AvL Technologies AAQ IntelliTrack Module Manual instruction

AAQ IntelliTrack
Module
Setup & Operation Guide
Revision R11.9.0
Documentation of the IntelliTrack tracking method, module, configuration, and
behavior when used with the AvL Technologies antenna system
Appendix S
AvL Technologies
900-159-018

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Revision History
Date
Revision
Revision
By
Approved
By
Comments
3/15/16
Rev. 1.0
WL
Initial Release for 11.6
6/28/16
Rev. 11.6.0
WL
Change to revision sequence and
updates to 11.6
9/17/16
Rev. X11.7
WL
Updates for X11.7
10/24/16
Rev.
R11.8.0
JF/WL
Updates for 11.8
4/18/17
Rev.
R11.9.0
WL
JF
Updates for R11.9.0 and new template
Contents
Revision History .............................................................................................................................................................................................. 1
Figures.................................................................................................................................................................................................................. 2
1. Introduction............................................................................................................................................................................................. 2
2. Setup Guide ................................................................................................................................................................................................... 3
2.1. Hardware............................................................................................................................................................................................... 3
2.2. Software ................................................................................................................................................................................................. 3
2.3. Hardware Connection...................................................................................................................................................................... 3
2.3.1. Serial Communication Connection .................................................................................................................................... 3
2.3.2. Ethernet Communication Connection.............................................................................................................................. 3
3. Configuration................................................................................................................................................................................................ 4
3.1. Core Configuration Items ............................................................................................................................................................... 4
3.2. Target Configuration Items ........................................................................................................................................................... 9
3.3. Signal Configuration Items ..........................................................................................................................................................12
3.4. Feed Configuration Items.............................................................................................................................................................14
4. Operation .....................................................................................................................................................................................................14
4.1. Functional Overview ......................................................................................................................................................................14
4.1.2 IntelliTrack Concepts ............................................................................................................................................................14
4.1.3 IntelliTrack Operation ..........................................................................................................................................................17
4.2. Sensor outputs ..................................................................................................................................................................................19
4.3. Module Windows .............................................................................................................................................................................21
4.3.1. Device Window ........................................................................................................................................................................21
4.3.2. Device Control Window........................................................................................................................................................21
5. Issues and troubleshooting.............................................................................................................................................................21

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Figures
Figure 1 –Version Information................................................................................................................................................................. 3
Figure 2 –Core Configuration, Keyword IntelliTrack..................................................................................................................... 4
Figure 3 - Core configuration, search "avl compass"....................................................................................................................... 5
Figure 4 - Core configuration, search "source" .................................................................................................................................. 6
Figure 5 - Core configturation, search "manual" ............................................................................................................................... 6
Figure 6 - Target configuration, search "track; skip; ref" .............................................................................................................. 9
Figure 7 - Signal configuration, search "intellitrack" ....................................................................................................................12
Figure 8 - Topographic Coordinate System.......................................................................................................................................15
Figure 9 - Earth-Centered Internal Coordinate System ...............................................................................................................15
Figure 10 - Earth-Centered Inertial Vector Solution .....................................................................................................................16
Figure 11- Representative Inclined Geostationary Geodetic Path ..........................................................................................17
Figure 12 - AAQ GUI Commands.............................................................................................................................................................18
Figure 13 - Sensor Output, Search IntelliTrack................................................................................................................................19
1. Introduction
The IntelliTrack Module is tracking software that performs regular step tracking while measuring
signal power. With this information the module is able to produce a model with a custom
mathematical algorithm that provides accurate tracking after the model is built by the software.
This process is much more accurate than other tracking methods, such as simple step tracking,
when used to track target satellites with highly inclined orbits. This document describes the concepts
required to use the AvL AAQ IntelliTrack Module and provides a detailed explanation of the associated
module configuration items that are accessible through the AAQ GUI as part of the AvL AAQ Controller.

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2. Setup Guide
2.1. Hardware
No additional hardware is required for the operation of this module.
2.2. Software
Be sure that “AAQRemote”, “AAQ.rom” & “IntelliTrack.ver.mod” line items are at or above the
versions shown below:
Figure 1 –Version Information
2.3. Hardware Connection
2.3.1. Serial Communication Connection
Serial connection is not an option for the hardware associated with this module.
2.3.2. Ethernet Communication Connection
An Ethernet connection is not an option for the hardware associated with this module.

