VB3iSL Dual Antenna 100Hz GPS Data Logger User Guide
Contents
1. VB3i AD2 channel using VBOX Tools software a live data view of the VB AD3 VB3i_AD4 l current channel is shown The value shown is the value after scale 5 som Check All J Module Setup Un Check ll and offset is applied and can therefore be used to aid sensor X Close calibration Name VB3i AD1 500Hz logging Units vts VB3iSL has the ability to log 4x analogue channels at 500Hz With this feature enable the file sizes will increase as a result When loading the VBO file into VBOX Tools ensure you are running the very latest version as older versions are not cse mem A compatible with 500Hz data Scale 1 Offset 0 Page 17 22 May 2014 VB3iSL MANUAL CRACELOGIC RS232 serial CAN VB3iSL is equipped with 2 CAN Bus interfaces and 2 RS232 serial ports The primary RS232 port is used for all communication between the VBOX and laptop PC The primary port is marked RS232 on the VB3iSL front panel The primary RS232 port is able to transmit live data from the VBOX to the PC for viewing and performing real time tests It is important to note however that due to limitations of the PC serial port live data transfer of all channels is limited to 20Hz at 50Hz only standard GPS channels should be transmitted and at 100Hz only Sats Time Speed and Trigger Event Time should be transmitted Logging too many channels at too high a rate is2. 12 dic T 12 E D E EEE IEAA AT EE I EAAS I J 12 25 v s n 12 Default Setup MR m 12 Eo n 13 Eeee ci TTE 13 L g only when MOviNE MER T 13 PANG 2G P 13 EDIO S e a E E E EE E E E E E A EE T 13 IAT a E T E E A E A HQ 13 DOPO e M 14 DUAL ecccecececscscscscscecscscscscscecscscecscucscscscscssscecssscssvavavasasasavavavasavavavavavasasasasavasasasasaasacacacasacacacacacacacacacacacacatacacscecscecsssesesestsvscscscacacees 14 al THT 14 P3 err M C saecund 14 CAN CHRRN 14 I 14 IREISI 8 0705 eae a na a nn de Ee 14 5 aces 14 Toc MMMRRRT m 14 B Le 14 MENO eio EET EO Es 14 EI a aT EE TO oo oom 15 SU VOT Vail
3. RACELOGIC VB3iSL MANUAL Analogue inputs A IN The VB3iSL contains four differential 24bit analogue input channels with a maximum sample rate of 100Hz Each channel has its own dedicated analogue to digital A D converter with all four channels being sampled synchronously to each other The voltage range of the input channels is 50volts Note that unlike the ADCO3 module the analogue channels in the VB3iSL are not electrically isolated from each other The analogue input connector also contains voltage outputs that can be used to power external sensors These are a Vbatt connection which is equal to the VBOX input voltage level and a 5V DC out connection which is equal to 5V 2 The 5V out connection is internally protected by 350mA thermal fuse The Vbatt connection is internally protected by a 200mA thermal fuse on V2 V3 units and 100mA fuse on V1 units For connector pin configuration see page 16 A screw terminal connector block is available as an option for easy connection of signal pins Channel 1 Channel 1 Note A 25W D sub to 4W BNC adaptor block is available through your VBOX 5 distributor part number RLVBACS054 Channel 1 Using the VBOXTools software logging of the analogue channel data can be switched on or off It is also possible to change the name of each input channel and configure scale and offset values for calibration of sensors A scale value of 1 and offset of O correspond to a channel reading in
4. Replaying voice tags in VBOXTools When a logged VBOX data file vbo is loaded into VBOXTools and displayed in the Graph screen any associated WAV files will appear in the speed data trace as green circles provided that the logged file is in the same folder as the loaded VBOX data file Play the associated WAV file by clicking the Green circle NOTE if a Red circle is seen on the graph screen in VBOXTools then the associated WAV file is not present in the same folder as the loaded VBOX data file VBO file format The VB3iSL data files are saved in standard space de limited text format This allows the data to easily be imported into third party applications such as word processors or spreadsheets The files each contain a header section before the main data that describes the channel content and information about the VBOX such as serial number and firmware version The column names parameter specifies the data in each column of the data section An example of a VB3iSL VBO file is shown on the right Page 21 File created on 03 12 2013 10 57 header satellites time latitude longitude velocity kmh heading height vertical velocity kmh Event 1 time channel units comments Racelogic GPS Time offset by 16 seconds GPS Firmware 4 0 Dec 05 2011 b2 VB3i version 0002 0000 build 0057 Serial Number 00031752 Log Rate Hz 100 00 Kalman Filter OFF Gps Optimisation High Dynamics modu
5. Page 5 22 May 2014 VB3iSL MANUAL RACELOGIC b exa pee Peeks ne 0088 jS N TRER T Inputs outputs Primary Antenna ET GPS Engine Secondary Antenna CAN Bus CAN Bus RS232 CRACELOGIC USB Log Switch CRA Bluetooth 4 x Analogue IN VBOXSI SL 2 x Digital OUT Voice Tag 2 x Analogue OUT Compact Flash Standard inventory Description Qty RL Part Description Qty Racelogic Part VB3iSL data logger 1 RLVB3iSL Serial PC cable 1 RLCABOO1 Mains power supply 1 RLVBACSO20 25 Way D connector 1 ADC25IPCON Cigar lighter power supply 1 RLCABO10L RLVB3iSL Car Roof Mount 1 RLACS171 GPS GLONASS antenna 2 RLACS158 VB3iSL Bluetooth antenna 1 RLACS119 4GB compact flash card 1 RLACSO98 USB A mini Lead 2m 1 RLCABO66 2 Media Card Reader 1 RLACS163 VBOX padded carry case 1 RLVBACSO13VA VBOX Tools installation CD 1 RLVBACSO30 VB3iSL audio headset 1 RLACS120 VBOX File Manager 1 RLVBFMAN VBOX Tape Measure 1 RLACSO91 SMA SMA Antenna cables 1 RLCABO71 4 Optional accessories Description RL Part Description RL Part Brake pedal trigger RLVBACSO04 8 Channel thermocouple interface RLVBTC8 Hand held brake trigger RLVBACSOO9 Can to analogue output module RLVBDACO1 Logging start stop switch RLVBACSO10 Single YAW rate sensor 2 axis G sensor RLVBYAWO3 Multifunction display RLVBDSPO3 Inertial measurement unit 3 YAW rate RLVBIMUO3 sensors amp 3 accelerometers 8 Channel 16bit analogue interface RLVBADCO3 Inertial Measurement Unit
6. RLVBCABO01 RLVBCABOO5 Page 18 22 May 2014 VB3iSL MANUAL RACELOGIC VCI CAN input vehicle CAN interface The VB3iSL can log up to 16 user defined CAN bus signals on CAN port B Configuration is performed using the VCI modules tab under log channels in VBOXTools software setup window CAN signal parameters can be entered manually by the user or imported directly from a CAN database DBC file if available Racelogic supplies a free encrypted vehicle CAN database giving the user the ability to log basic CAN data from a large number of current vehicles from a broad selection of manufacturers All of the CAN database files for vehicles we have reverse engineered can be downloaded from our website Xx gc Apply Close Database 00000301 Vehicle Bus ID Hex Name Satellites Internal VCI Units Sats mT Byte TTE E Byte T Motorola Start Bit 0 Scale 1 00000 Data Format Unsigned e Signed 32 bit float 7 Offset 0 00000 64 bit float 0 00000 a Live Data Pseudo Signed CAN termination The VB3iSL contains an active termination between 0 Ohms and 120 Ohms the active terminations are selectable via VBOXTools as shown above right NOTE When the Usage of the CAN ports is swapped from one output socket to the other the termination resistor setting does not follow So you should check that the Termination is correctly set for the output socket that you are then usin
7. 3 Yaw Rate RLVBIMUOA Sensors amp 3 accelerometers 4 Channel frequency input module RLVBFIMO3 RTCM DGPS Basestation for 40cm RLVBBSA positional accuracy 16 Channel vehicle CAN interface RLVBCANO2 RTK DGPS Basestation for 2cm positional RLVBBSARG Page 6 accuracy RLVBIMUO3 04 required for IMU integration 22 May 2014 VB3iSL MANUAL Quickstart guide For Slip and Pitch measurements Required equipment All supplied as standard unless specified VB3iSL e RLCABOO1 or RLCABO66 2 for PC connection Cigar lighter 12v adapter lead e Blank compact flash card 2 x GPS amp GLONASS antenna e Laptop PC not supplied VBOX File Manager RLCABOO5 C e Tape measure 1 Place VBOX in vehicle then mount the GPS GLONASS antennas on the vehicle roof in line with the direction of motion and clear from any obstructions see image right Connect the primary antenna normally at rear of vehicle to port A and the secondary antenna to port B on the VB3iSL NB It is important to connect the antennas to the VB3iSL before power is connected The VB3iSL adjusts the signal gain to the antenna based on the current incoming GPS signal strength 2 Note that any alignment error can be zeroed using the ALIGN ANTENNAS option on the VBOX Manager 3 Make sure the antennas are rotated so the wires exit in the same direction as each other 4 Accurately measure separation distance to the nearest 5 millimetres for best accu
