OXTS RT1003 User manual

Confidently. Accurately.
User Manual
RT1003
GNSS-aided inertial
navigation system

Oxford Technical Solutions
2
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Copyright © 2002, Xiph.org Foundation
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RT1003 Manual
Revision: 190628 3
Disclaimer
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Email: [email protected]
Oxford Technical Solutions Limited
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OX25 5HD
United Kingdom
Revision
Document Revision: 190628

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Warranty
Oxford Technical Solutions Limited warrants its products to be free of defects in materials
and workmanship, subject to the conditions set forth below, for a period of one year from the
Date of Sale.
'Date of Sale' shall mean the date of the Oxford Technical Solutions Limited invoice issued
on delivery of the product. The responsibility of Oxford Technical Solutions Limited in
respect of this warranty is limited solely to product replacement or product repair at an
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Technical Solutions Limited personnel or by personnel expressly authorised by Oxford
Technical Solutions Limited for this purpose.
In no event will Oxford Technical Solutions Limited be liable for any indirect, incidental,
special or consequential damages whether through tort, contract or otherwise. This warranty
is expressly in lieu of all other warranties, expressed or implied, including without limitation
the implied warranties of merchantability or fitness for a particular purpose. The foregoing
states the entire liability of Oxford Technical Solutions Limited with respect to the products
herein.

RT1003 Manual
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Table of contents
Introduction ................................................................................................................................7
Scope of delivery........................................................................................................................8
Accessory products.............................................................................................................8
Related documents ...................................................................................................................10
Conformance notices ...............................................................................................................11
Regulator testing standards ..............................................................................................11
Getting to know your product..................................................................................................12
Handling precautions........................................................................................................12
Connector panel layout.....................................................................................................12
LEDs .................................................................................................................................13
Inputs and outputs ....................................................................................................................14
1PPS output ......................................................................................................................14
Trigger 1 and 2..................................................................................................................15
Wheel speed input ............................................................................................................16
Co-ordinate frame conventions................................................................................................17
IMU frame ........................................................................................................................17
OxTS NED navigation frame...........................................................................................18
ISO 8855 ENU earth-fixed system ..................................................................................19
OxTS horizontal frame.....................................................................................................20
ISO 8855 intermediate system .........................................................................................21
OxTS vehicle frame..........................................................................................................22
ISO 8855 vehicle system..................................................................................................23
Local co-ordinates ............................................................................................................24
NAVsuite software ...................................................................................................................26
How to install....................................................................................................................26
System requirements ........................................................................................................26
Admin rights .....................................................................................................................26
To uninstall NAVsuite ......................................................................................................27
NAVsuite applications ......................................................................................................27
Documentation..................................................................................................................28
Communicating with the product ............................................................................................29
Ethernet.............................................................................................................................29
Serial RS232 .....................................................................................................................33
CAN bus ...........................................................................................................................33
Hardware installation ...............................................................................................................34
Antenna placement and orientation..................................................................................34
Configuring the RT1003 ..........................................................................................................36

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Overview.......................................................................................................................... 36
Language selection .......................................................................................................... 37
Product selection..............................................................................................................37
Read configuration .......................................................................................................... 38
GNSS selection................................................................................................................ 39
Orientation ....................................................................................................................... 40
Primary antenna ............................................................................................................... 44
Secondary antenna........................................................................................................... 45
Advanced slip ..................................................................................................................47
Options............................................................................................................................. 49
Committing the configuration ......................................................................................... 72
Saving the configuration and finishing ........................................................................... 73
Setting up the base station....................................................................................................... 75
Initialisation............................................................................................................................. 76
Dynamic initialisation...................................................................................................... 76
Static initialisation ........................................................................................................... 77
Real-time output during initialisation ............................................................................. 78
Warm-up .................................................................................................................................. 79
Post-processing data ........................................................................................................ 83
CAN messages and signals ..................................................................................................... 84
CAN-DB file....................................................................................................................84
CAN bus messages .......................................................................................................... 84
Table heading definitions................................................................................................. 86
Signals.............................................................................................................................. 86
Specifications .......................................................................................................................... 98
Appendix A: Troubleshooting............................................................................................... 100
Accelerometer test procedure........................................................................................ 100
Gyro test procedure ....................................................................................................... 100
Testing the internal GNSS and other circuitry .............................................................. 101
Index ...................................................................................................................................... 103

RT1003 Manual
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Introduction
Thank you for choosing Oxford Technical Solutions.
The RT1003 is a small and lightweight GNSS-aided inertial navigation system for use in
automotive applications where space and payload are restricted. It is designed to measure
position, velocity and orientation with high-accuracy and output those measurements in real-
time as well as logging them internally.
Utilising dual antennas, DGPS corrections, tight-coupling and advanced gx/ix ™ processing
technology, the RT1003 delivers up to 2 cm position and 0.1° heading accuracy (2 m antenna
separation) with up to 250 Hz output for all measurements.
This manual covers the installation, configuration and basic operation of the RT1003.
Separate manuals are provided for the post-processing and graphing software installed with
NAVsuite. We suggest reading the entire manual in order to become thoroughly familiar with
the product before use. It is beyond the scope of this manual to provide details on service or
repair. Contact OxTS support or your local representative for any customer service related
inquiries.

