ACEINNA INS402 Active Multi-Constellation Multi-Band GNSS Antenna User Guide

ACEINNA INS402 Active Multi-Constellation Multi-Band GNSS Antenna

Multi-band GNSS Antenna

The INS402 Active Multi-constellation Multi-band GNSS Antenna is a high- performance navigation device that utilizes multiple GNSS (Global Navigation Satellite System) constellations and bands to provide accurate positioning and orientation information for vehicles. The device comes with various hardware components including the INS402 wire harness connector, 12 V DC adapter with 5.5 mm x 2.1 mm jack, 100Base-TX to 100BaseT1 converter, Ethernet cable, and CANalyst-CAN wire harness connector. Additionally, the device requires software components such as AceNav.exe, Npcap.exe, CAN Transfer.exe, and MountAngle Calculation.exe for setup and configuration.

Product Usage Instructions

Setup
To set up the INS402 device, follow the below steps:

1. Prepare the required equipment including the INS402 device, wire harness connector, 12 V DC adapter, Ethernet cable, CANalyst-CAN wire harness connector, and software components.
2. Mount the INS402 device on a flat rigid panel in the vehicle and align the x-axis with the forward driving direction of the vehicle.
3. Mount the antenna to a secure and stable structure with a clear view of the sky and connect it to the FAKRA RF terminal.
4. Connect the wire harness connector to the main connector of the INS402 device.
5. Use the Ethernet cable to connect the Ethernet converter to the Ethernet port on the PC.
6. Connect the jack from the wire harness to the 12 V power adapter and connect the power adapter to a power supply.

Equipment to be prepared:

HARDWARE

• INS402
• Active Multi-constellation Multi-band GNSS Antenna (double)
• INS402 Wire Harness Connector
• 12 V DC Adapter with 5.5 mm x 2.1 mm Jack
• 100Base-TX to 100Base-T1 Converter (3-ETH_TRX_N-, 4-ETH_TRX_P+)
• Ethernet Cable
• CANalyst-Ⅱ
• CAN Wire Harness Connector

SOFTWARE

• AceNav.exe (download link: https://github.com/Aceinna/acenav-cli/releases)
• Npcap.exe (download link: https://navview.blob.core.windows.net/forum/upload/npcap-1.55.exe-kv7fw14u.zip)
• CAN Transfer.exe
• MountAngle Calculation.exe

INS402 Connection mode

CANalyst-Ⅱ install mode
CANalyst-Ⅱ(use DB9 or other ways) connect to CAN network, the connection mode can refer to the following figure:

And then check whether have data output from CAN port, you can use CANtest.exe to do this check:

1. Choose the right device: USBCAN-2E-U
2. Choose the right bitrate: 500k
3. Don’t confuse CAN-H & CAN-L
   If there is data output, the CAN connection is successful.

Configuring User Parameters

After setting up the INS402 device, follow the below steps to configure user parameters:

1. Open ins402.json in Acenav.exe (path: Acenav.clisettingRTK_INSins402.json).
2. Configure the value in user parameters (from line 6 to line 65) as required.
3. For GNSS lever arm configuration (paramId: 1-3), follow the pattern to show the translation offset in each direction of x, y, z. The IMU to the GNSS master antenna lever arm is [x, y, z] = [2.0, 0.0, -2.0] m.
4. For user lever arm configuration (paramId: 4-9), set the initial value to [x, y, z] = [0.0, 0.0, 0.0] if the INS is on a boat. If the INS is in a car, measure the IMU to rear axle center lever arm and set in the paraID4-6.
5. For rotation align configuration (paramId: 10-12), if the coordinate system of INS402 installed on the carrier is consistent with the carrier coordinate system, follow the pattern to show the rotation alignment in each direction of x, y, z.

INS402 User Parameters Configuration

The coordinate system of INS402 is like follow:

• Open ins402.json in Acenav.exe, the path is:
  “Acenav.cli\setting\RTK_INS\ins402.json”, The “value” in “userParameters” (from line6 to line 65) need to be configured.
  Each parameter of “lever arm” is Measured from IMU to the Projection point. It is required to have the lever arm accuracy of less than 2 cm.

• “pyramid”: 1-3 correspond to “gnss lever arm”:x, y, z
  Follow the pattern show the translation offset in each direction of x, y, z. The IMU to the GNSS master antenna lever arm is [x, y, z] = [2.0, 0.0, -2.0] m. 

• “paramId”: 4-6 correspond to “user lever arm”: x, y, z

  1. If the INS on boat, ignore these three values, Set the initial value: [x, y, z] = [0.0, 0.0, 0.0]
  2. If the INS in car, measure the IMU to rear axle center lever arm and set in the paraID4-6

• “paramId”: 7-9 correspond to “user lever arm”: x, y, z
  If we take the GNSS master antenna as the Projection point. follow pattern show the translation offset in each direction of x, y, z. The IMU to the Projection point lever arm is [x, y, z] = [2.0, 0.0, -2.0] m.

• “paramId”: 10-12 correspond to “rotation align”: x, y, z
  If the coordinate system of INS402 installed on carrier is consistent with the carrier coordinate system, then rotation align [x, y, z] = [0.0, 0.0, 0.0] deg.
  This is the initial value, fill in the corrected value after misalignment calibration. (See2.3)

• “paramId”: 13-15 correspond to “sec lever arm”: x, y, z
  Follow pattern show the translation offset in each direction of x, y, z. The IMU to the GNSS slave antenna lever arm is [x, y, z] = [4.0, 0.0, -1.0] m.

• “paramId”: 19 corresponds to “NHC switch” 0: Ocean (INS on boat)
  1: Land (INS in car)

CAN Transfer Configuration

CAN-Transfer is a tool to listen odometer messages (speed and gear) on Canbus, and wrap the message( speed × gear ), then send to ethernet in a frequency about 20Hz. If every things work, there is a can_speed.log in data/session_YYYYMMDD_hhmmss folder. It logs all received speed on canbus.
To use CAN-Transfer, you need to configure “devices_mac” (a list of INS402, it needs wrapped message from ethernet.) in config.json.

• Choose your PC Ethernet and connect

• The CAN-transfer can read the device automatically, but for further using, you can write the device mac in the square brackets show in Fig17.

• This config.json shows all the information we need to configure odometer
  “device_mac” “can_bus”
  “odometer”: the dbc file of the vehicle or boat is needed to configure odometer

• If the customer is confused with this configuration, they can send us the dbc file and we will modify the config.json for them

Misalignment Calibration

Vehicle Online Calibration Procedure：

• i. Vehicle stops at level road in open sky, signal good environment.

• ii. Start device and check device work normally.

• iii. Write INS initial configuration parameters, configure RTK correction and start data logging.

• iv. Start to run as “日” (including left and right turns and keep straight after turning) after RTK correction is received and INS convergence.

• v. Confirm start point, keep run as straight line with > 5m/s speed for at least 250m. Then make a
  U- turn, run back to start point with > 5m/s speed. Do at least 3 iterations to make sure the desired accuracy is reached.

• Notes
  Log tool & tool command:

  • a) Log tool: Acenav.exe
    b) Tool command:

./acenav -i 100base-t1 –device-type=INS402 –cli ——first step >> upgrade