User Manual - GPM
Contents
1. page 10 Geo Pointing Module User s Manual v1 0 COMMAND REFERENCE typical maximum error in degrees as shown in Figure 7 on page 12 Once pan tilt position and orientation are defined geo pointing commands may be issued Heading Figure 6 Pan Tilt Orientation Coordinate System Overall accuracy of the geo pointing commands is determined by pointing resolution of the PTU and accuracy of the initially provided geo position and orientation of the PTU For target standoff distances of greater than 1000m angular error of the geo pointing will approximately equal error in the calibrated pan tilt orientation Careful aiming during calibration and use of accurately surveyed and well spaced landmarks allows overall resolution to approach the angular resolution of the PTU being used Accuracy can also be affected by the alignment of the sensor to the pan tilt frame of reference Up to approximately 5 degrees of misalignment between sensor line of sight and pan tilt coordinates will result in error similar to that of pan tilt angular error Misalignment above 5 degrees should be avoided Landmarks for calibration should be selected so as to cover a wide span of angles up to 180 degrees preferred and distances A minimum of 4 landmarks are required to compute PTU orientation Additional landmarks can improve system pointing accuracy Landmarks should also be selected to have a visually distinct point that can be seen by and aligned to2. 4 1 2 Authentication of IP Commands All DPoIP commands are authenticated using the HTTP Basic Authentication Scheme The basic authentication scheme provides for filtering unauthorized access to resources on an HTTP server It is based on the assumption that the connection between the client and the server can be regarded as a trusted carrier As this is not generally true on an open network the basic authentication scheme should be used accordingly When issuing DPoIP commands to the Geo Pointing Module from a browser the user will be prompted for a user name and password A valid user name and password will allow the command to be sent to the GPM User name password must be entered once per session or user name password may be stored by your browser depending on settings Non browser applications must set the credentials user name password on the Geo Pointing Module server prior to issuing each DPoIP command The factory set default username is admin and the factory set default password is default User name and password are managed from the Network Configuration web page See Section 5 2 on page 17 4 2 Calibration Commands 4 2 1 Calibration amp Relevant Terms Geo pointing commands operate by translating target geo coordinates to relative pan tilt pointing angles using the known position and orientation of the pan tilt unit The pan tilt unit position and orientation are defined during a calibration step after t
3. A 2 1 Calibrated unit is not pointing to correct locations Likely Cause If the position and orientation have not been properly calibrated the unit will not point accurately at entered targets Remedies Check the landmark quality output for each landmark on the Geo Calibration web page This value will often indicate a landmark that is off inconsistent with other landmarks This often indicates poor survey data incorrectly entered coordinates or other error in the land mark data e g was not visually aligned properly during calibration process Confirm landmark coordinates re align pan tilt and re enter landmark and recalibrate A 2 2 Waiting for Pan Tilt unit to power up will not go away Likely Cause The GPM is not able to communicate with the pan tilt unit Remedies Confirm physical connection between the GPM and the pan tilt unit A null modem may be required Confirm that pan tilt unit baud rate and communications are set at the default 9600 8 N 1 Make sure Pan Tilt unit is powered on If problem persists power cycle the GPM after pan tilt unit is powered on A 2 3 Pan Tilt stopped responding web page hangs Likely Cause The GPM is not able to communicate with the pan tilt unit Remedies If the pan tilt had been responding to web commands and then web commands web page queries hang or give http errors this is likely due to GPM not being able to communicate with the pan tilt unit Try resetting
4. and TP commands and the currently set motion parameters page 19 WEB CONTROL INTERFACE Geo Pointing Module User s Manual v1 0 The Raw Command field of the PTU Control web page can be used to send any pan tilt command directly to the unit Whatever text is entered here will be sent directly to the attached pan tilt unit See your pan tilt Users Manual for a complete list of commands DirectedPerception Network PTUCOnfig PTU Controli GEO Config GEO Control PTU CONTROL sarta Tilt Up Manually control Pan Tilt Unit Tt fen RIO Rn Tilt Down Large Steps per Click Current Pan Tilt Position Pan 3000 Tit 0 Set Pan Position Set Tilt Position 3000 D Go To Position Pan Speed Tilt Speed 1000 1000 Set Speed Pan Min Position Bon Max Position 3469 3469 Tilt Min Position Tilt Max Position 1150 766 Raw Pan Tilt Unit Command pp3000 PP3000 Figure 10 PTU Control Web Page 5 5 Geo Config This page is used to calibrate the Geo Pointing Module It allows entering the surveyed Pan Tilt Unit position and entering a series of landmarks to allow the system to compute the pan tilt unit orientation angles During calibration as each landmark is entered the pan tilt must be aimed at the corresponding landmark This aiming can be done using the PTU Control page or other means The Geo Calibration page also includes an output of current quality of
