Alberding A10-RTK User manual

A10-RTK
Instruction Manual
Creation Date: 18. December 2018
Revision: 0.9
Alberding GmbH
Schmiedestraße 2
[email protected]
D-15745 Wildau
www.alberding.eu

A10-RTK Instruction Manual
Revision History
Version Date Description of the changes
0.9 19.12.2018 Preliminary version
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A10-RTK Instruction Manual
Contents
1 Safety instructions 4
2 System specifications 5
2.1 A10-RTK system approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 A10-RTK sensor with Trimble MB-Two board and embedded PC . . . . . . . . . 7
2.3 LED indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.4 Pin assignment of the Sub-D HD26 port . . . . . . . . . . . . . . . . . . . . . . . 10
2.5 A10-RTK technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3 Start-up procedure 13
4 Trimble MB-Two GNSS board 14
4.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.2 Software options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.3 Technical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
5 Embedded PC in the A10-RTK sensor 17
6 Connections 20
6.1 Wired connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6.2 Bluetooth connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
7 Configuration 28
7.1 Alberding Configurator software . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
7.2 Linuxboard...................................... 28
8 Data transmission 29
9 Disclaimer of liability 31
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A10-RTK Instruction Manual
1 Safety instructions
Warning!
When using electrical equipment, basic safety precautions must always be followed, including the
following, to reduce the risk of fire, electric shock and personal injury.
1. Before using the device, read this manual carefully.
2. Only clean with a dry cloth.
3. Install according to the manufacturer’s instructions.
4. Do not install the device near any heat sources such as radiators, heat registers, ovens, or
other apparatus (including amplifiers) that generate heat.
5. Do not heat or throw the device into fire.
6. Only use attachments or accessories specified by the manufacturer.
7. Do not open or modify the casing.
8. Do not allow liquids to enter the device.
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A10-RTK Instruction Manual
2 System specifications
2.1 A10-RTK system approach
Alberding A07-RTK and A10-RTK telemetry and positioning systems are designed for precise po-
sitioning, data acquisition and data transmission. Both sensors combine centimetre-level accurate
GNSS Real-Time Kinematic (RTK) boards with built-in mobile wireless data modem and pro-
grammable computers in a single housing. The pre-configuration of the functionality and the data
flow via the Alberding configurator software enables an autonomous operation of the “intelligent
sensors” in the field. In combination with Alberding cloud solutions, the mobile systems can be
customised for multiple server/client digitisation and automation applications.
The Alberding A10-RTK sensor is a further development of the initial model A07-RTK, which is
successfully used for a wide range of applications (agriculture, forestry, vehicle tracking, GIS,
surveying, etc.). The core of the system is an integrated processor with the Alberding data man-
agement software, which controls all sensor components and the internal data transmission. The
desired settings can be selected in the configurator software and transferred to the sensors so that
they automatically operate with the pre-set configuration when the system is started up (by the
power button or by supplying power).
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A10-RTK Instruction Manual
Unlike the A07-RTK, the A10-RTK sensor integrates an LTE modem and a scalable GNSS board.
Compared to the GPRS modem in the A07-RTK, the LTE modem offers a higher data rate and a
future-proof perspective for mobile data transmission from/to the server.
The integration of scalable GNSS boards enables the adaptation of the positioning quality to the
customer’s requirements. The Trimble MB-Two board can be software upgraded from L1 RTK
(GPS-only) to L1/L2 RTK (GPS/GLONASS/Galileo/BeiDou + heading). The capability of low-
cost L1/L2 RTK boards is currently being evaluated.
The A10-RTK sensor provides additional flexibility and functionality through the integration of an
embedded PC with Linux operating system. While the integrated Cortex processor takes over the
data management, the application software can run on the Linux PC within the sensor, so that the
connection of an external computer can be omitted.
A10-RTK system features:
• Use of scalable GNSS hardware (from L1 RTK to L1/L2 RTK + heading)
• Logging of RTK positions and raw data to internal memory
• Server/client communication (LTE modem)
• Integrated Bluetooth module
• Integrated Cortex processor for data management
• Embedded PC with Linux operating system (optional)
• Integration of application software
• Customisable configuration
• Automatic data transfer
• Autonomous operation through pre-configuration
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A10-RTK Instruction Manual
2.2 A10-RTK sensor with Trimble MB-Two board and embedded PC
The current version of the Alberding A10-RTK sensor comes with a Trimble MB-Two GNSS board
and an embedded PC with Linux operating system. The positioning performance depends on the
configuration of the Trimble board (see chapter 4), the GNSS antenna used and the measurement
conditions. The functionality of the system can be defined by the pre-configuration of the micro-
controller (configuration software) and the software on the embedded PC.
