Fixposition Vision Sensor Fusion RTK2 Starter Kit User Guide

Fixposition Vision Sensor Fusion RTK2 Starter Kit

Product Information

• The Vision-RTK 2 Starter Kit is a device that provides real-time positioning and fusion capabilities.
• The kit includes various connectors such as General, UART, CAN, External IMU, and Wheel Speed.
• It also features an Ethernet connector, Power connector, Wi-Fi antenna connector, SMA connector, LED, and USB-C indicator connector.
• The device operates with a voltage supply level between 5-36 VDC, typically 1.5A@5V.
• It can be connected to a PC using either the Ethernet port or Wi-Fi connection.
• The web interface can be accessed with the address http://10.0.2.1 when connected via Ethernet or by connecting to the Wi-Fi SSID with the same reference name as the Vision-RTK 2 and using the password 1234567890.
• The Vision-RTK 2 requires an available Wi-Fi network with internet access for networking configuration.
• An NTRIP account needs to be configured in the RTK section to receive RTK corrections.
• The Fusion section allows adjusting options specific to the application.
• Proper mounting of the Vision-RTK 2 on the vehicle is recommended, using the provided aluminum bar to ensure correct extrinsic parameters.
• In the Camera configuration, ensure that the camera view is not covered or dominated by static scenes like the sky or hood of the car. Adjust the cutout at the bottom or top part of the camera view if necessary.
• Real-time positioning can be enabled in the Positioning Fusion Status section by clicking on the blue Start button. The device requires outdoor conditions with RTK fix solutions for initialization.
• To converge the IMU biases, drive the vehicle for 2-3 minutes in RTK fix with some dynamic movement, such as driving a figure eight.
• The Vision-RTK 2 evaluation kit provides UART and Wi-Fi/Ethernet interfaces for data transfer in serial mode or TCP/IP mode, respectively.
• Data is published in a custom Fixposition format, with additional formats available in the Configuration Fusion section.

Product Usage Instructions

1. Connect the Vision-RTK 2 to a power supply with a voltage supply level between 5-36 VDC, typically 1.5A@5V, using the power connector (3).
2. To access the web interface, choose one of the following options:
   • Ethernet: Connect the Vision-RTK 2 to a PC via the Ethernet port (1). Access the web interface using the address http://10.0.2.1.
   • Wi-Fi: Connect to the Wi-Fi SSID with the same reference name as the Vision-RTK 2 (e.g., fKpE-5Ycbaa2) and use the password 1234567890.
3. In the Configuration section, perform the following tasks:
   • Networking: Connect to an available Wi-Fi network with internet access.
   • RTK: Configure an NTRIP account to receive RTK corrections.
   • Fusion: Adjust the options according to your specific application needs (e.g., Tuning mode).
4. Ensure that the Vision-RTK 2 is rigidly attached to the vehicle. For initial tests, mount the sensor and antennas on the provided aluminum bar to ensure correct extrinsic parameters.
5. In the Camera configuration, make sure the camera view is not covered or dominated by static scenes. Adjust the cutout at the bottom or top part of the camera view if necessary.
6. In the Positioning Fusion Status section, enable real-time positioning by clicking on the blue Start button. Note that the device requires outdoor conditions with RTK fix solutions for initialization.
7. Drive the vehicle for 2-3 minutes in RTK fix with some dynamic movement (e.g., driving a figure eight) to converge the IMU biases.

Overview

Setup

• Connect the Vision-RTK 2 to the power supply connector (3). The voltage supply level should be between 5-36 VDC, typically 1.5A@5V.
• Connect the Vision-RTK 2 to a PC and access the web interface using one of the following options:

1. Ethernet: connect via the Ethernet port (1). Access the web interface with the address http://10.0.2.1
2. Wi-Fi: connect to the Wi-Fi SSID with the same reference name as the  Vision-RTK 2(e.g. cbaa2 and use the password “1234567890”.
   Access the web interface with the address http://10.0.1.1

In the section Configuration:

1. Networking, connect to an available Wi-Fi network with internet access.
2. RTK, configure an NTRIP account to receive RTK corrections.
3. Fusion, adjust the options for the specific application (e.g. Tuning mode).

d. Ensure the following points

1. The Vision-RTK 2 is rigidly attached to the vehicle. For initial tests, it is recommended to mount the sensor and antennas on the provided alu minum bar to ensure the correct extrinsic parameters.
2. In Configuration → Camera, the camera view is not covered and is not dominated by static scenes like the sky or hood of the car. Adjust the cutout at the bottom or top part of the camera view if it has static objects like a vehicle hood so that these are obscured.

In the section Positioning → Fusion Status, enable the real-time positioning with the blue Start button. The Vision-RTK 2 initialization requires to be outdoors with RTK fix solutions.

Drive 2-3 minutes in RTK fix with some dynamic movement to converge the IMU biases (e.g. driving a figure eight).

Interfaces

The Vision-RTK 2 evaluation kit provides a UART connector for transferring data in serial mode and a Wi-Fi connection or an Ethernet port for transferring data in TCP/IP mode. The data is published with a custom Fixposition format. Additional formats can be selected in the section Configuration → Fusion.

Additional information

For more information about the Vision-RTK 2, contact Fixposition support:
https://www.fixposition.com/contact
See also: IMU biases calibration – Initialization procedure

References

• Kontakt

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