R&S®SMW-K109/R&S®SMBVB-K109
Hardware in the Loop (HIL)
User Manual
(;Üáì2)
1178839402
Version 09
Described are the following software options:
●
R&S®SMW-K109 Real-time interfaces (HIL) (1414.3013.xx)
●
R&S®SMBVB-K109 Real-time interfaces (HIL) (1423.8014.xx)
This manual describes firmware version FW 5.00.166.xx and later of the R&S®SMW200A.
This manual describes firmware version FW 5.00.044.xx and later of the R&S®SMBV100B.
© 2022 Rohde & Schwarz GmbH & Co. KG
Muehldorfstr. 15, 81671 Muenchen, Germany
Phone: +49 89 41 29 - 0
Email: info@rohde-schwarz.com
Internet: www.rohde-schwarz.com
Subject to change – data without tolerance limits is not binding.
R&S® is a registered trademark of Rohde & Schwarz GmbH & Co. KG.
Trade names are trademarks of the owners.
1178.8394.02 | Version 09 | R&S®SMW-K109/R&S®SMBVB-K109
The following abbreviations are used throughout this manual: R&S®SMW200A is indicated as R&S SMW, R&S®SMBV100B is abbre-
viated as R&S SMBVB; the license types 02/03/07/11/12/13/16 are abbreviated as xx.
R&S®SMW-K109/R&S®SMBVB-K109
Contents
1 Welcome to the Hardware in the Loop (HIL) Option........................... 5
1.1 Accessing the GNSS HIL Dialog..................................................................................6
1.2 What's new.....................................................................................................................6
1.3 Documentation overview..............................................................................................6
1.3.1 Getting started manual....................................................................................................6
1.3.2 User manuals and help................................................................................................... 6
1.3.3 Tutorials...........................................................................................................................7
1.3.4 Service manual............................................................................................................... 7
1.3.5 Instrument security procedures.......................................................................................7
1.3.6 Printed safety instructions............................................................................................... 7
1.3.7 Data sheets and brochures............................................................................................. 7
Contents
1.3.8 Release notes and open source acknowledgment (OSA).............................................. 8
1.3.9 Application notes, application cards, white papers, etc...................................................8
1.4 Scope............................................................................................................................. 8
1.5 Notes on screenshots...................................................................................................8
2 Tips for best results.............................................................................10
2.1 Synchronization.......................................................................................................... 10
2.2 System latency............................................................................................................ 11
2.3 Latency calibration......................................................................................................11
2.4 Adding a constant delay to compensate for command jitter..................................13
2.5 Interpolation................................................................................................................ 15
2.6 Trajectory prediction...................................................................................................15
3 HIL settings...........................................................................................17
4 UDP position data................................................................................ 21
5 SCPI position data............................................................................... 23
6 Remote-Control Commands............................................................... 24
List of commands................................................................................ 34
Index......................................................................................................35
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Contents
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1 Welcome to the Hardware in the Loop (HIL)
Option
The term hardware in the loop (HIL) describes the mode in which the R&S SMW is
remotely controlled by control application software (see Figure 1-1). The control application software sends remote commands over LAN in real time, possibly from a motion
simulator. The R&S SMW processes the received position, motion and attitude information and generates the required signal.
The output GNSS signal is sent to system under test, that typically includes a GNSS
receiver forwarding the calculated position to the application software. The application
software can use the retrieved position for display purposes (such as infotainment platform in a vehicle) or to control the actual position of the vehicle (e.g. auto-pilot).
Welcome to the Hardware in the Loop (HIL) Option
Figure 1-1: Example of HIL test setup
Refer to the following sections, for definition of the terms used in the context of HIL
testing and settings. The description also gives recommendations on working with the
R&S SMW in HIL setups.
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1.1 Accessing the GNSS HIL Dialog
To open the dialog with HIL settings
1. In the block diagram of the R&S SMW, select "Baseband > GNSS".
2. Select "GNSS > Simulation Configuration > Receiver"
3. Select "Position" > "Remote Control (HIL)".
4. Select "Position Configuration".
A dialog box opens that displays the provided HIL settings.
