PNI DOM DST Instruction sheet

PROTOTYPE – EARLY ACCESS TECHNOLOGY EVALUATION MODULE
DIRECTION OF MOTION DISMOUNTED
SOLDIER TRACKER – DOM DST
EVALUATION GUIDE

PNI SENSOR CONFIDENTIAL DOCUMENT
DOM DST Evaluation Guide R01
03/2021 Page 1 of 14
TABLE OF CONTENTS
1INTRODUCTION ......................................................................................................... 2
2OVERVIEW ................................................................................................................. 3
2.1 EVALUATION KIT CONTENTS.......................................................................................................... 3
2.2 QUICK START.................................................................................................................................. 3
3DETAILED STEPS......................................................................................................... 4
3.1 CHARGING ..................................................................................................................................... 4
3.2 MOBILE APP PAIRING..................................................................................................................... 5
3.3 START TRACKING ........................................................................................................................... 6
3.4 GYRO STABILIZATION..................................................................................................................... 7
3.5 SECURE MODULE ON BODY........................................................................................................... 8
3.6 START WALKING ............................................................................................................................ 8
3.7 STOP DIRECTION OF MOTION SERVICE ......................................................................................... 9
3.8 EXPORT LOG................................................................................................................................. 11
4DOM PLAYBACK....................................................................................................... 12
4.1 DOM PLAYBACK ........................................................................................................................... 12

PNI SENSOR CONFIDENTIAL DOCUMENT
DOM DST Evaluation Guide R01
03/2021 Page 2 of 14
1 INTRODUCTION
The Direction of Motion – Dismounted Soldier Tracking (DOM DST) Evaluation Kit showcases PNI’s
technology to accurately track soldiers even when GPS is unavailable. Unlike other inertial tracking
technologies, PNI’s Direction of Motion (DOM) location tracking algorithms determine the direction of
the soldier’s path of travel independent of the soldier’s body pose or any device to body-frame offsets.
For example, the DOM DST will continue to track a soldier’s location even if they are walking backwards
or sideways.
PNI Sensor has invested IR&D over the last 7 years in developing inertial tracking algorithms that solely
employ consumer-grade MEMS inertial sensors in combination with our RM3100 magnetometers.
Hence, the DOM DST module is a self-contained low SWaP-C tracking unit that can be body worn and
deliver fine-resolution, step-by-step tracking and location in GPS-denied or compromised environments.

PNI SENSOR CONFIDENTIAL DOCUMENT
DOM DST Evaluation Guide R01
03/2021 Page 3 of 14
2 OVERVIEW
2.1 Evaluation Kit Contents
Figure 1 Evaluation kit contents
Clockwise from top:
1. Dismounted Soldier Tracking Module (DST Module) – Part number 14573
2. Wireless Charger bracket design – Part number 14540
3. Micro USB charging cable
2.2 Quick Start
Note: Detailed steps shown in next sections
1. Charge DOM DST module using its wireless charger – a full charge will take about an hour.
Make sure to slide the module with the arrow towards the USB connector.
Figure 2Slide DST Module with the arrow on the module pointed towards the USB Charger
2. Remove module from charger bracket and set it down on a stable surface such as a table.
•The DOM DST module has a gyroscope. The gyroscope bias is continuously learned
and setting the module down on a stable surface will allow a quick learning of the
initial gyroscope bias.
•Keep it stable and still while performing the next steps.
3. Launch iOS DOM DST App and press the green Start Scan button.
4. Select the module you’d like to connect to.

