SEPTENTRIO AsteRx SB3 User Manual

AsteRx SB3
User Manual
User Manual Revision 1.1
Applicable to version 4.10.1 of the AsteRx SB3 firmware
February 18, 2022
Thank you for choosing the AsteRx SB3 ! This user manual provides detailed instructions on
how to use the AsteRx SB3 and we recommend that you read it carefully before you start
using the device.
Please note that this manual provides descriptions of all functionalities of the AsteRx
SB3 product family however, the particular AsteRx SB3 you purchased may not support
functions specific to certain variants.
While we try to keep the manual as complete and up-to-date as possible, it may be
that future features, functionality or other product specifications change without prior
notice or obligation. The information contained in this manual is subject to change without
notice. We recommend you to look for new or updated information in our Knowledge Base
at https://customersupport.septentrio.com/s/topiccatalog
© Copyright 2000-2022 Septentrio NV/SA. All rights reserved.
Septentrio
Greenhill Campus, Interleuvenlaan 15i
3001 Leuven, Belgium
http://www.septentrio.com
Phone: +32 16 300 800
Fax:
+32 16 221 640
@Septentrio
2
CONTENTS
Contents
1 Introduction
1.1 USER NOTICES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 CE Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 ROHS/WEEE Notice. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.3 Safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.4 Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
4
4
4
5
6
2 AsteRx SB3 Overview
2.1 PHYSICAL AND ENVIRONMENTAL SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 ASTERX SB3 DESIGN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Front Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Rear Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
7
8
8
8
3 Configuring the AsteRx SB3
3.1 CONNECTING TO THE ASTERX SB3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1 Powering the AsteRx SB3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.2 Connecting to the web interface via Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.3 Connecting to the web interface via USB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.4 Connecting via COM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 HOW TO CONFIGURE THE ASTERX SB3 FOR RTK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 How to configure the AsteRx SB3 in RTK rover mode via Ethernet . . . . . . . . .
3.3 HOW TO CONFIGURE THE ASTERX SB3 FOR ATTITUDE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 HOW TO CONFIGURE THE ASTERX SB3 AS A BASE STATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
9
9
10
11
12
13
13
15
20
4 Common Receiver Operations
4.1 HOW TO CONFIGURE SBF AND NMEA OUTPUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.1 Output over a serial COM connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.2 Output over Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 HOW TO LOG DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Internal logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 DOWNLOADING LOGGED DATA FROM THE RECEIVER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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34
38
38
41
Appendix A Rear-panel port descriptions
A.1 PWR-COM2&3/USB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.2 COM1-GPIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.3 ETH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A.4 MAIN ANT / AUX ANT (TNC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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CHAPTER 1. INTRODUCTION
1 Introduction
1.1 User Notices
1.1.1 CE Notice
AsteRx SB3 receivers carry the CE mark and are as such compliant with the
2014/53/EU - Radio Equipment Directive (RED), 2011/65/EU - Restriction
of Hazardous Substances (RoHS) Directive and 93/68/EC - CE-marking
Directive.
With regards to EMC, the AsteRx SB3 receiver is declared as class
A, suitable for residential or business environment. In a domestic
environment this product may cause radio interference in which case the
user may be required to take adequate measures.
1.1.2 ROHS/WEEE Notice
The
AsteRx
SB3
is
compliant
with
the
latest
WEEE,
RoHS and REACH directives.
For more information see
www.septentrio.com/en/environmental-compliance.
4
CHAPTER 1. INTRODUCTION
1.1.3 Safety information
Statement 1: The power supply provided by Septentrio (if any) should not
be replaced by another. If you are using the receiver with your own power
supply, it must have a double isolated construction and must match the
specifications of the provided power supply.
Statement 2: Ultimate disposal of this product should be handled
according to all national laws and regulations.
Statement 3: The equipment and all the accessories included with this
product may only be used according to the specifications in the delivered
release note, manual or other documents delivered with the receiver.
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CHAPTER 1. INTRODUCTION
1.1.4 Support
For first-line support please contact your Septentrio dealer.
Additional documentation can be found in the following manuals:
• The AsteRx SB3 Reference Guide (available from the Support section of the
Septentrio website) includes information on the receiver operation, the full list of
receiver commands and a description of the format and contents of all SBF (Septentrio
Binary Format) blocks.
• The RxTools Manual covers the RxTools software suite, including RxControl and
RxLogger.
• The Knowledge Base on the Septentrio website contains a large number of articles
and application notes which cover a wide array of technical and less technical topics.