8. 57 minutes and 16 90 seconds 3 Position Latitude 100 000 311924579 51 Degrees 59 24579 Minutes North This is a true 32bit signed integer North being positive 4 Position Longitude 100 000 11882246 1 Degrees 58 82246 Minutes West This is a true 32bit signed integer West being positive 5 Velocity 0 01 knots per bit 6 Heading 0 01 per bit 7 Altitude 0 01 meters per bit signed 8 Vertical Velocity 0 01 m s per bit signed 9 Status 8 bit unsigned char Bit OZVBOX Lite Bit 1 Open or Closed CAN Bus 1 open 2 VBOX3 10 Status is an 8 bit unsigned char Bit O is always set Bit 3 brake test started Bit 4 Brake trigger active Bit 5 DGPS active 11 Distance 0 000078125 meters per bit unsigned Corrected to trigger point 12 Longitudinal Acceleration 0 01G per bit signed 13 Lateral Acceleration 0 01G per bit signed 14 Distance travelled in meters since VBOX reset 15 Time from last brake trigger event 0 01 Seconds per bit 16 Velocity at brake trigger point in Knots 17 Velocity Quality 0 01 km h per bit Page 33 22 May 2014 RACELOGIC Se 8 HS VB3iSL MANUAL 18 True Heading of vehicle 16 bit signed integer 100 19 Slip Angle 16 bit signed integer 100 20 Pitch Angle 16 bit signed integer 100 21 Lateral Velocity 16 bit signed integer 100 22 Yaw Rate 16 bit signed integer 100 23 Roll Angle 16 bit signed integer 100 24
9. Longitudinal Velocity 16 bit signed integer 100 25 Position Latitude 48bit signed integer Latitude 10 000 000 minutes North being positive 26 Kalman filter status 27 Position Longitude 48bit signed integer Longitude 10 000 000 minutes East being positive 28 Velocity 0 01 knots per bit not delayed when ADAS enabled 29 Slip Angle Front Left 16 bit signed integer 100 30 Slip Angle Front Right 16 bit signed integer 100 31 Slip Angle Rear Left 16 bit signed integer 100 32 Slip Angle Rear Right 16 bit signed integer 100 33 Slip Angle C of G 16 bit signed integer 100 34 Time since midnight This is a count of 10mS intervals since midnight UTC 5383690 53836 90 seconds since midnight or 14 hours 57 minutes and 16 90 seconds not delayed when ADAS enabled 35 True Heading2 16 bit signed integer 100 not delayed when ADAS enabled 36 Trigger event UTC time milliseconds since midnight UTC part 1 of 2 part message 37 Trigger event UTC time nanoseconds since midnight UTC part 2 of 2 part message Contact details Racelogic Unit 10 Swan Business Centre Osier Way Buckingham Bucks MK18 1TB United Kingdom Email support racelogic co uk Web www racelogic co uk Page 34 22 May 2014
10. RACELOGIC VB3IiSL Dual Antenna 100Hz GPS Data Logger User Guide RACELOGIC Se 8 HS VB3iSL MANUAL This page intentionally left blank Page 2 22 May 2014 RACELOGIC VB3iSL MANUAL R me Contents EC declaration of conformity sss sss ss sss sss esec sss sss sss Kd RUE anana anana aaaea anana naaa 5 DAE OCC OIN PAE AEE E CERT TU 5 ET X 5 URES fel ide 1 T TEM 6 Standard MVENTOTY d TT T TT TETTE TNT 6 Optional AGC SSO CS uooisai opo lia prep XX R Rant ED UR P FRNS DUX ere p tug Pau P RS LUE PPENO PUN Ere P UE REN RI T TERN EUR PUN P FDN ODE 6 ETCH E BUB ui eidacivxiial da zi ci PIRE PASCERE PIT CMM EET SM DU eUPel M e cR REED E IET eIIE 7 For SID CLP CC i aS urement S cisse estne it aEttr Diener iapim RUM ES tU Sume tur E SERIEM O UE TE 7 For Slip and Roll measurements sss eee eee eee eee 8 Antenna P aESmPE BE voten rr eSUR AD oV mU PIER PenIM EDEN E E END PNE DINI DUE 8 How to setup Dual Antenna VB3iSL using VBOX Manager ccscsccccscsceccccscsceccccscsceccccecscececcess 8 A tenna R s rT cns le ETT Y 8 Roll Mode Eeee 9 Alei AVE TING oee IP D A E E MIMIIDI NEUE 9 ESE E Ta E A A E N A E A T dose EE E I T A gaa E T 10 HE T TS HT ae a E A E I A ET A E E E A E N A N A E A E 10 Bae a p T E E A A A ENA A A E A A A E A MEEERIE 12 PON en
11. directive 2004 104 EC Adapting to technical progress council directive 72 245 EEC relating to the radio interference electromagnetic compatibility of vehicles and amending directive 70 156 EEC on the approximation of the laws of the member states relating to the type approval of motor vehicles and their trailers And has also been assessed via technical construction File by an independent DTI competent body and found to be in conformance with the essential requirements of EC directive 89 336 EEC and amending directives Council directive of 03 May 1989 on the approximation of the laws of the member states relating to electromagnetic compatibility DTI competent body responsible for issuing certificate of compliance 3C Test Ltd Silverstone Technology Park Silverstone Northants NN12 8GX Introduction VBOX 3i dual antenna VB3iSL is Racelogic s most powerful GPS data logging system By utilising two GPS engines configured in a fixed baseline RTK setup the VB3iSL combines high level accuracy and test repeatability with the ability to measure slip and pitch roll angles at 100Hz The data can be shown live using USB RS232 serial connection and be logged data directly on to a compact flash card for easy transfer to PC The VB3iSL also includes 4 high resolution analogue input channels to record data from external sensors and 2 CAN bus interfaces to allow connection of Racelogic input modules while simultaneously transmit
12. example If you wish to make measurements from the centre of the vehicle this can be achieved by placing the primary antenna at the centre of the vehicle or translating the position using the slip angle translation function in the VBOX Manager How to setup Dual Antenna VB3iSL using VBOX Manager The VBOX Manager has been developed to control the operating functions of a VB3iSL Within the Dual Antenna menu select the enable option in order to see the full dual antenna system menu with a tick shown next to enable Antenna Separation The most important factor for dual antenna testing is the correct configuration of the separation distance between the two antenna centre points This allows the VB3iSL to acquire and maintain dual antenna lock The physical separation distance between the two antennas should be measured as accurately as possible and entered in to the Separation option of the Dual Antenna menu Distances can be incremented in millimetre steps Note Whenever the physical antenna separation is altered this should be changed accordingly within the VBOX Manager Page 8 22 May 2014 VB3iSL MANUAL CRACELOGIC Roll Mode optional The VB3iSL allows the user to separately test roll and pitch measurements during their testing By default the VB3iSL will be setup for pitch determination If the user wishes to setup their antennas across the width of the car to measure roll angle then the Roll Mode option must be toggled in the Du
13. is mounted in the direction of travel as shown in the image above It is also important to mount the sensor so that it is level with the ground For best results mount the IMU and GPS antenna as close to each other as possible For example Bolt the IMU to the seat rails and place the GPS antenna on the roof directly above If you are using an IMUO3 or IMU04 you must measure the relative position of the antenna in relation to the IMU to at least within 5cm These distances must then be entered into the VBOX either via VBOX Tools gt VBOX Setup or using a VBOX Manager Antenna dip Above 1 25 m Right 0 15m diee IMU Sen RRR 944 aa Ahead 0 20 m 22 May 2014 Page 27 RACELOGIC Se 8 HS VB3iSL MANUAL Upgrading VB3iSL firmware Occasionally Racelogic releases new versions of firmware internal code for VB3iSL products often to introduce new features New firmware is loaded into the VB3iSL using a computer and a CF card The latest firmware upgrade file for the VB3iSL is available from the Racelogic website If you need the latest update file download it from the website and copy it to your CF card How to upgrade the firmware e To upgrade the firmware power the VB3iSL and wait until the box has finished initialisation e Insert the CF card containing the upgrade file e Once the upgrade is complete the VB3iSL will beep twice and resume normal operation e Once the upgrade is compl
