Swift navigation Duro User manual

Duro User Manual

Revision 3

2021-12-14

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Table of Contents

Notice to Users 4

Industry United States Statement 4

FCC Statement 4

Industry Canada Statement 4

Industry Canada Compliance 4

Conformité d’Industrie Canada 4

Industry European Union Statement 4

California Proposition 65 5

Japan 5

Korea 5

Antenna Placement Guidelines 6

Limited Warranty Terms and Conditions 7

Product Introduction 7

Overview 7

Why Duro? 7

Centimeter-Level Accuracy 7

Easy Integration 7

Leverages Piksi Multi 7

Features and Benefits 7

Technical Information 8

Physical and Environmental 8

Enclosure 8

Connectors 10

Power Connector 11

Ethernet Connector 12

Serial Connector 13

AUX Connector 16

GNSS Antenna Connector 19

Standards and Certifications 20

Environmental Testing 21

Shock 21

Vibration 21

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Temperature 21

Ingress and IP67 21

EMI/EMC 21

Mounting Duro Antenna 22

With Top-Mounted GNSS Antenna 22

Grounding Duro 25

Power 26

Interfaces 27

LED Indicators 27

Serial Ports 28

AUX 28

GNSS Tracking 28

Accuracy 29

Connecting to Duro 30

Ethernet Connection 30

Serial Connection 32

Firmware Upgrades 33

Swift Console 33

Swift Navigation Technical Support 35

Support Site 35

Supporting Tools 35

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Notice to Users

Industry United States Statement

FCC Statement

This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: (1)

This device may not cause harmful interference and (2) this device must accept any interference received,

including interference that may cause undesired operation.

Maximum antenna gain is limited to 5.29 dBi for the GSM 850 frequency band, 4.02 dBi for the PCS 1900

frequency band and 6.32 dBi for the FDD IV frequency band.

Industry Canada Statement

Industry Canada Compliance

This Class B digital apparatus complies with Canadian ICES-003. Operation is subject to the following two

conditions:

(1) This device may not cause interference.

(2) This device must accept any interference, including interference that may cause undesired operation of

the device.

Conformité d’Industrie Canada

Cet appareil numérique de la classe B est conforme à la norme NMB-003 du Canada. L’exploitation est

autorisée aux deux conditions suivantes

(1) l’appareil ne doit pas produire de brouillage

(2) l’appareil doit accepter tout brouillage radioélectrique subi, même si le brouillage est susceptible d’en

compromettre le fonctionnement.

User instructions/antenna/etc.—see FCC section above.

Industry European Union Statement

Swift Navigation hereby declares that Duro is in compliance with the essential requirements and other

relevant provisions of the 2014/30/EU Directive and UN/ECE Regulation 10.

Duro is compliant with the European Community Restriction of Hazardous Substances Directive 2002/95/EC,

(RoHS 1) and the Directive 2012/19/EU on waste electrical and electronic equipment (WEEE) and is marked

with the WEEE symbol and RoHS logo.

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The symbol on the product or its packaging indicates that this product must not be disposed of with other

household or office waste. Instead, it is the owner’s responsibility to dispose of Duro waste equipment by

handing it over to a designated collection point for the recycling of waste electrical and electronic equipment.

The separate collection and recycling of waste equipment at the time of disposal will help conserve natural

resources and ensure that it is recycled in a manner that protects human health and the environment. For

more information about locations where Duro waste can be dropped off for recycling, please contact your

local authority.

California Proposition 65

WARNING: This product contains a chemical known to the state of California to cause cancer.

Japan

Korea

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Antenna Placement Guidelines

Position the antenna as indicated by the blue marker, at a spot with a sky view that is unobstructed above 30

degrees up from the horizon in every direction. For the best results, install the antenna on the top of a tripod

(using the included threading adapter) or other stable structure.

Duro’s high-precision, multi-band GNSS antenna is sensitive to its environment. Since Duro needs to track

carrier phase information from GNSS satellites, it is much more sensitive to obstructions than standard

consumer GNSS receivers found in, for example, smartphones. Thus, the Duro antenna must be kept away

from any obstructions to its sky view.

●Do place the antenna on a tripod.

●Do not test inside a building.

●Do not place the antenna near buildings.

●Do not place the antenna near trees and other cover.

●Do not stand near the antenna or put your hand over the antenna during testing.

●Do not place an open laptop near the antenna so that the laptop itself is blocking the sky view.

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Limited Warranty Terms and Conditions

Please, refer to the Swift Navigation website for information about product warranty information.

https://www.swiftnav.com/warranty-information. Warranty is voided if Duro back access panel is opened.

