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1. 67 PinPoint User Manual Version 1 4 iv 2 Table of Figures Figure 1 PinPoint Filter Output vs Raw GPS 1 Figure 2 PinPoint Hardware 2 Figure 3 PinPoint M 3 Fisure 4 Local Coordinate Frame nr t ee e te t aee dere eed HA etel 4 Figure 5 Vehicle Coordinate Frame euet te he E Ete e cerea te uie reete 5 Figure 6 Hall Effect sensor 8 Figure 7 Encoder wheel speed configuration esses ener enne nennen nenne 8 Figure 8 PPS output signal detail eed d RP de ri Header es 9 Figure 9 Status webpage 11 Figure 10 Network webpage 12 Figure 11 Vehicle webpage 14 Figure 12 Firmware webpage 16 Figure 13 Settings webpage screenshot eese eene 17 Figure 14 Info webpage
2. dee dendo 63 27 IMU Hol ero ldo I e 6 33 Primary Antenna Location tte terae ev ea Rada EXP EE rae Ho qe A aa ERES 6 3 4 Secondary Antenna Location ui ers 6 3 5 Left Wheel Speed Location i e ees hte ee ne e non PITT TET d 6 3 6 Right Wheel Speed Location i a a i 63 7 WSS d e eA VER EE Pa eR RS Rd Fe d 6 3 8 WSS PR 6 3 9 Angular Vibration 6 3 10 Linear Vibration 6 4 FIRMWARE UPDATES WEBPAGE 6 5 SETTINGS WEBPAGE 6 6 INFO WEBPAGE 11s en ti Re eR LR RE ERE EUR E ER 6 7 KML GENERATION i eren ce en en en omes es en eni as en emen es en seen esten Uns es en euin es en cues en en enn es en eet ey en enin eg ege RESTORE NETWORK AND SYSTEM DEFAULTS ccscccsccsseeeeeeeeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeeeeeeeeees 19 PinPoint User Manual Version 1 4 il 8 SOFTWARE INTERFACE 20 8 1 INTERFACE PROTOGOL OVERVIEW eere tec
3. Raw GPS Heading LBand Satellite 0 394832 Position Accuracy m Vel ocity Time Stamp 1557845 4 09 20 049 Set L Band Sat 0 00621 Forward m s 5 19 2014 0 06344 Right m s 4 39459 Heading rad 0 06232 Pitch rad 5 0 249714 Velocity Accuracy m s 0 023553 Heading Accuracy 0 022017 Pitch Accuracy 0 02207 Down m s Minimum Condition Filter by Condition info PinPoint User Manual Version 1 4 47 9 6 Communication Setup Tab The setup tab should match the Backbone Settings tab of PinPoint s web interface Under normal circumstances it should not be necessary to change any of these parameters If trying to use the utility over a network that does not support multicast the IP address of PinPoint can be used instead of the backbone multicast address TORC PinPoint Test Utility File Plot About PinPoint Address PinPoint Port Host Interface 239 255 255 2 4794 localization URN localization localization wss URN localization wss localization imu localization gps URN d localization imu URN d d localization gps Backbone Console 15 05 18 984 return value UDP port 49156 remote urn localization gps address 172 24 0 29 15 05 18 983 remote side requested UDP port responding with 50609 15 05 18 983 rcvd from urn local
4. 18 Figure 15 Initialization Flow Diagram enne nen 20 Figure 16 PinPoint Connector Detail and Coordinate 57 Figure 17 PinPoint M Precision ien ie e e eee eget eee eet ae e eR degna 61 3 Table of Tables Table 1 Packet Stricture ais iva cnet tein RE decet 21 Table2 Control Byte 2 3 rnit reiten ert ee aise 21 4 Positioning Performance idee eet ee reete ee EH UE eek Ae 56 Table 5 Physical Electrical and Environmental 56 PinPoint User Manual Version 1 4 V 4 Introduction The PinPoint localization system is a continuous positioning system for ground vehicles PinPoint provides multi sensor fusion of dual GPS receivers inertial sensors and wheel speed sensors to provide real time position orientation velocity and time information All outputs are continuously updated regardless of a GPS fix allowing operation during GPS degradation or complete signal loss Meee 7 Figure 1 PinPoint Filter Output vs Raw GPS Data 4 1 Hardware Architecture PinPoint operates with either a low cost internal IMU or a high precision external IMU and supports both GPS and GLONASS reception with OmniSTAR or Terrastar corrections A generic electrical wheel speed interface connects with a variety of sensors A CAN port is also available for PinPoint to interfa
5. O17 GI 8 2 Protocol Messages Protocol messages are used for initialization and configuration of PinPoint The protocol messages described in this section include both the message header and message body and allow you to subscribe to signals schedule methods and establish connections The following data types are used throughout this section All data is packed little endian least significant byte first Type Meaning U8 1 byte unsigned integer U16 2 byte unsigned integer U32 4 byte unsigned integer U64 8 byte unsigned integer 16 2 byte signed integer two s complement 124 3 byte signed integer two s complement 132 4 byte signed integer two s complement F32 4 byte float IEEE 754 single precision 64 8 byte float IEEE 754 double precision 8 2 1 protocolVersion This single byte message must be sent over a TCP connection and should be the first message sent to After a TCP connection is established PinPoint also immediately sends its protocol version This message is unique in that it only is one byte long and does not include a Message Header protocolVersion Offset Name Interpretation 0x00 ProtocolVersion U8 0x42 The version of the protocol that is used by PinPoint 8 2 2 setAPI After confirming the protocol version the PinPoint will send a setAPI message over the open TCP connection PinPoint also expects to r
6. EE ER de REED 20 8 2 PROTOCOL MESSAGES este rete cares S808 eR rae varus SOG Gave RE e trae eer Pete er IU vent 22 8 21 DFOtOCOIVErSIOT rr rh e aa RA 22 827 22 823 getUdpPOrt len da Sock dene exei 23 8 2 41 get DPP ort iii S aad E E RR TER nra TR n SEPA 23 8 25 23 826 lt lt ood 24 8 27 setSched lelnterval i a tre Pa 24 8 2 6 lt COD RN VENAE ed ERA CER DERE RA 24 8 2 9 Exception 8 2 10 Schedule EXCeDtIOn 4 de rt eer te e reet era ounces P ER RR 25 8 2 11 DEGERE TEE SERE RETE 25 8 3 LOGALIZATION MESSAGE SERVER ee reet t ote aee co estes b ca hie 26 831 lt getBodrdinfo D S 4 rete oa aet era ae 26 832 resetFilter Method 1D 5 rne ken ne ep La ana E Lap EATEN ME n ca
7. 0x10 F32 Down position accuracy m 0x14 F32 North velocity accuracy m s 0x18 F32 East velocity accuracy m s 0 1 F32 Down velocity accuracy m s 0x20 F32 North rotational accuracy rad 0x24 32 Eastrotational accuracy rad 0x28 F32 Down rotational accuracy rad 8 3 13 Localization Status Messages Aligning Status Code 1 The localization filter has not been aligned and the output data should not be used This will clear after 5 seconds of GPS heading updates if equipped or 5 seconds of vehicle motion above 5 mph NoImuData Status Code 2 IMU data is not available the localization filter will not be propagated and none of the output signals will be emitted PinPoint User Manual Version 1 4 30 NoGpsUpdates Status Code 3 GPS corrections are not available If both WSS and GPS corrections are not available the filter is running uncorrected and the output data should not be trusted This will be reflected in the estimated filter accuracy NoLeftWssUpdates Status Code 4 The left wheel speed corrections are not available If both WSS and GPS corrections are not available the filter is running uncorrected and the output data should not be trusted This will be reflected in the estimated filter accuracy NoRightWssUpdates Status Code 5 The right wheel speed corrections are not available If
8. 9 ns 99 57 11 1 2 J2 Secondary GPS Antenna 57 11 1 3 IZ External CO e O adio eren 58 11 1 4 J4 Power and Data sa sa daas as sse 59 11 2 dl ejes idee Mus 61 11 2 1 J1 Precision IMU CONNECLOF a ts e e tees ecu deo Pea Pene Mea gent in Pep 61 12 APPENDIX CALCULATIONS 12 1 COORDINATE SYSTEM er ep CE OE A van ED Sea c pe Ec ere D OR 12 2 VIBRATION esee 12 3 WSS ERROR sd tus t a aa Ec tut ere buses ia E Need 13 7 63 13 1 LOCAL COORDINATES FOR GLOBAL NAVIGATION 63 13 2 GLOBAL COORDINATES OF SENSED OBJECT EX RUNE AER DE RUNE ERES eR rains 63 14 APPENDIX MECHANICAL DIMENSIONS eere eene eene nennen nenne anno 65 15 APPENDIX IMU MECHANICAL DIMENSIONS eee eene eene nnne nnne nnne snnt essa sete 66 16 APPENDIX ANTENNA DIMENSIONS nahen sehe
9. 33 8 51 QetGpsSFixinfo Method ID S A 000000 00 checks bebe sadn eiae eet ein adea ea ed e ende en a ee aane aug T rea dos 33 8 5 2 getLbandInfo Method ID i asses easi rada assa n 33 8 53 settbandSat Method ID s Givceesccccscscc cacevaceviscdecscudeescuenscassantesestvi setgubancessatcaivssadcedadasdedsudddacedsand sadabsed end 34 8 5 4 newRawGpsData Signal ID 6 0 2 0000000 0000000000 34 8 5 5 newRawGpsHeading Signal ID 7 sessi esee enhn nnne nh nnne 35 8 5 6 newGpsFixlInfo Signal ID 8 sisse seen enses enn 35 8 5 7 GPS Status MESSAGES eriin iraan e GR ERU ONG GNI RUN 35 8 6 MESSAGE SERVER reet haee e or eer e eee hee ee eR ERR 36 8 6 1 getAvgWheelSpeed Method ID 4 eese nnne 36 8 6 2 getLeftWheelSpeed Method ID 5 37 8 6 3 getRightWheelSpeed Method ID 6 37 8 6 4 getOdometer z Method ID Zirnis secte ER Fn a E ELE FREUE VERD ne nen ena a o dH 37 8 605 newRawWssData Signal ID 6 esses assa sss essa sa 37 8 6 6 OdometerChanged Signal ID 7 esses esee enhn nnne 37
10. 0 14 116 Roll 180 deg 2 15 0 16 116 Pitch 180 deg 2 15 0x18 116 Yaw 180 deg 2715 8 3 5 getLocalPose Method ID 9 This method returns time stamped position and attitude estimates in local frame Input Parameters Size N A Return Value Size 26 Description 40x00 U64 Microseconds since 1970 0x08 132 North mm 0 0 132 East mm 0 10 132 Down mm 0 14 116 Roll 180 deg 2715 0 16 116 Pitch 180 deg 2715 H 0 18 116 Yaw 180 deg 2715 8 3 6 getVelocityState Method ID 11 This method returns time stamped linear and rotational velocities in vehicle frame Input Parameters Size 0 N A Return Value Size 26 Description 0x00 064 Microseconds since 1970 0 08 124 Forward Velocity mm s H 0x0B 124 Right Velocity mm s 0x0E 124 Down Velocity mm s 0 11 124 Roll Rate mrad s H 0 14 124 Pitch Rate mrad s H 0 17 124 Yaw Rate mrad s 8 3 7 getQuaternionCovariance Method ID 13 This method returns a time stamped quaternion representing the local NED to vehicle FRD rotation and a 3x3 covariance matrix representing the accuracy of the attitude estimate PinPoint User Manual Version 1 4 28 Input Parameters Size 0 N A Return Value Size 60 Offset Type Description 0x00 Microseconds since 1970 H
11. U64 Microseconds since 1970 0x08 132 Vehicle Latitude 180 deg 2731 0x0C 132 Vehicle Longitude 180 deg 2 31 H 0x10 132 Vehicle Altitude mm H 0x14 132 POI Latitude 180 deg 2 31 0x18 132 POI Longitude 180 deg 2 31 0x1C 132 POI Altitude mm H 0x20 016 POI Source ID H 0x22 016 POI Count 8 7 4 Point of Interest Status Codes The POI interface does not have any status codes 8 8 Status Reporter Interface The status reporter is implemented on each of the four component servers and is used to convey errors and warnings about the state of that component The method and signal IDs are the same on all of the message servers Status codes are defined separately for each component and conditions are represented as follows Status Condition Description 0 Clear No error or warning Info Information about the state of the system PinPoint User Manual Version 1 4 40 Warning The system is operating degraded state 3 Error The system cannot function properly 8 8 1 getStatus Method ID 1 This method returns the current status of a given status code Input Parameters Size 1 Offset Type Description H 0x00 Status Code Return Value Size 3 Offset Type Description 0 00 Status Condition 0x01 U16 Status Code 8 8 2 getStatusWithCondition Method ID 2 This method returns a list of st