14. same COM port Disconnect the power to the VB3iSL then reconnect it COM port unavailable The computer may have been started with a different VB3iSL connected to it disconnect the VB3iSL restart the computer then reconnect the VB3iSL Another software package installed on your computer may have reserved the COM port No data is logged in the VBO file Check satellite reception Loss of reception may prevent data from being logged to the card dependent on logging mode VB3iSL not responding GPS coldstart The GPS engine has locked up Perform a GPS engine coldstart A GPS coldstart forces the GPS engine to reset its downloaded almanac of current satellite positions This can be useful if the VB3iSL is having trouble locking onto satellites which typically occurs if the VB3iSL has not been used for several weeks or if it was last used a long distance over one thousand miles away from the current location After performing a GPS coldstart leave the VB3iSL powered up in a static location where the antenna has an unobstructed view of the skies until the GPS LED becomes solid green Once the VB3iSL has downloaded the new almanac it will reacquire satellites in noisy situations such as near trees buildings and under bridges much more quickly It will also acquire satellite much more quickly on power up To perform a GPS coldstart on the VB3iSL perform the following actions Press and hold the LOG button on th
15. volts DC This means that the value stored on the compact flash card for the channel will also be in volts When using a sensor such as a load cell it may be desirable to store a reading in Kg In this case changing the scale and offset to suit the sensor data sheet allows the data stored onto the compact flash to be in Kg When changing settings for an analogue channel using VBOXTools software a live data view of the current channel is shown The value shown is the value after scale and offset is applied and can therefore be used to aid sensor calibration NOTE The 5V regulated output on pin16 is only good for VBOX power supply voltages gt 8 5V Using VBOXTools software logging of the analogue channel data can be switched on or off It is also possible to change the name of each input channel and configure scale and offset values for calibration of sensors A scale value of 1 and offset of O correspond to a channel reading in volts DC This means that the value stored on the compact flash card for the channel will also be in volts When using a sensor such as a load cell it may be desirable to store a zn e M ue M X Channels Logging ADAS CAN GPS Output Configure Info Close Set Up reading in Kg In this case changing the scale and offset to suit H en the sensor data sheet allows the data stored onto the compact Channel _Logto compactflash Send over serial flash to be in Kg When changing channel setup for an analogue
16. 1Km h 100Hz Accuracy Update rate The range settings can be adjusted by the user in software Up to 32 channels from any combination of ADCO2 ADCO3 FIMO2 TC8 YAW sensor or CANO1 Limited to 16 with the Kalman Filter enabled 16 Channels of user definable CAN signal from external bus Eg vehicle CAN bus Can load signal data from industry standard DBC database file 4 Resolution 50v DC Accuracy Synchronous 10ns resolution Remote log control from hand held switch 22 May 2014 VB3iSL MANUAL RACELOGIC LRE 1 Connection data CF le LOG FUNC W A AUDIO LOG A B RADO BLUETOOTH VBOX3i USB COMPACT FLASH Front View of VB3iSL V2 V3 1 2 2 3 3 4 2 PIN LEMO socket 3 PIN LEMO socket 5 PIN LEMO socket Connector 1 POWER Lemo 2 pin In Out Description Range 1 Power 7V to 30V 2 Ground OV Connector 2AD1 Type Lemo 3 pin In Out Description Range O Analogue 1 Output OV to 5V O Digital 2 Output OV to 5V Ground Connector 3 AD2 Type Lemo 3 pin PIN In Out Description Range Connector 4 D IN Type Lemo 3 pin PIN In Out Description Range Ground Digital Input 2 Start Stop Logging OV to 5V 14v tolerant 3 Digital Input 1 Brake Trigger OV to 5V 14v tolerant Connector 5 CAN Type Lemo 5 pin PIN In Out Description Range O RS232 Tx PORT B 12v RS232 Rx PORT B 12v I O CAN Bus High PORT A I O CAN Bus Low PORT A 5 O V Power Same as Power Con
17. AI Local DGPS Basestation When the VB3iSL is used in conjunction with a local DGPS Basestation the positional accuracy can be improved from the standard 3m 95 CEP There are two available Basestation options 40cm positional accuracy If the VB3iSL is used with an RTCM V2 enabled Basestation then the positional accuracy is increased to 40cm 95 CEP The height accuracy is improved to 1M 95 CEP 2cm positional accuracy If the VB3iSL has an RTK upgrade option installed and is used with a RLVBBS4RG then the positional accuracy is increased to 2cm Racelogic proprietary 2cm correction Not compatible with VB3iSL SL RTK CMR 2cm correction Trimble standard message type J RTCMVv3 2cm correction RTCM standard message type RECOMMENDED RTCMv3 is recommended as the default RTK 2cm correction type This message format is a globally recognised type and more resilient to data loss caused by radio errors Note RLVB3iSLR2G2 has a max log rate of 20Hz when in RTK mode RLVB3iSLR10G10 amp RLVB3iSL SL RTK has a max log rate of 100Hz when in RTK mode Enabling the DGPS modes The VBOX must have the correct DGPS mode enabled in VBOX Tools or VBOX Manager before it is capable of receiving and using the DGPS correction information transmitted by a Local Basestation Runthe latest VBOXTools software Enter the VBOX setup screen and go to the GPS page A Click on the DGPS button and select the correct DGPS mode from the available
18. CAN Bus Bit rate 100 Hz 1 8mm Power Input Voltage range Power 7v 30v DC Max 5 5watts 0 01 0 1 Slip Angle Accuracy Pitch and Roll Angle Accuracy lt 0 14 rms at 0 5m antenna separation lt 0 035 rms at 2m antenna separation 0 05 rms at 2 0m antenna separation 0 5 20G 0 01G 100Hz Environmental and physical Weight Size Operating temperature Storage temperature Approx 900 grammes 170mm x 121mm x 41mm 20 C to 70 C 30 C to 80 C Type Dependent on flash card capacity CEP Circle of Error Probable 95 CEP Circle Error Probable means 95 of the time the position readings will fall within a circle of the stated diameter 125Kbits 250Kbits 500Kbits amp 1Mbit selectable baud rate Identifier type Data available Standard 11bit 2 0A Satellites in View Latitude Longitude Velocity Heading Altitude Vertical velocity Distance Longitudinal acceleration amp lateral acceleration Distance from trigger Trigger time trigger Velocity Analogue Voltage range Default setting Accuracy Update rate CAN Bus Racelogic modules External CAN Bus Analogue Number Channels Input range Channel Sample order Digital Brake Event Trigger On Off Logging control Page 30 0 to 5Volts DC Velocity 0 0125Volts per Km h 0 to 400Km h 0 1 Km h 100Hz Digital Frequency range Default setting DC to 44 4Khz 25Hz per Km h 0 to 400Km h 90 pulses per metre 0
19. al Antenna menu Click this option to toggle between Pitch Mode no tick and Roll Mode tick Lf eZ YS 1 Primary Antennae Port A 2 Secondary Antennae Port B Align Antennas To measure the slip angle with the most precision try and get the alignment of the antennas as close as possible to the centreline of the vehicle Any residual errors in this alignment can be removed using the AUTO ALIGN feature available in the VBOX Manager The calibration process requires the driver to drive in a straight line for a short period of time whilst maintaining a constant speed greater than 25km h Note that any camber on the road or a strong side wind will affect this alignment The calculated alignment offset will be applied to the determined heading of the secondary antenna True Heading Note You must have dual antenna lock to be able to perform this calibration Selecting the CLEAR option will remove any offset applied to the slip channel Page 9 22 May 2014 VB3iSL MANUAL CRACELOGIC Level Antennas The Pitch measurement uses the relative height difference between the antennas to calculate the Pitch Angle relative to the ground If the roof of your vehicle is not perfectly flat in relation to the ground then this will show up as a Pitch offset You can automatically remove any offset by performing the AUTO LEVEL feature available on the VBOX Manager It is recommended that you perform the AUTO LEVEL on a flat l
