes no responsibility for the consequences of use of such information nor for any infringement of patents or other rights of third parties which may result from its use No license is granted by implication or otherwise under any patent or patent rights of Oxford Technical Solutions Limited Specifications mentioned in this publication are subject to change without notice and do not represent a commitment on the part of Oxford Technical Solutions Limited This publication supersedes and replaces all information previously supplied Oxford Technical Solutions Limited products are not authorised for use as critical components in life support devices or systems without express written approval of Oxford Technical Solutions Limited All brand names are trademarks of their respective holders The software is provided by the contributors as is and any express or implied warranties including but not limited to the implied warranties of merchantability and fitness for a particular purpose are disclaimed In no event shall the contributors be liable for any direct indirect incidental special exemplary or consequential damages including but not limited to procurement of substitute goods or services loss of use data or profits or business interruption however cau
8. B or C The RT Range Post Processing Wizard can also be used to convert RCOM files to text The RCOM file can be recorded in real time or made by post processing NCOM files Overview There are one or two stages required for post processing If the NCOM files are not available for every vehicle then it will be necessary to post process the RD files that are recorded in the RTs Once all the NCOM files are available the RT Range Post Processing wizard can be used to convert the NCOM files to RCOM and then to CSV Revision 131210 e Oaxrs Figure 77 and Figure 78 show the two stages of the workflow The RD files are logged internally in the RT these can be downloaded and reprocessed using the RT Post process software There is no need to use the RT Post process software to convert the NCOM file to CSV Alternatively the NCOM file can be logged by a separate PC in each vehicle using Enginuity this means you do not need to post process the RD files Figure 77 Workflow to convert RD files to NCOM files a P mobile ncom by post processing mobile rd mobile rd gt gt File logged in the RT File logged in the vehicle using Enginuity software RT Post process software Figure 78 Workflow to convert NCOM files to RCOM and CSV files Hunter Targets 1 to 4 Kes x o 62 gt hunter ncom target1 ncom target2 ncom target3 ncom target4 ncom O ap NY rrnge Mia
9. Finish option menu 34 Display data menu 35 Spreadsheet Viewer 39 Map Creation Wizard 39 Selecting a Map Filename 39 Overview 39 Add Line Options 40 Start Line Option 42 Finish Options 43 View Options 43 Clean Up Line 44 Map View 45 Spreadsheet Viewer 46 Real Time Display 47 Overview 47 Configure RT Range Menu 48 RT Range Quick Config 49 File Selection 58 Display Data 58 Bird s Eye View 59 Bird s Eye View Configuration 60 Save Data 61 Connection Configuration 66 Auto notification 67 RT Range Configuration Wizard 67 Overview 68 Reading the Initial Configuration 68 Hunter Targets Setup 69 Car Lane Measurements Configuration 71 Car Range Measurements Configuration 72 Options JA Committing the Configuration to the RT Range 85 Saving a Copy of the RT Range Configuration Locally 86 RT Range Post Processing Wizard 87 Overview 87 Select Data Source 89 Read Configuration 90 Lane Tracking Mode 91 Target Setup 91 Lane Measurements Setup 92 Range Measurements Setup 93 Options 93 Select Fields Setup 93 al Oxford Technical Solutions RT Range User Manual OMXTS OTA Lad Output Configuration 94 Output File 96 Finish Screen 96 Outputs 98 CAN Bus Messages 98 Heartbeat messages 100 Table Heading Definitions 101 Signals 101 Calculation Details 116 Range Measurement Effects 116 2D and 3D measurement planes 116 Polygons 117 Range Velocity with Polygons 118 Errors in Heading 119 Lateral Velocity Effects 119 Transient Errors du
10. The error duration is short and the error is not present for the whole of the test just during the period when the acceleration changes This error can be removed by increasing the output latency or by post processing the data Lane Position Measurement Effects The problem of surveying lane markings constructing a map and computing the outputs is not trivial when accuracies in the centimetre region are required It is very unlikely that the person who painted the road managed to paint it accurately especially on bends But small changes in curvature of the line have huge effects on the acceleration measurements Revision 131210 en Oaxrs There is also the problem of constructing a smooth line for the RT Range to follow It is possible to use splines fit curves or to simply use straight segments All solutions have their associated problems Initially splines are an obvious choice but there are problems in the detail Figure 93 shows five points with three different fitting techniques Figure 93 Fitting between the Points on the Lines Spline fitting exactly on all the Points A spline that fits exactly on all the points is drawn in red in Figure 93 This type of spline is very accurate at the surveyed points but it is not clear what the error will be between the points It will tend to overshoot after curves Spline smoothing all the Points A spline that smoothes the points does not actually pass through any of t
11. 0 001 O0 Line8PosLateralC Distance from Point C to Line 8 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Table 29 LanePointALeverArm Lever arm from the RT to the Lane Measurement Point A Identifier 5A0h 1440 Description 0 16 I m 0 001 0 LanePointALeverArmX Lever arm from the RT to lane measurement point A in the X direction 16 16 I m 0 001 0 LanePointALeverArmY Lever arm from the RT to lane measurement point A in the Y direction 32 16 I m 0 001 0 LanePointALeverArmZ Lever arm from the RT to lane measurement point A in the Z direction Revision 131210 107 Oaxrs Table 30 LanePointBLeverArm Lever arm from the RT to the Lane Measurement Point B Identifier 5A1h 1441 Description 0 16 I m 0 001 0 LanePointBLeverArmX Lever arm from the RT to lane measurement point B in the X direction 16 16 I m 0 001 0 LanePointBLeverArmY Lever arm from the RT to lane measurement point B in the Y direction 32 16 I m 0 001 0 LanePointBLeverArmZ Lever arm from the RT to lane measurement point B in the Z direction Table 31 LanePointCLeverArm Lever arm from the RT to the Lane Measurement Point C Identifier 5A2h 1442 Description 0 16 I m 0 001 0 LanePointCLeverArmX Lever arm from the RT to lane measurement point C in the X direction 16 16 I m 0 001 0 LanePointCLeverArmY Lever arm from the RT to lane measurement point C in t
12. Instantaneous curvature of Point A Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Table 23 Lines1To4Curvature Curvature of Lines 1 to 4 Identifier 7AAh 1962 Description 0 16 S 1 m 0 0001 0 LinelCurvature Curvature of Line 1 16 16 S 1 m 0 0001 0 Line Curvature Curvature of Line 2 32 16 S 1 m 0 0001 0 Line3Curvature Curvature of Line 3 48 16 S 1 m 0 0001 0 Line4Curvature Curvature of Line 4 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Revision 131210 105 Oaxrs Table 24 LinesS5To8Curvature Curvature of Lines 5 to 8 Identifier 7ABh 1963 Description 0 16 S 1 m 0 0001 0 Line5Curvature Curvature of Line 5 16 16 S 1 m 0 0001 0 Line6Curvature Curvature of Line 6 32 16 S 1 m 0 0001 0 Line7Curvature Curvature of Line 7 48 16 S 1 m 0 0001 0 Line8Curvature Curvature of Line 8 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Table 25 Lines1To4PosLateralB Lines 1 to 4 to Point B Identifier 7ACh 1964 Description 0 16 S m 0 001 0 LinelPosLateralB Distance from Point B to Line 1 16 16 S m 0 001 0 Line PosLateralB Distance from Point B to Line 2 32 16 S m 0 001 0 Line3PosLateralB Distance from Point B to Line 3 48 16 S m 0 001 0 Line4PosLateralB Distance from Point B to Line 4 Note
13. Line Survey Wizard and assembles them into a map Selecting a Map Filename Before running the Map Creation Wizard the filename that will be used to save the map can be selected from the initial page of the RT Range software see Figure 13 You are recommended to create the map file in the same directory as the line survey files since this will make it quicker to select and add each line survey file Overview The layout of the Map Creation Wizard is very similar to the Line Display Wizard with the exception that the RT measurements are not present On the left hand side are the menus and buttons that control the software In the middle is a map that displays all the points on the lines that have been added On the right is the spreadsheet viewer showing numerical values for the points in the lines that have been added Each line is shown in a tab The tab contains a spreadsheet view of the line s measurements such as latitude longitude altitude and heading Revision 131210 EJ Jax 75 Inertial GPS Figure 28 Main Screen of the Map Creation Wizard m RT Range Map Creation Wizard G P14 Manual RT RangeWata Maps 081022 Airfield Test Area SW map 1 rtrm Map 1 Wee line 1 line Ztl line 7 line S ren LAT LON ALT S 24831766 51 94330676 1 24833943 51 9433067 51 94328312 1 2483613 51 9432831 51 94325954_ 1 24838319 51 9432595 51 94323598 1 24840509 51 943235 51 94321246 1 24842713 5
14. RT Range target2_rate xx x of the expected data rate for the target They are target3_rate xx x essential when using the acceleration extrapolation target4_rate xx x filter below rangel_extrapol_filt x x _ y y _ z z _ a a _ b b These commands are used to set an acceleration range2_extrapol_filt x x _ y y _ z z _ a a _ b b filter that is used to extrapolate the position and range3_extrapol_filt x x _ y y _ z z _ a a _ b b velocity of the target vehicle when real time data is range4_extrapol_filt x x _ y y _ z z _ a a _ b b not needed It is essential to set the expected target can_timeref_gps data rate when using these commands These commands configure the CAN target time can_timeref_utc messages output by the Hunter to be with reference to GPS time or UTC time By default the target time messages are with reference to GPS time No filter design package has been included for the filter coefficients in this release of the RT Range The parameter x x y y Z Z a a and b b are the coefficients for a second order digital filter at the data rate of the target For a 15 Hz Butterworth filter on 100 Hz targets use the following EI Oxford Technical Solutions RE Range User Manual Olaxrs rangel_extrapol_filt0 131114_0 262227_0 131114_ 0 747830_0 272285 NAVconfig does include filter design for the angular acceleration filter Other coefficients can be computed using NAVconfig read from the mobile cfg file and t
15. When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Table 26 Lines5To8PosLateralB Lines 5 to 8 to Point B Identifier 7ADh 1965 Description 0 16 S m 0 001 0 Line5PosLateralB Distance from Point B to Line 5 16 16 S m 0 001 0 Line6PosLateralB Distance from Point B to Line 6 32 16 S m 0 001 0 Line7PosLateralB Distance from Point B to Line 7 48 16 S m 0 001 O0 Line8PosLateralB Distance from Point B to Line 8 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative 106 Oxford Technical Solutions RT Range User Manual Qaxrs Table 27 Lines1To4PosLateralC Lines 1 to 4 to Point C Identifier 7AEh 1966 Description 0 16 S m 0 001 0 LinelPosLateralC Distance from Point C to Line 1 16 16 S m 0 001 0 Line PosLateralC Distance from Point C to Line 2 32 16 S m 0 001 0 Line3PosLateralC Distance from Point C to Line 3 48 16 S m 0 001 0 Line4PosLateralC Distance from Point C to Line 4 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Table 28 LinesSTo8PosLateralC Lines 5 to 8 to Point C Identifier 7AFh 1967 Description 0 16 S m 0 001 0 Line5PosLateralC Distance from Point C to Line 5 16 16 S m 0 001 0 Line6PosLateralC Distance from Point C to Line 6 32 16 S m 0 001 0 Line7PosLateralC Distance from Point C to Line 7 48 16 S m
16. Wizard will add a point after the specified distance is travelled by the RT This is the most common option Add Point Every s When this option is selected the Line Survey Wizard will add a point periodically such as once per second Play Sound On Trigger When this option is selected the Line Survey Wizard will play a sound to indicate that a new point has been added This is useful since it is often hard to look at the computer while concentrating on the path of the trolley A dropdown list is provided so that the Auto Add Trigger can be turned on or off quickly When the option is Off then the Auto Add Trigger is disabled and points are not added automatically Finish option menu The Finish Option menu options allows the user to save the line file and quit the Line Survey Wizard or save the line file and start a new line file The Finish Options are shown in Figure 21 Es Oxford Technical Solutions Figure 21 Finish Options of the Line Survey Wizard BY Save And Quit kq Save And Start New Line Save And Quit This option saves the current line file and returns to the initial screen of the RT Range Software Save And Start New Line This option will save the current line file and start a new line file The line filename automatically increments for example if the current filename was Linel rtrl then it will set the new filename Line2 rtrl If the current filename does not consist of an incremental num
17. and a maximum of 24 points All the points are assumed to lie in the same plane Concave sets of points should be avoided The results may not be correct when the sensor point of the hunter is inside the polygon These restrictions are not normally a problem when using a polygon to represent the outline of a vehicle The polygon algorithm will either track the closest point or the closest edge depending on which one is closer Figure 90 shows the red hunter tracking the edge of the target between points and 6 and the blue hunter tracking point 3 Figure 90 Polygon Point or Edge Tracking For the red hunter the Range Polygon output message will identify point 1 as the point on the right and point 6 as the point on the left For the blue hunter the Range Polygon output message will identify point 3 for both the left and the right points Note that the points are ordered in Figure 90 The points must be entered into the software ordered either clockwise or anti clockwise The software will use lines to connect consecutive points and the lines cannot intersect The software will not work out the bounding box around a randomly ordered set of points The final point will connect to point 1 i e point 6 in Figure 90 Range Velocity with Polygons The range velocity is ambiguous when the closest edge is being tracked The RT Range computes the difference between the instantaneous velocity of the sensor point compared to the edge of the p
18. be carried by a pedestrian The RT Backpack transmits all the signals to the hunter vehicle in the same way as a normal target The RT Backpack is designed to be used with the RT3000 or RT4000 products which are fitted in to the RT Backpack Outputs The RT Range outputs its data over Ethernet and over CAN bus in real time The Ethernet values can be picked up by the RT Range software and displayed on a PC Target CAN The navigation CAN messages from the target vehicles are output by the RT Range Hunter This allows the acquisition system in the hunter vehicle to collect all of the measurements from the hunter vehicle and the target vehicles together Note that the CAN bus will be overloaded if all the messages from all of the vehicles are put on the CAN bus at one time The RT Range software can select the CAN messages and the data rates for all the messages that are put on to the bus Revision 131210 Ea Oaxrs Scope of Delivery The RT Range consists of several different sections these are broken down into 1 Hunter vehicle components 2 Target vehicle components 3 Survey Trolley and accessories optional A separate table has been made for each section In addition to these components an RT RT2000 RT3000 or RT4000 system is required Please see the RT manual for the components in an RT system a Oxford Technical Solutions Table 1 RT Range Hunter Vehicle Components Qty Description 1 RT Range Hunter 1 Wirele
19. connections for the RT on the survey trolley are the same as those on a vehicle and are shown in Figure 12 If a trigger switch is being used then it should be connected to J5 of the RT A trigger event can be made by shorting the Event Input pin on J5 of the 14C0038A User Cable to ground The trigger event can be used to place a point in the line file for the map A switch is provided with the survey trolley with a pre wired connector that fits on J5 Revision 131210 EJ Oaxrs Figure 12 Connection Diagram for the RT on the Survey Trolley J5 to switch Ethernet to PC 14C0038A RT3000 J3 Radio ae Note The connection is shown here with the SATEL radio option The Freewave and other radio options are similar The RT will need to be configured correctly for use on the Survey Trolley Table 7 lists the critical configuration parameters that should be used with the Survey Trolley Other parameters can be left at the default values Table 7 RT Configuration on the Survey Trolley Parameter Setting Orientation Default Settings Y axis Right Z axis Down Primary Antenna Behind 0 230 Left 0 075 Above 1 520 Overall Accuracy 0 01 Dual Antenna No Initialisation Speed 1m s Displace Output Ahead 0 125 Right 0 105 Below 0 095 This configuration sets the measurement point for
20. decrement the value The Lateral Range after box shows lateral range after the offset has been applied To zero the lateral range press the Zero button After the adjustment has been entered press OK or Apply in order to send the new lateral offset to the RT Range The lateral offset can be saved permanently in the RT Range or just used until the RT Range is reset To save it permanently select the Commit this setting to the RT Range so it remembers it after next reset option The lateral range is particularly susceptible to unexpected errors when using the offsets to configure the vehicle Consider the situation in Figure 43 e Oxford Technical Solutions Figure 43 Using lateral offsets causes problems on turns Relying on the offsets entirely causes problems in turns The RT Range measures the range between the sensor position on the hunter vehicle and the bulls eye position on the target vehicle This is shown using the darker red arrows Assume that the bulls eye position on the target vehicle is not entered so that the RT Range measures to the RT s position and the longitudinal offset is used to correct this If the vehicle now turns then the lateral range will track the pink arrow which is clearly different to the result expected It is best to measure the sensor and bulls eye position as accurately as possible and only rely on the longitudinal and lateral offsets for small adjustme
21. field of the CSV file can be changed so that it relates to different clock standards The reference clock can either be the local time of the PC that is running the RT Range Post Processing wizard UTC GMT time or GPS time Revision 131210 The RT Range measures in GPS time and UTC time by default GPS and UTC time are currently 16 seconds different with 12 00 00 UTC time being 12 00 16 GPS time The local time is computed by taking the time zone of the local computer and adding it to UTC time Output File The output file needs to be chosen for the measurements Figure 86 shows the Select Output File page of the RT Range Post Processing wizard Figure 86 Select Output File in the RT Range Post Processing Wizard RT Range Post Processing Wizard Select output file RT Range Select ASCII output files Select Data Source Read Configuration V Export to main output file Evie ai uu fis Lane Tracking Mode CAData Cicles some circlessesy im name Target Files Setup Lane Measurements Range Measurements Options Select Fields Output Config Finish Page Confident Dev ID 110330 14bd Cancel Check the Export to main output file checkbox and enter a filename for the output file When the Export button is clicked the software will start processing the data This may take some time for large files Finish Screen The Finish screen allows you to launch Explorer in the folder where the outpu