All important system components and connections of the A10-RTK sensor are shown in the fol-
lowing block diagram (see Fig. 1). The GNSS antenna is connected to the A10-RTK sensor with
an antenna cable using the TNC connector and the external GSM antenna through the SMA con-
nector. To facilitate the system installation, all connections are located on one side of the A10-RTK
sensor. In the block diagram, the connections to the antennas were drawn on the other side for
visualisation reasons.
Figure 1: Block diagram of the A10-RTK with Linux board
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A10-RTK Instruction Manual
Since an external power supply is usually available for many applications (e.g. machine operation),
the A10-RTK does not integrate a lithium polymer battery. The power supply of the sensor (12-
24V DC) is provided with the communication cable via the 26 pin connector of the A10-RTK. On
this connector, 1 Ethernet port, 2 serial RS232 and 1 USB port, as well as an optional, CAN port
are available.
On the top side of the A10-RTK sensor, you can find the power button, the log button and five LED
status lamps. The Log button currently has no function. The following ports are available on the
front panel: GNSS antenna, GSM antenna, as well as a serial port (Sub-D HD26) (see Fig. 2). The
factory default configuration settings of the serial port are 115200 baud 8-N-1.
Figure 2: Schematic structure of the A10-RTK
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A10-RTK Instruction Manual
2.3 LED indicators
The following table explains all possible LED indicators of the A10-RTK (see Fig. 3).
Figure 3: LED indicators
LED Colour and property Explanation
LED 1 System Green/Red
flashing System is running
LED 2 GSM
off Wireless modem disabled
Yellow Initialisation
flashing every 1s Dial-up operation
flashing every 3s Data transfer active
flashing every 0,5s SIM Error
LED 3 Bluetooth
off Bluetooth disabled
Blue Initialisation
flashing every 1s Ready for connecting
flashing every 3s Data transfer active
LED 4 GNSS
off GNSS disabled
Orange Initialisation
flashing every 1s Standalone
flashing every 3s RTK-Float
double flashing every 3s RTK-Fix
LED 5 Battery / Currently not in use
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A10-RTK Instruction Manual
2.4 Pin assignment of the Sub-D HD26 port
Figure 4: Pin assignment of the Sub-D HD26 port
PIN Description Remarks
1 reserved /
2 CAN L Either Linux board or microcontroller
(optional)
3 reserved /
4 reserved /
5 reserved /
6 GND /
7 TX3 (RS232) to Trimble MB-Two Connection to Trimble MB-Two
8 RX3 (RS232) to Trimble MB-Two Connection to Trimble MB-Two
9 USB D+ Linux board by default; Trimble MB-
Two optional
10 reserved /
11 CAN H Either Linux board or microcontroller
(optional)
12 TX2 (RS232) Microcontroller (data distribution config-
urable)
13 reserved /
14 reserved /
15 reserved /
16 Network (RJ45) RX- Linux board / Trimble MB-Two
17 Network (RJ45) TX- Linux board / Trimble MB-Two
18 USB D- Linux board by default; Trimble MB-
Two optional
19 reserved /
20 GPIO Microcontroller (optional)
21 RX2 (RS232) Microcontroller (data distribution config-
urable)
22 reserved /
23 Power GND /
24 Power IN DC DC 12-24V
25 Network (RJ45) RX+ Linux board / Trimble MB-Two
26 Network (RJ45) TX+ Linux board / Trimble MB-Two
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A10-RTK Instruction Manual
2.5 A10-RTK technical specifications
Data and memory
Data storage: Integrated memory card
Wireless data output: Bluetooth, mobile Internet
Wireless data input: Bluetooth, mobile Internet
Wired data output: LAN, serial RS232, serial USB, PPS out
Wired data input: LAN, serial RS232, serial USB, Event In
Communication
Bluetooth 2.1 + EDR: Class 2, range:~5 m, SPP protocol
Cellular: LTE (800/850/900/1800/2100/2600 MHz)
Data/Power: Sub-D HD26
Physical properties
Dimensions (LxWxH): 13.0 cm x 15.3 cm x 3.3 cm (5.12" x 6.02" x 1.30")
Weight: 656 g (1.45 lb)
Status indicators (LEDs): System, GSM, Bluetooth, GNSS status, battery
Buttons: Power, Log
Antenna connectors: GNSS: TNC female
GSM: SMA female
Environmental compatibility
Operating temperature: -20 °C to +55 °C (-4 °F to +131 °F)
Humidity: up to 80%
Ingress protection: IP67
Enclosure material: metal (AlMgSi 0.5) powder-coated
Compliance: CE, RoHS and lead-free
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A10-RTK Instruction Manual
Electrical properties
External power supply: 12 - 24 V DC
Power consumption: Depending on configuration, up to 5 W with Linux
board and mobile Internet (data streaming)
Protections: Short circuit
Overcurrent charge and discharge
Overvoltage charge (overcharge)
Temperature
Optional accessories
Multiport adapter (LAN, RS232, Power)
Power supply unit with power cable
Octopus cable (LAN, RS232 female, RS232 male,
PSS out, Event In, USB, Power)
External GNSS antenna
External GSM antenna
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A10-RTK Instruction Manual
3 Start-up procedure
For the start-up procedure, the A10-RTK sensor needs an external power supply. The standard
delivery includes a power supply unit with a power cable and a multiport adapter (see Fig. 5).
