Symeo LPR 2DB User Manual
SYMEO LPR
®
Product: LPR®-2DB
Product Documentation
Symeo LPR®-System
LPR®-2DB
Product Documentation
CONTENT
1 GENERAL ........................................................................................................ 9
1.1 Safety Instructions ................................................................................................... 9
1.2 Installation ............................................................................................................... 9
1.3 Repairs.................................................................................................................... 9
1.4 Transport and Storage ............................................................................................ 9
1.5 Power Supply .........................................................................................................10
1.6 Setup and Operation ..............................................................................................10
1.7 System Extensions and Accessories ......................................................................10
1.8 Additional Instructions Regarding Compact Type and Integral Type Stations .........11
2 INTRODUCTION ............................................................................................ 12
2.1 Details ....................................................................................................................12
2.2 Overview of Files ....................................................................................................12
2.3 Project Planning .....................................................................................................15
3 SYSTEM DESCRIPTION ................................................................................ 18
3.1 Technical Data .......................................................................................................18
3.2 Operating Mode .....................................................................................................19
3.2.1 Operation Mode 1: Basic Cell ..........................................................................19
3.2.2 Operation Mode 2: Managed Cell ....................................................................20
3.2.3 Operation Mode 3: TDOA ................................................................................21
3.3 Vehicle Model.........................................................................................................22
3.3.1 Hover-Track ....................................................................................................23
3.3.2 Vehicle-Track ..................................................................................................23
3.4 System Design .......................................................................................................23
3.4.1 2D Positioning .................................................................................................24
4 HARDWARE ................................................................................................... 26
4.1 System components – Overview ............................................................................26
4.2 LPR-2DB Station (mobile station) ...........................................................................26
4.2.1 Overview compact station ...............................................................................26
4.2.2 Technical data compact station .......................................................................26
4.2.3 Station BSB000313, BSB000319 ....................................................................27
4.2.4 Station BSB000603, BSB000604, BSB000605, BSB000606 ...........................28
4.2.5 Lumberg Connector Type 0233 08 ..................................................................29
General
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Symeo LPR®-System
LPR®-2DB
Product Documentation
4.3 Cables for Compact Station ....................................................................................29
4.3.1 Cable for Power Supply ...................................................................................29
4.3.2 Recommended Cable Types HARTING Push Pull Connector .........................31
4.4 Connector box ........................................................................................................ 31
4.4.1 Example: Connector Box .................................................................................32
4.5 LPR-2DB Integral Station (fixed mounted unit) .......................................................33
4.5.1 Technical Data: LPR-2DB Integral Station .......................................................33
4.5.2 Components of LPR-2DB Integral Station .......................................................34
4.6 LPR Antennas for Compact Station (mobile unit) ...................................................34
4.6.1 Mounting devices of LPR Antennas .................................................................35
5 INSTALLATION .............................................................................................. 37
5.1 Installation of the LPR-2DB Station (mobile unit) ....................................................37
5.2 Installation of the LPR-2DB Integral Station ...........................................................38
5.2.1 Electrical Interface ...........................................................................................38
5.2.2 Installation .......................................................................................................39
5.2.3 Allocation of LPR-2DB Integral Stations and Installation Points .......................41
5.3 Installation of LPR antennas ...................................................................................41
5.3.1 Connection of antenna cables to the mobile units (LPR-2DB Station) .............41
5.3.2 Mounting of LPR antennas ..............................................................................42
5.3.3 Notes for mounting position of LPR antennas on the mobile unit .....................43
6 COORDINATE SYSTEM ................................................................................ 46
6.1 Survey Instructions for the LPR-2DB Integral Station .............................................46
6.1.1 Coordinate system of LPR-2DB Integral Station ..............................................46
6.1.2 Reference point of LPR-2DB Integral Station ..................................................47
6.1.3 Orientation of LPR-2DB Integral Station ..........................................................48
6.1.4 Formatting of coordinates ................................................................................49
6.2 Surveying of LPR-2DB Compact Station on mobile unit .........................................50
6.2.1 Reference system for vehicle type: forklift .......................................................50
6.2.2 Reference system for vehicle type: Van Carrier...............................................50
6.2.3 Reference system for vehicle type: passenger car ..........................................51
6.2.4 Reference system for vehicle type: crane/ trolley ............................................52
6.3 Surveying of LPR antennas ....................................................................................52
6.3.1 Formatting of coordinates ................................................................................53
7 COMMISSIONING .......................................................................................... 55
General
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Symeo LPR®-System
LPR®-2DB
Product Documentation
7.1 Check list installation and surveying .......................................................................55
7.1.1 Cells, Integral stations .....................................................................................55
7.1.2 LPR-2DB Station (Mobile units) .......................................................................56
7.1.3 Formatting of coordinates ................................................................................56
7.1.4 Folders structure .............................................................................................56
7.2 Editing of configuration files for the DSP ................................................................56
7.2.1 File basestation_config.txt ...............................................................................57