12. 6 3 1 IMU Orientation The right handed rotations from the vehicle frame FRD to the IMU frame XYZ The order of rotations is roll pitch yaw when applied in vehicle frame or yaw pitch roll when applied in IMU frame 6 3 2 IMU Location The offset from the vehicle origin to the IMU origin Since firmware release 12 it is no longer necessary to place the origin at the center of the rear wheels and any arbitrary point may be used for the origin 6 3 3 Primary Antenna Location The offset from the vehicle origin to the phase center of the primary GPS antenna The primary antenna is used to determine the position of the vehicle The primary antenna is connected to J1 PinPoint User Manual Version 1 4 14 6 3 4 Secondary Antenna Location The offset from the vehicle origin to the phase center of the secondary GPS antenna The secondary antenna is used to determine the heading of the vehicle The secondary antenna is connected to J2 6 3 5 Left Wheel Speed Location The offset from the vehicle origin to the measurement point of the left speed sensor This point is typically the center of the contact patch for an Ackerman steered vehicle or outside the tracks or wheels on a skid steer vehicle If a single speed sensor pickup is located before the rear differential or if the vehicle has a locked differential or solid rear axle this should be centered left to right on the vehicle 6 3 6 Right Wheel Speed Location The offset from
13. 0 0 mA Figure 14 Info webpage screenshot 6 7 KML Generation PinPoint M also includes built in generation of real time KML data suitable for use with Google Earth Google Earth is freely available from http earth google com and provides worldwide mapping and aerial imagery coverage Opening http 172 24 0 29 localization kml with 172 24 0 29 replaced with PinPoint s IP address will cause Google Earth to display an arrow indicating the current location and heading and a blue line indicating the past track of the vehicle This will refresh automatically every second Double clicking the arrow will bring up a slider showing the time history and will allow the user to replay the data Clicking on the blue track will show the velocity at that point in time PinPoint User Manual Version 1 4 18 7 Restore Network and System Defaults In addition to the Reset Settings button on the web interface factory defaults can also be restored by connecting pins 13 and 14 on connector J3 and applying power for 5 seconds Make sure to disconnect pins 13 and 14 and cycle power before attempting to connect to PinPoint s default IP address of http 172 24 0 29 Resetting the factory defaults will not modify any of the factory configured options nor clear the odometer PinPoint User Manual Version 1 4 19 8 Software Interface 8 1 Interface Protocol Overview PinPoint is designed to provide data for a variety of app
14. 0x00 Name Control Byte Type U8 Data 0x81 Interpretation Return from protocol message one byte size field 0x01 Message ID U8 0x05 getUDP Port s message id 0x02 Size U8 0x02 Payload length 0x03 UDP Port U16 UDP Port number 8 2 5 UDPPing This message is sent by PinPoint over UDP to confirm an opened port When this message is received an identical response should be sent echoing the Ping Data and changing the control byte to indicate a response message type to indicate a valid UDP port If PinPoint does not receive a valid ping response for a period of 30 seconds PinPoint will assume the connection was lost and clean up associated resources making them available for a new connection Message ID 0x06 UDPPing Offset Name Type Data Interpretation 0x00 Control Byte U8 0x91 0x91 ping Invoke protocol message with return one byte size field 0x81 ping response Return from protocol message one byte size field 0x01 Message ID U8 0x06 ping s message id PinPoint User Manual Version 1 4 23 0x02 Size U8 0x08 Payload length 0x03 Ping Data U64 Random data that should be included in the responding message to verify a UDP port 8 2 6 gt scheduleMessage The scheduleMessage message configures PinPoint to call a specific method at a periodic rate The Schedule ID must be unique and is used to change th
15. 0x08 32141 NED gt Quaternion qw qx 07 0x18 F32 3 3 NED Attitude Covariance rad 2 8 3 8 globalPoseChanged Signal ID 6 This signal contains time stamped position and attitude estimates in global frame and is emitted at approximately 100 Hz This signal is not emitted until the filter has been initialized with a valid GPS location and time Output Parameters Size 26 Description 0x00 064 Microseconds since 1970 0x08 132 Latitude 180 deg 231 0x0C 132 Longitude 180 deg 2731 H 0 10 132 HAE Altitude mm 0 14 116 Roll 180 deg 2715 0 16 116 Pitch 180 deg 2 15 0 18 116 Yaw 180 deg 2715 8 3 9 localPoseChanged Signal ID 7 This signal contains time stamped position and attitude estimates in local frame and is emitted at approximately 100 Hz This signal is not emitted until the filter has been initialized with a valid GPS location and time Output Parameters Size 26 Description 0x00 U64 Microseconds since 1970 H 0x08 132 North mm 0 0 132 East mm H 0 10 132 Down mm 0x14 116 Roll 180 deg 2715 0x16 116 Pitch 180 deg 2715 H 0x18 116 Yaw 180 deg 2715 8 3 10 velocityStateChanged Signal ID 8 This signal contains time stamped linear and rotational velocities in vehicle frame and is emitted at a
16. 2 3 Wheel Speed Sensors PinPoint M supports two pairs of quadrature wheel encoders used to sense the speed and direction of both left and right wheels Wheel encoders are not supplied with the PinPoint M product as most customers already have wheel encoders integrated into their platform or prefer a tightly integrated solution Each sensor pair should be configured in quadrature meaning that one of the sensors lags the other electrically by 90 degrees and the pulses should have a duty cycle between 4096 and 6096 The wheel speed sensor pulses per meter PPM calibration factor must be calculated and entered on the vehicle tab of the web configuration This value is calculated by dividing the number of counts per revolution by the wheel circumference and can be fine tuned using the included diagnostic utility While higher pulse counts result in less error care should be taken to select a pulse count that combined with the wheel circumference and maximum expected vehicle speed does not exceed the maximum input frequency of 30 kHz The 2 wire interface on PinPoint M consists of a 7 5 volt current limited supply on which the output current is measured The current is interpreted as follows PinPoint User Manual Version 1 4 7 Less 2mA open circuit fault 2 7 mA logical 0 7 10 mA hysteresis 10 18 mA logical 1 Greater than 18 mA short circuit fault This interface is intended to be connected directly to 2 w
17. 4 11 6 2 Network Parameters Webpage The network tab allows configuration of standard networking parameters PinPoint STATUS NETWORK FiRMWARE SETTINGS Network Settings IP Address 172 24 1 0 129 Netmask 255 255 255 0 Gateway 172 24 0 Multicast Address UDP Port Backbone Discovery 239 255 255 2 4794 Server URN TCP Port Localization Filter localization 9501 Inertial Measurement Unit localization imu 9502 Global Positioning System localization gps 9503 Wheel Speed Sensor localization wss 9504 Point of Interest localization poi 9505 umm Settings Figure 10 Network webpage screenshot 6 2 1 IP Address The IP address should be set to a unique IPv4 address accessible to all computers that need to communicate with PinPoint 6 2 2 Netmask The Netmask defines the scope of IP addresses directly accessible to PinPoint and any outgoing packets destined for IP addresses outside this local subnet will be sent to the gateway address 6 2 3 Gateway The gateway address is the IP address of the router configured to forward packets to other subnets PinPoint User Manual Version 1 4 12 6 2 4 Backbone Discovery This multicast address and port is used in conjunction with the URNs by other TORC products and software to automatically discover PinPoint on the network The defaults should not need to be modified unless otherwise instructed by TORC 6 2 5 Server URNs The
18. 56 11 Hardware Interface 111 PinPoint Localization Module ys y 2 Figure 16 PinPoint Connector Detail and Coordinate Frame 11 11 J1 Primary GPS Antenna Connector The GPS connector is a standard polarity female TNC connector If a using a single GPS configuration the antenna needs to be connected to this connector Measurements made to this antenna must be entered in the vehicle tab of the web interface 11 1 2 J2 Secondary GPS Antenna Connector The GPS connector is a standard polarity female TNC connector and is used for the secondary GPS antenna connection if equipped Measurements made to this antenna must be entered in the vehicle tab of the web interface webpage PinPoint User Manual Version 1 4 57 11 1 3 J3 External IMU Connector The external IMU connector is used for connecting a precision IMU to PinPoint x 5 N z A gt 18 21 Name RX_DATA_IN RX_DATA_IN TX_DATA_OUT TX_DATA_OUT SYNC_IN SYNC_IN CLOCK_OUT CLOCK_OUT IMU_RESET_OUT IMU_MODE_OUT POWER_OUT POWER_GND PC_RX PC_TX PC_DTR PC_RTS PC_GND reserved SHIELD Description Connection to External IMU Connection to External IMU Connection to External IMU Connection to External IMU Connection to External IMU Connection to External IMU Connection to External IMU Connection to External IMU Connection to External IMU
19. Calibration Plot This plot displays the average of left and right wheel speeds and the magnitude of the GPS speed as well as the ratio between the two measurements It can be used to fine tune the pulses per meter calibration factor Driving forward at moderate speeds over smooth terrain will produce the best results A properly calibrated system should have a ratio that is close to 1 as shown in the image below i T Calibrate Wheel Speed Counts TN GPs wss m Velocity m s ak i j 5119 5200 5300 5400 5500 5600 5700 5800 5900 6000 6119 5 s Ratio 1 00074 0 9995 0 999 0 9985 0 998 Er LI 1 LI LI 1 LI LI 8 LI 1 LI LI LI LI LI 1 LI 1 LI LI 1 1 5118 5200 5300 5400 5500 5600 5700 5800 5900 6000 6118 Time Ratio GPS WSS 5 1 Clear PinPoint User Manual Version 1 4 53 912 Wheel Speed Track Plot This plot displays the vehicle curvature derived from wheel speeds left and right wheels the vehicle curvature derived from velocity state angular and linear velocities and the ratio between the two The WSS width track should be entered for the calculation to be valid and the ratio can be used to fine tune this value Driving the vehicle forward around a
20. Connection to External IMU Connection to External IMU Connection to External IMU Factory Use Only Factory Use Only Factory Use Only Factory Use Only Factory Use Only Not Used Chassis Ground T O Input Input Output Output Input Input Output Output Output Output Power Ground Output Input Input Input Ground Ground Contact 22D 22D 22D 22D 22D 22D 22D 22D 22D 22D 22D 22D 22D 22D 22D 22D 22D 22D 22D PinPoint User Manual Version 1 4 58 11 1 4 JA Power and Data Connector The power and data connector is used for powering PinPoint as well as all the external data signals as described in the table below Name Description VO Contact 1 POWER_IN Input Power Power 22D 2 POWER_GND Power Ground Ground 22D 4 CANI H CAN High Bidirectional 220 6 GND Signal Ground Ground 22D 8 CAN2_L CAN Low Bidirectional 22D 9 GND Signal Ground Ground 22D 10 ETH1_TX Ethernet Transmit Output 22D 11 Ethernet Transmit Output 22D 12 ETH1_RX Ethernet Receive Input 22D 13 ETHI RX Ethernet Receive Input 122D 14 SHIELD Signal Ground Ground 220 15 ETH2_TX Ethernet Transmit Output 22D 16 ETH2_TX Ethernet Transmit Output 22D 17 ETH2_RX Ethernet Receive Input 22D 18 ETH2_RX Ethernet Receive Input 22D 19 SHIELD Signal Ground Ground 22D 20 WSS_LI Left In phase Current Sense Bidirectional 22D 21 WSS LI Left In phase Current Return Ground