22. for checking that the RT Range CAN bus is working 110 Oxford Technical Solutions RT Range User Manual Qaxrs Table 38 RangeTimeGap Time Gap between Target and Hunter Identifiers 7B6h 1974 7C6h 1990 7D6h 2006 7E6h 2022 Description 0 16 S s 0 001 0 RangeTimeGap Time Gap between target and hunter vehicles This is the longitudinal range divided by the speed of the hunter vehicle 16 16 S s 0 001 0 TimeToCollisionForwardWithAccel This is the time to collision in the forward direction computed using range velocity and acceleration Note Time to collision with acceleration is not available for fixed point or static targets A minimum acceleration of 0 05 m s is required By default unfiltered acceleration is used for this calculation Filters can be applied before the calculation using Advanced commands see page 84 Table 39 RangeLocal Difference in Position of Hunter and Target in Local Co ordinates Identifiers 7B7h 1975 7C7h 1991 7D7h 2007 7E7h 2023 Description 0 32 S m 0 001 0 RangeLocalDeltaX X Distance from Hunter 32 32 S m 0 001 0 RangeLocalDeltaY Y Distance from Hunter Note The convention used for the local co ordinates is with the Z axis up Revision 131210 a Oaxrs Table 40 RangePolygon Polygon Measurements Identifiers 7B8h 1976 7C8h 1992 7D8h 2008 7E8h 2024 Description 0 8 8 8 16 8 24 8 RangePolygonVisible Percentage of the target tha
23. for the field of view is 500 m in both real time and post process Care should be taken when using a large field of view range with a high number of feature points in a small area This may be too much for the processor in real time and may require more CPU time for the RT Range system causing delays However there should be no adverse effects if post processing the data Options The Options page is used to configure the RT Range options Figure 66 shows the Options page of the RT Range Configuration Wizard Figure 66 Options in the RT Range Configuration Wizard RT Range Configuration Wizard Options RT Ran g e Options to improve perfomance Read Configuration Options i a Hunter Targets Setup CAN Disabled Lane Measurements Foca i Range Measurements Range latency 0 000 Sec ABD Robot output Disabled Commit Longitudinal Range Offset of Target1 0 000 m Finish Lateral Range Offset of Target1 0 000 m Longitudinal Range Offset of Target2 0 000 m Lateral Range Offset of Target2 0 000 m Longitudinal Range Offset of Target3 0 000 m Lateral Range Offset of Target3 0 000 m Longitudinal Range Offset of Target4 0 000 m Confidently Lateral Range Offset of Target4 0 000 m v Accurately Ss Dev ID 131127 14bd lt Back Next gt Cancel Bi Ng Each of the options are described below Revision 131210 Ea CAN The CAN option sets the CAN baud rate for the RT Range or disables the CAN bus output The CAN
24. in the X direction 16 16 I m 0 001 0 RangeBullsEyeLeverArmY Lever arm from the RT to the bulls eye point in the Y direction 32 16 I m 0 001 0 RangeBullsEyeLeverArmZ Lever arm from the RT to the bulls eye point in the Z direction Table 47 RangeVehicle User parameters about the Target Vehicle Identifiers 5B5h 1461 5C5h 1477 5D5h 1493 S5E5h 1509 Description 0 16 U m 0 001 0 RangeTargetVehicleLength User entered vehicle length 16 16 U m 0 001 0 RangeTargetVehicleWidth User entered vehicle width 32 16 U RangeTargetPolygonNumber User entered polygon number 114 Oxford Technical Solutions RT Range User Manual Qaxrs Table 48 RangePosStdev Standard Deviation of the Range Measurements Identifiers 5B6h 1462 5C6h 1478 5D6h 1494 5E6h 1510 Description 0 16 U m 0 001 0 RangePosForwardStdev Standard deviation of the range in the longitudinal direction 16 16 U m 0 001 0 RangePosLateralStdev Standard deviation of the range in the lateral direction 32 16 U m 0 001 0 RangePosDownStdev Standard deviation of the range in the vertical direction 48 16 U m 0 001 0 RangePosMagStdev This is the standard deviation of the resultant range measurement It may be less than the other three accuracies particularly when the target is offset by a 45 degree angle Note these accuracy estimates use the accuracy estimates of the RT and take into account the position and orientation ef
25. line This field describes the start line points The sub fields are Left point latitude in decimal degrees Left point longitude in decimal degrees Right point latitude in decimal degrees Right point longitude in decimal degrees Filename of the line file that contains the centre of the start line Point number of the point in the line file that is the centre of the start line Width of the start line in metres Note that the start line is directional and the RT Range will only start line tracking if the vehicle crosses the start line in the correct direction number of lines Tells the software how many lines are included in this file 128 Oxford Technical Solutions RT Range User Manual Qaxrs Line Fields Each line in the map file has its own header This holds the line number the filename used to create the line and the number of points in the line This is followed by the line data points Table 55 shows the fields for the line in the map file Table 55 Line Format in the Map File Field Name Description 1 Latitude Latitude of the point in decimal degrees 2 Longitude Longitude of the point in decimal degrees 3 Altitude Altitude of the point 4 Heading Heading of the line at this point 5 Line Type Always zero Note 1 The Line Type is not currently used Feature Point File Format The feature point file holds a list of features positions so that the RT Range can compute the range to them The first two lines are headers fo
26. or several setups on one vehicle The Finish page also lets the user know if the settings have been committed successfully to the RT Range system or not Figure 76 shows the Finish page EX Oxford Technical Solutions RT Range User Manual Qaxrs Figure 76 Finish Page in the RT Range Configuration Wizard O RT Range Configuration Wizard Finish RT Range Save Configuration in a File Read Configuration l You have not yet committed your changes Hunter Targets Setup to the RT Range Go back to Commit to You can keep a copy Lane Measurements retry of your configuration in a folder as well as Range Measurements in the RT Range Options Commit V Preserve these settings in file C Data MyConfig cfd Confidently Accurately Dev ID 110330 14bd Einish Cancel To save a copy of the setting in local file check the Preserve these setting in file check box and enter the filename The RT Range software will make the folder automatically if it does not exist RT Range Post Processing Wizard The RT Range Post Processing wizard is used to reprocess the NCOM files of hunter and target vehicles and extract the lane position or range measurements in CSV file format This might be required if the communication link was not installed failed to work or the results are required without prediction It can also be used to reprocess the data using different settings for example different positions for Points A
27. performs a Save i e to the last file and then returns to the initial page of the RT Range software Save As This option saves the map file to a new name Enter the new name in the Save As dialog box that appears View Options This menu allows you to zoom in or out and pan the map as shown in Figure 18 above It behaves in the same way as the View Options in the Line Survey Wizard Zoom Click on the Zoom to zoom in to the map the maximum zoom level is a 1 metre grid square Zoom Click on the Zoom to zoom out of the map The minimum zoom is a 1000 metre grid square Pan The pan options allow the user to pan the map to left right up or down If the user clicks on the Reset of the pan option then it redraws the map so that the whole Revision 131210 survey fits within the window The keyboard arrow keys can also be used to pan the map Clean Up Line When surveying using the Line Survey Wizard you may add some points incorrectly for example too close together The Clean Up Line Tool identifies Lines that have undesirable points from a calculation perspective and steps the user through the process of tidying up the points There is some discussion in the Calculation Discussion section on what makes a point undesirable and on the best way to survey lane markings Figure 34 shows the Clean Up Line menu Figure 34 Clean Up Line menu in the Map Creation Wizard A Star Jline1 ttl line 2 rtrl line3 rt
28. setting must match the CAN setting for the bus that you are connecting to Figure 67 CAN Message Configuration O CAN Message Configuration BAX General Range1 Rangel Status Range Range2 Status Range3 Ranges Status Ranged Rang 4 gt CAN Baud Rate 500 KBaud T Analysis of CAN bus loading Number of CAN messages per seconds 1300 Suggested maximum messages per seconds 12500 Save DBC File OK Cancel When advanced settings are not used the CAN bus will output a default set of CAN identifiers Now that there are so many CAN messages it is almost always essential to use advanced settings and choose the messages that are needed The Save DBC File option can be used to save the correct DBC file for this configuration this applies to both when the normal or advanced settings are used When the advanced settings are selected the Range Lane and Target pages are accessible as shown in Figure 68 These pages control how the Range Lane and Target CAN messages are output The identifiers and data rates can be controlled If fewer targets are configured on the Hunter Target Setup page then fewer Range and Target pages will be visible It is very easy to overload the CAN bus using the RT Range The CAN bus is not fast enough to communicate all the range lane and target messages The number of messages that have been configured is shown on the General tab An advisory limit for the curren
29. start line Once set the user can adjust the start line options using the menu on the left Reset highlighted rows This function is used to deselect all selected points and un highlight all selected rows Reverse all points This function reverses all of the points in this line To reverse the entire map each line must be individually reversed Delete this line This function removes the line from the map Real Time Display The Real Time Display module of the RT Range software displays the data from the RT Range system in real time with a high update rate It is also used to download the map files or feature point files set the fixed positions set the ranging mode and configure the RT Range hardware Overview The Real Time Display has two sections to the screen On the left is the menu system and on the right are the measurements Additional measurement windows can be opened and configured The layout of the screen is shown in Figure 39 Revision 131210 a Oaxrs Figure 39 Layout of the Real Time Display RT Range Real time Display RealTimeDisplay igi Window amie a ple ay rtgl _ Wind Longitudinal Range Targeti m gt Configure RT R pe Configure RT Range fe Quick Config Resultant Range Targett m A Abort Lane Tracking Lateral Range Targeti m Longitudinal Range Rate Target1 m s Lateral Range Rate Target1 m s 2 Download Map File Resultant Range Rate Target1 m s UB Download Feature Poi
30. systems currently found on the network This is shown in Figure 56 Figure 55 Connection Icon ibd 66 Oxford Technical Solutions RE RangeUser Manual Olaxrs Figure 56 Select IP Addresses RTs available MV Auto notification To change which RT Range or which RT the software is connected to and displaying choose its IP address Auto notification The Auto notification checkbox is ticked by default when starting the RT Range real time display The window showing a list of the RT Range and RT systems currently found on the network Figure 56 will pop up every time a new RT or RT Range IP address is found and not already in the list When the user un ticks the Auto notification checkbox this window will not keep popping up but can still be accessed by double clicking the Connection icon shown as a plug in Figure 55 at the bottom right corner of the real time display RT Range Configuration Wizard The RT Range Configuration Wizard is accessed through the Real Time Display The parameters in the RT Range Configuration Wizard are normally only changed when the system is installed in a vehicle Revision 131210 Ea Oaxrs Overview In order to configure the RT Range correctly the following information is required e IP Addresses of the RTs and of the RT Range e Positions in the hunter vehicle of the sensors that measure the lane position e Positions of the sensors on all vehic
31. the RT Range The Lateral Range Offset will be added to the lateral range that has been computed This allows for small adjustments to the lateral range that is output Advanced The advanced option box is used for sending advanced commands to the RT Range and is normally used for testing There are some advanced commands that the user may want to configure Table 9 lists some of the advanced commands that may be useful Table 9 Advanced commands Command Description rangel_meas_plane_hunter range2_meas_plane_hunter range3_meas_plane_hunter range4_meas_plane_hunter These commands are used to change the measurement plane used for each target from the horizontal plane 2D to the hunter plane 3D Figure 74 shows the difference diagrammatically Further explanation is available in the Calculation Details section page 116 at the end of the manual rangel_accel_filt x x _ y y _ z z _ a a _ b b These commands are used to set an acceleration range2_accel_filt x x _ y y _ z z _ a a _ b b filter for the hunter vehicle The accelerations are range3_accel_filt x x _ y y _ z z _ a a _ b b filtered before they are used in any calculations range4_accel_filt x x _ y y _ z z _ a a _ b b They can be set separately for each target By using the same RT for two or more targets two different filters can be used on the same range measurements target _rate xx x These commands are used to advise the
32. the RT Range is tracking click on the button This shows the Fixed Point Setup dialog box as shown in Figure 45 e Oxford Technical Solutions Figure 45 Fixed Point Setup Dialog Box in the Real Time Display Fixed Target Setup Edit Lat Lon New From AT Select Cancel The fixed point is stored in a file Select the file holding the latitude longitude and altitude of the fixed point from the dropdown list The fixed point files have extension RTFP New fixed points can be made by clicking on the Edit Lat Lon button or the New From RT button The Edit Lat Lon button shows the Set Fixed Point Dialog Box as shown in Figure 46 Figure 46 Set Fixed Point Dialog Box in the Real Time Display IO Set Fixed Point Fixed Point File Name FixedPoint Targets Position Latitude 51 943249600 deg Longitude 1 248509100 deg Altitude 0 000 m 0 000000000 deg Save Cancel The name of the fixed point is used to generate the filename and appears in the dropdown list of the Send Fixed Point Dialog Box Enter the latitude longitude and altitude of the fixed point You will need to use a high precision many decimal places for the latitude and longitude values Revision 131210 e The New from RT button gets the Latitude and Longitude values from any RT on the network Figure 47 Fixed Point from RT Dialog Box in the Real Time Display Fixed Po
33. the survey at the centre of the wheel contact patch for the front right wheel of the survey trolley It is normally easier to survey using a wheel as a marker rather than a point on the survey trolley A suitable configuration for the Survey Trolley is installed in the folder C Program Files x86 OxTS RT Range Survey Trolley and can be installed using NAVconfig EI Oxford Technical Solutions RT Range User Manual Qaxrs To initialise the RT on the Survey Trolley push the Survey Trolley in a forward direction at a speed exceeding Im s You should be going straight when the RT initialises Afterwards you should make some turns accelerate and brake so that the RT can estimate some of the errors in its sensors The battery recommended for use with the Survey Trolley is a lead acid battery This should be kept in a charged state it should be recharged immediately after each use Lead acid batteries tend to degrade if left in an uncharged state To charge the battery connect the charger to the battery and plug the charger into the mains The light on the charger will indicate green when the battery is fully charged The charger can be left on the battery at all times when the battery is not in use Lead acid batteries require special disposal in most countries To dispose of the battery take it to the appropriate waste disposal place Revision 131210 Es Software RT Range Software consists of four modules These are 1 Line Sur
34. to make these measurements accurate This is not easy with a tape measure Unless the measurements are made accurately the RT Range cannot be accurate The measurements are always displayed in metres but can be entered in inches or feet as well For inches add in to the end of the number and for feet add ft to the end of the number For example 11 3in would be interpreted as 11 3 inches or 0 287m Car Range Measurements Configuration The range between the hunter vehicle and the target vehicle is made between points that are different to the RT position on both the hunter vehicle and the target vehicle The target can be represented as a polygon and the range will be found to the closest part of the polygon assuming straight lines between the points In fixed point mode the range to the fixed point includes the offset in the hunter vehicle but not the target vehicle A Oxford Technical Solutions RT Range User Manual Qaxrs Figure 61 Typical Positions for Sensor and Bulls eye Points on the Vehicles Al Bulls Eye Figure 62 shows the page in the RT Range Configuration Wizard that configures the sensor bulls eye and polygon points on the cars Figure 63 shows the same page but for a target where the bulls eye point or the polygon can be configured Figure 62 Car Range Measurements in the RT Range Configuration Wizard Hunter Tab RT Range Configuration Wizard us a Car Range Measur
35. transmitted the data when the output is scheduled then the target vehicle s measurements will be predicted though by a smaller amount than a zero latency system would use The delay in the outputs is set using the Range Latency option This setting has no effect on the lane position measurement The lane position measurements will always be output in real time with no delay ABD Robot Setup If the RT Range is being used to output data to an ABD steering robot then it will need to be configured so that the correct information is sent to the robot Figure 73 shows the ABD Robot Setup dialog box A Oxford Technical Solutions RT Range User Manual Qaxrs Figure 73 ABD Robot Setup Dialog Box ABD Robot Setup ES V Enable output to ABD robot IP address of robot controller 195 0 0 100 Select target RT unit Select Target IP Address G Target 1 CO Target 2 O Target 3 OK Cancel The standard IP address for the ABD steering robot is 195 0 0 100 The robot is able to trigger tests based on one target For example it can trigger a test when Target 3 is within 30 m of the hunter vehicle Choose which target measurements should be sent to the robot Targets can be either mobile targets or fixed points Note that the RT Range connects the Ethernet in one vehicle to the Ethernet in the other vehicle When there are two robots one in each vehicle then the RT Range cannot be connected to both robots unless the IP ad
36. virus software Enginuity is normally used for anti virus software detection since it is a simpler software package than RT Range The RT Range software can also be used Line Survey Wizard The Line Survey Wizard is used with an RT that is mounted on a trolley such as the Survey Trolley option It is also possible to survey the lines with the RT in a car but it is very hard if not impossible to drive the car along the lane markings accurate to 2cm or better The quality of the driving or how the trolley is pushed will directly affect the performance of the lane position measurements The Line Survey software is not designed to add more than one point per second so car based surveys will need to be driven slowly or have a large gap between the line points Before attempting to use the Line Survey Wizard module the user must set up the RT on the Survey Trolley The RT needs to be initialised and operating correctly Waiting for the warm up period is not strictly required but the RT will be able to smooth out the GPS jumps if it is allowed to warm up correctly and if it is given some motion during the warm up period More information is given in the Survey Trolley section Overview The Line Survey Wizard has four parts to its screen the menus the map the RT measurement viewer and the spreadsheet viewer a Oxford Technical Solutions On the left hand side are the menus and buttons that control the software In the middle is a map that