5. 100 steps and reads the resulting geo coordinate being pointed at KG36 67939 121 43923 335 A KG Current desired pointing position is 36 67939 121 43923 335 PO100 A KG Current desired pointing position is 36 67002 121 43123 350 The following sends the pan tilt unit to position 1000 500 then queries the geolocation being pointed at at sea level PP1000 TP500 A KGO Current actual pointing position is 36 67939 121 43923 0 Related Topics e Calibration See Section 4 2 on page 10 page 14 Geo Pointing Module User s Manual v1 0 COMMAND REFERENCE 4 4 Unit Commands 4 4 1 Default Settings Description View current settings and restore default settings for geo pointing functions Syntax Load default settings to Flash KF lt delim gt View Current Settings KV lt delim gt Example The following displays the current settings loads the default settings to Flash and then displays those KV Current settings are KF Default settings restored KV Current settings are Related Topics 4 4 2 Restore Network Defaults Description Restore unit network address settings to factory defaults Use to reconfigure IP network identity of unit to a known state Syntax Restore Defaults KR lt delim gt Example The following restores unit network address parameters to factory defaults KR 4 4 3 Reboot Module Description Reboot the Geo Pointing M
6. Perception and selected from the browse button IMPORTANT Removing power or resetting the module during firmware update may corrupt memory and require factory repair page 22 Geo Pointing Module User s Manual v1 0 DirectedPerception Network PTUConfig PTU Control FLASH UPGRADE Upgrade the firmware of the Flash Upgrade 0 pointing module Figure 13 Firmware Update Web Page WEB CONTROL INTERFACE GEO Config GEO Control page 23 WEB CONTROL INTERFACE Geo Pointing Module User s Manual v1 0 page 24 Geo Pointing Module User s Manual v1 0 CUSTOM CONFIGURATIONS 6 CUSTOM CONFIGURATIONS The Geo Pointing Module is specially designed for flexibility and includes a number of features and options to allow customization and enhancement of the unit for specific applications Some of the potential custom configurations and features of the Geo Pointing Module include e Customized web pages e Gyro GPS sensor inputs for mobile applications e Outputs for web control of cameras and other sensors Contact the Directed Perception Sales Team for details sales dperception com page 25 CUSTOM CONFIGURATIONS Geo Pointing Module User s Manual v1 0 page 26 Geo Pointing Module User s Manual v1 0 Appendix A SPECIFICATIONS A SPECIFICATIONS A 1 Mechanical Dimensions page 27 Geo Pointing Module User s Manual v1 0 Appendix A SPECIFICATIONS A 2 Troubleshooting Guide
7. coordinates instead of pointing angles or presets 2 Allows control of a pan tilt unit over Ethernet IP and 3 Provides a built in web page based graphical interface to configure and control the pan tilt unit and geo pointing functions Some general features include e Modular design e Built in Web Ethernet Interface for geo pointing and pan tilt commands e Supports DPoIP command format for sending pan tilt commands over IP networks e Compatible with all Directed Perception Pan Tilt Units e Simple setup and operation e Geo pointing and geo tracking functions e Supports standard pan tilt and geo pointing commands e Single DC power input Applications of the Geo Pointing Module include e Long range surveillance e Force protection e Perimeter security e Radar based port monitoring systems e Antenna positioning systems e Satellite communications systems e Laser ranging systems e Automated video detection amp tracking systems e Vehicle amp shipboard surveillance systems PLEASE REFER TO TECHNICAL SPECIFICATIONS FOR DETAILS ON TECHNICAL OPERATING LIMITS AND CAPABILITIES This User s Manual provides information needed to set up and operate the Geo Pointing Module The next section provides a brief overview to allow you to get started as quickly as possible More detailed technical information is provided in the remaining sections page 1 INTRODUCTION Geo Pointing Module User s Manual v1 0 1 1 IMPORTANT SAFEGUARDS AND WA
8. gt KR lt position gt lt delim gt KP lt delim gt KP lt position gt lt delim gt KN lt delim gt KN lt position gt lt delim gt KM lt delim gt KM lt name gt lt lat gt lt lon gt lt alt gt lt delim gt KC lt delim gt KD lt delim gt page 12 Geo Pointing Module User s Manual v1 0 COMMAND REFERENCE Clear all landmarks KJ lt delim gt Query calibration quality KQ lt delim gt Example The following defines the PTU position defines and points at 4 landmark locations computes the calibrated orientation and queries the resulting calibration quality KL36 67939 KO 121 43923 KA335 A KM lm 1 37 67939 122 43923 345 lt point PTU at landmark using commands such as PO and TO gt KM lm 2 35 67939 123 43923 355 lt point PTU at landmark using commands such as PO and TO gt KM lm 3 36 67939 124 43923 315 lt point PTU at landmark using commands such as PO and TO gt KM lm 4 38 67939 125 43923 305 lt point PTU at landmark using commands such as PO and TO gt KC KQ Current calibration quality is 0 125 deg 4 3 Geo Pointing Commands The Geo Pointing Commands allow commanding the Pan Tilt unit to aim at a given geo coordinate latitude longitude altitude and to read the geo coordinate at which the Pan Tilt Unit is pointing These commands are valid only after a calibration has been completed see Section 4 2 on page 10 4 3 1 Geo Coordinate Data Formats Geo coord
9. the camera sensor e g center of field of view during landmark definition The survey location of the landmark should match the landmark s visual alignment point used during the calibration process A landmark quality value is output by the calibration algorithm This value can be used to identify poorly surveyed or aimed landmarks and provides a good estimate of overall system accuracy 4 2 2 Tips on Selecting Landmarks Accurate survey and entry of landmarks is critical to overall system geo pointing accuracy The following guidelines can help ensure the best calibration e Select a set of landmarks that cover the widest possible range of angles distances and altitudes Even if the field of interest for operation is narrow a wider range of landmarks will help ensure better pointing accuracy Having some of the landmarks quite far away gt 1 mile will also help system accuracy e Select landmarks which have a visually distinct survey point When aligning the pan tilt to the landmark e g viewing through a zoomed in camera it is important to aim at the surveyed location Objects like the base of a flagpole or telephone pole or corner of a building are usually good Make sure the landmark will be visible from the mounted pan tilt location page 11 COMMAND REFERENCE Geo Pointing Module User s Manual v1 0 e Survey carefully Most hand held GPS units include an averaging function which will improve measured coordina