21. IMU X axis points out of the connectors the Z axis points down and the Y axis completes the right handed coordinate frame The origin and orientation of the IMU frame is shown in Sections 14 amp 15 PinPoint User Manual Version 1 4 5 5 Installation A TORC recommends that you read this section before installation of PinPoint 5 1 Unpacking and Inspecting Shipment Visually inspect the shipping cartons for any signs of damage or mishandling before unpacking Immediately report any damage to the shipping carrier The shipment will include one or more shipping cartons depending on the quantity model and accessories ordered Open the shipping cartons and make sure all of the components on the bill of lading are present Report any problems discovered after you unpack to both TORC and the shipping carrier 5 2 Installation Considerations based on Environment Conditions Avoid installing PinPoint in locations with extreme environmental conditions including Corrosive fluids and gases Heat greater than 71 C Cold less than 33 C High shock and vibration Avoid installing PinPoint near sources of electrical and magnetic noise typically found in Engines spark plugs Computer monitors Alternators and generators Electric motors Radio antennas Power converters and Switching power supplies 5 2 1 Installing and alignment of PinPoint internal and external precision IMUs The PinPoint inte
22. Northing m 0002 Forward m s 80 4207 Longitude deg 216 967 Easting m 0 001 Right m s 624 194 Elevation m 6 881 Downing m 0 Down m s Attitude Attitude Angular Velocity 0 554818 Roll deg 0 554818 Roll deg 0 Roll deg s 0 31311 Pitch deg 0 31311 Pitch deg 0 05729 Pitch deg s 109 244 deg 109 244 Yaw deg 0 Yaw deg s GlobalPVAAccuracy GlobalPositionAccuracy GlobalVelocityAccuracy 9 GlobalAttitudeAccuracy Filter North Accuracy Velocity North Accuracy Roll Accuracy 0 0442844 0 000847774 0 00192376 East Accuracy Velocity East Accuracy Pitch Accuracy 0 0445182 0 000846357 0 00191783 Down Accuracy VelocityDown Accuracy Yaw Accuracy 0 0458663 0 0014858 0 0163758 Board Info MODEL PP1 G04 I10 W02 11 SERIAL 1000055DD5F50169 FWVER 510 FWREV 78606 PinPoint User Manual Version 1 4 42 9 2 Localization Status Reporter Tab This displays the status codes exposed by the 8 3Localization Message Server Checking the filter by condition box will cause the program only to display statuses higher than the selected level as defined in section 8 8 TORC PinPoint Test Utility V Filter by Condition info v PinPoint User Manual Version 1 4 43 9 3 Wheel Speed Sensor Tab This tab displays the return values and parameters for the methods and signals exposed by the 8 6 Wheel Speed Message Server Tuning the wheel speed sensors can
23. be performed using the wheel speed calibration window as described in section 9 11 Wheel Speed Calibration Plot T TORC PinPoint Test Utility Average Wheel Speed 3817 Odometer 0 Speed m s Right Speed m s Left 7 Right E E oU 8971 9000 9020 9040 9060 9080 9100 9120 9140 9160 9180 Time Minimum Condition V Filter by Condition info A PinPoint User Manual Version 1 4 44 PinPoint User Manual Version 1 4 45 9 4 Inertial Measurement Unit Tab This tab displays the return values and parameters for the methods and signals exposed by the 8 4 IMU Message Server TORC PinPoint Test Utility 004268 Forward 0055559 Right m s 01058271 Down PinPoint User Manual Version 1 4 46 9 5 GPS Receiver Tab This tab displays the return values and parameters for the methods and signals exposed by the GPS Message Server It also allows calling the setLbandSat method with an arbitrary OmniSTAR frequency in kHz or Terrastar beam name Send a null string empty input field to disable corrections TORC PinPoint Diagnostic Utility L Band Info Subscription Type OMNISTARHP gt i Expiration Primary Sats GlobalLocation 7 59 44 000 PM Secondary Sats 3719948 Latitude deg aa Position Sats 80 4078 Longitude deg mt Heading Sats 657178 Elevation m
24. confirmed by server protocolVersion protocolVersion TCP single byte transmit single byte transmit setApi setApi TCP invoke protocol messge TCP invoke protocol messge LE getUdpPort TCP invoke protocol message with return getUdpPort TCP return from protocol message oL LT udpPing UDP invoke protocol message with return udpPing UDP return from protocol message periodic Figure 15 Initialization Flow Diagram PinPoint User Manual Version 1 4 20 The packet structure for all messages is shown below in Table 1 All variables are stored in little endian format Table 1 Packet Structure Message Header Message Body Control Byte ID Payload Length Palad 8 bits Defined by Control Byte Payload The ControlByte describes the type of message and contains a protocol flag message type and length of the data size parameter as shown in Table 2 Table 2 Control Byte Format Control Byte Bits Name Interpretation 0 service specific message 1 protocol message 0 Return Value 1 Invoke 2 Invoke With Return 3 Signal Emitted 4 Schedule Retum 6 3 MessageType 5 Error 6 Invoke With Retum Code 7 Return Value With Code 8 Exception 9 Schedule Exception 10 Exception With Code 7 ProtocolF lag 2 Reserved 0 No size field also no data 1 Single byte size field uint8 2 Two byte size field uint16 3 Four b
25. continuous circle over smooth terrain will produce the best results After tuning the WSS track using these plots this value should be compared to the left and right WSS locations on the vehicle tab of PinPoint s webpage Calibrate Wheel Speed Width 1 3 55 Width m IMU WSS 0 115 0 11 0105 01 M 0 09 AMA sod 0085 Mfr ds Curvature 1 m 0 08 0 075 26111 26200 26300 26400 26500 26600 26700 26800 26900 27000 27111 5 Ratio Averaging s Time Ratio 1 00019 1 002 1 001 1 0 999 0 998 E 0 997 0 996 0 995 0 994 0 993 0 992 AN Lue od per e Re nex ad poseen fet pe Des pour fec Pee n9 a Ded peu Fei EST es esit usd Cen Eon etu ed Lor oo eene d ost 26110 26200 26300 26400 26500 26600 26700 26800 26900 27000 27110 Time Clear PinPoint User Manual Version 1 4 54 9 13 Vibration Measurement Plot This plot displays the frequency content of the rotational and linear velocities and allows calculation of stationary vibration The configurable buffer length sets the number of samples that an FFT is performed on and the plots will not be valid until all samples are acquired To measure the vibration parameters make sure the vehicle is stationary and click the corresponding button at the bo
26. interference and 2 this device must accept any interference received including interference that may cause undesired operation The equipment listed 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 PinPoint User Manual Version 1 4 i 1 Table of Contents Ie mor 7 TABLE OF 5 TABLE OF FIGURES cisco V TABLE OF TABLES 22022 2 200 2109100 92900099 2100092000019 210 206 050 999010200900 9 02 0 902 V INTRODUCTION en 1 4 1 HARDWARE ARCHITECTURE 33 32 25 2 a cod e dte ve tuse ene dus 4 2 SOFTWARE ARCHITECTURE 4 3 COORDINATE SYSTEM OVERVIEW 4 3 1 Global Position m 13 21 FOGG Position uie ite ee Fr 4 3 3 Vehlcle BOdyi i es oer Ree Use an rA Tre exar 5 43 4 IMU Frame Ad ca becca dead dd eo dea eo doa cane 5 INSTALLATION 6 5 1 UNPACKING AND INSPECTING SHIPMENT sccesscessecesscesseeceeeesseece
27. or 180 and the wheel speed sensors swapped in phase and quadrature signals invalid calibration factor Vehicle Body Velocities Lateral Velocity 1 1 25 41515 Velocity Z msosi PinPoint User Manual Version 1 4 51 9 10 Raw IMU Data Plot These plots display the raw data from the inertial measurement unit It can be used to verify the connection to the precision IMU or proper functionality of the internal IMU Being raw data the measurements are not corrected for rotation scale factor or bias n T Raw IMU Data Angular Rate deg s Forward 1842 1900 1950 2000 2050 2100 2141 0 15 01 0 05 0 0 05 14441 eee aea enarrare 1842 1900 1950 2000 2050 2100 2141 Amplitude Down 0 3 2 Amplitude e 1 ee oe 1842 1900 1950 2000 2050 2100 2141 2013 04 02 15 17 49 419 Linear Acceleration m s 2 Forward 03 0 28 5 0 26 0 24 5 0 22 02 ERNE BERET 1842 1900 1950 2000 2050 2100 2141 Right 011 Amplitude e 6 RP 1842 1900 1950 2000 2050 2100 2141 Down 9 76 9 78 98 982 Amplitude 9 84 8B roses gm peas ncn o mag t 1842 1900 1950 2000 2050 2100 2141 Time PinPoint User Manual Version 1 4 52 911 Wheel Speed
28. that can be backed up and restored via the settings tab of the web interface To back up the settings click the Download Settings button on the web interface and save the file to a local directory on your computer To restore a backup browse to this file by clicking the Browse or Choose File button in your browser select the configuration file and click the Import Settings File button PinPoint will load the configuration into nonvolatile memory and prompt to reset the board Additionally factory default settings can be restored by clicking the Reset Settings button PinPoint STATUS VEHICLE FIRMWARE SETTINGS Export a backup copy of settings Download Settings Import a settings XML file Choose File No file chosen Import Settings File Reset settings to factory default Reset Settings Figure 13 Settings webpage screenshot PinPoint User Manual Version 1 4 17 6 6 Info Webpage The info tab displays information about the hardware and software version that PinPoint is running as well as diagnostic information such as board temperature and wheel speed sensor input currents PinPoint FiRMWARE SETTINGS Hardware Version 1 1 Serial Number 1000055DD5F50169 Firmware Version S14 Firmware Revision 93144 Firmware Date Apr 16 2014 Compiler Version 4 7 3 Board Temperature 34 2 C LI Current 0 0 mA LQ Current 0 0 mA RI Current 0 0 mA RQ Current
29. 220 22 WSS_LQ Left Quadrature Current Sense Bidirectional 22D 23 WSS_LQ Left Quadrature Current Return Ground 22D 24 WSS_RI Right In phase Current Sense Bidirectional 22D 25 WSS_RI Right In phase Current Return Ground 22D PinPoint User Manual Version 1 4 Name 26 WSS_RQ 27 WSS_RQ 28 PPS_232 29 GND 30 232 31 PPS_5V 32 PPS 5V 33 SERIAL TX 34 SERIAL 35 SERIAL RX 36 SERIAL 37 GND Description Right Quadrature Current Sense Right Quadrature Current Return 5 232 Pulse Per Second Signal Ground 5 232 NMEA Transmit Non Inverted Pulse Per Second Inverted Pulse Per Second RS 232 Transmit RS 422 TX RS 422 RS 232 Receive RS 422 RX RS 422 Signal Ground T O Bidirectional Ground Output Ground Output Output Output Output Output Input Input Ground Contact 22D 22D 22D 22D 22D 22D 22D 22D 22D 22D 22D 22D PinPoint User Manual Version 1 4 60 112 PinPoint Precision IMU Figure 17 PinPoint Precision IMU 1121 Precision IMU connector The external IMU connector is used for connection the External Precision IMU to the PinPoint enclosure Pin Description Contact 1 DATA OUT Connection to PinPoint 2 RX DATA OUT Connection to PinPoint Output 220 3 TX_DATA_IN Connection to PinPoint Input 22D 4 TX DATA IN Connection to PinPo
30. 4907660 03987 entero 21 Lon 1 4030939 241 8009 14030951 6385951 4 635 0 cos 0 64907660 Alt 635 0 0 0 1 0 636 0 Then switch back to degrees Global LLH object location 37 189350 N 80 391425 W 636 0 m PinPoint User Manual Version 1 4 14 Appendix Mechanical Dimensions Notes A All mounting holes tapped for 1 4 20 screws with 3 8 penetration 2 Torque mounting screws to 90 100 Positive Y Axis IMU Origin Positive X Axis N REVISIONS REV INITIALS DESCRIPTION DATE A DPA _ initial Release 2 15 2013 Changed sheet template B DPA Xdded torque specification 4 2 2013 DPA Added x Y Z axes 6 19 2014 PROPRIETARY AND CONFIDENTIAL TORC 1 Customer Release PinPoint User Manual Version 1 4 65 15 Appendix IMU Mechanical Dimensions PinPoint User Manual Version 1 4 66 16 Appendix Antenna Dimensions REVISIONS Notes PROPRIETARY AND penetratio Novatel GPS 702 GGL Antenna gt Customer Release 3 En you etal cola CO A wnen quing ounting screw E i SCALE 1 3 4 2 2013 SHEET 1 OF PinPoint User Manual Version 1 4 67 PinPoint User Manual Versio
31. 8 6 7 newLeftWssVector Signal ID Eea i esee 38 8 6 8 newRightWssVector Signal ID 9 eene 38 8 6 9 Wheel Speed Status Codes er etes e anon PARES Pra 38 8 7 POINT OF INTEREST MESSAGE SERVER etat reete et ua ER AERE Eee Re RR Fea Poe eR EE EHE ae 39 8 7 1 markVehicleFrd Method 1 5 eee nth nn na aa anra atn aa aaa aa a hana dn aa hoa 39 8 72 markLocalNed Method ID 6 sss 40 PinPoint User Manual Version 1 4 lii 873 5 0 6 5 ed do e Ie de onda ete ipd 40 8 7 4 5 5 sa ada asses easi aa daas na 40 8 8 STATUS REPORTER INTERFACE 40 8 8 1 getStatus Method ID 1 41 8 8 2 getStatusWithCondition Method ID 2 41 8 8 3 statusChanged Signal ID 0 41 9 25046 ee Pen ue Ue e ep eese a ese 42 9 1 EOCALIZATION OUTPUT
