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4. N 57 vi FIGURE 1 FIGURE 2 FIGURE 3 FIGURE 4 FIGURE 5 FIGURE 6 FIGURE 7 FIGURE 8 FIGURE 9 LIST OF FIGURES Basie E951 A1098 SICTHS TN 5 Suitcase Navigation System Context DiagTram se lt lt x19 1355356 6 WE el io Data FOW Diagram as een 7 Process NAVES I SCN c NER 8 INE A A S46 k t c s08 GE 9 DESHI UOMO or besien dm HE crer 0020450620162 i 13 DEsenpuomo Data Logger en 14 Deseription of Datar Loz2er Ons 15 Hardware Stuves oi Data Loren RE 29 I INTRODUCTION A BACKGROUND The research interests of the Small Navigation Data Logger System was initially sponsored by the Pacific Missile Test Center PMTC who uses various ships at their site and other locations around the world They often need to have the navigation data from the system that the particular ship uses logged and displayed This system can be one of many Accordingly PMTC desires a small portable data logger that will accept the inputs from any of several navigation systems It will have to interface with only one system at once The system should perform the function of Accepting the data logging the data displaying the data graphically plotting the data Real time navigation will often be done from this system There are several systems that either exist or are being proposed to perform functions like this Most are expensive and require large amount of memory I
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7. OUTPORT P2 SYSTEM BYTE NUMBER Put LSB on 3f8 or 2f8 OUTPORT P3 00 Put MSB on 3f9 or 2f9 OUTPORT P1 03 Set parity stop bit as 8 NONE 1 OUTPORT P4 03 Set moden control register OUTPORT P3 00 Disable line control register RATES P1 P2 P3 P4 Setup the transmission rate Operation 2 External Nav_Sensor operation setup Port VO Set up the connecting ports to transmit sensor data Value Type of the measurement value position data or measurement data Send_Rate How often the data flow is set up the baud rate Note operation 2 is operated externally by user Operation 3 LOGGER Log and Convert Operations a logger to process GET CHAR and logging OPEN FILE OUT_FILE NAME gt POS OUT Open buffer file to write GET_CHAR Function to get and return the value PUT A_CHAR put data on the screen PUT THE FILE A CHAR Put while convert data in the file PUT FILE A CHAR Put while convert data in to buffer file CLOSE FILE Close buffer file CLOSE THE FILE Close the raw data file function GET CHAR Get value from the assigned sensor in generic type SYSEM BYTE then convert the value into any desire format in the operation INPORT PORT1 LINE Check 3fd or 2fd for data available TSTBIT INTEGER LINE 0 Find out the status CLRBIT LINE_INT 0 Reset the test bit OUTPORT PORT1 SYSTEM BYTE
8. WN REF LAT REF LON REF HGT LAT OFESET LON OFFSET HGP OFF SV POSAV G PDOP EL AGE MIN MAX REF FRO 0587 36 35 9000N 121 52 5990W 0020 0 00 00 0000N 000 200 1 000020207 20000 10 OO NE 4 0 000E 00 ID DAY DOY DATE TIME LATITUDE LONGITUDE HGT PDOP CLOCK V VE LAH VEL HDG FREQ OEE SET CONT Soe SVS 00 MON 098 08 APR 91 21 24 03 36 35 9482N 121 52 5926N 00 HE RE 30926370007 03 000 00 000 0 5 4522E gt 11 0043471819 VER 00 WED 059 28 FEB 90 07 08 13 36 18 2773N 121 59 7371W OO Ma 687719 000 01 002 76 173 8 4 24269 11 002472 NS HER N 00 WED 059 28 FEB 90 07 08 29 36 18 2653N 121 59 7351N 00 mm 687720 000 00 002 79 169 6 4 4440E T1 0025 4 11 3 ET 00 WED 059 28 FEB 90 07 08 44 36 18 2569N 121 59 7421W 00 UREE 72 687785 000 00 002 78 167 0 3 2741E 10 002605 Soda 00 WED 059 28 FEB 90 07 08 59 36 18 2455N 121 59 7375W UA 687785 000 00 002 84 160 5 9 1ST7EZIF 0027 ESP 00 WED 059 28 FEB 90 07 09 32 36 18 2230N 121 59 7229W 0 1 687191 520002002002 85 143 9 3 827 3E 7 IN 00 R ME IN 00 WED 059 28 FEB 90 07 09 50 36 18 2134N 121 59 7046W 001 687757 000 01 002 75 133 4 7 8132E 170007 4 11 9012 TEE 00 WED 059 28 FEB 90 07 10 05 36 18 2060N 121 59 6937W J000 EE 687758 000 00 002 64 125 3 7 4215E 11 000274717 3 MENT 00 WED 059 28 FEB 90 07 10 20 36 18 2004N 121 59 6820W 00 CM EE 687760 000 02 002 54 116 6 7 5696E 11 0003 4 11 53 127 73 00 WED 059 28 FEB 90 07 10 35 36 18 1965N 121 59 6698W
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10. MM de shp Bd obs Myte ct east ATA 1 gt ar t e 2 a rts ee EG mel TY JUANA she aprte dira 3 Im kb er i vos ge r ves TY de SA A EAN AAA ES E y4 VER Leaks rac a AA ya Abm aaa Sub E Er ta y mat Pee 4 innse 2 8 ot UE BGA De a apa Dann Fab be NA PASAN c4 bh A Na Ar A SEINEN e medl a 6 N L ND SN AAA MD ode DERA N Ai bep de nl AG s t a ake bed Ae best ae TREES eg NER gt ree pak pad on sin A es TROM nd fes Fr A A rer A Ao mph pet ee E Casado ears of 8 myte rra sade Ani en er l ee rt A Mor ca se an Radar Dene ken am Br de she ra ado p N pet u ay i ev tees wee res PARTE et eel we tae mA SPAS c hp ee f r ss hud fak dead od ot je gt h A R vu Dra med jod bia nn ted SAT YO pad BANA ren bP re r i 1 as Perl ya rd T p ye rd Y drr fen itz whack Bar ET gt de 5 t ch r Se o mas sd 48 A A a o gt pen ol did re Ee Te dek ju de Wa h Au o J i F eg madrid AS ones Burke A Pga Uren be A US ES IG na prole ds 2 k TER ER m hb dones ne arena ran RT PN 2 ch t antas ver mid f s ts gt ep EE RR r e ae S be ca gt PN be vd yl i s f q Y a P neh o haa EY se nh po PERO Ad ar crs HE ng he hiding Reps an rd 7 ti had Hef AS reg hp AJ E Ta e e Aef do da vi Seana rd Dr mad sees LLE drr dd ea mto t opa a he gt a wm pesos ap EP vasi 1 Je E p A 1 E a EIER IE HR AAA E A of Lis TEE ce
11. i i age m JE p th En bay WP ANY ni pha v Py res A vel Ms CS RS DOS DES OS SIEHT ae Thy TES ny a ete o ping V Mi ee og ENT Sy IL GA t t 4 a F ad A ha da pe GN Pl _ gt so P EM j GY Ay b f get i 7 nern g ffs a gt ard AR FY y O S T E NAVAL POSTGRADUATE SCHOOL Monterey California THESIS THE NAVIGATION DATA LOGGER FOR A SUITCASE NAVIGATION SYSTEM by CHIN YU CHI June 1991 Thesis Advisor Dr Uno R Kodres Approved for public release distribution is unlimited 1256815 ve UNCLASSIFIED SECURITY CLASSIFICATION OF THIS PAGE REPORT DOCUMENTATION laa NS N ST Ke for bic release distribution is unlimited 6c ADDRESS City State and ZIP Code 7b ADDRESS City State and ZIP Code Monterey CA 93943 5000 Monterey CA 93943 5000 Ba NAME O UND ORGANIZATION 8c ADDRESS City State and ZIP Code TE EOE REPOR D TIME COVERED 14 DATE OF REPORT Year Month Day P JUN SS TINH i ARY NOTATION he views expressed in this thesis are those of the author and do not reflect the off c e E or position of the Department of Defense or the United States Government COSATI CODES FIELD GROUP SUB GROUP 19 ABSTRACT Continue on reverse if necessary and identify by block number This thesis presents the design implementation and description of a Data Logger for the Suitcase Navigation 18 SUBJECT TERMS Continue on revers
12. jo 42 ie 9 13 4 1 3 so 13 ES 6 13 y T E 3108500 1 6 SUS Zea 4 13 3402 5 1 6 8 082 37 3 320023 T Bo 608238 0 402 571 6 608237 7 3403 0 1 6 608237 4 5101 608257 26 3401 9 1v 60823779 3400787 IIAG 608238 6 4073620 4073621 42073620 40736215 4073621 4073621 4073621 4073621 OG 3 2 F4 E4 E4 E4 E4 F4 F4 F4 APPENDIX IV Ada Program Examples Example 1 UNIT_NAME DATA_IN A CSCI_NAME UNIT DESCRIPTION THIS PROGRAM IS DESIGNED FOR RECIEVED DATA FROM EXTERNAL DEVICE AND DISPLAYED ON THE SCREEN INPUTS GPS DATA FILES i e line56 dat OUTPUTS read on the screen CREATED 13 March 1991 AUTHOR Chin Yu chi ADVISOR Dr Uno R Kodres DATE AUTHOR REVISION PR TITLE 0313 1991 Chin Yu chi 1 DATA_IN A with BIT TEXT2_IO use BIT TEXT2_IO procedure DATA _IN s PORTNUM INTEGER 1016 VALUE SYSTEM BYTE begin INPORT PORTNUM VALUE PUT LINE Port number amp INTEGER IMAGE PORTNUM amp is currently amp SYSTEM BYTE IMAGE VALUE PUT LINE DATA RECEIVED pr end DATA_IN 43 Example 2 with BIT TEXT_IO use BIT TEXT_IO procedure TEST 12 is LINE_INT PORTNUM INTEGER LINE DATA VALUE SYSTEM BYTE COUNT INTEGER 0 package INTEGER_IN
13. line register 2fd PORT2 760 com port number 2f8 PUT LINE You ve set Port 765 and Port2 760 when others gt 23 PUT_LINE Wrong key Sorry you should be more careful end case end INITIAL A procedure to set the system baud_rate procedure BAUD_RATE is CH INTEGER procedure RATES PI P2 P3 P4 in INTEGER is NUMBER SELECTION INTEGER begin OUTPORT P1 128 access Baud Rate Divisor PUT_LINE SET THE SYSTEM BAUD RATE AS YOUR DESIRE PUT LINE SELECTION IS PUT LINE 1 1200 E PUT LINE 2 2400 N PUT LINE 3 4800 PUT LINE 4 9600 gt NEW_LINE GET SELECTION case SELECTION is when 1 gt NUMBER 96 Baud Rate 1200 PUT LINE YOUR SYSTEM BAUD RATE IS SET TO 1200 NOW when 2 gt NUMBER 48 Baud Rate 2400 PUT LINE YOUR SYSTEM BAUD RATE IS SET TO 2400 NOW when 3 gt NUMBER 24 Baud Rate 4800 PUT LINE YOUR SYSTEM BAUD RATE IS SET TO 4800 NOW when 4 gt NUMBER 12 Baud Rate 9600 PUT LINE YOUR SYSTEM BAUD RATE IS SET TO 9600 NOW when others gt 24 PUT LINE WRONG SELECTION TRY AGAIN end case OUTPORT P2 S YSTEM BYTE NUMBER convert the number into system byte put LSB on 3f8 or 2f8 coml or com2 set Baud OUTPORT P3 00 put MSB on 3f9 or 2f9 OUTPORT P1 03 8 bit no parity one stop 8 NONE 1 OUTPORT P4 03 set modem control r
14. Code 4 Display current position data AO se 21 D PROGRAM CODING 22c ee ed se sesse en on ee nh 22 V DESCRIPTION OF THEDATA_LOGGER 29 A THE REQUIRED PROGRAM STRUCTURE ee oo 29 1 Hardware Structure 2 4 eene IE ch 29 2 Software Structure e a see Ee oe dee eed ae saag Ge see ee ee oe ee 30 B ADVANTAGES OF THE DATA_LOGGER rer eo RR 30 C USER s MANUAL 22200004600000000 osse ed di ede ode ee oes coca sae ea en sae EE ner ett tt tam 31 VI CONCLUSIONS AND RKECOMMENDATIONS ee 32 A CONECLUSIONS 000000000snnsenensnannessnnee 01c 32 B RECOMMENDED FOLLOW ON WORK 222 2 222 x00600 1000 32 APPENDIX I GPS Trnmble 4000S en ee e inet aaaa an 34 APPENDIX THPT edefinelPACKEAGEBDI S eN 37 APPENDIX III SAMPLE DATA sees esssse sees sees sesse es sesse see see de nenn ann na canta ca ae ae ER EE 38 APPENDIX IV Ada Program Example sessisde sees sees see osse es cos ees dava co cuco dee eke o RA E 43 APPENDIX V USER s MANUAL Operations and Response es see esse es se ge ese ees 31 APPENDIX VI TEXT NOTES FROM GRADY BOQCH inn ee 54 LIST OF REFERENES Gene een caso ono o a 56 INITIAL DISTKIBU HIONLISI
