Swift Navigation CL230G-P User manual

PGM EVK User Manual
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Precision GNSS Module
Evaluation Kit
User Manual
Revision 3
Introduction
This document provides setup and usage reference for the Swift Navigation’s Precision GNSS Module
(PGM) Evaluation Kit.
The Evaluation Kit - featuring Swift’s mPCIe format PGM receiver installed in an Onlogic IoT
computer platform - provides a turn-key demonstration of Swift’s precision positioning solution. The
PGM provides real-time precision GNSS and IMU measurements, and is designed specifically for
Swift’s Starling® positioning engine running on a host application processor. When used with Swift’s
Skylark™ cloud-based precise corrections service, the PGM Evaluation Platform (PGM EVP) delivers
even stronger performance and higher accuracy levels. The Evaluation Kit is ideal for customers
building industrial, last mile and Internet of Things (IoT) platforms that require the ability to quickly
install on a target platform and test performance in the field.
The PGM Evaluation Kit includes everything needed to install this GNSS system in your application
and quickly get started with precise RTK positioning. It also comes with a 6-month Skylark trial.
This manual describes Evaluation Kit with files version 1.6.0. The software update procedure is
described in Appendix A.
Fig 1. PGM Evaluation Platform with GNSS antenna and power supply
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Table of Contents
Introduction 1
Evaluation Kit Content 3
Evaluation Platform Description 4
Evaluation Platform Connectors 5
Operating Conditions 6
Installation in the Vehicle 6
Evaluation Platform Connections 7
Power Connections 7
GNSS Antenna Connections 7
Vehicle Signals 7
Control/Recording Computer Connections 7
Correction Source Connections 8
Evaluation Platform Usage 8
Home Directory Files 8
Control Scripts 9
Platform Setup Example with Wi-Fi Connections 11
Connecting and bringing up the PGM EVP system 12
Connecting computer to PGM EVP over Wi-Fi for the system control 12
Connecting PGM EVP to the Wi-Fi access point for Internet access 15
Configuring and Running Starling 17
Appendix A - PGM EVK Software Update 21
Option 1: Automated Procedure 21
Option 2: Manual Procedure 21
Appendix B - Starling License Activation 22
Appendix C - Orientation Settings 23
Appendix D - Default Settings 24
Appendix E - Enclosure Dimensions 25
Appendix F - Vehicle Signals 26
Appendix G - Control Scripts Content 27
Appendix H - Additional Resources 29
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Evaluation Kit Content
Fig 2. PGM Evaluation Kit Content
1. GNSS L1/L5 magnet-mount antenna
2. PGM Evaluation Platform (EVP)
3. Wi-Fi antennas
4. RS232 serial port adapter cable
5. USB drive
6. RS232 null modem adapter
7. Vehicle signals cable
8. Power supply cable for direct 12 V supply
9. 12 V DC power supply 100-240 V AC input with international plugs
10. RJ45 Ethernet cable
11. DisplayPort to HDMI adapter cable
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Evaluation Platform Description
The PGM Evaluation platform is based on the Onlogic CL200 series industrial computer. The Swift
Navigation PGM module occupies one of the internal mPCIe slots. Additionally, the platform contains
a Wi-Fi / Bluetooth mPCIe module for wireless connectivity, RS232 serial port for GNSS position
output, Ethernet port, display port and three USB ports. Platform runs Ubuntu 20.04 Linux server out
of the micro SD card.
Fig 3. PGM Evaluation Platform Block Diagram
By default, the Wi-Fi module is configured as an access point enabling users to connect to the
platform from any PC/laptop to configure the system and receive GNSS position data.
The Wi-Fi module is also meant to simultaneously work as a client to connect to a Wi-Fi network,
such as a cellular modem with Wi-Fi, for Internet access to receive GNSS corrections data from
Skylark. Note: due to hardware limitation both access point and Wi-Fi client must use the same Wi-Fi
channel.
By default, the platform starts after applying power. To stop the platform use the power button or
the terminal command for a graceful system shut down. It is discouraged to disconnect power
without using the power button or a terminal command as this may result in data corruption,
especially if recording.