Connect the power supply unit to the multiport adapter and plug it into the 26-pin port (Sub-D
HD26) of the A10-RTK (see Fig. 2). When the power supply is connected, all LEDs flash. The
A10-RTK sensor can be switched on either by pressing the power button or by activating the Auto-
Power-On function. The flashing system LED indicates the starting process, which is completed
after approx. 30 seconds.
Connect the GNSS antenna (TNC connector) and the GSM antenna (SMA connector) to the sensor
(see Fig. 2).
Warning: The A10-RTK automatically performs a pin request of the SIM card during start-up.
Before the first operation, use the configuration software to configure the different mobile settings
(SIM card PIN, server, etc.).
The selected configuration (mobile network settings, data stream) is now stored in the A10-RTK
so that the sensor will automatically work with these settings the next time it is used. Pressing the
power button turns off the A10-RTK.
Figure 5: A10-RTK with multiport adapter, power supply unit, GSM antenna and GNSS antenna (standard
delivery)
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A10-RTK Instruction Manual
4 Trimble MB-Two GNSS board
4.1 Description
The Trimble MB-Two board has 240 channels for tracking satellites of up to 5 GNSS constellations
(GPS, GLONASS, Galileo, BeiDou, QZSS) on two frequencies (L1, L2). Position determination
can be carried out either with all activated GNSS systems (primary system selectable) or only with
one GNSS system (e.g. Galileo only). Additionally to the position, the heading can be determined
by connecting a second GNSS antenna. In the standard configuration of the A10-RTK sensor, the
second antenna connection is not provided.
The GNSS board is configured via the integrated web interface. The Ethernet port of the MB-
Two is accessible via the Ethernet interface of the Linux PC in the A10-RTK. The web interface
is described in detail in the Reference Manual of the MB-Two (https://www.alberding.eu/pdf/
ReferenceManual_MB-TWO_US.pdf).
RTK correction data can be supplied to the MB-Two board in the A10-RTK using cable connection
through the serial port or the Ethernet port, or wireless via mobile Internet connection (Ntrip) or
Bluetooth. These connections are also used to output precise position data (in NMEA format).
4.2 Software options
In the basic version, the MB-Two board is delivered with GPS L1 only option. Among others the
following firmware options are available:
GNSS: GPS, GLONASS, Galileo, Beidou, QZSS
Frequencies: L1, L2
RTK accuracy (horizontal/vertical): 30cm/30cm, 10cm/10cm, 10cm/2cm, 1cm/2cm
Update rate: 2Hz, 5Hz, 20Hz, 50Hz
Heading: Activation of the second GNSS antenna
RTX: Activation of Trimble RTX service
Firmware Updates
An upgrade of the GNSS boards is possible for a fee-based firmware activation.
