As it incorporates a radio frequency transmitter, the MRU is subject to
regulations specific to each country concerning frequency allocation on
Radio Frequency bands.
It is for the user to take the necessary steps for any authorization t hat may be
required in his or her country prior t o im plem enting MRU units.
(See transmission specifications in Appendix 7).
In no event shall SERCEL be liable for incidental or consequential damages or
related expenses resulting from the use of this product, or arising out of or
related to this manual or the information contained in it, even if SERCEL has
been advised, or knew or should have known of the possibility of such damages.
The information in this manual is believed to be accurate and reliable. However,
SERCEL reserves the right to make changes to its products or specifications at
any time, without notice, in order to improve design or performance and to
supply the best possible product.
Page 3
Introduction
P
1 INTRODUCTION
The vehicle tracking system illustrated by the block diagram below is
based on the use of SERCEL MRU units. An MRU is a special transceiver
performing the following functions :
Central
Station
- When conf igured for use in a
radio link that allows the vehicle to
the base station and
receive messages
vehicle
to be tracked the MRU provides a
transmit its position
from it. The vehicle’s position is
and status to
supplied by a radiopositioning receiver via a traditional serial port to the
MRU. The status is generated by an alarm button on t he MRU.
- When conf igured for use at a
link for the station
and to
transmit text messages
to receive position
base station
messages from tracked vehicles
and destination
the MRU provides a radio
waypoints
to the vehicles. Communications between the MRU and the station are on a
traditional serial port.
Monitoring
Station (optional)
Service
Messages
Position + Alar m
MRU
osition + Alarm
Waypoint
+
Service
Messages
MRU
GPS MRU
GPS MRU
GPS MRU
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Page 4
Introduction
The MRU is configur ed by simply connecting one of its serial port to a
PC computer and running a config uration program.
A typical application is one for SN388 seismic data acquisition system
users, consisting of implement ing an MRU network to track a seismic crew's
service vehicles : the central base station is implemented in the recording
truck (called
implemented at the survey
in the MRU terminology), and a monitoring base station is
Lab
Camp
.
At any of the base stations central station and monitoring station if
any, equipped with vehicle tracking sof tware from SERCEL the position of
each tracked vehicle appears in a graphic window showing the map of the
area of interest. The trackline of the vehicles can be recorded and viewed too.
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Configuring an MRU network
2 CONFIGURING AN MRU NETWORK
2-1 INTRODUCTION
In this step, you only need to specify the following parameters to
configure your vehicle tracking system.
- UHF frequency channel (the same f or all the units)
- A registration number for each vehicle (from 1 to 50)
- A refresh rate (10, 30 or 60 seconds; t he same rate for all vehicles).
- Choosing a master MRU to be the
sync master.
This should be an MRU
equipped with a high-accuracy master oscillator. The sticker on the rear
panel of the MRU tells you whether it is a
with a high-accuracy M.O.) or a
Slave MRU
Master MRU
(with a standard M.O.).
(i.e. equipped
Other parameters are required to implement the data transmission
scheme (see Appendices 1 and 3) but they don’t need to be user-specif ied. In
particular, the following parameter s are software-set :
Content of the «MRU Software Setup» diskette (part No. 1A17075136)
•
BASE.BAT Command file intended for « base » MRU (i.e. MRUs
installed in central or monitoring st at ion)
BASE.12 Configuration file intended for base MRU not used as the
sync master
BASE_MST.12 Configuration file intended for base MRU used as the
sync master
MOBILE.BAT Command file intended for mobile MRU
MOBILE.12 Configuration file intended for mobile MRU
MRU.EXE Program file used when running BASE.BAT or
MOBILE.BAT
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Configuring an MRU network
•
Configuration procedure
Now that your MRU is connected to a PC as indicated in the previous
paragraph, do the following :
- Insert the diskette into drive A
- Select the A drive
- Type in one of the following commands depending on whether t he
attached MRU is intended to be used at the central or monitor ing station
(« base » MRU) or in a mobile (mobile MRU).
base
[channum]
<sp>
<sp>
camp{
master}
<sp>
Base MRU
(monitoring station)
base
[channum]
<sp>
<sp>
lab{
master}
<sp>
Base MRU
(central station)
mobile
[channum]
<sp>
[regnum]
<sp>
[refresh rate]
<sp>
Mobile MRU
Where :
channum]
[
: UHF frequency channel number (0 to 5600,
depending on the country ; 4000 to 5600 for the
USA)
regnum]
[
[refresh rate]
master}
{
: Mobile registration number (1 to 50)
: (10, 30 or 60 seconds)
: Optional paramet er, conf igures a MASTER MRU as
sync master.
the sync master.
Conventions used in the syntax above :
: Square brackets enclose parameter definition which
[..]
should be replaced by the desired value in the
command line
...} : Braces enclose optional parameter
{
<sp>
: Space character required
Square brackets and braces should not be t yped in
the command line.
Getting help from the setup program :
A single MRU should be defined as
Simply type in
base
or
mobile
to display the
syntax of the commands, as described above.
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Configuring an MRU network
•
Examples
A:\>base 4900 camp
Configures the MRU as the unit to be used at the monitoring station and
operating on freq. Channel # 4900
A:\>base 4900 lab master
Configures the MRU as the unit to be used at t he cent r a l st at ion and
operating on freq. Channel # 4900. The MRU is also configured to be
the sync master.
A:\>mobile 4900 10 10
Configures the MRU as mobile #10 operating on fr eq. Channel # 4900.
Refresh rate: 10 seconds
As the MRU is being configured, the configuration commands are
reported on the screen.
After sending each command t o the MRU, the PC queries the MRU by
sending the same command with no parameters. As a result the MRU returns
the command and parameters it has just received, (without leading zeroes) as
shown in the example below.
# FIFO length
PC -> MRU : CONST 0200, 0000
PC -> MRU : CONST
MRU -> PC : CONST 200, 0
Each reply should agree with the corresponding command (except for
leading zeroes), or else the MRU will not work properly.
In case of any discrepancy between a command and the associated
reply (e.g. as a result of communications errors) perform the configuration
procedure again.
(Command from the PC to the
MRU)
(
Query from the PC to the MRU)
(Reply from the MRU to the PC)
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Configuring an MRU network
2
•
Finishing off
After the configuring process is complete, the "A :\>" DOS prompt re-
appears on the PC screen.
You can disconnect the MRU and then repeat the configuration step
with another MRU that you first connect to the PC. Repeat this operation until
the whole network of MRUs is configured.
2-3 CONFIGURING MRUS FROM A UNIX WORKSTATION
After the MRU sof tware is installed on a workstation (see Appendix 5)
you can use the workstation instead of a PC to conf igure MRUs.
NOTE for SN388 users only
: for an SN388 HCI workstation, see
Appendix 4.
•
Connections required
MRU
Port A
MRU-Workstation cable
part No. 1A17075075
Workstation
5C connector
Port A
•
Configuration procedure
In a Shell window, type one of the following commands depending on
whether the attached MRU is intended to be used at the central or
monitoring station (“base “ MRU), or in a mobile (mobile MRU).
mru -b
[channum]
<sp>
<sp>
camp{
master}
<sp>
Base MRU
(monitoring
station)
mru -b
[channum]
<sp>
<sp>
lab{
master}
<sp>
Base MRU
(central station)
mru -m
0311355 Issue : January 2002
[channum]
<sp>
[regnum]
<sp>
2-5
[refresh rate]
<sp>
Mobile MRU
Page 10
Configuring an MRU network
The syntax is the same as with a PC. See par. 2-2 above for a
Two mounting bars and f our shock absorbers are provided so that you
can install the MRU in a vehicle.
OFFONEMERGENCY
Hole dia. 6 mm
Shock
absorber
TransmitReceive
ADE IN FRANCE
160 mm
•
Connections
IMPORTANT
The power supply input
should be connected
direct to the battery's
terminals.
SIDE PANEL
190 mm
ower supply input
nd RS232C lines.
see Appendix 2)
REAR PANEL
to be
connected
o the UHF
antenna
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Installation
3-2 BASE STATION
The base station should be equipped with a sync master MRU. W hat we
call a
Sync Master MRU
- equipped with a high-accur acy mast er oscillator (this is signalled by the
mention "Master MRU" on the sticker on the rear panel) ,
- and configured as sync master (see par. 2-2 to configur e an MRU as
Sync Master).
IMPORTANT
and a Monitoring station), only
Master
. However, it is advisable to install a Master MRU
configured as sync master
used as spare sync master in the event of a failure in the nor mally sync
master station.
is an MRU that is :
: If two base stations are implement ed (a Central Station
one should be configured as Sync
not
at the other station too, so that it can be
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Installation
W
M
(
(
3-2-1 SPARC STATION 5
orkstation's display unit
SPARC STATION 5
Printer
To Printer or
Workstation
serial B port
(9600 Bd)
OFFON
Master MRU
Serial B
9600 Bd)
MRU-Workstation cable
(part No.1A17075075)
See Appendix 2
ADE IN FRANCE
Serial A
4800 Bd)
keyboard
mouse
mouse pad
N
OTE FOR
0311355 Issue :January 2002
SN388
USERS
: S
EE APPENDIX
3-3
4
Page 14
Installation
M
3-2-2 SPARC STATION 4
SPARC STATION 4
keyboard
mouse pad
mouse
Port A
(4800 Bd)
MRU-Workst ation cable
(part No.1A17075075)
See Appendix 2
Port B
OFFON
Master MRU
Printer
To printer or
workstation port B
(9600 Bd)
ADE IN FRANCE
Note for SN388 users: See Appendix 4
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Installation
M
3-2-3 SERVICE MESSAGE DISPLAY TERMINAL
Service messages from t he Central Station to the Monitoring Station or
the other way round are available on the B-port of the MRU.