The Knowledge Base is part of Septentrio’s Support Portal which can be accessed
through the support section of the Septentrio website (see below).
The Septentrio website has a dedicated Support section
(http://www.septentrio.com/support), where the User Manual, the Firmware Reference
Guide and the latest officially supported Firmware version are readily available for download.
In case the AsteRx SB3 does not behave as expected and you need to contact Septentrio’s
Technical Support department, you should attach a short SBF log file containing the support
blocks and a Diagnostic Report of the receiver.
http://www.septentrio.com
Headquarters
Septentrio NV
Greenhill Campus
Interleuvenlaan 15i,
3001 Leuven,
Belgium
Phone: +32 16 300 800
Fax: +32 16 221 640
[email protected]
6
CHAPTER 2. ASTERX SB3 OVERVIEW
2 AsteRx SB3 Overview
The AsteRx SB3 is a multi-frequency, multi-constellation GNSS receiver offering precise and
solid GNSS heading. Delivering precise positioning, 2D orientation and being IP68 compliant,
this housed GNSS solution is ideal for rapid integration into machine control or safety
applications.
The AsteRx SB3 is designed to be used as a dual antenna GNSS receiver for a wide array of
different systems but it can also be used as a single antenna receiver for systems which do
not require heading.
2.1 Physical and Environmental Specifications
Size:
Weight:
102 x 36 x 118 mm (4.0 x 1.4 x 4.6 in)
497 g (1.1 lb)
Input voltage:
Power consumption:
5 to 36 V DC
1.00 W typical (single antenna)
1.35 W typical (dual antenna)
Operating temperature:
-30 ◦ C to +65 ◦ C
(-22 ◦ F to +149 ◦ F)
Storage temperature:
-40 ◦ C to +75 ◦ C
(-40 ◦ F to +167 ◦ F)
Ingress Protection:
Humidity
Dust
Shock
Vibration
IP68
MIL-STD-810G, Method 507.5, Procedure I
MIL-STD-810G, Method 510.5, Procedure I
MIL-STD-810G, Method 516.6, Procedure I/II
MIL-STD-810G, Method 514.6, Procedure I
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CHAPTER 2. ASTERX SB3 OVERVIEW
2.2 AsteRx SB3 design
2.2.1 Front Panel
The AsteRx SB3 ’s front panel features the two antenna TNC connectors for the Main and Aux
antennas.
Figure 2-1: The front panel of the AsteRx SB3
2.2.2 Rear Panel
Figure 2-2 shows the layout of the rear-panel connectors of the AsteRx SB3 . The rear panel
has three connectors: a 7-pin female PWR-COM2/3/USB socket, a 7-pin female COM1-GPIO
socket and a 4-pin female ETH socket. A full description of the connector PIN layout of the
rear panel ports can be found in Appendix A.
Figure 2-2: The rear panel of the AsteRx SB3
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CHAPTER 3. CONFIGURING THE ASTERX SB3
3 Configuring the AsteRx SB3
3.1 Connecting to the AsteRx SB3
3.1.1 Powering the AsteRx SB3
The AsteRx SB3 can be powered in a number of different ways. The first method is to power
the receiver by supplying 5 to 36 VDC via the open-ended power cable connected to PIN 1 of
the rear-panel 7-pin female PWR-COM2&3/USB socket.
You may also power the AsteRx SB3 by connecting an appropriate USB cable to the same
7-pin female PWR-COM2&3/USB socket, using either the recommended Septentrio USB
adapter or the USB socket of a PC as shown in Figure 3-1.
Figure 3-1:
Connecting the receiver through USB using the rear panel
PWR-COM2&3/USB socket
The AsteRx SB3 can also be powered through the ETH socket using power over Ethernet
(PoE). All of the rear-panel ports and their pin assignments are described in more detail in
Appendix A.
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CHAPTER 3. CONFIGURING THE ASTERX SB3
3.1.2 Connecting to the web interface via Ethernet
Step 1: Connect the Power and Ethernet cables
Connect the Ethernet cable to the connector labeled ’ETH’ on the rear panel of the receiver
as shown in Figure 3-2 and make sure it is connected to a LAN network. Then connect the
power cable to the receiver and make sure the correct input voltage is applied (between 5
and 36 V DC). Note that in case the receiver is powered over Ethernet, connecting a power
cable is not necessary.
