LC29D

ManualsBrands5G HUB ManualsData Communication and Human Input DevicesGNSS Receiver with Dead-Reckoning

GNSS WITH DEAD-RECKONING

(DR)

GNSS + DR Board User Manual

Summary of content (22 pages)

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Purpose of the Document The purpose of this document is to explain the GNSS board with Dead-Reckoning feature. This document contains the features of GNSS board and how to use it to use it for high accuracy and high-precision positioning. Document History Version A Author 5G HUB GNSS Board v1.0 Date 06.27.2021 Copyright © 5GHUB.
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Table of Contents Purpose of the Document ....................................................................................................................... 2 Document History ................................................................................................................................... 2 1 1.1 Package Contents ........................................................................................................................ 5 GNSS Sensor board ................................
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1 Package Contents 1.1 GNSS Sensor board • GNSS sensor board 1.2 Download Arduino sketches for the GNSS board can be downloaded from the following website: https://github.com/5ghub/5G-NB-IoT/tree/master/KitSketches QNSS Tool is here: 5G-NB-IoT/Tools at master · 5ghub/5G-NB-IoT (github.com) To use the board with Arduino IDE and starts running Arduino projects and sketches, install the following software: Install Arduino IDE for Windows from the following website: https://www.arduino.
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2 Introduction The GNSS board is a compact board for GNSS applications. It features a concurrent multi-constellation GNSS receiver on dual GNSS bands, an integrated 6-axis sensor, fusion with Real-Time Kinematic (RTK) and Dead-Reckoning (DR). The module can achieve sub-meter-level accuracy in open-sky areas. The GNSS board can work on L1 and L5 bands for GPS, Galileo and QZSS, L1 band for GLONASS and BeiDou, and L5 band for IRNSS.
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4 GNSS Constellations The GNSS module is a dual-band GNSS receiver that can receive and track GPS, BeiDou, GLONASS, Galileo, QZSS, IRNSS signals. 4.1 GPS The module is designed to receive and track GPS L1 C/A signals (1574.397–1576.443 MHz) and L5 signals (1166.22–1186.68 MHz) provided by GPS. 4.2 BeiDou The module is designed to receive and track BeiDou B1I (1559.052–1563.144 MHz) and B2a (1155.99– 1196.91 MHz).
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5 Augmentation System 5.1 SBAS The GNSS module supports SBAS (Satellite-Based Augmentation System) broadcast signal reception, and GPS data are complemented by additional regional or wide area GPS enhancement data. The system enhances the data through satellite broadcasting, and this information can be used in GNSS receivers to improve the accuracy of the results. SBAS satellites can also be used as additional signals for ranging or distance measurement, further improving availability.
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5.6 Dead Reckoning Function Dead Reckoning is the process of estimating the module’s current position based on the last position obtained from GNSS, speed, heading sensor data, etc. With this combined sensor inputs, the system plots the navigation trace when the satellite signals are partially or completely blocked while satellite signals provide updates and correction for sensor drift.
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J4-2 J4-3 J4-4 J4-5 J4-6 J4-7 J4-8 J5-1 2 3 CS (RXD) CLK (TXD) MISO (RTS) MOSI (CTS) D_SEL 3.3V GND GND BATT 5V Input Input/Output Output Output Input Output Output Output Input Input SPI Chip-Select or UART Receive data SPI Clock or UART Transmit data SPI master in slave out or UART Request to send SPI slave output master in or UART Clear to Send Selects SPI or UART interface Output 3.
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You can use the GNSS board with any device that has UART (Tx/Rx) interface such as an Arduino board or any other hardware board available. You can also use and connect the GNSS board to a USB port in the computer through a USB-toUART cable.
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8 Using Serial Terminal You can use any serial monitor such as the Tera Term tool as the serial terminal. You can download it from here: https://osdn.net/projects/ttssh2/downloads/54081/teraterm-4.72.exe/ Launch Tera Terminal and select the Serial option and select USB-to-Serial port. In Tera Term, choose Setup->Serial port and configure serial ports according to the following: GNSS Board v1.0 Copyright © 5GHUB.
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9 DR Configuration 9.1 Setting the Orientation The reference frame axes definitions are shown below. The X axis is the vehicle forward direction, the Y axis is the right side of the vehicle, and the Z axis is the downward direction. The orientation of the module is shown below: Below show some examples for board installation: GNSS Board v1.0 Copyright © 5GHUB.
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if the board installation direction like the above picture, the X axis is inverted with reference, the Y axis is same with the reference frame, and the Z axis is also inverted with the reference frame, so the configuration should be -X Y -Z, the command is $PQTMCFGORIENTATION,1,-X Y -Z*66. GNSS Board v1.0 Copyright © 5GHUB.
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If board installation direction like the above picture, the X axis is inverted with Y axis of reference frame, the Y axis is inverted with the X axis of reference frame, and the Z axis is also inverted with the Z axis of reference frame, so the configuration should be -Y -X -Z, the command is $PQ TMCFGORIENTATION,1,-Y -X -Z*4B. GNSS Board v1.0 Copyright © 5GHUB.
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10 Mounting When mounting the LC29D on the carrier, need to keep the yaw, pitch and roll angle within 5 degrees tothe reference frame. In the real mounting, need to make sure that -5° ≤ a ≤ 5°, 5° ≤ B ≤ 5°. GNSS Board v1.0 Copyright © 5GHUB.
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11 Dead-Reckoning Calibration 1) Fix the module on the vehicle frame. Any displacement, turn or tilt of the device, although small, willcause performance issues and/or void the calibration process making it fail. 2) The calibration process should be performed on good GNSS signal conditions and clear sky view. 3) Power up the module then start the vehicle on in a plain surface and keep it still for at least 30 seconds. 4) Start driving the vehicle in good GNSS signal conditions.
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Issue the following two commands and then restart the board (power it OFF and then ON) Command: $PQTMCFGEINSMSG,1,1,1,1,10*3F response: $PQTMCFGEINSMSGOK*16 Command: $PQTMSAVEPAR*5A Response: $PQTMSAVEPAROK*5E The following read current configuration: Command: $PQTMCFGEINSMSG,0*0E Response: $PQTMEINSMSG,0,1,1,1,10*7C The following can be done through QCOM tool or any serial terminal connected to the board. Enter each command above and click Send Command. GNSS Board v1.0 Copyright © 5GHUB.
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13 Sensor Messages The GNSS receiver emits this message. The message contains the IMU Raw Data: Acceleration, Angular Rate and Hardware Wheel Ticks. $PQTMIMU,,,,,,,,,* Table 2: PQTMIMU message parameters.
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You can view the sensor messages only in the GNSS tool by filtering those messages only as in this screen-shoot: 15 Using Arduino IDE Download the Arduino sketch for the LC29D module from the GitHub and upload it to the NB-IoT board. Connect the UART of the GNSS board to the UART of the NB-IoT board. You shall see the GNSS output messages on Arduino serial monitor. GNSS Board v1.0 Copyright © 5GHUB.