This port can be connected to a printer or to the Serial B port of the
workstation.
The pin assignment of the connector on the rear panel of the MRU is
shown in Appendix 2.
If you choose to connect the MRU's B-port to the workstation (Serial B),
then service messages will be displayed in the lower pane of the Message
Setup dialog box (see par. 5-1-7).
3-3 MOBILE UNIT
OFFON
Printer
See Appendix 2
Slave MRU
ADE IN FRANCE
MRU-GPS receiver cable
(part No. 1A17075076)
See Appendix 2
GPS
receiver
The GPS receiver should be configured as follows :
- Position on WGS84 datum
- Position message format : $GPGGA
- Position message output rate : 2 seconds (recommended)
- Serial port :
. Baud rate : 4800
. 8 data bits
. 1 start bit
. 2 stop bits
. No parity
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Installation
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Configuring a base station
4 CONFIGURING A BASE STATION
4-1 Prerequisites
Prior to configuring your workstation for the vehicle tracking function,
make sure SOLARI S and SERCEL MRU software has been installed and the
startup configuration has been set. (The startup configuration has to be set
the first time you start your workstation or after installing a new software
release). See Appendix 5.
Start the MRU application (see Appendix 5 - Getting st ar t ed).
4-2 The Datum Type Setup
In order to locat e a point on the eart h you need to know its coordinates
and the geodetic DATUM (see appended Glossary of Basic Geodesy terms) .
Selecting
box that allows you to display Datum parameters and make any changes
needed.
The upper pane in the
DATUM Type Setup dialog
box is used to enter and/or
display the parameters of a
Datum.
The lower pane is used
to assign a Datum number
and name (in the « Nb » and
Label » text boxes) to the
parameters displayed in the
upper pane, and/or to display
the list of saved Datum types.
Clicking a Datum type in
the list box causes its
parameters to appear in the
upper pane. Then you may
make any changes needed
and click
DELETE
ADD
as required.
Geodetic
or
CHANGE
then
or
Datum
from the
Setup
menu opens a dialog
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Configuring a base station
Clicking
APPLY
saves the selected parameters and Datum type to the
data base.
You select the Datum type to be used through the Projection Type
Setup dialog box (from the menu bar, select Setup > Geodetic > Projection).
4-3 The Projection type setup
Your DGPS receivers normally output GPGGA-type messages
(Latitude, Longitude, Altitude above the ellipsoid). The workstation has to
perform a projection so that the position can be pinpointed on your map. (See
appended Glossary of Basic Geodesy terms).
Selecting
Geodetic
dialog box that allows you to display the projection param eters and make any
changes needed.
then
Projection
from the
Setup
menu opens a
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Configuring a base station
The format of angular parameters (Central Meridian, Latitude origin,
Reference Latitude, North Lat it ude, South Latitude, Skew Angle) is :
dddmmss.ss
(Degrees, Minutes, Seconds with two decimal places).
Examples : Latitude North 16° 4' 56.24"
South 16° 4' 56.24"
Longitude East 120° 1' 2.3"
West 120° 1' 2.3"
160456.24
→
- 160456.24
→
1200102.3
→
- 1200102.3
→
The upper pane in the Projection Type Setup dialog box is used to enter
and/or display the parameters of a Projection. The Datum Type text box is
used to enter and/or display the Datum Type number attached to the
projection. You define Datum types through the Datum Type Setup
(see par. 4-2).
The lower pane is used to assign a Project ion number and name (in the
« Nb » and « Label » text boxes) to the parameters displayed in the upper
pane, and/or to display the list of saved Projection t ypes.
Clicking a Project ion t ype in the list box causes its paramet ers to appear
in the upper pane. Then you may make any changes needed and click
or
CHANGE
Clicking
or
DELETE
APPLY
as required.
saves the selected parameters and Projection type to
ADD
the data base.
You select the Projection Type to be used through the View Setup
dialog box (select Setup > Geodetic > View from the menu bar).
4-4 The View setup
Selecting
that allows you to choose the type of projection the workstation has to use to
pinpoint the position of each track ed vehicle on your map.
Enter the desired projection type
number into the « Projection type » text
box and click
You define Projection Types
through the Projection Type Setup dialog
box (from the menu bar, select Setup >
Geodetic >Projection ).
Geodetic
APPLY
then
View
to activate it.
from the
Setup
menu opens a dialog box
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Configuring a base station
4-5 The Map setup
Selecting
Image
from the
Setup
menu opens a dialog box allowing you
to load a graphic file (containing a scanned map or a satellite photo map) from
the database to the Positioning main window.
The
IMPORT
button in the lower pane
allows you to load a graphic file from the /tmp
UNIX directory to the database. The file
should be in TIFF format (with .tif as
extension to the file name). For more
information, select Help > View.
The list box shows the names of
graphic files available in the database. Once
you have selected (by clicking) a file in the
list box, you may :
- Click the
DELETE
button if you wish to erase the file from the
database.
- Click the
INFO
button. This opens a box showing information on the
file (e.g. f ile parameters, cartographic data, etc.)
- Click the
LOAD
button to load the selected file from the database to
the main window. (This takes a few seconds during which the mouse
pointer changes to a wrist- watch icon). So long as no f ile is loaded, t he
"Image" button in the m ain window is dimmed (i.e. of no effect).
WARNING
: If a map is loaded but not viewed, i.e. the I MAGE button is
available (not dimmed) but it is released (not activated), the
map is still active. (The map remains active until you click
).
NOTE
UNLOAD
: You are not allowed to view more than one map file at a
time.
- Click the
SCALE
button. This opens a dialog box used to set the scale
of the map displayed in the main window so that the scale of the
graphic pane matches the scale of the map.
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Configuring a base station
The scale does not need to be set if the necessary data are provided
along with the graphic file (e.g. satellite photo map file). If the graphic file
originates from a scanner, then you need to enter the coordinates of two
marks chosen on the scanned map.
The procedure to set the scale of a m ap is as follows :
(1) In the IMAGE VIEW dialog box :
- Select ( by click ing) the desired map file in the list box.
- Click the
SCALE
button
(2) In the main window :
- Look for a grid mark on the map displayed in the main window.
Read its Easting and Northing coordinates on the X an Y axes of
the map grid.
- Click this grid m ark
(3) In the SCALE IMAGE dialog box :
- Click the Easting text box in the "First Point coordinates" pane.
- Type the Easting coordinate of the chosen grid mark
- Click the Northing t e xt box in the "First Point Coordinates" pane
- Type the Northing coordinat e of the chosen grid mark
- Click
SELECT
(in the "First Point coordinates" pane)
(4) In the main window :
- Look for a second grid mark (distinct from the first one), and read its
coordinates
- Click the second grid mar k
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Page 22
Configuring a base station
(5) In the SCALE IMAGE dialog box
- Enter the Easting and Northing of the second mark into the
respective text boxes in the "Second Point coordinates" pane.
- click
- Click
SELECT
APPLY
(in the "Second Point coordinates" pane).
. As a result, the scale of each graphic pane in the
main window is automatically adjusted to match the scale of the
displayed map.
(6) You may repeat steps (2) to (5) to fine-tune the scale setting. Once
the setting is correct, click
. This completes the scale setting
END
process. The buttons which were dimmed during the scale setting
process are now accessible.
Clicking the
button opens a dialog box allowing you to remove
EDIT
some colors from the g r aphic pane for the purpose of bett er legibility :
- Click the button corresponding to t he color of the items you wish to
remove from the graphic pane.
- As a result the corresponding items are shown in black, therefore
not visible if the background is black (i.e. if the background color is
removed too).
If the
REVERT
button is activated, then the color buttons ar e used to
"select" rather t han "unselect " colors . If many colors are to be unselect ed, it is
easier to unselect all (by click ing REVERT) then select only those you wish to
keep. (Up to 64 colors may be shown). REVERT is not activated as you open
the dialog box.
Clicking
RESET
causes the graphic pane to resume the orig inal colors.
NOTE
: The
Unload
Positioning main window. Unless and until you click
button is used to remove the gr aphic file from the
Unload
the latest graphic file loaded will automatically be displayed
whenever you open the Positioning main window.
,
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Configuring a base station
4-6 MARKER SETUP
Selecting
Marker
from the
Setup
menu opens a dialog box allowing you
to load a .DXF file (containing a graticule to be super imposed on a map) f rom
the database to the Positioning main window.
The
IMPORT
button in the lower pane
allows you to load a graticule file from the
/tmp UNIX directory to the database. The
file should be in DXF format (with .dxf as
extension to the file name). For the
procedure to load a graticule file to the /tmp
directory, select Help > View.