15. arne da hd he ge comedo ik t S C EAn Siris Gram qe Hat Fee very o onse ep PU era fo DA bed ER was sr e dl J e Proa y a o Ho kel heads ei Er psd Das p pose ete yy ere RE ER boeg A a 4 4 Ys sui ae oy v ng ade Xek2aeeC 7b tyi di QU vie x Sa er da ds de avs f WPS ie ge ri M NE eN N AN 1 Ar apen event s T Ve Pb du abre F ar o a vata el P d H ged fyre N ieran ta AN TYE NG de se Si tp SN m ea Mun di ont for ua Grad GN GO es PE ete y he RARE ME Lo N Spee ay 5 ia AAA fee id wit sy nm VIE oe ER E a es putos tetas Pere deylaevitis od S faris tan Mir SARA 196 s 87 wi Sic p b elii Va e OE Y pa fe EA HADES ov bA y n an ee Reka ta ut Yor eg t gt Pe L049 Ws A ve k oord Gie LTT e Ed waren je O Mede PD fe do pl o f aim t2 nd li gt MN are 3 E raue o me AG Zeche fo t i KRUNE de Lid fore tu Fe aa AS ina le av WE bag ay oF 3 eo wes N no pura oe Me TEIT rg gt a we poi Sree TES ve gt Eno at barba p d Ye ua p to R wees ete yee xi hy vee re ann cana EE CET ES DR o EE EST pasas Grawe e e hd e oie no amp E o Eeg Pe She it O Fe Ee ed E fx Vision PELE AD ole VERSA are Aaa io Hes ay Ow see po lied sE em Pera Fant ok ie PA x aa n buy de de is N TOT rin pale Ea da ta te UAI sang BEER EMV Ee F er Dig e RR que Pat NARAD Pr ERLERNT nix t dlrs a1 Ha hege ie
16. navigation sensor data In order to achieve this basic requirement we start from data format analysis and single byte transmission finally we programmed the Navigation Data_Logger software system s we may recall from chapter 4 the performance of the Data_Logger is demonstrates that it is quite efficient mainly for logging messages from GPS and transmitting data to Screen Raw_data file and Buffer file User can view the data on the screen store the data in Raw_data file and get the hard copy from buffer file The conclusion arise from our Navigation Data_Logger System design is that Ada is an high level language but it can be used to handle low level I O and support the software design in high level programming B RECOMMENDED FOLLOW ON WORK As stated in Chapter this thesis is directed to the GPS represented by Trimble 4000 for the Suitcase Navigation System It is our hope that it can serve as a firm foundation for future and more enhanced implementations During the process this thesis was being developed many new ideas were brought up We would like to give some suggestions for future enhancements in the system 1 The database of Data_Logger should be the first concern of the program in the near future For long term survey we need a database manager support our Nav_Sensors data processor 32 2 Different external sensors will be the second problem The system I O ports concurrence and real time programming can be
17. 00 90 687761 000 00 002 45 107 9 7 5028E 11 0004 4717 2 17 Fe 00 WED 059 28 FEB 90 07 10 50 36 18 1959N 121 59 6600W 00500 687746 000 01 002 36 10022 17 49 1E HO A AZ SV EL AZM N IODC CONT GPS TIME AVG LAT AVG LON AVG HGT NO RMSLAT LON HGT AVGCLK CLK RATE AVG FRO 11 31 037 13 0462 0005 285056 512 36 16 1959N 121252 on 0034 6 0001 00 00 00 00 00 00 687746 0 0000E 00 7 29 LE l 03736 331 0 VON ENE 12 12 72 2787175 00292002 es Er 06209 159 11 0228 00052728505 0512 40 PART TWO FROM TRIMBLE 4000 XS FUNCTION PRINT MODE MEAS 1 62465152000E 08 2 97336525754E 05 4 09017287885E 06 9 797 9614248 9E 05 Be 2951 2450869E 05 5 19603100000E 06 2 08923525974E 07 2 97319082170E 05 1 8 0110329726E 01 0 00000000000E 00 0 00000000000E 0000900102218 6246515200 0E 08 3 470368450 MEET 4209 733910626706 4 02280631719E 05 4 02282417503E 05 5 18200400000E t06 2 06316314375E 07 73 4696650315466E 04 7 291986 95 18 7E 02 0 00000000000E 00 0 00000000000E 0000300102019 1 62465152000E 08 5 47442764476E 04 4 09390 foe oon LOG 7626662 4958540E 04 6 66629219876E 04 1 79614000000E 05 2 35639205651E 07 5 4726886 224 7E 04 4 14212197467E 02 0 00000000000E 00 0 00000000000E 0000200000811 t2 03328483276E 01 765 77 17091561631E 01 6 56408896315E 00 72 02 32416499E 06 m4 35348044922E 06 3 07657431 18 8 06 32 830640 4066 1E 00 49 27233423855E 04 27 730056855806 03 00 M PIS OS APR 91 21 07
18. 6875833333 Semicircles West 123 765000000 deg decimal degrees or West 123 deg 45 9000 min degrees an decimal minutes or West 123 deg 45 min 54 00 sec degrees minutes seconds 36 APPENDIX H Predefined PACKAGE BIT with SYSTEM use SYSTEM package BIT is subtype BIT NUM is INTEGER range 0 15 procedure SETBIT VAL in out INTEGER BIT in BIT NUM procedure CLRBIT VAL in out INTEGER BIT in BIT NUM function TSTBIT VAL in INTEGER BIT in BIT NUM retum BOOLEAN function LAND VAL 1 VAL2 in INTEGER return INTEGER function LOR VAL1 VAL2 in INTEGER retum INTEGER function LXOR VAL1 VAL2 in INTEGER return INTEGER function LNOT VAL in INTEGER return INTEGER function PEEK ADDR in INTEGER return BYTE procedure POKE ADDR in INTEGER VAL in BYTE function PEEK SEGMNT OFFSET in INTEGER return BYTE procedure POKE SEGMNT OFFSET in INTEGER VAL in BYTE function CODE SEG return INTEGER function DATA SEG return INTEGER procedure INPORT PORTNUM in INTEGER VALUE out BYTE procedure OUTPORT PORTNUM in INTEGER VALUE in BYTE end BIT 37 APPENDIX IH SAMPLE DATA Different set of data from GPS and RPS TRIMBLE 4000 GPS RECEIVER SETUP PARAMETERS MON 098 08 APR 91 21 24 07 ED Ga GP TD TD TD TD ee TO TT NEED oe ae cee GE ce GE GE cme ce G NG chan ES o o G NG o E es QUANH A E E QUANH eo eee eee hm GPS WEEK NUMBER 0587 REFERENCE LAT
19. Chi ADVISOR DR Uno R Kodres with BIT KEYBOARD TEXT_IO RTEXT_IO use BIT KEYBOARD TEXT_IO RTEXT_IO procedure DATA_LOGGER is program specification declaration to expose the parameters in out procedure INITIAL PORT1 PORT2 out INTEGER procedure LOGGER PORT1 PORT2 in INTEGER package INTEGER INOUT is new INTEGER_IO INTEGER use INTEGER INOUT global variable declaration FILE THE FILE FILE TYPE PORT1 PORT2 ROCK INTEGER ABORT REQUEST EXCEPTION 22 A procedure to start the program procedure INITIAL PORT1 PORT2 out INTEGER is NUM INTEGER begin PUT IINE AUTHOR CDR CHIN YU CHI R O C N NEW LINE PUT_LINE ADVISOR DR UNO R KODRES NPGS U S A NEW_LINE PUT LINE DATE 16 MAY 1991 delay 5 0 NEW LINE 24 PUT_LINE A brief guide to use this program NEW LINE PUT LINE 1 Select COM PORT amp Make sure your system Baud Rate is match NEW LINE PUT LINE 2 Run the procedure DATA LOGGER at proper COM PORT NEW LINE PUT LINE 3 Use Space Bar and then Prt Sc to get updated data string NEW LINE PUT LINE 4 Use q or Q to exit the program NEW LINE delay 5 0 PUT LINEC Give the COM PORT number in 1 or 2 GET NUM to set up com port number here case NUM is when 1 gt PORTI1 1021 line register 3fd PORT2 1016 com_port number 3f8 PUT LINE You ve set Portl 1021 and Port2 1016 when 2 gt PORT1 765
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21. SYSTEM BYTE LINE_INT put value back to 2fd if INTEGER DATA gt 127 then a test loop for bad data DATA 42 if not a character use end if return CHARACTER VAL DATA end GET_CHAR begin PUT LINE Waiting for the first legal character loop wait for the first legal char OPEN FILE OUT_FILE NAME gt POS OUT open a temp out file while GET CHAR loop process each message received null and wait for start character end loop PUT T put start char on the screen 49 PUT THE FILE put start char to file PUT FILE put start cgar to temp file loop A CHAR GET CHAR get and put the message PUT A CHAR put data on the screen PUT THE FILE A CHAR and to the file PUT FILE A CHAR and to the temp file exit when A CHAR line 185 end loop get another set of data CLOSE FILE close temp file here exit when KEYPRESS exit loop end loop end DATA_LOGGER begin OPEN THE FILE OUT FILE NAME gt POS DAT make file pos dat availabe loop if KEYPRESS CURRENT_INPUT then press Space Bar to interupt and NEW_LINE ready to print the screen PUT LINE New data string is as follow NEW_LINE line 201 ROCK KEY_VALUE assign keypress to variable if ROCK 32 then if Space Bar is true then PRINT DATA bring the data to the screen elsif ROCK 81 or ROCK 113 then press q to exit the program rai
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23. not a problem However we must sometimes refer to system dependent features such as the location of an input output port or the representation of some data structure in memory In the past because high order languages did not provide appropriate expressive power we were forced to use a com bination of high order and assembly language programs in solutions an approach that compli cated the solutions and hindered readability and maintainability In embedded computer systems run time reliability is also an important factor We are relating a satellite positioning system there are sometimes exceptional situations beyond our control such as hardware failures in peripheral devices or unexpected bursts of input data We cannot predict when such situation might occur but in a reliable system they must be planned for As a high level language Ada supports software development in both expressing low level machine features and system dependent features In the best case we would like the program to be able to respond to the exception and continue processing with reduced capability Ada permits us to write exception handlers to capture both predefined and user defined exceptions Reference Booch Chapter 17 SHOW_ERROR exception When something happened raise SHOW_ERROR 54 REPRESENTATION SPECIFICATION As mentioned earlier in embedded computer systems we must concem ourselves not only with run time reliability but we must of