7.2.2 File stationXXM_config.txt ...............................................................................57
7.2.3 File stationXXY_config.txt ...............................................................................58
7.3 Upload of configuration files for the DSP ................................ ................................58
7.3.1 Connection with LPR mobile unit (type: compact) via TCP/IP ..........................59
7.3.2 Connection with LPR mobile unit (type: compact) via RS232 ..........................60
7.3.3 Upload DSP configuration file for LPR mobile unit (base station) ....................61
7.3.4 Upload DSP configuration file for master transponder unit ..............................62
7.3.5 Upload DSP configuration file for transponder unit ..........................................65
7.4 Editing of configuration files for Fusion Engine .......................................................67
7.4.1 fusion.ini ................................................................................................ ..........68
7.4.2 field.ini .............................................................................................................69
7.4.3 LPR_B.ini ........................................................................................................70
7.4.4 LoadPos.ini .....................................................................................................71
7.4.5 Customer.ini (or Symeo_2D.ini) ......................................................................71
7.5 Upload configuration files for FusionEngine ...........................................................73
7.5.1 Upload of files via WinSCP..............................................................................73
8 SYMEO MAP .................................................................................................. 78
8.1 Configuration and Connection with Symeo MAP ....................................................78
8.1.1 lpr.ini ...............................................................................................................78
8.1.2 Starting FusionEngine .....................................................................................79
8.1.3 Starting Symeo Map ........................................................................................80
8.1.4 Connection with mobile unit.............................................................................82
8.2 Display of Symeo MAP ...........................................................................................83
8.2.1 Level of Transponders .....................................................................................83
8.2.2 Radius/ Hyperboloids of Transponders ...........................................................83
8.3 Antenna Calibration ................................................................................................83
9 NETWORK SETTINGS ................................................................................... 85
9.1 TCP/IP connection between PC and LPR-2DB station ...........................................85
General
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Symeo LPR®-System
LPR®-2DB
Product Documentation
9.2 Open Web Server ..................................................................................................86
9.3 Settings ..................................................................................................................87
9.3.1 LAN .................................................................................................................88
9.3.2 Network ...........................................................................................................89
9.3.3 Serial-to-Ethernet ............................................................................................90
9.3.4 Remote Access ...............................................................................................92
9.3.5 Miscellaneous ................................................................ .................................93
9.3.6 Special functions .............................................................................................93
9.3.7 Accept settings/ System reboot .......................................................................94
9.4 System status.........................................................................................................94
9.5 Diagnostics ............................................................................................................96
9.6 Update Firmware ....................................................................................................97
9.6.1 Step 1 – File system ........................................................................................98
9.6.2 Step 2 – Linux Kernel .................................................................................... 100
9.6.3 Step 3 – User space (optional) ...................................................................... 103
9.6.4 Step 4 – Restart ............................................................................................ 103
9.7 System Log .......................................................................................................... 104
10 SYMEO 2D PROTOCOL .............................................................................. 106
10.1 Introduction / Basics ............................................................................................. 106
10.1.1 Configuration file Symeo_2D.ini .................................................................... 106
10.2 Binary format of the protocol ................................................................ ................ 108
10.2.1 Data types ..................................................................................................... 108
10.2.2 Byte Stuffing .................................................................................................. 108
10.2.3 General Structure .......................................................................................... 109
10.2.4 Data fields ..................................................................................................... 110
10.3 ASCII format of the Protocol ................................................................................. 116
10.3.1 Data Types .................................................................................................... 116
10.3.2 General Structure .......................................................................................... 116
10.3.3 Data fields ..................................................................................................... 117
10.4 Bit Mask SELECTED-FIELDS .............................................................................. 124
10.5 CRC Calculation ................................................................................................... 125
10.6 Error Codes .......................................................................................................... 126
10.6.1 Overview ....................................................................................................... 126
10.6.2 Error codes ................................................................................................... 126
10.6.3 LPR-B address .............................................................................................. 128
General
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Symeo LPR®-System
LPR®-2DB
Product Documentation
11 APPENDIX A: AGENCY CERTIFICATIONS ................................................ 129
United States (FCC) and Canada (Industry Canada) ...................................................... 129
United States (FCC)........................................................................................................ 129
Canada (Industry Canada) .............................................................................................. 131
General
Copyright © Symeo 2012
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Symeo LPR®-System
Version
Date
Description
3.17
2009-05-20
Initial release
3.18
2009-07-07
Added documents to one document
3.19
2010-02-01
Updated SYMEO Map and FusionEngine description
4.00
2010-06-30
Completely revised
4.01
2012-04-20
FCC Appendix added
This symbol appears before instructions that must be followed at all times.