The list box shows the names of
graticule files available in the database.
Once you have selected (by clicking) a file in the list box, you may :
- Click the
DELETE
button if you wish to erase the file from the
database.
- Click the
INFO
button. This opens a box showing inf ormat ion on the
file (e.g. f ile parameters, cartographic data, etc.)
- Click the
LOAD
button to load the select ed f ile f rom the dat abase to
the main window. (This takes a few seconds during which the
mouse pointer changes to a wrist-watch icon). So long as no file is
loaded, the "Markers" button in the main window is dimmed (i.e. of
no effect).
NOTE 1
: The
UNLOAD
button is used to remove the graticule file
from the POSI TIONING main window. Unless and until you
click UNLOAD, the latest graticule file loaded will
automatically be displayed whenever you open the
POSITIONING main window.
NOTE 2
: You are allowed to view several graticule files concurrently
(superimposed).
NOTE 3 for SN388 Users only
: The file import function should not be
used on any slave (Tx emulation)
workstation but only on a "MASTER"
workstation.
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Configuring a base station
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Operating Instructions
5 OPERATING INSTRUCTIONS
5-1 At the base station
5-1-1 PREREQUISITES
Each vehicle to be tracked should be equipped with an MRU unit so that
it can send its position (computed by a radiopositioning receiver) and status to
the base station (central station and/or monitoring station), and receive
waypoints and/or messages from the base station. This requires that the base
station be equipped with an MRU unit too.
For information on how to install and configure the system, see
Chapters 2, 3 and 4.
NOTE
On the workstation, start the MRU application (see Appendix 5, Getting
started) and load your map to the graphic pane (s ee par. 4-5 or select Help >
on Setup > Image).
NOTE only for SN388 users :
If you wish to load a graticule f ile to the graphic pane, in place of a map
or superimposed on a map, select Marker f rom the Setup menu (see par . 4-6
or select Help > on Setup > Marker).
5-1-2 OVERVIEW
The upper graphic pane is used to display graphic files (e.g . a digitized
map). The lower pane is used to display a zoom view of a region selected in
the upper pane.
The sash handle between the two panes allows you to adjust the
position of the separator.
After power-on, the Master MRU is not allowed to work until the
end of a 3-minute warm-up tim e required for its built-in master
oscillator to settle down.
opening the POSITIONING main
window starts the MRU application.
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Operating instructions
•
How to use the Zoom function
With the mouse pointer resting anywhere in either pane, press the left
button of the mouse. The mouse pointer should change to a left-pointing
hand. Drag the mouse pointer slowly toward the lower-right corner. This
causes an elastic frame to show up that enlarges until you stop dragging the
mouse pointer. Release t he mouse button. As a result, t he area encompassed
in the elastic frame shows up, magnified, in the lower pane.
With the mouse pointer resting anywhere in the elastic zoom frame,
pressing and holding down the centre button of the mouse allows you to drag
the zoom frame within the spread to select a new zoom area (which shows up
in the lower pane as you release the mouse button).
When you are selecting or dragging a zoom frame, clicking the right
button or pressing ESCAPE cancels the current selection and causes the
zoom frame to resume the previous selection.
With the mouse pointer resting anywhere in the lower pane, pressing
the right-hand button of the mouse causes a “Zoom” menu to pop up.
Selecting “Full View” from this menu causes the lower pane to display the
same view as the upper pane.
Tip: The zoom function also allows you to measure the distance
between two points in the graphic pane. Do the following:
1. Point to one end of the length t o be m easur ed.
2. Press the mouse left button.
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Operating Instructions
3. Drag the mouse pointer (without releasing the button) to the
other end.
As a result the corresponding distance (D) is displayed above the upper
pane.
To cancel the zoom view appearing when you release the button, press
the mouse right button.
•
Manual scale
With the mouse pointer resting anywhere in the upper pane, pressing
the right-hand button of t he mouse causes a “Global menu” to pop up. This
menu acts on the full view in either pane. Selecting “Manual scale” from this
menu causes a “Scale Limits” dialog box to show up that allows you to adjust
the scale by specifying the desired minimum and maximum values along the
X axis and Y axis.
Rather than typing t he desired coordinates for the boundaries of the X
and Y scales, you can click on the “Grab upper pane” or “Grab lower pane”
button to pick them up fr om the corr esponding pane. With a zoom view, these
buttons allow you to quickly adjust the scale:
Zoom on the desired area so as to have it displayed in the lower pane.
Right-click in the upper pane and select the “Manual Scale” setup menu.
Click on the “Grab lower pane” button to pick up the coordinates of the
lower pane.
Click APPLY to activate the manual scale.
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Operating instructions
5-1-3 HOW TO LOAD A GRAPHIC FILE TO THE HARD DISK
To load a file from a floppy disk to the /tmp director y:
Insert the floppy disk into the dr ive.
Open the “File Manager” window (with the mouse center button).
Open the /tmp directory (double-click the respective icons).
From the “File” menu, select “Check for Floppy”. This opens a
secondary window showing an icon for each file contained in the floppy disk.
Click the icon of the desired file to drag and drop it into the /tmp
directory.
Once the file is copied to the /tmp directory, click “Eject Disk”
Close the “File Manager” window
After a graphic f ile is loaded to the /tmp UNIX direct ory, you can load it
to the POSITIONING main window using The
Marker setup
window.
Image setup
window or
Note: DXF format r elease 13 or earlier is supported.
The
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Operating Instructions
5-1-4 THE MAIN WINDOW
Each tracked vehicle has an identification number that appears as a
green circled number in t he POSITIONING window's graphic pane. Every ten
seconds the vehicle reports its latest position (no more than 2 seconds old)
and status to the base station, which updates the position of the vehicle
shown in the POSITIONING main window.
Periodically, each tracked vehicle repor ts its latest position and status t o
the base station, which updat es the position in the Positioning main window’s
graphic pane.
Double-clicking on any vehicle number on the map opens a box
displaying:
- the vehicle's label and latest coordinates received,
- the time of the latest coor dinates received,
warning from a watchdog) and changes t he vehicle colour from orange or red
to green.
Vehicle
Number10
This box
opens as
you doubleclick on the
vehicle
number
- the watchdog status,
- the number of the latest waypoint transmit ted, if any.
This also clears the alert, if any (whether an alarm from t he vehicle or a
0311355 Issue : January 2002
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Operating instructions
The base station can be the HCI workstation in the 408UL recording
truck (referred t o as “Lab”) or a m onitoring st ation (ref erred t o as “Camp”). On
the base station, whether it be a Lab or Camp station, the Positioning main
window must be open.
The Tracking function in the Positioning main window distinguishes
between two types of vehicle:
•
Service vehicles
Each tracked service vehicle appears as aa circled number (the
vehicle’s identification number) with the following colour code:
- Green: vehicle’s latest postion.
- Orange: vehicle’s latest postion + alert from watchdog. (See
Watchdogs).
- Red: vehicle’s latest postion + alarm from the vehicle. (See Alarm).
- Yellow: waypoint position sent to the vehicle. (See Requesting a
vehicle to move).
The position and status of service vehicles can be logged int o a daily file
(if you choose this option in the Install window).
•
Vibrators (for 408UL users)
Each tracked vibrator appears as a label in the graphic pane (“Vx.y” for
VE416 electronics; “Vx” for VE432 electronics).
The logging option in the Inst all window does not include vibrators.
5-1-5 ALERT SCHEME
•
Alarm
Actuating the EMERGENCY button on a mobile MRU generates an
alarm status.
As a result the identificat ion number of the corresponding vehicle turns
red at the base station when the next position message is received, and a
beep sounds until you reset the alarm.
NOTE: You cannot request the vehicle to move until you reset the
alarm.
To reset an alarm, simply double-click the red vehicle number: this
returns it green, stops the buzzer, opens a window displaying the vehicle's
position, and sends a message (“Alarm received”) to the vehicle.
Alternately, you can reset an alarm through the Message Setup dialog
box:
From the Setup menu, select MESSAGE to open the dialog box.
If you wish to reset all alarms, select “To All” from the BROADCAST
option button.
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Operating Instructions
If you wish to reset the alarm on a specif ic vehicle, select “To Specified
No.” from the BROADCAST option button and t ype the vehicle number in the
associated text box.
Click APPLY. This resets all alarms or the specified alarm, depending
on the option you selected, WHETHER OR NOT the message text box
contains a message to be transmitted.
See also The Message setup window.
•
Watchdogs
You can set four different types of alert condit ions (see The Watchdog
setup window). If any watchdog gives the alert, the colour of the vehicle
changes to orange.
Vehicle
trespassing
no-go area
Vehicle out
of no-leave
area
following order (from highest to lowest priority):
If two or more alerts arise at the same time, they are handled in the
1 - No reply.
2 - Outside allowed area.
3 - No move.
4 - Excessive speed.
Only the watchdog with the highest priority is displayed and saved.
If several “Outside allowed area” watchdogs are set up, they are
handled in the following order (fr om highest to lowest priority):
0311355 Issue : January 2002
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Operating instructions
1 - No-go area.