37. 0 0 9 or any other Ethernet address on this network that is not used The subnet mask should be 255 255 255 0 The RT Range software needs to open Ethernet port 3000 to communicate with the RT in the hunter or target vehicle This port can only be opened by one application at a time if any other application is running and has the port open then the error message in Figure 14 will be shown For the RT Range software to operate correctly the other application will have to be closed OxTS has a utility that can be installed on a computer so that the data from each RT can be shared Contact OxTS support in order to use this utility Revision 131210 Ey Oaxrs Figure 14 Connection Error Message Connection Error RT Config Wizard is running Could not open the port for RT3000 Please close the application RT Config Wizard before running Line Survey Wizard Anti virus Software Many anti virus or firewall programs will block the ports and they give no indication that they are blocking the ports If you are not receiving data from the RT or RT Range systems then the most likely problem is any anti virus software In large companies the anti virus software is hidden and the users do not even know it is there It is very hard to debug such systems OxTS has found that Enginuity is highly reliable If Enginuity does not receive data from an RT but the RT can be pinged then it is invariably some form of anti
38. 1 9432124 51 94318896 1 24844918 51 9431889 51 94316541 1 24847111 51 9431654 51 94314191 1 24849308 51 9431419 51 94311843 1 24851491 51 943118 51 94309491 1 24853673 51 9430949 91 94307142 1 2485585 51 9430714 91 94304762 1 2485802 51 9430478 51 94302428 1 24860188 51 9430242 51 94300073 1 24862339 51 9430007 51 9429772 1 24864483 51 9429772 51 94295378 1 24866644 51 9429537 51 94293035 1 24868823 51 9429303 51 94290692 1 2487099 51 9429069 51 94288347 1 24873134 51 9428834 51 94286001 1 24875267 51 9428600 91 94283651 1 24877415 51 9428365 51 94281309 1 2487957 51 9428130 51 9427897 1 24881745 51 9427897 51 94276639 1 24883922 51 9427663 51 94274314 1 24886093 51 9427431 51 94271977 1 24888268 51 9427197 51 94269635_ 1 24890434 51 9426963 51 94267285 1 24892609 51 9426728 51 9426494 1 24894764 51 9426494 51 942626 1 24896919 51 942626 51 94260256 1 24899085 51 9426025 91 94258013 1 24901175 51 9425801 51 94255667 1 24903326 51 9425566 51 94253313 1 24905463 51 9425331 51 94250959 1 24907598 51 9425095 51 9424861 1 24909742 uaa 10 m Easting 3 01745271312339 Northing 5 23963737945939 of line 1 rtrl Control ID 2 110330 14bd Add Line Options The Add Line Option menu allows the user to add additional line files to the map Figure 29 shows the Add Line Options of the Map Creation Wizard Figure 29 Add Line Options of the
39. 10 Battery The Survey Trolley will require a battery Please note that this is not supplied by OxTS and must be purchased by the customer The ideal battery is a Yuasa NP24 12 a 12V 24Ah lead acid battery measuring 166 x 175 x 125mm Revision 131210 2 Figure 5 Diagram of Survey Trolley Note Battery RT Laptop Tray and GPS Antenna are not shown 14 Oxford Technical Solutions RT Range User Manual Qaxrs Specification The technical specification of the RT Range depends on which RT systems are being used The normal recommended RT systems are RT3002 RT3003 or RT2002 these provide 2cm positioning accuracy Other suitable systems though less accurate include the RT3040 10cm in complete open sky and RT3020 20cm The RT Range works with less accurate RT systems and these can be useful for long range applications where accuracy is less important To achieve these specifications it is essential to configure the RT and the RT Range correctly It is not easy to measure all of the parameters correctly and accurately but time must be taken to do this Table 4 Technical Specification for Lane Measurements Parameter Range RT3002 Lateral Distance to Lane 30m 0 02m RMS Lateral Velocity to Lane 20m s 0 02m s RMS Lateral Acceleration to Lane 30m 0 1m s 2 RMS Note To achieve these accuracies it is necessary to construct the map correctly See the Calculation Details section Table 5 Technical Specification for R
40. 31 51 9426963 51 9426728 51 9426494 51 942626 51 9426025 51 9425801 51 9425566 51 9425331 51 9425095 51 9424861 i xj F 110330 14bd Map View The Map View shows all of the points in all of the lines Within each point is an arrow showing the direction to the next point Points can be selected by double clicking on the point Points that are selected appear highlighted in the spreadsheet viewer Selected points can be moved by dragging the mouse It is not clear that this is a useful feature since the survey needs to be performed very accurately and it is not easy to adjust things accurately using the mouse The scale of the computer screen is too different to that of the road so that small motions on the mouse are large changes on the Revision 131210 e Oaxrs road However if we provided a greater zoom then you would not be able to see the surrounding points and the adjustment would not make sense Right clicking on a selected point shows a menu as shown in Figure 37 Figure 37 Map Point Menu the Map Creation Wizard 9 3 Insert New Point After 9 Insert New Point Before A Delete This Point Move gt Insert New Point After The Insert New Point After function inserts a point half way between the current point and the next point i e further along the line Insert New Point Before The Insert New Point Before function inserts a point half way between the curren
41. 4450395 0129 24481045 0129 24483301 0129 24491855 0129 24500736 0129 24540721 0129 24535482 0129 24601052 0129 24595231 0129 261 258 197 347 064 326 587 341 435 290 225 326 368 302 312 236 192 247 209 324 758 253 813 341 874 1 0 X Post 158 2 0 E sign 847 2 0 X1 Sign 178 1 0 0 Sign 798 3 0 U Cone 358 2 0 C Sign 581 4 0 water tap 959 1 0 Post 792 1 0 8 Post 338 1 0 Stick 811 1 0 I Post 162 1 0 6 Post Revision 131210 131 Oaxrs Revision history Table 58 Revision history Revision Comments 051018 051114 051118 060803 061211 070611 071214 080613 081212 090619 090917 100426 110228 121121 131210 Initial Version Typing Corrections More Corrections and change of CAN IDs to 7A0h 7BOh range Updated for new RT Range box Software changes Software changes Software change Logging added Longitudinal Offset added Wireless LAN SSID and IP Address added Added multiple Targets Added Fixed Point from RT Post processing measurements from Targets Changed packing lists for new Wireless LAN antenna Removed optional SATEL radio Added ABD robot connection Survey Trolley Installation moved and improved Clarified workflow for post processing Added Line File and Map File formats Changes for the latest software Added Survey Trolley Assembly section Added velocity compared to lines time gap Added lateral offsets Added maps in Bird s Eye
42. 6 16 S m 0 001 0 Line6PosLateralA Distance from Point A to Line 6 32 16 S m 0 001 0 Line7PosLateralA Distance from Point A to Line 7 48 16 S m 0 001 0 Line8PosLateralA Distance from Point A to Line 8 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Revision 131210 103 Oaxrs Table 18 LinesFromB Line to Point B Identifier 7A5h 1957 Description 0 16 S m 0 001 0 LeftFromBPosLateral Distance from Point B to Line on Left of A 16 8 U LeftOfBNumber Line Number on the Left of B 24 8 U 7 RightOfBNumber Line Number on the Right of B 32 16 S 1 m 0 0001 O CurvatureOfB Instantaneous curvature of Point B Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative When there is no line number on the left or right of point B then the field will be FFh Table 19 LinesFromC Line to Point C Identifier 7A6h 1958 Description 0 16 S m 0 001 0 RightFromCPosLateral Distance from Point C to Line on Right of A 16 8 U LeftOfCNumber Line Number on the Left of C 24 8 U E RightOfCNumber Line Number on the Right of C 32 16 S 1 m 0 0001 O CurvatureOfC Instantaneous curvature of Point C Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative When there is no line number on the left or right of point C th
43. Files Finish Page Lateral Range Offset of Target4 Advanced Confidently Dev ID 121107 14bd These options behave in the same way as the RT Range Configuration wizard The Advanced option can be used to manually enter commands to configure RT Range Post Processing Contact OxTS for further information Select Fields Setup The fields in the CSV file can be selected individually If only some fields are needed then this can significantly reduce the size of the CSV file To select which fields should be output check or uncheck the fields as shown in Figure 84 Revision 131210 EI Figure 84 Select Fields in the RT Range Post Processing Wizard RT Range Post Processing RT Range RT Range Hunter Target Target2 Target3 Target4 General Lane Range1 Range2 Range3 Ranges Date Time TimeFromStart HunterPosLocal X Y HunterAngleHeading HunterGPSPosMode HunterVel Forward Lateral Select Data Source Read Configuration Lane Tracking Mode Target Files Setup Lane Measurements Range Measurements RAK KKK Options Output Config Output Files Finish Page Select All Clear All Dev ID 121107 14bd Confidenthy Output Configuration The Output Configuration page of the RT Range Post Process Wizard allows you to set the conditions for writing the output file and some of the units for the measurements Figure 85 shows the Output Configuration page
44. Lane Measurements Configuration The RT Range makes its lane position measurements from three different places on the vehicle These places are configured relative to the RT output on the Car Lane Measurement Configuration page Figure 59 shows the typical positions on the vehicle where the lane position measurements are made Figure 59 Typical Positions for Points ABC on a Vehicle Point B RT3000 4 Figure 60 shows the page in the RT Range Configuration Wizard that configures points A B and C Revision 131210 ED Figure 60 Car Lane Measurements in the RT Range Configuration Wizard RT Range Configuration Wizard a Car Lane Measurements RT Range Set measurements of hunter car points A B and C Point A middle Read Configuration fow et 000m Hunter Targets Setup Fight 000m Up v 0 000m Range Measurements Point B left Options Forward v 0 000m Commit Left 1000m Finish Up v 0 000 m Up 0 000 m Confidenthy Accurately 0S ss Dev ID 131127 14bd lt Back Next gt Cancel E aS cma The measurements are from the displaced output position of the RT to Point A B or C For best results you should not use the Displace Output option of the RT since this can be confusing The measurements are in the vehicle co ordinates These are the co ordinates that you have configured the RT to use in the Orientation page of the RT configuration software It is essential
45. Map Creation Wizard 4a Add New Line fa Add To Existing Line Add New Line This option is used to add a new line to the map From the Open File dialog box select a new line file with an RTRL extension After the line is selected the Add Line Options dialog box will appear The line can be added in the forward or normal direction or in the reverse direction i e the line was surveyed starting at the end and finishing at the start Figure 30 shows the Add Line Option dialog box E Oxford Technical Solutions RT Range User Manual Qoxrs Figure 30 Add Line Options of the Map Creation Wizard C Reversed Ok Users can also select multiple line files and add them to the map by selecting the line files from Windows Explorer and drag and drop them onto the map as shown in Figure 31 Figure 31 Add Multiple Line Files to the Map Creation Wizard _ l AUsers jmilnerDocuments OXTS RI Lrtrm a O RT Range Map Creation Wizard CAUs Joam G aa OARND TestData RT Range TestData Varfield_ O RnD TestData RT Range TestDate Mitfield O RnD TestData AT Range TestData Varfield_ O RnO TeatDeta AT Range TestDate Virfeld _ O RnD TestData RT Range TestData Airfield E Rn lt a amp ee 7 Organize Open Bum Ss New folder E gt m oj Favorites BE Desktop J Downloads T Recent Places Line3 trt 23 04 2010 1245 RIRE File 10 KB J Music 1 lin
46. P address of the RT Revision 131210 a If you are using the hunter vehicle for a quick survey then you may have more than one RT on the network at a time To select which RT you are using for the line survey click on the connection icon in bottom right corner as shown in Figure 16 This will open the IP Address RT Range window as shown in Figure 17 Select the IP address of the RT that you want to use from this window Figure 16 Connection Icon in the RT Range Line Survey Status Bar w g Figure 17 IP Addresses RT Range Window a IP Addresses of RT RTs available 195 0 0 185 195 0 0 85 195 0 0 115 195 0 0 87 195 0 0 23 195 0 0 108 If you are using the Line Survey Wizard on a network then it is best to always select one RT even if there is only one RT on the network at the moment If a second RT becomes available on the network then the line survey software may start accepting points from both RTs leading to unpredictable results By always choosing one RT you can avoid this problem A Oxford Technical Solutions View Options menu This menu allows you to zoom in or out and pan the map as shown in Figure 18 Zoom Click on Zoom to zoom in to the map the maximum zoom level is a 1 metre grid square Zoom Click on Zoom to zoom out of the map The minimum zoom is a 1000 metre grid square Pan The pan options allow the user to pan the map to left right up or down If the user click
47. RT4000 then the output rate will be 250Hz for RT2000 products it will depend on the output rate of the RT2000 Throughout the manual there are references to the RT3000 These apply equally to the RT2000 and RT4000 products as well unless stated otherwise Lane Position Methodology Lane position is measured by surveying the road markings using the RT system and generating a map Then the RT system is fitted to the car the map is downloaded to the RT Range The RT Range compares the current RT position to the map The lane position measurements are output over Ethernet and CAN bus See Figure 1 for details of these steps e Oxford Technical Solutions RT Range User Manual XTS OTA Lad Figure 1 Steps taken for Lane Position Measurement in RT Range The RT Range allows up to 8 lane markings to be measured In addition the RT Range provides three separate measurement points on the vehicle and gives the distances from these three points to the lane markings As well as distance the RT Range measures velocity and acceleration relative to the lane markings To help plot the data the RT Range also gives the distance travelled along the reference line Line 1 Range between Multiple Vehicles Methodology The range or distance between multiple vehicles works by putting an RT system in each vehicle Measurements of distance are made from the hunter vehicle to the target vehicle The measurements are in the reference frame of the hunte
48. S Units This is the units for the signal Factor This is the factor that the integer unit should be multiplied by to get the signal into the units given in the table Offset This is the value of the signal when the integer value in the CAN message is zero It is zero for all the RT signals and can usually be discarded Signals The following tables describe the signals in each of the messages Revision 131210 101 Oaxrs Table 13 LaneMapStatus Map Identifier and Distance Identifier 7A0h 1952 Description 0 32 S m 0 001 0 RefLineDistAlong Distance Travelled along Line 1 32 8 U MapNumber Map Number FFh means invalid or no map 40 8 U Reserved 48 8 U Reserved 56 8 U Reserved Note If the distance is negative then the RT Range is not computing the lane position Lane position measurements will resume when the hunter vehicle drives through the start line The negative values represent the distance to the start line Table 14 LeftLineLateral Line on Left of Point A Identifier 7A1h 1953 Description 0 16 S m 0 001 0 LeftLinePosLateral Lateral Distance from Point A to Line 16 16 S m s 0 01 O LeftLineVelLateral Lateral Velocity from Point A to Line 32 16 S m s 0 01 0 LeftLineAccelLateral Lateral Acceleration from Point A to Line 48 8 U LeftLineNumber Line Number on Left of Point A 56 8 U Reserved Note When the RT Range is n
49. Table 34 7B3h 7C3h 7D3h 7E3h Position of Hunter in Local Co ordinates Table 35 7B4h 7C4h 7D4h 7E4h Position of Target in Local Co ordinates Table 36 7B5h 7C5h 7D5h 7E5h Status Information Table 37 7B6h 7C6h 7D6h 7E6h Time Gap Table 38 7B7h 7C7h 7D7h 7E7h Range in Local Co ordinates Table 39 7B8h 7C8h 7D8h 7E8h Polygon measurements Table 40 7B9h 7C9h 7D9h 7E9h Feature Point Information Table 41 SBOh 5COh 5D0h SEOh Range Offset Table 42 5B1h 5C1h 5D1h SElh Range Fixed Point Latitude Longitude Table 43 SB2h 5C2h 5D2h 5E2h Range Fixed Point Altitude Heading Table 44 5B3h 5C3h 5D3h 5E3h Range Sensor Lever Arm Table 45 5B4h 5C4h 5D4h 5E4h Range Bulls Eye Lever Arm Table 46 5B5h 5C5h 5D5h 5E5h Range Target Vehicle Parameters Table 47 5B6h 5C6h 5D6h 5E6h Range Accuracy Table 48 5B7h 5C7h 5D7h SE7h Range Feature Point Latitude Longitude Table 49 SB8h 5C8h 5D8h SE8h Range Feature Point Altitude Heading Table 50 T1 T2 T3 and T4 are abbreviated from Target1 Target2 Target3 and Target4 In addition to these messages the RT Range can output the navigation CAN messages from the target RTs This allows all the RT measurements and the RT Range measurements to be collected in one vehicle See the RT manual for details of the target navigation CAN messages Heartbeat messages Without a heartbeat message the RT Range s CAN bus may not output anything until all the vehicles are configured initialised and range measurements are being computed This can
50. View Changed RCOM logging Added RT2000 product references Added polygons hidden targets hunter measurement plane target status on CAN bus range accuracy outputs lane heading and curvature additional lane measurements from points B C lane heartbeat message start line in logging window Corrections to CAN messages default identifiers offsets and description Added fixed point heading and feature point ID type position and heading to CAN outputs Updated software screenshots and description to include feature points fixed point polygons Added description about adding multiple line files Changes to Configure Display Increased polygon points to 24 Updated ABD robot interface Increased field of view range to 500 m Added CAN pin assignments Other minor updates 132 Oxford Technical Solutions
51. ange Measurements Parameter Range RT3002 Longitudinal Range 200m 0 03m RMS Lateral Range 20m 0 03m RMS Resulting Range 200m 0 03m RMS Longitudinal Range Rate 50m s 0 02m s RMS Lateral Range Rate 20m s 0 02m s RMS Resulting Range Rate 50m s 0 02m s RMS Resulting Yaw Angle 360 0 1 RMS Note 1 An additional component the heading accuracy changes the accuracy of this measurement in the hunter vehicle s co ordinate frame This additional error is Range 0 00175 So for a range of 200m the lateral accuracy will be about 0 35m Revision 131210 e Oaxrs Table 6 Technical Specification for RT Range Parameter Specification Wireless LAN Radio Range gt 200m line of sight Wireless LAN Delay lt 70ms RMS Voltage 9 18V d c Power 15W Temperature operational 10 C to 50 C Dimensions mm 340 x 270 x 180 Wireless LAN is affected by high power electrical fields such as those found under high voltage electricity pylons l Oxford Technical Solutions RT Range User Manual Qaxrs Warranty Oxford Technical Solutions Limited warrants its products to be free of defects in materials and workmanship subject to the conditions set forth below for a period of one year from the Date of Sale Date of Sale shall mean the date of the Oxford Technical Solutions Limited invoice issued on delivery of the product The responsibility of Oxford Technical Solutions Limited in respect of this warranty is limited
