Point One Atlas User manual

Atlas User Guide
Version 1.0
© Copyright 2020 Point One Navigation
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Revision History
Version
Date
Description
1.0
2020-11-1
Initial version
© Copyright 2020 Point One Navigation
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Table Of Contents
1. Introduction 4
1.1 Getting Started 4
1.2 Connections 5
1.3 Installation 7
1.3.1 Orientation 7
1.3.2 Measuring Lever Arms 8
2. Operating Atlas 9
2.1 User Interface Overview 9
2.1.1 Map View 9
2.1.2 Device Status View 10
2.1.3 Detailed Status View 11
2.1.4 Settings View 12
2.1.4.1 Network Settings 12
2.2 Starting/Stopping Navigation 12
2.3 Resetting The Device 12
3. Data Interfaces 14
3.1 Receiving Output Data 14
3.1.1 Point One FusionEngine Client 14
3.1.2 NMEA 0183 14
3.2 Recording Data 14
© Copyright 2020 Point One Navigation
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1. Introduction
This guide will familiarize you with the Point One Atlas inertial navigation system and provide
step-by-step instructions for using it.
To use Atlas you will need:
● An Atlas device
● An Ethernet or Wi-Fi network with an internet connection
○ Ethernet required for initial setup
● A computer or tablet device
● A GNSS antenna
○ Triple-frequency (L1/L2/L5) recommended
● A connection to your vehicle's CAN bus, used for wheel speed measurements
○ Recommended for best performance, but not required
1.1 Getting Started
Follow these steps to begin using your new Atlas device:
1. Rigidly mount the device and carefully measure the lever arms as described in Section
1.3.
2. Connect the device to a GNSS antenna and an Ethernet network as described in section
1.2.
○ Note: The Ethernet network must have DHCP and an available internet
connection. For normal operation Atlas can use a Wi-Fi connection and/or static
IP address, but it does not currently support Wi-Fi or static IP for initial setup.
3. Connect power to the device.
4. Scan the QR code on the top of the device with a computer or tablet on the same
network as Atlas, then follow the listed URL. This will automatically detect the IP address
assigned to your device and take you to the device's user interface webpage.
○ Note: If you are not on the same network as your Atlas device, the webpage
referenced by the QR code will simply display Atlas's assigned local IP address,
which you can enter into a browser manually.
○ It may take up to 30 seconds for Atlas to boot before the web page displays the
IP address.
5. On the UI menu, select Settings, then enter the lever arms you measured in step 1 and
click Save.
○ By default, Atlas outputs the position of the body frame (center of the rear axle).
You can configure the output lever arm to relocate the position to anywhere you
would like on the vehicle.
Note: CAN message formats vary by manufacturer and vehicle model/year. Please contact
Point One to add support for your vehicle's CAN data.
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6. Navigate to the Map View page.
7. Click the Start Navigating button.
1.2 Connections
Figure 1: Atlas back panel connections.
Figure 1 shows the available connections on the back panel of your Atlas device. Atlas can be
powered either via USB C or through the 4-pin CAN connector.
The CAN bus connector is oriented as follows:
Table 1: CAN bus pinout.
The CAN H and CAN L connectors are not  terminated with a 120 ohm resistor.
The Vin pin on the CAN connector may be used to power Atlas. It can accept DC voltage levels
from +5.5V to +55V, and is typically connected to the vehicle's +12V auxiliary power bus. The
Vin pin can be omitted if Atlas is powered via USB C and visa versa.
Note: Powering Atlas via USB C requires a 2A-capable power adapter. Atlas may not work
reliably with some USB hubs. We recommend using the included power adapter.
CAN H
CAN L
Vin
GND
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The camera triggers are +3.3V signals, oriented as follows
Table 2: Camera trigger pinout.
Figure 2: Atlas front panel connections.
The front panel of the device, shown in Figure 2, has two SMA RF connectors. The left
connector is for an external Wi-Fi antenna (included). Note the Wi-Fi SMA connector is the
“reverse polarity” variant.
The right connector is for the GNSS antenna. It is designed to be used with a powered
antenna/LNA, and provides a DC supply voltage.
Signal
GND
Warning: If your antenna is already powered by another source (another GNSS receiver,
powered bias-T, etc.), you must attach a DC block between the power source and the Atlas
antenna connection to avoid damage to the Atlas GNSS receiver.
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1.3 Installation
1.3.1 Orientation
Figure 3: Recommended device orientation.
Both Atlas and the GNSS antenna must be mounted rigidly to your vehicle. Atlas should be
mounted as closely aligned with the vehicle body axes as possible.
We recommend installing Atlas with the front panel (the panel with the SMA antenna
connectors) facing forward toward the front of the vehicle, the Wi-Fi antenna toward the
passenger side. When oriented this way, the QR code sticker on the top of the device should
face up.
90 degree orientation changes on any axis will be detected automatically by the device
calibration procedure (see Section 1.3). Calibration will then estimate any remaining small
mounting angle differences with respect to the vehicle axes. For best calibration performance,
however, you should try to install it as closely aligned as possible (i.e., with as small mounting
angle error as possible).
Note: If either Atlas or the antenna is moved, the existing calibration will no longer be valid
and the device will need to be recalibrated.
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1.3.2 Measuring Lever Arms
Figure 4: Body frame and lever arm definition
Once installed, you must measure the lever arms from the vehicle body frame to both Atlas and
the GNSS antenna. For best performance, it is important to measure the lever arms as
accurately as possible.