Product Introduction

Overview

Duro® is a ruggedized version of the Piksi® Multi RTK GNSS receiver. Built to be tough, Duro is ideal for mining,

agricultural, robotics, maritime and outdoor industrial applications. Duro is designed for integration into or

mounting on top of existing equipment. With its cast aluminum housing, this easy-to-deploy GNSS sensor is

protected against weather, moisture, vibration, dust, water immersion and the unexpected that can occur in

outdoor long-term deployments.

Why Duro?

Centimeter-Level Accuracy

Autonomous devices require precise navigation—especially those that perform critical functions. Swift

Navigation’s Piksi Multi module within Duro utilizes real-time kinematics (RTK) technology, providing location

solutions that are 100 times more accurate than traditional GPS.

Easy Integration

Duro is easily integrated into your application as its sealed, and industry standard, connectors enable easy

deployment in all conditions. The exposed interfaces support varied use cases without integration challenges.

Leverages Piksi Multi

Multiple signal bands enable fast convergence times and multiple satellite constellations enhance availability.

Piksi Multi currently supports GPS L1/L2, GLONASS G1/G2, Beidou B1/B2 and GALILEO E1/E2. SBAS is also

supported.

Features and Benefits

●Dual-frequency RTK GNSS, providing accurate position and solution fast recovery

●Tough, military-grade hardware

●IP67-rated enclosure with M12 standard-sealed connectors

●Raw IMU data stream output

●Future-proof hardware with in-field software upgrades

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●Protected I/O, including RS232 Serial Ports, 100 Mbit Ethernet, Event Inputs, Pulse Per Second (PPS)

and more

●Durable UV and chemical-resistant powder-coating

●Multiple mounting interfaces

Technical Information

Physical and Environmental

The following outline provides an overview of the physical and environmental aspects of Duro.

Enclosure

The Duro ruggedized enclosure offers a series of mounting options, making it flexible to adapt to your

mounting requirements:

●Pin Holes/Slots

●¼-20 Thread Insert

●Threaded Mounting

The following section showcases Duro enclosure measurements. All measurements are in millimeters

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Connectors

Duro’s M12 connectors are sealed and industry standard, which balances ruggedization perfectly with

user-friendliness. No external sealing is required to deploy Duro, in even the harshest conditions. Duro has

the following connectors:

●Power

●Ethernet

●Serial

●AUX

●GNSS Antenna

The sections that follow explain the signal description for each connector and the cables provided with the

Duro Evaluation Kit. Importantly, the connectors or their respective caps need to be mated to provide sealing

functionality to meet IP67 standards.

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Power Connector

The power connection provides power input to Duro from a DC source. It also provides a chassis ground pin

and digital input and output.

M12-A/M: Duro M12 5 Pin Male Connector, A Keying

M12

Pin F

Name

Description

Type

Minimum

Typical

Maximum

Units

Vin

Voltage Input (Refer Power

Section)

Input

12 - 24

Chassis_

GND

Signal Internally Connected

to Duro Chassis

GND

Power Ground

GND

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PPS

Pulse Per Second digital

signal synchronized with GPS

second

Output

EVENT_A

Event A Input Signal,

reported as pin 0 in the SBP

EXT EVENT message

Input

3.3

Vin

Evaluation Kit Power Cable (Part#90-M12A5F_DCJ-08-X1) Description

M12 5P

(Male)

DC Jack

Name

Type

Color

Description

Center

Vin

Input

Black

Voltage Input 10-35 V

Shell

GND

White

Power Ground

Ethernet Connector

The Ethernet connector is provided as the de-facto standard for industrial Ethernet with M12 circular

connectors. There are many off-the-shelf cables available to mate with this connector. For reference, the

mating cable provided with the Duro Evaluation Kit is provided below.

M12-D/F: Duro M12 4P Female Connector, D Keying

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M12

Pin F

Name

Description

Type

Minimum

Typical

Maximum

Units

TX+

Ethernet TX+

Output

2.5

RX+

Ethernet RX+

Input

2.5

TX-

Ethernet TX-

Output

-2.5

RX-

Ethernet RX-

Input

-2.5

Ethernet Cable (Part#90-M12D4M/R8-08) Description

M12 5P

(Male)

RJ45

PLUG

Name

Type

Color

Description

TX+

Output

Orange/White

Ethernet TX+

RX+

Input

Green/White

Ethernet RX+

TX-

Output

Orange

Ethernet TX-

RX-

Input

Green

Ethernet RX-

Serial Connector

The serial connection cable is provided to allow serial communication to downstream devices. This connector

can also provide 12 volt power output for downstream devices such as radio modems. The intention is that

one cable mated with this connector can provide power and data communications to a serial modem for

some applications. Note, the serial connection on this connector corresponds to UART0 on Piksi Multi, which

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under default settings is configured to provide only the SBP messages required to use Piksi Multi as a base

station.