Figure 3-2: Rear panel Ethernet socket
Step 2: Open a web browser and connect to the AsteRx SB3
By default, the AsteRx SB3 has the hostname ’http://asterxsb3-xxxxxxx’, where xxxxxxx are
the 7 digits of the serial number of the receiver board inside the AsteRx SB3 . This hostname
can be used on a local area network to connect to the AsteRx SB3 if the IP address assigned
by the DHCP server is unknown. The hostname can be found on a sticker on the bottom of
the receiver housing. Figure 3-3 shows a screenshot of an Ethernet connection to a receiver
with serial number 3238978 using ’http://asterxsb3-3238978’.
Figure 3-3: Connecting to the Web Interface via Ethernet
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CHAPTER 3. CONFIGURING THE ASTERX SB3
3.1.3 Connecting to the web interface via USB
Step 1: Connect the combined Power/USB cable
Connect the combined Power/USB cable to the 7-pin female PWR-COM2&3/USB socket on
the rear panel of the receiver as shown in Figure 3-4 and make sure it is connected to a
computer.
Figure 3-4: Rear panel 7-pin PWR-COM2&3/USB socket
Step 2: Open a web browser and connect to the AsteRx SB3
Once connected via USB, the AsteRx SB3 can be reached using the default Ethernet-over-USB
IP address 192.168.3.1 as shown in Figure 3-5. Note that this address cannot be changed.
Figure 3-5: Connecting to the Web Interface via USB
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CHAPTER 3. CONFIGURING THE ASTERX SB3
3.1.4 Connecting via COM
In case you do not have an appropriate USB cable, Ethernet cable or a LAN network available,
you may still connect to the receiver using one of the receiver’s COM ports and RxControl.
Step 1: Connect the Power and COM cables
Connect the COM cable to the connector labeled ’COM-GPIO’ on the rear panel of the receiver
as shown in Figure 3-6 and connect the other end to a computer. It may be necessary to use
a serial-to-USB converter. Now connect the power cable to the receiver and make sure the
correct input voltage is applied (between 4.5 and 36 V DC).
Figure 3-6: Rear panel COM 1 socket
Step 2: Open RxControl and connect to the AsteRx SB3
Once connected, open RxControl on the computer to which the receiver is connected and
follow the sequence of steps described in Figure 3-7 to open a connection to the AsteRx SB3
. Note that RxControl is part of the RxTools software suite which can be freely downloaded
from the Septentrio website.
Figure 3-7: Connecting to the receiver via COM using RxControl. Select ’Serial
Connection’ and choose ’Create New’. Next, choose the correct serial port, define a
name for the connection and press Finish.
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CHAPTER 3. CONFIGURING THE ASTERX SB3
3.2 How to configure the AsteRx SB3 for RTK
The AsteRx SB3 can use correction data to calculate a cm-level RTK position. The AsteRx SB3
can obtain this correction data in several ways: over the internet via NTRIP, using a serial or
USB connection or via Ethernet. The example below shows how to set up the receiver for
RTK using using TCP/IP in a closed network.
3.2.1 How to configure the AsteRx SB3 in RTK rover
mode via Ethernet
Step 1: Enable RTK positioning mode
Ensure that RTK is enabled as a positioning mode. This can be done in the GNSS Position tab
by checking the ‘RTK’ box in the ‘Position Mode’ field as shown in Figure 3-8.
Figure 3-8: Ensure that RTK is enabled as a positioning mode
Step 2: Configure the Ethernet connection
New IP Receive Connection as
On the IP Ports window of the rover receiver, click on
shown in Figure 3-9 to start configuration sequence. The Port and TCPAddress should match
the port and IP address of the Base station receiver.
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CHAPTER 3. CONFIGURING THE ASTERX SB3
Figure 3-9: In the IP Ports window, click on
New IP Receive Connection to
configure the connection with the base station
Step 3: Verifying the configuration
If the Base station and rover receivers have been configured correctly then the
Communication Ethernet window should appear similar to the window shown in 3-10.
Figure 3-10: Ethernet tab of the rover receiver showing a fixed RTK position and
reception of RTCMv3 diff corr on receiver port IPR1
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CHAPTER 3. CONFIGURING THE ASTERX SB3
3.3 How to configure the AsteRx SB3 for
Attitude
With two antennas connected to the AsteRx SB3 , the receiver can calculate Heading and
either Pitch or Roll. This section details how to configure the AsteRx SB3 in a two-antenna
setup.
Step 1: Connect a second antenna
Connect a second antenna to the front panel connector labelled AUX ANT as indicated in
Figure 3-11.