52. as possible it is a quick technique for making small changes to the longitudinal range Clicking on Longitudinal Offset brings up the Quick Config window on the Longitudinal Offset page as shown in Figure 41 There may be a short delay while the software reads the current settings from the RT Range E Oxford Technical Solutions Figure 41 Longitudinal Offset in the Real Time Display Longitudinal Offset Adjust the Longitudinal Range to remove offsets Adjust Longitudinal Range of Target 195 0 0 25 Longitudinal Range of Target Refresh Lateral Offset Adjust Longitudinal Range by Range Mode Longitudinal Range after 0 000 m Local Co ordinates Advanced Just use this setting until the RT Range is reset Commit this setting to the RT Range so its remembers after next reset OK Cancel The display shows the current longitudinal range to the selected target This is only refreshed when the Refresh button is pressed To adjust the longitudinal range enter the adjustment in the Adjust Longitudinal Range by edit box or use the lt and gt buttons to increment or decrement the value The Longitudinal Range after box shows longitudinal range after the offset has been applied To zero the longitudinal range press the Zero button After the adjustment has been entered press OK or Apply in order to send the new longitudinal offset to the RT Range The longi
53. assenger seat Figure 8 Ideal Antenna Locations on top of the Vehicle Note Antennas shown from the wrong view for clarity The position where the RT is installed in the vehicle is not critical for the accuracy of the RT measurements However normally the user requires the RT to be located at a specific position such as the centre of gravity The RT Range configuration includes configurations for the positions of the RT Range measurements so these are remote from the RT mounting position See the section on the RT Range software for more information on configuring the measurement positions CAN Bus Cables for the CAN bus will need to be prepared by the user Because the CAN bus can have many devices or nodes on it it is impossible to supply a suitable cable for all circumstances When preparing the cable it is essential to put in at least one 120Q resistor between CAN High and CAN Low Again this is a feature of the CAN bus and not of the nodes on the CAN bus Although CAN is a differential bus and does not require the ground to be connected many systems will not work unless the ground is connected You are advised to always connect the grounds of the systems See the cable drawings for details of the connections required for the CAN bus a Oxford Technical Solutions RT Range User Manual Qaxrs RT Configuration Full instructions on how to configure the RT are supplied in the RT User Manual Only the settings applica
54. ber then the software will prompt for the name for the next file as shown in Figure 22 Figure 22 Next Filename Dialog of Line Survey Wizard g Enter file name for next time oem OK Display data menu This menu allows the user to change the items displayed in the RT measurement viewer Pages can be saved and loaded or items can be added to the display Revision 131210 e Figure 23 Display Data Options of the Line Survey Wizard e Open Display Page amp New Display Page Ef Configure Display bal Save Display Page fh Save Display Page As Open Display Page This option can be used to load a page that has been previously saved using the Save Display Page or Save Display Page As options The files extension for the Display Page files is RTGL New Display Page This option clears the screen of all the display items Configure Display This option is used to add Display Items to the RT measurement viewer The user can also choose to have multiple windows each showing different measurements After clicking on Configure Display the user can select the required measurements and the amount of windows By clicking Add window the user can add more windows as shown in Figure 24 Figure 24 Add Windows in the Configure Display window Windows Window Window 2 Window 3 Window 4 D Erea Name PosX Posy re Sze Window2 oz ffs 668 z Window Nomai _ EX Oxford Technical Soluti
55. ble to the RT Range are listed here The RT Range and the RT both have the ability to displace the measurements to a remote position If the RT has a displaced output then the RT Range will work from this displaced output position and not from the mounting location of the RT In other words the RT s output displacement will displace all of the measurement points of the RT Range For simplicity you are advised to disable the Output Displacement option of the RT systems and only use the output displacement options of the RT Range The CAN baud rate for the RT Range the RT and for the other nodes on the CAN bus must be the same The performance of the wireless LAN can be improved by delaying the Ethernet output of some of the RTs Normally each target is delayed by a different amount so that their output on the wireless LAN does not clash This can be configured on the Ethernet option of NAVconfig RT Processing Platform Only the latest TP500 processing platforms can work with 250 Hz products or in installations where there are 4 targets The older platforms do not have sufficient processing power and will give incorrect results The following FAQ describes how to find which processing platform is in an RT3000 or RT2500 http www oxts com fagq how do i identify which processing platform is in my rt IP Addresses The RT Range and the RTs communicate using TCP IP If some of the RTs have the same IP address then it will be ne
56. cessary to change the IP addresses so that they do not clash The RT Range will identify which RT is performing each task by the IP address You must not have two or more devices on the same network with the same IP address Each RT has a static IP address This is normally in the range 195 0 0 10 to 195 0 0 99 Some early systems are not in this range The RT Range Hunter has its own IP address This is normally in the range 195 0 0 110 to 195 0 0 120 Again some early systems are not in this range Revision 131210 Ey The RT Range Hunter wireless LAN is normally configured as 195 0 0 210 The RT Range Target wireless LAN is normally configured in the range 195 0 0 211 to 195 0 0 219 With multiple targets it is likely that you will need to change the IP address of the wireless LANs If the wireless LANs are configured in AdHoc mode and more than one RT Range Hunter is being used in the same area then the RT Range Hunters will have to have different IP addresses too In Access Point Client mode the SSID of one of the groups will need to be changed or the wireless LAN Access Points will clash Figure 9 IP Address Ranges Hunter 195 0 0 110 to 195 0 0 119 WLAN 195 0 0 210 Suggest 195 0 0 2 to 195 0 0 9 195 0 0 10 to 195 0 0 99 H U N T E R V E H l Cc L E SSID RT Range WLAN 195 0 0 211 to 195 0 0 219 195 0 0 10 to 195 0 0 99 mro rm lt AMOAPrPH Wireless LAN SSID The latest RT Range
57. cking on this button It is not normally necessary to abort the lane tracking since the lane tracking will start from the beginning as soon as the start line is crossed However if you need to have negative Distance along Lanel before your test then you may need to use this feature to cancel the current lane tracking before starting a new test RT Range Quick Config The RT Range Quick Config window can be used to modify some of the behaviour of the RT Range without needing to reboot Figure 40 shows the introduction window of the RT Range Quick Config window From the Quick Config window one of the options on the left hand side needs to be selected Each of these options is described below Revision 131210 EI Figure 40 RT Range Quick Config Introduction Window RT Range Quick Config Introduction RT Range Select the configuration to be changed These options are used to change the configuration of the AT Range without resetting You cannot change all the parameters here you must use the RT Range Configuration software to Longitudinal Offset change all the parameters Lateral Offset Range Mode Select the parameter on the left that you wish to change Local Co ordinates Advanced Confidently Accurately Longitudinal Offset The longitudinal range of the RT Range can be adjusted or offset to account for small errors in the configuration This is not a substitute for measuring as accurately
58. cle the polygon can easily be used Note that the offset is from the RT to the polygon origin which is why the RT appears to be behind the polygon in the diagram when the measurement is entered forward the polygon origin is forward of the RT The points of the polygon can be entered in the table The interpretation of the points is shown in the diagram to the right The RT Range will output the two closest polygon points used for the range calculation the actual range will be to the straight line that Revision 131210 E joins the points and this may be useful to the user for interpreting the range measurements There are restrictions on the types of polygon that can be used The RT Range does not support polygons with lines that cross it does not support sets of points that form a concave shape The RT Range does not check for these conditions and may give misleading or incorrect results if they are used Polygons can be saved and loaded to files using the Load and Save buttons The Vehicle length and Vehicle width fields are not used by the RT Range software They are passed through the software and they give an extra mechanism for the user to identify which vehicle was being used as a target during the tests If the Target type Feature Point has been selected in the Hunter Targets Setup page then a tab called Field of view will appear in the Range Measurements page Figure 65 below shows the Field of view tab The F
59. could be used to rename the file back to its original name This is a future potential feature that is not supported by the current software Number of The RT Range will use this to identify this as a feature point file If this is not the features first text on the second line then the file cannot be used XXX This is the number of features in the file It can used to allocate memory space to hold the feature points as the file is read Up to a maximum of 65530 features can be loaded The list of the feature points will be in the following format ID Latitude Longitude Altitude Heading Type Reserved Description Table 57 gives the definitions of the fields EJ Oxford Technical Solutions RT Range User Manual Table 57 Feature Point File Fields Field Description ID Latitude Longitude This is the ID of the feature point and it can be used to identify a specific feature point by number It is output on the CAN bus and can be viewed in the Real time Display The ID should be unique in the file but it does not need to be sequential It is an integer number from 1 to 65530 This is the WGS84 latitude of the feature point in decimal degrees It will need at least 7 decimal places approximately 1 cm in order to be accurate enough This is the WGS84 longitude of the feature point in decimal degrees It will need at least 7 decimal places approximately 1 cm in order to be accurate enough Altitude Heading Type Res
60. dinate frame of the hunter vehicle There is also the effect of the communication link delay and the transient effect this has on the measurements 2D and 3D measurement planes By default the RT Range computes the range in the horizontal plane This is the distance between the vehicles viewed from above with no altitude or orientation effects It is also possible to configure the RT Range to output the distance projected into a measurement plane that is attached to the hunter s orientation Figure 88 shows the horizontal measurement plane solution The range between either of the hunter vehicles white to either target vehicle red will be the same regardless of orientation of either vehicle or their difference in altitude Figure 88 Horizontal 2D Measurement Plane Calculation 2D horizontal plane gg Oxford Technical Solutions RT Range User Manual Qaxrs In the 2D horizontal plane mode a full 3D calculation is still used to compute the sensor point and the bulls eye point from the position of the RT the orientation of the vehicle does affect the position of the sensor and bulls eye points When the measurement plane is attached to the hunter vehicle then the range is computed along a measurement plane that is angled with the hunter vehicle Figure 89 shows the hunter measurement plane solution The two target vehicles red have the same forward longitudinal range when using the hunter measurement plane in the horizo
61. dinates Identifiers 7B3h 1971 7C3h 1987 7D3h 2003 7E3h 2019 Description 0 32 S m 0 001 0 RangeHunterPosLocalX X Distance from Origin 32 32 S m 0 001 0 RangeHunterPosLocalY Y Distance from Origin Note The convention used for the local co ordinates is with the Z axis up Revision 131210 109 Oaxrs Table 36 RangeTargetPosLocal Position of Target in Local Co ordinates Identifiers 7B4h 1972 7C4h 1988 7D4h 2004 7E4h 2020 Description 0 32 S m 0 001 0 RangeTargetPosLocalX X Distance from Origin 32 32 S m 0 001 0 RangeTargetPosLocalY Y Distance from Origin Note these values are predicted to real time if the communication link s has more delay than the range delay field The convention used for the local co ordinates is with the Z axis up Table 37 RangeStatus Status Information for Range Measurements Identifiers 7B5h 1973 7C5h 1989 7D5h 2005 7E5h 2021 Description 0 8 U RangeHunderGpsPosMode Hunter GPS Position Mode 8 8 U RangeTargetGpsPosMode Target GPS Position Mode 16 16 U s 0 001 0 RangeRangeTargetLatency Prediction used for Target Measurements 32 16 U s 0 001 0 RangeRangeOutputLatency Output Latency Range Delay 48 8 U RangeStatusByte 56 8 U RangeRefPlane Note that this is a heartbeat message and if configured it will be output periodically on the CAN bus even if no RTs are connected to the RT Range It is useful
62. displays the current position and the position of points that have been added to the line On the right at the top is the RT measurement viewer this can be configured to show measurements from the RT such as velocity heading GPS position mode number of satellites and other measurements useful when surveying On the right at the bottom is the spreadsheet viewer showing numerical values for the points that have been added to the line Figure 15 Main Screen of the Line Survey Wizard Oo RT Range Line Survey Wizard C Data Line111 rtrl Speed m 000 05 ber of EB Add Point Here Adjust AutoAdd ON a e Save And Quit kad Save And Start New Line display Da 2 2 5 m 110330 14bd M l Selecting a Line Filename Before running the Line Survey Wizard the file that will be used to record the line can be selected on the initial page of the RT Range software see Figure 13 You are recommended to put all the line files from one survey in to a separate directory and to name the files Linel Line2 Line3 etc By putting a number at the end of the filename the Line Survey Wizard will automatically increment the number when you come to survey the next line Connecting to the RT The Line Survey Wizard will accept data from any RT system on the network The Line Survey Wizard will work with multiple RTs on the network as long as the user applies the filter by selecting an I
63. dress of the robot is changed There is a safety risk if care is not taken when using two robots Make sure you understand which RT Range and which RT is sending data to which robot and how it is getting there Later versions of the RT Range and robot software are able to identify problems by identifying the serial number of the RT in the robot software Older versions cannot do this and it is essential to get the configuration right Longitudinal Range Offset of Target The Longitudinal Range Offset is normally configured using the Quick Config Longitudinal Offset page It can be configured here too This value will show the value that is committed to the disk in the RT Range If the value has not been committed using the Longitudinal Offset page but is being used until the RT Range is reset then the real time value will not be read from the RT Range The Longitudinal Range Offset will be added to the longitudinal range that has been computed This allows for small adjustments to the longitudinal range that is output Lateral Range Offset of Target The Lateral Range Offset is normally configured using the Quick Config Lateral Offset page It can be configured here too This value will show the value that is committed to the disk in the RT Range If the value has not Revision 131210 EJ Oaxrs been committed using the Lateral Offset page but is being used until the RT Range is reset then the real time value will not be read from
64. ds are not currently transferred to the map file Map File Format The map file consists of a header followed by each of the lines in order An example file is shown in Figure 97 Revision 131210 e Jax 7 Inertial GPS Figure 97 Example Map File map number 22 origin 51 94322136 1 26696946 138 009 start line 51 9433702331181 1 26697457911789 51 943294365567 1 26671038784474 _Line3 rtr1 26 20 number of lines 6 Tine 1 Linel rtrl number of points 110 51 94322136 1 26696946 138 009 027 0736 0 51 94328786 1 26691446 138 27 026 4461 0 51 94335396 1 26686126 138 532 025 6640 0 line 2 Line2 rtr number of points 105 51 94323215 1 26694229 138 079 026 8682 0 51 94329884 1 26688762 138 326 026 2888 0 51 94336506 1 26683469 138 551 025 4278 0 51 94343107 1 26678391 138 674 024 6603 0 3 Note Not all the line information has been shown has been used to show where more information continues There would be six lines in this file only two are shown here Header Fields The fields in the header are shown in Table 54 Table 54 Map File Header Fields Field Description map number This is the map number that will be transmitted over the CAN bus and on RCOM It is an integer number from 0 to 255 origin The origin is used by the Map Creation wizard for plotting the points It is a value of latitude longitude and altitude near the lines start
65. e flexibility of adding new points to a line deleting points from a line or changing the position of the point on the map using the mouse Lines added to the map can be deleted from the map and the order of points in the line can be reversed so that surveys conducted in reverse make sense A map file may contain up to 8 lines The file extension for the map files is RTRM Using the Map Creation Wizard you can add the start line to the map Real Time Display Once the map files are created the Real Time Display can be used to download the map files and feature point files to the RT Range configure other RT Range settings and display the RT Range measurements in real time RT Range measurements can be stored to files using the Real Time Display Post Processing Wizard The Post Processing Wizard can be used to reprocess the NCOM files from the hunter vehicle and target vehicles for range measurements use a map file for lane position measurements and or use fixed point file for fixed point range measurements The lane and range measurements are saved in a CSV file format The Post Processing Wizard can also be used to convert the binary files stored by the Real Time Display into CSV format PC Configuration The RT Range software communicates with the RT Range hardware and the RTs using Ethernet For this communication to work the Ethernet of the PC has to be configured correctly The PC should have an IP address in the range 195 0 0 2 to 195