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26. which log data from GPS sensor store it into a file and print the data string by the user desire command INPUTS GPS input raw data OUTPUTS data record CREATED 12 May 1991 AUTHOR Chin Yu Chi ADVISOR Uno R Kodres with BIT KEYBOARD TEXT_IO RTEXT_IO use BIT KEYBOARD TEXT_IO RTEXT_IO procedure TEST35 is package INTEGER_INOUT is new INTEGER_IO INTEGER use INTEGER INOUT FILE JOE HOE FILE TYPE ROCK INTEGER ABORT_REQUEST EXCEPTION A procedure to print the desire data_string procedure PRINT_DATA is ITEM CHARACTER FILE FILE_TYPE begin NEW_PAGE NEW_LINE S PUT LINE The current data string is NEW LINE OPEN FILE IN FILE NAME gt POS OUT open the update file while not END OF FILE FILE loop GET FILE ITEM get the data PUT ITEM put it on the screen 48 end loop NEW_LINE 10 CLOSE FILE line 140 end PRINT DATA procedure as data logger procedure DATA LOGGER is A CHAR CHARACTER VALUE SYSTEM BYTE function to get data from GPS sensor function GET CHAR retum CHARACTER is LINE DATA SYSTEM BYTE LINE INT INTEGER begin loop INPORT 765 LINE check 2fd input data is available exit when TSTBIT INTEGER LINE 0 loop until it s available end loop LINE INT INTEGER LINE convert LINE into integer CLRBIT LINE_INT 0 clear TESTBIT INPORT 760 DATA read data from 2f8 OUTPORT 765
27. 01 7 787236 00 0 0 000 0 274 5 3 0286E 11 4092 3 13 6 12 2 O 12 Use print screen Shift PrtSc to get the hardcopy if you wish to 52 R 11 Printer prints the screen status R 12 Program keep on surveying displaying the data on the screen NOTES Things you might want to know JE Normally the GPS is default its functions for its own benefits we shall carefully follow the Sensor s manual to operate it Trimble 4000S needs to set up a reference position and it should be with in 0 5 degree Offset position should normally be zeros The position will drift 1f the PDOP is over 15 0 The external computer may have difficulty keeping up with the data at high rates and may lose characters If all data rates are above 2400 then the data communication is unreliable There are two separate program TEST31 EXE and TEST35 EXE which handle the COM_ PORT selection and BAUD_RATE setting separate from DATA_LOGGER User can operate TEST31 to set up the connection then run the program TEST35 to collect the navigation sensor data Source code exists in Appendix 4 53 APPENDIX VI TEXT NOTES FROM GRADY BOOCH EXCEPTION HANDLING AND LOW LEVEL FEATURES Where as assembly languages force us to work at the most primitive machine levels high order languages usually constrain us to work only at more abstract levels Since programming in a high order language is much more productive than in an assembly language this is generally
28. 43 Director of Research Administration Code 012 Naval Postgraduate School Monterey CA 93943 Chairman Code CS Computer Science Department Naval Postgraduate School Monterey CA 93943 Prof Uno R Kodres Code CS Kr Department of Computer Science Naval Postgraduate School Monterey CA 93943 AEGIS Modeling Laboratory Code CS Department of Computer Science Naval Postgraduate School Monterey CA 93943 Bernie Cohenour Code 3334 Pacific Missile Test Center Point Mugu CA 93042 5000 RADM Hung Cheng Lo P O Box 9617 Washington D C 20016 D Thesis C4447 Chin Coil The Navigation Data Logger for a Suitcase Navigation System el E Pods von DIS E BEE OPA MAS SESI TI ye edge elf ee er di A oD 16 red Are v r uf TT ee BA det AI PRA s xi Paid N 2460 LIDE teel fr 9 AG SANG at RER SMS LU 18 el Sastre X CUS IE F rer v Keren ee h n a Rar of LY es werd De gt hr shee PA red dy dd tref TER Med ed MA safe waht sXe ls h n q pia Je of EEE at O SE FO TR pd 22v E h i mdr do ALMA A EKA ES Y L er k z ie ALA O q ee gt de En bn oe meat FORTE rite TG IN a TE b My fade laith nhe q ote vote re EEE 3 2768 0001 6 919 b ET Aim MY ST FET PR ONA ind DER Rear er is s H Pr x
29. 53 36 35 9477N 121 52 5885W 0006 02 8 209292 14000 00 00 67 7 SERT 0014 3 18 19 11 1 62480256000E 08 2 80252655781E 03 4 09016570002E 06 5 85057548887E 05 5 85212616397E 05 5 21113400000E 06 2 08976139552E 07 2 78805384002E 03 1 1 0563354440E 01 0 00000000000E 00 0 00000000000E 0000500102318 1 1 6248025600 0E 08 3 547620969 67E 04 4 09173033829E 06 4 01510749528E 05 4 01512559628E 05 m 197108000008 06 2 06324012107E 07 3 54664817960E 04 2 31367014084E 02 0 00000000000E 00 0 00000000000E 0000100101819 1 62480256000E 08 4 92651948358E 04 4 09390 054617E 06 7 2135 41 PART THREE FROM MINI RANGER FALCON 484 FUNCTION PRINT POST TROM 05 48 26 4 ME 29739 9 16 17718 9 1 19 2 8 010 13 0l 008 2 OC SG 2 IXTIAG 738032433 9 052482 294715829738 NING 17718 91 19 3 4 4 RESET S OE 300 NEVNE SSS ETEN ON 05 4837 S04 15 29151 AUG ere 4 3 4 02569154 1 38 SE se SO 4 9 TTAG 3804101 Ox 05 48 32 54 5 08 17718 6 1 19 3 6 mA 23691 59 138 1 0 C EG 3a TTAG 380433 ON 05 48 34 ATTS 29130000 6 177778 ad ES 321 2992273691 Ines 1 Ose 3 6 3 9 TTAG 380457 ON 05 sAa 34 217572 297 397021 735 17718 5 1 19 3 9 CAR ASS OE UE 375 4 2 TTAG 380499 ON 05 28 58 10107 SU e TITUS OT 1 die AsO 4 22369155 HS El UTE B 16 A 2 TIAG 038052 ON 05 48 40 4 15 297 JE 17 718 26 Si 3 9 4 ZI Ic MT i Ue 35 00 4 2 TTAG 380546 ON ia 1920713 4
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31. ET_CHAR begin loop wait for the first legal char OPEN FILE OUT FILE NAME gt POS OUT open a temp out file while GET CHAR loop process each message received null and wait for start character end loop PUT put start char on the screen PUT THE FILE put start char to file PUT FILE l put start character to temp file loop A_CHAR GET CHAR get and put the message PUT A CHAR put data on the screen PUT THE FILE A CHAR and to the file PUT FILE A_ CHAR and to the temp file exit when A CHAR line 185 end loop get another set of data CLOSE FILE close temp file here exit when KEYPRESS exit loop end loop end LOGGER 20 C SYSTEM DATA MANAGEMENT The system is getting data from an external sensor and it is coming in like a flow Procedure LOGGER has the control of coming data flow by using line register checking and so we can keep the data as clear as we want It is the problem that how can we keep and get a real_time data from the system Procedure POSITION_NOW is presenting a simple way to solve this problem by using a separate procedure we make the buffer file POS OUT play an independent work while system running and it provides real_time data This design is very useful for Suitcase Navigation System at the present time when the user needs the position in a good accuracy It is also good for future system implementation which needs a wh
32. ITUDE 36 35 90006 REFERENCE LONGITUDE 21 52 5950 REFERENCE HEIGHT 0020 0 meters FIXED HEIGHT YES REFERENCE FREQUENCY 0 000E 00 delta f f FIXED FREO TES LATITUDE OFFSET 00270020000 LONGITUDE OFFSET 000 00 0000E HEIGHT OFFSET 0000 0 meters MASKS PDOP MASK US ELEVATION MASK 10 degrees DATA AGE SINCE DECODE MASK 03 hours CALIBRATION DATA CODE CALIBRATION 00 01 00 01 00 06 00 04 00 06 00 Gis 00300 02 meters CARRIER PHASE CALIBRATION 000 000 000 000 000 000 000 000 000 mm CALIBRATION TIME 0010 secs SV STATUS HEALTHY SVS 02 03 06 ii 12 Ho Ma EE OS 16 17 10859090020 Zines DISABLED 5V5 IGNORE HEALTH SVS POSITIONING IGNORE HEALTH SVS SURVEY AUTO SV SELECTION MIN SVvS 37 MESS AUTO INITIAL SV SEARCH ALL IN VIEW SOLUTION ENABLED 38 RS232 PORTS p m EED EE GE ae ewe GER ate O ow PORT 9600 BAUD 8 ODD 1 START CC 000 000 000 STOP CC 000 000 000 POSITION MEASUREMENTS PORT2 9600 BAUD 8 ODD 1 START CC 000 000 000 STOP EE 000 000 000 OFE POSITION PRINT TIMER 00 mins BR ENE TD U ION UPDATE ENABLED BUL UPDATE ENABLED DATA UPDATE ENABLED RECEIVER OPERATION DOPPLER AIDING ON SYNC 002 0 secs OSCILLATOR DAC ON SV AVERAGING 01 0 secs POSITION AVERAGING 0001 SOFTWARE NAVIGATION PROCESSOR SOFTWARE VERSION 3 24 16 AUG 89 SIGNAL PROCESSOR SOFTWARE VERSION 322052253 MAREO 39 PART ONE FROM TRIMBLE 40005 FUNCTION PRINT MODE POS positief
33. LINE_INT Assign value to 3fd or 2fd Return VALUE of CHARACTER VAL DATA Operation 4 DATA_LOGGER the main program unit Logging the imported sensor data INITIAL PORTI PORT2 Initialization of the system communication BAUD_RATE Setup the transmission rate 11 OPEN THE_FILE IN_FILE NAME gt POS DAT Open file to store data KEYPRESS CURRENT_INPUT Hot key control function POSITION_NOW Display and print out the hard copy LOGGER PORT1 PORT2 Log sensor data from the setup com port CLOSE THE_FILE Close the raw data file EXCEPTION Handle the exception commands 5 Operation 5 POSITION_NOW Display current data string Operations a display of data string as user desired OPEN FILE IN_FILE NAME gt POS OUT Open buffer file to read GET FILE ITEM Get from buffer file PUT ITEM Put the data ITEM on the screen CLOSE FILE Ready for other operation Note We characterized Data_Logger as a Transducer Task for the whole Suitcase Navigation System By the definition of Booch s tasks A transducer is a task that both calls entries of other tasks and also provides a service to other units such as process amp display status in Suitcase Nav igation System or Integration System in LCCDS Note The first iteration of this project does not use tasking for program coding but the following updates may want to use tasking because of more
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35. OUT is new INTEGER_IO INTEGER use INTEGER_INOUT begin loop loop INPORT 1021 LINE check 3fd see if input data is available exit when TSTBIT INTEGER LINE 0 loop until it s availab end loop LINE INT INTEGER LINE convert LINE into integer CLRBIT LINE_INT O clear 3fd OUTPORT 1021 SYSTEM BYTE LINE_INT put value back to 3fd INPORT 1016 DATA read data from 3f8 PUT CHARACTER VAL DATA put data on the screen exit when INTEGER DATA 93 exit when input data is end loop delay 1 0 test delay PUT_LINE END OF RECEIVING DATA end TEST12 Example 3 UNIT_NAME TEST31 A UNIT DESCRIPTION This program is designed to set baud rate form 1200 9600 for the system which we want to use the soft ware can easily expand by set more rate settings AUTHOR CDR Chin Yu Chi ADVISOR Dr Uno R Kodres with BIT TEXT_IO use BIT TEXT_IO procedure TEST31 is CH INTEGER package INTEGER_INOUT is new INTEGER_IO INTEGER use INTEGER_INOUT procedure TEST24 PORT1 PORT2 PORT3 PORTA in INTEGER is NUMBER SELECTION INTEGER begin OUTPORT PORTI 128 access Baud Rate Divisor PUT_LINE SET THE SYSTEM BAUD RATE AS YOUR DESIRE PUT LINE SELECTION IS PUT LINE 1 1200 N PUT LINE 2 2400 lt PUT LINE C 2 4800 1 PUT LINE 4 9600 9 NEW_LINE GET SELECTION case SELECTION is when 1 gt NUMBER 96 Baud