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Scope of delivery
With the exception of a computer running Microsoft Windows, everything you need to utilise
your RT1003 should be included with the delivery. Please check carefully that everything
shown on the delivery note is present. The following tables list the standard and any optional
components delivered with your product.
You may wish to make a note of your product’s IP address (shown on the delivery note) as it
will be useful to refer back to.
Date of purchase: ____________________________
Product's serial number: _______________________
Product’s IP address: _________________________
Accessory products
A number of accessory products are also compatible with your product. These are listed in
Table 2. For more information on specific accessories, please see our website or speak to your
OxTS representative.
Table 1. Summary of standard components supplied with an RT1000
Qty. Description
1 Mounting kit with screws
2G5Ant-2AMNS1 GNSS antenna with 5 m cable
1 RT1003 system unit
1RT1003 user manual
1 USB memory stick (software)
1User cable
Table 2. Compatible accessories
Product Description
GPS-Base The GPS-Base is a small, portable GPS Base Station suitable for transmitting
Differential corrections (DGPS) to our INS products or other products that use GPS.
The position accuracy of differential and RTK capable receivers is improved when
using the GPS-Base
RT-ANA The RT-ANA is an interface converter that accepts CAN messages from the RT1003,
RT2000, RT3000 or RT4000 and converts them to analogue voltages. The RT-ANA
outputs up to 16 analogue output channels with a range of ±10 V

RT1003 Manual
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RT-Backpack The RT-Backpack is an additional component for the RT-Range systems where car-to-
pedestrian tracking is required. It provides a wearable, self-contained and fully powered
INS mounting platform
RT-Base S The RT-Base S is a portable all-weather GNSS base station suitable for transmitting and
logging differential corrections (DGNSS). The position accuracy of differential and
RTK capable receivers is improved when using the RT-Base S
RT-Strut Designed to quickly and securely provide a mounting location inside a land-based
vehicle
RT-UPS An uninterruptible power supply capable of powering the INS for up to one minute after
power is lost. Input 9–48 volts
RT-XLAN The RT-XLAN is a high performance WLAN radio unit capable of providing a highly
reliable >1 km vehicle-to-vehicle data communication link between multiple vehicles
Table 2. Compatible accessories (Continued)
Product Description

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Related documents
In addition to this hardware manual, documentation describing the software applications and
protocols used in conjunction with this product are available. These manuals are copied to
your PC as part of the NAVsuite installation, but more up-to-date versions may be available
from our website. The table below lists the documents that may be of interest and where to
find them.
Note: For online content, enter “www.oxts.com” into your web browser and then append the online path shown.
Table 3. Supplementary documentation and software
Manual Description
NAVdisplay NAVdisplay can be used to view INS measurements on a PC in real-time or by
replaying existing data files. It provides a useful method of checking the status of your
INS.
Local path: C:\Program Files (x86)\OxTS\Manuals\NAVdisplayman.pdf
Online: /Downloads/Support/Manuals/NAVdisplayman.pdf
RT Post-process RT Post-process can download data from an INS and process it using a number
different technologies to extract the best possible accuracy. DGNSS corrections can
also be applied.
Local path: C:\Program Files (x86)\OxTS\Manuals\rtppman.pdf
Online: /Downloads/Support/Manuals/rtppman.pdf
NAVgraph NAVgraph is used to plot, analyse and export measurement data once processed.
Local path: C:\Program Files (x86)\OxTS\Manuals\NAVgraphman.pdf
Online: /Downloads/Support/Manuals/NAVgraphman.pdf
NCOM NCOM is a propriety format developed by OxTS that is used in our products.The
NCOM manual provides information about decoding and using the NCOM format.
Local path: C:\Program Files (x86)\OxTS\Manuals\ncomman.pdf
Online: /Downloads/Support/NCOM Manual and Code Drivers/ncomman.pdf
NCOM C Code
Drivers
This ZIP file contains a collection of C functions that can be used to decode the binary
protocols from the RT1003.
Online: /Downloads/Support/NCOM Manual and Code Drivers/ncomrx.zip
NMEA 0183
Description
NMEA description manual for the NMEA outputs found on our INS products.
Online: /Downloads/Support/NMEA/nmeaman.pdf
RT-Base S Explains how to set-up and use the RT-Base S base station to achieve RTK integer
operation mode.
Local path: C:\Program Files (x86)\OxTS\Manuals\RT-BaseSManual.pdf
Online: /Downloads/Support/Manuals/rtbasesman.pdf