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3. Configuration
3.1. Core Configuration Items
Path
Main Window → View → Configuration
Level 4
The IntelliTrack module uses configuration items to allow the user to tailor the module's
operation and its interaction with the AAQ controller. These configuration items are located in
the Core, Target, and Signal tabs of the Configuration Window based on their scope.
Figure 2 –Core Configuration, Keyword IntelliTrack
Long Name
Level
Type
Value Range
Documentation
IntelliTrack Model Clear
4
Choice
“Yes”, “No”
Whether or not to clear all IntelliTrack
tracking memory when not tracking
IntelliTrack Reflector Size (m)
4
Float
0.1 to 20
The size of the currently mounted reflector,
defined in meters

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IntelliTrack Model Clear –Whether or not to clear all IntelliTrack tracking memory when not
tracking. For typical IntelliTrack tracking operation, the IntelliTrack Model information is maintained
until replaced by new data. Set IntelliTrack Model Clear to “No”. This will take effect whenever the
module enters or exits tracking.
Note - This configuration item will clear the model data for all targets.
IntelliTrack Reflector Size –The size of the reflector currently mounted on the antenna system,
defined in meters. This is used to calculate the antenna’s half power beam width for scanning and
tracking.
Figure 3 - Core configuration, search "avl compass"
Long Name
Level
Type
Value Range
Documentation
AvL Compass Com Port
4
String
-
The computer device filename for the
communications port used.
AvL Compass Com Port
Settings
4
String
-
The communications parameters for the comm
port in the form of BaudRate DataBits StopBits
Parity (ie 9600 8 1 0) where parity values are 0
for none and 1 for even.
AvL Compass Com Port –This should be set to “192.168.0.63” if the NAV RIOM GPS is being used as
a Time Source or left blank otherwise. If this configuration item is changed, the antenna must be
power cycled before the change will take effect.
AvL Compass Com Port Settings –This should be set to “9760” if the NAV RIOM GPS is being used as
a Time Source or left blank otherwise. If this configuration item is changed, the antenna must be
power cycled before the change will take effect.
The settings below can be used to provide manual overrides in the case of NAV RIOM GPS
or Vector Compass failure.

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Figure 4 - Core configuration, search "source"
Figure 5 - Core configuration, search "manual"

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Long Name
Level
Type
Value Range
Documentation
Primary Heading Source
4
Choice
No compass, GPS,
Compass, Manual,
SatTant, Vector
Compass, AvL GPS
Set to Compass, Manual, or Vector
Compass
Heading for Manual Compass
4
Float
0.0 to 360.0
Heading to be used if Heading Source is
set to Manual
Time Source
4
Choice
None, NTP, NAV
RIOM GPS, XML
Set to Nav RIOM GPS, Vector Compass
GPS or Manual
Manual Time Offset Date
4
String
-
The Date for Manual Time Offset. Format
is MM-DD-YYY in UTC
Manual Time Offset Time
4
String
-
Time for Manual Time Offset. Format is
hh:mm:ss in UTC
GPS Source
4
Choice
Manual GPS, Nav
RIOM GPS, Vector
Compass GPS
Set to NAV RIOM GPS, Vector Compass
GPS, or Manual GPS
Manual Latitude
4
String
-
The latitude in decimal degrees and
direction to use when the GPS Source is
Manual
Manual Longitude
4
String
-
The longitude in decimal degrees and
hemisphere to use when the GPS Source is
Manual
Primary Heading Source –The heading source desired for acquisition. An accurate heading
is desired. Set to Vector Compass, Compass, or Manual
Heading for Manual Compass –The heading to be used when the Heading Source is set to
Manual
Time Source –The current time source to be used to provide time sync to the AAQ
controller. Accurate time is needed for TLE tracking. Set to Vector Compass, NAV RIOM GPS
or Manual.
Manual Time Offset Date –The date for Manual Time Source. Format is MM-DD-YYY in UTC.
This format must be adhered to exactly (including the “-“) for correct operation. This offset
must be entered every time the antenna is powered on and the antenna must be power

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cycled any time a change is made to this configuration item. IntelliTrack requires an accurate
date.
Manual Time Offset Time –The time for Manual Time Source. Format is hh:mm:ss in UTC.
This format must be adhered to exactly (including the “:“) for correct operation. This offset
must be entered every time the antenna is powered on and the antenna must be power
cycled any time a change is made to this configuration item. IntelliTrack requires an accurate
Time.
GPS Source –The GPS source desired for acquisition. Set to Vector Compass, NAV RIOM
GPS, or Manual
Manual Longitude - The longitude in decimal degrees and direction to use when the GPS
Source is Manual
Manual Latitude - The latitude in decimal degrees and direction to use when the GPS Source
is Manual