2 - No-leave area.
3 - Lab Reference.
4 - Camp Reference.
To reset a watchdog, simply double-click on the orang e vehicle number:
this returns it green.
5-1-6 REQUESTING A VEHICLE TO MOVE
You can request a vehicle to move to another point by simply dragging
and dropping the vehicle's identification number on the map in the
POSITIONING main window:
With the m ouse pointer r esting on the desir ed vehicle number, pr ess the
CONTROL key then press the mouse centre button and hold them down.
Move the mouse pointer arrow to the desired location on the map.
Release the button and key. As a result:
- On the vehicle: a waypoint is input to the vehicle's radiopositioning
receiver (via the MRU) and printed out. The coordinates of the waypoint are
those of the point where you dropped the vehicle number on the map.
- At the station: the vehicle number turns yellow. A Vehicle Information
box shows up, displaying the time of the latest position received and the
number of the latest waypoint transmitted.
When the next position message is received from the vehicle, the
vehicle number will leave the destination position and appear again at the
actual position and return green.
The successive waypoints transmitted to the vehicle are automatically
numbered, starting from the First Waypoint number specified in the IDENT
dialog box to 100. See The Vehicle Identity setup window.
The waypoint number is reset to t he First Waypoint number whenever
the maximum (100) is encountered.
NOTE: You cannot drag and dr op a vehicle number if an alar m is set on
this vehicle. You must reset the alarm first.
5-1-7 PLAYING BACK A VEHICLE'S TRACKLINE
See The Vehicle Log setup window.
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Operating Instructions
5-1-8 SENDING A MESSAGE TO A VEHICLE
See The Message setup window.
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Operating instructions
F
v
(
5-2 The Vehicle Log setup window
The position of each tracked vehicle is logged into a daily file (unless
you disabled this function when you installed the system with the INSTALL
utility), with the julian day number as file identification.
Selecting
VEHICLE
then
LOG
from the
SETUP
menu opens a dialog
box that lets you select a daily log file and a vehicle and plot its trackline on
the map in the graphic pane.
In the example below the map was removed from the graphic view (by
simply clicking the "Image " but ton) for better legibility of the trackline.
Alarm
inal position of
ehicle No. 10
day number : 35)
NOTES : - A red circle appears at any location where an alarm was
reported.
- The trackline end corresponding to the latest position of the
vehicle is annotated with the vehicle's identification.
0311355 Issue : January 2002
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Operating Instructions
The option button above the list boxes allows you to have the trackline
daily log files prompted in two different ways :
- With the list of vehicles to t he lef t, you select (by clicking ) a vehicle, then
the list of available daily files appears to the right.
- With the list of daily files to the lef t, you select a daily file, t hen the list of
available tracked vehicles appears to the right.
After selecting a daily file and a vehicle:
- Clicking LOAD plots the trackline of each selected vehicle, for the
selected day.
- Clicking UNLOAD removes the selected trackline from the graphic pane.
NOTE : If you do not click any vehicle in the list box, then all are
automatically selected.
The
Internal Disk/Floppy Disk
media on which the positions are recorded.
•
Internal Disk
This option allows you to select recorded positions from the har d disk.
The REFRESH button is used to update the list of vehicles prompted in
the LOG dialog box. (The list is only updated as you open the dialog box and
when you click REFRESH).
You will save disk space if you use the DELETE button periodically to
delete unnecessary trackline files.
WARNING
: If you select a single file ( i.e. a single vehicle) you will not
be requested to confirm your choice when you click DELETE.
The
Copy to Floppy Disk
selected to a floppy disk.
option button is used to select the
button allows you to copy the file currently
0311355 Issue : January 2002
5-11
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Operating instructions
•
Floppy Disk
This option allows you to select recorded positions from a floppy disk.
The
Copy to Internal Disk
button is used to copy the file currently
selected from the floppy disk t o the hard disk.
The
Delete
button deletes the currently selected file from the floppy
disk.
•
The
The
The
Zoom
button shows the list of files contained in the floppy disk.
Dir
button is used to eject the floppy disk from the drive.
Eject
Format
button is used to format t he floppy disk in the drive.
The ZOOM option button allows you to select a line width for the
trackline.
•
Time Display
The TIME DISPLAY button is used to show or hide the time along the
trackline. With the Time Display ON, the following appears along the trackline:
- Time of the first and last position,
- Time of those positions where an alarm was reported,
•
Speed Step
The Speed Step option but ton is used to select the speed range of the
colours for the trackline. The colour legend under the button tells you which
speed range is associated with each colour appearing in the tr ackline in the
main window.
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Operating Instructions
5-3 The Base setup window
Selecting BASE from the SETUP menu opens the Base setup dialog
box with two buttons used to enable/disable the display of a base station icon
on any map in the graphic pane.
5-3-1 To place a base station icon into your survey map view
Activate the desired base station but ton (“Lab” or Camp”), then do one
of the following:
With the mouse pointer resting on the activated button, press the
CONTROL key then the mouse centre button. The mouse pointer should
change shape. Without releasing the key and the button, drag the pointer
arrow to the location where you would like the icon to appear in the g raphic
pane. Release the button and key. As a result the icon appear s in the graphic
pane and its coordinates are displayed in the boxes under the button in the
Base Setup dialog box.
or
Enter the coordinates of the base station into the boxes under the
activated button, then click APPLY. As a result the icon appears at the
specified location in the graphic pane.
5-3-2 To move the base station icon within the survey map view
Do one of the following:
Click the base station icon in the graphic pane t hen drag and drop it to
the desired location (CONTROL key toget her with mouse cent r e but ton,
or
In the Base setup dialog box, modify the coordinates as required and
click APPY.
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Operating instructions
5-3-3 To delete the base station icon
Click (de-activate) the appropriate button in the Base setup dialog box.
Click APPLY.
5-4 The Watchdog setup window
Selecting “Watchdog” from the SETUP menu opens the Watchdog
setup dialog box that allows you to specify alert conditions for the tracked
service vehicles (not for tracked vibrators).
To activate and save your settings, click APPLY. See also Watchdogs.
By default, all tracked vehicles are monitored by the watchdogs
specified in this Setup window. To ignor e a vehicle, you have to enter it into
the Identity Setup window with “No” as Tracking option. See The Vehicle
Identity setup window.
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Operating Instructions
•
No reply
Watchdog
: This watchdog aler ts you if the position of a vehicle fails to
be refreshed within the time (seconds) you specify in the “Watchdog” field, for
instance if no position message is received f rom the vehicle.
Entering 0 disables this watchdog.
•
No move
Watchdog
: This watchdog alerts you if any vehicle remains at a
standstill for the time (seconds) you specify in the “W atchdog field” (that is,
the position is refreshed but remains within the circle defined by the
associated “Radius” field).
Entering 0 disables this watchdog.
Radius
: Because of the so-called “noise” on the position, especially with
“straight GPS”, two successive positions from a vehicle can be different even
though the vehicle doesn’t move. The system will only assume the vehicle is
moving if the distance between two successive positions exceeds the distance
(metres) you specify in the “Radius” field.
•
Excessive speed
Watchdog
: This watchdog alerts you if any vehicle exceeds the speed
you specify in the “Limit” field. In the “Watchdog” field, you specify the desired
time interval (seconds) between two speed tests.
Entering 0 disables this watchdog.
: This field is used to specify the desir ed speed limit (k m per hour) .
Limit
For each tracked vehicle, the speed is computed as the rat io of the differ ence
between the last two positions received to the difference between the times
when they are received.
•
Outside allowed area
Watchdog
: This watchdog alerts you if any vehicle is out of the allowed
area you specify with the “Reference” option button. In the “Watchdog” field,
you specify the desired time interval (seconds) between two permit tests.
Entering 0 disables this watchdog.
Reference
: Use the “Reference” opt ion button to select the station you
wish to be the centre of t he allowed area, and/ or choose a zone depicted in an
“no-go” or “no-leave” file. You can choose two or more options.
: This watchdog aler ts you if the position of any vehicle doesn’t fall
Lab
within the circle defined by the value (metres) in the associated “Radius” f ield,
around the Lab station (that is, if the distance between the vehicle and the Lab
station exceeds the distance specified as “Radius”). Entering 0 disables this
test.
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Operating instructions
Camp
: This watchdog alerts you if the posit ion of any vehicle doesn’t fall
within the circle defined by the value (metres) in the associated “Radius” f ield,
around the Camp station (that is, if the distance between the vehicle and the
Camp station exceeds the distance specified as “Radius”). Entering 0 disables
this test.
No-leave
: This watchdog alert s you if the position of any vehicle doesn’t
fall within the area (a circle or a polygon) depict ed in the DXF file specified in
the associated “File” field. If you don’t enter any file name, t he test is disabled
(you must enter the extension too).
No-go
: This watchdog alert s you if t he position of any vehicle f alls within
any of the areas (circles and/or polygons) depict ed in the DXF file specified in
the associated “File” field. If you don’t enter any file name, t he test is disabled
(you must enter the extension too).
NOTE: See “How to load a graphic file to the hard disk” and “The
Marker setup window”. The DXF f ile for the No-go or No-leave option must be
available in the database but it doesn’t need to be loaded to the main window.
