Point One Standard Dev Kit User manual
Point One Standard Dev Kit
User Manual
V1.21
10/19/2023
Table of contents
1. Introduction 4
2. Requirements 6
3. Point One Standard Dev Kit Interfaces 8
3.1 Hardware Interface 8
3.1.1 Point One Standard Dev Kit Connectors 8
3.1.2 Connector Pinouts 9
3.2 Communications Interface 9
3.3 Supported Message Types 11
4. Quick Start Guide 14
5. Desktop Application Configuration/Use 20
5.1 Device Setup 20
5.2 GNSS Corrections Settings 21
5.3 Navigating/Logging 21
6. Command-Line Python Applications 23
6.1 p1_runner – Command-Line Logging And RTK Corrections Client (NTRIP) 24
6.1.1 Running With The Included p1_runner Python Application 24
6.1.2 Receiving RTK Corrections 24
6.1.3 Outputting Data Over TCP 24
6.1.4 Data Logging 25
6.1.5 Wheel Tick Diagnostic Display 25
6.2 config_tool – Command-Line Configuration Utility 26
6.2.1 Running The Configuration Utility 26
6.2.2 Saving Changes 26
6.2.3 Enabling Output Message Types And Changing The Output Rate 26
6.2.4 Enabling Diagnostic Output 27
6.2.5 Changing The Serial Baud Rate 27
6.2.6 Resetting the Device 28
6.2.7 Enabling/Disabling GNSS Systems 28
6.2.8 Enabling/Disabling GNSS Frequency Bands 28
6.3 config_tool – AP Specific Settings 29
6.3.1 Device (IMU) Orientation 30
6.3.2 Lever Arms 31
PoInt One Standard Dev Kit User Manual 2
6.3.3 Hardware Wheel Tick Configuration 32
6.3.4 Software Wheel Speed Configuration 32
6.3.5 Software Wheel Tick Configuration 34
6.4 device_bridge – Link Two Devices Over USB 35
6.5 Testing Dead Reckoning (Fault Control) 35
7. P1DK Firmware Versions 36
7.1 Firmware Updates using Point One Desktop Application (GUI) 36
7.2 Firmware Updates using Command-line firmware upgrade tool 37
8. NMEA Message Definitions 38
8.1 NMEA $PQTM* Definition 38
8.2 NMEA $P1CALSTATUS Definition 38
8.3 NMEA $P1MSG Definition 38
8.4 NMEA Position Indicator Flags 38
Appendix A. Version History 39
PoInt One Standard Dev Kit User Manual 3
1. Introduction
This document provides technical guidance for the Point One Navigation Standard Dev Kit. The
Point One Standard Dev Kit allows the user to collect precise positioning data using Point One
FusionEngine API for various applications. It is available in a small miniPCIe form factor using
the Quectel LG69T navigation module.
This document provides information so that a user will be be able to:
●Connect the board to the host computer and GNSS antenna
●Configure device parameters and communication
●Install the Standard Dev Kit in a vehicle (if applicable)
●Run the device using the desktop or command-line applications and collect data
●Upgrade device firmware
During operation, the device will produce a 10 Hz standalone or RTK navigation solution.
Results can be output using the Point One FusionEngine
(https://github.com/PointOneNav/fusion-engine-client) and/or NMEA-0813 protocols.
For RTK operation, corrections must be supplied to the device using RTCMv3 MSM4-7
messages. Corrections may be passed directly to the device via either serial UART. Corrections
can be provided by a local base station, Point One's Polaris corrections network, or an
alternative NTRIP server using either the Point One Navigation desktop application or the
included Python p1_runner command-line application.
Point One Navigation Desktop application is freely available to interface with the Standard Dev
Kit for configuration, data collection, and evaluation. The Desktop application is available for
Linux, Windows, or Mac OS.
Similar to the Desktop application, the Python p1_runner application may be used on the
command line to connect to the device over serial and performs the following:
●Connect to a Polaris or NTRIP server and provide incoming RTCM corrections data to
the device over serial
○NMEA GPGGA position messages automatically will be forwarded to the NTRIP
server to associate the device with a corrections data stream
●Extract and display position solutions
●Relay positioning data on a TCP port for use with user applications
PoInt One Standard Dev Kit User Manual 4
●Log FusionEngine, RTCM, NMEA data produced by the device for post-processing and
diagnostic purposes
In addition, the provided Python config_tool command-line application may be used for
configuring device settings.