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37. Rate 1200 PUT_LINE YOUR SYSTEM BAUD RATE IS SETTING TO 1200 NOW 45 when 2 gt NUMBER 48 Baud Rate 2400 PUT_LINE YOUR SYSTEM BAUD RATE IS SETTING TO 2400 NOW when 3 gt NUMBER 24 Baud Rate 4800 PUT_LINE YOUR SYSTEM BAUD RATE IS SETTING TO 4800 NOW when 4 gt NUMBER 12 Baud Rate 9600 PUT_LINE YOUR SYSTEM BAUD RATE IS SETTING TO 9600 NOW when others gt PUT LINE WRONG SELECTION TRY AGAIN end case OUTPORT PORT2 SYSTEM BYTE NUMBER convert the number into system byte put LSB on 3f8 or 2f8 com1 or com2 set Baud OUTPORT PORT3 00 put MSB on 3f9 or 2f9 OUTPORT PORTI 03 no p one s 8 bit OUTPORT PORT4 03 set modem control register OUTPORT PORT3 00 interrupt control register disable NEW_LINE PUT LINE BAUD RATE SETTING IS DONE end TEST24 begin NEW LINE 5 SET COL PUT LINE This program is designed to help you setup the system BAUD RATE NEW LINE PUT LINE Make your choose for COM1 or COM2 first use 1 or 2 GET CH case CH is when 1 gt TEST24 1019 1016 1017 1020 PUT LINE FOR COM1 SETTING when 2 gt 46 TEST24 763 760 761 764 PUT LINE FOR COM2 SETTING when others gt PUT LINE WRONG KEY TRY AGAIN HY end case end TEST31 47 Example 4 UNIT_NAME test35 a UNIT DESCRIPTION This program is designed for Suitcase Navigation data logger
38. SSE DES PE 4 ST MENO 2d 9 R72 BL Or nee ae 5 PORIE ISIS EE A 5 La GS EE EEE O IIA 5 JE ER EE EE REN 5 E moi GRA TT essen a E T E Ee ee Ge 6 IEA a A OR 6 DARE OVUIREMENTS ANAL YSIS er 6 INSS O UNOSE een HE a 6 24 Suitcase Navigation system Context Diagram s non ea 6 BRSUICASEIN av 12anon System Level O DED ar ee Rare 7 ERR COGER DESIGN EE oe EE re 8 2 INGER BIB OE ON se De EO en Base 8 IS O EE EER s sa 9 SPENTE AE OB OS AA ON ee N 10 ERIDEN NMED Yl Kells DE ROIS bia acca eee epee sects na 10 1 Operation 1 INITIALIZATION Set up external Nav_sensors connection 10 Opera tone stemal Nav Sensor operation setup SE 11 Opera Non LOGGER Log and Comet RI l1 4 Operation 4 DATA_LOGGER the main program UNIE iss sees sesse se se se see Ge 11 5 Operation 5 POSITION NOW Display current data string lt WZ ENE STADE SEE COMMUNICATION aaa 12 RESTA E EIS ABRE NBR RACE ea nee 14 TABLE OF CONTENTS IV DATA LOGGER IMPLEMENISMIT 16 A SYSTEM SENSOR INTERFACING 16 Code 1 Initialization 2 0 SNF 16 Code 2 Setup the Baud_Rat 4 22 2 canada aca nes o ses aaataaan ann IG B SENSOR DATA H NHDLER 3 4 ee ee eN 18 Code 3 main subprogram 0 SS ees ee dese sae ee cono Rana oa oo E 19 C SYSTEM DATA MANAGEMENT Sk nn sn een ee N 21
39. TONEN AE RER PIA OG ord JEDLI Pe A TEN tt Ni bas 47 e dia b i ve Lg SG THAI Bar wire Bere IDA itty rhe ay a lt q Po inato Ni a Ph wek Pam equipos 9 kus HETT BEE Zee ae da wi under man 6sieseb 96pv T yt een ek Tia ron y Tot od ve kh poe do pet po ly m ci ui A A Snes AT dd he vin NORE in se mora DA foral toa ie e sa Fader e lg bye eid da ERLERNEN Dr de wl pi PYM Pit bykos wi S2 sede yd pe Dk ed ko VEE 2 v94 RT a N EA Vi 0 6y id g om Pu E Ir V N Yo as be dk bye cai SEED Ed ten Ade over zur Soda Auch MIA os rr via pres idea S 77 ve F D Jo fern ia rd po do I og A ner s eed li s mi r N le Te be Te era E Di As PV EE NE Neh DD Sm pro Pb ud Cs ba o n A O e WARA n VD tt de re AN DE ed Celia 4 REES kh S u BAT ETER ER che redder He LE FY Da qe SKOF g iin 1 dk Dipo A EE RR an vo di dy RAT TE TEE VET Gras ea de ta 8 KG F R Pee is 5 om ooo IRA Sudesh EN pensa To ME Age eM NARA DE EE PTA IS A TIA Fey 9 gt at mi jue 1 Gv er vest Jer OG pw fe ble Pan Fripe or v r ER Dr auge ode xe pu We Es Vey dino VEN FLA de vun te Mio q t iy Ad Ph t pipe o RIO Su fo ci v da PP pl gpa er opel Pa bd re ir Reha nr bulvisfesa ty na t La tar dg he no Pir Pe H ve Seel ly Er cw 40 feeb oa er ord MM fe TPs tam TT a 4 ru in M EN B RS id o Ow elf IIA e A ele in vele dk HN ged Ee ar e pera OES Ah ar ving tro ER tos VAN net ng I Var ETIES RE IE V NA sek deep em N TI ter
40. a Logger Software System 2 Edward Yourdon Modern Structure Analysis 1989 by Prentice Hall Inc 3 Grady Booch Second Edition Software Engineering with Ada 1986 by The Benjamin Cum mings Publishing Company Inc 4 World Range Suitcase Navigation Feasibility Study document dated 30 July 1990 B Cohenour PMTC RDD Code 3144 5 Reference Manual for the Ada Programming Language ANSI MIL STD 1815A 1983 Unite States Department of Defense 6 lan Sommerville and Ron Morrison Software Development with Ada 1987 Assigned text for direct study 7 Berzins and Luqi Software Engineering with Abstractions 1991 by Addison Wesley Publish ing Company Inc 8 Trimble Navigation Model 4000SL SLD GPS Surveyor Operation Manual Trimble Navigation Ltd 585 North Mary Avenue Sunnyvale CA 94086 800 TRIMBLE 9 Trimble model 4000 remote control RS 232 interface operation manual April 1990 Revision D Trimble Navigation Ltd 585 North Mary Avenue Sunnyvale CA 94086 3642 800 TRIMBLE 10 IBM Personal Computer Hardware Reference Library April 1983 International Business Machines Corporation P O Box 1328 W Boca Raton Florida 33432 11 IntegrAda Version 4 2 1 Libraries AETECH 380 Stevens Ave Suite 212 Solana Beach CA 92075 56 _ INITIAL DISTRIBUTION LIST Defense Technical Information Center Cameron Station Alexandria VA 221314 Dudley Knox Library Code 0142 Naval Postgraduate School Monterey CA 939
41. a crete 1 AE B lan L Lg y er T r pah Er KH T ES PAPI ADA A ef i Na Ds i NK de Hdg dis F vet AT py AO et en DA A Pd 7 P4 dd E MT f E UML Ye dy Bye A TERE 0c H d fe v22 P ero in WR And HAST P ty eat s dy N De Q L i Al t a y E AD 4 add yon lage 1 5 dd ser OE og ok y eer ua 1 OA en 4 ada i K did ey se E 7 Raps in Br dr 5 B is ry nhs RO PA RAND A ATA Fed t Na i DL N ah Ve 1 Ai Hd BEER di 3 gt g i DE SR Lat ro gt ed i Ee rd E VU ad REEL sur T c 4 heit x hastis RR B C he vi AM AAA q ER Ath y Peet K ar I ai EN de e A A wht Ps tin E SJ seer ee y TA nl A ring 4 Er AM dy os BER e jf Je KI FAR BER H c c d FT J 4 NG a en af se q 1 a SV RT i x tr o q1 N us 4 r 9 4 7 4 rok A 3 e L c weet 384 DES e pA v AE ds A PANA e RE ft re der e BAER ea RE Shc tot e i d f di ey 45 P t RY s P N nan ve Ka Er fo der re a er s Say ee INS 8 h gt y M usd ar een Mn mt 9 v WI a AS hs a de pd i v E N yed tivi d d i Noo T Si ar ed At A Tvalis Bee W A vr a3 N of Be y Ae Q e T l av E f E E 1 a rs K Yj Br Pot e ve t s Y N gt enna Pate Fh 2 8 Be a L mr gt ar a S gt TNA ese i y adie WET eee av od 1 EER SAA A td Sate Stee ad er ER d f i LL EE As ARS g h
42. ates the problem space Our problem does involve several navigation sensors in various modes of operation These sensors continuously sample the ambient data and transmit in several different rates If a particular set of sensor data which is needed by the user the Data Logger shall be able to get and print it The system also displays the data while it is logging or printing We are presently using Trimble 4000s GPS as the external Nav sensor and a laptop computer as the hardware system To process nav_ sensor data the system need not only log the data but allow the user to interact with the system by exception handling design Hot Key Periodically our system must be able to get the current data string of navigation sensor to a permanent log This can be done by pulling data out from the buffer file and print it Printers have the nasty habit of running out of paper at the worst possible time therefore we have judged the printer to be the least reliable device in our system Display amp Printer Navigational Data Logger Software System User Commands Figure 5 Environmental I O problems C IDENTIFY THE OBJECTS External Nav_Sensors GPS CRT and Printer Data_Logger User_Commands The external Nav_Sensors defines a generic class of objects whereas our system target is an instance of an object using the Trimble 4000 S GPS The CRT and Printer defines another set of external devices which act as a s
43. ation System Context Diagram 3 Suitcase Navigation System Level 0 DFD Nav_Sensor_Type amp Nav Data Forma Nav I di Process Initial a Process Nav Type of Type of Missio Missio User Data YP Sensor Data Waypoint Nav Dan Hot_Key Log Previous Nav Data Hot_Key Data 3 Hot Key Data Process On line 4 D_Graphic User Data Process amp Hot_Key_Data Display Status Cross Track Error Type of Mission Memo Data Current Nav Data Bring to Next Waypoint Distance to Next WP Time to Next Waypoint Figure 3 Suitcase Navigation System Level 0 DFD III DATA LOGGER DESIGN A INTRODUCTION The system is designed for the Suitcase Navigation System project To implement Global Positioning System GPS data as the resource to satisfy the navigation problem needs and using the highly accurate position to develop the whole system as a reliable console by means of Man Machine Interface This thesis is look into the first bubble of the level 0 Data Flow Diagram which interface the external nav_sensor and process the nav_sensor data Figure 4 illustrates the design Nav Sensor T Sensor Data Format av_Sensor Data l PROCESS Nav Data NAV SENSOR DATA Logger Current Nav Data Previous Nav Data Figure 4 Process Nav_Sensor Data B DEFINE THE PROBLEM The primary concem is the monitoring or control of real time processes Figure 5 The environmental I O problem Process Data Received From Sensor illustr
