<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> <title>GearBox Project</title> <link rel="icon" href="gbx_icon_cardbox_sky.png" type="image/png"> <link rel="shortcut icon" href="gbx_icon_cardbox_sky.png" type="image/png"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <link href="tabs.css" rel="stylesheet" type="text/css"> <!-- Google Analytics --> <script type="text/javascript"> var gaJsHost = (("https:" == document.location.protocol) ? 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The original versions (and following discussions) can be found in the archives for the devel <a href="http://sourceforge.net/mail/?group_id=216468">mailing list</a>.</p> <h2><a class="anchor" id="gbxnovatelacfr_hw_reviews_michael"> Novatel ProPak V3 (OEMV) receiver with Honeywell HG1700AG62 IMU (Michael Moser)</a></h2> <dl class="user"><dt><b>Setup:</b></dt><dd></dd></dl> <ul> <li>Hardware:<ul> <li>Novatel ProPak V3 (OEMV) receiver</li> <li>Honeywell HG1700AG62 IMU</li> </ul> </li> </ul> <ul> <li>Software:<ul> <li>gbxnovatelacfrtest, built as per example.readme.</li> </ul> </li> </ul> <dl class="user"><dt><b>Tests:</b></dt><dd></dd></dl> <ul> <li>Hooked up receiver and ran test program with different parameters (-m ins/gps -v): Enables the expected messages, prints out message-types/contents (depending on -v)</li> </ul> <ul> <li>Set baudrate too low (9600 for -m gps, 38400 for ins): Fails as expected in Config.isValid() (with appropriate message).</li> </ul> <ul> <li>BestGpsPos: Roughly checked lat/lon (google-earth, marker on our lab), heightAMSL (~30m sounds right for our lab), sigmas look ok (~2m lat/lon, double that for height), GpsWeekNr 1487 sounds right (~28 years * 52), timestamps are consistent with report-frequency, number of observations is sensible (6-10).</li> </ul> <ul> <li>BestGpsVel: Same as pos, speed hor/vert is zero as expected, heading meaningless as expected</li> </ul> <ul> <li>RawImu:<ul> <li>Accelerations: verified values and signs by aligning different axis with gravity (checked 0, 1g, -1g for all axis)</li> <li>Gyros: verified values and signs by turning 180deg, and integrating program output manually (done for all axis)</li> </ul> </li> </ul> <dl class="user"><dt><b>Roughly verified:</b></dt><dd></dd></dl> <ul> <li>InsPva status: goes through the expected cycle (inactive, aligning, need to perform maneuvers)</li> <li>BestGpsVel/Pos: status/solutionStatus/solutionType</li> </ul> <dl class="user"><dt><b>Not Tested:</b></dt><dd></dd></dl> <ul> <li>InsOffset_, vehicleBodyRotation_, setImuOrientation_, InsPva (signs, values), BestGpsVel (signs, values): These guys are not testable in a bench-top setup</li> </ul> <h2><a class="anchor" id="gbxnovatelacfr_hw_reviews_alen"> Novatel Pro-Pak-G2 plus receiver (Alen Alempijevic)</a></h2> <dl class="user"><dt><b>Setup:</b></dt><dd></dd></dl> <ul> <li>Hardware:<ul> <li>Novatel Pro-Pak-G2 plus receiver</li> <li>assorted cables (RS232 connection)</li> <li>GPS antenna</li> <li>12V power supply</li> </ul> </li> </ul> <ul> <li>Software:<ul> <li>gbxnovatelacfrtest, built as per example.readme.</li> </ul> </li> </ul> <dl class="user"><dt><b>Tests:</b></dt><dd></dd></dl> <ul> <li>All tests performed with Novatel GPS unit, no IMU unit connected on moving vehicle</li> </ul> <ul> <li>Antenna cable disconnected from GPS receiver: Driver displays [Antenna power status: Powered; Antenna open flag: Open; Antenna shorted flag: OK], terminates after 10 seconds</li> </ul> <ul> <li>Started driver with antenna disconnected, connected antenna as soon as possible: Driver displays [Antenna power status: Powered; Antenna open flag: Open; Antenna shorted flag: OK], termination occurs after 10 seconds without reflecting the status, possible insufficient time to detect hardware change..</li> </ul> <ul> <li>Connected driver at different baud rates (19200, 38400, 57600, 115200) Driver displays BestGpsPos data, no error messages and terminates after 10 seconds</li> </ul> <ul> <li>Connected driver at 9600 baud rates Driver displays error message and terminates The combined data-rate of the messages/message rates you configured exceeds the configured baud rate 28800 / 9600 Invalid configuration!</li> </ul> <dl class="user"><dt><b>Roughly verified:</b></dt><dd></dd></dl> <ul> <li>Temperature (ambient, rising during parking under sunlight).</li> <li>Position reported: drove the vehicle with GPS mounted and position reflect the vehicle motion</li> <li>Velocity reported: drove the vehicle with GPS mounted and recorded velocity readings appeared to reflect the vehicle motion</li> </ul> <dl class="user"><dt><b>Not Tested:</b></dt><dd></dd></dl> <ul> <li>Connecting the IMU and getting the integrated solution</li> </ul> <dl class="user"><dt><b>Questions:</b></dt><dd></dd></dl> <ul> <li>SBAS and RTK Is there a way to select these as configuration parameters on command line? </li> </ul> </div> </td> <td colspan="1"> </td> </tr> </table> <!-- end of table --> <hr size="1"><address style="align: right;"><small>Generated for GearBox by <a href="http://www.doxygen.org/index.html"> <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.4.5 </small></address> </body> </html>