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3.2. Target Configuration Items
Figure 6 - Target configuration, search "track; skip; ref"
Long Name
Level
Type
Value Range
Documentation
IntelliTrack Model
Clear
4
Choice
Yes, No
Whether or not to clear all IntelliTrack
tracking memory for the current target
profile when not tracking.
IntelliTrack Signal
Gradient Threshold
4
Float
0 to 10000
Default = 0
IntelliTrack Signal Noise
Threshold
4
Float
0 to 10000
Default = 0
Reference Profile 1
4
Choice
Target Selection
List
First reference profile used to perform a
SatTant.
Note –A Reference Profile must always
be used with the IntelliTrack Module
Reference Profile 2
4
Choice
Target Selection
List
Second reference profile used to
perform a SatTant.
Note –A Reference Profile must always
be used with the IntelliTrack Module

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Reference Satellite
Mode
4
Choice
Yes, No
Flag indicating that reference profiles
should be used if a heading is needed.
Run Track After
Acquire
4
Choice
Yes, No
Flag indicating that the Tracking Module
should run after a successful acquire
Run Track After Peak
4
Choice
Yes, No
Flag indicating that the Track Command
should run after a successful peak
command.
Run Track on Startup
4
Choice
Yes, No
Flag indicating whether the track command
should be run on start up
Skip Acquire Sat State
4
Choice
Yes, No
Flag indicating whether the acquire state
should be performed before entering track
mode.
Note –This must be set to “Yes” to use
IntelliTrack
Tracking Method
4
Choice
None, Intellitrack
Module, other
installed tracking
modules
Track Method to use after an Acquisition
has completed. Set to IntelliTrack Module.
IntelliTrack Model Clear –Whether or not to clear all IntelliTrack tracking memory for the
current target profile when not tracking. This will clear the IntelliTrack model any time the
module enters or exits tracking.
IntelliTrack Signal Gradient Threshold –This parameter controls the maximum signal change
that will not cause a peaking decision error during step peaking. If this value is exceeded by the
Current Signal Gradient, then the peaking delay time will be reset. Setting this parameter to 0
will disable its functionality.
IntelliTrack Noise Noise Threshold –This parameter controls the maximum signal (noise)
change that will cause a peaking decision error during step peaking. If this value is exceeded by
the Current Signal noise, then the peaking delay time will be reset. Setting this parameter to 0
will disable its functionality.
Reference Profile 1 –This is the target profile to be used for a SatTant. Using a reference profile
will produce a more accurate heading than using the compass systems incorporated into the
antenna. Note –A Reference Profile must always be used with the IntelliTrack Module. Refer to
the main user manual for information regarding Reference Profile configuration.
Reference Profile 2 - This is the target profile to be used for a SatTant if acquisition on
Reference Profile 1 is unsuccessful. Note –A Reference Profile must always be used with the
IntelliTrack Module. Refer to the main user manual for information regarding Reference Profile
configuration.

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Reference Satellite Mode - This flag indicates whether or not a Reference Satellite should be
used to update the heading.
Run Track After Acquire –This flag indicates that the Tracking Module should be run as
part of an Acquire command. This should be set to yes for IntelliTrack acquisitions.
Run Track After Peak –This flag indicates that the Tracking Module should be run after
the Peak or Repeak commands. This should be set to “No” when using the IntelliTrack
module.
Run Track on Startup –This flag indicates that the Tracking Module should be run after
the antenna is powered on. This should be set to “No” when using the IntelliTrack
module.
Skip Acquire Sat State –This flag indicates whether the acquire state should be set and
performed before entering the IntelliTrack tracking mode. Must be set to “Yes” for IntelliTrack
acquire to be successful and must be set to “No” for a standard acquisition.
Tracking Method –The module to be used for target Tracking, set to IntelliTrack_Module.
Note - The Target Profile must also be configured properly for the signal source device
used for tracking the Target Satellite (Beacon Receiver, DVB Receiver, etc.). Scans and
Step Tracks will not be successful without a properly configured signal source

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3.3. Signal Configuration Items
Figure 7 - Signal configuration, search "intellitrack"
Long Name
Level
Type
Value Range
Documentation
IntelliTrack Fine Scan
Velocity (Degrees /
Second)
4
Float
0.01 - 3
The maximum axis velocity to use during the fine
scan, defined in degrees per second
IntelliTrack Scan
Velocity
(Degrees/Second)
4
Float
0.01 - 3
The maximum axis velocity to use during the
acquisition scan, defined in degrees per second