66. e lines The limit therefore for the Clean Up Line tool has been set at 5 7 degrees 126 Oxford Technical Solutions RT Range User Manual Qaxrs Line Map and Feature Point File Format Descriptions The line map and feature point files are stored in text format It is possible to generate either file using different software A brief description of the file formats is provided here Line File Format The line file store each point used to mark the straight line segments during the line survey The file is stored in CSV format and always uses the English number system full stop for the decimal separator and comma for the list separator Each line represents one point The fields in the file are listed in Table 53 Table 53 Line File Format Field Name Description 1 Latitude Latitude of the point in decimal degrees 2 Longitude Longitude of the point in decimal degrees 3 Altitude Altitude of the point 4 Heading Heading of the line at this point 5 North Stdev Estimated accuracy of the point in the North South direction in metres 6 East Stdev Estimated accuracy of the point in the East West direction in metres 7 Altitude Stdev Estimated accuracy of the point in the Vertical direction in metres 8 empty Not currently used 9 Satellites Number of satellites tracked by the GPS at this point 10 Position Mode Position Mode of the GPS at this point see NCOM Description Manual for a definition of Position Mode Note 1 These fiel
67. e RT Range PC software If the Ethernet cable on the RT User Cable is too short then it can be extended 18 Oxford Technical Solutions RT Range User Manual Qaxrs Target Vehicle Wiring The wiring diagram for the target vehicle is shown in Figure 7 Figure 7 Wiring Diagram for RT Range Target Vehicle RT Range RT3000 Target 400MHz Wireless LAN Antenna S gt rt S J5 gls Q J4 CAN JE y Ol jo J6 Ethernet owe Ethernet to PC Display A switch or trigger can be connected to J5 and used to trigger logging in the RT Range PC software If the Ethernet cable on the RT User Cable is too short then it can be extended The J2 serial connection is only required if the internal radio is being used this is no longer supported in the latest releases of the RT Range Physical Installation The antennas for the radio RT GPS and the Wireless LAN should be spaced out across the roof of the vehicle Putting all the antennas in one spot will cause interference and will reduce the performance of the system Ideally there should be at least a 1m separation between each antenna In addition the cables for the antennas should not be routed together since this can also cause interference Revision 131210 19 Oaxrs The RT Range Hunter and Target boxes are a suitable size for positioning behind the p
68. e lateral range velocity is not zero Revision 131210 119 Oaxrs Figure 91 Lateral Velocity of the Target compared to the Hunter This effect is also seen if you have a stationary hunter vehicle a stationary target or fixed point and somehow rotate the hunter vehicle on the spot The lateral range velocity will not be zero even though everything is stationary Transient Errors due to Communication Link Delay The RT Range uses a constant acceleration model for predicting the position and velocity of the target vehicle This prediction is to overcome the delay in the communication link either Wireless LAN or radio modem or both The effect on position for this type of transient is small less than 1cm The effect on the velocity is higher Figure 92 shows the acceleration curve velocity curve and velocity error for a 0 8G sudden acceleration it assumes a communication link delay of 70ms which is about the peak expected from the Wireless LAN when the vehicles are close 120 Oxford Technical Solutions RT Range User Manual Qaxrs Figure 92 Example Transient Error for 0 8G Acceleration on Target Vehicle 25 2 a 15 3 3 10 5 0 2 5 3 3 5 4 4 5 5 5 5 6 6 5 7 7 5 0 2 gt 0 1 0 a 0 1 0 2 2 5 3 3 5 4 4 5 5 5 5 6 6 5 7 7 5 Time 6 It can be seen from the graph that the effect on the velocity measurement for this transient is large 0 1m s is over 3 times larger than the RMS specification
69. e local co ordinates used by that RT and the RT Range You may need to configure the local co ordinates of the RT first Quit RT Range and use Enginuity to configure the local co ordinates of an RT In the dropdown list select the RT whose local co ordinates you want to copy and click Copy this will copy them from the RT to the group box below If you know the local co ordinates already then you can type them in to the edit boxes directly If the copy button is disabled then there is no data from the selected RT or the local co ordinates are not enabled on that RT Press Apply or OK to send the local co ordinates to the RT Range Advanced The advanced window is used to send commands to the RT Range It is used for testing the RT Range or when you have been specially directed to use it You can reset the RT Range through this window File Selection The map files define the positions of the lanes for the lane position measurements The RT Range hardware will save and use the last map file that was downloaded even after power up Download Map Files This function can be used to download another map file to the RT Range box Map files have the extension RTRM The RT Range will start using the new map file as soon as the download cycle completes The RT Range software remembers the last map file that was downloaded to the RT Range and uses this file in the Bird s Eye View Download Feature Point Files This function can be used to dow
70. e to Communication Link Delay 120 Lane Position Measurement Effects 121 Discontinuous Distance 123 Co ordinates for Measurements with respect to the Lines 123 Acceleration on Curves 124 Effect of the Line Survey on the Accuracy 125 Rules for the Clean Up Line Tool in the Map Creation Wizard 126 Line Map and Feature Point File Format Descriptions 127 Line File Format 127 Map File Format 127 Header Fields 128 Line Fields 129 Feature Point File Format 129 Revision history 132 Revision 131210 jE Oaxrs Introduction The RT Range is a bolt on system to the RT Inertial and GPS Navigation system that performs two tasks 1 it measures the position of the vehicle relative to lane markings on the road 2 it measures the relative position i e range between multiple vehicles The lane position feature of the RT Range is useful for testing and validating other technologies for lane position measurement such as lasers or vision The range or distance between multiple vehicles is useful for validating cruise control radar and other advanced accident avoidance systems The RT Range was designed to be used with the RT3000 products 100Hz The latest versions will also support the RT4000 products 250Hz and the RT2000 products either 100Hz or 250Hz The output rate of the RT Range is determined by the output rate of the RT in the hunter vehicle If the RT in the hunter vehicle is an RT3000 then the output rate will be 100Hz if it is an
71. ed Zoom Out This icon zooms out Pan The icon is used to enter pan mode Click and drag the mouse to pan the view Refresh This icon can be used to refresh the screen When a target stops operating it will remain in view until it is refreshed Auto Scale This selects auto scale where the scales of the graph will adjust automatically to keep all the items in view v N S GA Configure This shows the configuration window for the Bird s Eye View The Bird s Eye View map is automatically changed when a new map or feature point file is downloaded to the RT Range Bird s Eye View Configuration The Bird s Eye View can be configured to have different origins different scales and different colours The Bird s Eye View Configuration window is used to configure the appearance of the Bird s Eye View and is shown in Figure 50 EJ Oxford Technical Solutions RT Range User Manual Qaxrs Figure 50 RT Range Bird s Eye View Configuration Map display mode Display Mode Scale Hunter Target Map View Hunter View Hunter View displays the Hunter Targets and Fixed Points in Forward and Lateral directions The origin will be the selected Hunter Target or Fixed Point Origin at v Plan View Plan View displays the Hunter Targets Fixed Points and Map in Northings m and Eastings m When using the Autoscale the View can be centred on the Hunter Targets or Fixed Ponts View centred on Hunter x
72. een the polygon points Range to Fixed Points and Feature Points Methodology The RT Range can measure the range to a fixed point e g a balloon car in the same way the range to another vehicle The RT Range includes tools to measure the position of fixed points accurately and quickly The RT Range can also measure the range to feature points The feature points are a large collection of signs road markings and other street furniture at known positions A field of view can be defined where a camera might see the feature points and then the range to the visible feature points can be computed For example along a test route on the public highway the position and classification of 10 000 feature points is known as the vehicle drives along the route the RT Range will output the range to the feature points that are in view a Oxford Technical Solutions RT Range User Manual Qaxrs ABD Robot Connection The RT Range can provide feedback to the ABD steering robot This allows the robot to trigger tests based on range measurements which is useful for repeatability in Adaptive Cruise Control ACC tests Other Advanced Driver Assistance System ADAS tests also benefit from having the ABD robot triggered by range measurements The ABD robot software can also acquire measurements from the RT Range and merge it with robot data RT Backpack for Pedestrians The RT Range has an optional RT Backpack This is a target system in a backpack that can
73. ements RT Range Set measurements of Range Sensor Read Configuration Hunter Target1 Target2 Target3 Field of view Hunter Targets Setup RT to sensor position Lane Measurements Options Commit Finish Confidenthy Accurately 6S ss Dev ID 131127 14bd lt Back Next gt Cancel Revision 131210 Figure 63 Car Range Measurements in the RT Range Configuration Wizard Target Tab RT Range Configuration Wizard E Car Range Measurements RT Range Set measurements of Range Sensor Read Configuration Hunter Target1 Target2 Target3 Field of view Hunter Targets Setup C Use Polygon CREEA Lane Measurements Use bulls eye t E points position RT to bulls eye position relative to the RTRT Options Backward 2 000 m hoT you at or Commit Right 0 000 m vehicle dimension Finish Up X 0 000 m Vehicle length m Vehicle width m Confidently Accurately Ss Dev 131127 14bd lt Back Next gt a E _ Ce The range measurements can only be set for the number of targets that have been configured In Figure 62 the example shows that 3 targets have been configured on the Hunter Targets Setup page The measurements are from the displaced output position of the RT to the sensor or bulls eye position For best results you should not use the Displace Output option of the RT since this can be confusing The measurements are in the vehicle co ordinates These are the co ordinates that you
74. en the field will be FFh Table 20 Lines1To4VelLateralA Lines 1 to 4 to Point A Velocity Identifier 7A7h 1959 Description 0 16 S m s 0 01 0 LinelVelLateralA Velocity from Point A to Line 1 16 16 S m s 0 01 0 Line2VelLateralA Velocity from Point A to Line 2 32 16 S m s 0 01 0 Line3VelLateralA Velocity from Point A to Line 3 48 16 S m s 0 01 0 Line4VelLateralA Velocity from Point A to Line 4 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative 104 Oxford Technical Solutions RT Range User Manual Qaxrs Table 21 LinesSTo8VelLateralA Lines 5 to 8 to Point A Velocity Identifier 7A8h 1960 Description 0 16 S m s 0 01 0 Line5VelLateralA Velocity from Point A to Line 5 16 16 S m s 0 01 0 Line6VelLateralA Velocity from Point A to Line 6 32 16 S m s 0 01 0 Line7VelLateralA Velocity from Point A to Line 7 48 16 S m s 0 01 O Line8VelLateralA Velocity from Point A to Line 8 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Table 22 TrajectoryOfA Heading of A relative to surrounding lines and curvature of A Identifiers 7A9h 1961 Description 0 16 S degrees 0 01 O LeftLineHeadingOfA Heading with respect to the line to the left of Point A 16 16 S degrees 0 01 0 RightLineHeadingOfA Heading with respect to the line to the right of Point A 32 16 S 1 m 0 0001 QO CurvatureOfA
75. erved Description This is the altitude of the feature point in metres It is measured in the same reference system as the RT either geoidal or ellipsoidal This is the heading of the feature point which is currently not used This is a category of the feature point that allows the user to identify what the feature point is For example a 50 km h speed limit sign could be assigned a type of 4 making it easier to identify when this type of sign is in view OxTS does not have a classification of feature points and it is up to each application to categorise them This field is an integer number from 1 to 250 This field is reserved and it should be set to 0 This is a text description of the feature point It is not used by the software and it is provided for the user s benefit It can contain any valid alpha numeric characters including spaces but it cannot contain a comma An example feature point file is shown in Figure 98 Figure 98 Example Feature Point File feature list 7 RT Range airfield test line RT RangeTest_AirfieldLinel ftl number 1 ONDUA wN mn Os ee ee at 12 51 51 51 51 p 51 51 51 a x ois i 51 of features 12 94011276 001 94015950 001 94024407 001 94039547 001 94038123 001 94049197 001 94049216 001 94044339 001 94058045 001 94063415 001 94078665 001 94084804 001 24408213 0130 24394702 0130 24422378 0130 2
76. es 23 04 2010 11 39 RTRL File 10 KB Cinesa zaosaoonas RTL Fe 108 Ga Libraries d Q line6 t 23 04 2010 11 46 RTRL Fite 10KB 6items selected Date modified 23 04 2010 11 15 29 1 Date crested 20 06 2012 09 42 Size 56 6 K8 Offline availability Not available Add to Existing Line This option is used to add one line to another line on the map The new line will be added to the end of the existing line there is no way to add the new line to the start of the existing line so the lines must be added in the correct order New lines can be added in forward or reverse directions Revision 131210 a Start Line Option The RT Range lane position measurements start when the vehicle crosses the start line This reduces the real time search requirements of the RT Range and also enables the RT Range to have maps with crossing lines It is essential to set the position of the start line before the start line options can be set The start line is based on one of the points at or near the start of one of the lines normally the central line In order to add a start line first select a point on the map by double clicking the point In the spreadsheet viewer the point will be highlighted Right click the highlighted point in the spreadsheet viewer and select Set Start Line from this point as shown in Figure 32 Now the start line is set and will be drawn on the map display Figure 32 Setting the Start Line in the Map Creati
77. fects Table 49 RangeFeatPointLL Latitude and Longitude of feature points Identifiers 5B7h 1463 5C7h 1479 5D7h 1495 5E7h 1511 Description 0 32 I degrees le 7 0 RangeFeatPointLat Latitude of the feature point 32 32 I degrees le 7 0 RangeFeatPointLon Longitude of the feature point Note These outputs have a resolution of about 1cm which may not be precise enough for all applications Internally the RT Range has more resolution Table 50 RangeFeatPointHH Altitude and Heading of feature points Identifiers 5B8h 1464 5C8h 1480 5D8h 1496 5E8h 1512 Description 0 32 I m 0 001 0 RangeFeatPointAlt Altitude of the feature point 32 16 U degrees 0 01 0 RangeFeatPointHea Heading of the feature point Revision 131210 E Calculation Details Although in an overview the problem of computing the range or tracking the line seems trivial there are some aspects of the physics that require some explanation There are different interpretations on range 2D or 3D for example This can lead to differences in the measurements between the RT Range and the outputs of other sensors These are not necessarily errors they are differences in the calculations Some of the differences that may be experienced are explained in this section Range Measurement Effects There are two main effects on the data in the range measurements These are due to errors in heading and due to viewing the target vehicle from the co or
78. gs from a file on the disk This can be used to store the configuration from several vehicles and quickly restore a particular vehicle s settings Load initial settings from RT Range This option connects to the RT Range over Ethernet and loads the settings that are currently programmed to the RT Range This option will load the values that the RT Range will use at start up Using the Quick Config page it is possible to modify some of the parameters that the RT Range is currently using these will not be loaded After selecting the source for the initial settings click Next Hunter Targets Setup The RT Range needs to know the IP address of the RTs in the hunter and target vehicles so it can pick up the correct data from Ethernet The IP address of the RT will be shown on the delivery note that came with the RT The IP Address selection boxes list the RTs that have been found on the network Figure 58 shows the Hunter Targets Setup page of the Wizard where the IP addresses are selected Revision 131210 EX Figure 58 RT Addresses RT Range Configuration Wizard RT Range Configuration Wizard Hunter Targets Setup RT Ran g e Set the IP addresses of the hunter and target vehicle or fixed points RT in the hunter vehicle IP address 195 0 0 25 X Read Configuration Data rate 100 Hz x Configure mobile Lane Measurements target Car RT Range Measurements RT target setup address Pired Point Options Numbe
79. have configured the RT to use in the Orientation page of the RT configuration software It is essential to make these measurements accurate This is not easy with a tape measure Unless the measurements are made accurately the RT Range cannot be accurate To choose a polygon rather than a bulls eye point for the target vehicle or for a fixed point select the Use Polygon radio button The Configure button to the right can be used to configure the polygon Figure 64 shows the Target Polygon page used to configure the polygons 74 Oxford Technical Solutions RT Range User Manual Qaxrs Figure 64 Target Polygon Page in RT Range Configuration Wizard Target1 Polygon Polygon number 1l Number of points 4 RT to polygon origin Forward v 0 000 m Right X 0 000 m Up v 0 000 m Polygon Grid size 1m v j 1 0 000 m 1 000 m 2 1 000 m 0 000 m 3 0 000m 1 000m i 4 om foom o pR Load Save OK Cancel yo The polygon number field is used to identify the polygon being used on the CAN bus The RT Range passes this number to the user via the CAN bus without using it or modifying it Unfortunately the CAN bus does not easily support text fields The number of points in the polygon needs to be configured Between 3 and 24 points can be used The origin of the polygon compared to the RT can be configured This allows the vehicle to be measured once and if the RT is placed in a different location in the vehi
80. he Y direction 32 16 I m 0 001 0 LanePointCLeverArmZ Lever arm from the RT to lane measurement point C in the Z direction Table 32 RangeForward Longitudinal Measurements Identifiers 7B0h 1968 7COh 1984 7D0h 2000 7EOh 2016 Description 0 32 S m 0 001 0 RangePosForward Longitudinal Range 32 16 S m s 0 01 0 RangeVelForward Longitudinal Velocity 48 16 S s 0 001 0 RangeTimeToCollisionForward Longitudinal Time to Collision computed using range and velocity but not acceleration 108 Oxford Technical Solutions RT Range User Manual Qaxrs Table 33 RangeLateral Lateral Measurements Identifiers 7B1h 1969 7C1h 1985 7D1h 2001 7E1h 2017 Description 0 32 S m 0 001 0 RangePosLateral Lateral Range 32 16 S m s 0 01 0 RangeVelLateral Lateral Velocity 48 16 S s 0 001 0 RangeTimeToCollisionLateral Lateral Time to Collision computed using range and velocity but not acceleration Table 34 RangeResultant Resultant Measurements Identifiers 7B2h 1970 7C2h 1986 7D2h 2002 7E2h 2018 Description 0 32 S m 0 001 0 RangePosRes Resultant Range 32 16 S m s 0 01 0 RangeVelRes Resultant Velocity 48 16 S degrees 0 01 0 RangeAngleHeading Angle to Target in View of the Hunter 2O E U r The resultant velocity is the rate of change of the resultant range and not the modulus of the longitudinal lateral velocity vector Table 35 RangeHunterPosLocal Position of Hunter in Local Co or