32. Pitch sensor error 7 Yaw sensor error 8 6 8 newRightWssVector Signal ID 9 This signal contains time stamped right wheel speed direction and errors and is emitted at 20 Hz Output Parameters Size 21 Offset Type Description Microseconds since 1970 Right WSS Velocity m s Right WSS Pitch rad Right WSS rad H 0x0C Right WSS Errors The bits in the errors byte are the same as defined for the left sensor 8 6 9 Wheel Speed Status Codes LISensorFailure Status Code 1 The hardware has detected a failure of the left in phase wheel speed sensor LQSensorFailure Status Code 2 PinPoint User Manual Version 1 4 38 The hardware has detected a failure of left quadrature wheel speed sensor RISensorFailure Status Code 3 The hardware has detected a failure of the right in phase wheel speed sensor RQSensorFailure Status Code 4 The hardware has detected a failure of the right quadrature wheel speed sensor UsingOnlyOneWheel Status Code 5 Both sensors on one of the wheels have failed and the average wheel speed is being calculated from the working wheel only DirectionUnknown Status Code 6 One sensor on each wheel has failed and the average wheel speed will be positive regardless of actual vehicle direction of travel If this average wheel speed is being used for vehicle speed control it is suggested to implement additional logic based on the transmission gear if this error
33. S Ra Fe oo c Ra NER TERI oo eves FRE NER 9 2 LOCALIZATION STATUS REPORTER TAB 9 3 WHEELSPEED SENSOR eva Dh desee dere iude 9 4 INERTIAL MEASUREMENT UNIT 9 5 GPS RECEIVER TAB em 9 6 COMMUNICATION SETUP TAB icc rere nenne cene eed eee cea eaa go reed en ce ane ee site ee 9 7 LOCAL POSITION PLOT 9 8 GLOBAL POSITION nee eee 9 9 BODY VELOCITY een cte e ee ente es en etes es an enn e en 9 10 RAW IMU o deco Tee deae tn eee Rete e de En euer 9 11 WHEEL SPEED GALIBRATION PLOT 25 eben eere ote ere 9 12 WHEEL SPEED Ps dulce MR 9 13 VIBRATION MEASUREMENT PLOT 10 PRODUCT SPECIFICATIONS 7 55 rere ce os esie eee se ree ro pides aou eee va ede ege tes eria Teese ede des estesa e pus 56 11 c 57 11 1 PINPOINT M EOCALIZATION MODULE 2 555 oe ea eL access ex eee totae e eee ee eene na re lee e ku een 57 11 1 1 1 Primary GPS Antenna
34. TORC ROBOTIC BUILDING BLOCKS PINPOINT Localization amp Precision IMU one 405 Partnership Drive Blacksburg VA 24060 Ph 540 443 9262 Fx 540 443 3667 AVI A Co re o ero Legal Notices 2015 TORC Robotics Inc All rights reserved and PinPoint names and logos are trademarks of TORC Robotics Inc All other trademarks are the property of their respective owners All information contained in this manual is believed to be accurate at the time of printing however TORC reserves the right to make modifications to the specifications and operation of this product without obligation to notify any person or entity of such revision Limited Warranty Terms and Conditions Subject to the following terms and conditions TORC warrants that for a period of one 1 year from date of purchase that this TORC product Product will substantially conform to TORC s publicly available specifications for the Product and that the Product will be substantially free from defects in materials and workmanship To obtain additional information on TORC s product limited warranty please contact TORC Product firmware may incorporate portions of the IwIP networking stack copyright 2001 2004 Swedish Institute of Computer Science The source code and full text of the associated license agreement may be downloaded from http savannah nongnu org projects lwip Software Fixes During the limited warra
35. TP server allowing for system wide time synchronization The two Ethernet ports are connected to an internal switch allowing customers to daisy chain Ethernet devices More information on the Ethernet connectors can be found in Section 11 PinPoint User Manual Version 1 4 8 5 5 PPS outputs Three pulse per second PPS signals are output whenever PinPoint is powered even when a GPS fix is unavailable These signals all have a 10 duty cycle but differ in polarity and voltage levels for connecting directly to a variety of 3 party components These signals are shown in Figure 8 PinPoint PPS Output Signa Is PPS volts 08 09 10 11 12 13 14 15 16 17 18 19 20 21 2 2 2 3 PPS volts 08 09 10 11 12 13 14 15 16 17 18 19 2 0 2 1 2 2 2 3 5232 volts Time seconds Figure 8 PPS output signal detail 5 5 1 NMEA serial stream for sensor time synchronization PinPoint includes an output only serial port that sends a GPRMC NMEA message once per second The port is configured to 9600 baud and is intended for direct connection with sensors for time synchronization such as those made by Velodyne Lidar PinPoint User Manual Version 1 4 The format of GPRMC message is as follows SGPRMC 204653 A 080313 05 1 2 9 12 1 204653 Time Stamp HHMMSS 2 A Validity A ok V invalid 9 080313 Date Stamp DDMMYY 12 05 Checksum 5 5 2 Installation Validation The in
36. ation error Message ID Exception Return message Offset Name Type Data Interpretation 0x00 Control Byte U8 0x31 Indicates an exception was thrown 0 01 Message ID U8 0x01 ID of the method throwing the exception 0x02 Size U8 0x04 Payload length 0x03 Error Code U32 Error code corresponding to the exception that was thrown 8 2 10 Schedule Exception The schedule exception is identical to the standard Exception except for the ID is interpreted as a schedule ID opposed to a method ID Message ID Schedule Exception Return message Offset Name Type Data Interpretation 0x00 Control Byte U8 0x39 Exception was thrown for a scheduled method 0x01 Schedule ID U8 0x01 ID of the scheduled event throwing the exception 0x02 Size U8 0x04 Payload length 0x03 Error Code U32 Error code corresponding to the exception that was thrown 8 2 11 Error Response This message is used to indicate protocol errors and is sent back by PinPoint M every time it receives one of the following messages as an invoke with return connectSignal scheduleMessage and setSchedulelInterval PinPoint User Manual Version 1 4 25 Message ID Error Return message Offset Name Type Data Interpretation 0x00 Control Byte U8 0x81 protocol error response 0x01 Message ID U8 Message ID returning the error 0x02 Size U8 Payload length 0x03 Protocol Error Code 116 Error code 0 no er
37. ature sensor this method returns 0 Input Parameters Size 0 N A Return Value Size 3 Offset Type Description H 0x00 Speed in mm s 8 6 4 getOdometer Method ID 7 This method returns the current odometer value in meters Input Parameters Size 0 N A Return Value Size 4 Offset Type Description H 0 00 8 6 5 newRawWssData Signal ID 6 This signal contains time stamped left and right wheel speeds and is emitted at 20 Hz Output Parameters Size 16 Offset Type Description Microseconds since 1970 Left Wheel Speed m s 0 0 Right Wheel Speed m s 8 6 6 odometerChanged Signal ID 7 This signal contains a time stamp and the current odometer reading and is emitted after every meter of travel PinPoint User Manual Version 1 4 37 Output Parameters Size 12 Offset Type Description H 0x00 Microseconds since 1970 H 0x08 032 Odometer m 8 6 7 newLeftWssVector Signal ID 8 This signal contains time stamped left wheel speed direction and errors and is emitted at 20 Hz Output Parameters Size 21 Offset Type Description Microseconds since 1970 Left WSS Velocity m s Left WSS Pitch rad Left WSS Yaw rad 0x0C Left WSS Errors The bits in the errors byte should be interpreted as follows GPS Fix Type Description Inphase sensor error 0 1 Quadrature sensor error 2 unused 3 unused 4 Sensor timeout error 5 unused 6
38. atuses that are equal to or greater than a given condition Input Parameters Size 1 Offset Type Description H 0x00 Status Condition Return Value Size Variable Type Description Number of statuses 0x02 Status Condition 0x03 N 3 Status Code 8 8 3 statusChanged Signal ID 0 This signal is emitted every time a status condition changes Output Parameters Size 3 Offset Type Description H 0x00 Status Condition H 0x01 Status Coode PinPoint User Manual Version 1 4 41 9 Diagnostic Utility A diagnostic utility is included on the CD accompanying the PinPoint hardware It allows the user to view all of the available outputs and statuses as well as plot some of the outputs commonly used to verify the system has been installed and configured correctly 9 1 Localization Outputs Tab This tab displays the return values and parameters for the methods and signals exposed by the localization server see Software Interface section Clicking the Reset Filter button calls the resetFilter method as defined in section 8 3 2 TORC PinPoint Test Utility File Plot About LOC LOC Statuses wss IMU GPS Setup GlobalPose LocalPose Velocity State Time Stamp Time Stamp Time Stamp 3 10 46 194 PM 3 10 46 194 PM 3 10 46 194 4 2 2013 4 2 2013 4 2 2013 GlobalLocation Location Velocity 37 1673 Latitude deg 517 377
39. both WSS and GPS corrections are not available the filter is running uncorrected and the output data should not be trusted This will be reflected in the estimated filter accuracy BadGpsPosAgreement Status Code 6 A discrepancy has been detected between the localization filter and the GPS position measurements This is most likely caused by incorrect configuration parameters BadGpsVelAgreement Status Code 7 A discrepancy has been detected between the localization filter and the GPS velocity measurements This is most likely caused by incorrect configuration parameters BadWssVelAgreement Status Code 8 A discrepancy has been detected between the localization filter and the WSS velocity measurements This is most likely caused by incorrect configuration parameters BadGyroBiasEstimate Status Code 9 The gyroscope sensor bias estimates are outside of the acceptable range for this IMU This is most likely caused by incorrect configuration parameters BadAccelBiasEstimate Status Code 10 The accelerometer sensor bias estimates are outside of the acceptable range for this IMU This is most likely caused by incorrect configuration parameters PoseSteadying Status Code 11 The localization filter has detected the vehicle to be stationary and is applying additional corrections to minimize drift NoHeadingUpdates Status Code 12 PinPoint User Manual Version 1 4 31 Heading corrections from dual GPS recei
40. ce with existing vehicle speed sensors PinPoint User Manual Version 1 4 1 GPS Antenna GPS Antenna Data PinPoint Ethernet Optional Serial Autonomy External IMU M Optional Timing Internal IMU PPS Out I O Wheel Speed Sensors Figure 2 PinPoint Hardware Overview 4 2 Software Architecture PinPoint is based on an error state multiplicative extended Kalman filter that estimates the vehicles position velocity and attitude The IMU measurements propagate these estimates as the vehicle moves and the GPS and wheel speed sensors are used to correct the estimates A simplified block diagram of the Localization filter is shown in Figure 3 PinPoint User Manual Version 1 4 2 Predictions Filter States Gyro Errors Accel Errors Global Position Figure 3 PinPoint Filter Overview Corrections GPS Heading Body Accels GPS Velocity Local GPS Position Position After a filter reset an initialization and alignment routine is performed before the filter starts processing This routine sets the initial states and covariance and requires a valid GPS signal from one antenna for the initial global position To determine the initial vehicle heading the filter requires either vehicle motion or a valid GPS signal from both antennas Once alignment is complete the filter will continue to run with or without actively receiving GPS updates 4 3 Coordinate S