PNI SENSOR CONFIDENTIAL DOCUMENT
DOM DST Evaluation Guide R01
03/2021 Page 4 of 14
•If you only have one module, only one device will appear in the selection.
•Each module is identified by a unique serial number.
•Serial number can be found on the sticker on the Module.
5. Once the Module is connected via BLE to the mobile phone, you’ll be brought to a Services
page of the App.
6. Choose Direction of Motion Service
7. Keep the module on a stable surface to allow gyro bias learning [at least 30 seconds].
8. Secure module on body so it is stable and does not move.
9. For best results, start the test in open skies where an accurate initial location can be
determined using the iPhone’s GPS. Starting in open skies with GPS will automate user step
scaling and starting location. Contact our FAE Team at [email protected] if
your application will not have any GPS access.
10. While in Direction of Motion Service with a screen view of a map and good acquisition of your
starting point, select “Start” at the top left corner of the map.
•After hitting “Start”, wait about 3 seconds before walking. This allows the module to
learn its orientation in relationship to the user’s body.
•Once started, “Start” will toggle to “Stop.”
11. Start walking - Start in open skies and walk for one minute outdoors.
12. Once a good starting location and automatic user initial stride length is learned (one minute
with good GPS), move from outdoors to indoors and back outdoors for testing.
13. At the end of walk press “Stop”.
14. Take a screen shot if you would like to save a visual record.
•Once you leave Direction of Motion Service page, the tracking run will be erased.
15. Export JSON log for data analysis and for Playback of the run.
•DOM Playback mode can recreate the run.
3 DETAILED STEPS
3.1 Charging
The DOM DST module can be used in continuous mode connected via BLE to the phone for 4 hours.
After 2-3 hours of use, we recommend charging the module before further testing.
To charge the module, slide the DOM DST module into the wireless charger and apply power to the
charger using the micro-USB connector. Make sure the small arrow on top of the DST module points
towards the USB charger as in Figure 2 when sliding it onto the charger. A red LED will light up on the
bottom of the charger and when charging is complete, the LED will turn solid green. To fully charge the
battery from low battery condition, it will take about an hour.
Note: In this prototype version of the DOM DST module hardware, there is no battery charge level
indicator.
If the battery is nearly full, the charger LED may stay red and not turn green. This is a function of the
charger IC which we are not able to change at this time. The battery will charge even with the red LED,
keep it in the charger for an hour to guarantee a full charge.

PNI SENSOR CONFIDENTIAL DOCUMENT
DOM DST Evaluation Guide R01
03/2021 Page 5 of 14
3.2 Mobile App Pairing
The DOM DST Eval iOS application will be provided via TestFlight which can be found on the Apple App
Store. An invitation link to the DOM DST Eval iOS app will be made available by our Field Application
Engineer (FAE) team. If you did not receive your invitation to the app, please request access through
[e-mail]
Figure 3- App Icon
Launch the App and press “Start Scan” button on the bottom of the screen. All available DOM DST
modules will be displaced. Choose the module you would like to pair to.

PNI SENSOR CONFIDENTIAL DOCUMENT
DOM DST Evaluation Guide R01
03/2021 Page 6 of 14
Figure 2 – Pairing DOM DST Module to the mobile device
Once paired, the app will bring you to the Services page.
Figure 3 - Services
3.3 Start Tracking
From the Services page choose Direction of Motion. The first screen will open the maps page and
request user permission to allow the app to use your location. In order to see your live tracking on a
map, you will need to choose “Allow while Using App” or “Allow Once”. To change location access by
the DOM DST App, go to your Settings on your iPhone.