20. allowing configuration of the VBOX remotely along with remote output of real time VB3iSL serial data at the full 100Hz data rate to any Bluetooth capable PC or Data logger Pairing your computer with the VB3iSL The VB3iSL will need the Bluetooth antenna connected and the computer will require a Bluetooth module or dongle to establish a virtual connection VB3iSL will connect to the computer via SPP serial port profile this can be done as a secure or unsecure connection Note Pairing code for secure connection is 1234 Audio Voice tagging The VB3iSL has the ability to record audio tags with a GPS synched timestamp accuracy of 0 5 seconds along with the VBO data file Voice notes regarding test conditions or erroneous runs can be recorded which can be replayed instantly when viewing logged files in the graph facility of the VBOXTools software A WAV file will be recorded onto the CF card along with the normal VBOX data file The supplied headset microphone includes a switch which is used to start and stop the recording of an audio tag Recording a sound wav Pressing the headset switch once will sound an audible beep through the headset to confirm that recording of the WAV file has begun Pressing the switch for a second time will then stop recording this will be confirmed by a second beep through the headset If the switch has only been pressed once the VB3iSL will record for 30 seconds then automatically stop recording
21. ata is being logged to the CF card e Flashes red indicating current logging rate after FUNC button press fast for 100Hz slow for 20Hz e Solid orange indicates that IMU integration is enabled but no IMU is connected e Flashing orange shows IMU is connected and integration initialisation is running This will not complete until the VB3iSL has had a satellite lock whilst stationary for 30 seconds e Flashing green indicates Initialisation complete movement not yet detected e Solid green indicates movement detected IMU integration working OK Memory cards CF cards available from Racelogic are already optimised for use on the VB3iSL and as such do not need formatting before use The following formats are supported If the CF card needs formatting this can be done through Windows e FAT Racelogic strongly recommends the following media card brands e FAT16 SanDisk Kingston Lexar Ultra PQi e FAT32 Page 14 22 May 2014 VB3iSL MANUAL GPS antenna The GPS antenna supplied with the VB3iSL is a 5V active antenna For the best possible signal quality it is important to maintain a clean connection between the antenna and the VB3iSL Before fixing the antenna to the VB3iSL ensure that there are no dust particles in either connector Replacement antennae are available by contacting your VB3iSL distributor The antenna is a magnetic mounting type for quick and simple mounting to the vehicle roof For optimum GPS signal recep
22. bration High dynamic tests sese eee eee 25 PRS ag ARI Sl aS 1o IE HH EEN 25 FRETS Tie et MALOU sscon en m PUE t nma DUNS IM EDU CRM CPP EN MM F NM eR d Pda Edid MP MM dI MN MM MED ME 25 What happens if this isn t done see eee eee eee 25 Additional IMU channels IMUO4 onv sss sese eee eee 26 ILSE E TTT 26 RAED A ACIS RR ASETAS E TAA A T A T A E T TE ET TE E ETET T T TT 26 Required Coupe cican p E EE A T a i 26 BS ON o E E E A EA E A E E ps ge A E E T ve wg E E E pee TE 26 Mounino TE INE aerea EEA M MQ 27 PEF AGING VB3ISE a TTT 28 How to upgrade the firmware ccccccsseccccsseccccscceceececsenececeseccceecscsueceseuscceseeceeauececeueceseueecessueeeesenecessunecetsuneeeseness 28 TPO UIE STIG MATT NT T TT D T E Temm 28 VBSISLV3 GC CIE EI O s dip ode10 M Ern isz Gui quo MEOU TEES NIMIRUM ETNE EEUEQ E DUCUI E PePA OMM DU PURUE 30 EH OTa indi ode e tubum rubei ivi did pede eon mT esi tier dr rer SINUM E 31 Analogue input connector V2 m ITem 32 Analogue input connector V3 sesessesessecessecessscecoscecesoecescecesoecescecesoeceseececeecesescecesoesesceseeseseeseo 32 CAN OUT de sU 33 RTT e RSE ANS nadie rut ebox be bt iara bit eNieuride Furia MUNI MEME MIU Me M DMR NERO NMID IN D LM 34 Page 4 22 May 2014 RACELOGIC Se amp HS VB3iSL MANUAL EC declaration of conformity We declare that this product has been tested to and meet the requirements of EC
23. e GSI T A E S E A RESI V RNIPIPELU AA NUMINI ons VP SINUIOSMTM THER A TRU EIU TUNI CE RUNE 15 Analogue and digital outputs AD1 amp AD2 5i dins ao tb rtr bEP eu o AY Eo o Iu e Rui Ug oU aao es CMM E ER aou E Pee TUR D QT ea vade ved Eoo EA iiaeiai 16 BI Bao hts DIN e 16 Analogue inputs A RE 17 RS232 serial CAN 18 VCI CAN input vehicle CAN Interface 19 Erase e NER TU T 19 CAN Dass Sr OOE iurando L uta pid cha reto ones ease RUM etur bI ue A Mnt ta Pv iain p MP ebd IE do UNUS 19 IY Ee m 20 KO aa ea c PII tom ee eee eee ee ee eee ee eee 20 E 20 SEIT n T m E E E E E E E 21 Page 3 22 May 2014 RACE VB3iSL MANUAL VII Em Re Pairing your computer with the VB3ISL c saeua icr e enra raK NAE EEANN EE EARE EEEE ETE IE E REITE 21 AUO ee E omm 21 FRSC OI eh SONG VAG ate E 21 Oy OTF HOG Ms TT 21 VBOXTOON SOME AR H 22 SOFC e INS Gal cll Ol RETE 22 Local DGPS BasestatiOi T 22 Enabling the pelee 22 INIG D COP I T ETT TOTO DTE 23 REGU T nt a E E E E E R A E E E 23 BSN P E E A E AA A A nee E E A T S 23 ade Emi aia ESE EEA 24 T ate TG sle 24 LEDIA O ee T E A E E E E E E 24 Kalman Filter cali
24. e VBOX logging and close the file on the compact flash Logging will now not continue even if you are moving until the LOG button is pressed again or the compact flash card is removed and reinserted The VBOX will then continue to log only when moving Every time the logging is toggled with the LOG button a new file is created When the VBOX is logging the blue CF light flashes Do not remove the CF card or power down whilst this LED is flashing if you need to remove the card or power down whilst the CF light is flashing then press the LOG button first to stop the VBOX logging Failure to do so will result in data loss or corruption FUNC Pressing the FUNC button briefly flashes the LED s to indicate the current sample rate A slow flash once per second on all the LED s indicates 20Hz and rapid flashing 5 times a second indicates a 100Hz sample rate A running sequence of lights indicates a sample rate other than 100Hz or 20Hz Pressing and holding the FUNC button for 5 seconds toggles the current sample rate The sample rate can also be set in the VBOX software Default setup The default factory settings are restored to the VBOX by pressing and holding the FUNC and LOG buttons for 5 seconds This will put the VB3iSL into the default factory settings 100Hz logging when moving and the standard logging parameters sats time latitude longitude velocity heading height vertical velocity and brake trigger event time DGPS will b
25. e configured to output velocity while analogue output 2 might be configured to output lateral acceleration The voltage range of both analogue outputs is O to 5v DC CF LOG FUNC 9 9 AUDIO LOG A B RACELOGIC SATS DUAL w V BOX3 DGPS MU BLUETOOTH PWR AD1 AD2 D IN CAN SER l mll all a l l all all a T 9 Q9 9 9 Wy Cy COMPACT FLASH BNC RLCABOO8 Analogue Output Ee mn BNC RLCAB009 Digital Output BE cec Jusseses E Digital inputs D IN The D IN connector contains the two digital inputs for the VB3iSL Digital input 1 is also referred to as the brake trigger input This input is connected to an event capture input on the GPS engine This captures precisely the trigger event time 10nS resolution for use in brake distance calculation This period of time is called the trigger event time and is logged and used to correct the measured brake stop distance to the exact point at which the trigger was pressed A hand held brake trigger is also available to allow the user to record marker events in the VB3iSL data file A remote logging on off switch is also available for ease of use and when the front panel switch is not accessible Le AUDIO JV A B Coa SATS DUAL BLUETOOTH VBOXSi DGPS IMU USB COMPACT FLASH Hand Held Brake Trigger RLVBACSO009 i B eile n Remote Logging On Off RLVBACS010 Brake Pedal Trigger Page 16 22 May 2014
26. e front of the VB3iSL for five seconds until a long beep is sounded When the button is released the GPS LED will start to flash red showing that the coldstart has been performed and the GPS engine is now not locked onto any satellites After approximately 30 45 seconds the GPS LED will start to flash green indicating that satellite lock has been achieved and indicating the number of satellites that it is locked onto Page 29 22 May 2014 VB3iSL MANUAL VB3iSL V3 specification Velocity Accuracy Units Update rate Maximum velocity Minimum velocity Resolution Latency Absolute Positioning Accuracy Accuracy with SBAS DGPS Accuracy with RTCMV2 DGPS Accuracy with RTK DGPS 0 1 Km h averaged over 4 samples Km h or Mph 100 Hz 1000 Mph 0 1 Km h 0 01 Km h 6 75ms 3m 95 CEP gt 1m 95 CEP 40cm 95 CEP 2cm 95 CEP Distance Accuracy Units Update rate Resolution Height accuracy Height accuracy with DGPS Brake Stop Accuracy Accuracy Time Resolution Accuracy RACELOGIC Se amp fs 0 05 lt 50cm per Km Metres Feet 100Hz 1cm 6 Metres 2 Metres 2cm 0 01 s 0 01 s 95 CEP 95 CEP Update rate Resolution Heading Resolution Accuracy Acceleration Accuracy Maximum Resolution Update rate Memory Compact Flash Recording time Approximately 29Mb per hour used when logging GPS data at 100Hz Approx 182Mb per hour total logging capacity
