VB3iSL-RTK is compatible with Vehico robot systems, allowing the user to complete high accuracy ADAS tests.
For successful integration with the Vehico system, the user will need the following equipment in each Vehicle: -
By Selecting ‘VEHICO’ from the 'ROBOT' menu within VBOX Manager, no actions will be taken until the ‘ENABLE’ option is selected. When ‘ENABLE’ is selected, a tick mark appears next to the mode and the rest of the options become visible.
When ‘AUTO CONFIG' is selected, the box automatically configures itself to work with the Vehico system. This means that the following VBOX modes will be enabled:-
*1.00 m is the default dual antenna separation. If it is not possible to gain a 1 m separation, then the user will have to enter the required separation value in the ‘DUAL ANTENNA’ area of VBOX Manager.
**Please note that the user must manually select the correct DGPS serial rate that relates to the radio system they are using.
USE BASESTATION – This option will automatically use the location of the Basestation’s antenna as the Datum point.
Note: For this option to work correctly, the basestation has to be powered on with an activate radio link between the Basestation and VBOX and VBOX has to be ‘RTK FIXED’.
Once the user has defined the Datum point and track direction, it is possible to save this information to be recalled at a later date. To do this the user must save the information by pressing the ‘SAVE’ option within VBOX Manager, doing this will allow the user to either ‘CREATE NEW’ file or overwrite an existing file.
Once saved, it is possible to load this information into the VBOX using the ‘LOAD’ option on VBOX Manager, allowing the user to select the required file.
To clear the current track direction and datum point, the user can use the ‘CLEAR’ function. Selecting this option will clear the current track direction before setting the current antenna location as the datum point.
The user will still need to manually set the VBOXs as either a ‘SUBJECT VEHICLE’ or ‘TARGET VEHICLE’ in the Single target ADAS mode. For more information on how to do this, please see the relevant ADAS page within the Support centre.
Once Vehico mode is enabled, the Position channels output over CAN (IDs 308 and 309) are now in a local X and Y coordinates, rather than the standard global coordinate system the VBOX typically uses. The origin of this local X and Y system will be the user nominated Datum point.
The Latdif_tg1 and Lngdif_tg1 channels also change function, being populated with the Target’s position with regards to the Datum, i.e the x and y position in metres.
As the Vehico system allows the user to define a Track direction, the VBOX’s True heading 2 value is calculated with reference to the ‘y’ direction (Track Direction) in the image below, as opposed to using North as the reference.
Please note that the VBOX will continue to operate in ‘Vehico mode’ until either a different Robot mode is selected (DSD, ABD) or ‘NONE’ is selected from within the file manager.