For details on connecting an LG69T-AM/AP navigation engine with a secondary LG69T-AH
heading measurement engine, see the Point One Standard Dev Kit AH Heading Firmware
Application Note.
For details on using a Quectel LG69T evaluation board, see the Quectel LG69T EVB Application
Note.
PoInt One Standard Dev Kit User Manual 5
2. Requirements
●Hardware
○Point One Standard Dev Kit
○L1/L5 GNSS antenna
○USB-to-miniPCIe carrier board or miniPCIe interface to host computer
●Software
○LG69T AM, AP, or AH release package containing the latest firmware and tools
■Latest firmware version available at
https://pointonenav.com/docs/#standard-dev-kit
○Windows, Linux (kernel v5.9 or later), or Mac OS
○Point One Navigation Desktop application, included p1_runner application, or
user developed interface software built on Point One open source tools
●Connectivity
○The Point One Standard Dev Kit should be connected to a host computer with
internet connectivity to receive GNSS corrections for RTK operation
NOTE: DRIVERS ARE REQUIRED FOR WINDOWS AND MACOS
When using Windows, install the CP210x Windows Drivers v6.7.6 or later from
https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers. The default universal
driver included with Windows can cause significant unexpected data loss on some machines.
When using Mac, install the CP210x VCP Mac OSX Driver v6.0.0 or later from
https://www.silabs.com/developers/usb-to-uart-bridge-vcp-drivers.
When using Linux, use the CP210x driver included with Linux kernel version 5.9 or later
(included in Ubuntu 21.04 and later). Before 5.9, the driver had an issue that can cause
unexpected data loss on some machines.
The Point One Standard Dev Kit offers three different types of firmware available for use: AM,
AP and AH.
The AM firmware uses the on board GNSS receiver and supporting machine to stream RTK
corrections and provide precise location.
PoInt One Standard Dev Kit User Manual 6
The AP firmware integrates the GNSS receiver with the onboard IMU and optional wheel
speed/tick sensor data in order to provide Dead Reckoning abilities in tough GNSS
environments where it is difficult to provide an accurate position with GNSS alone. This
firmware is only compatible with LG69T-AP modules.
The AH firmware is used for dual antenna heading configurations and must be used in
conjunction with another AM or AP module. Details on the AH use and configuration can be
found in the Point One Standard Dev Kit AH Addendum manual.
By default, boards are flashed with the latest AM firmware. See Section 7.1 to update firmware
using the Point One Desktop Application to the latest version.
PoInt One Standard Dev Kit User Manual 7
3. Point One Standard Dev Kit Interfaces
3.1 Hardware Interface
3.1.1 Point One Standard Dev Kit
Connectors
J1: 5-pin connector (PPS, wheel tick, wheel
direction)
J2: 3-pin connector (CAN bus data)
J4: 2-pin connector (battery backup)
J6: 4-pin connector (GPIO, 3.3Vout)
MiniPCIe
⬜
S1: Reset button
S2: Boot button
Port
Input
Outputs (default)
miniPCIe
●Point One FusionEngine control
messages
●NMEA control messages.
●RTCM RTK corrections data
(1005/6, MSM4-7)
●Power
●Point One FusionEngine messages
●NMEA-0183 solution messages
2-pin Connector [J4]
(WM15251)
●Battery Backup (3.3V) Note: this is
not required if the soldered down
battery is present.
3-pin Connector [J2]
(WM15255)
●CAN bus data
4-pin Connector
[J6] (WM15259)
●GPIOA
●GPIOB
●GPIOA
●GPIOB
●3.3V
PoInt One Standard Dev Kit User Manual 8
5-pin Connector
[J1] (WM15263)
●Wheel Tick (0-5.5V tolerant)
●Wheel Direction (0-5.5V tolerant)
●PPS
3.1.2 Connector Pinouts
[J1] 5-pin connector:
●Pin 1: Wheel Tick (0-5.5V tolerant)
●Pin 2: PPS Out
●Pin 3: Wheel Direction (0-5.5V tolerant)
●Pin 4: Open
●Pin 5: GND
[J2] 3-pin connector:
●Pin 1: CAN_L
●Pin 2: CAN_H
●Pin 3: GND
[J4] 2-pin connector:
●Pin 1:GND
●Pin 2: BAT (3.3V)
[J6] 4-pin connector:
●Pin 1: GPIO_A
●Pin 2: GPIO_B
●Pin 3: 3.3VOUT
●Pin 4: GND
3.2 Communications Interface
The Point One Standard Dev Kit supports Point One FusionEngine messages and NMEA-0183 messages,
over USB on the miniPCIe connector. There are two UARTs available on the LG69T device.