10. RNINGS IMPORTANT SAFEGUARDS AND WARNINGS 1 ON St ae I Cola 10 11 12 Please read these instructions Please keep these instructions accessible Please heed all warnings Please follow all instructions Install in accordance with Directed Perception s instructions Do not install near any heat sources such as radiators heat registers stoves or other apparatus including amplifiers that produce heat Only use attachments accessories specified by Directed Perception Refer all servicing to qualified service personnel Servicing is required when the apparatus has been damaged in any way such as power supply cord or plug is damaged liquid has been spilled or objects have fallen into the apparatus the apparatus has been exposed to rain or moisture when improperly sealed does not operate normally or has been dropped Installation should be done only by qualified personnel and conform to all local codes The unit should not be installed in environments that present conditions beyond the environmental specification limits of the apparatus CAUTION These servicing instructions are for use by qualified service personnel only To reduce the risk of electric shock do not perform any servicing other that contained in the operating instructions unless you are qualified to do so Only use replacement parts recommended by Directed Perception 13 After replacement repair of this unit s electrical components conduct a resi
11. Web Enabled Geo Pointing Module Model PTU DGPM UseEr s MANUAL Version 1 0 DirectedPerception www DPerception com PTU DGPM User s Manual Version 1 0 2005 by Directed Perception Inc 890C Cowan Road Burlingame California 94010 650 692 3900 FAX 650 692 3900 www DPerception com All rights reserved Protected under numerous U S Patents including 5463432 and 5802412 No part of this book may be reproduced stored in a retrieval system or transcribed in any form or by any means electronic mechanical photocopying recording or otherwise without the prior written permission of Directed Perception Inc The information in this manual is subject to change without notice and except for the warranty does not represent a commitment on the part of Directed Perception Directed Perception cannot be held liable for any mistakes in this manual and reserves the right to make changes This page intentionally left blank INTRODUCTION citare aa 1 1 1 IMPORTANT SAFEGUARDS AND WARNINGS 2 1 2 Models slo alii 2 A A IN 3 2 1 DIRI riale eda ia 3 22 Installation Components uao 4 23 A bl aiar 4 Z BASIC A ENE E A EE A EEN 4 INSTALLATION amp INITIAL SETUP edd 5 3 1 A 5 3 2 ere ee 5 3 3 Pan Tilt Unit Interface Connection and Settings RS 485 6 3 4 Etherietnterfa cena eg 6 3 5 Initial Installation and Operation 6 3 0 Reset
12. al installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interfer ence to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures e Reorient or relocate the receiving antenna e Increase the separation between the equipment and receiver e Connect the equipment into an outlet on a circuit different from that to which the receiver is connected e Consult the dealer or an experienced radio TV technician for help The Geo Pointing Module is pending certification for FCC Class B requirements Caution Changes or modifications of this equipment not expressly approved by manufacturer could result in viola tion of Part 15 of the Federal Communications Commission s rules The FCC has prepared the following booklet How to Identify and Resolve Radio TV Interference Problems It is available from the US Government Printing Office Washington DC 20402 Stock Number 004 00 00345 4 FCC Notice According to 47CFR Parts 2 and 15 Class B Computer Peripherals This device complies with Part 15 of the FCC Rules Operation is subject to the fol
13. ay DNS Name Username Password parameters to factory default values It will also erase user values in memory including landmarks and calibration data Insert photo of service pin Figure 5 Geo Pointing Module Service Pin page 7 INSTALLATION amp INITIAL SETUP Geo Pointing Module User s Manual v1 0 page 8 Geo Pointing Module User s Manual v1 0 COMMAND REFERENCE 4 COMMAND REFERENCE This section describes the Geo Pointing Module command set Each command has a section that provides a brief functional description a format syntax description examples and related topics Only commands specific to the Geo Pointing Module are described here Standard pan tilt commands that may be passed through the Geo Pointing Module to the Pan Tilt Unit are described in the relevant Pan Tilt Unit User Manual When describing the format syntax of pan tilt Geo pointing commands the following conventions are adopted e Input characters may be in upper or lower case we show them in upper case for presentational consistency e A delimiter lt delim gt can be either a space oe 99 or a carriage return lt CR gt 4 1 DPoIP Command Format The Geo Pointing Module accepts both Geo pointing commands and standard pan tilt commands over TCP IP using HTTP get commands DPoIP command format 4 1 1 General Forms The general form of the DPoIP command format is Description The Geo Pointing Module accepts both Ge
