Inertial Sense Knowledge Base

EVB-2: RTK Rover Setup

How to setup the Inertial Sense EVB-2 as a rover.

1. Connect EVB-2 to computer using EVB USB port.

2. Press the configuration button until the configuration LED is either green, blue, or purple. This connects the EVB USB port directly to the µINS module.

3. Configure the µINS as a rover:

EvalTool:
a. Click on Settings tab followed by Serial Ports tab
b. Click on Find Devices button until EVB-2 is shown in list. The box next to the corresponding COM port should be checked.

EvalToolSettingsTab

c. Click on the RTK Tab followed by the Rover Mode Tab. Select RTK - GPS1 from the drop down menu and click apply.
EvalToolRTKRoverTab
CLTool:
Use argument -flashConfig=RTKCfgBits=0x1 when starting CLTool to configure device as Rover.
SDK:
Example code to programmatically configure device as rover:
uint32_t RTKConfig = 0x1;
int messageSize = is_comm_set_data(comm, DID_FLASH_CONFIG, offsetof(nvm_flash_cfg_t, RTKCfgBits), sizeof(RTKConfig), &RTKConfig);
serialPortWrite(serialPort, comm->buffer, messageSize)

4. Connect GPS Antenna - More information on antennas can be found in the user manual.

5. Receive base corrections data to µINS:

There are several ways to receive base corrections data to the µINS. The µINS recognizes and parses the base corrections as they arrive so the user just needs to ensure the messages are sent to the device. Several methods are described below:
XBee Radio:
a. Press the configuration button until the configuration LED is blue. This will configure the XBee radio so that messages received by the XBee are forwarded to the µINS where they will be interpreted as base corrections.
b. Use EvalTool or SDK to set DID_EVB_CONFIG.radioPID (integer 0-9) and DID_EVB_CONFIG.radioNID (hex 0 - 0x7FFF). These values need to match the values of the base station XBee radio.
INS USB Port:
Any computer connected to this USB port can send base corrections data to the µINS over the virtual COM port which is created when this USB port is connected. The µINS will recognize the corrections packets and interpret them correctly.
EVB USB Port:
Press the configuration button until the configuration LED is either green, blue, or purple. This connects the EVB USB port directly to the µINS module. Any computer connected to this USB port can send base corrections data to the µINS over the virtual COM port which is created when this USB port is connected. The µINS will recognize the corrections packets and interpret them correctly.
Header 3 - RS232:
Press the configuration button until the configuration LED is green or blue. This connects the EVB-2 header 3 pins to the µINS module via RS232. Any RS232 compatible device can send base corrections data to the µINS using this connection. The µINS will recognize the corrections packets and interpret them correctly. Note - In this configuration the XBee radio is also active and communicates with the µINS serial1 port while the RS232 connection communicates with the µINS serial0.
Header 3 - RS485/RS422:
Press the configuration button until the configuration LED is purple. This connects the EVB-2 header 3 pins to the µINS module via RS422/485. Any RS422/485 compatible device can send base corrections data to the µINS using this connection. The µINS will recognize the corrections packets and interpret them correctly. Note - In this configuration the WiFi and BTLE modules are also active and communicate with the µINS serial1 port while the RS422/485 connection communicates with the µINS serial0.
Header 4 - External Radio (TTL):
Press the configuration button until the configuration LED is green, blue, or purple. This connects the EVB-2 header 4 pins to the µINS module via TTL. Any TTL compatible device can send base corrections data using this connection. The µINS will recognize the corrections packets and interpret them correctly. Note - In this configuration the XBee radio and WiFi/BTLE should not be used as this TTL connection communicates with the µINS serial1.
Wifi/BTLE:
Wifi can be used to receive base corrections data. Bluetooth is not available at this time.
a. The Wifi module must be configured to connect to a specific network. The device can save three networks onboard and will try to connect the configuration selected by DID_EVB_CONFIG.bits. Using the EvalTool DID_EVB_CONFIG.wifi[x].ssid (network name) and DID_EVB_CONFIG.wifi[x].psk (network passkey) must be set.
b. The IP address (hex) and port number (integer) of the device broadcasting must also be set in the EvalTool using DID_EVB_CONFIG.server[x].ipAddr and DID_EVB_CONFIG.server[x].port.

EvalToolWiFIConfig

Software to Forward Corrections

EvalTool:

The EvalTool can be used to receive base corrections and forward them to a µINS over a COM port. Under the Settings tab -> RTK -> Corrections Input the source of corrections can be selected. The corrections received by any of the three methods are forwarded by the EvalTool to every open COM port (See Serial Ports tab):

Serial: Corrections are received by the EvalTool over the designated COM port. Baud Rate and Format must be set correctly.
NTRIP: The EvalTool connects to an NTRIP server as designated by the Address:Port field. Enter Username, Password, Format, and Mount.
TCP: Use TCP to connect to any other TCP server. Enter the Address and Port. The Format must then be selected.