By default, serial UART1 is configured to output NMEA-0183 messages at 460800 baud. UART2 is
configured to output an interleaved stream of FusionEngine, NMEA-0183, and RTCM messages. Output
configuration can be changed using FusionEngine configuration messages (see 6.2.4 Enabling/Disabling
Output Message Types). Both serial ports are configured for 8 bits, no parity, 1 stop bit (8N1).
During operation, the device will produce a 10 Hz position solution after initialization.
Note: In Windows, UART1 is named "Standard COM Port" and UART2 is named "Enhanced COM Port".
In Linux, UARTs 1 and 2 typically appear as /dev/ttyUSB1 and /dev/ttyUSB0 respectively.
Note: We highly encourage the use of the Point One FusionEngine binary protocol over legacy
NMEA-0813 messages. The FusionEngine protocol includes more detailed information than is
available in standard NMEA messages.
PoInt One Standard Dev Kit User Manual 9
The device can be operated with either the Point One Navigation Desktop application, or the
p1_runner command-line application included with the release. Both applications include a built-in
NTRIP client, support for Point One's Polaris corrections network, and data logging support for
diagnostics.
The device supports the following input and output message types:
Data
Mode
RTCM RTK Corrections
(1005/1006, MSM4-7)
Input
RTCM Ephemeris
(1019, 1020, 1042, 1045)
Input
FusionEngine Solution Messages
Output
FusionEngine Control Messages
Input/Output
FusionEngine Diagnostic Messages
Output
NMEA-0183 Solution Data
Output
NMEA Control Messages (Quectel Proprietary)
Input
RTCM Diagnostic Data
Output
RTCM RTK Corrections (mirrored)
Output
When messages from multiple protocols are enabled, they will be interleaved in a single data stream.
Note that some NMEA clients may not support mixing non-ASCII data.
If desired, the output configuration can be changed using FusionEngine SetMessageOutputRate
messages.
Corrections data and control messages may be sent to either UART, however RTK corrections may
only be sent to one port at a time.
Note: If the RTK base station is operating with MSM7 and using station ID 1, the station ID reported in
the user output will be 4095.
PoInt One Standard Dev Kit User Manual 10
The UARTs are configured to operate at 460800 baud by default. The UART baud rate may be
configured by issuing a FusionEngine SetConfig message using the config_tool application. See
6.2.6 Changing The Serial Baud Rate.
3.3 Supported Message Types
The device natively supports the Point One FusionEngine protocol for solution output and
command/control, as well as the NMEA-0183 standard for solution output.
The following table lists the various messages supported for each protocol, along with their default
configuration for UART1 and UART2. See 6.2.4 Enabling/Disabling Output Message Types for details on
changing the message configuration on each UART.