14. c authentication scheme should be used accordingly When accessing Geo Pointing Module web pages the user will be prompted for a user name and password A valid user name and password will allow access to the web page User name password must be entered once per session or user name password may be stored by your browser depending on settings The factory set default username is admin and the factory set default password is default User name and password are managed from the Network Configuration web page See Section 5 2 on page 17 5 2 Network Configuration This page allows setting of the Geo Pointing Module s IP network address and related parameters This is the default home page of the Geo Pointing Module 5 2 1 Accessing the Geo Pointing Module from the Internet Once installed your Geo Pointing Module is accessible on your local network LAN To access the Unit from the Internet network routers and firewalls must be configured to allow incoming traffic over port 80 HTTP Please refer to the documentation for your router for further instructions 5 2 2 Reset Geo Unit Defaults The Reset Geo Unit Defaults button on this page will set IP address Subnet Gateway DNS Name Username Password parameters to factory default values It will also erase user values in memory including landmarks and calibration data page 17 WEB CONTROL INTERFACE Geo Pointing Module User s Manual v1 0 DirectedPerc
15. eption Network PTU Config PTUContro GEO Config GEO Control NETWORK Define network address of Network Configuration Module 1 00 Firmware Version a Upgrade Firmware Device Name DPPanTiltUnit Username admin Password Confirm Password Obtain IP Address automatically O Specify an IP Address IP Address 192 168 0 104 Subnet Mask 255 255 255 0 Default Gateway 192 168 0 1 DNS Server 192 168 0 1 Apply Reset Geo Unit Defaults Copyright Directed Perception 2005 Figure 8 Network Configuration Web Page 5 3 PTU Configuration This page allows configuration of many pan tilt parameters on the Pan Tilt unit attached to the Geo Pointing Module Refer to the Users Manual for your pan tilt unit for details on the semantics and function of these parameters The Restore Factory Defaults button issues a DF command to the pan tilt unit and resets all the parameters on the PTU Config page to values queried from the pan tilt unit page 18 Geo Pointing Module User s Manual v1 0 WEB CONTROL INTERFACE DirectedPerception Network PTU Config PTU Controli GEO Config GEO Control PTU CONFIG PTU Configuration General Firmware version v2 12 10r1 D46 C14 E PTU Pan Resolution 185 14281 arc secs pos PTU Tilt Resolution 185 14281 arc secs pos Configure motion parameters of Pan Titt Unit Speed Con
16. ernet Module RS 485 AN 10baseT Pan Tilt Unit Figure 3 Wiring Overview 3 1 Physical Mounting The Pan Tilt Unit being used with the Geo Pointing Module should be mounted at the user site prior to final calibration of the system Mounting of the Pan Tilt Unit should follow all instructions for mounting provided with the Pan Tilt Unit The Geo Pointing Module may be mounted near the pan tilt or separately up to the maximum allowed distance for the RS 485 Host Interface cabling The Geo Pointing Module is not designed for outdoor use and should be housed in a weatherized enclosure or mounted indoors 3 2 Power Sources Connect the Geo Pointing Module power connections to power supply as shown in Figure 3 on page 5 CAUTION When wiring your own power source failure to comply with wiring and power source requirements described in this manual can result in decreased unit performance or damage not covered under the limited warranty page 5 INSTALLATION amp INITIAL SETUP Geo Pointing Module User s Manual v1 0 3 3 Pan Tilt Unit Interface Connection and Settings RS 485 The Geo Pointing Module PTU Interface connects to the RS 485 Host Interface on the Pan Tilt Unit The Pan Tilt RS 485 settings must be set to match that of the Geo Pointing Module 9600 baud 1 start bit 8 data bits 1 stop bit and no parity Hardware handshaking and XON XOFF are not used The RS 485 connections to the Geo Pointin
17. figuration control of the Pan Tilt Unit 7 Point your browser at the Geo Config page from the upper navigation bar Enter the surveyed Pan Tilt Unit location latitude longitude altitude using the fields on the Geo Config web page See Section 5 4 on page 19 for details on Geo Config 8 Point your browser at the Geo Calibration page accessible from the Geo Config page Point the pan tilt e g using the PTU Control web page at the first landmark enter the geo coordinates of the first landmark and Save Repeat for a minimum of 3 additional landmarks Up to 10 landmarks may be entered See Section 5 5 on page 20 for further details on calibration Click Calibrate This operation may take up to several minutes 9 Point your browser at the Geo Control page from the upper navigation bar Enter geo coordinates of desired target locations and command the Pan Tilt Unit to point See Section 5 6 on page 22 for further details on Geo Pointing commands 10 Optional Use the DPoIP interface to send calibration and or pointing commands from a web browser or custom application See Section 4 on page 9 for further details on the DPoIP command interface 3 6 Resetting to Factory Defaults The Geo Pointing Module can be reset to factory defaults network address parameters with the following procedure e Depress service pin see Figure 5 on page 7 and hold for 5 seconds This will set IP address Subnet Gatew
18. g Module are R pin 2 R pin 3 T pin 4 T pin 5 and Sheild pins 1 and 6 Figure 4 on page 6 shows the connector pinout for the RS 485 interface on the Geo Pointing Module Shield R R View looking into RJ12 123456 6P6C receptacle Shield OO OO P OM ch Figure 4 Geo Pointing Module RS 485 Interface 3 4 Ethernet Interface The Ethernet Interface on the Geo Pointing Module is an industry standard RJ 45 connector and connects to a LAN that is reachable from the Host Computer For initial configuration this may be a direct connection between the Host Computer and the Geo Pointing Module with the use of an appropriate cross over cable 3 5 Initial Installation and Operation Before you can use the Geo Pointing Module you must configure its IP address so that it can communicate with the Host Computer and other applications over Ethernet IP The Geo Pointing Module ships with a default IP address of 192 168 1 110 The computer that is used to initially configure the IP address of the Geo Pointing Module must be accessible from the LAN where the Geo Pointing Module is installed Following are the basic steps to install and test operation of the Geo Pointing Module 1 Mount and power Pan Tilt Unit according to User Manual instructions Mount payload or temporary camera and an output device to allow viewing where the Pan Tilt Unit is pointing required for calibration step IMPORTANT sensor sho