Only circles and polygons are interpreted. Other shapes —if any— included in
the file are ignored.
5-5 The Message setup wi ndow
Selecting
MESSAGE
from the
SETUP
menu opens a dialog box that
allows you to send messages to any service vehicle equipped with an MRU
unit.
To send a message, do the following :
- T ype the message text in t he Message setup dialog box. Do not mak e it
too long, as the transmission is relatively slow (typically 70
characters/second). Anyway your message will automatically be
truncated to 400 characters.
- Drag and drop the message onto the desired vehicle in the graphic
pane,
select the desired option from the BROADCAST button and
or
click APPLY.
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Operating Instructions
. The "To All" option allows you to send the message t o all vehicles.
. The "To Lab" and "To Camp" options allow you to send messages to
the central station and monitoring station respectively.
. The "To Specif ied No." option prompts a text box so that you can type
the identification number of the vehicle you wish to send the message
to.
As a result, the message appears on the service vehicle's printer , along
with the date and time of the transmission.
In addition, clicking APPLY in this dialog box resets any alarm
associated with the vehicles (all or the one specified, depending on the option
you selected),
transmitted.
whether or not
the text box contains a message to be
NOTES 1 - The lower pane in the Message Setup dialog box is used to
view service messages if the B-port of the MRU is connected
to the workstation (Serial B port) instead of a printer.
2- To drag and drop, do the following :
. With the mouse pointer resting in the Message dialog box,
press CONTROL then press the mouse centre button and
hold them down.
. Move the mouse pointer onto the desired vehicle
. Release the button and key
3-
Only for SN388 users
: likewise you can send data from the
LOG main window's Results pane to a vehicle appearing in
the POSITIONING main window's graphic pane, by simply
dragging and dropping the message from the LOG main
window to the POSITIONING main window.
0311355 Issue : January 2002
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Operating instructions
5-6 The Vehicle identity setup
Selecting VEHICLE then IDENT from the SETUP menu opens a dialog
box that lets you enter a list of labels (more user -friendly than an Id number)
to be assigned to the vehicles to be tracked, and specify whether or not the
vehicles should be viewed.
Nb
Identity number of a vehicle, defined when you configure
the MRU for the vehicle. (See chapter 2).
LABEL
Label you wish to assign to the vehicle identified in the Id
text box.
TRACKING
For each vehicle in the list box this option button allows you
to specify whether or not the vehicle should be viewed on
the survey map. (Click in the list box to select a vehicle,
then select the desired option from the button).
NOTES Any vehicle you do not enter into the list is, by
default, viewed.
Any vehicle from which an alarm code is report ed
is viewed even though the "NO" option is
selected for this vehicle (until you reset the
alarm).
FIRST WAYPOINT
Initialization value of the individual waypoint counter
attached to each vehicle tracked (by default: 1) . This
determines the waypoint number that will be assigned
to the first waypoint transmitted t o any vehicle.
For a given vehicle, the waypoint number is
incremented (up to 100) each time a waypoint is
transmitted to this vehicle. It is reset to the current
FIRST WAYPOINT value on any overflow.
If you change the FIRST WAYPOINT value, t he new
value will apply to those vehicles which do not have
0311355 Issue : January 2002
5-18
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Operating Instructions
any waypoint yet and those which have a waypoint
counter at 100.
•
How to generate a Vehicle Identity Setup
The list box to the left of the ADD button shows the list of existing
vehicle labels.
To define a new label, enter the desired Id Num ber and Label int o the
appropriate text boxes, select the desired option, then click
ADD
.
To make changes to any existing label, double-click the desired row in
the list box. The corresponding vehicle identity appears in the upper pane.
Make the desired changes and click
CHANGE
.
To remove a vehicle from the list, click it in the list box and click
DELETE
.
To save and activate the current list of vehicle labels, click
To revert to the former list, click
•
Hints and tips
RESET
instead of APPLY.
APPLY
.
(1) Whenever you need t o know the label of a particular vehicle, do one of
the following :
- Double-click t he vehicle number on the map. This opens an inf ormation
box with the vehicle label appearing in its title bar, containing the latest
coordinates received, the time of the latest coordinates and the number
of the latest waypoint received if any,
or
- Select Vehicle > Log f rom th e Setup menu. T his opens a dialog box that
lets you display the trackline of a vehicle, with the vehicle label
appearing on the latest known position,
or
- Select Vehicle > Ident from the Setup menu. This displays the list of
vehicle numbers and labels.
(2) If two base stations are used (LAB and CAMP), it may be helpf ul t o set a
different FI RST WAYPOINT at each station to dist inguish between the
waypoints from one station and those from t he other.
0311355 Issue : January 2002
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Operating instructions
5-7 On a tracked vehicle
5-7-1 PREREQUISITES
The MRU should be configured and installed as indicated in chapter 2
and par. 4-1.
The GPS receiver should be configured as follows :
- Position on WGS84 datum
- Position message format : $GPGGA (NMEA 0183).
$GPWPL (NMEA 0183) Waypoint
Location is also allowed.
- 4800 Bauds, 8 data bits, 1 st ar t bit, 2 stop bits, no parity
5-7-2 MRU BOX
After you power on the MRU, the « Receive » indicator light remains ON
for a few seconds, until the MRU gets synchronized. Then the « Transmit »
indicator light should briefly light up every 10 seconds, indicating t hat the MRU
is transmitting properly. The "Receive" indicator briefly lights up whenever a
message or waypoint is transmitted by the base station.
Pressing the EMERGENCY button causes the MRU to send an alert
code to the base st ation. In return, the MRU will receive a message ("Alarm
received") when the operator at the base station clears the alar m .
Receiving a waypoint or service message from the base station causes
the MRU’s buzzer to sound.
NOTE :
Synchronization cannot be achieved until the end of a 3-minute
warm-up time after the Master MRU at the base station is
powered on.
5-7-3 PRINTER
The printer is used as a terminal to display waypoints and service
messages received from the base st ation. Along with each service message is
also the time of transmission.
5-7-4 GPS RADIOPOSITIONING RECEIVER
The GPS receiver outputs the position to the MRU at (2-second
intervals) which relays it to the base station at 10-, 30- or 60- second intervals.
If any waypoint is received from the base stat ion, the MRU relays it to
the GPS receiver. To display the waypoint on the GPS receiver, see the
receiver’s documentation.
0311355 Issue : January 2002
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Page 45
Appendix 1
A
PPENDIX
THEORY OF OPERATION
A1.1 - INTRODUCTION
The TDGx is a fully configurable, multi-purpose data communications
board intended for use in applications where a number of devices have to
communicate with each other from distant places.
The TDGx board interfaces with the user equipment by way of one or
two RS232C ports used both as cont rol inputs (t o config ure the board) and as
inputs/outputs in the data transmission process.
The diagram below shows a simple data transmission system using two
TDGx boards. The dir ection of transfer shown is from device #1 to device # 2
but the system can operate in the other direction as well.
1 : TDGX BOARD
Device # 1
RS232C line
Data input protocol,
Time channel n
TDGx # 1
As shown in this diagram , the T DGx boards basically allow the two devices
to communicate with each other through an RS232C serial line.
Freq.
Channel x
Data output protocol,
TDGx # 2
RS232C line
Time channel n
Device # 2
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A1-1
Page 46
Appendix 1
However the data transmission scheme departs from a conventional
RS232 line in three ways :
A UHF link ( operating on frequency Channel x) is placed «in series» with
•
the RS232 line. This radio link of fers rang es from 10 to 50 km, depending
on the propagation conditions.
The serial line between the two devices is established at regular intervals,
•
and for a given period of time (t ime channel n). This particular feature requires that one of the T DGx boards should first be synchronized onto the
other before proceeding with the data tr ansmission as such.
Depending on the user application, the line output may provide the data in
•
a format (or prot ocol) different from that used at the line input.
In applications where the number of devices is well beyond 2, the process
of synchronizing the boards on a reference board remains indispensable. Besides, new time channels will have to be used to avoid conflicts between the
various radio links.
0311355 Issue : May 1998
A1-2
Page 47
T
P
O
O
Appendix 1
A1.2 - TDGX BLOCK DIAGRAM
The TDGx board f alls into two main sections (see also the block diagram
below) :
A UHF transceiver section.
•
A data processing section mainly composed of :
•
- 2 serial ports (A and B) of the RS232C type
- 2 FIFO buffers im plem ented at the input and output of the ser ial por ts.
UHF Section
Selecting reception
Message memory
Data Processing
section
slots
(FIFO)
o UHF antenna
Reception Transmission
Relay
Routing data to
transmission slots
Priority manager
Message Memory
IN
Port A
(FIFO)
UT
IN
ort
INPUTS/OUTPUTS
0311355 Issue : January 1997
A1-3
UT
Page 48
Appendix 1
A1.3 - THEORY OF OPERATION
A1.3 -1 THE FUNDAMENTAL PARAMETERS
TheTDGx is based on the principle of
(TDMA). With this technique, the design engineer has to allocate a particular
time (time channel) to each of the radio links he/she wants to implement. Each
allocation is exclusive, which means that there can only be one transmitting unit
in a given time channel.