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Evaluation Platform Connectors
Fig 4. PGM EVP Connectors
1. Wi-Fi antenna RP (Reverse Polarity) SMA connector 1
2. GNSS antenna SMA connector
3. Vehicle signals (VSS and Reverse) receptacle (Hirose HR10A-7R-6P(73))
4. Wi-Fi antenna RP SMA connector 2
5. Micro SD card slot (Linux image)
Fig 5. PGM EVP Connectors (Continued)
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1. 12 V power supply. 2.5/5.5 mm barrel jack connector, positive in the center
2. USB 2.0 port connector
3. RS232 serial port connector (use adapter cable for DE 9 connector)
4. Power button and power status LED
5. Two USB 3.0 port connectors
6. Ethernet port RJ45 connector
7. Mini DisplayPort connector
8. IMU orientation labels. The orange dot indicates the IMU center (GNSS antenna lever arm
measurement reference point).
Operating Conditions
1. Supply voltage: 12 V DC.
2. Power consumption: about 6 W during normal operation.
3. Operational temperature: 0 to 40°C with a non-condensing relative humidity of 10 - 90%.
4. The device should not be used outdoors without an additional environmental protection.
Installation in the Vehicle
For proper system operation it is essential to mount both the EVP and the GNSS antenna securely
and firmly to the vehicle body. During operation, the antenna and EVP must remain in the same
position relative to each other (i.e., both must be mounted on the same frame).
The GNSS antenna needs to be mounted on the vehicle where there are no obstructions and with a
correct ground plane. A typical car’s metal roof is a good enough ground plane. Place the antenna as
close to the center of the roof as possible. Do not place the antenna close to the roof edge. If the
ground plane is not available by vehicle construction, place a round or square metal plate of 10 to 15
cm (4” to 6”) radius under the antenna.
To maximize inertial sensor sensitivity, mounting EVP in an orientation orthogonal to the
vehicle-body is recommended. This means that EVP should be mounted with all three axes forming
angles in multiples of 90° (0°, 90°, 180°, 270°), with respect to the primary direction of vehicle
motion.
For easier installation and setup, it is recommended to align the X-axis direction of the EVP with the
primary direction of vehicle motion.
The EVP must be rigidly mounted to the body of the vehicle. Any vibration which is not directly
related to vehicular motion will degrade the quality of the inertial data. Installing EVP, for instance,
on a flexible vehicle rooftop, engine cover, or fender - where the mounting surface can flex and
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vibrate independently of the vehicle body - should be avoided. Similarly, placing the sensor on plush
seating of a vehicle with the antenna on the rigid part of the vehicle will yield poor results.
Record lever arm X, Y and Z vectors after installation. Measure along X, Y and Z axes from the orange
dots printed on the PGM EVP enclosure to the center of the antenna.
Refer to Appendix C for Starling settings euler angles of typical installations.
Evaluation Platform Connections
The PGM EVP platform requires connections to power source, GNSS antenna, control/recording
computer, and correction data source. Connections to the correction data and control/recording
computer may be wired or wireless.
Power Connections
The platform requires a 12 V DC power supply with a rate of 3 A. Use included in the kit wall power
adapter or other power supply device with 12 V / 3 A DC output.
GNSS Antenna Connections
PGM EVP requires an active GPS/Galileo/BeiDou L1/L5 antenna. The device provides 3.3 V antenna
bias voltage through the SMA antenna connector (max. 100 mA). For the best results the antenna
LNA gain should be between 15 to 25 dB and with NF < 2-3 dB.
Vehicle Signals
Optionally, the Vehicle Speed Signal (VSS) and Reverse can be connected to the platform for
improved Dead Reckoning performance. See Appendix F for connection details.
Control/Recording Computer Connections
Use one of the following methods to control the platform:
1. Connect your PC/laptop over Wi-Fi to PGM EVP’s access point named SwiftNav-PEP-xxxx,
printed on the device. The Wi-Fi password is swiftnav. Upon successful connection, open an
SSH client (like PuTTY on Windows) and connect to PGM EVP using the IP address 10.42.0.1.