The signal generation is not started immediately. To start signal generation with the
default settings, select "State > On".
1.2 What's new
Welcome to the Hardware in the Loop (HIL) Option
Documentation overview
This manual describes firmware version FW 5.00.166.xx and later of the
R&S®SMW200A.
Compared to the previous version, it provides corrected minimum value of 20 ms for
the system latency. See [:SOURce<hw>]:BB:GNSS:RECeiver[:V<st>]:HIL:
SLATency on page 30.
1.3 Documentation overview
This section provides an overview of the R&S SMW user documentation. Unless specified otherwise, you find the documents on the R&S SMW product page at:
www.rohde-schwarz.com/manual/smw200a
1.3.1 Getting started manual
Introduces the R&S SMW and describes how to set up and start working with the product. Includes basic operations, typical measurement examples, and general information, e.g. safety instructions, etc. A printed version is delivered with the instrument.
1.3.2 User manuals and help
Separate manuals for the base unit and the software options are provided for download:
●
Base unit manual
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Contains the description of all instrument modes and functions. It also provides an
introduction to remote control, a complete description of the remote control commands with programming examples, and information on maintenance, instrument
interfaces and error messages. Includes the contents of the getting started manual.
●
Software option manual
Contains the description of the specific functions of an option. Basic information on
operating the R&S SMW is not included.
The contents of the user manuals are available as help in the R&S SMW. The help
offers quick, context-sensitive access to the complete information for the base unit and
the software options.
All user manuals are also available for download or for immediate display on the Internet.
1.3.3 Tutorials
The R&S SMW provides interactive examples and demonstrations on operating the
instrument in form of tutorials. A set of tutorials is available directly on the instrument.
Welcome to the Hardware in the Loop (HIL) Option
Documentation overview
1.3.4 Service manual
Describes the performance test for checking compliance with rated specifications, firmware update, troubleshooting, adjustments, installing options and maintenance.
The service manual is available for registered users on the global Rohde & Schwarz
information system (GLORIS):
https://gloris.rohde-schwarz.com
1.3.5 Instrument security procedures
Deals with security issues when working with the R&S SMW in secure areas. It is available for download on the Internet.
1.3.6 Printed safety instructions
Provides safety information in many languages. The printed document is delivered with
the product.
1.3.7 Data sheets and brochures
The data sheet contains the technical specifications of the R&S SMW. It also lists the
options and their order numbers and optional accessories.
The brochure provides an overview of the instrument and deals with the specific characteristics.
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See www.rohde-schwarz.com/brochure-datasheet/smw200a
1.3.8 Release notes and open source acknowledgment (OSA)
The release notes list new features, improvements and known issues of the current
firmware version, and describe the firmware installation.
The open-source acknowledgment document provides verbatim license texts of the
used open source software.
See www.rohde-schwarz.com/firmware/smw200a
1.3.9 Application notes, application cards, white papers, etc.
These documents deal with special applications or background information on particular topics.
See www.rohde-schwarz.com/application/smw200a and www.rohde-schwarz.com/
manual/smw200a
Welcome to the Hardware in the Loop (HIL) Option
Notes on screenshots
1.4 Scope
Tasks (in manual or remote operation) that are also performed in the base unit in the
same way are not described here.
In particular, it includes:
●
Managing settings and data lists, like saving and loading settings, creating and
accessing data lists, or accessing files in a particular directory.
●
Information on regular trigger, marker and clock signals and filter settings, if appropriate.
●
General instrument configuration, such as checking the system configuration, configuring networks and remote operation
●
Using the common status registers
For a description of such tasks, see the R&S SMW user manual.
1.5 Notes on screenshots
When describing the functions of the product, we use sample screenshots. These
screenshots are meant to illustrate as many as possible of the provided functions and
possible interdependencies between parameters. The shown values may not represent
realistic usage scenarios.