If we look into the operation of the TDGx board along the time axis, five
fundamental parameters should be defined :
•
•
The
The
slot
This is the so-called « time channel » that we’ve mentioned earlier. A
implies a particular radio link : one transmitting TDGx and one (or
slot
more) receiving TDGx.
All the
ture except the
structure (not by its duration).
format
Time interval representing n successive
A slot may be « even » or « odd » depending on its identification number.
The
format length
have the same characteristics in duration and data struc-
slots
sync slot
is defined as the number of
which differs from all others by its data
Time Division Multiple Access
(numbered from 0 to n-1) .
slots
slots
in the
format
.
•
•
The
The
frame
Time interval representing 300 successive
300).
subframe
Time interval, submultiple of the
fined as one of the characteristics of each
radiolocating data. The
consecutive radio links of the same natur e. The
in
formats
rate of the data transm ission taking place in the considered slot.
(2 to 300
subframe
formats
frame
depicts the time elapsed between two
) and allows the engineer to set the update
formats
and multiple of the
(numbered from 1 t o
slot
subframe
format
used to transmit
is expressed
, de-
0311355 Issue : May 1998
A1-4
Page 49
0 1 2 0 1 2
. . . . . .
Appendix 1
•
The
rank
in the
subframe
Defined as the number of the
used to transmit radiolocating dat a.
slot
format
(in the
subframe
All these parameters make up the time scale of any equipment using a
TDGx board to perform data transmission (see diagram below).
1 format
0 1 2
. . .
SubFrame for slot # 2
(= 2 in this example)
- - - -
1 frame
) containing the
. .
.
0 1
2
Time
1 slot
- - - -
1 format
0311355 Issue : January 1997
A1-5
Page 50
Appendix 1
A1.3 - 2 TRANSMISSION SPECIFICATIONS
Channel bandwidth : 12.5 kHz
Two frequency sub-bands : 408 to 440 MHz and 430 to 470 MHz, de-
pending on the country (450 to 470 MHz for the USA).
Frequency/Channel allocation table : see A1.4
Slot duration : 20 ms
Format length : 2 to 60 slots, pr ogrammable
Usable slots (outside sync slot) : all slots except slot 00 used for calibration
purposes. The engineer has only to allow for an idle slot between any consecutive reception slot and transmission slot. It is t herefore advisable to group all the
transmission slots together and all the r eception slots together.
- All slots allocatable to reception
- 8 slots max. allocatable to port A for transmission
- 8 slots max. allocatable to port B for transmission
Number of useful bytes per slot : 6 to 8.5 depending on the nature of
the transmission.
Response time of frequency synthesizer : < 15 ms for a channel skip of
100
Average time for synchronizing the f r ame : 10 seconds
NOTE :
Number of selectable channels : 400 (200 on either side of the factory-set centre f requency, corr esponding to a usable bandwidth of
2.5 MHz, i.e. 5 MHz).
±
0311355 Issue : May 1998
A1-6
Page 51
T
Appendix 1
A1.3 - 3 SYNCHRONIZING A NETWORK OF TDGX BOARDS
Introduction
The synchronization step is a prior requirement t o allowing any radio link to
take place. In this step all the time scales of the considered TDGx boards are
made synchronous with that of a TDGx board taken as t he reference and called
the
sync master
Practically, the synchronization is achieved by means of the « sync mes-
sage » (format described lat er in this paragraph) broadcast by the sync master
towards the other boards (in a user-chosen slot).
.
Sync Message
TDGx
Sync Master
Sync master frame
TDGx # 1 frame
TDGx # 2 frame
TDGx # n frame
Before
synchronizing
DGx
TDGx
#
n
Once
synchronized
TDGx
#
t t
#
1
2
0311355 Issue : January 1997
A1-7
Page 52
Appendix 1
S
Synchronization procedure
The process of synchronizing a TDGx board onto the sync master TDGx
board is achieved through the following steps :
- The non-synchronized TDGx board is switched to reception mode every
other slot, in search of t he preamble character present in every message
received.
To speed up the search step, up to 110 bits are read and analyzed in a
row, which represents a little more than a slot during which the board is in
reception.
I f the preamble is not f ound at the end of 60 slots (i.e. aft er thirty read
→
sequences), the T DGx board shifts its frame by one slot t hen resumes
the search in the same conditions.
Once the preamble is detected, the T DGx board adjusts the position of
→
its frame so that the slot in which the preamble is found provides the
best reception possible (see diagram below).
ync transmission slot
Sync Master :
TDGx running synchronization
procedure :
2 - Preamble detected
(Slot, hence frame, accurately,
positioned along time axis)
1 - Preamble not detected
3 - Reception trimming
Reception slot
- In t hese new reception conditions, the «slot number» f ield id read from t he
sync message once this message has been detected (by analyzing the
« checksum » field). This t ells the board in which slot it is expected to receive the sync message.
0311355 Issue : May 1998
A1-8
Page 53
Appendix 1
- Aft er receiving three consecutive sync messages, the TDGx board can determine the
format
consecutive sync messages and the
parameter from the time interval between any two
frame
count (also provided in the sync
message).
- At this stage, the TDGx board has acquired all t he parameters needed to
synchronize its frame onto that of the sync master. It can therefore complete the synchonization procedure successfully.
Sync Transmit Format
1 byte
Preamble
(Reserved for advanced functions)
6 bytes
1 byte
Slot No. Frame No. Checksum Postamble
1 1/2 byte
1 1/2 byte
1 byte
Length : 12 bytes (transmitted during sync slot)
0311355 Issue : January 1997
A1-9
Page 54
Appendix 1
T
(
a
T
-
-
-
A1.3 - 4 DATA TRANSMIT FORMAT
1 byte
Preamble
2 bytes
Service data
Length : 12 bytes (transmitted during dedicated slots)
A1.3 - 5 INPUT/OUTPUT PROTOCOLS
The TDGx input and output protocols should be associat ed judiciously
as described below.
Data
Transmit
INPUT
PROTOCOL
DGx
Format
8 bytes
User data
DGx
OUTPUT
PROTOCOL
1 byte
Postamble
Radiolocat ing data (1)
Data
Transmit
Format
Protocol No. 1 or
Protocol No. 2 or
ASCII encoded
hex, deriv ed from
Protocol No. 2
General data (2),
destination address
(1, 2, or 3 bytes)
Data
Transmit
Format
«Transparent » protocol
general data as applied
t input)
appended or not
(1) As per NMEA standard or Sercel sta ndard. In terpreted and re-arranged by TDGx
(2) Not interpreted by the TDGx, hence « transparent » transmission mode .
0311355 Issue : May 1998
A1-10
Page 55
Appendix 1
A1.3 - 6 BOARD CONFIGURING TOOLS
A library of commands applicable locally to either of the RS232C ports of
the TDGx board allows the sytem engineer to design a «configuration» for the
board.
At the user (or installer) level, t he board configuration step just consists of
running a progr am file (some additional parameters may have to be specified in
the command line) containing a list of comm ands which the board then executes
for self-configuration purposes.
Some of the most import ant functions implemented through the configur a-
tion step are listed below :
- defining the fundament al time parameters (form at, frame, subf r am e, etc.)
- defining the number of t he sync slot ( in the sync mast er boar d only)
- defining one or more f r equency channels
- defining the function achieved by each slot in each TDGx board
- defining the input and output pr ot ocols
0311355 Issue : January 1997
A1-11
Page 56
Appendix 1
For an informative purpose, a brief description of the commands used to
implement these functions is listed hereafter.
CONF_A Reads/changes configur ation of port A
CONF_B Reads/changes configur ation of port B
CAN Reads/changes frequency channels used in reception and
transmission
CF_EMA Reads/Changes slots defined as transmit slots allotted to
port A
CF_EMB Read/changes slots defined as transmit slots allotted to
port B
CF_RECA Read/changes slots defined as r eceive slots allotted to por t
A
CF_RECB Read/changes slots defined as r eceive slots allotted to por t
B
RELAY Relay function
IDT Reads/changes the number of the slot dedicated to report-
ing radiolocating data from a mobile to the central station.
NMEA Reads/changes the type of NMEA message interpr eted by
the board
CAR Reads/changes the characteristics specif ic to a mobile
MAT Reads/changes the registration number of the TDGx board
CONST Reads/changes some constants internal to t he boar d
CR_SYN Synchronization time slot configuration parameters.
: RS232C line at 4800 Bd, GPGGA message at 2 sec update rate
S08, S09
Waypoint,
Message
(service)
S03
Position
Port B Port B Port A
S05, S06
Message
(service)
Printer
0311355 Issue : January 1997
A3-1
Page 74
Appendix 3
0311355 Issue : January 1997
A3-2
Page 75
2
Appendix 4
A
PPENDIX
4 : C
OUPLING
(only for SN388 users)
A4.1 CONFIGURING MRU
Connections required
•
MRU
Port A
Directories and files involved in the configurati on st ep
•
The following directory :
/users/sn388/sn388Hci/binsh
MRU
S FROM THE
WITH
SN388HCI
HCI
5C connector
Port A
SN388
Contains the following files :
BASE.SUN : Command file intended for « base » MRU (i.e. MRU
installed in the recording cab or at the base camp).