Figure 3-11: Auxiliary antenna connector on front panel
Step 2: Configure attitude settings
The attitude settings of the AsteRx SB3 can be configured in the GNSS, Attitude window as
shown in Figure 3-12.
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CHAPTER 3. CONFIGURING THE ASTERX SB3
Figure 3-12: GNSS Attitude window when two antennas are connected
GNSS Attitude field
The recommended settings for a Heading setup are MultiAntenna mode with attitude
calculated using Fixed ambiguities as shown. These settings are configured by default.
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CHAPTER 3. CONFIGURING THE ASTERX SB3
Antenna Location and Antenna Offset
The AsteRx SB3 assumes that the main and auxiliary antennas are placed along the
longitudinal axis of the vehicle with the auxiliary in front of the main antenna. If the antennas
cannot be placed in such a configuration, the reported heading and pitch may be biased. The
default settings in the Antenna Offset and Antenna Location fields shown in Figure 3-13
can be altered to compensate for these biases.
In many cases the antenna baseline will not align perfectly with the vehicle’s longitudinal axis
or its perpendicular and in these circumstances the provided attitude offset value can also be
used to compensate for small angular deviations. Note that, in order to ensure the integrity
of the solution, offsets greater than 5 degrees from the longitudinal axis or its perpendicular
are not recommended.
An increase in angle between the antenna baseline and the vehicle’s longitudinal axis in the
clockwise direction corresponds to a positive change in the value of the heading offset To
better explain this, a few examples of possible setups are given below in Figure 3-13.
Figure 3-13: Examples of a number of antenna setups and the corresponding
heading offsets. a.) The default setup for which the angle between the antenna
baseline and the longitudinal axis is 0 and no heading offset needs to be set. b.)
a slight deviation (5 degrees) from the longitudinal axis in the clockwise direction
is reflected by a positive increase in the heading offset. c.) An alternative antenna
configuration where the antennas are placed perpendicular to the longitudinal
axis. d.) An alternative antenna configuration where the antennas are placed
perpendicular to the longitudinal axis with a small deviation.
The examples above all relate to a heading offset but the antenna orientation can also
be characterized by a vertical offset. Vertical offsets can be compensated for by adjusting
the Pitch offset. This may be necessary in cases where the antenna baseline is not exactly
parallel to the longitudinal axis of the vehicle or in situations where the two antenna ARPs
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CHAPTER 3. CONFIGURING THE ASTERX SB3
may not be exactly at the same height in the vehicle reference frame. Since pitch is defined
as the right-handed rotation about the vehicle Y axis, a situation where the main antenna is
mounted lower than the aux antenna (assuming the default antenna setup) will result in a
positive pitch a shown in Figure 3-14.
Figure 3-14: Visual representation of the effect of vertical offset between the two
antennas on the Pitch offset. Assuming the default antenna configuration, the aux
antenna being mounted higher will result in a positive value for the pitch.
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CHAPTER 3. CONFIGURING THE ASTERX SB3
Step 3: Attitude information in SBF and NMEA data
Details on how to output SBF and NMEA data can be found in Section 4.1.
SBF
Attitude information is contained in the SBF blocks AuxAntPositions, AttEuler, AttCovEuler and
EndOfAtt. These blocks are selected automatically when checking the ‘Attitude’ box when
configuring SBF output via the NMEA/SBF Out window as Figure 3-15 shows.
Figure 3-15: SBF blocks containing attitude information
NMEA
You can output the attitude information from the AsteRx SB3 in NMEA format by selecting
the standard NMEA HDT sentence or the Septentrio proprietary HRP sentence as shown in
Figure 3-16.
Figure 3-16: NMEA sentences containing attitude information
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CHAPTER 3. CONFIGURING THE ASTERX SB3
3.4 How to configure the AsteRx SB3 as a Base
station
This section describes the Base station configurations applicable to the AsteRx SB3 .
If the feature is included with the purchased product variant, the AsteRx SB3 can be set up
as a Base station receiver and provide differential corrections data to one or more rover
receivers.
Step 1: Preparing the AsteRx SB3 as a Base station
Set the Base station position as static
To work as a Base station, the position of the AsteRx SB3 should be set to static. The Static
position mode can be selected in the GNSS tab as shown in Figure 3-17.
Figure 3-17: Setting the AsteRx SB3 Base station position to static
Set the correct position
An accurate position of the antenna that is connected to the AsteRx SB3 should also be set.