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A10-RTK Instruction Manual
4.3 Technical specifications
Scalable tracking
GNSS signals:
GPS L1 + L2
GLONASS G1 + G2 FDMA
BeiDou B1 + B2
Galileo E1 + E5b
QZSS L1 + L2
SBAS L1
Channels: 240
Update rate: RTK: up to 50 Hz
Horizontal accuracy (RMS)1
Autonomous: 0.5 m
RTK L1 only2: < 0.012 m + 1.5 ppm
RTK L1/L23: < 0.008 m + 1 ppm
Heading4,5,6: 0.2° per 1 m of baseline length
Convergence time1
RTK L1 only: < 10 min
RTK L1/L2: < 1 min
Heading4: < 10 s
Time to First Fix
Cold start: < 60 s
Warm start: < 45 s
Signal re-acquisition: < 2 s
1Depends on baseline length, number of satellites in view, satellite geometry, GNSS antenna, multipath effects and
atmospheric conditions
2ppm limited for baselines up to 10 km
3ppm even for baselines greater than 40 km
4Limited for baselines up to 100 m
5Optional
6Additional TNC female connector for Heading
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A10-RTK Instruction Manual
I/O interface
USB: USB 2.0 OTG (USB/ Serial Link, USB memory stick)
I/O: 1 PPS out / Event In
LAN: HTTP (web GUI), NTP server, NTripCaster, dynamic
DNS
Data formats
Real-time data output: NMEA-0183, RTCM version 3.x, ATOM7, CMR8
Real-time data input: RTCM version 3.x, ATOM
Receiver dynamics
Modes Description
1 Static
2 Quasi-static
3 Walking
4 Ship
5 Automobile
6 Aircraft
7 Unlimited
8 Adaptive
7ATOM: Open Ashtech file format
8CMR: A Trimble proprietary file format
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A10-RTK Instruction Manual
5 Embedded PC in the A10-RTK sensor
The integration of an embedded PC in the A10-RTK sensor is the key for flexible system customi-
sation for diverse digitisation and automation tasks. While the integrated microprocessor controls
the data transfer in the A10-RTK sensor, the software can perform more extensive calculations
on the embedded PC. Currently, both software solutions from Alberding GmbH (e.g. EuroRef,
EuroNet) and external software (e.g. BNC from the Federal Agency for Cartography and Geodesy,
SSR2OSR converter from Geo++ GmbH) are supported.
Some examples of software applications on the integrated embedded PC:
• Autonomously operated GNSS reference station and monitoring station
- Providing RTK correction data and GNSS raw data
- Monitoring RTK services in the field
• Enhanced GNSS rover functionality
- Support of 2 different IP address domains, one for RTK correction data
and another for GNSS positioning data (see Fig. 6)
- Switching between 2 correction data sources (e.g. mobile Internet and
radio data transmission in the UHF band)
• Integration of GNSS algorithms
- GNSS data conversion (SSR->OSR, DataConv)
- GNSS positioning algorithms (BNC, RTKLib)
• Monitoring objects, buildings and embankments
- Geo-monitoring in engineering technology
- Geofencing, vehicle tracking and fleet management
• Sensor fusion
- Combined acquisition of GNSS and external sensors (EuroNet)
- Combined analysis of GNSS and external sensor data
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A10-RTK Instruction Manual
• Transmission of project data from and to the server
- Transmission of engineering project data (digital terrain model, station coordinates)
- Transmission of agricultural management data (site-specific fertilisation)
• Telemetry module with RTK
- Data retrieval and transmission from agricultural and construction machines
- Combination of telemetry and RTK
Figure 6: Support of 2 different IP address domains
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A10-RTK Instruction Manual
Figure 7: Example of a machine installation
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A10-RTK Instruction Manual
6 Connections
6.1 Wired connections
Serial port:
If your PC does not have a serial port, you must use a USB-RS232 adapter. When purchasing,
make sure that the USB-RS232 adapter is compatible with your operating system (e.g. Windows
10) and that the manufacturer offers suitable drivers.
To connect the USB-RS232 adapter (PC) to the multiport adapter (A10-RTK), a gender changer
and a null modem adapter must be used.
Connect all cables and plug them into the PC. You will find the appropriate COM port for Windows
operating systems as follows:
Windows 7:
Control Panel > Device Manager > Ports (COM & LPT)
Windows 10:
Settings > Devices > Device Manager> Ports (COM & LPT)
Ethernet:
It requires an Ethernet cable connected directly to the computer.
The IP address of the A10-RTK sensor is determined by Alberding GmbH and depends on the
serial number of the A10-RTK:
Examples:
S/N A10-RTK IP address (Alberding GmbH)
A10-50010 10.50.0.10
A10-50110 10.50.1.10
A10-50223 10.50.2.23
Independently of this, you have to assign the PC an IP address in the same subnet. To do this, the
first three sections of the IP address must be identical.
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