81. he points that are surveyed This type of spline cuts corners Straight Line Fit between all the Points Fitting a straight line between the surveyed points gives accurate measurements at the points and does not overshoot in between the points However the straight line has larger errors on curves or circles It also has other associated problems such as discontinuities in distance abrupt changes in curvature that affect acceleration etc The straight line fit is however the easiest solution to the problem and the one that is least likely to give unexplainable results It is the solution that has been used in the RT Range Ultimately it probably offers the best accuracy if the survey is conducted correctly The errors shown here in the drawing may look small considering how tight the curve is But when the points are surveyed at 1m spacing typical for large road surveys then it is easy to introduce errors of 1cm or more in the curve fitting This cannot easily be 12 Oxford Technical Solutions RT Range User Manual Qaxrs seen on paper but it is significant compared to the measurement accuracy of the RT Range Discontinuous Distance Consider the Line in Figure 94 In this example the vehicle is driving on the outside of the bend There are sections that the vehicle has to travel but there is no distance moved along the bend This leads to jumps in the distance output Figure 94 Discontinuous Distance at the Points
82. hen transferred to the RT Range advanced commands Note that if the data from the target has too many dropped packets because of the radio then the filter will automatically be reset The RT Range will fill in occasional dropped packets and try to maintain the filter Figure 74 Range Measurement Plane Committing the Configuration to the RT Range The commit screen allows you to send the configuration to the RT Range system The IP address of the RT Range is required for this The IP address is usually 195 0 0 n where n is the serial number of the RT Range The IP address is marked on the delivery note Figure 75 shows the Commit page of the RT Range Configuration Wizard Revision 131210 e Oaxrs Figure 75 Commit Page in the RT Range Configuration Wizard a RT Range Configuration Wizard Commit Read Configuration Hunter Targets Setup ares oes IP Address of the RT Lane Measurements 195 0 0 119 x Range system that you want to configure Range Measurements Options Finish Confidently Accurately Me Dev iD 090702 14bd lt Back Commit Cancel The RT Range will automatically reset after the settings are committed It takes about 40 seconds for the RT Range to reboot Saving a Copy of the RT Range Configuration Locally Before finishing it is possible to save a copy of the settings in a file on the local computer This is useful for storing configurations for several vehicles
83. ield of view can restrict the area where feature points will be detected so that this area matches the active area of the sensors or cameras being tested Figure 65 Car Range Measurements in the RT Range Configuration Wizard Field of view Tab RT Range Configuration Wizard Car Range Measurements RT Range Set measurements of Range Sensor Read Configuration Hunter Target1 Target2 Target3 Field of view Hunter Targets Setup Half angle 45 000 deg Offset Lane Measurements Offset angle 0 000 deg Max distance 100 000m Min distance 30 000m G Options Commit Finish Confidently Accurately Ss Dev ID 131127 14bd lt Back Next gt Cancel Bi Ne Ge 76 Oxford Technical Solutions RT Range User Manual Qaxrs The Field of view used to control when feature points become visible is easy to configure It is defined with a minimum and maximum range from the sensor point on the hunter vehicle an angle offset from the vehicle s x axis and half angle of the arc When feature points leave the Field of view the RT Range does not show the measurements to these feature points anymore unless they re enter the field of view When feature points become active the RT Range provides its usual comprehensive list of real time information on each one This includes longitudinal lateral and resultant range forward and lateral time to collision of each target as well as the Feature Point ID The maximum range
84. ill be transmitted each cycle at the data rate that is selected If packets are dropped by the radio wireless LAN from the RT to the RT Range then these messages will not be predicted or interpolated they will not be output or an older version will be output Local Co ordinates The RT Range includes the option to output the position of the hunter and target vehicles in local co ordinate system This is often easier than using latitude and longitude The local co ordinates of the hunter and target vehicles are output on the CAN bus Figure 72 shows the Local Co ordinates dialog box Figure 72 Local Co ordinate Setup in the RT Range Configuration Wizard Local Co Ordinate Setup sessnesanes sestensinss ssoczeces seesensosasecshsussteesenaseesoaad bay Recvscscvesceocsovsscessecceecsuocecorseecuecesssssnensvescecessseses Local Co Ordinates Base Latitude 5131557923 deg Base Longitude 210983227 deg Base Altitude 0m x axis Angle 240 657 deg You can copy the Local Co ordinates setup from AT on your network Choose RT3000 v The Local Co ordinates translate the curved earth into a grid that is locally flat This transformation cannot do this accurately over a large range in fact no transformation can and the Local Co ordinates should only be used over a small area up to about 10km square You must provide the position in latitude longitude and altitude of the origin of the grid This is the p
85. int from RT Fixed Point File Name Available RT Get Position From Offset Setting Forward X 0 000 m Right 0 000 m Above 0 000 m The name of the fixed point is used to generate the filename and appears in the dropdown list of the Send Fixed Point Dialog Box Select the desired RT from the dropdown dialog box Because the RT may not be at the exact fixed point location values can be entered to displace the fixed point location from the RT s position If there is no RT Range on the network the dialog box will not show the RT position This is because the decoded RT data latitude longitude altitude and heading are contained in the RCOM packets from the RT Range For this feature to work correctly an RT Range system must be connected to the network EI Oxford Technical Solutions Mobile Target Mode In this mode the RT Range measures the position of a mobile target from the hunter vehicle To track a mobile target e g target vehicle pedestrian etc choose Mobile Target from the dropdown menu and select the IP address of the RT that is in the target vehicle Feature Point Mode In this mode the RT Range computes the range from the hunter vehicle to the appropriate predefined feature point To use feature points choose Feature Points from the dropdown menu Local Co ordinates The RT Range has its own set of local co ordinates These can be different to the local co ordinates
86. intLL Latitude and Longitude of fixed points Identifiers 5Bih 1457 5Cih 1473 5D1h 1489 5Eth 1505 Description 0 32 I degrees le 7 0 RangeFixedPointLat Latitude of the fixed point 32 32 I degrees le 7 0 RangeFixedPointLon Longitude of the fixed point Note These outputs have a resolution of about 1cm which may not be precise enough for all applications Internally the RT Range has more resolution Table 44 RangeFixedPointHH Altitude and Heading of fixed points Identifiers 5B2h 1458 5C2h 1474 5D2h 1490 5E2h 1506 Description 0 32 I m 0 001 O0 RangeFixedPointAlt Altitude of the fixed point 32 16 U degrees 0 01 0 RangeFixedPointHea Heading of the fixed point Revision 131210 113 Oaxrs Table 45 RangeSensorLeverArm Lever arm from the RT to the Sensor Point Identifiers 5B3h 1459 5C3h 1475 5D3h 1491 5E3h 1507 Description 0 16 I m 0 001 0 RangeSensorLeverArmX Lever arm from the RT to the sensor point in the X direction 16 16 I m 0 001 0 RangeSensorLeverArmY Lever arm from the RT to the sensor point in the Y direction 32 16 I m 0 001 0 RangeSensorLeverArmZ Lever arm from the RT to the sensor point in the Z direction Table 46 RangeBullsEyeLeverArm Lever arm from the RT to the Bulls eye Point Identifiers 5B4h 1460 5C4h 1476 5D4h 1492 5E4h 1508 Description 0 16 I m 0 001 0 RangeBullsEyeLeverArmX Lever arm from the RT to the bulls eye point
87. ion of the hunter vehicle away from the line The RT Range computes the acceleration relative to the line as 2 ag V l Kudy where a is the acceleration of the vehicle in the co ordinate frame of the line x is the instantaneous curvature of the line dy is the distance to the line and V is the velocity of the hunter vehicle along the line Using the formula above makes sure that if the hunter vehicle is travelling on a circle that has the same centre as the line then there will be no acceleration relative to the line 124 Oxford Technical Solutions RT Range User Manual Qaxrs Effect of the Line Survey on the Accuracy There are several conflicting problems facing the line survey process For accurate tracking of the lane markings the points should be as close together as possible but making the points closer makes the curvature noisier Figure 96 Error using Straight Lines to Approximate Curves Error grows as Points get further apart Figure 96 shows the effect of having the points too far apart on a curve lane marking The error gets larger as the points get further apart and as the curve gets tighter The small angle approximation for the maximum error is 2 Qa wn 8 where d is the distance between the points and R is the radius of the curve Table 52 shows the error for a 1m distance between survey points on curves with different radii Table 52 Curve Fitting Error for 1m Point Separation
88. le tab can be used to select the directory file name and number of the next RCOM file to be written The File tab is shown in Figure 52 A Oxford Technical Solutions Figure 52 RT Range Logging RCOM Data File Tab O Save to RCOM Stat Stop Working directory C Data RT Range Test ae File name mobile 000 Test status Running Start now The Working directory is the directory where all the data will be saved This can be changed by clicking on the button to the right An explorer window showing the files can be opened by clicking on the folder button The File name is the base name of the file that will be created The window will automatically append a number to the end of the file The number can be changed by clicking on the 000 button The number on this button will change as the file number changes The number represents the next file to be written Start tab The Start tab can be used to set the conditions when a file will start being logged The Start tab is shown in Figure 53 Revision 131210 Figure 53 RT Range Logging RCOM Data Start Tab Save to RCOM General File Stop On falling trigger of 195 0 0 253 l On tising trigger of 195 0 0 253 V Play sound at the start of the test Pre triqger duration Test status Rumia Start now w Check the On falling trigger of or On rising trigger of checkboxes to
89. les that measure the distance between the vehicles e Shapes of the target vehicles and fixed points if polygons are going to be used e CAN bus Local Co ordinate Origin Range Latency etc The RT Range is a very precise instrument and these measurements are critical to getting the best results from it It is not easy to get all of the measurements accurate to lcm or better However a 1cm error on the RT Range configuration will result in a lcm error in the outputs It is critical to get these measurements accurate Reading the Initial Configuration Figure 57 shows the first page of the wizard Figure 57 Read Configuration Page of the RT Range Configuration Wizard RT Range Configuration Wizard RT Range Hunter Targets Setup Read from a file Start with the default Lane Measurements Load initial settings from RT Range values or load a configuration from a Range Measurements directory or the Options RT3000 system Commit Finish Confidently Accurately Dev ID 110330 14bd Next gt Cancel Ey Oxford Technical Solutions RT Range User Manual Qaxrs The initial settings that the wizard displays can come from several sources Default Settings If this option is selected then the wizard will start with a default set of values The values in the RT Range will be lost when these new values are committed Read from a file If this option is selected then the wizard will read all the settin
90. llowed by one line for each feature point The file is stored in CSV format and always uses the English number system full stop for the decimal separator and comma for the list separator The feature point file should have an extension ftl The header lines in the feature point file are in the following format feature list YY Y TTTTTT NNNNNN number of features XXX Table 56 gives the definitions of the fields Revision 131210 129 Oaxrs Table 56 Feature Point File Header Fields Field Description Feature list The RT Range will use this to identify that this is a feature point file YYY This is the feature point file reference number and it is output on RCOM and displayed in the Real time Display as Reference number of feature set It can be used to identify which feature point file is being used by the RT Range Only an integer value from 1 to 250 can be used Text descriptions are not supported TTTTTT This field is a text description for the user s benefit of the feature point file It can contain any valid alpha numeric characters including spaces but it cannot ce 99 contain a comma It can be blank i e two commas NNNNNN This field should contain the filename of the feature point file It is currently only for the user s benefit and it is not used by the software The feature point file is renamed when it is saved on the RT Range When it is uploaded using FTP then this field
91. m i Finish Page sooo Confidenthy Accurately Dey ID 110330 14bd lt Back Next gt Cancel Target Setup The RT Range Post Processing wizard can compute the range from the hunter vehicle to fixed points or to target vehicles Either a fixed point file or a target NCOM file is required to do this The range mode can be disabled so that no range measurements are output Figure 82 shows the Range Mode page of the RT Range Post Processing wizard Revision 131210 ED Figure 82 Range Mode Page in the RT Range Post Processing Wizard RT Range Post Processing Wizard a p Je g Target Files Setup RT Ran g e Select Target vehicle or Fixed points files RT target setup Select Data Source Number of targets 4 v Read Configuration Lane Tracking Mode Target 1 Lane Measurements Target 2 Range Measurements Target 3 Fixed Point ice S lo Range Options Target 4 7 Select Fields Output Config Feature point file Output Files Finish Page Confidently Dev ID 121107 14bd Select the number of targets using the Number of targets dropdown list Car To compute the range from the hunter vehicle to the target vehicle select Car from the dropdown list and select the associated target NCOM file Fixed Point To compute the range from the hunter vehicle to a fixed point select Fixed Point from the dropdown list and select a fixed point file The fixed point file has to be sa
92. make it difficult to check the operation in the garage before going out to test To avoid this the RT Range can output heartbeat CAN messages These will be output even if range measurements and lane tracking measurements are not being computed and if no data is being received from the RTs The messages are output approximately once per second 100 Oxford Technical Solutions RT Range User Manual Qaxrs The heartbeat messages are the Range Status messages one for each target and the Lane Map Status message The Range Status heartbeat messages will only be output if the associated target is configured if you have no targets configured then no Range Status heartbeat messages will be output Similarly if there is no map in the RT Range then the Lane Map Status message will not be output These messages will not be output if they are disabled in the CAN configuration If no heartbeat messages are received check that some operation of the RT Range is configured and that the CAN bus is configured to output the heartbeat messages Table Heading Definitions The fields in the tables have the following meanings Offset bits This is the offset into the message where the signal starts To compute the offset in bytes divide the value by 8 Length bits This is the length of the signal in bits To compute the length of the signal in bytes divide the value by 8 Type This specifies either an unsigned value U or a signed value
93. maps are kept The position and heading of an RT can be used to define the start line In the Set start line at RT s position group box set the length of the start line and then press the Fix here button It is also possible to enter the latitude and longitude for the left and right edges by typing directly in to the text boxes in the Line position group box Stop tab The Stop tab can be used to set the conditions when a file will stop being logged The options in the Stop tab behave very similarly to the options in the Start tab Revision 131210 E Oaxrs Start now The Start now button can be used to start logging the file using the mouse The Logging RCOM data window must remain open while the file is being logged or else the logging will stop Connection Configuration The RT Range software can connect and display the data from one RT Range and one RT system By default the display will show the data from the RT Range used in the Commit page of the RT Range Configuration Wizard see Figure 75Figure 75 and the RT in the hunter vehicle see Figure 58 If you have more than two vehicles or if you want to display the data from the target vehicle you can change which RT Range and which RT the software is connected to Double click the Connection icon shown as a plug in Figure 55 at the bottom right corner of the real time display to show a list of the RT Range systems and the RT
94. messages that the RT Range puts on the CAN bus and the identifiers that are used for these messages These are the default identifiers but they can be changed using the configuration software The signals in each message are listed in the tables that follow EJ Oxford Technical Solutions RT Range User Manual Qaxrs Table 11 Default CAN Bus Messages for Lane Position Measurements Identifier Data Contents See Table hex 7A0h Map Identifier and Distance Table 13 7A1h Line on left of Point A Table 14 7A2h Line on right of Point A Table 15 7A3h Lines 1 to 4 to Point A Table 16 7A4h Lines 5 to 8 to Point A Table 17 7A5h Line to Point B Table 18 7A6h Line to Point C Table 19 7A7h Lines 1 to 4 to Point A Velocity Table 20 7A8h Lines 5 to 8 to Point A Velocity Table 21 7A9h Trajectory of A Table 22 7AAh Curvature of Lines 1 to 4 Table 23 7ABh Curvature of Lines 5 to 8 Table 24 7ACh Lines 1 to 4 to Point B Table 25 7ADh Lines 5 to 8 to Point B Table 26 7AEh Lines 1 to 4 to Point C Table 27 7AFh Lines 5 to 8 to Point C Table 28 5A0h Lane Point A Lever Arm Table 29 5A1h Lane Point B Lever Arm Table 30 5A2h Lane Point C Lever Arm Table 31 Revision 131210 EJ Oaxrs Table 12 Default CAN Bus Messages for Range Measurements Identifier hex Data Contents See Table T1 T2 T3 T4 7BOh 7COh 7D0h 7EOh Longitudinal Measurements Table 32 7Bih 7Clh 7D1h 7Elh Lateral Measurements Table 33 7B2h 7C2h 7D2h 7E2h Resultant Measurements
95. nload a feature point file to the RT Range unit Feature point files have the extension FTL The RT Range will start using the new feature point file as soon as the download cycle completes The RT Range software remembers the last feature point file that was downloaded to the RT Range and uses this file in the Bird s Eye View Display Data The Display Data Menu configures the right hand side of the Real Time Display The Display Data Menu in the Real Time Display is the same as the Display Data Menu in e Oxford Technical Solutions the Line Survey Wizard except that it also has the Bird s Eye View feature listed Please refer to the section Display data menu earlier in the manual Bird s Eye View The Bird s Eye View is part of the Display Data menu It gives a view from above looking down It is a good way to visualize where the hunter and target vehicles fixed points and the map are Figure 48 shows the Bird s Eye View window with 4 targets and a map Figure 49 RT Range Bird s Eye View Birds Eye View Plan View M M fa fa J mm 1 1 Northing m 525 Easting m There are several icons that control the appearance of the Bird s Eye View These are described in Table 8 Revision 131210 EI Oaxrs Table 8 Icon Functions in the Bird s Eye View Icon ETI Description A Zoom In This icon is used to enter zoom in mode Click and drag the mouse over the area to be zoom
