Racelogic VBOX User manual

VBOX Indoor Positioning System (VIPS) User Manual
•01 - VIPS Introduction
•02 - VIPS Hardware Installation
•03 - VIPS Rover Connection to VBOX 3i
•04 - VIPS Site Configuration Software Overview
•05 - VIPS Using with a VBOX 3i/Standalone
•06 - VIPS Technical Properties
•VIPS - PIN OUTS
•VIPS - Technical Specification
•How to Update the VIPS Firmware
•VIPS - Regulatory Information
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01 - VIPS Introduction
Overview
VBOX Indoor Positioning System uses a network of fixed beacons in set locations that communicate with a receiver
(rover) mounted on the roof of a vehicle using Ultra Wideband (UWB), to measure position and speed where you cannot
use NSS signals. A minimum of six beacons are required, and to ensure the optimum accuracy, a site survey must be
carried out as part of the installation, using either a handheld laser or a Total Station (if time is of the essence, a self-
survey can also be performed). Doing so means the exact location of each beacon is known which can then be shared
with the rover enabling it to calculate its location to centimetre level accuracy. The beacons are completely stand-
alone and can be battery powered, making the deployment very rapid.
The rover features an integrated VBOX IMU04 (Inertial Measurement Unit) for precise pitch, roll and yaw angular data. It
also connects directly to an IMU04 enabled VBOX 3i, enabling additional parameters from the vehicle’s CAN bus to be
logged. Offering seamless integration between indoor and outdoor environments, the system can be used for high
dynamic applications and the rover will automatically connect to the nearest beacons in range.
The UWB receiver on the vehicle continuously communicates with the beacons and triangulates its position indoors.
This data is combined with the measurements from a highly accurate inertial measurement system, providing a real-time
3D position and attitude measurement at 100 Hz, to within 2 cm. All measurements are made on the target vehicle in
real-time. VIPS can achieve re-acquisition and full accuracy in less than 0.2 of a second, which is considerably faster
than NSS!
The system is designed for high dynamic vehicle test and validation procedures which are normally performed outside
using NSS. Examples include acceleration, braking, handling, crash testing, tyre testing and ADAS sensor validation.
The system can also be used to fill in gaps in NSS coverage in areas such as heavy tree cover, tunnels and urban
canyons.
Features
• When combined with a VBOX 3i, the system • A minimum of 6 and maximum of 250 beacons can
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offers seamless integration between indoor
environments (using VIPS) and outdoor
environments (using NSS).
• Centimetre level accuracy in areas off limits to
NSS based systems.
• Small, rugged and low powered.
• Only one rover is required, featuring an integrated
VBOX IMU with Kalman filter to reduce noise and
errors in the data.
• Connects directly to a VBOX 3i data logger using
only one cable for simple configuration.
be installed in each location allowing continuous
coverage of tracks up to 3.5 km long.
• Simple one time configuration either by Bluetooth or
serial cable (RS232).
• 100 Hz update and low latency for high dynamic
applications.
• The rover automatically connects to the nearest
beacons for optimum accuracy.
• Each beacon is numbered for simple installation.
Connectors
LED Behaviour
The LED on the front of the Beacon and Rover units provides a visual status indication.
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Beacon
LED Colour Status Description
Solid Blue The unit is Bootloader mode
Flashing Blue The unit is connected via an active Bluetooth link
Solid Green The unit has been used for ranging within the last
second
Blinking Green The unit is idle
Solid Red There is a non recoverable fault (such as an invalid reply
to a radio ID request)
Flashing Red The unit does not have a site configuration
Rover
LED Colour Status Description
Solid Blue The unit is Bootloader mode
Flashing Blue The unit is connected via an active Bluetooth link
Solid Green The rover is in 'Stand alone Mode' and receiving ranging
data from at least 3 beacons
Blinking Green The unit is looking for Beacons/ The unit is reading the
site information/ The unit is set to beacon mode
Flashing Green The rover cannot see at least 3 beacons
Flashing Orange The unit is syncing the IMU
Solid Orange The unit is waiting for VBOX communication (if VB3i
connected is selected)
Solid Red There is a non recoverable fault (such as an invalid reply
to a radio ID request)
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02 - VIPS Hardware Installation
Beacon (VIPS-B-V1) Installation
When first considering a VIPS installation or demonstration, it is important to understand the shape and size of the test
area and thus the minimum number of beacons that will be required.