41. chedulelnterval U32 New Interval in ms interval of 0 cancels scheduled message 0x08 ScheduleOffset U32 Offset in ms 8 2 8 connectSignal This message configures PinPoint to send select messages every time the message data is updated These messages can be configured to be sent over TCP or UDP if setup by responding to the getUDPPort message from PinPoint This message is also used to disconnect from the signal by re sending this message with the ConnectionType byte set to 0x00 Signals will be emitted with their Signal ID as the ID byte in the protocol frame PinPoint User Manual Version 1 4 24 Message ID 0x02 connectSignal Offset Type Data Interpretation 0x00 Control Byte U8 0x91 Invoke protocol message with return one byte size field 0x01 Message ID U8 0x02 connectSignal s Function id 0x02 Size U8 0x02 Payload length 0x03 Signal ID U8 Unique id ofthe signal 0x04 ConnectionType U8 0x00 disconnect 0x01 TCP 0x02 UDP 8 2 0 Exception When a method cannot properly return its data the server will respond with an Exception message type followed by the typical ReturnValue with invalid data The ID of the exception is the method ID of the method that forced the exception For PinPoint M exceptions are used to indicate that data is temporarily unavailable likely due to not yet being initialized by the hardware or due to a lower level communic
42. dena Le arae eaa 27 8 3 3 getFilterAccuracy Method ID 6 27 8 34 getGlobalPose Method ID Zironda aiie a aai aaia diaa aai aiiai 27 835 Method ID 9 a a a er do oa pde doeet 28 8 3 6 getVelocityState Method ID 11 essen nennen ener aAA enaa 28 8 3 7 getQuaternionCovariance Method ID 13 28 8 3 8 globalPoseChanged Signal ID Ornea inae aaeei 29 8 3 9 localPoseChanged Signal ID 7 sess sa sa ra daas assassin 29 8 3 10 velocityStateChanged Signal ID 8 29 8 3 11 quaternionCovarianceChanged Signal ID 9 30 8 3 12 filterAccuracyChanged Signal ID 10 30 8 3 13 Localization Status Messages ss essa siad asas sessi sa ada asas ss sa sa aa daas an 30 8 4 IMUMESSAGESERVER eere nere pereo ee eie en eei uet e a Matias teens 32 841 newRawlmubData SignalID 2 6 ius ern eet een peek enne Rake a Gee en Lene Ro eere reda 32 842 COG 32 8 5 MESSAGE SERVER m
43. e interval of the schedule timer by using the setScheduleInterval message The scheduled data will be returned using this Schedule ID Message ID 0x03 scheduleMessage Offset Name Type Data Interpretation 0x00 Control Byte U8 0x91 Invoke protocol message with return one byte size field 0x01 Message ID U8 0x03 ScheduleMessage s message id 0x02 Size U8 0x0F Payload length 15 bytes 0x03 Schedule Id U8 Unique identifier for the schedule 0x04 Schedulelnterval U32 Interval between method calls in milliseconds 0x08 ScheduleOffset U32 Timer offset in milliseconds 0x0C MessagelD U8 Message ID of method to schedule 0 00 ParameterSize U32 Method parameters size 0 11 SchRetumMethod U8 0x00 UDP return method low latency 0x01 TCP return method guaranteed 0x12 Parameters defined by parameter list for scheduled method call not ParameterSize included for methods without parameters 8 2 7 setScheduleInterval This message modifies the rate at which a given scheduled event occurs It is also used to cancel a scheduled event by setting the new interval to zero Message ID 0x04 setSchedulelnterval Offset Name Type Interpretation 0x00 Control Byte Invoke protocol message with return one byte size field 0x01 Message ID U8 0x04 setS chedulelnterval s message id 0x02 Size U8 0x09 Payload length 0x03 Schedule ID U8 Schedule ID of schedule to modify 0x04 S
44. eceive setAPI message after receiving ProtocolVersion PinPoint User Manual Version 1 4 22 Because PinPoint is not configured to call external functions this API may empty as shown below PinPoint will send an API as well but this can be discarded as it is the information contained in this manual To discard the message parse the control byte and the message size and ignore the payload bytes Message ID 0x01 setAPI Offset Type Data Interpretation 0x00 Control Byte U8 0x89 Invoke protocol message one byte size field 0x01 Message ID U8 0x01 SetApi s message id 0x02 Size U8 0x03 Payload length 0x03 URN Length U16 0x0000 Empty URN 0x05 Number of Interfaces U8 0x00 No Interfaces 8 2 3 getUdpPort This message is sent from PinPoint via TCP requesting which UDP Port if any to send UDP messages to and is sent immediately after PinPoint sends its setAPI message Message ID 0x05 getUdpPort Offset Name Type Data Interpretation 0x00 Control Byte U8 0x90 Invoke protocol message with return zero byte size field 0x01 Message ID U8 0x05 getUdpPort s message id 8 2 4 getUDPPort Return This message is returned over the TCP connection and is the expected response to the getUDPPort message PinPoint will also respond with this message if it receives get UDPPort message Message ID 0x05 getUDPPort Return Offset
45. ed Message Server The IMU message server contains a StatusReporter interface in addition to the localization Wss interface described in the following section 8 6 1 getAvgWheelSpeed Method ID 4 This method returns the best estimate of the vehicle speed from the wheel speed sensors Additional error handling logic is applied to this value as follows Tf there are no errors this is the average of the left and right wheel speed measurements Ifthe direction is unknown on one of the wheels the magnitudes of the two sensors are averaged and the sign is taken from the wheel that has a known direction If the direction is unknown on both of the wheels the magnitudes are averaged and the sign is positive If measurements are not available from one of the wheels this is the speed and direction of the working wheel Input Parameters Size 0 N A Return Value Size 3 Offset Type Description 0x00 Speed in mm s PinPoint User Manual Version 1 4 36 8 6 2 getLeftWheelSpeed Method ID 5 This method returns the signed speed of left wheel If there are errors with either in phase or quadrature sensor this method returns 0 Input Parameters Size 0 N A Return Value Size 3 Offset Type Description H 0x00 Speed in mm s 8 6 5 getRightWheelSpeed Method ID 6 This method returns the signed speed of the right wheel If there are errors with either the in phase or quadr
46. ed to TORC for evaluation and repair ProcessorFailure Status Code 2 An error has occurred with the onboard IMU processor The unit should be returned to TORC for evaluation and repair GyroFailure Status Code 3 One or more of the gyroscopes have failed The unit should be returned to TORC for evaluation and repair PinPoint User Manual Version 1 4 32 AccelFailure Status Code 4 One or more of the accelerometers have failed The unit should be returned to TORC for evaluation and repair 8 5 GPS Message Server The GPS message server contains a StatusReporter interface in addition to the localization Gps interface described in the following section 8 5 1 getGpsFixInfo Method ID 4 This method returns information about the GPS solution and the number of satellites Input Parameters Size 0 N A Return Value Size 5 Offset Type Description Number of satellites visible on secondary antenna Number of satellites used in position calculation Number of satellites used in heading calculation The GPS fix type will be one of the following GPSFixType Description Unknown OmniSTAR VBS 5 6 OmniSTAR XP 1 OmniSTAR HP Terrastar oo 8 5 2 getLbandInfo Method 1 5 This method returns information about the active Terrastar or OmniSTAR subscription The activation string needs to be given to the corrections provider and is either the OmniSTAR Serial Number OSN or t
47. ewRawGpsData Signal ID 6 This signal contains time stamped GPS position and velocity and is emitted at 20 Hz whenever measurements are available Output Parameters Size 52 Offset Type Description 0x00 U64 Microseconds since 1970 0x08 F64 Latitude rad 0 10 F64 Longitude rad H 0x18 F64 HAE Altitude m 0x20 F32 3D Position Accuracy m H 0x24 F32 North Velocity m s 0x28 F32 East Velocity m s H 0x2C F32 Down Velocity m s 0x30 F32 Velocity Accuracy m s PinPoint User Manual Version 1 4 34 8 5 5 newRawGpsHeading Signal ID 7 This signal contains time stamped GPS heading and is emitted at 20 Hz whenever measurements are available Output Parameters Size 24 Offset Type Description Microseconds since 1970 Antenna Heading rad Antenna Pitch rad Heading Accuracy rad 0 14 F32 Pitch Accuracy rad 8 5 6 newGpsFixInfo Signal ID 8 This signal contains information about the GPS solution and the number of satellites and is emitted whenever any of the values change Output Parameters Size 5 Offset Type Description Number of satellites visible on secondary antenna Number of satellites used in position calculation 0 04 Number of satellites used in heading calculation 8 5 7 GPS Status Messages CommsFailure Status Code 1 PinPoint was unable
48. g Because the local position may drift over time no error estimates are output for the local frame The velocity error estimates may be monitored if an estimate of how quickly the local position is drifting is desired This drift may cause the origin of the local frame to float with respect to the global frame so the current position in both frames must be used to understand their relationship PinPoint User Manual Version 1 4 4 4 33 Vehicle Body The vehicle specific parameters and the velocity state output are represented in vehicle body frame This frame is represented using forward right down FRD convention with the associated rotations given as roll pitch yaw respectively The origin of the frame should be placed at the center of the rear wheels for Ackerman vehicles or center of mass for skid steer vehicles See Section 5 for setup and calibration of PinPoint M D Yaw Axis Figure 5 Vehicle Coordinate Frame The orientation given in Euler angles represents the rotation from the local tangent plane to the vehicle body frame The rotation order is roll pitch yaw if performed in the local NED frame or yaw pitch roll if performed in the vehicle FRD frame 4 34 IMU Frame The IMU frame is only important for mounting as the XYZ axes are rotated to align with the vehicle axes for all calculations The IMU orientation can be configured via the vehicle tab of the web interface shown in Section 6 The
49. he Terrastar Product Activation Code PAC depending on the corrections being used Input Parameters Size 0 N A Return Value Size 13 Offset Type Description 0x00 Lband subscription type 0x01 U64 Lband expiration date microseconds since 1970 PinPoint User Manual Version 1 4 33 0x09 Lband Activation Length of characters H 0x0A N U8 Lband Activation String ASCII characters Lband Subscription Type Description 0 Unknown Expired OmniSTAR VBS OmniSTAR XP OmniSTAR HP Terrastar M Terrastar 8 5 3 setLbandSat Method ID 6 This method is used to enable Lband corrections and force the receiver to listen to a particular satellite It is required to send this string when activating a new subscription but once activated corrections will be enabled and the satellite will be automatically chosen based on receiver location For OmniSTAR the satellite frequency in kHz should be sent using ASCII characters e g 0x07 1557845 For Terrastar the beam name should be sent using ASCII characters e g Ox04 aorw Sending a zero length string 0 00 will disable Iband corrections and prevent them from being enabled on future power cycles Input Parameters Size 4 Offset Type Description H 0x00 String Length H 0x01 N U8 ASCII String Return Value Size Variable Type Description H 0x04 N ASCII Message 8 5 4 n
