SOTM User Manual
Contents
1. e Arduino 1 6 3 o PNT_Control ino e Visual Studio o opencvObjectTracking sin main cpp Required Documents e Assembly docx Required Equipment e Acomputer Windows OS with Arduino Visual Studio programs e USB to micro USB Male to Male cable e USB to mini USB Male to Male cable e SOTM Box e Camera Powering Up and Calibration The system must first be fully charged and powered on to begin usage See Charging the System section for how to fully charge the system 1 Once fully charged the SOTM box should be placed in vehicle stand or in a mobile environment where the GPS antenna has a full view of GPS satellites 2 Pressthe Power switch blue button located on the front side of the enclosure and ensure that this switch is locked in 3 Allow up to 2 minutes for the Geo PNT to initialize and receive its current positioning data 4 Optional If it is determined that through usage of the SOTM box the GPS antenna might be out of view of the GPS satellites at any time during the run a calibration of the inertial measurement sensors is required To perform this calibration follow these steps a Pointthe vehicle due North within 2 degrees b Begin driving North and make a 90 degree turn in the West direction and begin driving in a square as indicated in Figure 1 c The next turn should be another 90 degree turn in the South direction likewise then another 90 degree turn in the East direction and finally back to where2. t will begin the tracking and display the error of the object being tracked on the input video Due to the nature of this application it will need modification for any new video that error measurement is to be performed on Charging the System There are essentially two batteries that require attention in the overall system There is one 12V battery that provides power to the Geo PNT microcontroller when running inside the enclosure and the motorized camera mount On the backside of the enclosure there is a charging port Plug the male end of the charging adapter into the port and plug the other end into a standard 120V wall outlet Figure 2 shows this connection and the subsequent charger required SATCOM On The Move User Manual Page 5 of 6 Charging Port Figure 2 Charging Port Location and Required Charger This 12V battery should be able to provide the system with enough power for up to 5 hours of continuous use The battery status is indicated on the front side of the enclosure in the window Full bars indicate that the system is fully charged while less than 2 bars indicate the battery is nearly depleted Figure 2 shows the battery status indicator A full re charge of the battery requires 8 hours Figure 3 Battery Status Indicator The second battery is within the camera and should be charged based upon the User Manual provided from the camera manufacturer Samsung Model HFX90 It can simply be charged
3. SATCOM On The Move User Manual For the SOTM RIT Project SATCOM On The Move User Manual Page 1 of 6 Table of Contents sj amp gero P eis o a cease scsi CEP Required Programs ied eb ee ened esate to tese eee redeat ee Required Documents ecrire ettet aa arde ecc ne Rede 20 sd esu nep edi eere a ea eva edER e Dea gea de ERO a RE dU Required Equipment c cccccccesssssssececececesseseaececececeesesaeaeeeeeceseessuaeseseessecsessaaesesecusecseaaeaeceesesseeseaeaeeeeeens Powering Up and Calibration ccccccccccccsssssesssecececessesesnsseeeeecsssssesaeaeeeeecessesaaeaeeeeecesseseaaeaeeeeseesseseaaeaeesesens Gisela c M R X Calibrate th Geo PNT opiriias rom etre tenen n nece peus p ex Pu yt puse en M RE e eu ERES AERE RE e SER RR x E LER Ree etna E aah Jig e GPS Loss Error TeSt aiita P Copy Vid o from Gamie ra ete cede a ea aaae aaar ae a EEEE a EE Rd Tn eet Run Through the Error Measurement Program ccccssssssccececessesennececececesseseaaeaeceeecesseseaaeaeeeeecesseseeaeeeeeens Charging the System edite te eve eite ege tvi epit esiti pe eset et epe etes peine vestes SATCOM On The Move User Manual Page 2 of 6 Introduction This document explains the usage of the SOTM box The purpose of the SOTM box is to direct the mount to point towards a given ECEF location Required Programs
4. he Upload Done message at the end of the process the microcontroller can be disconnected Reconstruct the Box starting at section 2 1 39 according to the Assembly procedure Calibrate the Geo PNT The Geo PNT has very specific requirements as a startup sequence This calibration procedure requires a perfectly rectangular section of road that lines up with North South East and West It must be fairly large and it helps if sections of the road are sloped 1 2 3 Place the Geo PNT into the vehicle according to section 3 3 3 of the Assembly procedure Drive the vehicle to point North at the South East most point in the rectangle Start the Geo PNT and wait 15 20 seconds for the Geo PNT to finish its internal start up procedures SATCOM On The Move User Manual Page 4 of 6 4 Begin to drive the vehicle and drive clockwise through the rectangle in a N E S W pattern a Continue the pattern for 7 10 loops depending on the size of the rectangle 5 At this point the system should be fully calibrated and pointing in the right direction Error Test Start the camera by pushing the On Off button and open the lens by toggling the lens cover switch Once it has finished turning on indicated by a live display of the camera s point of view push the red record button Drive around the focus point until there is sufficient video from which to extract data Stop the camera recording by pushing the red record button again Turn off the camera b
5. via standard USB to Mini USB cable Plug the Mini USB cable end into the camera and the standard USB end into a 5V wall charger SATCOM On The Move User Manual Page 6 of 6
6. y pushing the On Off button and toggle the lens cover switch to protect the lens GPS Loss Error Test Start the camera by pushing the On Off button and open the lens by toggling the lens cover switch Once it has finished turning on indicated by a live display of the camera s point of view push the red record button Disconnect the GPS antenna and indicate when the disconnection happened on the video for reference Drive around the focus point until there is sufficient video from which to extract data Stop the camera recording by pushing the red record button again Turn off the camera by pushing the On Off button and toggle the lens cover switch to protect the lens Copy Video from Camera Connect the camera to the computer using the mini USB cable Once the drivers have completed installing the video files are readily available from the My Computer folder Open the camera storage and find the latest videos Copy them from the camera to the computer and delete them from the camera Run Through the Error Measurement Program Load up the OpenCV error handling environment in Visual Studio Load the custom developed error tracking tool opencvObjectTracking sIn Modify line 126 which states capture open movieFile mp4 and change movieFlle mp4 to the video file you wish to test Then run the error measurement program through the debug tool shortcut f5 Pressing d will open 3 4 tracking windows and other information Pressing
7. you started with a final 90 degree turn in the North direction d Continue this square pattern through 4 to 6 loops to ensure the queue within the IMUs is filled with valid N W S E data SATCOM On The Move User Manual Page 3 of 6 Southi REYNOLDS DRIVE Figure 1 Example Square to be Driven RIT Campus Parking Lot H Choosing a Point There are many ways to choose a point It must be in ECEF for the Arduino program to use and the microcontroller must be reprogrammed 1 2 3 Choose a point in ECEF Open the PNT Control ino file with the Arduino program Edit line 27 to set the variable focus to the point at which to direct the mount a Ex double focus 996455 4557908 4334643 Ellingson Estimation b Alternatively comment out the line place in front and copy over a new line like the one above to save those coordinates for later use Remove the Serial shield from the microcontroller while it is not powered Connect the microcontroller the programming port is the one closest to the power connector to the computer and install the drivers if it is the time connecting Set up the Arduino programmer to connect to the microcontroller a Click Tools Board Arduino Due Programming Port b Click Tools gt Port gt COM where stands for the com port the Arduino is connected to Click File Upload to transfer the program onto the microcontroller After receiving t
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