44. concurrent operations E ESTABLISH THE COMMUNICATION To establish the communication we must consider the relationship among objects now that we have identified the operations of each object in our system we may start from the external Navigation sensor The operation of the external navigation sensor is completely 1solated from any other object But the sensor s data is coupled to other operations We call the data SYSTEM BYTE and the function to get the data GET_CHAR GET_CHAR must be able to see SYSTEM BYTE GET_CHAR is a function type of subprogram it checks the line register of the COM_ PORT and looking for the legal byte which was assigned by the user and can be changed The 12 return value of GET_CHAR is converted to CHARACTER and distributed to different files and the display A main subprogram that serves as the root of the system is required by Ada We shall call this subprogram LOGGER and it will contain the function GET_CHAR Additionally this unit will be responsible for process amp status display in the future As a result LOGGER must see GET CHAR and POSITION NOW a GET CHAR Data Displays EA o w Figure 6 Description of Logger Design Figure 6 illustrates these relationships DATA_LOGGER is the main program we will see four sub units which describes the whole operation INITIALIZATION Subprogram process commands to handle user initialization BAUD_RATE Subprogram process c
45. ction BAUD_RATE program to set system Baud_Rate OPEN THE FILE OUT FILE NAME gt POS DAT make file pos dat availabe 27 loop if KEYPRESS CURRENT_INPUT then press Space_Bar to interrupt and NEW_LINE ready to print the screen PUT_LINE New data_string is as follow NEW_LINE ROCK KEY VALUE assign keypress to variable if ROCK 32 then if Space Bar is true then POSITION NOW bring the data to the screen elsif ROCK 81 or ROCK 113 then press q to exit the program raise ABORT REQUEST raise exception end if else program will keep running end if no interruption LOGGER PORT1 PORT2 program to log sensor data end loop exception when ABORT_REQUEST gt exit the program CLOSE THE_FILE PUT_LINE END OF PROGRAM DATA_LOGGER A end DATA_LOGGER 28 V DESCRIPTION OF THE DATA LOGGER A THE REQUIRED PROGRAM STRUCTURE 1 Hardware Structure The Navigation Data Logger System is structured by 4 parts which includes Antenna GPS Computer PC or LapTop and Printer Since the external navigation sensor will be a generic positioning device we will use the name GPS as generic Global Positioning System For this pro gram we use Trimble 4000S GPS as the target Nav_Sensors because it is available at school Before we have the real GPS our lab has set up two 286 Zenith PC connected by RS 232 cable to simulate the communications By transmit data from computer and r
46. e or deck B SYSTEM DESCRIPTION System is turned on Software must handle initial setup accessing YO ports through the hardware bus CRT displays setup menu requires keyboard entries Requests the following Mode type provide external setup on navigation input systems Type of input primary secondary and tertiary navigation source and its format XY plotter plot functions Navigational data recording utilization location and rate Printer recording utilization format and rate Remote CRT utilization and setup Verification of entries user friendly design Figure 1 Basic Physical System of Suitcase Navigation System illustrates the example of the Suit case Navigation System that PMTC proposed to the Naval Postgraduate School for the purpose of To provide PACMISRANFAC PACMISTESTCEN with an integrated navigation system capability This capability would provide to range users a means to pre plan range operations and to accurately navigate position and collect operational data In addition this capability may be the make or break point between a range user using or not using the range Note A work statement from PMTC SATNAV NAV_INPUT a a P X77 3 72 EE LAPTOP PRINTER OUTPUT Figure 1 Basic Physical System C SYSTEM OPERATIONS 1 CRT display Two thirds of screen for graphic display and switchable provides duplicate of XY plotter Positional Bulls eye Rang
47. e and Bearing Left Right of Track Waypoints Remainder of screen provides Data and Time Latitude and Longitude Range and Bearing for Bulls eye and Waypoints Help notations for program change toggles Edge of plot sheet warning Statements from World Range Suitcase Navigation Feasibility Study Reference 4 2 Plotter Responds as prompted from setup and or program change toggles 3 Data Logger Responds as prompted from setup and or program change toggles 4 Remote CRT Displays as prompted from setup and or program change toggles 5 Keyboard Inputs system setup and provides program change toggles D REQUIREMENTS ANALYSIS 1 The Statement of Purpose The purpose of the Suitcase Navigation System SNS is to generate a general purpose Ada language based system which takes inputs from different Global Positioning Systems and record position data generated by any of the positioning system via an RS 232 interface The gen eral purpose software would be flexible and programmable by selecting components off the menu presented to the screen of the lop top Any graphics capability of the laptop could be used to present the geographic position of the platform in an appropriate geometric design Reference 4 2 Suitcase Navigation System Context Diagram Nav Sensor Type amp Setup Navigation Sensor Key Command Navigation Data Suitcase Navigation Data Logger Logged Data Figure 2 Suitcase Navig
48. e if necessary and identify by block number A small navigation data logger software system System All the programs and examples presented in this thesis were implemented in the Ada programming language which has sucessfully incorporated the low level I O ports communication with the high level abstraction The software is portable as desired and can be reused by LCCDS when needed Y LU tA 1 ABSTRA UP E UNCLASSIFIED UNLIMITED O SAME AS RPT DTIC USERS UNCLASSIFIED 52 NAM ONSIBLE INDIVIDUAL 22b eee Ti Include Area Code 22c_QFFI MBOL r Uno R Kodres 408 646 2197 5 DD FORM 1473 84 MAR 83 APR edition may be used until exhausted SECURITY CLASSIFICATION OF THIS PAGE All other editions are obsolete UNCLASSIFIED 1 Approved for public release distribution is unlimited THE NAVIGATION DATA LOGGER FOR A SUITCASE NAVIGATION SYSTEM by hin Yu Chi Co nder R O C NAVY B S Chinese Naval Academy 1977 Submitted in partial fulfillment of the requirements for the degree of MASTER OF SCIENCE IN ENGINEERING SCIENCE from the NAYAL POSTGRADUATE SCHOOL JUNE 1991 Robert B McGhee Chairman Department of Computer Science THE NAVIGATION DATA_LOGGER FOR A SUITCASE NAVIGATION SYSTEM Author Chin Yu Chi Commander R O C Taiwan Navy B S Chinese Naval Academy 1977 ABSTRACT This thesis presents the design implementation and description of a Data_Logger for the Suitcase Navigation System A
49. e only other valid bytes are 35d ATTENTION 34d old style ATTENTION 37d ACTIVITY REQUEST 3 Any illegal bytes will cause an abort of the report session 4 GPS will wait only 30 seconds for a command it will beep and exit the current session if more time than this elapses 5 Command Formats B Bytes is single eight bit INTEGER range O 255 e g 255 for ON and O for OFF D BCD Binary Coded Decimal digit is single byte range O 9 e g Lat Long Hgt in command 51 d are sent as sequences of BCD digits R Floating Point Real number The real represented is R 1 s x 2 exp 1023 x 1 mmmm mmmm i e IEEE 754 standard for long real numbers 6 Unit of semicircles in use 1 semicircle 180 degrees Pi radians 35 The Lat and Long values output over the remote control port are both sent n semicircles The values are sent as 8 byte real numbers using IEEE standard format After converting to the receiving computer the value will be in semicircles range 1 0 1 0 which means 180 0 180 0 degrees North amp East gt South amp West Another converting is desirable to include degrees minutes and seconds An example of semicircle to degrees e g Semicircle 0 6875833333 Degrees 0 6875833333 180 0 123 765000 degrees Minutes fraction 123 765 60 765 60 45 9000 minutes Seconds fraction 45 9 60 0 900 60 54 00 seconds Thus Longitude 0
50. e system function the chapter defines the problem identifies the objects identifies the operations establishes the communication and establishes the interface Chapter IV describes the implementation of the Navigation Data_Logger the System Sensor Interface the Sensor_Data Handler The System Data Management and program coding Chapter V describes the performance of the Data_Logger We start from a required pro gram structure which described hardware structure and software structure The simulation in our lab provides experimental results for Hardware connection Transmission Rate and Conver sion accuracy we describe the working process and also point out the effects and contacts Then from the user s point of view we describes how to use the Data Logger Chapter VI is the final chapter which includes the Conclusions and Recommendations of some suggestions for future research and follow on work Appendix 1 The specification of the RS 232 connections between external Navigation_ Sensor and the working system Appendix 2 Predefined Ada package Bit specification Appendix 3 Sample data formats from external navigation sensor Appendix 4 Sample Ada programs for the project development Appendix 5 Navigation Data_Logger User s manual Appendix 6 Text Notes from Grady Booch II SUITCASE NAVIGATION SYSTEM OVERVIEW A INITIAL PROBLEM STATEMENT 1 The Suitcase Navigation System Project There is a need for an integ
51. e tiaras s di t PRO d DA cad Pa As arts reta tm 1 a je AZ VR BORDE GET TE Wee spe PS LADA Hep eye Se tod Ah BEE ESPN nf b I Dodd di rra Fi Wed Yu N sas N tre ag A UA dy sw V JE ER OE ta ie yy RE 6 l c ls se a t p N N N 92g b t e D Far ONA ot pi t pa sos MIC 22920816 PA ie N e rs CD Rn bed ka pe Legg be lgb g q dradd Ay MAY Na AS Tem sa ot ce sb ae IT c tg de SS ithe tetas Peruse bk fue ieee KH QC VN ava LI Re Eie De LEN EE DELA PE Ue wl l IIA un uret tee A Fe mg 3 2 4 me VOK gade dr ed n k ig Pehepmsi ve Are ve Be LUPI S ES A sae WAI ATA LEN AAS EES ts e of c ohh ohio o c ca Po vy Nh ng nh hi n DT TE WE AA Auer POT A Wie 8 Ay 07 Ay a sn lo sonado p Fe PAN belo A a TEE is Ma Me Pd ALA der a are Ph TU Ea De Eed sii a lagos a Dodo de go LA a ay AAA AAA Pare 1 gt PRE PR RA ATA La ER RR debo fr pa eg v 9v 09g Z3 SAS a De Av rd og VRR TOTEM mt MA PR puts P vantan AUTE Y ANOTA UA AO DE q eo ae c y XS VY ET RAP ES v2 AN ae wit gt vita an od r JE 1 N PEN Mg a WA Eoee RS ey ide IL me NE A 2S an MR c 10 EL TERE NR TA De IE SARIE TEN MA Aa PETN v REDEN V n Vy de vereers de EVA Ca O My sua a OE Ry la PE N dv nt CUTE HS YSU Is h N Na Ye dd Erin ng De ub de 3 Rt Perro DA WERE ow le cupim La Fh Pa e EED ta e ve irren Sra ME Ni dele Wr AAA AS AM Ak meto v A Begeer ete ee Te