27. e off by default Page 12 22 May 2014 RACELOGIC VB3iSL MANUAL Se amp fs Logging The VB3iSL has three logging modes that are selected and configured via VBOX setup with the supplied VBOXTools software Log continuously With log continuously ticked the VBOX will log data regardless of movement Log only when moving Without log continuously ticked then the VBOX will only log data to the CF card when it detects speed gt 0 5Km h Advanced The advanced logging option on the VB3iSL allows any of the logged data channels to be used to trigger the logging on the VBOX This is selected and configured through VBOX setup of the supplied VBOXTools software This facility allows a threshold value to be set as either gt or lt so that the logging will start or stop when a data value is exceeded or not Multiple data channels can be combined in a Boolean OR manner to control the logging LED indicators There are a series of LED indicators on the front panel of the VB3iSL their functionality is as follows SATS e Flashing red indicates no satellites in view e Flashing green sequence indicates the number of GPS satellites currently being tracked Each flash indicates a satellite with a short pause between each sequence e Flashing orange sequence indicates the number of GLONASS Satellites currently being tracked Each flash indicates a satellite with a short pause between each sequence Sequence showin
28. e slip module channels will appear selectable as a tab in the channels list The DUAL LED won t go Green permanently Orange or flashes Green Orange Check the physical separation between the antennas centre point to centre point Does this match up to what has been configured within the VBOX File Manager If the separation is correct is the location suitable Try driving to a more open space free from obstructions or other traffic Check the antenna connection with the VBOX 3i SL only small amounts of dirt in the socket can cause a significant reduction in signal strength Also check the cable at the plug and along its length for any damage Do not extend the cables in any way when using two antennas Move the antennas away from the edge of the roof and away from any roof bars or additional antennas Try removing and re applying power to the box Page 28 22 May 2014 RACELOGIC Se amp HS VB3iSL MANUAL Check that ROLL MODE is not enabled if using a front and rear antenna layout If in ROLL MODE make sure the primary antenna Port A is on the left hand side of the roof No communication with PC If the red LED on the front of the VB3iSL is not illuminated then there is no power to the unit check that battery contains adequate charge or if using a cigar lighter check internal cigar lighter fuse Check that the correct COM port has been selected in VBOXTools Check that no other programs are using the
29. ect sign when entering the offsets ISHO EVIE A X Longitudinal offset 1 Lateral offset Y example 0 45m 2 Longitudinal offset X example 3 50m 3 FL Front Left translated slip position Each calculated slip point will require two offsets LAT amp LNG or lateral amp longitudinal for the VBOX to calculate the channels correctly Note if the primary antenna moves the offsets will need to be measured again for example swapping between a pitch and roll setup 2 I S m a o K Ld X Longitudinal offset t Translated slip points 1 RL Rear Left 2 RR Rear Right 3 FL Front Left 4 FR Front Right 5 COG Centre of gravity Page 11 22 May 2014 RACELOGIC Se amp fs VB3iSL MANUAL Operation Power Included with the VB3iSL is a cigar lighter power cable which is the primary source of power input This is terminated in a 2 way connector and mates with the 2 way PWR socket on the VB3iSL The VB3iSL can be powered from a wide range of voltage sources when considering batteries as a power source please note that the minimum operating voltage of the VB3iSL is 7V The maximum operating voltage input must not exceed 30V DC Failure to observe this could result in damage to the VBOX Warning The VBOX can be connected to other Racelogic input modules including the ADCO3 ADCO2 TC8 FIMO2 3 and multifunction display Please note that the voltage supply to Racelogic modules co
30. ete the upgrade file will be erased and a report file will be generated e If the upgrade fails for any reason the upgrade file remains on the card and the VB3iSL retains the previous version of firmware e Once the firmware upgrade has completed successfully the VB3iSL should be power cycled before use Troubleshooting Trouble locking onto satellites If the VB3iSL is having trouble locking onto satellites then please follow the checklist below for typical solutions Ensure that the antenna is placed in a position where it has an unobstructed view of the sky See GPS antenna placement below Check the antenna connection with the VB3iSL only small amounts of dirt in the socket can cause a significant reduction in signal strength Also check the cable at the plug and along its length for any damage Check that the power supply is connected and free from damage If possible try another known working antenna to confirm antenna functionality Perform a GPS coldstart and then leave the unit powered up in an open static position for at least 15 minutes See VB3iSL not responding below Trouble getting dual antenna lock If the DUAL LED is not illuminated either Green or Orange The slip module is most likely not enabled Communicate with your VB3i SL using VBOX Tools software Enter VBOX Setup then access the GPS tab and check the enable slip module box After you have pressed this the box will re scan after which th
31. evel section of road Selecting the Clear option will remove any offset applied to the pitch channel Slip Angle Translation In twin antenna mode you may wish to take slip measurements from other locations on the vehicle for instance the centre of gravity or slip over the wheels This can be set using the SLIP TRANSLATION function in the VBOX Manager The five additional locations are set using longitudinal and lateral offsets from the primary antenna location antenna 1 in the picture below Longitudinal translation offsets should be defined as positive when forward of the primary antenna negative when behind the antenna Latitudinal translation offsets should be defined as negative when to the left of the antenna positive when to the right IMU assistance when an IMU module is connected to the VB3iSL the yaw rate channel will be used in the calculated slip channels as the signal to noise ratio is much lower than the GPS derived yaw rate Therefore no extra noise is added during the slip translation process j959J0 J93 A X Longitudinal offset 1 Primary Antennae 2 Secondary Antennae Page 10 22 May 2014 VB3iSL MANUAL amp RACELOGIC In section 1 on the diagram below there is a lateral offset between the primary antenna and the target area for slip measurement Same again for section 2 there is a longitudinal offset These offsets will need to be applied to the VBOX Manager ensure you apply the corr
32. g CAN pass through Ability to output channel data from modules on the secondary bus with user defined identifiers Eg VB3iSL can log IMU data on one CAN bus and output the IMU data to third party equipment on second CAN bus with a user defined identifier The VB3iSL can output up to 6 CAN messages and 12 CAN channels over the secondary bus Note These output CAN channels will be in a 32 bit IEEE float format 29 bit extended identifiers optional Page 19 Length 8 Yv Motorola e Intel Boss 7 RR ET CENE E Channels Logging ADAS 11 bit Identifier 29 bit Identifier DLC 1 e Mise Mo w x CAN GPS Output Configure Info Close Set Up Contig Tx Identifiers Extra Txldentifiers GSS K Geek az TT Channels Logging Config Tx Identifiers W CAN Tx Ident 1 E td ID W GAN Ts Ident 2 etd ID CAN Te Ident 3 td ID IM CAN Tx Ident 4 CAN Delay ij Wo H EE ADAS CAN GPS Output Configure Info Close Set Up Extra Teldentifiers 00000520 Satellites 00000521 Latitude Longitude 00000522 Heading 00000523 xtd ID I CAM Ts Ident 5 Ad ID 00000524 CAN Tx Ident 6 td ID 00000525 Vertical Speed GPS Lat amp cc GPS Satellites GPS LongAcc Glonass Satellites Trigger Event Time 22 May 2014 RACELOGIC Se amp HS VB3iSL MANUAL CANVEL If an input channel is given the