VIPS will need at least 6 beacons in view at any one time to compute a solution. For a simple installation, Racelogic
recommend placing the beacons in a ‘Square’ formation with spacing between the beacons of around 25–30 m, as
below.
If operating in an outdoor/indoor mode, then the rover will not switch to use the VBOX IPS until 6 beacons are in view.
This means that it is only the first 6 beacons that will need to be placed closer together to ensure that 6 beacons are in
view before the vehicle enters the test area. The remaining beacons can be placed with a greater separation so long as
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the vehicle is always within a 60 m radius of at least 6 beacons.
For greater accuracy, it is recommended that the beacons are placed between 3 – 5 m above ground (i.e. above the roof
of the test vehicle) and that each beacon varies in height by at least 300 mm to the nearest beacons, alternating in a
high-low pattern.
When mounting the VIPS beacons, there are a couple of considerations that need to be made. It is important when
mounting the beacons that they are not mounted within at least 200 mm (or greater if possible) of an object, other than
the surface the beacon is mounted to, that could cause reflections (e.g. a wall or metal structure) and that the beacons
are mounted in the correct orientation in relation to the expected orientation of the Rover when in use.
The beacons require a 9 – 36 V power source that is connected to the 2 way Lemo connector. The other Lemo
connector on the beacon is for Firmware upgrades and should be covered with the supplied splashproof plug to ensure
waterproofness.
The VIPS beacons have 4 magnets on the base allowing for easy installation onto any ferrous surface, however
Racelogic can supply metallic plates that can attach to a tripod for quick installations.
Suitable Beacon Orientations
✔Side by side
✔Side by side with small height
difference
✔Side by side with large height
difference, tops towards each
other
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✗✗ Side by side with large height
difference
✗✗ Tops together
✗✗ Tops to base
✗✗ Base to base
✗✗ Side to base
✗✗ Side by side with large height
difference, tops away from each
other
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Rover (VIPS-R-V2) Installation
The VIPS Rover looks similar to the Beacon, however the rover contains an internal IMU and so care should be taken to
ensure that the Rover is mounted on a section of the roof that has the least vibration. This is usually towards the rear of
the vehicle, just in front of the rear windshield. The rover should also be mounted in a way such that it has a clear view
to the beacons and away from any objects that may block that view (Roof bars, radio antennas etc).
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03 - VIPS Rover Connection to VBOX 3i
The Rover unit can connect to a standard VBOX 3i and switches seamlessly between NSS and the indoor positioning
system, allowing you to use your original hardware for both outdoor and indoor testing. As the VIPS is designed to be
used with IMU Integration enabled, the same IMU Initialisation Process should be performed as normal.
For indoor only use, it is important that the VBOX 3i does not have a NSS antenna connected. If the VBOX receives a
satellite signal, even a poor one, the timing will change from the internal clock to NSS time, causing the VIPS system
to fail. the VBOX 3i will function the same as when using NSS in terms of CAN In / Out, data logging (analogue, etc.)
and VBOX Test Suite use.
When indoor/outdoor operation is selected, the VIPS system will wait for NSS lock and IMU synchronisation before
attempting to initialise the VIPS positioning.
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Using the Internal IMU
Connection between the Rover and VBOX 3i is via the supplied RLCAB153 cable.
• Insert the 7 way Lemo connector in to the right hand connector on the Rover.
• Connect the 25 way connector to the A IN port on the VBOX 3i.
• Connect the 5 way Lemo connector to the SER port on the VBOX 3i.
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Using an External IMU
Connection between the Rover and VBOX 3i is via the supplied RLCAB153 cable.
• Insert the 7 way Lemo connector in to the right hand connector on the Rover.
• Connect the 25 way connector to the A IN port on the VBOX 3i.
• Connect the 5 way Lemo connector to the SER port on the VBOX 3i.
• Insert the 6 way Lemo connector in to the left hand connector on the Rover.
• Insert the other end of the cable in to the CAN / KF port on the IMU04.