19. he pan tilt is physically installed at the site of use Figure 6 on page ll shows the orientation coordinate system for the pan tilt Pan tilt orientation is measured with respect to the 0 positions of pan and tilt positions of the unit Pitch offset accounts for any error in mounting the sensor with respect to 0 pitch angle The pan tilt position latitude longitude altitude of the installed pan tilt is defined using the relevant commands below Pan tilt position may be measured for example using a handheld GPS at the installed pan tilt site The pan tilt orientation can be defined either by directly entering the values determined through some external means of measuring the pan tilt orientation in real world coordinates or more commonly by using the calibration function described below Automated determination of the pan tilt orientation angles is achieved by entering and pointing the pan tilt at 4 or more landmark geo locations and then issuing a calibration command The calibration algorithm then uses the defined landmark locations and the associated recorded pan tilt pointing angles to compute an estimate of the pan tilt orientation angles Roll Pitch Heading and Pitch Offset A calibration quality measure is also computed by the algorithm and can be queried after the calibration function is invoked to determine if additional or different landmarks produce a more accurate orientation estimate Calibration quality is computed as a
20. ify or query the geo pointing position Desired positions can be changed on the fly without waiting for previous position commands to complete Pan Tilt can be moved using standard pan tilt commands e g PP and then geo pointing position queried There are three forms of the KG command One that requires lat lon alt which points the unit at the given coordinates There are two query forms The first KG lt delim gt returns that last geo coordinate given via a KG command The KG lt alt gt lt delim gt form computes the geo coordinate being currently pointed at The results of these two forms will differ since the altitude of the position being pointed at cannot be computed from geometry alone due to terrain effects The KG lt alt gt lt delim gt command will return the lat lon position computed as where the current pointing vector intercepts the earth sphere If the alt given in the query command is 0 this would be the sea level intercept point If the altitude provided is non zero then the command returns the lat lon intercept of column normal to the earth sphere and at that given altitude Syntax Set desired pointing position KG lt lat gt lt lon gt lt alt gt lt delim gt Query desired pointing position KG lt delim gt Query actual pointing position KG lt alt gt lt delim gt Examples The following sends the pan tilt unit to point at 36 67939 121 43923 335 then pans the unit
21. inates used in the pointing and query commands utilize a latitude longitude and altitude coordinate system Multiple data formats are accepted as input parameters Geo coordinates returned by the Query functions are in format 1 ASCII data representations for Latitude lt lat gt and Longitude lt lon gt data for pointing commands are as follows 1 DDD ddddd DDD is degrees and ddddd is decimal degrees 2 DDD MM mmmm DDD degrees MM minutes mmmm decimal minutes 3 DDD MM SS sss DDD degrees MM minutes SS seconds sss decimal seconds The format is flexible with respect to significant digits So for example 012 45678 is interpreted the same as 12 45678 Negative values must include prefix Positive values need not include The return format for query functions is always format 1 Altitude data lt alt gt format is aaaaa aaaaa altitude in Feet IMPORTANT make sure to convert surveyed altitude data page 13 COMMAND REFERENCE Geo Pointing Module User s Manual v1 0 to feet for use in calibration or geo pointing functions IMPORTANT By convention latitude and longitude numeric representations are signed numbers indicating hemisphere West and South coordinates are signed negative while East and North coordinates are signed positive 4 3 2 Position geo reference Description Spec
22. l This page allows the user to issue a geo pointing command by entering the geo coordinate and sending the command The currently pointed at geo location is also displayed on this page The page should be refreshed to display the currently pointed at geo location if the pan tilt is moved using external means The Pan Tilt Last Targeted At field refers to the last geo position commanded KG command The Pan Tilt Currently Pointing At field refers to the calculated earth intercept point KG lt alt gt command See Section 4 3 2 on page 14 for further details DirectedPerception Network PTUConfig PTUCOntroi GEO Config GEO Control GEO CONTROL GEO Control Point To Position Latitude Longitude Elevation Manually control Pan Tilt using Geo coordinates NOTE calibration must be complete prior to issuing Geo Pointing Commands See Calibration page Uses the KG lt Latitude gt lt Longitude gt lt Elevation command Pan Tilt Last Targeted At Latitude Longitude Elevation 13 00000 13 00000 13 00000 Pan Tilt Currently Pointing At Latitude Longitude Elevation 31 88889 41 09570 0 00000 Copy to Point Copyright Directed Perception 2005 Figure 12 GEO Control Web Page 5 7 Flash Update This page is invoked from a link on the Network page and allows updating the firmware of the Geo Pointing Module A firmware update file should be obtained only from Directed