33. g 1 Satellite Sequence showing 4 Satellites J LILI LI EF LI LI Ld Delay 1 2 3 4 Delay 1 2 3 4 Sequence showing O Satellites oo SGE Delay Approximately 1 second Delay Approximately 1 second Page 13 22 May 2014 RACELOGIC Se amp HS VB3iSL MANUAL e Solid orange indicates a DGPS lock either WAAS EGNOS or 40cm local DGPS e Solid green indicates a 2cm Fixed RTK lock e Solid orange indicates that dual antenna mode is enabled e Solid green indicates dual antenna lock is fixed e Solid green indicates that a suitable power source is connected e Solid red indicates that the VBOX is not ready to operate either because it is still booting up or because there is an error condition e Solid green indicates that the brake trigger input has been activated triggered e Flashing yellow indicates that expected incoming CAN data has been decoded properly and is being logged e Flashing green indicates that there is incoming serial traffic through this socket e Flashing yellow indicates that expected incoming CAN data has been decoded properly and is being logged e Flashing green indicates that there is incoming Serial traffic through this socket BLUETOOTH e Flashing blue indicates Bluetooth is initialising coms with a Bluetooth device e Solid blue indicates the VB3iSL has a Bluetooth connection with another Bluetooth device CF e Flashes blue when data is being written to the card e Solid green when d
34. ignore satellites below the mask angle so must be used carefully as it also reduces the total number of received satellites The elevation mask angle can be changed in the GPS section within VBOX Tools Setup e AE Satellite above w V 10 is used Unwanted Intermittent Satellite at 8 reflection from obstruction from is ignored building trees buildings A VBOX Tools Version 2 2 2b42 and above now has an option to change the SEM value for the VB3iSL series Page 15 22 May 2014 Analogue and digital outputs AD1 amp AD2 The AD1 and AD2 connectors each have 1 analogue voltage and 1 digital output The digital output on connector AD2 is a frequency pulse output corresponding to velocity The pulse per meter range is adjustable in software The digital output on connector AD1 is a simple on off state output This digital output can be associated with any of the data channels being logged by the VBOX A threshold level can be set for the selected data channel where a true condition gives a 5v output and a false condition gives a Ov l e Data channel Speed threshold 40Km h When speed is gt 40 output 5V speed 40 output OV A hysteresis and tolerance value can also be associated to this condition The default function of this digital output is to indicate the current logging status of the VBOX The analogue outputs on connectors AD1 and AD2 are both user configurable For example analogue output 1 could b
35. le Information column names sats time lat long velocity heading height vert vel event 1 data 019 105633 680 3119 37247163 0059 48225769 000 153 218 05 0155 06 0000 03 0 000000 019 105633 690 3119 37247162 0059 48225730 000 149 209 09 0155 06 0000 03 0 000000 019 105633 700 3119 37247189 0059 48225665 000 112 197 16 0155 06 0000 07 0 000000 22 May 2014 RACELOGIC Se amp HS VB3iSL MANUAL VBOXTools software The VBOXTools software is used for configuration of the VB3iSL and also for analysis of the VBO data files For further information on the VBOXTools software refer to the VBOXTools user manual supplied with VB3iSL Software installation lt a ator RealTime Plot Data Display Ter VBOX View Main Graph ee or minal Tools Config Options He amp amp Eg ia n JL LU ES ES UR E IA AX The VB3iSL setup software must be installed onto the hard drive of a computer it cannot be run from the installation CD To install the software insert the CD into the CD drive of your computer The default installation language is English Press OK to continue then follow the on screen instructions to complete the installation lammoni d Race Session 1 VBO 42 Minutes 07 05 Seconds 585 48 Speed km h 128 76 x SER i a The VB3iSL setup software is not limited to one user or computer and can be installed on multiple workstations if so desired EJ OOOO qo
36. le to either IMU or VBOX e RL Config software is used to read IMU settings e VBOX Tools software is used to read VBOX settings e AGPS Coldstart is performed What happens if this isn t done If this procedure cannot be carried out as above then the speed accuracy will be reduced especially for the first few minutes until the Kalman Filter is able to calibrate itself We strongly recommend that the Kalman Filter is calibrated when carrying out high dynamic tests Page 25 22 May 2014 A ELERSK VB3iSL MANUAL Additional IMU channels IMUOA only IMU Attitude When using IMUOA integration with a VB3iSL V3 there are three IMU attitude channels which can be logged These body angle channels are heading pitch and roll calculated from IMU derived data CE n E e M uw Ail 4j AK Channels Logging ADAS CAN GPS Output Configure Info Close Set Up VEI Modules IMU Atitude Modes Not Found 030007 FAW 00 00 Pihim Check A ChekAl j RMS Channels These four channels are for diagnostic purposes only and cannot be turned on or off They show the noise which is present on the vertical and horizontal speed channels as calculated by the VB3iSL GPS engine The RMS root mean square channels which will be logged are listed below RMS HPOS RMS VPOS RMS HVEL RMS VVEL Using IMU as CAN module Important note IMU04 CAN based coms are not supported by Kalman filter s
37. likely to cause drop outs and loss of data Therefore for maximum accuracy tests performed at a GPS sample rate above 20Hz should be logged to compact flash and post processed The secondary RS232 port is used for connection to a Telemetry Radio module allowing the reception of Differential GPS DGPS data for local correction from a Racelogic Local DGPS basestation The secondary RS232 port is located in the connector marked CAN on the VB3iSL front panel The CAN Bus ports A and B are located in the VB3iSL connectors CAN and RS232 respectively The function of these ports is configurable by the user for use by either Racelogic external modules or the users own CAN Bus equipment For dual use of RS232 and CAN from one of the sockets you will require a 5Way Lemo splitter RLVBACSO24 Power supplied to external Racelogic CAN modules through the CAN or RS232 cables is at the same voltage as the input power supply Therefore when using Racelogic external CAN modules eg MFD or ADCO3 the VB3iSL supply voltage must not exceed 15vDC D CF AN LOG 9 9 NA A AUDIO Kole A B BLUETOOTH 4 RACELOGIC SATS DUAL e A pwr apt AD2 DIN h SS DGPS IMU IMS USB OQO o SZ COMPACT FLASH RS232 A Primary CAN Bus A Primary Connection to PC i E z 4l ie RLVBCAB005 E RLVBCABO01 y RS232 B Secondary DATA from DGPS basestation i CAN Bus B Secondary ali 5 rr gt 4 HE
38. name CANVEL then the VB3iSL will translate the data of this channel directly through to the GPS speed channel under the following criteria e IMU integration is not enabled e The VB3iSL cannot calculate speed i e no satellite signal complete satellite drop out The VB3iSL will scale the input channel to the default speed output format of Km h according to what the units have been assigned to the substitution speed channel VB3iSL will recognise the following unit names MPH KM H KPH Knots m s and ms 1 e NH Mi X cogging ADAS CAM GPS Output Configure Info Close Set Up Note If no UNITS have been assigned to the input channel then VB3iSL will assume that it is KPH Standard Internal AD VEI Madules 009885 FAW 01 03 Channel Log to compact flash Send over serial This function is useful while testing around built CANVEL y up areas or driving under large bridges Dynamic modes The VB3iSL has three dynamic modes These dynamic modes directly change the SMI smoothing index applied by the GPS engine to all Doppler derived data notably speed and heading The lower smoothing levels have a higher dynamic response but are adversely noisier The three options are High dynamics The High dynamics setting should be used for high accuracy trigger brake stops or any test where time and distance are critical and the vehicle test incorporates highly dynamic manoeuvres No
39. nector 6 SER Type Lemo 5 pin Page 31 22 May 2014 VB3iSL MANUAL Analogue input connector V2 Connector Analogue PIN 1 LD COJN l O U1 43 WW NM KA l KA l KA KA Q lM lA 1 O In Out View of Socket on VBOX 3iSL Type Sub D 25 way Socket Description Range Channel 1 Channel 1 Channel 2 Channel 2 Channel 3 Channel 3 Channel 4 Channel 4 Connector Analogue PIN 14 15 16 17 18 19 20 21 22 23 24 25 In Out O O O RACELOGIC Ss ON es Type Sub D 25 way Socket Description Vbatt GND 5 V Out GND Range Equal to Input Voltage 100mA 5V 2 350mA Ground Note A screw terminal connector block is available to purchase on request from your VBOX supplier Analogue input connector V3 Connector Analogue PIN 1 oo J Oo U1 lU NM ejeje Q lM lA 1 O Page 32 In Out Type Sub D 25 way Socket Description Range Channel 1 Channel 1 Channel 2 Channel 2 Channel 3 Channel 3 Channel 4 Channel 4 1PPS Output IMU04 RS232 TxD IMU04 RS232 RxD IMU04 Connector Analogue PIN 14 15 16 17 18 19 20 21 22 23 24 25 O O O O In Out Type Sub D 25 way Socket Description Vbatt GND 5 V Out GND Range Equal to Input Voltage 200mA 5V 2 350mA Ground 22 May 2014 VB3iSL MANUAL CRACELOGIC CAN output The VB3iSL has a CAN output which is present on the 5