Failure to comply with these instructions will result in personal injury.
This symbol appears before instructions that must be followed at all times.
Failure to comply with these instructions will result in damage to equipment.
This symbol appears before information of particular importance.
LPR®-2DB
Product Documentation
The documentation for the LPR Local Positioning Radar System is published by:
SYMEO GmbH
Prof.-Messerschmitt-Str. 3
85579 Neubiberg
www.symeo.com
If you have any questions or suggestions, please contact:
Email: info@symeo.com
phone: +49 89 660 7796 0
Copyright © Symeo GmbH 2009
All rights reserved
HISTORY
VERWENDETE SYMBOLE
The following symbols are used in the documentation:
All rights reserved, particularly those relating to the translation, reprinting, and reproduction
by photocopying or similar processes of all or part of the documentation.
All rights reserved, particularly for purposes of the award of patents or submission of utility
models.
Delivery options and technical changes reserved.
Published by SYMEO GmbH
General
Copyright © Symeo 2012
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Symeo LPR®-System
LPR®-2DB
Product Documentation
General
Copyright © Symeo 2012
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Symeo LPR®-System
LPR®-2D systems are purely tracking and assistance systems. They
therefore do not satisfy special requirements for personal safety, e.g.
performance level c.
Follow the safety instructions in the operating instructions for the device
and the additional documentation!
All installation, repair and servicing work must be carried out by qualified
and trained technicians!
Repairs to the device must be carried out by authorized technicians.
Unauthorized opening and incorrect repairs could result in severe
danger to the user (danger of electric shock, radiated energy, fire
hazard).
Use the original packaging or other suitable packaging for returns and
whenever the system is to be transported. This ensures protection from
crushing, impacts, moisture and electrostatic discharge.
During setup and before operation, refer to the instructions for
environmental conditions included in the operating instructions for the
device.
Route the wires in such a way that they do not cause a hazard and are
not damaged. When connecting the wires, refer to the corresponding
instructions in the operating instructions for the device.
Do not drop the device and do not expose it to strong vibrations.
LPR®-2DB
Product Documentation
1 General
1.1 Safety Instructions
Keep these safety instructions and other documents together with the device.
1.2 Installation
1.3 Repairs
1.4 Transport and Storage
Copyright © Symeo 2012
Page 9 of 132
General
Symeo LPR®-System
A safety-inspected power cable that satisfies the regulations of the
country of use is required for the device. Devices with metal housings
must only be connected to a grounded, shock proof socket.
The device must not be operated unless the nominal voltage of the
device matches the local supply voltage. Check the supply voltage of
the device in stationary devices.
When connecting and disconnecting wires, refer to the instructions in
the operating instructions for the device.
Do not use any damaged wires (damaged insulation, exposed wires). A
faulty wire poses a risk of electric shock or fire hazard.
During installation, make sure that no objects or fluids get inside the
device (risk of electric shock, short circuit).
In emergencies (e. g. if there is damage to the housing, control
elements or the mains cable, if fluids or foreign bodies have infiltrated
the equipment), switch off the power supply to the device immediately
and notify your SYMEO Service.
Protect the contacts of all of the device's sockets and plugs from static
electricity. Do not touch the contacts. If it is ever necessary to touch the
contacts, take the following precautionary measures: Touch a grounded
object or carry a ground strap before touching the contacts. This will
divert static charges.
Proper operation (in accordance with IEC60950/EN60950) of the device
is only assured if the housing and integral covers for mounting slots are
fully installed (electric shock, cooling, fire protection, noise suppression).
If necessary, refer to the corresponding instructions in the operating
instructions for the device.