PNI SENSOR CONFIDENTIAL DOCUMENT
DOM DST Evaluation Guide R01
03/2021 Page 7 of 14
Figure 4 - Allow App to use your location notification
The DOM DST tracks the user and traces the user’s path using only inertial sensors. Hence an initial
location input is needed for the module to provide continuous location.Assuming an application where
a user moves from outdoors where GPS is available to indoors or from open skies to tree cover or
canyons, the default settings of the App have been configured to use GPS of the phone to acquire the
user’s starting point location. The phone’s GPS will also be used to automatically learn a user’s stride
length for accurate scaling of the user’s traced path.
Starting in open sky with GPS will automate user step scaling and starting location. Contact our FAE
Team at [e-mail] if your application will not have any GPS access.
The app setting is defaulted to display the DOM GPS Fusion path in blue. This path acquired its starting
point and calculatesthe individual’s stride length using GPS. Unlike GPS only tracking, DOM GPS Fusion
will accurately track a user even when GPS is denied. Furthermore, the DOM DST module tracks the
users path with step-level resolution versus an interpolation between two GPS positions.
3.4 Gyro Stabilization
The DOM DST Module uses 3-axis magnetic sensors, 3-axis gyroscope and 3-axis accelerometer for GPS
denied inertial tracking. Gyroscope bias learning is important to achieving tracking accuracy and hence
the DOM DST module should be placed on a stable surface such as a table for at least 30 seconds at the
beginning of a walk, and after every 20 minutes of walking to allow gyro bias learning.
Background automatic gyro bias learning using the magnetic sensors is one of the technology
developments planned for future releases of this product.

PNI SENSOR CONFIDENTIAL DOCUMENT
DOM DST Evaluation Guide R01
03/2021 Page 8 of 14
3.5 Secure Module on Body
Secure the DOM DST module tightly to the user’s body; for example on the loop of a tactical vest as
shown in figure 6. The module should not be allowed to swing or bounce around.
Place the iPhone and the module in close enough vicinity to maintain a good, constant Bluetooth
connection. It should be noted that as the iPhone battery is depleted the Bluetooth signal can get
weaker. This may require the phone to be held closer to the module for maintaining the Bluetooth
connection.
Figure 5 - DST Module in recommended position
Unlike other inertial trackers, the DOM DST module will track accurately, independent of positioning on
the body. Hence testing can be done with the module secured to a belt or inside a pant pocket where it
will be secured in one orientation. We do not recommend the module to be wrist worn. Arm swing
motion correction algorithms are not optimized in the DOM algorithms.
Weapon or head mounted locations could work but are still being tested and results may vary. Please
first evaluate the DOM DST module secured to the body as recommended above. We welcome you to
test the module on different parts of the body. Please remember to include with any data logs you
share with us the module’s location on the body and how it was attached to that location.
3.6 Start Walking
Tracking can be viewed live on the DOM DST iPhone App with the Direction of Motion Service once the
module is connected via Bluetooth to the mobile phone.
1. In Direction of Motion Service view, there will be a view of a map and your phone’s start
location pin. Once you have a good GPS acquisition of your start location, select “Start” at the
top left corner of the map.

PNI SENSOR CONFIDENTIAL DOCUMENT
DOM DST Evaluation Guide R01
03/2021 Page 9 of 14
•After hitting “Start”, wait about 3 seconds before walking. During this 3 seconds, the
module will determine its orientation on the body. There can be errors if the user
does not wait 3 seconds before walking.
•Once started, “Start” will toggle to “Stop”
2. Start walking
•Preferably start in open skies
•Walk outdoors
3. For best results start the test in open sky where an accurate initial location can be determined
using the iPhone’s GPS. Starting in open sky with GPS will automate user step scaling and
starting location. Contact our FAE Team at [email protected] if your
application will not have any GPS access.
4. Continue walking outdoors for about 1 minute to allow for a good initial location and
automatic stride length learning.
5. Test by walking outdoors, indoors, in areas where GPS signal is weak or not available to test
the DOM DST module and algorithm capabilities.
6. At end of walk press “Stop” Direction of Motion service.
In the Direction of Motion Service, The DOM algorithms track and traces the user’s path when walking
forwards, backwards and even when walking side to side.
Although the DOM algorithms include running, due to the processor processing power limitations of the
current DOM DST module running will not track accurately.
Crawling and other dynamic motion have limited support in the current algorithms but can be
developed in the future according to customer requirements.
3.7 Stop Direction of Motion Service
At end of walk press “Stop”.
It is important to note that once you leave the Direction of Motion Service page, by hitting the back
button or the BLE scan icon, the App will not save the map or the data. If you’d like to save the run, take
a screen shot and/or save the session log by selecting “Export” on the right top corner of the map. This
will allow you to play back the run in Playback mode detailed in the Playback Section.