2. Connect your PC via Ethernet. By default, PGM EVP Ethernet is set to the DHCP mode and
therefore PGM EVP must be connected to a network router with a DHCP server. Check in the
router settings for the assigned IP address or scan the network for the device IP. Once IP is
known, open an SSH client (like PuTTY on Windows) and connect to PGM EVP using the assigned
IP address.
3. Connect a monitor to the DisplayPort and a USB keyboard to control the platform.
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Correction Source Connections
To obtain Skylark corrections data PGM EVP needs Internet access. Use one of the following methods
to enable PGM EVP’s Internet access:
1. Connect PGM EVP to the Internet access point over Wi-Fi (cell modem with router, cell phone
with Personal Hotspot, etc.). The connection must use the same Wi-Fi channel as the PGM EVP’s
Wi-Fi access point.
2. Connect PGM EVP over the Ethernet to the cell modem / router with Internet access. By default,
PGM EVP Ethernet is set to the DHCP mode and therefore PGM EVP must be connected to a
network with a DHCP server. PGM EVP Ethernet network can also be set to static IP if required
for networks without a DHCP server.
Evaluation Platform Usage
The platform runs Ubuntu 20.04 Linux server. Use SSH to control the platform. Default credentials:
Username: swiftnav
Password: swiftnav
Starling and networking use text configuration files. Connect to the PGM EVP Linux shell to modify
the configuration files.
Home Directory Files
Configuration files are saved in the home directory as shown below:
Fig 6. Home directory files
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Note: Instead of using the command line SSH interface you can also use a program like WinSCP (on
Windows) to edit configuration files using the GUI interface.
Files Description:
Directory: cfg/
swiftnav-ap.sh - PGM EVP Wi-Fi access point configuration
swiftnav-pgm.sh - PGM module serial port to TCP server routing configuration
Directory: pgm/
pgm-update.py - PGM firmware updater Python script
pgm-v1.2.6.zip - PGM firmware bundle
t.sh - script to launch mini terminal
u.sh - script to launch PGM firmware updater
Directory: starling/
logs/ - directory for Starling system logs
activation-key.txt - File with activation key for Starling
config.yaml - Starling configuration file
license.lic - Starling license file
starling-1.6.7-pgm-evk-licensed - Starling program
starling - Symbolic link to Starling program
starling-guard.json - File for Starling license manager
start.sh - Starling start script (called from starling service)
Directory: tools/
str2str - stream to stream routing program (binary)
Home Directory:
check-for-updates.py - Checks and downloads PGM EVK software update
version.yaml - EVK files version information
Control Scripts
Following shell scripts are provided for convenience for common operations over SSH:
eth-edit.sh - Opens Ethernet configuration file for editing
starling-edit.sh - Opens Starling configuration file for editing
starling-restart.sh - Restarts Starling service (required after changing configuration)
starling-version.sh - Displays Starling version
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wifi-connect.sh - Connects to a Wi-Fi access point. Requires SSID and password
Parameters. Usage: ./wifi-connect.sh <SSID> <PASSWORD>
wifi-delete.sh - Deletes (forgets) Wi-Fi network. Requires SSID parameter.
Usage: ./wifi-delete.sh <SSID>
wifi-disconnect.sh - Disconnects from Wi-Fi access point
wifi-edit.sh - Opens Wi-Fi access point configuration file
wifi-list.sh - Scans and lists nearby Wi-Fi networks
Refer to Appendix G for scripts content.
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Platform Setup Example with Wi-Fi Connections
This section provides step-by-step instructions on how to set up the PGM EVP system using Wi-Fi
connections to a control laptop and a cellular modem.
Fig 7. Platform Setup Example with Wi-Fi Connections
Required equipment:
1. PGM EVP device with GNSS and Wi-Fi antennas.
2. Laptop computer (Windows, Linux or macOS) with Wi-Fi networking.
3. Cellular modem with Wi-Fi access point. It can be a dedicated device or a cellphone with a
personal hotspot.