A Rover receiver in RTK mode calculates a position relative to the Base station receiver. The
default setting of ‘auto’ can be used for demonstrations however, for most other purposes
where an accurate absolute position is important, a properly surveyed position is advisable.
In the example shown in Figure 3-18, the position stored under ‘Geodetic1’ is used. The
static positions can be entered via the Advanced Settings menu on the same page. Pre-set
positions can be entered in either Geodetic or Cartesian coordinates as shown.
In the Datum field, you can select the datum to which the antenna coordinates refer.
The selected value is stored in the Datum field of position-related SBF blocks (e.g.
PVTCartesian) and also in any output differential corrections. Please note that the Datum
setting does not apply any datum transformation to the antenna position coordinates.
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CHAPTER 3. CONFIGURING THE ASTERX SB3
Click OK to apply the new settings
Figure 3-18: Setting the static position to the pre-set ‘Geodetic1’ position
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CHAPTER 3. CONFIGURING THE ASTERX SB3
Set Marker/Station name
A Marker name and Station code can also be defined through the GNSS/Name and
Marker menu as shown in Figure 3-19.
Figure 3-19: Setting the Station settings
Step 2: Configure the internet connection
An internet connection can be achieved by using the Ethernet connector or the USB
connector of the AsteRx SB3 . When using Ethernet, make sure your network has
internet access. Contact your system administrator to confirm that your network is
properly configured. Extra settings are available on the Ethernet settings page under the
Communication menu.
Internet access can be enabled via USB (RNDIS IP interface), however this will depend on the
PC or device you are connected to. Specific settings on the PC or device will be necessary
so that internet can be shared over USB (e.g. by ssh port forwarding). Please contact your
system administrator or PC/device manufacturer to guide you in realizing this connectivity.
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CHAPTER 3. CONFIGURING THE ASTERX SB3
Step 3a: Configure the output of differential corrections using
an NTRIP Caster
The AsteRx SB3 includes a built-in NTRIP Caster that makes correction data from the AsteRx
SB3 available to up to 10 NTRIP clients over the internet. The caster supports up to three
mount points and can also broadcast correction data from a remote NTRIP server.
All settings relating to the AsteRx SB3 NTRIP Caster can be configured on the NTRIP Caster
window from the Communication menu.
Define a new mount point
Figure 3-20: The configuration sequence for defining a new mount point
In the NTRIP Caster window, click on the Settings tab.
In the General Settings field, enable the NTRIP Caster and select the IP port over which you
wish to send correction data: the default port is 2101.
Click on
New mount point as indicated in Figure 3-20. Select Yes to enable the mount
point and give it a name. This is the name that will appear in the caster source table. Up to
3 mount points can be defined each with a different name. You can also select the type of
Client authentication for the mount point: none - any client can connect without logging
in or, basic - clients have to login with a username and password.
By default, the field Allow external server is set to No. By setting Allow external server to
Yes the mount point can receive a stream from a remote NTRIP server.
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CHAPTER 3. CONFIGURING THE ASTERX SB3
Click on the Configure Output ... button to enable the local NTRIP server of the AsteRx
SB3 and to select the individual messages you want to broadcast. By default, RTK correction
messages necessary for GPS, GLONASS, Galileo and BeiDou are pre-selected. Click Ok to
apply the settings.
Define a new user
If you selected basic client authentication when configuring the mount point in the previous
step, you will need to define at least one user. The user name and password are the
credentials needed for the NTRIP client to access the correction stream.
In the Client Users section, click on New User as shown in Figure 3-21. Enter a User Name
and Password for the user and select the mount points that they will have access to. Up to
10 NTRIP clients can log in as a particular user. Click Ok to apply the settings.
Figure 3-21: Configuring the login credentials for a user
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CHAPTER 3. CONFIGURING THE ASTERX SB3
Is the NTRIP Caster working?
In the Status tab of the NTRIP Caster window, you can see a summary of the NTRIP Caster
to make sure that it has been properly configured. In the example shown in Figure 3-22, a
client is connected to the mount point named Leuven as user Mildred.
If the client receivers are configured to send a GGA message to the caster (as was the case in
Figure 3-23), then their position will also be visible.
Figure 3-22: Connecting as a client to the AsteRx SB3 NTRIP Caster
On the NTRIP Client side
Rover receivers can connect to the NTRIP Caster by entering its IP address and Port as shown
in Figure 3-23. After clicking Ok, the mount point source table will be filled and a mount point
can be selected. The user name and password can then be entered and within a few seconds,
the Rover receiver should report an RTK fixed position.