The Atlas body frame is a right-handed coordinate system centered at the middle of the rear
axle of the vehicle, and oriented as follows:
+x - Toward the front of the vehicle
+y - Toward the driver's side
+z - Up
The lever arms are defined as the vector to the sensor from the vehicle body frame origin,
resolved in the body frame. For instance, if the Atlas device is located behind and above the
rear axle, toward the right-hand side of the vehicle (as in the diagram above), then the Atlas
lever arm will have a negative x component, a negative y component, and positive z component.
Ideally these measurements will be accurate to better than 5 cm.
The lever arms should be measured at the nominal phase center of the antenna, and at the
nominal center of the IMU within the Atlas device, which is approximately the center of the
chassis. For an exact measurement, mark the top lid 12 cm inward from the USB C connector
and 5 cm inward from the long edge of the case. You should measure to this point when
configuring the device location.
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2. Operating Atlas
This section includes detailed information for using your Atlas device.
2.1 User Interface Overview
2.1.1 Map View
The map view is accessed by clicking the icon on the left toolbar.
Figure 5: UI map view page.
The map view displays your vehicle's position and status in real time as the system navigates.
Figure 6: Map view start button.
Use the button in the upper left corner of the display to start and stop the navigation engine.
Each time you start navigating, the system begins recording a new data log. See Section 3 for
details.
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Figure 7: Map view dash panel.
The dash panel shown in Figure 7 provides a detailed view of the current solution in real time
when the system is operating.
The Solution Type in the center indicates the current navigation mode: GNSS RTK fixed,
standalone GNSS, dead reckoning, etc.
The panel on the left shows the current WGS-84 latitude and longitude, vehicle speed in MPH,
vehicle altitude (above the WGS-84 ellipsoid), and the number of available GNSS satellites.
The three boxes on the bottom indicate the current calibration status, the status of the
navigation engine (running or not), and the status of the connection to the Point One Polaris
RTK network.
2.1.2 Device Status View
The device status view is accessed by clicking the icon on the left toolbar.
Figure 8: Device status view panel.
The device status page shows the current software version and status, along with the status of
recorded log data (see Section 3.2).
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Use the Start Navigating button to start and stop the navigation engine.
The Reset Navigation Engine button clears the system's knowledge of the position and
attitude history by performing a cold start  of the navigation state. It is typically not necessary to
cold start the navigation engine, but this feature may be used when troubleshooting. Performing
a cold start does not  reset the device calibration.
Figure 9: Log action buttons.
By default, Atlas records a log of the incoming sensor data and navigation results as it operates.
In the event that you need assistance, logs can be uploaded to Point One by pressing the
Upload button.
2.1.3 Detailed Status View
The detailed status view is accessed by clicking the icon on the left toolbar.
Warning: Log data is not deleted automatically. If the disk fills up, Atlas will continue
navigating but will no longer record data for post-processing or troubleshooting.
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Figure 10: Example detailed status displays.
The detailed status page shows selected detailed information about the incoming sensor data
and the state of the device as it navigates.
2.1.4 Settings View
The settings view is accessed by clicking the icon on the left toolbar.
The settings page includes settings for specifying sensor lever arms, controlling desired output
data, resetting the device calibration, and more.
2.1.4.1 Network Settings
The Network Settings panel provides controls for configuring the Atlas Ethernet and Wi-Fi
interfaces. You may enable one or both interfaces, and can configure each for static IP or
DHCP.
2.2 Starting/Stopping Navigation
Figure 11: Start/stop buttons.
To begin navigating, click the Start Navigating button in the top left corner of the UI Map View
page, or on the Device Status page. When finished, click Stop Navigating to stop logging.
If you wish, you can configure the device to start logging automatically when it is powered on by
selecting Start navigating automatically on boot on the Settings page.
2.3 Resetting The Device
Atlas devices support three types of reset:
● Use the Reset Navigation Engine button on the Device Status page to perform a cold
start  , clearing the previous position and attitude information.
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● Use the Reset Device Calibration button on the Settings page to clear both the
position/attitude history (cold start) and the device calibration data. This is typically only
necessary if the device or GNSS antenna has moved with respect to the vehicle body.
● Perform a Factory Reset on the Settings page to clear the entire device state, including
logged data.
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3. Data Interfaces
3.1 Receiving Output Data
3.1.1 Point One FusionEngine Client
Atlas uses the Point One FusionEngine Client protocol to send and receive data and commands
in real time. See https://github.com/PointOneNav/fusion-engine-client for message definitions
and support source code.
The FusionEngine Client interface can be used by connecting to TCP port 30201, or by sending
data to a specified UDP destination hostname/IP address and port. See the Settings -> Output
Settings control panel. Once connected, you will automatically receive configured data
messages as the system operates.
The Settings -> Output Settings panel includes options for configuring which output messages
you would like to receive, and the output data rate.
3.1.2 NMEA 0183
Atlas also includes support for selected messages from the NMEA 0183 standard. To receive
NMEA data, connect to TCP port 30200, or configure a UDP destination on the Settings ->
Output Settings control panel.
Atlas currently supports the following NMEA messages:
● GPGGA
● GPRMC
● GPGSA
● GPGSV
3.2 Recording Data
Atlas creates a new log with an automatically generated ID each time you start navigating. By
default, logs include all incoming sensor data and generated results in a proprietary Point One
format. They can be used for post-processing data analysis and troubleshooting.
Logs can be downloaded to your local machine by clicking the Download button.
If you encounter an issue and require further assistance, you can click the Upload to Point One
button to send the log to Point One for processing (the device must remain on and connected to
the internet while uploading the log).
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