23. lowing two conditions 1 This device may not cause harmful interference 2 This device must accept any interference received including interfer ence that may cause undesired operations page 29 LIMITED WARRANTY Directed Perception Inc warrants this product against defects in material or workmanship as follows For a period of one year from date of purchase Directed Perception Inc will repair the defective product and provide new or rebuilt replacements at no charge Warranty repairs require the issuance of a repair authorization number from Directed Perception prior to the return of merchandise and buyer assumes responsibility for freight charges After the one year period buyer must pay for all parts labor and freight This warranty does not cover any damage due to accident misuse abuse or negligence Buyer should retain original bill of sale as evidence of the date of purchase REPAIR OR REPLACEMENT AS PROVIDED UNDER THIS WARRANTY IS THE EXCLUSIVE REMEDY OF THE PURCHASER DIRECTED PERCEPTION SHALL NOT BE LIABLE FOR ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES FOR BREACH OF ANY EXPRESS OR IMPLIED WARRANTY ON THIS PRODUCT EXCEPT TO THE EXTENT PROHIBITED BY APPLICABLE LAW ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE ON THIS PRODUCT IS LIMITED IN DURATION TO THE DURATION OF THIS WARRANTY Some states do not allow the exclusion or limitation of incidental or consequential damages or allow limitati
24. n Once the calibration is complete the camera can be removed Procedure for Calibration 1 Mount pan tilt with payload at site 2 Survey pan tit s own position using handheld GPS and enter latitude longitude and altitude into the GPM using this web page 3 Using the PTU Control web page aim the PTU precisely at the a known landmark 4 Enter the coordinates of the landmark using the KM command or the fieldsbutton below 5 Repeat steps 3 4 for 3 or more additional landmarks IMPORTANT for best calibration results use 4 6 landmarks spaced evenly over area of interest 6 Issue KC command or use Save Calibration button below 7 Calibration is complete Current Pan Tilt Position Estimate Latitude Longitude Elevation 0 00000 0 00000 0 00000 Heading Pitch Roll Pitch Offset 1 41399 0 50308 1 42675 0 04606 Landmark 1 dsf Latitude Longitude 12 00000 12 00000 12 00000 ft 0 000 Hew Landmark Name Latitude Longitude Elevation Add Landmark Clear Landmarks Error Difference from Last Estimate Calibration Quality 0 19434 GEO Pointing Calculator All geo pointing altitude measurements must be in ft For your convenience you may use the calculator below to convert from meters to ft 1 m 3 28084 ft Figure 11 Geo Config Web Page page 21 WEB CONTROL INTERFACE Geo Pointing Module User s Manual v1 0 5 6 Geo Contro
25. o pointing commands and standard pan tilt commands over TCP IP using HTTP get commands DPoIP command format The raw form returns the raw result from the pan tilt or Geo Pointing Module command The non command executes the command but returns no data Syntax http lt ipaddr gt lt verb gt lt cmd gt lt params gt lt delim gt http lt ipaddr gt lt verb gt cmd lt command gt lt delim gt where lt ipaddr gt is the IP Address of the GPM lt verb gt e non raw lt cmd gt is a Geo Pointing or Pan Tilt command lt command gt lt cmd gt lt params gt lt params gt lt paraml gt lt paraml gt lt param2 gt lt paraml gt lt param2 gt lt param3 gt Examples The following commands the pan tilt to pan to location 42 and tilt to location 99 using the PP and TP commands and then resets the pan tilt The Geo Pointing Module is at IP address 192 168 1 110 http 192 168 1 110 non PP 42 http 192 168 1 110 non TP 99 http 192 168 1 110 non R The following commands use alternate forms of the commands to execute the same PP pan tilt command The second form is generally more convenient page 9 COMMAND REFERENCE Geo Pointing Module User s Manual v1 0 for sending requests from a web page while the first is more convenient for programs http 192 168 1 110 raw cmd PP1200 http 192 168 1 110 raw PP 1200 http 192 168 1 110 raw R
26. odule Syntax Reboot Module KK lt delim gt Example The following reboots the module KK page 15 COMMAND REFERENCE Geo Pointing Module User s Manual v1 0 page 16 Geo Pointing Module User s Manual v1 0 WEB CONTROL INTERFACE 5 WEB CONTROL INTERFACE The Geo Pointing Module has a built in web server and set of password protected web pages that allow the user to e Configure the Geo Pointing Module network addresses e Configure and Control the Pan Tilt Unit e Configure and Calibrate Geo Pointing Module e Manually Enter Geo Pointing Commands e Update Geo Pointing Module firmware The following sections provide details on use of these web pages Once the Geo Pointing Module is connected to the LAN an accessible host computer can be used to access these web pages by pointing a browser at http lt gpm ip gt This will bring up the default home page of the unit Network Configuration The other pages can be accessed from the top navigation bars accessible from all pages 5 1 Authentication and Access Control All web pages are secured via password protection The HTTP Basic Authentication Scheme is used The basic authentication scheme provides for filtering unauthorized access to resources on an HTTP server It is based on the assumption that the connection between the client and the server can be regarded as a trusted carrier As this is not generally true on an open network the basi
27. ons on how long an implied warranty lasts so the above limitations or exclusion may not apply to you This warranty gives you specific legal rights and you may also have other rights which vary from state to state page 30