Figure 3-23: Connecting as a client to the AsteRx SB3 NTRIP Caster
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CHAPTER 3. CONFIGURING THE ASTERX SB3
Step 3b: Configure the output of differential corrections using
a TCP/IP in a closed network
Configure the IPS connection
Setup an IPS connection over which the differential corrections can be streamed. On the IP
Ports page, click on New IP Server as shown in Figure 3-24, then insert the port number
and mode of the connection. When choosing a port number avoid conflicts with other
applications such as the commands port (28784), the webserver port (80), the FTP port (21)
as well as the default NTRIP port (2101) and the NTP port (123).
Figure 3-24: Select and configure an IP Server port on which to output differential
corrections
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CHAPTER 3. CONFIGURING THE ASTERX SB3
Configure the correction stream
On the Corrections Output window, click on New RTCM3 output as shown in Figure 3-25.
You can then select the IPS connection configured in the previous step. The messages
necessary for RTK and DGNSS (for GPS, GLONASS, Galileo and BeiDou) are selected by
default1 but you can select any combination of correction messages that you want to output.
A summary of other RTCM messages can be found in the ’AsteRx SB3 Reference Guide’.
Figure 3-25: Output RTCMv3 differential corrections on the configured TCP/IP
server port of the Base station receiver
1
Note that if you do not have permissions for RTK Base corrections, you will only be allowed to output RTCM2
DGPS messages
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CHAPTER 3. CONFIGURING THE ASTERX SB3
Verifying the configuration
Having configured the settings and clicked Ok to apply them, you can now connect to the
configured Ethernet port of the AsteRx SB3 using a terminal emulator tool such as Data Link2 .
The Ethernet IP address is IP address shown under Ethernet Status on Communication >
Ethernet page.
This IP address and the port number 600 can then be used to configure a Data Link
connection as shown in Figure 3-26.
Figure 3-26: Configure the Data Link terminal emulator tool to connect to the
AsteRx SB3 Ethernet port over which differential corrections have been configured
When connected to the output correction stream, click on the Show Data button on Data
Link and you should see output similar to that shown in Figure 3-27.
2
Data Link is part of Septentrio’s RxTools suite of GUI Tools supplied with the AsteRx SB3
28
CHAPTER 3. CONFIGURING THE ASTERX SB3
Figure 3-27: The RTCMv3 differential correction stream output from the IPS1
Ethernet connection of the AsteRx SB3
When a connection to the configured Ethernet port has been established, in this example
using Data Link, the Data Streams field on the Corrections Output window should now
show the active blue connection shown in Figure 3-28 and the corrections output icon in
the information panel should appear active.
Figure 3-28: Web Interface showing differential corrections output over an
Ethernet connection
29
CHAPTER 4. COMMON RECEIVER OPERATIONS
4 Common Receiver Operations
4.1 How to configure SBF and NMEA output
The AsteRx SB3 can output position and GNSS data in both standard NMEA format and
Septentrio’s proprietary compact binary format SBF. The following sections detail how to
configure connections to other devices in order to send data.
SBF and NMEA can also be logged on the internal 16 GB disk of the AsteRx SB3 . Section 4.2.1
and 4.3 detail how to log data on the receiver and how to download data logged on the
receiver.
4.1.1 Output over a serial COM connection
The AsteRx SB3 can be connected via a serial COM cable to an RS-232 compatible secondary
device.
Step 1: Configure the serial COM port
The COM port of the AsteRx SB3 should be configured with the same baud rate and
flow control setting as the coupled device. These settings can be configured via the
Communication/Serial Port tab as shown in Figure 4-1. In this example, COM3 is set with a
speed of 19200 baud.
Figure 4-1: Configure the baud rate and flow control of the AsteRx SB3
30
CHAPTER 4. COMMON RECEIVER OPERATIONS
Step 2: Configure data output
NMEA
In the NMEA/SBF Out tab, clicking on New NMEA Stream will guide you through the steps
needed to configure NMEA output as shown in Figures 4-2 and 4-3.
Figure 4-2: Selecting to output NMEA data on COM3
Figure 4-3: Selecting to output the GGA and ZDA NMEA message every second
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CHAPTER 4. COMMON RECEIVER OPERATIONS
SBF
By clicking New SBF stream in the NMEA/SBF Out window, a second output stream can be
configured. In the example shown in Figures 4-4 and 4-5 the PVTCartesian SBF data block
will be output over COM1 once per second.