50. ing at long term drift of the corrections 2 2 22 2 distance o TT t Where o is the RMS linear velocity vibration in m s o is the RMS angular velocity vibration in rad s r is the length in m of the moment arm between the IMU and the measurement and t is time in s While this is a gross simplification of the problem it does give an idea of the magnitude of drift from different levels of vibration 123 WSS Error The maximum velocity error in m s is given by a error 2 2 ppm Where a is the acceleration of the vehicle and ppm is the pulses per meter PinPoint User Manual Version 1 4 62 13 Appendix Examples NOTE The fixed point 132 angles used by PinPoint to represent latitude and longitude allow for calculations to be performed with millimeter level precision If converting these angles to a floating point representation make sure to use a format with enough bits to accurately represent the data as a standard single precision float will only give meter level accuracy 13 1 Local Coordinates for Global Navigation The global and local frame serve two different purposes The global frame provides a georeferenced coordinate system that when averaged over time is repeatable and reliable as is common with GPS based solutions For navigation around nearby objects the transient effects of GPS drifts and pops can be detrimental to smooth path planning and execution The local frame is mea
51. int Input 220 5 SYNC_OUT Connection to PinPoint Output 22D 6 SYNC_OUT Connection to PinPoint Output 22D CLOCK_IN Connection to PinPoint Input 22D 8 CLOCK_IN Connection to PinPoint Input 22D IMU_RESET_IN Connection to PinPoint Input 22D 10 IMU_MODE_IN Connection to PinPoint Input 22D n POWER IN Connection to PinPoint Power 22 12 POWER_GND Connection to PinPoint Ground 22D reserved Not Used 22D 22 SHIELD Chassis Ground Ground 22D PinPoint User Manual Version 1 4 61 12 Appendix Calculations 121 Coordinate System The relationship between target points in the two frames given the current local and global position is as follows TargetNnortn LocalNortnt Target ratitude Global Latitude Global Height Target rast Local gase Target rongitude Global Longitude Rn Global Height cos Global Latitude Target pown Local Down Global Height Target Height Where a R N esin Radius of curvature in prime vertical v1 sin Global Latitude Bo 1 1 9 i22 GI bal 3 2 Radius of curvature the meridian SIN GLOUA Latitude WGS 84 equatorial radius meters 6378137 0 WGS 84 first eccentricity squared 0 00669438 12 2 Vibration While PinPoint s accuracy is dependent on a number of different factors simply look
52. ire hall effect sensors However several other common sensor types can be used with minimal interface circuitry For 3 wire hall effect sensors with open collector outputs the sensor power should be connected directly to PinPoint and the output should be connected to the power through a 750 ohm resistor Q THEN Q Figure 6 Hall Effect sensor configuration 3 Wire Hall Effect Sensor For encoders with open collector outputs the output should still be connected to PinPoint through a 750 ohm resistor however a 1 5k ohm resistor should be connected to the inputs near the sensor to allow PinPoint s open circuit detection to function properly The encoder should be powered from a separate supply Open Collector PinPoint Encoder Output Figure 7 Encoder wheel speed configuration 5 3 Power PinPoint will operate off voltages from 9 to 36 VDC allowing it to be directly powered from a 14VDC or 28VDC vehicle bus PinPoint contains active protection circuitry on the power supply input that protects from under voltage over voltage and reverse polarity The pin out of the PinPoint power input can be found in Section 11 5 4 Ethernet PinPoint provides two 10 100baseT Ethernet ports for primary communication over an IP based network Section 8 embedded webserver allows for product configuration firmware updates and KML generation Section 6 Also available over Ethernet is a built in N
53. is set SensorTimeout Status Code 7 No speed measurements are currently available If using quadrature speed sensors this error will be set on startup until vehicle motion produces a single pulse on the speed sensors 8 7 Point of Interest Message Server The point of interest message server contains StatusReporter interface in addition to the localization PoiProducer interface described in the following section 8 7 4 markVehicleFrd Method ID 5 Calling this method causes a global frame POI to be emitted corresponding to a point given in vehicle frame Input Parameters Size 14 Offset Type Description POI Down Location mm Return Value Size Variable Type Description H 0 04 N PinPoint User Manual Version 1 4 39 8 7 2 markLocalNed Method ID 6 Calling this method causes a global frame POI to be emitted corresponding to a point given in local frame Input Parameters Size 14 Offset Type Description H 0x0A Return Value Size Variable Type Description H 0 04 N 8 7 3 newPoi Signal ID 6 This signal contains the current time vehicle global location point of interest global location point of interest source identification and point of interest count The global location of the POI is calculated using the vehicle frame or local frame position provided in one of the above methods Output Parameters Size 36 Offset Type Description 0 00
54. ization gps 2 interfaces 7 methods 10 signals 15 05 18 982 return value UDP port 49155 remote urn localization address 172 24 0 29 15 05 18 982 remote side requested UDP port responding with 50608 15 05 18 981 rcvd from urn localization 2 interfaces 13 methods 9 signals 15 05 18 980 return value UDP port 49154 remote urn localization imu address 172 24 0 29 15 05 18 980 remote side requested UDP port responding with 50607 15 05 18 980 rcvd from urn localization imu 2 interfaces 4 methods 7 signals 15 05 18 979 return value UDP port 49153 remote urn localization wss address 172 24 0 29 15 05 18 979 remote side requested UDP port responding with 50606 15 05 18 979 rcvd setApi from urn localization wss 2 interfaces 8 methods 8 signals 15 05 18 977 lvbb connection comm with 172 24 0 29 local udp 50609 TCP id 4112515074 UDP id 4116709383 15 05 18 977 lvbb connection comm with 172 24 0 29 local udp 50608 TCP id 4111466499 UDP id 4115660806 15 05 12 O77 hhh connection eamm with 172 24 20 Incal ndn 50 07 TCD id PinPoint User Manual Version 1 4 48 9 7 Local Position Plot This allows the user to see PinPoint s local position Note that while the global position will trend towards GPS position over time the local position is only affected by vehicle movement Press the clear button to clear the plot and the freeze button t
55. lications The following section is a complete list of the entire software interface A single application may not utilize all of the available functionality There are three approaches for obtaining information from PinPoint The first approach is by directly requesting the data through the available methods This approach requires a method call every time data is requested To receive periodic data the second approach a method can be scheduled with the scheduleMessage call This will allow the scheduled method to be called at a configurable periodic rate The final approach utilizes signals By subscribing to available signals via the connectSignal protocol message PinPoint will send data as soon as new data is available Subscribing to signals is recommended to minimize latency and avoid the aliasing possible when scheduling a message at a different rate than the data is available Connecting to PinPoint requires a specific initialization routing that includes sending a specific set of protocol message commands as outlined in Figure 15 These protocol message commands must be sent over TCP and should be the first messages sent Each message server Localization Filter GPS IMU WSS and POD requires a separate connection to be opened by user client software A maximum of 32 connections are supported CLIENT user software SERVER ByWire TCP Connection Established Initiated by client
56. n calculate the local frame coordinates of the waypoint using the equations in section 12 1 North 100 0 0 64907050 0 64907660 6358754 0 635 0 61 2m East 300 0 1 4031470 1 4030939 6385951 4 635 0 cos 0 64907660 30 8m Down 0 0 635 0 638 0 3 0m 132 Global Coordinates of Sensed Object Often it is desirable to store the global location of an object for future reference Sensors that are hard mounted to a vehicle and therefore see objects in vehicle frame or a sensor frame with a fixed transformation to vehicle frame and must be rotated to local frame to account for the attitude of the vehicle before being converted to global frame PinPoint User Manual Version 1 4 Given following Global LLH vehicle location 37 18935 N 80 39136 W 635 0 m Local NED vehicle location 100 0 m 300 0 m 0 0 m Global Local RPY attitude 0 07 10 07 90 0 Vehicle FRD object location 6 0 m 0 0 m 0 0 m First transform object coordinates from vehicle frame to local frame using standard homogeneous transformations 100 0 cos 90 90 O cos 10 0 sin 10 77 1 0 0 6 0 3001 90 90 0 1 0 cos 0 o 00 0 0 0 0 111 5 10 0 5 10 110 sin 0 cos 0 110 0 100 0 2941 1 0 Next calculate the global coordinates of the point in local frame using the equations in section 12 1 Lat 0 64907660 599 1999 0 6
57. n 1 4 68
58. nt to address this providing a stable and consistent frame for immediate planning at the cost of longer term repeatability The stability of the local frame and immunity to GPS pops make the local frame ideal for low level navigation around nearby objects On the other hand globally referenced features such as GPS waypoints require the repeatability and extended position accuracy of global frame The recommended global navigation schema is to store the global waypoints and features in global frame and transform them into local frame when needed for the immediate level planning This should be performed on every iteration of the navigation loop using the most up to date vehicle positions in both frames because over time the local and global frames may drift with respect to each other Given the following Global LLH vehicle location 37 189350 N 80 391360 W 635 0 m Local NED vehicle location 100 0 m 300 0 m 0 0 m Global LLH waypoint location 37 189000 80 394400 W 638 0 m First convert degrees and direction to signed radians Global LLH vehicle location 0 64907660 1 4030939 635 m Global LLH waypoint location 0 64907050 1 4031470 638 m Next calculate radii of curvature at the vehicle using the equations in section 12 1 Ry 9009 6385951 4 1 0 00669438 sin 0 64907660 _ 6378137 0 1 0 00669438 1 0 00669438 sin 0 64907660 2 G 2 Ry 6358754 0 The
59. nty period the customer will be entitled to receive such Fixes to the Product software that TORC releases and makes commercially available and does not charge separately TORC reserves the right to determine in its sole discretion what constitutes a software fix To obtain additional information on TORC s product software fixes and firmware upgrades please contact TORC How to Obtain Warranty Service To obtain warranty service please contact TORC and be prepared to include the following information Your name company address e mail address phone number Proof of purchase Product model and serial number Explanation of the problem Limitation of Liability DO NOT OPERATE UNTIL USER MANUAL IS REVIEWED AND UNDERSTOOD PRODUCT USE IS SUBJECT TO STRICT TERMS AND CONDITIONS SEE TERMS AND CONDITIONS DOCUMENT FOR ADDITIONAL USE RESTRICTIONS OPERATING PRODUCT IN VIOLATION OF USER RESTRICTIONS COULD RESULT IN PRODUCT MALFUNCTION PROPERTY DAMAGE AND PERSONAL INJURY INCLUDING DEATH USER ASSUMES ALL RISKS ASSOCIATED WITH POSSESSION OR USE OF PRODUCT AND RELATED SYSTEMS USER AGREES TO INDEMNIFY DEFEND AND HOLD HARMLESS TORC ROBOTICS LLC FROM ANY DAMAGES ARISING OUT OF POSSESSION OR USE OF PRODUCT AND RELATED SYSTEMS TORC IS NOT LIABLE FOR ANY DAMAGES OF ANY KIND FCC Compliance This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 this device may not cause harmful