28. rks and the system automatically computers the pan tilt s orientation estimate Once calibrated the Geo Pointing Module can accept geo pointing commands and queries A set of web pages built into the Geo Pointing Module allow configuration and control of the pan tilt Host Computer age Application e Host Se Interface EN Geo Pointing _ IP Network dck ck A Ethernet Module 10baseT Standard pan tilt commands e Geo Pointing Commands Pan Tilt Unit Figure 1 Geo Pointing Module System Overview Target location Lat Lon Alt Pan Tilt angles computed from Geo coordinates by GPM Lat Lon Alt and Orientation of Pan Tilt base defined during installation or read from sensors Figure 2 Geo Pointing Module Operation page 3 QUICK START Geo Pointing Module User s Manual v1 0 2 2 24 Installation Components Components supplied with this manual are Geo Pointing Module GPM Ethernet Patch Cable crossover type AC DC Power Supply Required Components Directed Perception Pan Tilt Unit PTU D46 17 PTU D46 70 or PTU D300 Camera or other payload that allows aiming the Pan Tilt Unit at a known landmark Pan Tilt Host Serial Cable to connect GPM to Pan Tilt unit supplied with pan tilt unit Host computer with Ethernet connection Hand held GPS unit or other means to survey geo position of installed pan tilt unit and landmarks for calibration Basic Setup S
29. stance measurement between the line and exposed parts to verify the exposed parts have not been connected to the line circuitry 1 2 Models PTU DGPM Standard Geo Pointing Module page 2 Geo Pointing Module User s Manual v1 0 QUICK START 2 QUICK START 2 1 Overview As shown in Figure 1 the Geo Pointing Module GPM accepts commands over the built in Ethernet IP interface The Geo Pointing Module connects to the Pan tilt unit PTU Host Interface RS 232 Both standard pan tilt pointing and configuration commands as well as geo pointing commands can be sent to the Geo Pointing Module Standard pan and tilt commands are passed directly to the PTU Geo pointing commands are processed by the Geo Pointing Module to compute pan tilt angle commands which it then issues to the attached PTU The Geo Pointing Module must be configured with the position of the pan tilt unit in geo coordinates latitude longitude altitude and 3D orientation The latitude longitude and altitude of the pan tilt unit are entered manually using the Geo Pointing Module s web interface e g using a hand held GPS unit to measure the installed pan tilt unit position The built in calibration function computes the orientation of the pan tilt in real world coordinates using a set of user provided landmarks Landmark locations latitude longitude altitude are entered through the web interface The pan tilt is then aimed at four or more landma
30. teps The following outlines the basic set up and installation steps Section 3 on page 5 and subsequent sections detail each of these steps 1 Install Pan Tilt Unit including payload For calibration payload must allow visibly identify ing what the pan tilt is pointing at e g camera with a display that allows centering the FOV on a specific point Connect Geo Pointing Module to Pan Tilt Host Interface Connect Geo Pointing Module Ethernet connection to Host Computer and configure Geo Pointing Module IP network address Set the pan tilt s position by entering its latitude longitude and altitude e g by surveying with a handheld GPS unit Calibrate the pan tilt s orientation by alternately pointing at and entering coordinates for a minimum of 4 and up to 10 landmarks Unit is ready to accept geo pointing commands through the Geo Control web page and or using the DPoIP command format page 4 Geo Pointing Module User s Manual v1 0 INSTALLATION amp INITIAL SETUP 3 INSTALLATION amp INITIAL SETUP This section describes the basic installation and setup steps required to get your Geo Pointing Module operational as quickly as possible Unpack the Geo Pointing Module Figure 3 on page 5 shows an overview of the wiring and connections which are detailed in the following sections Power Supply Au del p Host Computer si Bac nterface Pointi LAS Geo Pointing r Application Eth
31. tes if the unit is left in position for a period of time Using this function can improve landmark location quality Actual Target location at Jon alt A at by KG lat lon alt Calibration Quality max of this error across all orientation angles Figure 7 Calibration Quality Measure 4 2 3 Calibration geo reference Description Specify or query the calibrated position and orientation of the PTU Current position can be changed on the fly and will be written to flash each time it is changed A maximum of 10 landmarks may be defined for the calibration Syntax algorithm All heading roll and pitch information is in radians Query calibrated latitude position Set calibrated latitude position Query calibrated longitude position Set calibrated longitude position Query calibrated altitude position Set calibrated altitude position Query calibrated heading position Set calibrated heading position Query calibrated roll position Set calibrated roll position Query calibrated pitch position Set calibrated pitch position Query calibrated pitch offset position Set calibrated pitch offset position Query landmark locations Set calibrated landmark Issue calibration command Clear last landmark KL lt delim gt KL lt position gt lt delim gt KO lt delim gt KO lt position gt lt delim gt KA lt delim gt KA lt position gt lt delim gt KH lt delim gt KH lt position gt lt delim gt KR lt delim