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IntelliTrack Step Track
Dwell Time
4
Float
3 –10
The amount of time to dwell for averaging
measurements at each step track position,
defined in seconds
IntelliTrack Step Track
Maximum Offset
4
Float
0.01 - 3
The maximum distance to step off of the target
during step track operations. Defined as a
fraction of half power beam width.
IntelliTrack Step Track
Peak Detection
Threshold
4
Float
0.01 - 999
An absolute measured power delta used to
determine if the terminal is moving away from
the target during step track operations, defined
in units of the selected receiver
IntelliTrack Step Track
Step Size
4
Float
0.01 - 3
The distance to move between steps during step
track operations. Defined as a fraction of half
power beam width.
Note - All Signal parameters are set at the factory. The values shown in Figure 9
should be maintained. These should only be adjusted by the expert user or AvL
technical support when setting up a profile with a new signal source.
IntelliTrack Fine Scan Velocity –This is the maximum axis velocity to use during the fine
scan. The parameter is defined in degrees per second. This is set to accommodate for the
physical speed of the antenna and for any time delay in signal sampling caused by the
current signal source device, but should only be adjusted by the experienced operator.
IntelliTrack Scan Velocity –This is the maximum axis velocity to use during the acquisition
scan. The parameter is defined in degrees per second. This is set to accommodate for the
physical speed of the antenna and for any time delay in signal sampling caused by the
current signal source device, but should only be adjusted by the experienced operator.
IntelliTrack Step Track Dwell time –This is the amount of time to dwell for averaging
measurements at each step track position. The time is measured in seconds. This is set to
accommodate for any time delay in signal sampling caused by the current signal source
device, but should only be adjusted by the experienced operator.
IntelliTrack Step Track Maximum Offset –This is the maximum distance to step off of the
target during step track operations. It is defined as a fraction of the antennas half power
beam width. This is set to accommodate for physical parameters of the antenna, the
width of the target signal, and the current signal source device. This parameter should
only be adjusted by the experienced operator.
IntelliTrack Step Track Peak Detection Threshold –This is an absolute measured power
delta used to determine if the terminal is moving away from the target during step track
operation. It is defined in units of the selected receiver. This must be set for the signal
source in use as it will create the Step Track failure criteria, but should only be adjusted by
the experienced operator.

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IntelliTrack Step Track Step Size –This is the distance to move between steps during step
track operations. It is defined as a fraction of the antennas half power beam width. This is
set to accommodate for physical parameters of the antenna, the width of the target
signal, and the current signal source device. This parameter should only be adjusted by
the experienced operator.
3.4. Feed Configuration Items
No feed configuration items exist for this module.
4. Operation
4.1. Functional Overview
The IntelliTrack module uses step tracking and a custom mathematical algorithm to provide a
tracking method that is more accurate than step tracking alone. When used to track satellites
with an inclined orbit step tracking is used to find the peak signal. The locations of the peak
signals are then used to build a mathematical model to accurately predict the location of the
target satellite.
After step track pointing data has been gathered for approximately 18 hours, sufficient data is
available to engage the IntelliTrack mathematical model. Once the IntelliTrack model is
operating, the antenna will maintain beam pointing at the satellite location predicted by the
model. The unit will continue to perform occasional step tracking to confirm accurate beam
pointing and will update the IntelliTrack model with each successful step track cycle.
4.1.2 IntelliTrack Concepts
The IntelliTrack tracking algorithm operates in three different coordinate frames, Topocentric,
Earth-Centered Inertial (ECI), and Geodetic. The algorithm begins in the Topocentric frame
where look angle measurements are collected. The Topocentric frame is a Cartesian
coordinate frame (commonly described as the [s,e,z] frame) with an origin centered at the
terminals location aligned such that the s direction is oriented south, the e direction is
oriented east, and the z direction is oriented away from the earth as depicted in the following
Figure 8.