Message
Mode
UART1
UART2
Point One FusionEngine Protocol
https://github.com/PointOneNav/fusion-engine-client
Navigation Solution
Pose (10000)
Output
Off
100 ms
GNSSInfo (10001)
Output
Off
100 ms
GNSSSatellite (10002)
Output
Off
500 ms
PoseAux (10003)
Output
Off
Off
CalibrationStatus (10004)
Output
Off
10 sec (*)
Device Control
CommandResponse (13000)
Output
**
**
MessageRequest (13001)
Input
ResetRequest (13002)
Input
EventNotification (13004)
Output
***
On Change
ShutdownRequest (13005)
Input
FaultControl (13006)
Input
PoInt One Standard Dev Kit User Manual 11
Configuration
VersionInfo (13003)
Output
**
30 sec
SetConfig (13100)
Input
GetConfig (13101)
Input
SaveConfig (13102)
Input
ConfigResponse (13103)
Output
**
**
GetMessageOutputRate (13221)
Input
SetMessageOutputRate (13220)
Input
MessageOutputRateResponse
(13222)
Output
**
**
SupportedIOInterfaces (13223)
Output
Sensor Measurements
IMUMeasurement (11000)
Output
Off
On Change (*)
HeadingMeasurement (11001)
Output
On Change
On Change
Sensor Data Inputs
WheelTickInput (11103)
Input
VehicleTickInput (11104)
Input
WheelSpeedInput (11105)
Input
VehicleSpeedInput (11106)
Input
Raw Sensor Data Outputs
RawIMUOutput (11002)
Output
Off
Off
RawWheelTickOutput (11123)
Output
Off
On Change (*)
RawVehicleTickOutput (11124)
Output
Off
On Change (*)
RawWheelSpeedOutput (11125)
Output
Off
On Change (*)
RawVehicleSpeedOutput (11126)
Output
Off
On Change (*)
PoInt One Standard Dev Kit User Manual 12
ROS Compatibility
ROSPose (12000)
Output
Off
Off
ROSGPSFix (12010)
Output
Off
Off
ROSIMU (12011)
Output
Off
Off
Device Status
SystemStatus (10500)
Output
Off
Off
NMEA-0183
GGA
Output
100 ms
100 ms
GSV
Output
100 ms
100 ms
GSA
Output
100 ms
100 ms
GLL
Output
100 ms
100 ms
RMC
Output
100 ms
100 ms
VTG
Output
100 ms
100 ms
PQTMGNSS
Output
On Boot
On Boot
PQTMVER
Output
On Boot
On Boot
PQTMVERNO
Input/Output
Off
Off
P1CALSTATUS
Output
10 sec (*)
Off
P1MSG
Output
On Change
On Change
* AP firmware only.
** Responses to commands will be sent on the interface the command was received, regardless of configuration.
*** By default, FusionEngine EventNotificationMessages are only sent to UART1 in case of a fatal error.
The complete list of FusionEngine messages and message format details can be found at
http://pointonenav.com/files/fusion-engine-message-spec. Reference code is available for C++ and
Python: https://github.com/PointOneNav/fusion-engine-client.
PoInt One Standard Dev Kit User Manual 13
4. Quick Start Guide
1. Download and Install Point One Desktop Application, and USB drivers:
a. Mac and Windows versions available at
https://pointonenav.com/docs/#standard-dev-kit.
2. Plug in the Standard Dev Kit into your computer, connect a GNSS antenna (L1//L5) to the device,
and launch the Desktop application.
3. Add Device, with any name desired, and select the serial port associated with your Dev Kit
PoInt One Standard Dev Kit User Manual 14
i. Register via Menu below
ii. Verify email, and log in, Welcome page will offer options below, in order to get
corrections “seat”:
iii. After acquiring seat, navigate to “Devices” on the left menu, and select “Add
Device”:
PoInt One Standard Dev Kit User Manual 16
iv. Add new device with any unique device name (we recommend using the same
name that you chose in step 3)
v. Click device to get NTRIP and Polaris details:
vi. Congratulations, you now have RTK corrections ready for use.
PoInt One Standard Dev Kit User Manual 17
b. Back in the Desktop Application, input credentials from Polaris into the Add Device
wizard, and click “ADD”.
5. For best results, the GNSS antenna must be outside in an open sky environment, away from
trees or large buildings.
6. Click Connect Device on the top left corner to see RTK-corrected position, with an RTK Fix Status
(<10cm accuracy)
a. Initial GNSS signal acquisition may take a minute while the receiver acquires satellites
and constellation information from a cold start.
PoInt One Standard Dev Kit User Manual 18
PoInt One Standard Dev Kit User Manual 19
5. Desktop Application Configuration/Use
Note: If you have followed the quick start guide above, you can skip this section.
5.1 Device Setup
1. Navigate through the Desktop Application to Devices (car symbol in the menu)
2. Connect the device to your computer and click “Add Device” on the top right corner
3. Input Device Name, select color, Select port, and Baud rate to 460800 before clicking “Add”
PoInt One Standard Dev Kit User Manual 20
Table of contents
