Swift Navigation CL230G-P Manuel utilisateur

PGM EVK User Manual

UM-110007-03

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

PGM EVK User Manual

UM-110007-03

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

PGM EVK User Manual

UM-110007-03

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

PGM EVK User Manual

UM-110007-03

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.

PGM EVK User Manual

UM-110007-03

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)

PGM EVK User Manual

UM-110007-03

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

PGM EVK User Manual

UM-110007-03

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.

PGM EVK User Manual

UM-110007-03

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

PGM EVK User Manual

UM-110007-03

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

PGM EVK User Manual

UM-110007-03

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.

Table des matières

Autres manuels Swift Navigation Unité de contrôle

Swift Navigation

Swift Navigation PGM EVK Manuel utilisateur

Manuels Unité de contrôle populaires d'autres marques

Festo

Festo Compact Performance CP-FB6-E Manuel de la liste des pièces

Elo TouchSystems

Elo TouchSystems DMS-SA19P-EXTME Manuel utilisateur

JS Automation

JS Automation MPC3034A Manuel utilisateur

JAUDT

JAUDT SW GII 6406 Series Guide rapide

Spektrum

Spektrum Air Module System Manuel utilisateur

BOC Edwards

BOC Edwards Q Series Manuel utilisateur

KHADAS

KHADAS BT Magic Manuel utilisateur

Etherma

Etherma eNEXHO-IL Manuel utilisateur

PMFoundations

PMFoundations Attenuverter Manuel utilisateur

GEA

GEA VARIVENT Manuel utilisateur

Walther Systemtechnik

Walther Systemtechnik VMS-05 Manuel utilisateur

Altronix

Altronix LINQ8PD Instructions de montage

Eaton

Eaton Powerware Series Manuel utilisateur

WAGO

WAGO 750-407/040-000 Manuel utilisateur

Sony

Sony CCU-590 Manuel utilisateur

Graco

Graco 25D614 Manuel utilisateur

Task Force Tips

Task Force Tips YE-RF-900 Manuel de programmation

Shini

Shini SPV-U Series Manuel utilisateur