60. o pause the updates T Local Position Local Position PinPoint User Manual Version 1 4 40 9 8 Global Position Plot This plot allows the user to compare PinPoint s filtered global position against raw GPS position Press the clear button to clear the plot and the freeze button to pause the updates Keep in mind that the global position is the location of the vehicle origin and the GPS position is the location of the primary antenna so they may be slightly different if there is any horizontal moment arm between the two 2 T Filtered vs Raw Global Position 1 Longitude 2013 04 02 15 16 50 964 PinPoint User Manual Version 1 4 50 9 9 Body Velocity Plot These plots display the forward body velocity with respect to the right and down velocities Press the clear button to clear the plot and the freeze button to pause the updates Under normal operation both these plots should be close to a straight vertical line A positive Y velocity indicates the IMU is yawed to the left A positive Z velocity indicates the IMU is pitched up This information can then be used to fine tune the IMU orientation on the web configuration Any sort of repeating or circular pattern indicates something is grossly misconfigured Examples of things to check include the IMU installation rotated 90
61. oid mounting close to electrical cables metal masts and other antennas Mount the antennas so that they are level when the vehicle is parked on level ground Place the two GPS antennas as far apart as possible to improve the accuracy of heading corrections TORC recommends a baseline between the two GPS antennas of at least 1 meter Avoid areas with high vibration excessive heat electrical interference and strong magnetic fields When configuring PinPoint it will be necessary to accurately measure the location of the antennas in vehicle frame FRD from the vehicle origin Typically the FRD is referenced from the center of the rear wheel as shown in Figure 5 Measurements should use the antenna s phase center as the antenna location please see Section 16 This location is then entered into the web configuration utility Installing GPS Antenna Cables After mounting the GPS antennas PinPoint and or the Precision IMU route the GPS antenna cable Avoid the following Tight bends or kinks in the GPS antenna cable Sharp or abrasive surfaces Rotating or moving equipment Door or window jams Corrosive fluids or gases Hot surfaces such as exhaust manifolds or engines Areas in which people have routine access The minimum bend radius for the GPS coaxial cable should be four times the diameter of the cable Secure the cable at several points It is recommended that strain relief is provided for antenna cables 5
62. pproximately 100 Hz This signal is not emitted until the filter has been initialized with a valid GPS location and time Output Parameters Size 26 Offset Type Description H 0x00 Microseconds since 1970 PinPoint User Manual Version 1 4 29 Description Forward Velocity mm s Right Velocity mm s Down Velocity mm s Roll Rate mrad s Pitch Rate mrad s Yaw Rate mrad s H 0x08 H 0x0B H 0x0E H 0x11 H 0x14 H 0x17 8 3 11 quaternionCovarianceChanged Signal ID 9 This signal contains a time stamped quaternion representing the local NED to vehicle FRD rotation and a 3x3 covariance matrix representing the accuracy of the attitude estimate It is emitted at approximately 100 Hz This signal is not emitted until the filter has been initialized with a valid GPS location and time Output Parameters Size 60 Offset Type Description 0 00 Microseconds since 1970 0x08 32141 NED gt Quaternion qw qx qz 0x18 F32 3 3 NED Attitude Covariance rad 2 8 3 12 filter AccuracyChanged Signal ID 10 This signal contains the standard deviation of the global position velocity and attitude estimates All error estimates are provided in the local NED frame Output Parameters Size 44 Offset Type Description 0 00 U64 Time since 1970 microseconds 0x08 F32 North position accuracy m 0x0C F32 Eastposition accuracy
63. r Vibration The localization processor assumes ridged body constraints between the GPS antennas and IMU This parameter is used to account for any linear velocity vibration that violates this constraint Typical values with the IMU mounted to a vehicle with a gas engine range from 1 to 10 millimeters per second This value can be measured using the included diagnostic utility 6 4 Firmware Updates Webpage The firmware tab allows customers to take advantage of the latest PinPoint features and bug fixes by updating the firmware PinPoint firmware will have a filename similar to localization_S10 bin where PinPoint User Manual Version 1 4 15 510 is version number Browse to this file by clicking Browse or Choose File button in your browser select the new firmware file and click the Update Firmware button PinPoint will load the firmware into flash memory and prompt to reset the board On the next boot PinPoint will take an additional minute to copy the file into program memory before running the updated firmware PinPoint Status VEHICLE FIRMWARE SETTINGS Upload a firmware update file Choose File No file chosen _Update Firmware NOTE Please export any saved settings before performing a firmware upgrade Figure 12 Firmware webpage screenshot PinPoint User Manual Version 1 4 16 6 5 Settings Webpage PinPoint settings are stored in a human readable XML file
64. rections Horizontal Position Accuracy RMS Single Point L1 1 5 Single Point 11 12 1 2m SBAS 0 6 m OminSTAR VBS 0 6 XP 0 15 m HP 0 1 Time to First Fix 50s Cold Start 35s Hot Start IMU Alignment Internal or Precision Single GPS Core Kinematic align after GPS fix Dual GPS Core Static align after GPS fix IMU Performance Internal IMU Precision IMU Update Rate 102 5 Hz 100 Hz Gyro operating range deg sec 450 1000 Bias Stability deg hr 6 25 1 0 Angular Random Walk deg rt hr 0 3 0 06 Acceleration Range g 18 30 Table 4 Physical Electrical and Environmental Weight 3 2 lb Localization 3 6 Ib Precision IMU 1 1 Ib GPS Antenna each Input Voltage 9 36 VDC Power Consumption 8 W Single GPS amp Internal IMU 12 W Dual GPS amp Precision IMU Operating Temperature 33 to 71 C Ingress Protection IP67 Dust and Watertight IEC 60529 User Data Interface 10 100baseT Ethernet EIA 232 Serial Wheel Speed Sensor Support 7 5 volt source threshold at 10 mA Typical values Performance specifications subject to GPS system characteristics US DOD operational degradation ionospheric and tropospheric conditions satellite geometry baseline length multipath effects and the presence of intentional or unintentional interference sources 2 Only available for GPS and CONUS PinPoint User Manual Version 1 4
65. rnal IMU and precision IMU referred to as IMU in this section should be mounted in a location that can be accurately measured with reference to the vehicle frame FRD from the vehicle origin The vehicle origin is typically the center of the rear wheels as shown in Figure 5 The measurement should be made between the IMU origin Section 13 and the vehicle origin It is also important to accurately measure the rotation of the IMU s XYZ frame to the vehicle s FRD frame These measurements will be saved in the web configuration utility as described in Section 6 While measurements of the linear offsets within 5cm will typically provide good results accurately measuring the angular offsets is critical as GPS denied errors will be proportional to the sine of the angular error Vibration Considerations Select a mounting location in area with minimal vibration High angular vibration is treated as high velocity noise for the GPS and wheel speed measurements due to the moment arm between the IMU and these sensors This noise will effectively down weight the measurements limiting the long term drift performance of the overall system PinPoint User Manual Version 1 4 6 5 2 2 Mounting GPS Antenna s Choosing the correct location for the GPS antennas is critical to performance Follow the following guidelines to selecting the optimal GPS antenna placement Choose an area that does not occlude the antenna from any portion of the sky Av
66. ror 0x05 Message Size U16 Length of the message string 0x07 N ASCII Message U8 Characters of the ASCII message 8 3 Localization Message Server The localization message server contains a StatusReporter interface in addition to localization Filter interface described in the following section 8 3 1 getBoardInfo Method ID 4 This method returns ASCII key gt value pairs of general board information Input Parameters Size N A Return Value Size Variable Type Description H 1 24N L H 2 2 N L ASCII key L size H 2 2 N L H 3 2 N L ASCII value L size For example the pairs FIRSTKEY gt FIRSTVALUE SECONDKEY gt SECONDVALUE would be packed as follows for a total payload size of 43 bytes 0x02 0x08 PF T 5 T RPR E SY 5 7 9 0 09 N D E SY OxOB 5 N P U E PinPoint User Manual Version 1 4 26 PinPoint supports following keys Key Name Description MODEL PinPoint model number HWVER PinPoint hardware version SERIAL PinPoint serial number FWVER Tagged firmware release FWREV Internal firmware revision FWDATE Date the firmware was built GCCVER Compiler used to build the firmware 8 3 2 resetFilter Method ID 5 This method will reinitialize the localization fil
67. s Accuracy estimates of the global position are provided in meters 4 3 2 Local Position PinPoint uses a floating north aligned local frame in north east down NED coordinates to represent local position The local position is initialized on filter reset and is intended to provide a stable frame for local navigation for instance to represent the location of objects in the vicinity of the vehicle The local position is updated as the vehicle moves but never corrected allowing calculations performed in local frame to be immune to GPS pops where the solution quickly changes as satellites come into and go out of view Equator Prime Meridian Figure 4 Local Coordinate Frame It is important to note that any Cartesian projection will introduce some sort of distortion Other projections such as UTM introduce an angular heading error frame north is not equal to true north and requires logic to be implemented for traversing different zones PinPoint s local frame does not have discrete zones and is always aligned to true north however it does introduce a distortion that may be observed when traversing extended distances or travelling near the poles For example if you were to drive due east the local frame would show you driving in a straight line in the east direction In actuality you would have to be turning to the left in the northern hemisphere or to the right in the southern hemisphere to maintain your due east headin
68. se names should be unique on the network and are used in conjunction with the multicast address and port by other TORC products and software to automatically discover PinPoint on the network The defaults should not need to be modified unless otherwise instructed by TORC 6 2 6 TCP Ports These ports in conjunction with the IP address are used to connect to the various servers on PinPoint Valid port number settings range from 1024 to 49151 but under most circumstances the default values should be left as is 6 3 Vehicle Parameters Webpage This tab is used to configure all of the vehicle specific lever arms and calibration parameters used by the localization processor PinPoint User Manual Version 1 4 13 PinPoint STATUS VEHICLE FIRMWARE SETTINGS Pitch Yaw IMU Orientation 0 00 1 30 180 00 degrees Forward Right Down IMU Location 0 17 0 23 0 84 meters Primary GPS Antenna Location 0 20 0 29 1 37 meters Secondary GPS Antenna Location 0 84 0 28 1 37 meters Left Wheel Speed Location 0 00 0 76 0 00 meters Right Wheel Speed Location 0 00 0 76 0 00 meters WSS Calibration 16 73 pulses per meter WSS Noise 0 200 meters per second RMS Angular Rate Vibration 3 0 milliradians per second RMS Linear Velocity Vibration 1 5 millimeters per second RMS Save Settings Figure 11 Vehicle webpage screenshot Depending on factory configured options not all of the parameters may be present