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The screenshots usually show a fully equipped product, that is: with all options installed. Thus, some functions shown in the screenshots may not be available in your particular product configuration.
Welcome to the Hardware in the Loop (HIL) Option
Notes on screenshots
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2 Tips for best results
We recommend that you consider the following measures.
Measures for proper operation
1. Synchronize the R&S SMW and the motion simulator.
(see Chapter 2.1, "Synchronization", on page 10).
2. Take measures for latency calibration.
(see Chapter 2.3, "Latency calibration", on page 11).
3. Add additional buffer time.
Chapter 2.4, "Adding a constant delay to compensate for command jitter",
on page 13
4. If the first position fix and the latency calibration are successful but during the
motion simulation the receiver loses its position fix, try out the following:
a) Analyze the sent HIL data.
Tips for best results
Synchronization
● Evaluate the trajectory smoothness and search in particular for unwanted
abrupt positions changes ("jumps").
● Send HIL commands with lower update rate, for example each 100 ms.
Reducing the update rate leads to interpolation and thus spreads the
severity of the "jumps" over several 10 ms update intervals.
See Chapter 2.5, "Interpolation", on page 15.
b) Avoid abrupt positions changes.
The motion simulator itself can cause position changes. Consult the specification of the used receiver for information on the high-order dynamic stress it is
able to handle.
The measures for proper operation use the SCPI interface and the R&S SMW is in
remote state. Switch to manual state after you finish the measures, if the R&S SMW
retrieves HIL position data via UDP packets.
2.1 Synchronization
To process the HIL commands, the R&S SMW uses its internal 100 Hz clock signal,
that corresponds to a time resolution of 10 ms.
The motion simulator uses its own clock. Depending on the capabilities of the processor (general purpose or real time) that the motion simulator uses, the processing
time and the accuracy of the clock can vary. The R&S SMW internal clock signal is precise and stable. This clock is not only used to generate the GNSS signals but is also
the time reference for the whole HIL setup.
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We recommend that you synchronize the motion simulator to the R&S SMW. Consider
the following:
●
Follow the rules described in "Measures for proper operation" on page 10
●
Always take the measures for latency calibration as described in Chapter 2.3,
"Latency calibration", on page 11.
●
If your motion simulator can receive and process the marker signal of the
R&S SMW, generate a 1PPS (one pulse per second) or 10PPS (10 pulses per second) marker signal. Feed the marker signal to the motion simulator.
If synchronized, the motion simulator sends the HIL commands right after each
1PPS marker signal.
Related settings:
– "GNSS > Marker > Marker Mode"
2.2 System latency
System latency is a term that describes the time it takes the R&S SMW to receive and
process an incoming HIL command, calculate, output and transmit the signal to the
GNSS receiver. The default system latency is 20 ms; this value corresponds to the
R&S SMW hardware processing time.
Tips for best results
Latency calibration
In the context of this description, the term latency (t
latency (i.e. delay) caused, for example, by the transmission and processing time of
the HIL commands. If the system latency value is a constant parameter that cannot be
reduced, the additional latency t
compensated. This description focuses on the measures to measure and compensate
for additional latency.
You can query the additional latency value as described in Chapter 2.3, "Latency cali-
bration", on page 11. The system latency and the latency are related as follows:
System Latency = t
cal.latency
+ 0.02
The minimum system latency of the HIL setup is 2 ms and is achieved if the
t
cal.latency
= 0 ms. The situation when t
tion; it is also the best case scenario.
See also:
●
Chapter 2, "Tips for best results", on page 10
●
"Understanding the response of the query SOURce:BB:GNSS:RT:RECeiver1:HILPosition:LATency:STATistics?" on page 24
2.3 Latency calibration
cal.latency
cal.latency
cal.latency
) describes the additional
is a variable value, that can be partly or fully
= 0 ms is referred as a zero latency situa-
Latency calibration is the process of compensating the latency time. Calibrate the
latency at the beginning of the simulation and repeat the process periodically, every 5
or 10 seconds.
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