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04 - VIPS Site Configuration Software Overview
For VIPS to work correctly, the rover needs to know the expected site configuration. This configuration informs the rover
of the expected Beacon IDs it will be using and their locations. This information needs to be manually entered by the
user using the VIPS Site Configuration Software.
etting Started
On opening, you are presented with the Files menu which gives the option to load a previously saved site configuration
(.JSON file) or create a new configuration. On this screen, you can also choose to save the current settings.
By selecting New, or a previously saved configuration file, you are then presented with options necessary for correct
VIPS operation.
The software is navigated by using the menu buttons on the left hand side of the window. Menus include Files,Site,
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Beacons,Ping Table and Upload.
Pressing the Save button
on the right hand side of the screen will save a .JSON configuration file locally to your computer, enabling you reuse the
configuration at a later date. If you have previously opened a site configuration, pressing Save will overwrite the current
file. Alternatively, you can use the dropdown menu to the side of the Save button and select Save as to save the
configuration with a different filename.
The full VIPS Site Configuration Software User Guide is available here.
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Menus
Site
Configure how the Rover is expected to operate and
also change the Radio Settings
Beacons
Define the Beacon IDs that will be used as well as the
x,y,z distances to the origin
Ping Table
View the expected order the Rover will receive the ‘Ping’
signals from the beacons
Upload
Upload the site information to the Rover or the Beacons
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05 - VIPS Using with a VBOX 3i/Standalone
Using VIPS with a VBOX 3i
When set to VB3i connected within the VIPS Site Configuration Software and the correct Site Configuration
uploaded to the Rover unit, it is now possible to start testing using a VB3i and VIPS. The VBOX 3i will function the same
as when using NSS in terms of CAN In/Out, data logging (analogue, etc.) and VBOX Test Suite use.
As the VIPS is designed to be used with IMU integration enabled, the same IMU Initialisation Process should be
performed as normal. When indoor/outdoor operation is selected, the VIPS system will wait for PS lock and IMU
synchronisation before attempting to initialise the VIPS positioning.
Using VIPS as Stand Alone
When set to Stand alone within the VIPS Site Configuration Software and the correct Site Configuration uploaded to
the Rover unit, the VIPS can be used without a VBOX by connecting the Rover unit via serial connection. In this mode,
there is no Kalman filtering of the data, making the output data more noisy than the VBOX solution.
Site ID
When a rover powers up it searches for beacons. Once 1 or more beacons are found, it queries the closest beacon for
its site ID and the checksum for its configuration information.
This site ID and checksum are then compared to the last 4 sites that the Rover has seen. If they match, the Rover will
load the configuration from memory and start running.
If the ID and/or checksum don’t match anything the Rover has seen before, it will then initiate a Bluetooth connection to
the beacon and download the site configuration information. This means that only the beacons need to be configured,
any rover can arrive at the site and will automatically work without further configuration.
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Site Origin of 0
VIPS normally outputs locations in degrees latitude and longitude, if however an origin of 0,0 is given, then the
conversion to latitude/longitude is skipped and the VIPS rover will output in meters X,Y. When operating with a VB3i, an
origin is always needed, when operating in standalone mode, this is optional.
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06 - VIPS Technical Properties
VBOX IPS - PIN OUTS
Connector pin information
VBOX IPS - Technical
Specification
Beacon/rover specification and size information
VBOX IPS - Upgrading Firmware
How to update the VPRS beacon and rover
Firmware. Occasionally Racelogic will release
new versions of firmware (internal code) for the
VPRS units, often to introduce new features
VBOX IPS - Regulatory
Information
USA, Canada and Radiation Exposure regulatory
information
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VIPS - PIN OUTS
Beacon
Beacon front view
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Connector 1 - POWER (Lemo 2 PIN)
PIN I/O Function
1 I +12 V Power
2 I round
Connector 2 (Lemo 7 PIN)
PIN I/O Function
1 N/A N/C
2 N/A N/C
3 O VIPS Tx
4 I VIPS Rx
5 N/A N/C
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PIN I/O Function
6 I +12 V Power
7 I round
Chassis I Shield
Rover
Rover front view
Connector 1 (Lemo 6 PIN)
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