Figure 4-4: Selecting to output SBF data on COM1
Figure 4-5: Selecting to output the PVTCartesian SBF block every second
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CHAPTER 4. COMMON RECEIVER OPERATIONS
Step 3: Verifying the configuration
Having configured the data output and clicked on Ok, the NMEA/SBF Out page will now
display a summary of all data output as shown in Figure 4-6.
Figure 4-6: Summary of all configured data output streams
Figure 4-7 shows the actual data output. NMEA is in ASCII and is thus readable unlike SBF
which is formatted in binary. In this example, the serial COM was connected to a PC via a
USB adapter which maps the serial connection to a virtual COM9 of the PC.
Figure 4-7:
Example showing output of NMEA GGA (left panel) and SBF
PVTCartesian (right panel) data
33
CHAPTER 4. COMMON RECEIVER OPERATIONS
4.1.2 Output over Ethernet
SBF and NMEA data can be sent over an Ethernet connection from the AsteRx SB3 .
Step 1: Configure an IP connection on the AsteRx SB3
The Ethernet port settings can be configured by selecting IP Ports from the Communication
menu. In the example shown in Figure 4-8, port 600 has been configured as connection IPS1
in TCP2Way mode so data can be received as well as transmitted over the connection. When
choosing a port number, avoid conflicts with other applications such as the commands port
(28784), the webserver port (80), the FTP port (21) as well as the default NTRIP port (2101)
and the NTP port (123).
Note that a new IP port can also be configured by following the sequence of settings for
NMEA output described in Step 2.
Figure 4-8: Configuring the TCP/IP server port setting for data output
34
CHAPTER 4. COMMON RECEIVER OPERATIONS
Step 2: Configure output of NMEA messages
In the NMEA/SBF Out window, click on New NMEA stream and follow the sequence of
windows to configure the data you want to output. In the example shown in Figure 4-9, the
NMEA GGA message will be output every second. Ensure that the previously configured IPS1
port is selected for output as highlighted.
Figure 4-9: Outputting NMEA GGA over the configured IPS1 connection
Similar steps can be followed to output SBF messages.
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CHAPTER 4. COMMON RECEIVER OPERATIONS
Step 3: Configure Data Link to listen for NMEA output
The screenshots in Figure 4-10 show how the Septentrio GUI tool Data Link can be configured
to listen for the AsteRx SB3 GGA output.
Click on the TCP/IP Client button to configure the connection. In the highlighted fields insert
the IP address or hostname of the receiver and the port number configured in Step 1. Click
on Connect.
Figure 4-10: Configure the TCP/IP connection settings in Data Link
The info line at the bottom of the window should indicate that a connection has been made.
Click on the Show Data button to display the GGA data coming from the receiver as in
Figure 4-11.
36
CHAPTER 4. COMMON RECEIVER OPERATIONS
Figure 4-11: The Show data window of Data Link showing the NMEA GGA
message coming from the AsteRx SB3
37
CHAPTER 4. COMMON RECEIVER OPERATIONS
4.2 How to log data
The AsteRx SB3 has 16 GB of memory for internal data logging.
4.2.1 Internal logging
Step 1: Defining the Disk Full action
When setting up a logging session for the first time, it is a good idea to define what you would
like to happen when the internal memory is full. This can be configured in the Advanced tab
of the main page of the Logging menu as shown in Figure 4-12. There are two options, either
the receiver stops logging when the memory is full or it continues logging by making space
for new files by deleting the oldest files. The default setting is ’Stop logging in all sessions’.
Figure 4-12: Selecting what you wish to happen when the internal 16 GB memory
is full
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CHAPTER 4. COMMON RECEIVER OPERATIONS
Step 2: Configuring a logging session
To define a new logging session, press New NMEA Stream or New SBF Stream as shown in
Figure 4-13.
Figure 4-13: Defining a new logging session
You can then follow the sequence of steps shown in Figure 4-14, selecting the various
configuration settings for the logging session. In the Edit SBF Stream window, the messages
required for RINEX generation have been selected as well as those useful for the Support
department for diagnosing problems. SBF messages can also be selected individually. In
the SBF Logging Parameters field you can select the naming convention. The IGS options
names files according to IGS convention but files can also be freely named using either
Filename or Incremental options. After you have finished configuring the log session, do
not forget to enable logging and press Ok.