BASE.12 : Configuration file intended for base MRU not used as
the sync master.
BASE_MST.12 : Configuration file intended for base MRU used as the
sync master.
MOBILE.SUN : Command file intended for mobile MRU.
MOBILE.12 : Configurat ion file intended for mobile MRU.
MRU.SUN : Program file used when running BASE. SUN or
The following directory :
Contains the following file :
/users/sn388/sn388Hci/bin2
MOBILE.SUN.
0311355 Issue : May 1998
A4-1
Page 76
Appendix 4
•
Configuration procedure
Now that your MRU is connected to the HCI, as indicated previously, do
the following on the HCI :
- Type
stopAppli
(press RETURN)
- Type in one of the following commands depending on whether the attached MRU is intended to be used at the base camp or in the r ecording
cab (“base “ MRU), or in a mobile ("mobile" MRU).
base.sun
[channum]
<sp>
<sp>
camp{
master}
<sp>
Base MRU
(at base camp)
base.sun
[channum]
<sp>
<sp>
lab{
master}
<sp>
Base MRU
(in recording cab)
mobile.sun
[channum]
<sp>
[regnum]
<sp>
[refresh rate]
<sp>
Where :
[
channum
: UHF frequency channel number (0 to 5600,
]
depending on the country ; 4000 to 5600 for the
[
regnum
USA).
: Mobile registration number (1 to 50)
]
Mobile
MRU
[refresh rate]
{
master
: (10, 30 or 60 seconds).
: Optional parameter, configures MRU as the sync
}
master. A single MRU can be defined as the sync
master.
Conventions used in the syntax above :
: Square bracket s enclose parameter definit ion which
[..]
should be replaced by the desired value in the
command line
...} : Braces enclose optional parameter
{
<sp>
: Space character required
Square brackets and braces should not be typed in
the command line.
Getting help from the setup program :
Simply type in
the syntax of the commands, as described above.
base.sun
or
mobile.sun
to display
0311355 Issue : May 1998
A4-2
Page 77
•
Examples
Appendix 4
%>base.sun 4900 camp
Configures the MRU as an auxiliary central unit (base camp) operating
on freq. Channel # 4900
%>base.sun 4900 lab master
Configures the MRU as the central unit operating on freq. Channel #
4900. The MRU is also configured to be the sync master.
%>mobile.sun 4900 10 10
Configures the MRU as mobile #10 operating on fr eq. Channel # 4900.
Refresh rate: 10 seconds.
As the MRU is being config ured, configuration commands are report ed
on the screen.
•
Finishing off
After the configuring process is complete, the "
" Unix prompt re-
%
appears on the HCI screen.
You can disconnect the MRU and then repeat the configuration step
with another MRU that you f irst connect t o the HCI . Repeat this operat ion until
the whole MRU network is configured.
- Type
runAppli
(press RETURN)
0311355 Issue : May 1998
A4-3
Page 78
Appendix 4
A
A
I
E
w
A4.2 CONNECTING THE MRU TO THE HCI
Use an MRU-Workstation cable (part No. 1A17075075). See Appen-
dix 2.
The MRU unit should be connected to the A port on your HCI work-
station. If a DPG is used then the A port is not available. In that case, a
second workstation is required, installed as X-Terminal emulation. On each
workstation, set the Installation options as shown below.
MRU
DPG
Dongle
A
Master
workstation
B
Installation options
HCI type
Mobile Radio Unit
Licences
Enter the SN388 password
associated with the dongle
Master
Local network
See SN388
Installation Manual
No
B
See Par. 3-2
B
X-Terminal
emulation
nstallation options
HCI type
Mobile Radio Unit
Licences
nter the MRU password associated
ith the station's Host Id
Tx emulation
Yes
Note: To set installation options, select HCI INSTALL with the centre
button of the mouse.
0311355 Issue : May 1998
A4-4
Page 79
Appendix 5
A
PPENDIX
5 : SOFTWARE INSTALLATION
A5-1 PREREQUISITES
The MRU Vehicle Tracking software is desig ned to run on a workstation
under the UNIX operating system. T he workstation should be equipped with
SOLARIS 5.7 or higher and MOTIF, with a multiwindowing system such as
OPENWI N and with the VOLUME Manager.
The disk space required f or the MRU software is about 4 MBytes.
NOTE only for SN388
: This installation procedure is for a workstation
other than SN388 HCI. For an SN388 HCI
workstation, see SN388 Installation Manual.
A5-2 INSTALLING THE MRU VEHICLE TRACKING
SOFTWARE
To install the MRU software, do the f ollowing :
- Insert the SERCEL CD-ROM into the drive. The Volume Manager
automatically mounts it.
- Create a directory in which you are allowed to write (i. e. with the
"User" as owner) for the MRU software. For example, assuming the following:
User
Group
Directory
user388
sn388
/opt/softMru
At the Login prompt, type the following commands (where
"login" and # are the successive prompts):
- In a Command Tool window, type the following commands :
cd /cdrom/cdrom0
./installMruStandalone
- When the message
(/opt/mru)"
shows up, you may :
"Enter the path to the MRU software
<RETURN>
<RETURN>
. Press <RETURN> to install MRU software t o the default dir ectory
prompted, assuming you have created this directory (/opt/mru),
. or specif y the path to the dir ectory you have created for the MRU
software (e. g. /opt/softMru).
- After MRU software installation is complete, type :
cd
eject cd
<RETURN>
<RETURN>
- Remove the CDROM from the drive.
NOTE: After you install MRU software, a number of commands are available
that you can type in a Command Tool window. To get the commands list
and usage, do the following:
- Type
cd /opt/softMru/sn388Hci/binsh
(assuming you installed MRU software to the
<RETURN>
/opt/softMru
directory).
- then
- As a result the following is displayed:
mru -h
<RETURN>
usage : mru : start the MRU application
-b[ase] : start the MRU base configuration
-m[obile] : start the MRU mobile configuration
-i[nstall] : start the MRU software installation
-t[ransformation] : start the coord transformation application
-h[elp] : display this information
0311355 Issue : May 1998
A5-2
Page 81
Appendix 5
A5-3 GETTING STARTED
STARTUP CONFIGURATION
•
On a first-time star tup or after installing a new software version, follow
the instructions below to configure (or reconfigure) the workst ation.
This vehicle tracking software comes with a password available from
SERCEL attached to the station on which you installed the software. You
will not be able to use the software unless and until you enter your password
into the workstation.
To set the configurat ion and enter your password, do the following :
- In a Shell window, type the following commands :
cd /opt/mru/sn388Hci/binsh
mru -i
NOTE :
If you did not choose the default path (
<RETURN>
<RETURN>
/opt/mru
) when you
installed the MRU application, type the path you chose instead
of
/opt/mru
, in the cd command.
This opens the dialog box shown below, used to :
- select the Help language,
- select the serial port (port A or B) used for communications with the
MRU,
- select the LOG option specifying whether the vehicle tracklines should
be recorded (ON) or not (OFF),
- enter the password (into the licence text box).
- Click APPLY.
- Close the MRU Install dialog box. The configuration will be enabled
when you next start the MRU application.
NOTE Only for SN388 users
: to set the st artup configuration on an
HCI workstation, see the SN388
Installation Manual.
0311355 Issue : May 1998
A5-3
Page 82
Appendix 5
•
STARTING THE MRU APPLICATION
- To start t he MRU application, t ype the following commands :
cd /opt/mru/sn388Hci/binsh
<RETURN>
I f you did not choose the default path (/opt / mru) when you installed the
MRU application, type the path you chose instead of /opt/mru . You will
not have to type the above command if you enter the path into the
PATH variable.
- Then you only have to type the command
mru
<RETURN>
0311355 Issue : May 1998
A5-4
Page 83
Appendix 6
A
PPENDIX
6 : COORDINATES
TRANSFORMATION UTILITY
The coordinates transf or mat ion ut ility used in t he MRU software application can be started individually so that you can convert coordinates from
WGS84 to your favourite geodetic system or the other way round.
To start the coord transf ormation utility, open a Shell window, select the
MRU application's directory and type the following command :
mru -t
This opens the window shown below.
This menu allows
you to define
and/or view Datum
types and
Projection types
(see par. 4-2 and
4-3)
<RETURN>
Type the Lat
Lon coordinates
to be
transformed
(preceded by a
minus sign if
South Latitude
or W est
This option button
allows you to
change from
WGS84 to your
geodetic system or
the other way round
To apply the settings, press <RETURN> ( with the cursor positioned in the
"Projection Type Nb" text box).
Longitude)
Specify the
Projection type
to be used and
press RETURN
(see par. 4-3)
0311355 Issue : January 1997
A6-1
Page 84
Appendix 6
0311355 Issue : January 1997
A6-2
Page 85
MRU Specifications
APPENDIX 7 : MRU SPECIFICATIONS
PHYSICAL
Size :
Weight :
ENVIRONMENTAL
Storage temperature :
Operating temperature : Master :
ELECTRICAL
Power supply :
Power drain :
Transmission frequency :
Lower band : 408 to 440 MHz (depending on the country)
Upper band : 430 to 470 MHz (450 to 470 for the USA)
The filters in the UHF power stage ar e tuned to a central frequency
) prior to shipment or subsequent ly by skilled personnel using the
(F
0
appropriate equipment. Then an operating frequency can be selected,
in 12.5-kHz steps, up to ± 2.5 MHz around F
retune the UHF filters, using a PC computer equipped with appropriate
software.