32. the calibration to help determine if more or different landmarks may be required A mnemonic label can be associated with each landmark to facilitate identifying it during calibration The Geo Pointing Module accepts altitude data in Feet only A Meters Feet converter is included on the Geo Config page for convenience in entering surveyed or other geo coordinates page 20 Geo Pointing Module User s Manual v1 0 WEB CONTROL INTERFACE DirectedPerception Network PTUConfig PTUContro GEO Config GEO Control GEO CONFIG Configure Pan Tilt position and orientation using entered landmarks GEO Config Overview Before the GPM can accept geo pointing commands the pan tilt must know its precise position and orientation in the real world This page explains the calibration procedure and allows entering necessary data to calibrate the pan tilt s own position The most critical factor in overall accuracy of GEO pointing is the accuracy of the pan tilt position itself and in particular its orientation in real coordinates The calibration procedure requires being able to manually aim the pan titt unit precisely at at least four known landmark positions The simplest way to do this is using a high zoom camera and visual landmarks with known coordinates If the system payload is not a camera a Zoom camera can be temporarily attached to the sensor bore sited on the desired line of sight of the sensor and used for calibratio
33. the pan tilt and GPM units and reopening browser to the GPM site page 28 REGULATORY INFORMATION Electromagnetic Interference EMI is any signal or emission radiated in free space or conducted along power or sig nal leads that endangers the function of a radio navigation or other safety service or seriously degrades obstructs or repeatedly interrupts a licensed radio communications service Class A Class A equipment has been tested and found to comply with the limits for a Class A digital device pursuant to Part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation Operation of this equipment in a resi dential area is likely to cause harmful interference in which case the user will be required to correct the interference at his her own expense The Geo Pointing Module is pending certification for FCC Class A requirements Class B Class B equipment has been tested and found to comply with the limits for a Class B digital device pursuant to Part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a res identi
34. ting to Factory Defa lts ies dai ies 7 CONMAND REFERENCE siria 9 4 1 DPoelP Cominand er GE 9 AIT Genera BOs arcaici ee 9 4 1 2 Authentication of IP Commande 10 4 2 Calibration Commands iia iaia alici 10 4 2 1 Calibration amp Relevant Terms iaia 10 4 2 2 Tips on Selecting Land Mas rile elica 11 4 2 3 Calibration eeo 1eference e 12 4 3 Geo Pointing COMA Suit iia alari 13 4 3 1 Geo Coordinate Data Formats ii 13 4 3 2 Position GEO TELELENCE tornare aos its 14 4 4 Mina OM ANS salita tidad 15 FAT Dear EE 15 4 4 2 Restore Network Defaults aria 15 4 4 3 ee a 15 WEB ERR RTE OR e EE 17 5 1 Authentication and Access Control 17 5 2 Network Conigli 17 5 2 1 Accessing the Geo Pointing Module from the Internet 17 5 2 2 Reset Geo Unit Define id 17 5 3 PTU Configuration 18 5 4 PTC Oro AS ili alia 19 5 5 A e e 20 5 6 Geo Control passa lil iaia alia lai 22 5 7 EE NR CNO 22 CUSTOM CONFIGURATION Sia 25 SPECIFICATIONS ii aria 27 Al Mechanical Dmmensions i 27 A 2 Troubleshooting Guide alare lore 28 REGULATORY INFORMATION 29 LIMITED WARRANTY comio jan td a a 30 Geo Pointing Module User s Manual v1 0 INTRODUCTION 1 INTRODUCTION The Geo Pointing Module allows Directed Perception pan tilt units to be commanded with latitude longitude altitude positions in addition to pan tilt angles The unit provides three separate functions 1 Implements a new set of commands for controlling a pan tilt unit using geo
35. trol Desired Pan Speed pos secs Set Value Desired Tilt Speed pos secs Set Value Desired Pan Acceleration pos secs Set Value Desired Tilt Acceleration pos secs Set Value Desired Pan Base Speed pos secs Set Value Desired Tilt Base Speed pos secs Set Value Upper Pan Speed Limit pos secs Set Value Lower Pan Speed Limit pos secs Set Value Upper Tilt Speed Limit pos secs Set Value Lower Tilt Speed Limit pos secs Set Value Power Control Set Pan Hold Power Set Tilt Hold Power Set Pan Move Power Set Tilt Move Power Refresh Parameters Read current settings from PTU Restore Factory Defaults Restore factory settings Figure 9 PTU Configuration Web Page 5 4 PTU Control The Pan Tilt Unit attached to the Geo Pointing Module can be controlled manually using the PTU Control web page Clicking on the arrows graphic allows panning or tilting the unit incrementally large or small increments from the large and small arrows respectively The Low Resolution High Resolution toggle is used to set the increments of the small and large arrows for incremental pan tilt movement High Resolution setting will move the pan tilt smaller increments per mouse click The Low Resolution will move in relatively larger steps The form fields allow entering specific go to positions Upon apply the pan tilt will move to the given position using the PP
36. uld be mounted carefully so that line of sight angle is pointing exactly forward with respect to pan tilt unit Misalignment of sensor to pan tilt will affect system accuracy 2 Connect an RS 485 cable between the Pan Tilt Unit RS 485 Host Interface and the Geo Pointing Module PTU Interface Ensure that the PTU Host Interface communications settings are configured as defined in Section 3 3 on page 6 page 6 Geo Pointing Module User s Manual v1 0 INSTALLATION amp INITIAL SETUP 3 Connect an Ethernet cable between the Geo Pointing Module LAN Interface and the LAN where the Host Computer resides IMPORTANT ensure that there are no other devices on the LAN at the Geo Pointing Module Default IP Address or use a direct connection with crossover cable 4 Apply power to the Geo Pointing Module 5 On the Host Computer open a web browser and point to HTTP 192 168 1 110 The Network Configuration web page should appear If the Geo Pointing Module cannot be reached check ethernet connections and reconfigure LAN as required See Section 5 2 on page 17 for additional information on configuring the Network address 6 Click the PTU Control web page from the upper navigation bar Make sure the Pan Tilt Unit is powered Test communication with the Pan Tilt Unit by clicking on the pan or tilt arrows or entering a position command See Section 5 4 on page 19 and Section 5 3 on page 18 for additional information on web con
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