In the case of high outside temperatures and intense, direct solar
radiation or other radiant heat, it may be necessary to provide a sun or
heat shield.
Data links to peripheral devices must be provided with adequate
shielding.
For LAN cabling, the requirements in accordance with EN 50173 and
EN 50174-1/2 apply. Use of either a Category 5 shielded cable for
10/100 Ethernet or Category 5e shielded cable for gigabit Ethernet is a
minimum requirement. The specifications of standard ISO/IEC 11801
LPR®-2DB
Product Documentation
1.5 Power Supply
1.6 Setup and Operation
1.7 System Extensions and Accessories
General
Copyright © Symeo 2012
Page 10 of 132
Symeo LPR®-System
must be complied with.
The warranty shall be voided if you cause defects to the device by
installing or exchanging system extensions.
The Compact type LPR station must not be opened except for
installation. The Compact station contains no serviceable components.
When opening, ensure that no fluid gets into the housing. When sealing
the station, ensure that the seal is included in the cover and that the
Compact station is completely closed. Otherwise, moisture can
penetrate the station and damage it.
In order to install the Integral type LPR station, the hood must be
detached from the serviceable components. Refer also to the
instructions on installing the transponder.
Please take note of the safety and operating instructions in the
operating instructions for the system in which you want to install the
component.
LPR®-2DB
Product Documentation
1.8 Additional Instructions Regarding Compact Type and Integral Type Stations
Copyright © Symeo 2012
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General
Symeo LPR®-System
This symbol appears before information of particular importance.
This symbol appears before instructions that must be followed at all
times. Failure to comply with these instructions will result in damage to
equipment.
This symbol appears before instructions that must be followed at all
times. Failure to comply with these instructions will result in personal
injury.
This symbol appears if the following sub-chapter describes difference in
the operating mode. An overview about the operating modes is given in
chapter 3.2.
LPR-2DB Station
(Mobile unit / base
station):
- master_basestation_config.txt or Basestation_config.txt
(depending on the selected operating mode)
LPR-2DB Integral
Stations
(transponders):
- STATION010_CONFIG.TXT
- STATION011_CONFIG.TXT
- STATION012_CONFIG.TXT
- STATION013_CONFIG.TXT
- STATION014_CONFIG.TXT
- STATION015_CONFIG.TXT
Master LPR-2DB
Integral Station
(optional):
- station01M_config.txt (depending on the selected operating
mode)
Symeo MAP (optional)
- SYMEO Map XP Installer
FusionEngine:
- FusionEngine.exe
- const_pos.ini
- field.ini
- fusion.ini
- LPR_B.ini
- movingcell.ini
- multi_cell.ini (TDOA)
- HoverTrack.ini / VehicleTrack.ini or TDOA.ini (depending on
LPR®-2DB
Product Documentation
2 Introduction
2.1 Details
2.2 Overview of Files
Copyright © Symeo 2012
Page 12 of 132
Introduction
Symeo LPR®-System
the selected model, application and operation mode)
- symeo_map.ini
- symeo_2D.ini
Figure 1- folder structure
The folder “mobileUnits”
contains all files for the
vehicles. The folder
“staticCells” contains all files
for the LPR-2DB Integral
Station including the master
LPR-2DB Integral Station. The
folder name for all LPR stations
is named with the serial
number.
To allocate the stations for the customer, it makes sense to create a
text-file that describes the function of that LPR station, i.e.
“forklift_123_customer.txt”.
If it is later necessary to replace a LPR unit (e.g. due to a defect) you
can find easily the necessary configuration files for the appropriate
station.
Folder for the files of the
FusionEngine
LPR®-2DB
Product Documentation
All files are delivered in the structure shown in Figure 1 (“deliverables” and “symeoMap”).
Copyright © Symeo 2012
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Introduction
Symeo LPR®-System
Folder for the files of the
firmware for the mobile unit
Folder for the configuration
files of the DSP for the mobile
unit
Folder for the configuration
files of the DSP for the
transponder unit
LPR®-2DB
Product Documentation
Copyright © Symeo 2012
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Introduction
Symeo LPR®-System
ToDo
Description
Responsible
Relevant
chapter
1
Definition of measurement
area/cell
Analyzing of layout,
pictures, definition of
mounting positions
Customer
provides
information to
Symeo
--2
Definition of local
coordinate system, point
of origin
Local Coordinates
available? Coordinates of
light towers available?