Height : 80 mm
Depth : 295 mm
Width : 155 m m
1.5 kg
10 to 15 V
5 A max.
- 40°C to +70°C
Slave
0°C to +40°C
0°C to 45°C
:
without the need to
0
Number of selectable channels : 400 (200 on either side of the factory-
set centre frequency, corresponding to a usable bandwidth of ± 2.5
MHz, i.e. 5 MHz).
The antenna supplied is intended for f requencies from 440 to 470 MHz.
The centre frequency is f act or y set at 455 MHz
Transmission type :
Channel bandwidth :
Peak Radiated power :
Two circuit boards :
1 Transmission board (TDG12)
0311355 Issue : July 1997
F1D (data transmission)
12.5 kHz
4 W ± 2 W
1 power supply board (MRPW)
A7-1
(Channel 4400).
Page 86
MRU Specifications
MASTER MRU SPECIFICATIONS
Electrical
MRPW power supply board equipped with a master oscillator
(10 MHz).
Special features
The Master MRU automatically switches to the transmitting mode 3
minutes after power-on (after its built-in master oscillator has settled).
Transmission repeat cycle : 0.2 second.
SLAVE MRU SPECIFICATIONS
Electrical
No master oscillator.
Special features
The Slave MRU is allowed to switch to the transmitting mode on
condition that :
. it receives the signal from the Master MRU for locking the
TDG12 board's oscillator and synchronizing the transmission so
that the slave MRU transmits during the desired tim e slot .
. it has to transmit messages via its A-port.
Transmission repeat cycle : 10 seconds.
0311355 Issue : July 1997
A7-2
Page 87
M
M
+
+
S
S
1
S
T
A
I
Appendix 8
A
PPENDIX
8 : REFERENCE INFORMATION
A8.1 MRU BLOCK DIAGRAM
ONLY ON
MASTER MRU
MY1
10 MHz
W1
W2
V. Batt
to UHF Po wer
Amplifier
J5
RPW MASTER BOARD
RU 388 TDG12 BOARD
P11J1
P4
5 V
12 V
12 V
erial port A
erial port B
0 MHz clock
P1
J3
Power supply
serial port A
serial port B
UHF
OUTPUT
A8.2 UHF SYNTHESIZER CIRCUITRY BLOCK DIAGRAM
MB 1504 PF
comparator
Local oscillator
Data corresponding to
the programmed UHF
frequency
F
OL.UHF
IC12
V = f(∆f)
∆
C
ntegrator
YN_UHF_OK
o logic Central Unit
UHF oscillator
IC30
3
0311355 Issue : May 1998
A8-1
Page 88
Appendix 8
2
3
A8.3 UHF OUTPUT AMPLIFIER CIRCUITRY BLOCK
DIAGRAM
Modulated
21.250 MHz
IF signal
S21M
F
OL.UHF
IC31
3-pole filter
A6
G = 18 dB
-pole filter
+8VE
Tx
IC13
MHW707-2
Power amplifier
G = 38 dB
Rx
Duplexer
-pole filter
UHF output
Tx/Rx
0311355 Issue : May 1998
A8-2
Page 89
-
F
f
Appendix 8
A8.4 MODULATION MODE
Theory of operation
Those frequency modulation techniq ues in which the phase variation is
continuous on bit transitions are of special int erest as they significantly
increase the spectral efficiency.
The special case where the modulation factor is 0.5 in those continuousphase modulation techniques is known as MSK.
carrier frequency
fb
+
4
o
fb
−
4
carrier phase
Π
/2
Π
0
- Π/2
Π
data
bits
1
0
t
b : bit frequency
t
7T6T5T4T3T2TT
t
Why choose the msk technique ?
The MSK modulation (Minimum Shift Keying) offers the following
advantages :
- Constant envelope of the modulated signal allowing class-C amplifying
without any alteration in the spectrum.
- Reduced spectral occupation in comparison with other modulation
techniques such as PSK. W ith the MSK modulation, 99% of energy lies within
0311355 Issue : May 1998
A8-3
Page 90
Appendix 8
I
m
a band 1.5 times the bit frequency, that is 7.5 kHz. In comparison, with a
QPSK modulation 99% of energ y would lie in a 40-kHz band. W ith a filtered
variant of the MSK modulation (
GMSK
, SMSK, etc.) the energy band is still
narrower.
- The perform ance of a data t ransmission link is one of t he best in ter ms
of bit error rate.
Modulator circuitry
The modulator circuitry consists of a Voltage-Controlled Oscillator (Y5,
Q10), a filter (A8
a 21094-kHz frequency synthesizer. The 21094-kHz synthesizer, the 156-kHz
modulator and the two mixers are housed in the IC34 programmable circuit.
, A82), two mixers (M1, M2), a 156 kHz digital modulator and
1
C1
to IC31
mixer
modulated
21.250 MHz
VCO 21250 KHz
Y5 Q10
A8
odulated
156 kHz
digital
sequence
Filter
- A8
1
M1
2
IC34
MSK
Digital
modulator
10 MHz
clock
M2
21094 kHz
synthesizer
The 10-MHz clock is divided to generate a 156-kHz signal. By adding or
subtracting periods of the 10-MHz clock, depending on the data to be
transmitted, a modulated 156-kHz frequency is generated : 156 ± Freq
that is 156 kHz ± 1.25 kHz depending on the polarity of the dat a.
The control loop of the 21250 kHz VCO includes the two mixers (M
), the filter and the VCO.
M
2
The modulated 156-kHz signal is fed to the loop and compared to
another 156-kHz signal in M
, which results from mixing the VCO out put signal
1
and the CW signal from the 21094-kHz synthesizer. The signal output from
mixer M
is fed to a filter ( A81 and A82) and used to control the VCO.
1
Y3
/4,
bit
,
1
The 21250 kHz loop is balanced when the modulation in the modulated
156-kHz signal is replicated on the 21250-kHz VCO.
This VCO exhibits a ± 1.25 kHz frequency deviation depending on the
polarity of the data.
0311355 Issue : May 1998
A8-4
Page 91
F1
F2
Appendix 8
DATA
bits
Modulated 21.25 MHz signal (Frequency vs. data bits)
0311355 Issue : May 1998
A8-5
Page 92
Appendix 8
D
Data transmit format (general case)
ata zone
Encryptable zone
Content depends on input protocol used
Preamble
16 bits8 bits
Auxiliary
Data
b7
b0
checksum (11 bits)
b2b3b4b5b6b7
Encryption
code parity
Depends on input proto co l use d
b0
8 × 8 bits
User Data
8 bits
Postamble
0311355 Issue : May 1998
A8-6
Page 93
For
Sync
Master
Appendix 8
configuration,
the highaccuracy
oscillator should
be installed
MRPW Master board
0311355 Issue : May 1998
A8-7
Page 94
Appendix 8
For
Mobile
configuration,
should be
S14
shorted with
solder (and S15
should be open)
For
Sync
Master
configuration,
S15
shorted with
solder (and S14
should be open)
should be
TDG12 board
0311355 Issue : May 1998
A8-8
Page 95
Appendix 8
TDG12 board
0311355 Issue : May 1998
A8-9
Page 96
Appendix 8
0311355 Issue : May 1998
A8-10
Page 97
Glossary of basic geodesy terms
GLOSSARY OF BASIC GEODESY TERMS
Datum
: A Datum results fr om taking an ellipsoid and moving
its centre so the ellipsoid matches the geoid very
closely in your area of interest. For example, in
Europe, the International ellipsoid is shifted to fit and
called ED50 (European Datum 1950).
For the same location, your latitude and longitude are
different on different Datums. Since your DG PS r e ceivers normally output on W G S84 you need to
convert the WG S84 latitude/longitude to a latitude
/longitude on whatever Datum you are surveying on.
This is done by on-line Datum transform ation routines
in SERCEL software. This is why you are required to
select the appropriate Datum (in the Projection Type
Setup dialog box).
Ellipsoid
: An ellipse which has been rotated about an axis (ex-
ample : WGS84). The shape of the ellipsoid is chosen
to match the geoidal surf ace as closely as possible.
Geoid
: An equipotential surface ( m eaning that the pull of
gravity is equal everywhere along the surface), approximately corresponding to the Mean Sea Level. A
plumb bob always points perpendicular to the geoid,
not to centre of the earth.
Projection
: A projection is a representation of a 3 dimensional
plane. In order to make a section of the ellipsoid into a
flat surface, you have to stretch some par ts of the surface and compress other parts. The amount of
compressing/stretching is known as « scale factor ».
The distance you measure in the real world is usually
not equal to the distance measured on the projection.
0311355 Issue : January 1997
1
Page 98
Glossary of basic geodesy terms
0311355 Issue : September 1996
2
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