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CHAPTER 4. COMMON RECEIVER OPERATIONS
Figure 4-14: Follow the sequence of windows to fully configure the logging session
Step 3: Verifying the configuration
When you have finished configuring the logging session, the Log Sessions window will show
a summary of the defined logging sessions as in Figure 4-15. An estimate of the daily size of
data generated with the current logging configuration is also given.
Figure 4-15: A summary of the newly defined logging sessions showing the
expected amount of data generated daily
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CHAPTER 4. COMMON RECEIVER OPERATIONS
4.3 Downloading
receiver
logged
data
from
the
Data files logged by the AsteRx SB3 can be downloaded using the web interface using
the Disk Contents tab on the main page of the Logging menu. Individual files can be
downloaded by clicking on the green download arrow
next to the file name as shown
in Figure 4-16. Obsolete files can be deleted by clicking the button.
Figure 4-16: Downloading logged files
41
APPENDIX A. REAR-PANEL PORT DESCRIPTIONS
A Rear-panel port descriptions
A.1 PWR-COM2&3/USB
Figure A-1: Solder view of the 7-pin female PWR-COM2&3/USB socket on the rear
panel of the AsteRx SB3
The 7-pin connector type is an ODU MINI-SNAP F Circular Connector Series S40F1C-P07MCD0-500S.
PIN #
Colour
COM mode
1
Red
PWR
2
Black
GND
GND
3
Green
RxD3
USB D-
4
Yellow
TxD3
Not
connected
Serial COM3 transmit line
5
Grey
RxD2
USB D+
EITHER Serial COM2 receive line
OR Positive USB 2.0 FS device node.
Selection is done via pin 7.
6
White
TxD2
Not
connected
Serial COM2 transmit line
Blue
Not
connected
VBus
4.4-5.25 V input.
If present, USB-mode is selected.
If not present, UART Serial COM mode is
selected.
7
USB mode
Not
connected
Comment
5-36 VDC input (1.3A)
Pink wire with Red heat-shrink tube
Ground
Brown wire with Black heat-shrink tube
EITHER Serial COM3 receive line
OR Negative USB 2.0 FS device node.
Selection is done via pin 7.
42
APPENDIX A. REAR-PANEL PORT DESCRIPTIONS
A.2 COM1-GPIO
Figure A-2: Solder view of the 7-pin female COM1-GPIO socket on the rear panel
of the AsteRx SB3
The 7-pin connector type is an ODU MINI-SNAP F Circular Connector Series S40F1C-P07MCD0-500S.
PIN #
Colour
Name
1
Pink
EVENTA
2
Black
GND
3
Green
COM1 CTS/
EVENTB
4
Yellow
COM1 RTS/
PPS_OUT
5
6
Grey
White
RxD1
TxD1
7
Red
5V OUT
Comment
First EVENT input
(Max. VIL = 1V, Min. VIH = 2V, Max. VIH = 24V, Internal
delay to detection < 1 µs, 15 KΩ pull-down)
Ground
Brown wire with Black heat-shrink tube
COM1 Clear to Send.
This also connects to the second event EVENTB input.
It has the same electrical specifications as EVENTA (see
pin 1).
COM1 Request To Send or PPS_OUT (PPS_OUT
low = 0V, PPS_OUT high = 5V).
PPS_OUT polarity is consistent with command line
reference of OEM module.
Serial COM1 receive line
Serial COM1 transmit line
5V +/- 5%, 300 mA DC output
Blue wire with Red heat-shrink tube
43
A.3 ETH
Figure A-3: Solder view of the 4-pin female ETH socket on the rear panel of the
AsteRx SB3
The 4-pin connector type is an ODU MINI-SNAP F Circular Connector Series S40F1C-P04MFG0-50OO.
PIN #
1
2
3
4
Name
TXP
TXN
RXP
RXN
Description
Ethernet TX+
Ethernet TXEthernet RX+
Ethernet RX-
A.4 MAIN ANT / AUX ANT (TNC)
Connect an active GNSS antenna to these connectors. The gain at the connectors (antenna
gain minus cable losses) must be in the range 15 to 50dB.
The receiver provides a 5V DC supply on both the MAIN and AUX connectors to feed the
antennas. The maximum supported current is 200mA.
Never inject a DC voltage into the MAIN or AUX connectors as it may damage the receiver.
When using a splitter to distribute the antenna signal to several receivers, make sure that no
more than one output of the splitter passes DC. Use DC-blocks otherwise.
APPENDIX A. REAR-PANEL PORT DESCRIPTIONS
45