Duro M12 8P Female Connector

M12

Pin F

Name

Description

Type

Minimum

Typical

Maximum

Units

UART0 Transit Asynchronous

Data Output

Output

-5

+/-5

UART0 Receive Asynchronous

Data Input

Input

-25

+/-5

CTS

UART0 Clear to Send Control

Input / Handshake Signal

Input

-25

+/-5

Event C

Event C Input Signal, reported

as pin 2 in the SBP EXT EVENT

message

Input

3.3

Vin

GND

Device Ground Supply

GND

12V OUT

12 Volt Power Output (+- 10%

Depending on Vin)

Output

10.8

13.4

PPS

Pulse Per Second Digital

Output

Vin

RTS

UART0 Request to Send

Control Output / Handshake

Signal

Output

-5

+/-5

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Serial Cable (Part#90-M12A8M/D9F-06) Description

M12 Pin

(Male)

Db 9 Pin

(Female)

Name

Type

Color

Description

Output

Orange

Transit Asynchronous Data

Output

Input

Yellow

Receive Asynchronous Data

Input

GND

Black

Device Ground Supply

CTS

Input

Brown

Clear to Send Control Input /

Handshake Signal

RTS

Output

Green

Request to Send Control Output

/ Handshake Signal

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AUX Connector

The AUX connection on Duro is intended to be used for more full-featured applications on the device. It

provides serial and additional digital inputs and outputs. It also provides both 12 Volt and 5 Volt power output

for downstream devices.

M12-A/F (Duro M12 17P Female Connector, A Coded)

M12

Pin F

Name

Description

Type

Minimum

Typical

Maximum

Units

CAN_L

CAN1_L

I/O

0.5

0.9

1.65

+5V Out

5 Volt Power Output

(0.25A Max)

Output

RTS

UART1 Request to Send Control

Output / Handshake Signal

Output

-5

+/-5

CTS

UART1 Clear to Send Control

Input / Handshake Signal

Input

-25

+12V

Out

12 V Power Output at 1 A Max

(+- 10% Depending on Vin)

Output

10.8

12V

13.4

GND

Ground for 12 or 5 V output

Output

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RESERVED

UART1 Transit Asynchronous

Data Output

Output

-25

+/-5.5

UART1 Receive Asynchronous

Data Input

Input

-25

CAN_H

CAN1_H

I/O

2.15

2.9

3.3

PPS

Pulse Per Second Output

Output

Vin

GND

Ground for 12 or 5 V output

Output

RESERVED

DI /

Event B

Event B Input

Signal, reported as pin 1 in the

SBP EXT EVENT

message

Input

3.3

Vin

DO / PV

Position Valid Digital Output

Output

Vin

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AUX Cable (Par#90-M12A17/09+15-03) Descriptions

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M12

17P M

DB9 F

DB15P F

Name

Type

Color

Description

CAN_L

CAN1_L

+5V-Out

Output

5 V Power Output

RTS

Output

Green

CTS

Input

Brown

+12V-Out

Output

12 V Power Output

GND

Black

N/A

Output

Orange

UART1 Transit Asynchronous Data

Output

Input

Yellow

UART1 Receive Asynchronous Data

Input

CAN +

N/A

CAN_H

PPS

Output

N/A

Pulse Per Second Output

1+6+10+15

GND

N/A

Device Ground Supply

DI /

Event B

DO / PV

GNSS Antenna Connector

A TNC female connector is provided to connect GNSS antennas to Duro. Active antennas are required for Duro

operation and the 4.8 V 100 mA maximum current antenna bias is software enabled. Active antennas with an

LNA gain between 28 dB and 45 dB are recommended.

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Standards and Certifications

Duro and typical cabling have been verified to be compliant with applicable regional standards for radiated

emissions:

●IEC 60950-1

●IP67

●FCC Part 15B

●ICES-003

●2014/30/EU Directive

●UN/ECE Regulation 10

●The European Community Restriction of Hazardous Substances Directive 2002/95/EC, (RoHS 1)

●Directive 2012/19/EU on Waste Electrical and Electronic Equipment (WEEE)

●VCCI-B