Inertial Navigation System
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(Redirected from RT3K)
The Oxford RT3102 is what RaginBot (aka CajunBot-II) uses for it's INS system.
Contents |
[edit] Photos
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[edit] Manuals
- File:Rt3kman.pdf - RT3K Usage and Manual
- File:Rtfw.pdf - RT3K Firmware update guide
[edit] Contact
Oxford Technical Solutions
- Dr Alex Nairac mailto:anairac@oxts.co.uk
- Technical Director http://www.oxts.co.uk
- Tel:+44 (0)1869 238015
- Oxford Technical Solutions Ltd Fax:+44 (0)1869 238016
- 77 Heyford Park
- Upper Heyford
- Oxfordshire OX25 5HD, UK
[edit] Sales quotes and data sheets
- File:001417B.pdf - Sales Quote
- File:001422B.pdf - Sales Quote
- File:Quote Wheeltacker 001313B.pdf - Sales Quote
- File:Wheel encoder spare quote 001517B.pdf - Sales Quote
- File:Wss234 bal.pdf - Wheel speed sensors datasheet.
[edit] How to get an RD file off of the RT
- Take the bot outside and calibrate the RT, then bring it back in and turn off the bot and RT, but not the network switch.
- Get a laptop and connect to the bot's ethernet cable.
- In order to connect to the RT you must set your ip to 195.0.0.65 by using this command (note that you need to be root to do this):
# ifconfig eth0 195.0.0.65
- Turn the RT back on.
- Then, connect to the the RT using the FTP protocol (not as root this time):
$ ftp 195.0.0.64
- At the prompt for login name, enter "anonymous"
- The password should be blank.
- Get a listing of RD files on the RT using the following command:
ls -l
- Looking at the date of the files, identify the latest one.
- To copy the remote file to the laptop, use the following command:
get <latest RD file>
[edit] Configuration of the RT3K
[edit] Setting the right IP address
- First grab a laptop that has Windows with Enginuity and RTConfiguration programs. Note: You can also use these programs under Linux with WINE.
- Plug in the bot and turn the big red key. Also, make sure you turn on the RT by using the switch at the top of the windshield.
- Go into Windows and when the desktop comes up click on "My Network Places."
- Go under the "Manage my Network" and click the unknown LAN (Local Area Network).
- Then, click Properties. Under properties select the TCP port (in this case the TCP/IPv4) and then select properties for that connection.
- Finally, change the IP to 195.0.0.65 or another IP that works.
[edit] Configuration settings for the RT3K
- After you have set the IP, run RTConfiguration.
- The program will show up and make sure RT 3000 is selected. Then, hit next.
- Pick the last option, (Read initial settings from RT3000) and under the arrow tab select the IP address to read from 195.0.0.64. Then, hit next.
- After the laptop connects to the RT3K click next until you reach Options. Under this tab make sure that the reading data is set to RTCM and not another format. Then, hit next.
- If it is set to a different format click the three periods next to it and another window should pop up. Click the arrow and scroll down to RTCM and select it. Then, hit next.
- Check the box "Reset" and then hit commit, otherwise your settings won't be applied until the RT3K is rebooted.
- Finally hit finish.
[edit] Re-wiring the RT for RTCM output
See: Schematic_diagrams#RT3K.
[edit] Handling transformations
See SICK and INS transformations
[edit] Miscellaneous
Development of Precise GPS/INS/Wheel Speed Sensor/Yaw Rate Sensor Integrated Vehicular Positioning System
