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ABD Robot Integration

Equipment Required

  • 2 x VB3iSL-RTK (RLVB3iSLR-V3) each containing:-
    • VBOX 3iSL 100 Hz GPS+GLONASS RTK compatible Data logger with Dual antenna functionality (VB3iSL-V3) running firmware v2.00b86 or newer
    • 2 x GPS/GLONASS low profile antenna (RLACS156)
    • VBOX Manager (RLVBFMAN)
    • Cigar Plug Power Cable (RLCAB10L) or 5Ahr Li Ion Battery Pack (RLACS112L)
    • 4 GB Compact Flash Memory Card (RLACS098)
    • USB A to USB Mini B (RLCAB066-2)
  • 2 x Inertial Measurement Unit (VBIMU04)1
  • 1 x pair of short range 2.4 GHz telemetry Radios (RLRTM24TR) containing:-
    • 2 x VBOX Telemetry radio (RTM24)
    • 2 x Antenna with magnetic mount (MOTOMAG24)
    • 2 x 5W Lemo to 5W Lemo (RLCAB006)
  • 2 x CAN Splitter (RLVBACS024)
  • 2 x Basestation Receive modules (RLTRMVARR)2 each containing:-
    • VBOX Receive Radio (VBRTMVARR)
    • Mag Mount Antenna (KG-MAG)
    • 5W Lemo to 15W D Plug (RLCAB096L)
  • 1 x Basestation Transmit Radio (RLRTMVARBS)2 containing:-
    • VBOX Transmit and Receive radio (VBRTMVARBS)
    • Base Station Antenna and 5m Cable (RLACS142-VAR)
  • 1 x DGNSS BaseStation (RLVBBS4RG) containing:-
    • DGNSS RTK Basestation (VBBS4RG)
    • GPS Ground Plane Antenna (RLVBACS068)3
  • 2 x 5W Lemo – 9W D Socket (RLCAB19L)

 

1 Can be substituted for the older IMU03 unit

2 Can be substituted for the 868MHz basestation (RLRTM868BS) and receive (RLRTM868TR) radio pairs

3 The GPS antenna will need to be mounted on a tripod (VBBSTRIPOD2)

Quick start check list.

  • Use Twin antenna RTK enabled VB3i, (running version 2.00 b86 or newer)
  • Mount and connect both GPS antennas
  • Connect IMU03 or IMU04
  • Mount all VBOX radio antennas on vehicle roof
  • Connect VBOX CAN output to the ABD system
  • Enable VBOX CAN termination & baud rate set to 500 kbit/s
  • Select  all required VBOX CAN id’s
  • Enable correct ADAS modes
  • Set contact point antenna offsets
  • Ensure VBOX’s are receiving and using an RTK DGPS signal

Installation and Configuration

DGPS Base station

For accurate range calculations, both VBOXs need to be configured to receive RTK correction messages from a static Base Station so that the positional accuracy of each VBOX is bought down to 2 cm.

Overview of DGPS setup

Base station Setup

Set the base station, radio antenna and GPS antenna in a clear, open area close to the test area and power on the base station. After a brief initialisation period, the base station needs to be configured with the following settings4:-

  • DGPS Baud Rate – 9600
  • Handshaking – ON
  • DGPS Mode – RTCM V3 (2 cm)

 

Once a stable satellite signal has been established, the user then needs to define the location of the base station. This can be done in 2 ways, either by entering the known co-ordinates manually or by automatically taking an average position of the base station over a 5 minute, 12 hour or 24 hour period. Alternatively the user can select the ‘Set to Current’ option in place of the ‘Set to Average’ option. After this, the display should show the ‘Location Set OK’ message and the DGPS correction messages should now start to be broadcast to the receiving units.

 

For further explanation on Base station set up, please refer to the Base station manual.

VBOX DGPS Setup

Both VBOXs will need to be configured to receive the messages being broad cast from the base station. This setup procedure can either be done via VBOX Tools Setup or VBOX Manager.

 

Under the GPS menu in VBOX Tools Setup, the DGPS Mode needs to be set to RTCMv3 (2cm RTK), with the DGPS Port RS232 Baud Rate set to 19200 – Satel4.
 

DGPS set up via VBOX Tools

 

The DGPS Mode can be set via the VBOX Manager in the following location Setup > VBOX > DGPS Mode and the DGPS Port RS232 Baud Rate can be set by accessing Setup > VBOX > DGPS RS232 Rate.