69. stallation can be validated with the included diagnostic utility outlined in Section 9 PinPoint User Manual Version 1 4 10 6 Web Configuration PinPoint includes an embedded webserver to allow for basic status and configuration Using a computer on the same local network as PinPoint navigate to http 172 24 0 29 where 172 24 0 29 is the default IP address of PinPoint All modern browsers are compatible with the PinPoint web interface however if you are using an older browser please ensure it has support for XSL transformations 6 1 System Status Webpage The status tab provides a snapshot of the localization filter outputs The current global position attitude body velocity system time and odometer are all displayed Additionally filter error and warning messages are displayed at the bottom in red Clicking the Automatic Refresh link at the bottom of the page will toggle between a single refresh of the web page and an automatic refresh every second PinPoint STATUS FiRMWARE SETTINGS Latitude Longitude Altitude Location 37 1994828 80 4078197 655 43 m Roll Pitch Yaw Attitude 0 094 1 611 132 353 Forward Right Down Velocity 0 000 m s 0 000 m s 0 000 m s Date Time Odometer 2014 04 22 14 36 18 187 323 m Status Codes Info Pose Steadying Activated Automatic Refresh is OFF Figure 9 Status webpage screenshot PinPoint User Manual Version 1
70. ter which will reset the local frame and require the filter to be realigned A nonzero error code is returned if this method fails Input Parameters Size N A Return Value Size Variable Type Description H 0x04 N ASCII Message 8 3 3 getFilterAccuracy Method ID 6 This method returns the standard deviation of the global position velocity and attitude estimates All error estimates are provided in the local NED frame Input Parameters Size 0x00 N A Return Value Size 44 Offset Type Description 0x00 U64 Time since 1970 microseconds 0x08 F32 North position accuracy m 0 0 F32 Eastposition accuracy m 0 10 F32 Down position accuracy m 0 14 F32 North velocity accuracy m s 0x18 F32 Eastvelocity accuracy m s 0 1 F32 Down velocity accuracy m s 0x20 F32 North rotational accuracy rad 0x24 32 Eastrotational accuracy rad 0x28 F32 Down rotational accuracy rad 8 3 4 getGlobalPose Method ID 7 This method returns time stamped position and attitude estimates in global frame Input Parameters Size 0 PinPoint User Manual Version 1 4 27 Return Value Size 26 Description 0x00 064 Microseconds since 1970 0 08 132 Latitude 180 deg 2731 0x0C 132 Longitude 180 deg 2731 0 10 132 HAE Altitude mm
71. the vehicle origin to the measurement point of the left speed sensor This point is typically the center of the contact patch for an Ackerman steered vehicle or outside the tracks or wheels on a skid steer vehicle If a single speed sensor pickup is located before the rear differential or if the vehicle has a locked differential or solid rear axle this should be centered left to right on the vehicle 6 3 7 WSS Calibration The distance the vehicle travels between wheel speed sensor pulses For example if the sensor pickup uses 24 holes per wheel rotation and the wheel has a circumference of 2 meters there are 12 pulses per meter of distance travelled This value can be fine tuned using the included diagnostic utility 6 3 8 WSS Noise An estimate of the wheel speed measurement noise Vertical suspension travel and vehicle sideslip should be accounted for in addition to raw sensor noise The localization processor assumes the vehicle is stationary for speeds below this threshold A value of 0 1 to 0 3 is appropriate for most vehicle types 6 3 9 Angular Vibration The localization processor assumes ridged body constraints between the GPS antennas and IMU This parameter is used to account for any rotational velocity vibration that violates this constraint Typical values with the IMU mounted to a vehicle with a gas engine range from 3 to 50 milliradians per second This value can be measured using the included diagnostic utility 6 3 10 Linea
72. to connect to the GPS receiver The unit should be returned to TORC for evaluation and repair ReceiverFailure Status Code 2 The GPS receiver has failed The unit should be returned to TORC for evaluation and repair BadTemperature Status Code 3 The GPS receiver is operating outside the recommended temperature range Further use should be discontinued until the ambient temperature can be reduced BadVoltage Status Code 4 The GPS receiver is operating outside the recommended voltage range The unit should be returned to TORC for evaluation and repair AntennaOpen Status Code 5 The GPS antenna is not consuming any current Check all cables and connectors PinPoint User Manual Version 1 4 35 AntennaShort Status Code 6 The GPS antenna is consuming too much current Check all cables and connectors CpuOverload Status Code 7 An error has occurred with the onboard GPS processor The unit should be returned to TORC for evaluation and repair InvalidAlmanac Status Code 8 The almanac is not valid Move the vehicle to an area with a better view of the sky or wait for the almanac to be received InvalidClock Status Code 9 The clock is not valid Move the vehicle to an area with a better view of the sky or wait for it to be downloaded InvalidPosition Status Code 10 The position is not valid Move the vehicle to an area with a better view of the sky or wait for it to be downloaded 8 6 Wheel Spe
73. ttom of the plot to start collecting data Once finished click the button again and the vibration parameters will be calculated These numbers can be used as a starting point however there are often other vibrations associated with a moving vehicle that are not accounted for in a stationary measurement Therefore actual values entered in the web configuration should typically be 50 higher than those calculated in the plots n T Body Vibration Parameters Angular Rate mrad s 1000 Buffer Length Linear Velocity mm s Forward Forward 0 2 03 015 0 2 8 014 5 015 0 05 0 05 0 1 1 1 1 1 1 1 1 1 1 0 7 1 1 1 1 1 1 1 1 1 0 5 10 15 2 25 3 5 45 0 5 10 15 20 25 30 35 40 45 X Right Right 05 012 04 01 5 03 pe E amp 0 06 02 0 04 01 0 02 0 1 1 1 1 1 1 1 1 1 07 1 1 1 1 1 1 1 1 1 0 5 10 15 20 25 30 35 40 45 0 5 10 15 20 25 30 35 40 5 X Down Down 01 0 08 0 06 Dr z 004 amp 0 04 a 002 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 I 1 1 0 5 10 15 0 25 30 35 40 45 X 0 5 10 15 20 75 39 35 0 4 Freq Hz Freq Hz Vibration mrad s 1 75689 Vibration mm s 0 83468 Measure Vibration Parameters MS 2013 04 02 15 27 14 664 PinPoint User Manual Version 1 4 55 10 Product Specifications Table 3 Positioning Performance Signals Dual Frequency L1 L2 Dual System GPS GLONASS OmniSTAR Cor
74. ueeesseecesseseseeceuseecseeceuseseaeeceaseseaeeceaeeseaeecaeeeeaeesea 6 5 2 INSTALLATION CONSIDERATIONS BASED ON ENVIRONMENT CONDITIONS 6 5 2 1 Installing and alignment of PinPoint internal and external precision 5 6 5 2 2 Mounting GPS Antenna s 5 2 3 Wheel Speed Sensors da e end etie 5 3 POWER otia lee Ree TERR 5 4 ETHERNET 5 5 PPS OUTPUTS IEEE 9 5 5 1 NMEA serial stream for sensor time synchronization 9 5 5 2 Installation Validation s edicto i E LER RB RR GER GER ERES TUNER SA ERAT 10 WEB CONFIGURATION 11 6 1 SYSTEM Esp wA dd Jc MM 11 6 2 NETWORK PARAMETERS WEBPAGE ves 523 vo eoe eee 6e vo Den eR e in de een Pep Doe e ee un a e en Hen een Res ens 12 621 AIP Addressa eintreten nd n HO OE Co BE RR HA HER E Xue de 6 27 Netmask s s etie e eta tee er emet ee e ev ele sni de ER C MEE C ToS 624 Backbone DiscOVety ise eet ten ra e C HE RR PLIEGO E HT EO ARN LE ERE La edo 6 2 5 Server URNS 6 226 cn e RR n ndi 6 3 VEHICLE PARAMETERS WEBPAGE 631 IMU
75. vers are unavailable BadHeadingAgreement Status Code 13 A discrepancy has been detected between the localization filter and the GPS heading measurement This is most likely caused by incorrect configuration parameters BadMeasurementTime Status Code 14 The measurement is too old and has been delayed more than the filter can account for approximately 150 milliseconds 8 4 IMU Message Server The IMU message server contains a StatusReporter interface in addition to the localization Imu interface described in the following section 8 41 newRawImubData Signal ID 6 This signal contains time stamped delta angles and delta velocities from the IMU and is emitted at approximately 100 Hz To convert to angular rates and accelerations divide the delta angle and velocity measurements by the elapsed time since the last signal emission Output Parameters Size 32 Description 0x00 064 Microseconds since 1970 0x08 F32 X Delta Angle rad H 0 0 2 Y Delta Angle 0 10 F32 7 Delta Angle rad 0 14 F32 X Delta Velocity m s 0x18 F32 Y Delta Velocity m s 0 1 F32 Z Delta Velocity m s 8 4 2 IMU Status Codes CommsFailure Status Code 1 PinPoint was unable to connect to the inertial measurement unit If using an external IMU check all cabling and connections If using an internal IMU the unit should be return
76. ystem Overview PinPoint uses three different coordinate frames A global frame is used for representing where in the world a vehicle is located a local frame is used for representing where the vehicle is relative to nearby objects and a vehicle frame is used for representing vehicle velocities The interaction between the local and global frames is analogous to rolling a plane on top of a sphere where the contact point is the current vehicle position Both the local position the location of the contact point on the plane and the global location the location of the contact point on the sphere change as the vehicle moves across the surface of the earth The origin of the local plane is not fixed to any global coordinate and any transforms between the two coordinate systems are done with respect to the current vehicle location Refer to Section 12 for the mathematical relationship between local and global frames The vehicle frame provides a coordinate system that is referenced to the vehicle origin unlike the local or global frames The vehicle coordinate frame is used for reporting velocities and is typically aligned with the vehicle s primary direction of travel PinPoint User Manual Version 1 4 3 4 3 4 Global Position PinPoint uses world geodetic WGS 84 latitude longitude and height LLH above the ellipsoid to represent global position This frame should be used for any globally referenced waypoints or object location
77. yte size field uint32 1 0 SizeLength The ProtocolFlag is used to distinguish protocol methods from specific device messages The MessageType is an enumeration describing the contents of the message Not all message types are necessarily supported for every message ID Finally the SizeLength is used to determine the representation of the PayloadLength parameter The next component of the message header ID is a unique identifier for the specific method type included in the interface For ReturnValue Invoke InvokeWithReturn and Exception message types the ID field is interpreted as a Method ID for SignalEmitted a Signal ID for ScheduleReturn and Schedule Exception a Schedule ID and for Error the ID is interpreted as an error code The SizeLength parameter is used to indicate the number of bytes used by the Size parameter This Size parameter is sent as the first part of the payload and is followed by Size number of bytes of the message data PinPoint User Manual Version 1 4 21 Messages that are malformed or contain data which is invalid or out or range will be discarded and system will return a protocol error message For protocol error messages the ID byte is used to indicate the type of error Protocol error code enumeration ErrorCode Meaning No Error Unspecified Error Unsupported Message Type Invalid Serialization Invalid Method ID Invalid Signal ID Invalid Schedule ID e oO

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