52. e user We will have more discussion in the next chapter about Data_Logger implementation DATA LOGGER Alan este en Et External Nav Sensor RT PRINTER DISPLAY DATA FILE Figure 8 Description of Data_Logger I O ports IV DATA LOGGER IMPLEMENTATION A SYSTEM SENSOR INTERFACING To set up the interface between system and external sensor we need to initialize the COM_ PORT which is physically connected to the sensor According to the pre defined package BIT Appendix 2 we have the procedures of SETBIT CLRBIT which can set the bit number into the specified port and clear it when done the function TSTBIT with in out VALUE in type INTEGER and assigned BIT number in type of BIT NUM which is subtype of INTEGER and range 0 15 Also we have the capabilities to handle the VALUE in out as user assigned PORTNUM then put and get the VALUE in type SYSTEM BYTE by using procedures INPORT and OUTPORT This 1s the design that we assign the COM_PORT Code 1 Initialization First of all we want to set up the communication through the standard RS 232 connections a procedure named INITIAL with two variables of type INTEGER programmed to make the selection of COM_PORT 3f8 or 2f8 and set the status register ready 3fd or 2fd Needs to be done every time when restart the system A procedure to start the program procedure INITIAL PORTI PORT2 out INTEGER is NUM INTEGER begin GET NUM to set up com_po
53. eceived by computer B we have learned that the wire connection through RS 232 will cause no problems for the project By the time we got the GPS Trimble 4000 the system is set up similar as Figure 9 and the soft ware was written to be tested DATA LOGGER SOFTWARE SYSTEM Printer Figure 9 Hardware Structure of Data Logger 29 2 Software Structure Ada is the only choice of software structure As we have mentioned Ada is well designed for the applications via concurrently real time control exception handling and unique input and output But as well as the program needs Ada provides low_level programming also Because of the hardware constrains for the type of computer will be a LapTop or a 286 PC the software is constrained to DOS supported program by definition We went through the applications of Ada input output and learned that programming for input output I O has always been like going to the dentist for a toothache it s some thing that language designers have to do but they tend to put it off in the hope that it might go away Ada does not treat I O as a thorn in the side of the language Infact with the extensibility provided by Ada s packaging mechanism and generic facilities Ada does not have to provide any special language features to accommodate I O The user can build his own YO routines for com munication with unique devices Furthermore without adding any new language constructs the user can use any p
54. egister OUTPORT P3 00 interrupt control register disable NEW_LINE PUT LINE BAUD RATE SETTING IS DONE end RATES begin NEW_LINE S PUT LINE Now The program is design to setup the system BAUD RATE NEW LINE PUT LINE Make your choose for COMI or COM2 use 1 or 2 GET CH case CH is set the value to ports when 1 gt RATES 1019 1016 1017 1020 set baud rate and parity PUT LINE C FOR COMI SETTING to com port 1 when 2 gt RATES 763 760 761 764 set baud rate and parity PUT LINE FOR COM2 SETTING to com port 2 when others gt line 142 PUT LINEC WRONG KEY TRY AGAIN end case end BAUD RATE procedure to print the desire data string procedure POSITION NOW is ITEM CHARACTER 25 FILES FILETYPE begin NEW PAGE NEW LINE 5 PUT LINE The current data string is NEW LINE OPEN FILE IN FILE NAME gt POS OUT open the update buffer file while not END_OF_FILE FILE loop loop to get the whole string GET FILE ITEM get the current data_string PUT ITEM putit on the screen end loop out loop when done NEW_LINE 10 CLOSE FILE close file back to survey end POSITION NOW procedure to log data from external nav sensor procedure LOGGER PORTI PORT2 in INTEGER is port 10211765 port2 10161760 A CHAR CHARACTER VALUE SYSTEM BYTE A function to get data from GPS se
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56. ervers in the system Data logger defines the flow of data transfer which identified the legal character from line ports converts it and stores it The data is logging to raw_data file buffer file and display A user exists outside the design application but the user can interact with the system via commands A software development of hot key design will be implement in the future D IDENTIFY THE OPERATIONS To consider the behavior of each object we shall specify the operations and identify the concurrence According to Booch s concurrent real time processing we shall abstract the External Nav Sensor as a concurrent entity It s primary role is to continuously monitor the input data CRT and Printer as server of Data_Logger and Data_Logger as the actor of the software system From the constrains of software support in Suitcase Navigation System which assigned Laptop as the working system and DOS as the operating system our project starts from the basic process operations that the DOS can support and upgrade in the future The Operations of the Navigation Data_Logger is organized as follows l Operation 1 INITIALIZATION Set up external Nav_sensors connection Assign communication port COMI or COM2 GET NUM Select proper com_port and assign variable value Assign transmission rate Baud_Rate GET CH Match the initial selection OUTPORT P1 128 Access baud_rate divisor GET SELECTION Setup the proper rate
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58. ll the programs and examples presented in this thesis were implemented in the Ada programming language which has sucessfully incorported the low level VO ports communication with high level abstraction The software is por table as desired and can be reused by LCCDS when needed 111 eAcknowledgments To my thesis advisor Dr Uno R Kodres I would like to express my sincere thank for all the confidence and support which has never stopped during past three quarters The knowledge I ve learned and the joy of work done we shared was the words for those days I know that I ve learned a lot from the best Also I want to send a special thanks to the friends here in the school the friends we always work together and the friends whom always tried their best to help Direct help from Pat Barnes Jeff John Russ and all the technical staff in the CS Department Thank you all very much To my family I want to dedicated this thesis to the big family support especially to my dear wife Anne Chin Chang Huei Yen our children Lanny Chin Lan Ting and Lanchun Chin Lan Chun Most importantly Thanks God LA AS IO A A e edens 1 BSEVUREOSEOETHIS THESIS TE anne GENE SIS ORGANIZATION e S ee ee re l ISSUITCASE NAVIGATION SYSTEM OVER VIE Wese ed se sd eds osse see sede ek Ge esse oe sees 3 PA BA PROBEEMS TATEMENT OE n ER men een ed Ge es 3 lhe Sustcase Navisation System Project ss 3 2 ES DIN SIGAM SNIS ch EN DE EG 3 E
59. n addition commercial systems do not provide the source code or other methods for easy upgrades for new systems Some of the reasons for the large memory size of these systems is the desire to interface with different electrical standards Our Suitcase Navigation System is concerned only with the RS 232 electrical stan dardinterface B PURPOSE OF THIS THESIS The objective of this thesis is to provide a generic system based on the Ada language to create an interface to the Suitcase Navigation System which accepts positional data from a class of Global Positioning Systems GPS and distributes this information to a variety users including the LCCDS s navigational subsystem The central focus of the thesis is to design implement and experience to gather performance data of the Navigational Data_Logger System C THESIS ORGANIZATION Chapter II gives the Suitcase Navigation System overview In order to assist the reader in understanding the basic features of SNS which follows the Yourdon s Modern Structured Analysis 1989 Reference 2 to present a software develop method from the Requirements Analysis point of view The Suitcase Navigation System s Context Diagram and level 0 Data Flow Diagram is presented in this chapter Chapter III the object oriented method suggested in Grady Booch s Software Engine ering with Ada Reference 3 is applied to the design of Navigation Data_Logger In order to describe to the reader parts of th
60. nsor function GET_CHAR return CHARACTER is LINE DATA SYSTEM BYTE LINE_INT INTEGER begin loop INPORT PORTI LINE check 3fd or 2fd is available exit when TSTBIT INTEGER LINE 0 loop until it s available end loop line 182 LINE_INT INTEGER LINE convert LINE into integer CLRBIT LINE_INT 0 clear TESTBIT 26 INPORT PORT2 DATA read data from 3f8 or 2f8 OUTPORT PORTI SYSTEM BYTE LINE_INT put value back to 3fd or 2fd if INTEGER DATA gt 127 then a test loop for bad data DATA 42 if not a character use end if return CHARACTER VAL DATA end GET CHAR begin PUT LINE Waiting for the first legal character loop wait for the first legal char OPEN FILE OUT FILE NAME gt POS OUT open a temp out file while GET CHAR loop process each message received null and wait for start character end loop PUT T put start char on the screen PUT THE FILE put start char to file PUT FILE T put start cgar to temp file loop A_CHAR GET_CHAR get and put the message PUT A_CHAR put data on the screen PUT THE_FILE A_CHAR and to the file PUT FILE A CHAR and to the temp file exit when A CHAR end loop get another set of data CLOSE FILE close temp file here exit when KEYPRESS exit loop end loop end LOGGER main program starts here begin INITIAL PORTI PORT a brief program instru