96. nt File Position Targetti X m Position Targeti m e Open Display Page Angie to Target1 deg New Display Page g Configure Display bed Save Display Page thd Save Display Page As _ Bird s Eye View 121107 14bd g Note The Display Items on the right hand side can be changed this is just a selection of the available measurements that can be displayed Configure RT Range Menu The Configure RT Range menu is used to change the setup and operating mode of the RT Range a8 Oxford Technical Solutions RT Range User Manual Qaxrs Configure RT Range This option is used to run the RT Range Configuration Wizard This wizard is used to set the more permanent parameters of the RT Range and will probably only be used for a new installation in a vehicle There are many parameters in the RT Range Configuration Wizard and it is described in its own section later in this manual Quick Config The Quick Config option is used to change some of the real time settings of the RT Range without rebooting Options that can be changed using the Quick Config window include the lateral and longitudinal offset range mode fixed point locations and the local co ordinates used for the RT Range More details on the Quick Config are given in the section below Abort Lane Tracking The RT Range will continue tracking the lane position until the car drives past the final point on Line 1 The lane position measurement can be aborted early by cli
97. ntain the default settings that the RT Range system was delivered with Read from file The range and lane parameters will be read from the defined RTRange cfg file To select a different configuration file use the browse button to select a different file Load Initial Settings from RT Range To use the same settings as the RT Range system select the radio button and make sure the RT Range system is connected to the network via Ethernet Enter the correct IP address in the edit box to download the configuration file from the RT Range hardware E Oxford Technical Solutions RT Range User Manual Qaxrs Lane Tracking Mode The RT Range Post Processing wizard can compare the position of the hunter vehicle to the lane markings Check the Use Map File checkbox to perform the lane position measurements and select a map file Figure 81 shows the Lane Position File Mode Page of the RT Range Post Processing wizard Figure 81 Lane Position Map file Selection in RT Range Post Processing Wizard O RT Range Post Processing Wizard Lane Tracking File Mode RT Range Select a Map file for Lane tracking V Use Map file Select Data Source Read Configuration Select the Map file that the Hunter s position should be Target Files Setup measured against If you are not using Lane Measurements Lane Tracking then Range Measurements uncheck the box Options Select Fields Output Config Map file Output Files C Data Circles map8 nw rtr
98. ntal measurement plane the top target vehicle would have a longer forward range In mathematical terms the 3D range vector from the sensor point on the hunter to the bulls eye point on the target or closest part of the polygon is computed Then this 3D vector is projected in to the forward and lateral right directions of the hunter vehicle The hunter z axis information is not output Figure 89 Hunter 3D Measurement Plane Calculation When using the hunter measurement plane it is important to align the pitch measurements of the RT in the hunter with the pitch measurement of the sensor The Enginuity software that comes with the RT has tools for adjusting the pitch measurements of the RT It should be noted that the difference in range between the horizontal measurement plane and the hunter measurement plane is very small except on very steep slopes Polygons Targets and fixed points in the RT Range can be represented as polygons The RT Range will then compute the range from the hunter to the closest part of the polygon Polygons are planar or flat and are orientated by the heading pitch and roll of the Revision 131210 a Oaxrs target vehicle For a fixed point the heading of the fixed point needs to be entered and the pitch and roll are zero There are some restrictions on the polygons that can be used in the RT Range The polygons cannot have intersecting or overlapping lines They need to have a minimum of 3 points
99. nts Range Mode There are three ranging modes in the RT Range car to car fixed point and feature point In fixed point mode the RT Range measures the distance from the hunter vehicle to a fixed point rather than the distance to the target vehicle A fixed point might be the corner of a parked car or a stationary target In feature point mode a file containing thousands of feature points can be loaded into the RT Range These can represent objects such as road signs or traffic lights and the RT Range can measure the distance from the Hunter vehicle to these feature points The range mode of the RT Range is shown in Figure 44 Revision 131210 Figure 44 Target Configuration in the Real Time Display Range Mode Select the Target mode to fixed point or car Number of Targets 2 Longitudinal Offset T Aa Lateral Offset Target 1 Car X 195 0 0 25 rai Target2 Local Co ordinates Advanced Targets 1 to 4 can be configured either to track Target vehicles or to measure the distances to fixed points or feature points Note that the RT Range Hunter does not know the filenames of the fixed points If you receive the RT Range data on a computer that does not have the fixed point files for example then the software automatically creates a file and gives it a name The RT Range searches all the files in the fixed point file directory in order to find the fixed point that matches Fixed Point Mode To change the fixed point that
100. olygon 118 Oxford Technical Solutions RT Range User Manual Qaxrs For example in Figure 90 the red hunter is tracking the edge between points 1 and 6 Assuming that the hunter is overtaking the target then the range velocity forward longitudinal will be approximately the difference in speed between the hunter and the target vehicles Another interpretation would be that the range velocity forward would be zero since the intersection point is also moving which is not what the RT Range outputs This interpretation avoids large jumps in range velocity lateral when the blue hunter turns and the point tracked jumps quickly possibly immediately from point 2 to point 3 The velocity implementation in the RT Range may be different to the velocity used by other sensor systems Errors in Heading At large distances the heading accuracy of the RT has a large effect on the lateral range measurement Although the RT3002 system can measure heading accurate to as low as 0 1 degrees this can cause the lateral range measurement to have significant errors in it Table 51 shows the error in the lateral range for a 0 1 degree error for different distances Table 51 Lateral Error for different Ranges for 0 1 deg Heading error Range to Target Lateral Range Error 5m 0 9cm 10m 1 7cm 20m 3 5cm 50m 8 7cm 100m 17cm Lateral Velocity Effects Consider the lateral velocities of the hunter and target vehicles in Figure 91 they are both zero Yet th
101. on Wizard 51 94230158 1 2 51 94234712 1 2 51 94239252 1 2 51 94243809 1 2 51 94248452 1 2 Show this point 531 on the graph m m Set Start Line From this point 531 2282 1 2 Reset highlighted rows 66871 1 2 Reverse all points i401 1 2 Delete this line Psea2 1 2 51 94280413 1 2 51 94284988 1 2 519428956 1 2 51 94294134 1 2 ma minannmem aan Note that the start line is directional and will only trigger in the direction of the map Define Start Line Position Once the start line has been set the Define Start Line position option will display Start Line Position Wizard dialog This allows the user to change the start line width e Oxford Technical Solutions RT Range User Manual Qaxrs Figure 33 Setting the Start Line in the Map Creation Wizard Start Line Position Wizard Jol Line4 rtrl selected of point 2 Please select the Line width 5 meter Start Line Orientation Line Point ALat 051 94218138 Line PointA Lon 991 24992954 Line Point B Lat 51 94196844 Line Point B Lon 001 24928800 Close Finish Options This menu has options to save the map file Note that map files cannot be saved until a start line has been set Save This option saves the map file to the last file that was saved This will be the file specified in the initial page of the RT Range software or the last file that was specified using the Save As option Save and Quit This option
102. ons RE Renge User Manual lars The user can specify the measurements displayed in each window Figure 25 Clicking the Add Measurements button will open a new window in which the user can select the required measurements for each individual window Figure 26 shows the Add Measurements window Figure 25 Add Measurements in the Configure Display window Windows Window Window2 Window 3 Window 4 Window 5 Window 2 Enebe Sowo Measweren Jum Twe Se d coge RT Range Longitudinal Range Target m EEE Tet v Sma z pooo RT Range Lateral Range Target m E Text smat a ooo RT Range Resultant Range Target m IEA Text Smal pooo RT Range Angle to Target jds v Text Smat KK RT Range Forward Time to Collision Targ fs x tet smat Dox RT Range Lateral Time to Collision Target1 kb xz E tet vls XXX XX RT Range Forward Time Gap Target fs gt tet smai gt DOXA RT Range Position Target1 X m zE Tet SS XXX XX Ringe Postion Target m EEE Text Smal OOK aaaaaaa a ae There are three types of items that can be inserted Graphs Text or Alert Bars Revision 131210 Ea Figure 26 Add Measurements Window Range GPS Time hh mm ss ms Position Hunter X Position Hunter Y Heading angle of Hunter Number of Targets Forward Hunter Velocity Lateral Hunter Velocity RT Range Firmware Dev ID Hunter output latency s Position mode of Hunter Chars recei
103. osition where the X and Y values will be zero You can also specify the angle of the X axis for the grid Normally the X axis will be north and the Y axis will be west However sometimes it is easier to have the X axis and therefore the Y Revision 131210 a Oaxrs axis in a different direction The X axis Angle field can be used to specify the direction of the X axis relative to north for example a value of 90 degrees will mean that the X axis points east Note that normally the RT has the Z axis pointing down For the Local Co ordinates the Z axis points up This is so the position plots in the same way as a map You don t normally look at maps from below and if you did the directions would be wrong Range Latency The measurements from the target vehicle are transmitted via Wireless LAN or via radio This inevitably leads to some delay in the measurements from the target So that the RT Range can output without any delay the position and velocity of the target vehicle has to be predicted This prediction can lead to small errors during acceleration transients jerks The prediction has no error when the acceleration is constant To avoid or reduce the problems when there is jerk the range output of the RT Range can be delayed This delay allows the communication link s to transmit the data and therefore no prediction is required The delay is constant and is chosen by the user If the communication link s still have not
104. ot computing the lane position then the Line Number on Left of Point A will be FFh and the measurements will be 8000h full scale negative 102 Oxford Technical Solutions RT Range User Manual Qaxrs Table 15 RightLineLateral Line on Right of Point A Identifier 7A2h 1954 Description 0 16 S m 0 001 O RightLinePosLateral Lateral Distance from Point A to Line 16 16 S m s 0 01 O RightLineVelLateral Lateral Velocity from Point A to Line 32 16 S m s 0 01 O RightLineAccelLateral Lateral Acceleration from Point A to Line 48 8 U RightLineNumber Line Number on Right of Point A 56 8 U Reserved Note When the RT Range is not computing the lane position then the Line Number on Right of Point A will be FFh and the measurements will be 8000h full scale negative Table 16 Lines1To4PosLateralA Lines 1 to 4 to Point A Identifier 7A3h 1955 Description 0 16 S m 0 001 O LinelPosLateralA Distance from Point A to Line 1 16 16 S m 0 001 0 Line PosLateralA Distance from Point A to Line 2 32 16 S m 0 001 0 Line3PosLateralA Distance from Point A to Line 3 48 16 S m 0 001 O0 Line4PosLateralA Distance from Point A to Line 4 Note When the RT Range is not computing the lane position then the measurements will be 8000h full scale negative Table 17 Lines5To8PosLateralA Lines 5 to 8 to Point A Identifier 7A4h 1956 Description 0 16 S m 0 001 0 Line5PosLateralA Distance from Point A to Line 5 1
105. r Target Navigation Messages i Target Status Target Target2 Status Target3 Target3 Status Tac 41 gt Lane Lane Status Navigation Measurements Check Identifier Data Rate TargetD ateT ime Disable 700h 100 Hz TargetLatitudeLongitude Disable TargetAltitude Disable TargetVelocity Disable TargetVelocityLevel Disable TargetAccelVehicle Disable Target amp ccelLevel Disable TargetHeadingPitchRoll Disable TargetRiateVehicle Disable TargetRateLevel Disable TargetT rackSlipCurvature Disable TargetPosLocal Disable TargetVelY awLocal Disable Select All Clear All Save DBC File a Identifier Data Rate TargetGpsStatus 300h 100 Hz TargetReserved Disable TargetReserved Disable TargetPosNEDStdev Disable TargetVelINEDStdev Disable Target ngleStdev Disable TargetGyroBias Disable TargetAccelBias Disable TargetGyroSt Disable TargetGyroBiasStdey Disable Disable Disable Select All Clear All Save DBC File J ao Oxford Technical Solutions RT Range User Manual Qaxrs The target status messages are configured slightly differently compared to the other messages The Ethernet transmission from the RT to the RT Range does not transmit every status message every 100Hz or 250Hz cycle instead only one status message is transmitted each cycle The RT Range will apply the same principle Only one status message w
106. r of targets 4 z a e Commit Target Type IP addressMocation Finish Target 1 Mobile Target vw Target 2 Mobile Target vw X Target 3 Fixed Point v o Target4 Feature Poit w Feature point file FPCarparkTest ftl z Confidenthy Accurately 5 es Dev ID 131127 14bd lt Back Next gt Cancel SS ee Select the IP addresses of all the RTs that are going to be used When using fixed points or feature points the IP address cannot be set this can be changed later with the Quick Config page For more information on using fixed points or feature points see the Quick Configuration page for fixed points or feature points Select the data rate of the RT that is in the hunter vehicle For an RT3000 select 100 Hz for an RT4000 select 250 Hz For RT2000 products select the output rate of the product being used It is not possible to change the number of targets without resetting the RT Range If you intend to use one target at the start of the test and then have more targets later then it is best to choose all the targets that you want at the start and ignore the extra outputs until you need them It is possible to have more than one target with the same IP address The RT Range can then configure each of the targets separately even though they are using the information from the same RT After setting the IP addresses correctly click Next to move to the next page a Oxford Technical Solutions RT Range User Manual Qaxrs Car
107. r vehicle so a longitudinal lateral and resultant range can be measured The RT Range supports up to 4 targets Revision 131210 a Oaxrs The measurements in the target vehicle are transmitted by radio back to the hunter vehicle The RT Range computes the distances velocities accelerations and other parameters about the vehicles The radio is a high speed Wireless LAN Because of radio delays the RT Range will predict the position of the target vehicle so that the measurements can be output in real time with a low latency The RT Range can also operate with a fixed delay so as to give the radio time to transmit the data and reduce the error in the prediction The effect of prediction is discussed later Typically the radio delay is 10ms and there is no degradation in performance with this delay Even when the radio delay is up to 50ms the error in range is very small less than 1cm Figure 2 Range Measurements Between Two Vehicles tudinal Range Longd tetera Range Hunter cp Target The measurement points on the hunter vehicle and on the target vehicles can be different to the position of the RTs and different to the positions of the lane measurement positions This makes it easy to compare the RT Range measurements to those of a radar mounted on the front of the car The target vehicles can be represented as polygons and the hunter will then track the closest distance to the polygon including interpolating betw
108. rl line5 ctrl line6 ctrl The Clean Up Line Tool automatically identifies the lines that need some attention and only shows these in the dropdown list To start the process of cleaning up a line select the line from the dropdown list and click on Start This will display the Clean Up Line dialog box as shown in Figure 35 Figure 35 Clean Up Line Dialog Box in the Map Creation Wizard Clean up line 1 rtrl Description Angle is too high 179 505 deg Show Next Point aa Oxford Technical Solutions RT Range User Manual Inertial GPS The Clean Up Line Tool will zoom the map to a 1m grid spacing automatically Then it will highlight the point on the line that has violated the rules The user has the option of deleting the point or moving to the next point The Clean Up Tool will highlight the first point that violates the rules This violation will be based on points that are both behind and ahead of the current point It is not necessarily the first point that is wrong Figure 36 shows a point that has been highlighted by the Clean Up Line tool This point violates the rules because the angle to the next point is too large i e the line is not straight enough It is clear to the user that it is the next point that is in error and the current point should not be deleted By clicking Show Next Point the user can skip this point and move on to the next point Figure 36 Clean Up Line Example Point
109. s on Reset in the pan option then it redraws the map centred on the current location given by the RT The keyboard arrow keys can also be used to pan the map Figure 18 View Options of the Line Survey Wizard Add point option menu This menu controls how the points are added to the line file The Add Point menu is shown in Figure 19 Figure 19 Add Point menu of the Line Survey Wizard SP Add Point Here qm AdjustAutoAdd ON v Add Points Here The Add Points Here menu allows you to add a point to the map at the current point This can be used as a manual method of adding points it can be used to add a point when the auto add feature is off or it can be used to add in special points in between the points that are automatically added Revision 131210 Es Oaxrs Adjust Auto Add The Adjust Auto Add menu allows you to add points without interacting with the laptop This can be easier to use on a trolley in bright sunlight than the laptop mouse Figure 20 shows the options for the Auto Add Trigger Figure 20 Adjust Trigger Options of the Line Survey Wizard O Adjust Auto Add Trigger Setup IW Add Point Every 01 000 m Add Point Every 5 Play Sound On Trigger OK Cancel Add Point On Trigger When this option is selected the Line Survey Wizard will add a point when a trigger is sensed on the RT s Event Input Add Point Every m When this option is selected the Line Survey