40. nnected to the VBOX will be at the same level as the VBOX power input Therefore when using any of the Racelogic peripherals with VB3iSL the input voltage must not exceed 15 volts Failure to observe this could result in damage to the module and possibly the VB3iSL When running the VBOX from a battery pack the VBOX will sound a warning tone to indicate when the battery voltage is reaching the minimum operating voltage level When this tone is heard the battery pack requires re charging or replacing The VB3iSL has been designed to generate as little heat as possible and it has a wide operating temperature range however it is good practice to mount the VB3iSL in a position where it has sufficient airflow around the case You must connect the GPS antenna before connecting power to the VB3iSL This is necessary because on power up the VB3iSL will look for a connected GPS antenna and automatically adjust its gain for optimum performance Buttons VB3iSL has two membrane buttons on the front panel LOG and FUNC LOG is used to start and stop logging to the compact flash card and FUNC is used to switch between two sample rates 100Hz and 20Hz LOG The LOG button will override any of the automatic logging thresholds set in the VBOX For example if you have set the VBOX to log all the time the LOG button will toggle logging on and off If you have set the VBOX to log only when moving and you are moving pressing the LOG button will stop th
41. o RLCABOO5 CS connection method cannot be used for IMUOA integration This CAN module connection can be used purely to log IMUOA data channels Required equipment VB3iSL works with all VB3iSL units RLCABOO5 CS or RLCAB120 IMU04 only IMUOS3 IMUOA RLCABOO1 RLCABO66 2 VB3i PC connection cable RS232 or USB VBOX Tools File manager optional Setup 1 Connect IMU to VBOX RL CAN port using RLCABOO5 CS or RLCAB120 IMU04 only cable 2 Connect VBOX to PC using RLCABOO1 or RLCABO66 2 cable RS232 or USB 3 Open VBOX Tools and VBOX Setup 4 Click on the 3 Axis Module tab and tick all IMU channels to be logged and sent over serial 5 Mount the VB3iSL and IMU in test vehicle The IMU should be mounted rigidly to the vehicle mid way along the wheelbase in the direction of vehicle travel 6 Fit VB3iSL GPS GLONASS antenna s to centre of vehicles roof Connect antenna to VB3i and power up e l2 Mm WD X Logging ADAS CAN GPS cus a Info Close Set Up 021819 FAW 01 26 Channel Log to cmt flash YawRate Accel Y Accel E V Temp v PitchR ate iv E RollRate v v Z Accel W W Check All Check All Un Check All Un Check All Page 26 22 May 2014 VB3iSL MANUAL Mounting the IMU The IMU should be mounted rigidly to the vehicle mid way along the wheelbase Try to position the unit as close as possible to the centre of the vehicle making sure it
42. ogging ADAS CAN GPS Output Configure Info Close Set Up 4 Send message to GPS board DGPS part H5 232 Baud rate 115200 Racelogic GPS Optimisation Kalman Filter Z Use IMU The GFS antenna iz amp High dynamics Ahead 0 000 Behind Normal t 2 Low dynamics Left 0 000 Mode Aeh amp Single antenna Above 0 000 Below J Dual antenna Current Universal Leap Second Value H 16 Elevation Mask 5 31 034 Log Channel Usage Important note 1 To use IMUOA integration a VB3iSL V3 must be used This is an IMUO4 enabled unit 2 IMUOA cannot be used with IMU integration if it is connected to a VBOX via CAN RLCAB120 RLCABOO5 CS This method of connection will only allow standard IMU channels to be logged See using IMU as CAN module section for details 3 The IMUOA standard channels can also be logged when the IMUOA is connected via KF port with cable RLCAB119 without enabling IMU integration Page 23 22 May 2014 VB3iSL MANUAL amp RACELOGIC Hardware Setup T Lue TM LOG AUDIO LOG 2 DIN CAN SER VBOX3i NINN Q WO Q DIY RL CAN Mode RLCABOO5 CS EAD POWER COMMS IKF CAN SER gum um LOG runc o Arana SA VBOX3 e Is IC O Ak is zz Check side of unit for IMU04 Ready sticker Initialisation When using IMU integration an initialisation phase is required when the IMU is first connected to the VBOX after being set up Thi
43. option Close the VBOX setup screen Page 22 22 May 2014 RACELOGIC VB3iSL MANUAL Se amp US IMU integration Required equipment IMU04 IIMUO3 VB3iSL V3 VB3iSL works with all VB3iSL units IMUOA IMUO3 VBOX Tools VBOX Tools RLCAB119 VBOX IMU connecting cable RLCABOO5 CS VBOX IMU connecting cable RLCABOO1 RLCABO66 2 VB3i PC connection RLCABOO1 RLCABO66 2 VB3i PC connection cable File manager optional File manager optional Setup Important note IMU04 must be connected to VB3i before power is applied to ensure data is correctly synchronised 1 Mount the VB3iSL and IMU in test vehicle The IMU should be mounted rigidly to the vehicle mid way along the wheelbase in the direction of vehicle travel 2 Fit VB3iSL GPS GLONASS antenna to centre of vehicles roof Connect antenna to VB3i 3 Measure the relative position from the top centre of the GPS antenna to the top centre of the IMU see mounting section for more detail and enter these distances in the highlighted box below 4 IMU04 Connect CAN KF port to VB3iSL V3 25W D analogue input port using RLCAB119 cable IMUOS Connect either port on IMU to VBOX RL CAN port using RLCABOO5 CS cable 5 After IMU is connected apply power to VB3i 6 Connect VB3i to PC using RLCABOO1 or RLCABO66 2 cable RS232 or USB 7 Open VBOX Tools and VBOX Setup 8 Tick Use IMU box and enter the distances measured from GPS antenna to the IMU e JI ug L x Channels L
44. ort A is on the left hand side of the roof Minimum recommended separation between the antennas is 0 5m on a level plane but the greater the separation distance the better the accuracy 2 Using the VBOX Manager go into SETUP gt VBOX gt DUAL ANTENNA gt and tick ROLL MODE 3 Go into SETUP gt VBOX gt DUAL ANTENNA gt SEPARATION and enter the separation of the antennas 4 Try to avoid placing the antennas close to the edge of the roof as this may result in poor dual lock This is because reflections from the ground will disturb the signals 5 Driving forward should now bring on the green DUAL LED Antenna Placement Whilst installation and use of the VB3iSL is intended to be fast and simple careful attention must be paid to placement of the antennas It is essential that the separation of Antenna B from Antenna A is exactly the same as the separation value set inside the VB3iSL via the VBOX Manager If the separation is incorrect data may not be given or may be inaccurate The measured distance between the antennas should be the straight line distance between the antennas regardless of the mounting angle It is not the 2D distance between the antennas as viewed from above The supplied tape measure will help ensure an accurate antenna separation Antenna A is the primary antenna from which all calculations are based Therefore the primary antenna should be placed relative to where you wish to make your measurements from For
45. racy measure from the point at which the cable exits the antenna 5 For normal operation place the primary antenna Socket A at the rear of the car and the secondary antenna Socket B at the front All measurements are made from the primary antenna 6 Power up VB3iSL 7 Connect VBOX Manager to VB3iSL port dedicated to Racelogic CAN bus determined in CAN tab of VBOX Tools Setup 8 Go into SETUP gt DUAL ANTENNA gt SEPARATION and enter the separation of the antennas 9 Allow the unit time to acquire full satellite lock The number of satellites in view is indicated by the SATS LED the total of green flashes indicates GPS count whilst an orange flash indicates the GLONASS satellite count If the VBOX has not used for a long time or the location where it is being tested has changed drastically a GPS coldstart may be required NB See troubleshooting section for more info on carrying out a GPS coldstart 10 Move forward in a straight line in an open area and the DUAL LED should turn green to indicate dual antenna lock has been obtained Once the DUAL LED is lit green you are ready to begin testing Note that it takes around 30s 1m to reach full accuracy on the pitch measurement Page 7 22 May 2014 em VB3iSL MANUAL RACELOGIC For Slip and Roll measurements 1 Follow the same steps as Slip amp Pitch measurement guide but mount the antennas 90 to the true heading of the vehicle such that the primary antenna P