61. nt wie AN pia ba Be ed 4224 hake Pele Am Sek PV AE vd DEA amp we phe vide PANA PLE er BESTEHT OEP l n ia are 3v 0501 E VIA Mareritt yry Vb de ane Ne Ir RT Pay are qo aver age A ar rd did d nd KYLE rd ERNAI a ae pi ENA WOT TUNER IR 08 IR od WERNER BET ENSY ALLA D Aag PER NE d WANN dd LEA IDE III pa AS PEAS A SE ENG Et LAG POR 96 IR Fy OA TU MY IR CTE SV VITA FUD YY t y sn se ne ee 2 FEIERTE ER wrong MS SRA RPE TEILE SEITE ET A A BAK IA ep N EA PD ME Bay x Y ase ee Re Vipin pi Ask ria a ee ee eter t e A E de Ey qu da dy P Ile VEK IEA PV n s 6 RATE L ch yy laden TY CA d Gr ra A LV ye b o n xa to sl PLA PAD Evo BT LE ENG V K A A t amp as LILA VIP C EP c d 79 md AN ONES ALS ren pisando pe de zu Kees IHY fa pd Mid AN Va arte EN ARE id Sd AY CER E ie ed ANS UT Bel Id dm ye Fee tu ve ie ds l bre ma Pte tae k a a led De RER MWY r re hier 22L IU IIS seg Oe ge PELL q n o v Fel Led PORRA dog AN OU wae EE dd Ty Wh the BEER Fy TE EO Ale VE TR SEG DIN ES marisa win TEL AS EA Y Y A 4 Lita OVE lala EE REN Sled all dd vd Get md pode rd L VEER OVO UI VRS 9 W Dd is NADA A AP VARD V SEVEN h TEE Evert Agra re FUR IVY Mm gr od Sirk anda a Ada rd IA FUL AIT NA OD TAP du FU ry GIL di uel Moo MANU DO wy TK ee RN alar ah BAER Ro A a IE SEE eg Dur te API O aS NE UV ES AT n Gia 1 T TE PE F L PN ST rare N APA ASE Ca DEAR CADA OV VAR AT RR TE DEA ATA
62. ole set of independent position data_string Code 4 Display current position data To responds the user s need in between operation the system can be interrupted by a single user command to pull out the current position data and be able to print A procedure to print the desire data_string procedure POSITION NOW is ITEM CHARACTER FILE FILE TYPE begin OPEN FILE IN FILE NAME gt POS OUT open the update file while not END OF FILE FILE loop GET FILE ITEM get the data PUT ITEM put it on the screen end loop CLOSE FILE end POSITION NOW 21 D PROGRAM CODING We programmed the system DATA_LOGGER for PC or LapTop which is supported by DOS operating system Program coding was done in IntegrAda and will be refined later when the project move up to automation boundary and multi tasking Since this is the first software program for Suitcase Navigation System our main effort is to make the basic function work The goal is clear the structure of the whole system is firm the program coding is as good as any other Ada program which is as follows UNIT_NAME DATA_LOGGER A UNIT DESCRIPTION __ This program is designed for Suitcase Navigation data logger which logs data from GPS sensor store puts it into a file and prints the data string by the user desire command INPUTS GPS input raw data OUTPUTS data record CREATED 12 May 1991 AUTHOR CDR Chin Yu
63. ommands to establish proper communication POSITION_NOW Subprogram to support the USER_COMMANDS LOGGER Subprogram of periodic logging of sensor readings 13 INITIALIZATION BAUD_RATE_SELECT DATA LOGGER POSITION_NOW Figure 7 Description of Data_Logger Design Figure 7 illustrates this level of the design We also learned that at the interface of I O ports the abstraction falls at a lower level in our design and this ports are visible here only to the bodies of DATA_LOGGER Figure 8 illustrates this level of the design F ESTABLISH THE INTERFACE The interface that we are concerned with here is mainly between Navigation sensor Data_Logger Printer and User_Commands In this thesis we are focused in the Navigation sensor interface through RS 232 and VO ports interface from low_level to high_level language In early stage of this project our lab has set up two PC connected by RS 232 as simulation system design for Suitcase Navigation System Chapter V will present the simulation and 14 Appendix 1 introduces briefly the RS 232 interface for GPS Trimble 4000 From the soft ware designer s point of view I O ports interface from low level to high level to Ada is another main concern in this thesis We have learned that Ada is capable to handle I O in many different ways In this project we use predefined package BIT appendix 2 as port I O interface support because package Bit can provide more control to th
64. rated navigation system for use with various ships or aircraft of opportunity System must be self contained lightweight portable and multi purpose Systems should use off the shelf components to facilitate hardware replacement and minimize downtime System would be utilized for the following tasks Integrated Navigation Tracking and Positioning Test and Evaluation of Equipment System and Weapons Fleet Training Umpire Range Surveying System must be able to accept input data from various navigational sources It will provide real time processing of data and in the absence of data will use dead reckoning points derived from a Kalman Filter It will allow output data to be displayed on CRT and XY plotter 2 The Physical System 1 Basic System Computer Laptop preferred Keyboard and CRT 2 Accessories Printer UHF Modem Remote CRT and XY plotter 3 Allowance for selection from the following input systems initially desired are TI 4100 GPS Receiver Trimble GPS Receiver IEC GPS Receiver Motorola GPS Receiver Magellan GPS Receiver Rockwell Collins JPO GPS Receiver Mini ranger Radio Positioning System 4 Allowance for selection from the following output systems Data recorded by a Disk floppy or hard drive b Tape c Cassette d Printer Visually displayed by a CRT b Printer c XY Plotter d Remote CRTs connected via UHF modem for use on flight station bridg
65. redefined units for I O of common data types such as characters integers and real numbers which can be selected as needed Here we use TEXT TO to handle the generic text file I O which can support the data storage and transfer at the same time while the input data is presented on the screen it outputs to an existing file and a designed buffer file which stored the updated data_string and can be pull out by User_commands We also use another predefined package BIT to handle the port VO This package supports the capabilities of checking the status of assigned port and be able to put and get I O values from the ports which gives the user a little bit more control over the external com munication devices B ADVANTAGES OF THE DATA LOGGER The Navigation Data Logger System was the first Ada program of the Suitcase Navi gation System It satisfied the needs of SNS project requirement to log the positioning data in the logger and also provides the screen display for easy reading but most importantly it provides a single set of current position data string which is the real time position that the operation 30 required Any time when you need to mark the position or you need a fix on the open sea the Space_Bar is the user command to bring the current position data_string to the screen To geta hardcopy by using print screen won t disturb the program processing the Nav_Sensors but provides the scientists an clear data_record and a
66. reliable global position C USER MANUAL The instruction of how to use the Navigation Data_Logger System has been written as an operation process and responses in Appendix 5 Beyond that user should be able to set up the external Nav_Sensor s function properly and capable to make the connection to the control system computer through RS 232 When the operation is on user should know the basic serial COM_ PORT s function and how to adjust the transmission rate Baud_Rate After the hardware set up the user should carefully start the initialization and run the program under the brief guide Since this program is directed to Trimble 4000s GPS the logical position data_string was bounded by the special characters and It was programmed inside the procedure LOGGER and was very easy to redefined by change the boundary character and it s decimal representations To avoid the programming language constrains user can select the separated function program listed in Appendix 4 and collected the data as well 31 VI CONCLUSIONS AND RECOMMENDATIONS A CONCLUSIONS The Suitcase Navigation System is designed for the people who do not know much about Navigation but want to work in the environment which needs to collect this information The project uses GPS as a fundamental sensor to provide the crucial data This thesis is an effort in developing a Navigation Data_Logger software system that can satisfy the needs to process
67. rt number here case NUM s when 1 gt PORT1 1021 PORT2 1016 PUT LINE You ve set Port 1021 and Port2 1016 when 2 gt PORT 1 765 PORT2 760 PUT LINE You ve set Port 765 and Port2 760 when others gt PUT LINE Wrong key Sorry you should be more careful end case end INITIAL Code 2 Setup the Baud Rate Secondly we setup the BAUD RATE to complete the initialization of the system connectior and communication transmit through RS 232 procedure to set the system baud rate procedure BAUD RATE is CH INTEGER procedure RATES P1 P2 P3 P4 in INTEGER is NUMBER SELECTION INTEGER begin OUTPORT P1 128 access Baud Rate Divisor GET SELECTION case SELECTION is when 1 gt NUMBER 96 Baud Rate 1200 when 2 gt NUMBER 48 Baud Rate 2400 when 3 gt NUMBER 24 Baud Rate 4800 when 4 gt NUMBER 12 Baud Rate 9600 end case OUTPORT P2 SYSTEM BYTE NUMBER convert the number into system byte put LSB on 3f8 or 2f8 com or com2 set Baud OUTPORT P3 00 put MSB on 319 or 2f9 OUTPORT P1 03 no p one s 8 bit OUTPORT P4 03 set modem control register OUTPORT P3 00 interrupt control register disable end RATES begin GET CH case CH is when 1 gt RATES 1019 1016 1017 1020 call subprogram RATES and passed the var value when 2 gt RATES 763 760 761 764 end case end BAUD_RATE External sen