Example presented below uses:
- PGM EVP with label reading SwiftNav-PEP-2795
- Cell modem / Wi-Fi access point with SSID “SwiftNav Mobile 4” and password “centimeter”
- Windows laptop for control
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Follow the steps described below to setup and configure the system.
Connecting and bringing up the PGM EVP system
●Connect GNSS and Wi-Fi antennas to PGM EVP (see Fig 1.).
●The GNSS antenna needs to be outdoors with a good sky view.
●Power up PGM EVP and let it boot up (about 3 minutes). White LED shows power status.
Connecting computer to PGM EVP over Wi-Fi for the system control
●Open Wi-Fi network selection window and select SwiftNav-PEP-xxxx network:
●Enter password (swiftnav by default):
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●Network is connected:
Note: Some modern operating systems (like Windows 10) use network adapters prioritization scheme
and may quickly disconnect Wi-Fi if another higher priority (e.g. wired Ethernet) network is active. Check
and modify your operating system default network settings if this issue occurs when connecting to PGM
EVK Wi-Fi access point.
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●Open SSH client (eg. PuTTY on Windows) and open connection at IP address 10.42.0.1:
●Accept server’s key (this will show only once):
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●Login as swiftnav and enter password (swiftnav by default):
Connecting PGM EVP to the Wi-Fi access point for Internet access
●Use wifi-list.sh script to list nearby networks:
●Check for the network to connect (SSID) and note the channel it uses. The Wi-Fi channel must be
the same to the one PGM EVP uses for its access point.
If the PGM EVP’s channel is the same as the cell modem’s channel, skip this step.
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If the cell modem channel is different from the PGM EVP channel (by default 1) then use
wifi-edit.sh script to open PGM EVP Wi-Fi configuration file and change the PGM EVP’s
channel number to match the cell modem:
After changing the channel, restart PGM EVP (power cycle the unit or use sudo reboot command)
for changes to take effect.
●Use wifi-connect.sh script to connect to the cell modem access point. The script uses two
parameters: SSID and password. If any of them contain spaces use double quotes.
Command can also be used directly:
sudo nmcli d wifi connect <SSID> password <PASSWORD> ifname wlp1s0
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●Run wifi-list.sh again to check connection:
●A simple test to verify Internet connection is to ping Google DNS server at IP address 8.8.8.8:
Configuring and Running Starling
For the best results PGM Evaluation Platform should run the latest software. PGM EVK software updating
procedure is described in Appendix A.
The Starling program from version 1.4 requires license activation to operate. PGM Evaluation Kits
shipped after June 2021 already have the license activated. Older units require license activation after
upgrading to Starling v1.4 or newer. Refer to Appendix B for detailed license activation instructions.
Starling GNSS position engine requires a simple configuration before using it. Configuration is stored in
the config.yaml file in the starling/ directory. Following items need to be configured:
- Corrections service
- Inertial fusion settings
●Use starling-edit.sh to open the Starling configuration file for editing.
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●Select Skylark host and update NTRIP credentials as provided by Swift:
●Update device orientation and lever arm. See Appendix C for typical orientations.
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●Save file, close editor and restart Starling service for changes to take effect:
●Open Swift Console to check GNSS operation and to save logs:
Note: By default, port 55555 is configured to output only the subset of SBP messages which are
required for external applications to consume positioning output from Starling, whereas port
55556 is configured to output all supported messages. This means that certain functionality (e.g.
visualisation of IMU data) is only available when connected to port 55556. Alternatively, the
Starling configuration file (config.yaml)file may be modified to remove message filtering on
port 55555.
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Swift Console main window:
●To start logging click the JSON Log button on the Swift Console. To stop logging click the same
button again.
Collected log files can be converted and visualized using Woodpecker Log Utility or sbp2report
tool. Instead of Swift Console, a Drongo Maps program can be used to display position in real
time. Tools can be downloaded from Swift Support portal at support.swiftnav.com > General >
Downloads > Tools.
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