110. sed and on any theory of liability whether in contract strict liability or tort including negligence or otherwise arising in any way out of the use of this software even if advised of the possibility of such damage Copyright Notice Copyright 2013 Oxford Technical Solutions Revision Document Revision 131210 See Revision History for detailed information Contact Details Oxford Technical Solutions Limited Tel 44 0 1869 238 015 77 Heyford Park Fax 44 0 1869 238 016 Upper Heyford Oxfordshire Web http www oxts com OX25 5HD Email support oxts com United Kingdom 4 Oxford Technical Solutions RT Range User Manual OaXTs OTA Lad Table of contents Introduction 6 Lane Position Methodology 6 Range between Multiple Vehicles Methodology T Range to Fixed Points and Feature Points Methodology 8 ABD Robot Connection 9 RT Backpack for Pedestrians 9 Outputs 9 Target CAN 9 Scope of Delivery 10 Battery 13 Specification 15 Warranty 17 Installation 18 Hunter Vehicle Wiring 18 Target Vehicle Wiring 19 Physical Installation 19 CAN Bus 20 RT Configuration 21 RT Processing Platform 21 IP Addresses 21 Wireless LAN SSID 22 Survey Trolley Assembly 23 Survey Trolley Installation 24 Software 28 PC Configuration 29 Anti virus Software 30 Line Survey Wizard 30 Overview 30 Selecting a Line Filename 31 Connecting to the RT 31 View Options menu 33 Revision 131210 a Oaxrs Add point option menu 33
111. solely to product replacement or product repair at an authorised location only Determination of replacement or repair will be made by Oxford Technical Solutions Limited personnel or by personnel expressly authorised by Oxford Technical Solutions Limited for this purpose In no event will Oxford Technical Solutions Limited be liable for any indirect incidental special or consequential damages whether through tort contract or otherwise This warranty is expressly in lieu of all other warranties expressed or implied including without limitation the implied warranties of merchantability or fitness for a particular purpose The foregoing states the entire liability of Oxford Technical Solutions Limited with respect to the products herein Revision 131210 Ea Oaxrs Installation The installation of the RT Range here assumes that the RT systems have been installed correctly in the vehicle already Some settings in the RT need to be correct for the RT Range these are described here Hunter Vehicle Wiring The wiring diagram for the hunter vehicle is shown in Figure 6 Figure 6 Wiring Diagram for RT Range Hunter Vehicle RT Range RT3000 Hunter 400MHz Wireless LAN Antenna 14C0038A Ethernet to CAN Power PC Display A switch or trigger can be connected to J5 and used to trigger logging in th
112. ss LAN Antenna with 3m cable ReSMA connector and magnetic base 1 RJ45 RJ45 2m Ethernet Cable UDP straight 1 Power Lead M12 to Cigarette Lighter 1 RT Range Manual 1 RT Range Software CD Figure 3 Image of RT Range Hunter with Components Note The supplied antenna is now different to the one shown here Revision 131210 a Table 2 RT Range Target Vehicle Components Qty Description 1 RT Range Target 1 Wireless LAN Antenna with 3m cable ReSMA connector and magnetic base 1 RJ45 RJ45 2m Ethernet Cable UDP straight 1 Power Lead M12 to Cigarette Lighter Figure 4 Image of RT Range Target with Components ET RT Range Note The supplied antenna is now different to the one shown here A Oxford Technical Solutions RT Range User Manual Qaxrs Table 3 RT Range Survey Trolley Components Qty Item Description 1 1 Base Plate with wheels attached 1 2 Lower Frame Assembly with Radio Antenna Plate attached 1 3 Upper Frame Assembly 1 4 Fixed PC Shelf 3 5 Antenna Pole Sections 1 11 GPS 702 GG Antenna 2 6 Joint Slugs 12 7 M6x12mm hex socket screws 12 8 M6 Washers 4 13 M4x40mm countersunk bolt with locking nuts 4 12 M4 Nuts 4 14 M4 Washers 1 9 UNC Bolt 2 10 1 U Bolt with plate and nuts 2 15 Bungee Straps 1 16 Battery connection cable 1 Battery Charger 1 Mains Cable 1 Trigger switch Note Some of these components might already be pre assembled on delivery Item numbers refer to the assembly drawing in Figure
113. start the logging when a falling edge or a rising edge is detected on the Event input of the chosen RT Check the Start line of to start the logging when the chosen RT crosses the start line chosen in the dropdown list This is grey in Figure 53 because no start line is selected The directory where the start line files are stored can be changed using the button To define a start line click the Edit box which opens the Define start line dialog box as shown in Figure 54 EI Oxford Technical Solutions RT Range User Manual Qaxrs Figure 54 RT Range Logging RCOM Data Define start line g Define start line File Name Entry to straight 2 a Use map file start line Get Position From m Set start line at RT s position Use AT i Fix here Line length 10 020 m 7 Line position Left edge Latitude 51 92964512 deg Longitude 1 251 20501 deg Right edge Latitude 51 92964884 deg Longitude 1 25105946 deg Ok Cancel To define a start line enter a name from the File name editable dropdown list Selecting an existing line will overwrite it with the new line Use the button to select the directory where the start line files will be kept To use a start line from an existing map choose a map from the dropdown list in the Use map file start line group box The button can be used to select the directory where the
114. systems are normally delivered with the wireless LAN configured in AdHoc mode Older systems have used Access Point Client mode and Bridging mode Oxford Technical Solutions RT Range User Manual Qaxrs Oxford Technical Solutions has documents describing the Wireless LAN setup and how to change it Please contact us if you need to change the Wireless LAN Survey Trolley Assembly The Survey Trolley is shipped partially assembled Figure 10 is an exploded view showing how to assemble the survey trolley Table 3 lists the numbered parts Revision 131210 Ee Figure 10 Survey Trolley Assembly Survey Trolley Installation The survey trolley has been designed to carry the RT a battery and a laptop computer The GPS antenna on the survey trolley is sufficiently high so that there will be minimal EI Oxford Technical Solutions RT Range User Manual Qaxrs interference from the operator The position measurements are displaced to the front right wheel so that this wheel can be pushed along the road markings The displacement will be accurate even when the survey trolley is at a significant angle e g on a road with a large camber The RT should be set up on the survey trolley facing the rear and clamped down securely so it cannot move The installation on the survey trolley is shown in Figure 11 Figure 11 Survey Trolley Installation An iron plate is provided to hold the magnetic antenna for the radio modem The
115. t is not hidden behind other targets RangePolygonInside Check whether the hunter is inside the target polygon If this is true then the answers may be incorrect and the vehicles may have crashed Please note that this field is not available in RCOM data RangePolygonLeftPoint Polygon point number to the left of the closest range to the polygon RangePolygonRightPoint Polygon point number to the right of the closest range to the polygon Table 41 RangeFeatInfo Range Feature Point Information Identifiers 7B9h 1977 7C9h 1993 7D9h 2009 7E9h 2025 Description RangeFeatId Feature Point ID The ID of the feature being tracked is only valid when it is not one of 0000h disabled FFFEh unknown or no feature selected and FFFFh invalid RangeFeatT ype Feature Point Type The type of the feature being tracked is only valid when it is not one of 00h disabled FEh unknown or no feature selected and FFh invalid pa Oxford Technical Solutions RT Range User Manual Qaxrs Table 42 RangeOffset Offsets to the range measurements Identifiers 5B0h 1456 5COh 1472 5D0h 1488 SEOh 1504 Description 0 16 I m 0 001 0 RangeOffsetForward Value added to the longitudinal range before it is output 16 16 I m 0 001 0 RangeOffsetLateral Value added to the lateral range before it is output Note The range offsets are used to make minor adjustments to the range measurements Table 43 RangeFixedPo
116. t CAN bus is also shown however the limit may be far less than this if there are many other sensors on the CAN bus Typically ADAS testing has many other sensors so take care not to overload the bus Oxford Technical Solutions RT Range User Manual Inertial GPS Figure 68 Range Messages General el Rangel Status Range Range2 Status Ranges Range3 Status Ranged Rang 4 gt Range Messages Identifier Data Rate RangeForward 7B0h 100 Hz RangeLateral Enable RangeResultant Enable RangeHunterPosLocal Enable RangeT argetPosLocal Enable RangeStatus Enable RangeTimeGap Disable RangeLocal Disable RangePolygon Disable Select All Clear All Save DBC File Bj On the Range tab all the settings for the range output messages are listed The message can be enabled or disabled the identifier can be changed and the data rate can be set To adjust the options double click on the message that you want to change Figure 69 shows the Edit Message dialog box Figure 69 Edit Message Identifier in Hex 7B0h Data Rate i00 Hz 7 Identifier in Decimal 1968 lt lt Previous Msg Next Msg gt gt I Copy Previous OK Cancel Figure 70 shows the target navigation messages which can be configured in the same way as the range messages Figure 71 shows the target status messages Revision 131210 79 Inertial GPS Figure 70 Configurable CAN Messages fo
117. t file is created Figure 87 shows the Finish page of the RT Range Post Processing wizard EJ Oxford Technical Solutions RT Range User Manual Qoxrs Figure 87 Finish Page in the RT Range Post Processing Wizard Finish RT Ran g e Launch Windows Explorer Select Data Source Read Configuration Ch n Lane Tracking Mode open the csv file or 3 use the explorer to Target Files Setup find the output file Lane Measurements Range Measurements J Launch explorer on Options Vv T Select Fields Output Config Output Files Confidently Revision 131210 Ea Oaxrs Outputs The RT Range outputs its data over Ethernet and over CAN The Ethernet output is proprietary and is not described here contact OxTS for more information The CAN bus output is described in this section of the manual A CAN DBC file is generated by the RT Range Configuration wizard in the CAN page This DBC file reflects the configuration of the CAN bus that the user chooses The CAN bus output does not include a termination resistor It is essential to include a 120R resistor at each end of your CAN bus between CAN High and CAN Low You should also connect the ground of your CAN bus Table 10 shows the pin connections for the Hunter CAN connector Table 10 Hunter CAN connector pin assignments Signal Pin CAN 2 CAN ground 3 CAN ground 6 CAN 7 Other pins not connected internally CAN Bus Messages Table 11 and Table 12 list the CAN
118. t point and the previous point i e not as far along the line Delete This Point The Delete This Point function deletes the selected point Move The Move function allows the user to move the selected point Spreadsheet Viewer The spreadsheet viewer shows numerical values for all of the points in the correct order Lines that are loaded in reverse will be shown with the last point of the line in the first row of the spreadsheet viewer Points that are highlighted on the Map View will be highlighted in the spreadsheet viewer By right clicking on a row of the spreadsheet viewer the spreadsheet pop up menu will appear This is shown in Figure 38 4s Oxford Technical Solutions RT Range User Manual Qaxrs Figure 38 Map Point Menu the Map Creation Wizard 51 9429739 1 24876979 132 346 51 94299075 1 24875403 132 323 o Show this point 62 on the graph 132 267 Set Start Line from this point 62 highlighted rows Ea Bessel re 132 218 Reverse a points 132 126 Delete this line 132 125 A 51 94313853 1 24862 132 037 51 94314003 1 2486183 131 999 51 94315181 1 24860742 131 976 51 9431641 1 24859595 131 957 51 94317191 1 24858865 131 954 Show this point on the graph This function centres the point corresponding to the spreadsheet row in the map window and highlights selects it Set Start Line from this point This function is used to set the point for this spreadsheet row as the
119. tudinal offset can be saved permanently in the RT Range or just used until the RT Range is reset To save it permanently select the Commit this setting to the RT Range so it remembers it after next reset option Lateral Offset The lateral range of the RT Range can be adjusted or offset to account for small errors in the configuration This is not a substitute for measuring as accurately as possible it is a quick technique for making small changes to the lateral range Clicking on Lateral Offset brings up the Quick Config window on the Lateral Offset page as shown in Figure 42 There may be a short delay while the software reads the current settings from the RT Range Revision 131210 a Figure 42 Lateral Offset in the Real Time Display Lateral Offset Adjust the Lateral Range to remove offsets Adjust Lateral Range of Target 195 0 0 25 7 Longitudinal Offset Lateral Range of Target 0 00 m Refresh Adjust Lateral Range by Range Mode Lateral Range after Local Co ordinates Advanced Just use this setting until the RT Range is reset Commit this setting to the RT Range so its remembers after next reset OK Cancel Apply The display shows the current lateral range to the selected target This is only refreshed when the Refresh button is pressed To adjust the lateral range enter the adjustment in the Adjust Lateral Range by edit box or use the lt and gt buttons to increment or
120. used by any of the RTs Normally the local co ordinates are configured as part of the RT Range Configuration Wizard but they can be set and changed quickly using the Quick Config window The RT Range Quick Config Local Co ordinates window is shown in Figure 48 Figure 48 RT Range Quick Config Local Co ordinates Window Just use this setting until the RT Range is reset Commit this setting to the RT Range so it remembers after next reset ae M Get Local Co ordinates from the RT on network Longitudinal Offset 195 0 0 25 Hunter Co Lateral Offset 7 A rE m Local Origin Base Latitude 51940463000deg CEYABCEN Base Longitude 1 235898200 deg Base Altitude 128 150m 83 X Axis Angle 80 380deg itt Confidently Accurately Local Co ordinates can be configured temporarily to the RT Range or they can be saved as part of the RT Range configuration To save them temporarily choose the Just use this setting until the RT Range is reset option in which case the original local co ordinates will be restored when the RT Range is reset To change the configuration choose the Commit this setting to the RT Range so it remembers after Revision 131210 Ea Oaxrs next reset option in which case the new local co ordinates will be saved and the old ones will be overwritten Using the RT Range Quick Config you can transfer the local co ordinate settings of any RT on the network to the RT Range This synchronises th
121. ved from Hunter LAN Packets received from Hunter LAN Chars skipped from Hunter LAN UTC Offset s Hunter IP Address Local Reference Frame Latitude Local Reference Frame Longitude r Add Cancel_ m m m o m o o o o o o o o o o o o 4 Once a Display Item has been added the user can change its properties by right clicking on the item as shown in Figure 27 Figure 27 Display Item Properties RT Range Line Survey Wizard 121107 14bd D E EJ Oxford Technical Solutions RT Range User Manual Qaxrs Display Items can be moved up and down by dragging and dropping them into the required position Display Items can also be moved between different windows in the same way Save Display Page This option saves the Display Page to the current file Save Display Page As This option saves the Display Page to a new file Spreadsheet Viewer This viewer is the spreadsheet at the bottom right of the window It shows the points that have been added to the map in numerical format Measurements of latitude longitude altitude heading north accuracy east accuracy down accuracy number of GPS satellites and GPS position mode are shown The user does not have the option to change the measurements properties of the spreadsheet These are the measurements that are saved in the line file and used to generate the map Map Creation Wizard The Map Creation Wizard takes the line files made by the
122. ved using the Real Time Display software Feature Point To compute the range from the hunter vehicle to a feature point select Feature Point from the dropdown list and select a feature point file ftl Lane Measurements Setup This is the same configuration page as the car lane measurements in the RT Range Configuration wizard It is provided so changes can be made to the positions of points A B and C in post processing This page will only be shown by the wizard if a map file has been selected otherwise it will be skipped e Oxford Technical Solutions Range Measurements Setup This is the same configuration page as the car range measurements in the RT Range Configuration wizard It is provided so changes can be made to the positions of the sensor bulls eye and polygon in post processing Options Figure 83 shows the Options page of the RT Range Post Processing wizard Figure 83 Options Page in the RT Range Post Process Wizard 6 ee a p g ng Options RT Ran e e Options to improve calculations Select Data Source Local Co ordinates Read Configuration Longitudinal Range Offset of Target1 Lane Tracking Mode Lateral Range Offset of Target1 Longitudinal Range Offset of Target2 Target Files Setup Lane Measurements EE EENE Lateral Range Offset of Target2 Longitudinal Range Offset of Target3 Select Fields Lateral Range Offset of Target3 Output Confi nee ae be Longitudinal Range Offset of Target4 Output
123. vey Wizard 2 Map Creation Wizard 3 Real Time Display 4 Post Processing Wizard Figure 13 shows the Initial Page of the RT Range Software Figure 13 Initial Page of RT Range Software ia Use this option to survey a new line for your map bnts OXT S RT Range Map Line1 rtrl Gd Map Use this option to combine several e Creation lines into one map ts OXT S RT Range Map Map1_ rtrm a download maps to RT Range and see Real Time Use this option to configure and Display Real Time result Use this option to reprocess the NCOM files from Hunter or Target to extract the Range or Lane measurements RTCommunicationPC dll Version 12 07 20 14bb PostProcessing dll Version 12 08 17 14bg RT Range 121107 14bd EJ Oxford Technical Solutions RT Range User Manual Qaxrs Line Survey Wizard The Line Survey Wizard is used to survey the lines lane markings on the road Several lines are used to generate a map file The line files have extension RTRL and consist of GPS information such as latitude longitude altitude number of satellites and measurement accuracy The Map Window of the Line Survey Wizard will show the position and orientation of the added points It also updates the current position and orientation in real time using the measurements from the RT Map Creation Wizard The Map Creation Wizard is used to create maps using the line files that have been recorded using the Line Survey Wizard This wizard gives th
124. zard Select Data Source RT Range Select NCOM file from Hunter AT i C RCOM file Read Configuration Select the NCOM file Lane Tracking Mode of the Hunter Target Files Setup Lane Measurements Range Measurements Options Select Fields Output Config NCOM File of Hunter Output Files C Data Circles S ome Circles ncom Finish Page Confidently Dev ID 110330 14bd Next gt Cancel Revision 131210 EX Oaxrs Read Configuration If you have saved a configuration in a file or if you want to use the configuration that is stored in your RT Range then you can load these in to the RT Range Post Processing wizard Figure 80 shows the read configuration options in the RT Range Post Processing wizard Figure 80 Read Configuration in RT Range Post Processing Wizard a RT Range Post Processing Wizard Read Configuration RT Range Choose where the initial settings should be read from Use default settings Read from a file Select Data Source Start with the default Lane Tracking Mode Load initial settings from RT Range values or load a configuration from a Target Files Setup directory or the AT Lane Measurements Range system Range Measurements Options Select Fields Output Config Output Files Finish Page Confidenthy Accurately eee Dev iD 110330 14bd Cancel Default Settings To use the default settings select the radio button The lane and range settings will co

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