 

4 These settings are for using the RLTRMVARBS / RLTRMVARR radio pairing and are different to the settings required for the RLRTM868BS / RLRTM868TR radio pairing. Please refer to the basestation manual for full details.

VBOX Installation

Schematic to show VBOX installation in Subject and Target Vehicles

VBOX Configuration

Subject Vehicle

Using either VBOX Tools Setup or the VBOX File Manager, the Subject Vehicle needs to be set in Single Target mode as the Subject Vehicle.

The Speed Threshold should be set to '5' and the Smoothing Distance should be set to '1.00'

In VBOX Tools Setup, this can be done under the ADAS menu as shown below:-
 

Subject vehicle setup via VBOX Tools

 

In the VBOX Manager, the above can be accessed via Setup > ADAS > Single Target > Subject Vehicle as shown below:-

Subject Vehicle Setup via the VBOX Manager

It is then possible to access the Smoothing Distance and Speed Threshold under the Subject Vehicle’s ‘Smoothing’ menu (Setup > ADAS > Single Target > Subject Vehicle > Smoothing)

The Subject Vehicle's Smoothing Menu in the VBOX Manager

Vehicle Offsets

All range measurements are calculated from antenna point to antenna point. To compensate for the fact that the contact points of the vehicle are likely to not be at the antenna point, the user will need to enter in both longitudinal and lateral offsets for the Subject and Target Vehicles.

 

This can only be done via VBOX Manager by following the steps.

1. Carefully measure the longitudinal and lateral distances (in meters) from the centre of the reference antenna to the front collision point of the Subject car and the rear collision point of the target car (assuming the Subject car is always following the Target car), using the signing conventions below.



~

Lateral and Longitudinal offset signing convention


2. Navigate to the ‘Offset Menu’ in VBOX Manager (Setup > ADAS > Single Target Subject Vehicle > Offset Menu)
 

Navigating to the 'Offset Menu' in VBOX Manager

3. Select ‘Subject Vehicle’ and enter the longitudinal and lateral offsets in either the ‘LNG RANGE’ or ‘LAT RANGE’ menus.

The 'Subject Vehicle Offset Menu' in the VBOX Manager

4. Repeat these steps for the Target Vehicle.

Target Vehicle

Using either VBOX Tools Setup or the VBOX File Manager, the Target Vehicle needs to be set in Single Target mode as the Target Vehicle.

The Speed Threshold should be set to '5' and the Smoothing Distance should be set to '1.00'

In VBOX Tools Setup, the can be done under the ADAS menu as shown below:-
 

Target vehicle setup via VBOX Tools
 

In VBOX Manager, the above can be accessed via Setup > ADAS > Single Target > Target Vehicle 1 as shown below:-

Target Vehicle Setup via VBOX Manager

Dual antenna

As the robot needs an accurate representation of Body heading, both VBOXs need to be set up in the Dual antenna mode. This can be done by following the steps outlined below.

 

1. Mount the GPS/GLONASS antennas on the vehicle roof in-line with the direction of motion, as shown below. Connect the primary antenna (normally at rear of vehicle) to port A, and the secondary antenna to port B on the VB3iSL.
 

Dual Antenna Placement

 

2. Note that any alignment error can be zeroed using the ‘ALIGN ANTENNAS’ option on the VBOX Manager.

3. Accurately measure separation distance to the nearest 5 mm.

4. Navigate to the Dual Antenna menu in the VBOX Manager (SETUP>DUAL ANTENNA) and make sure Dual Antenna mode is enabled.

5.Next, measure and enter the antenna separation in the Separation menu (SETUP>DUAL ANTENNA ->SEPARATION)

CAN Output

To integrate successfully with the ABD Robot, Both Vehicle’s VBOXs need to have the correct CAN settings in VBOX Tools Setup.

 

Firstly, ensure that both the CAN Port and RS232 ports have the CAN Termination options ticked and that the CAN Buses are configured such that the ‘CAN’ Port is the Racelogic CAN bus, and the ‘RS232’ port is the Vehicle CAN Bus (VCI), as shown below:-

 

CAN port configuration

 

Then ensure that the correct Tx Identifiers are switched on and have the correct IDs, as shown below:-

 

Tx Identifier configuration

 

Then ensure that the correct ADAS parameters are switched on and have the correct IDs, as shown below:-

 

ADAS CAN Parameters configuration

 

Finally ensure that the correct extra Tx Identifiers are switched on and have the correct IDs, as shown below:-

 

IMU CAN Pass through configuration

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Last modified
15:21, 20 Feb 2017

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