PNI SENSOR CONFIDENTIAL DOCUMENT
DOM DST Evaluation Guide R01
03/2021 Page 10 of 14
Figure 6 - Stop Direction of Motion service tracking outdoors and indoors
Purple line DOM GPS fusion path, Blue line GPS only
Figure 7 Settings in Direction of Motion Services – Default DOM-GPS Fusion

PNI SENSOR CONFIDENTIAL DOCUMENT
DOM DST Evaluation Guide R01
03/2021 Page 11 of 14
The default trace shown on the map in Direction of Motion Services is the DOM-GPS Fusion in purple.
User can choose to also show GPS only path which will be displayed in blue and DOM DST with NO GPS
fusion or GPS learned step count in black. The default view is DOM-GPS Fusion path only, additional
traces need to be selected in Direction of Motion Services Setting before starting the tracking.
If indoors, under tree canopy or in urban canyons, there will be GPS errors. If starting the Direction of
Motion Service in these types of situations, please contact our FAE team at
[e-mail] for additional information.
Figure 7 shows a sample run with both the DOM GPS Fusion (purple) and GPS (blue) paths. Tracking
was started outdoors and moved indoors to PNI offices. Notice the purple path continues to track
accurately indoor while GPS indoors is not able to track properly.
3.8 Export Log
Press the Export button at the top of the map to export a JSON log of the walk. Logs can be shared
along with feedback on the DOM DST Evaluation Kit Zendesk page. Please detail the location of the
module on the evaluators body when sharing the logs. The JSON file contains the phones GPS
coordinates along with the DOM DST Modules computed path.

PNI SENSOR CONFIDENTIAL DOCUMENT
DOM DST Evaluation Guide R01
03/2021 Page 12 of 14
4 DOM PLAYBACK
4.1 DOM Playback
At the bottom of the sensor scanning pages and Direction of Motion Service pages, click “DOM
Playback”. This will display a map as seen in the following screenshot.
Figure 8 DOM Playback
Next click “Choose File” at the top of the screen. Choose from the saved log files for playback, i.e.,
“DOM_Log_2020-09-21_19_16_51.json”. These JSON log files should be saved on the iOS device or in
the devices iCloud.

PNI SENSOR CONFIDENTIAL DOCUMENT
DOM DST Evaluation Guide R01
03/2021 Page 13 of 14
Figure 9 JSON file selected from iCloud
Figure 10 Ready to Start Playback of Chosen file
Figure 10 and 11 shows the file selection from iCloud and loaded in DOM Playback. Before pressing start
click “Settings” in the top left to adjust the playback parameters.
Figure 11 DOM Playback Settings

PNI SENSOR CONFIDENTIAL DOCUMENT
DOM DST Evaluation Guide R01
03/2021 Page 14 of 14
Pressing Start will display the starting position (green circle) and 3 path traces:
Purple – DOM DST and GPS Fusion
Blue – GPS only
Black – DOM DST inertial tracking only.
Figure – Path shown the map
When tracking outdoors only, for the most part, the blue color DOM-GPS Fusion path will align with the
purple color GPS path. The DOM-GPS path tracks to step resolution and hence you will be able to track
movement to finer resolution. When moving from outdoors to indoors, the purple color DOM-GPS path
will continue to track accurately while the blue color GPS only path will have large errors.
In this DOM DST Evaluation kit release, the DOM-DST Inertial tracking path assumes initial direction of
travel to be North. Hence DOM-DST Inertial path will have a rotation error and scaling error. Contact
our FAE team at [e-mail] if your application will never have GPS access. We
can tailor the inertial tracking to work within your application.