46. rmal The Normal mode should only be used for any testing that does GPS Optimisation not involve any high dynamic manoeuvres TENET Low dynamics The Low dynamics mode can be used for smoother velocity G High dynamics and heading data and less acceleration noise only in lower dynamic tests Low dynamics USB The VB3iSL includes a USB 2 0 connection that can be used for VBOX configuration and the output of real time VB3iSL serial data at the full 100Hz data rate Ensure that before you connect your VB3iSL to your PC that you have installed the supplied VBOXTools software as this will also put the required USB drivers onto your PC The VBOXTools software installation will place the VB3iSL USB drivers in the following location on your computer C program files Racelogic Drivers These drivers can also be found on the actual VBOXTools installation CD When you connect you powered up VB3iSL to your PC with the supplied RLVBCABO66 USB A to USB mini lead your PC will recognise the presence of new hardware and open the typical Windows install window for new hardware Follow the on screen prompts and point the Windows installation to the location of your drivers Note USB drivers are available on the Racelogic website also installed into C program files Racelogic Drivers after VBOX Tools installation Page 20 22 May 2014 VB3iSL MANUAL Bluetooth RACELOGIC Se amp HS The VB3iSL comes equipped with a Bluetooth radio
47. s will be run through automatically after the VBOX has successfully gained satellite lock When the IMU LED on VB3iSL front panel has turned a flashing green the initialisation is complete LED indicators IMU04 LED Colour Red Omme Seem O o o Power Initial boot Temperature checks If temperature outside Fully operational up phase optimum operation range LED will remain orange Comms No coms Using IMU integration inertial data being sent Inertial data being sent to host system via to host VBOX via RS232 CAN VB3iSLLED LED Colour ooo Solid Green SAT lock OK 30 second stationary initialisation iitisicstom Movement detected ea no in progress If vehicle moves LED will continue complete IMU integration IMU to flash until 30 seconds stationary completed movement not working OK connected yet detected Page 24 22 May 2014 RACELOGIC VB3iSL MANUAL zm 2 E tei Kalman Filter calibration High dynamic tests To produce the optimum level of accuracy as quickly as possible a series of specific manoeuvres can be performed that help the Kalman filter characterise the outputs from the IMU Note that while this is recommended it is not completely necessary as the Kalman filter will have enough data to achieve accurate results within a few minutes of normal dynamic driving including left and right hand turns braking and accelerating Recommended procedure 1 Wait for IMU to complete 30
48. second stationary initialisation VB3iSL front panel IMU LED will change from flashing orange to flashing green upon completion If the vehicle moves before initialisation finishes the 30 second process will restart once stationary again 2 Drive in a figure of eight at least twice These can be as little as 5m in radius almost full lock in some vehicles but 10m is better The vehicle should be travelling above 15km h during this procedure in order to generate sufficient forces for the calibration process 3 Accelerating hard from standstill to 50km h or above perform two brake stops with a decel force of at least O 5g When is the calibration required When carrying out high dynamic tests such as braking and ESC testing this recommended process calibrates the Kalman filter as quickly as possible When carrying out low dynamic tests such as driving on urban routes or doing long term data collection then this calibration is not as critical Re running the calibration The Kalman filter is constantly adapting its calibration depending on the information received from GPS and the IMU Therefore if the vehicle is left stationary for a long time or the IMU is moved from its mounting position then the calibration procedure should be repeated if further high dynamic testing is to be carried out The calibration should also be repeated after anything which causes the communication to break between IMU and VBOX such as e Power cyc
49. ting GPS data on the second CAN bus In line with previous VBOX models the VB3iSL is compatible with existing peripherals including Multifunction display ADCO3 TC8 FIMO3 IMUOS3 and Yaw rate sensor To use the IMU integration feature of the VB3iSL an IMUO3 IMUOA module is required The VB3iSL package includes a VBOX Manager which enables the user to setup the dual antenna separation change the dynamic modes level and align the antennas show speed and control file creation and logging Features Non contact 100Hz speed and distance measurement Dual antennas for 100Hz vehicle attitude measurement IMU integration with GPS data with optional IMU e Compact flash interface 6 75ms latency e 2x 16bit User configurable analogue outputs 4 x 24bit synchronous differential analogue inputs 50v e 2x Digital outputs Brake Event trigger input of 10ns resolution e Brake trigger Input with 100KHz scan rate Voice tagging of data e Wide 7V to 30V operating range See Note 2 x CAN bus interface e Low current consumption RS 232 serial interface e Logging rate selectable from 100 50 20 10 5 or 1Hz USB interface e Can be used with a differential basestation for Bluetooth interface positional accuracies of up to 2cm RACELOGIC external modules operate from a 12v vehicle supply Therefore when using external modules VBOX supply must not exceed 15vDC I cm 95 CEP positional accuracy requiring RTK VBOX upgrade and RTK enabled Basestation
50. tion make sure that the antenna is fitted to the highest point of the vehicle away from any obstructions that may block satellite reception The GPS antenna works best with a metal ground plane underneath a metallic vehicle roof is perfect for this Please also note that when using any GPS equipment a clear sky view is important Objects in the surrounding area such as tall buildings or trees can block the GPS signal causing a reduction in the number of satellites being tracked or introducing reflected signals that can decrease the accuracy of the system Note that clouds and other atmospheric conditions do not affect the VB3iSL s performance GPS antennas require a ground plane to operate correctly This helps to reduce unwanted reflections of the GPS signal caused by nearby objects and usually the metal roof of a vehicle performs this function However if a test requires an antenna to be placed either off the vehicle or on a vehicle that does not have a metallic roof a special ground plane antenna must be used This has an internal ground plane and can operate perfectly without the need for mounting on a metal surface Ground plane antennas are available from your VB3iSL distributor Satellite elevation mask This feature can be used to improve GPS signal quality when nearby obstacles like trees and building are reflecting or temporarily obscuring the signal from satellites at low elevation Raising the mask will cause the GPS engine to
51. way connector output Data format Motorola Baud rate 500Kb s 1 Sats in 2 Time since midnight UTC 3 Position Latitude MMMM MMMMM 4 Position Longitude MMMMM MMMMM 5 Velocity Knots 6 Heading Degrees 7 Altitude WGS 84 Metres 8 Vertical velocity M S Unused 10 9 Status Status T 11 Distance Meters 12 Longitudinal Accel G 13 Lateral Accel G 14 Distance travelled since VBOX reset 15 Trigger time 16 Trigger Velocity 17 Velocity Quality 18 True Heading 19 Slip Angle Deg 20 Pitch Angle Deg Deg 0x307 21 Lateral Velocity Knots 22 Yaw Rate 23 Roll Angle Deg 24 Longitudinal Velocity Deg S Knots 0x308 25 Position latitude 26 Status oo 27 Position longitude 28 Velocity Knots 0x313 29 Slip FL 30 Slip FR 31 Slip RL 32 Slip RR 0x314 33 Slip COG Unused 34 Time since midnight UTC 35 True Heading2 Degrees uui 36 Trigger event UTC time milliseconds part1 37 Trigger event UTC time nanoseconds part2 Update rate depends on GPS update rate 10ms Update rate shown corresponds to 100Hz GPS setting Default Identifiers The identifier values can be changed using the configuration software 1 If Satellites in view lt 3 then only Identifier 0x301 transmitted and bytes 2 to 8 are set to 0x00 2 Time since midnight This is a count of 10mS intervals since midnight UTC 5383690 53836 90 seconds since midnight or 14 hours
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