68. s as the root of the system is programmed in this manner It checks the line register for legal defined by user character then log in the desired one By the time when user monitor the input data on the screen it stored into assigned file as well Raw_data On the other hand our system keep the updated data_string in another buffer file called POS OUT which store only the new updated position data and ready to be used any time when the complete set of string is received Code 3 A main subprogram A main subprogram which contains the function GET_CHAR to get data from external navigation sensor and return CHARACTER data then distributes data to data_file buffer_ file and display A procedure to logging data procedure LOGGER PORTI PORT2 in INTEGER is portl 1021 1765 port2 1016 760 A_CHAR CHARACTER VALUE SYSTEM BYTE A function to get data from GPS sensor function GET_CHAR return CHARACTER is LINE DATA SYSTEM BYTE LINE_INT INTEGER begin loop INPORT PORTI LINE check 3fd input data is available exit when TSTBIT INTEGER LINE 0 loop until it s available if KEYPRESS then exit the loop raise ABORT_REQUEST end if end loop LINE_INT INTEGER LINE convert LINE into integer CLRBIT LINE_INT 0 clear TESTBIT INPORT PORT 2 DATA read data from 3f8 OUTPORT PORTI SYSTEM BYTE LINE_INT put value back to 3fd return CHARACTER VAL DATA return value in character end G
69. se ABORT REQUEST raise exception line 206 end 1f else program will keep running end 1f no interuption DATA LOGGER program to log sensor data end loop exception when ABORT_REQUEST gt exit the program CLOSE THE_ FILE PUT LINE END OF PROGRAM TEST35 A end TEST35 50 APPENDIX V USER s MANUAL Operations and Responses O 1 Use RS 232 cable to connect the external Nav_Sensor and the Computer O 2 Connected the antenna and printer Use Figure 9 O 3 Start up the Nav_Sensor GPS and set the ASCH output mode Select POS position data as the main position data alternative selection will be MEAS measurement data do not select BINPOS or BINMEAS Use Sensor s operation manual to obtain the function control O 4 Insert the disk and find out the working file DATA LOG EXE O 5 key in DATA LOG and RETURN R 1 Instructions to operate the program A brief guide to use this program 1 Make sure your system Baud_Rate is matched 2 Run the procedure DATA_LOGGER at proper COM_PORT 3 Use Space_Bar and then Prt_Sc to get updated data_string 4 Use q or Q to exit the program R 2 Delay 5 0 seconds Give the COM_PORT number in 1 or 2 O 6 Key in your COM_PORT set up R 3 when 1 gt You ve set Port 1021 and Port2 1016 when 2 gt You ve set Portl 765 and Port2 760 R 4 Make your choice for COM1 or COM2 use 1 or 2 O 7 Again you want to set the Ba
70. sor operation requires certain levels of set up process operate by user Asa good example Appendix 1 presents a brief introduction of Trimble 4000 GPS using RS 232 inter face to an external computer Operation requires three basic things such as Port I O match type of VALUE declaration and transmission rate set up One way or the other the practical cable connection and interfacing set up procedures should be carefully done step by step and may be done by using a reliable little test program B SENSOR DATA HANDLER Before we receive sensor data from an external sensor the system shall be ready for data input Appendix 3 provides the formats of the sensor data which we are interested in using in this project In Ada we like to use file as a main memories unit to help user handle data in and out To make room and assign an address to an incoming data_string we could simply use OPEN TYPE gt FILE TYPE MODE gt OUT FILE NAME gt POS DAT This is to open a file as a text FILE_TYPE with mode as OUT_FILE WRITE and named POS DAT The system is then ready for PUT or WRITE some data into the file While data is coming from the COM_PORT where it is going to rest what is the format of data and how can we handle it is becoming our next concern Since we decided to use predefined package BIT we know we are getting data in BYTES and convert it into any type we need in the whole program The main subprogram LOGGER that serve
71. stop bit 8 ODD 1 Data_Logger set up 8 bits none parity and one stop bit 8 NONE 1 set your GPS to match 6 Select the 1 O and PRINT function to get the desire position data 7 Remote control programming To interact properly with the specific interface function desired Note The remote control interface allows an external computer to set the controls on GPS receiver and transfer the measurements and calculations to the computer 8 Interact with a remote computer through a report session Note A description of The Report Session 34 The Report Session is enabled by sending a special character ATTENTION 35 Dor 23 H The ATTENTION command switches the port on which it 1s received to become the remote con trol port and the next byte received will be logged as a command and will trigger a report session when the system cycle reaches that step At that time the command will be echoed Report Session loop 1 Wait for first byte of next command 2 Echo the command 3 Read any other bytes of command no echoing 4 Execute the command This may include sending multiple bytes to the computer Note There can be a significant delay between sending the first command and the echo This is especially true if the receiver is making synchronized measurements Something you have to know about Trimble 4000 remote control commands 1 Allcommands start with a single byte that 1s evenly divisible by three 2 Th
72. support by Ada a separate package abstraction of these I O ports could be a high level view of physical memory locations 3 Hot Key control Ada exception handling and low level features of VO representation spec ification is highly recommended for concurrent real time processing As noted in Appendix 6 from Reference 3 4 Remote control to external navigation sensor is a possible and the software to challenge the next Ada programmer The Trimble manual and Appendix 1 explains further how this should be done p APPENDIX I GPS Trimble 4000S Using the RS 232 interface for Trimble 4000 l Select proper cables and connectors to connected the GPS and computer Select one of the connectors ports and make a connection in the way of Matching Pins Note In general the only signals that need to be connected are Trimble 4000 Computer Port TXD Transmit Data gt RXD Receive Data RXD Receive Data lt TXD Transmit Data 2 Turn on the system and wait until its self calibration completed Reference position needs to load at this moment when CALIBRATION OK and then POSITION FIX 3 4 A display shows the GPS is in normal function 3 Use the I O key on the control panel to select I O functions 4 Select SETUP BAUD and the PORT you wish to use 5 Set the Data_Logger receving rate match the GPS send rate All Trimble Model 4000 GPS receivers defaults to 9600 Baud 8 bits odd parity and one
73. ten refer to machine dependent characteristics as well Here we are designing our own I O package for a unique device and need to refer to I O ports at a certain location in memory The desire is not to step outside our language Ada provides several constructs with which we may refer to such low level features Ada provides four classes of representation specifications namely length specification numeration type representation record type representation address specification Representation specifications should be applied only for the purpose of efficiency this system required for interfacing with external systems Ada lets us create abstractions about them in high level terms When we then use one of the features we are actually writing a particular bit string and this same feature may be used to express the assembly language mnemonics of our target machine Note that we may not associate two representations in a single task to avoid program errors But there may be cases at different times where two representations are more efficient or perhaps map our view of the world better Because we want to reorganize the record to be used in another task we spool a given record to be saved on a secondary storage device Our solution would be to have one index searching representation and One storage representation the program control the data effectively 35 LIST OF REFERENCES 1 Dr Uno R Kodres research proposal for Small Navigation Dat
74. ud Rate at the COM PORT Key in 1 or 2 In this program set 1200 is relatively better than the others R 5 when 1 gt FOR COM1 SETTING when 2 gt FOR COM2 SETTING R 6 SET THE SYSTEM BAUD RATE AS YOU DESIRE SELECTION IS 1 1200 51 2 2400 3 4800 4 9600 O 8 Key in your selection R 7 when 1 gt YOUR SYSTEM BAUD RATE IS SET TO 1200 NOW when 2 gt YOUR SYSTEM BAUD RATE IS SET TO 2400 NOW when 3 gt YOUR SYSTEM BAUD RATE IS SET TO 4800 NOW when 4 gt YOUR SYSTEM BAUD RATE IS SET TO 9600 NOW R 8 Waiting for the first legal character At this stage the program is running a procedure named LOGGER and the function GET_CHAR keep checking the line register to seek the legal character user defined then pull it in to the system O 9 By observation the screen displays you should be able to identify the the transmittion rate is good or not if not make your adjustment O 10 Use Q or q to quit the program and reset the Baud_Rate or you can use 1t any time when you want to quit the job R 9 END OF PROGRAM DATA_LOGGER A Warning When you quit the job the raw data file will be renewed also The best way is pull the data out to another disk then reset the system as you desire copy POS DAT to A POS0001 DAT O 11 Use SP Space Bar to get the current position data string when you hit the SP R 10 The current data string is 05 THU 143 23 MAY 91 00 09 44 36 35 6893N 121 52 5101W 0015

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