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Figure 8 - Topographic Coordinate System
Each look angle measurement is converted to a direction vector in the Topocentric frame. In
order to more generally describe the satellite position, this Topocentric direction vector is
rotated into the Earth-Centered Inertial (ECI) Frame. The ECI frame is depicted as the
Cartesian [x,y,z] frame in figures 9&10 and where the x direction is aligned with the Vernal
Equinox, and the z direction is oriented north.
Figure 9 - Earth-Centered Internal Coordinate System

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The Topocentric origin (the terminals location) is then similarly transformed to an ECI position.
The magnitude of the direction vector derived from look angle can then be determined such
that the sum of the Topocentric origin and the converted vector has a magnitude matching what
is required for Geostationary satellites described in the ECI frame (42,164 km). The final sum of
the two vectors represents the target position in the ECI frame as noted in Figure 10.
Scaled Direction
Vector
TopoCentric
Origin
Look Angle
Direction Vector
Target Position
Required Radius: 42,146 km
Figure 10 - Earth-Centered Inertial Vector Solution
In order to simplify the mathematical model, the target position is then converted from ECI
coordinates into Geodetic coordinates. The Geodetic coordinate frame describes the position of
an object in terms of Latitude (φ), Longitude (λ), and Altitude (h) (height from the surface of the
earth). This coordinate frame was selected for managing the mathematical model as it allows
the Altitude (h) to be fixed, leaving only two free variables to be characterized. A representative
Geodetic path for an inclined geostationary satellite is described in Figure 11.

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Figure 11- Representative Inclined Geostationary Geodetic Path
As seen in figure 11 the Latitude, and Longitude of the path can easily be described in terms of
sine and cosine. These trigonometric functions then become the basis of the mathematic
tracking model.
The periodic beam pointing optimization (step tracking) moves the antenna to follow the path of
the inclined satellite. Look angle measurements are taken after each completed step track. This
data is used by the IntelliTrack tracking algorithm once enough data points have been collected.
Integrating a step track data table with the IntelliTrack mathematical modeling provides a more
consistent and continuous function during tracking.
4.1.3 IntelliTrack Operation
The IntelliTrack tracking module can be imbedded in the standard AAQ acquisition process. It can also
be manually activated through the AAQ GUI if a full acquisition process is not needed (when the AAQ
has already initialized all sensors and has a SatTant heading). Once the module has been activated the
antenna will perform step tracking at regular intervals. The module can be used with any signaling
device configured to be used with the antenna system, but a beacon receiver is suggested for pointing
accuracy.
The IntelliTrack tracking module is integrated for a target satellite profile (via configuration item
settings) and will be activated through the Acquire command on the AAQ GUI. This is
recommended for the first acquisition after power on. When the Acquire command is run, the

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antenna will first check to see if the sensors have been initialized. If they have not, the antenna
will perform the Home routine.
The Home routine initializes the antenna positioner sensors to ensure accurate pointing with the
terminals coordinate system. Once the sensors are initialized, the antenna will perform a Compass
Read routine and then perform a Reference Satellite acquisition to further refine the heading. At
this point the IntelliTrack tracking module will become active.
Figure 12 - AAQ GUI Commands
The IntelliTrack tracking module can also be activated through the Track command if the
appropriate Target Profile is selected. The Track command will not initialize the antenna sensors
(perform a Home command), perform a Compass Read, or perform a Reference Satellite
acquisition to update the heading. Tracking will not be successful unless these actions have been
performed. Once the IntelliTrack tracking module has been activated, it will respond in one of two
ways depending on whether it has successfully built a full mathematical model for the current
target satellite.
If the IntelliTrack tracking module has not collected enough data points to build a model for the
current satellite, it will first move to the nominal geosynchronous position for the target. The
antenna will perform an appropriate scan for the target based on the terminal latitude and
longitude, the target longitude, and the target inclination. It will then use this as the starting point
to begin the tracking process. On completion of the scan, the antenna will move back to the
location of the highest signal strength (per currently configured signal device), perform a fine scan,
and the first step track cycle will begin. The antenna will continue to perform step track cycles at
regular intervals until it has enough data points to build a mathematical module using the
IntelliTrack tracking algorithm. This will require approximately 18 hours to complete.
If the IntelliTrack tracking module has already built a mathematical model for the current satellite,
the antenna will not perform a raster scan. It will move to the predicted location for the target,
complete a fine scan, and then perform a step track cycle to ensure beam pointing. The antenna
will then perform continuous movement to follow the predicted path of the satellite. Step track

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cycles will now only be performed at key points in the predicted path to maintain an up to date
model.
Note that the IntelliTrack tracking algorithm cannot perform correctly with data that has been
gathered before the sensors have been initialized or with an inaccurate terminal heading.
Note –Any time a step track failure occurs a spiral scan will be performed in an
attempt to find the target. If three successive step track failures occur tracking will
stop.
4.2. Sensor outputs
To view the IntelliTrack Module Sensor Output variables login as a valid user, go to View
->Sensor Output, and type ‘IntelliTrack” into the keyword search window.
Path
Main Window → View → Sensor Output
Level 0
Figure 13 - Sensor Output, Search IntelliTrack