Customer
---
3
Definition of operating
mode
3 operating modes are
available. Operating mode
depends on the number of
vehicles and the number of
cells
Symeo
Chapter 3.2
4
Definition of vehicle model
HoverTrack-model or
VehicleTrack-model
Symeo
Chapter 3.3
5
Definition of antenna
positions and position of
mobile unit on the vehicle
for mounting
Defining mounting position
of 1, 2, 3 or 4 antennas on
the vehicle
Customer/
Symeo
Chapter 5.3
6
Definition of the height of
the antenna above ground
level
The height of the top of the
antennas above ground
has to be calculated to set
the appropriate height for
the mounting of the
transponders, height of
transponders ideally
0.5meters over antennas
level, up to 2.5meters is
possible
Customer
Chapter 6.3
7
Definition of protocol for
interface
Structure of the protocol
can be configured.
Customer/
Symeo (if
information is
provided)
Chapter 0
8
Mounting of the LPR-2DB
Integral Station on the LTs
Mounting of the LPR-2DB
Integral Station (labeled
XX0, XX1, XX2, XX3, XX4,
XX5 and Master XXM)
according to the files VisioLPR_CellPlanning.pdf and
Customer
Chapter 5.2
LPR®-2DB
Product Documentation
2.3 Project Planning
The planning from identifying the position for the transponders to the commissioning with
Symeo MAP is separate into intermediate steps. In the following all possible steps are listed
with refer to the relevant chapter in this document.
Copyright © Symeo 2012
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Introduction
Symeo LPR®-System
CellPlanning.xlsx
9
Mounting of the antennas
Mounting on defined
positions on vehicle with
installation brackets
Customer
Chapter 5.3
10
Mounting of the mobile
station on the vehicle
Mounting of the mobile
station, connection to the 1,
2, 3 or 4 antennas, power
10-36VDC and TCP/IP
Customer
Chapter 5.1
11
Surveying of LPR-2DB
Integral Station
Surveying of the mounted
LPR-2DB Integral Stations
needs to be done to local
coordinates with best
possible accuracy (+- 2cm)
Customer
Chapter 6.1
12
Surveying of vehicle
Surveying of the antenna
positions on to the vehicle.
Depending on the steering
of the vehicle (front and/or
back) the definition of point
of origin on vehicle has to
be set. Offset from point of
origin to container center
has to be determined.
Customer
Chapter
6.2/ chapter
6.3
13
Implementation of
Surveying coordinates in
configuration files
The surveying coordinates
have to be provided in a
data format provided from
Symeo. Transponder
coordinates have to be
implemented into
configuration files for the
master transponder or the
mobile unit. Vehicle
coordinates have to be
implemented into the
configuration files of the
mobile station on the
vehicle.
Customer
Chapter
6.1.4 and
6.3.1
Chapter
7.2.2 or
7.4.2
14
Upload of configuration
files
Configuration files to be
uploaded to the MasterTransponder (operating
mode 2b and 3b) or mobile
unit (operating mode 1, 2a,
2b) and mobile station on
vehicle
Customer/
Symeo
Chapter 7.3
15
Modifying of ini-files for
software FusionEngine
Modification of ini-files
Customer
Chapter 7.4
16
Upload of files for software
fusion engine
Upload of ini-files via
WinSCP
Customer
Chapter 7.5
LPR®-2DB
Product Documentation
Copyright © Symeo 2012
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Introduction
Symeo LPR®-System
17
Testing of correct
positions
Testing cell with analyzing
Software Symeo MAP
Customer/
Symeo
Chapter 0
LPR®-2DB
Product Documentation
Copyright © Symeo 2012
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Introduction
Symeo LPR®-System
Frequency range
5.725-5.875 GHz
5.725-5.875 GHz
Transmitting power*1
Max. 0.010 W / 10 dBm output on the antenna port
Output power is adjustable
For overall output power antenna gain and cable attenuation
must be added
Range*2
Max. 300 m
Measurement accuracy*2
up to ± 10 cm
Measurement frequency
Max. 20 Hz
Power supply
10-36 V DC
Ambient temperature *2
-40°C bis +70°C
LPR®-2DB
Product Documentation
3 System Description
SYMEO Industrial Local Positioning Radar (LPR) is a system for contactless, real-time
determination of distances and positions.
LPR B 2D is a distance measurement system which is particularly well suited for use in very
harsh, industrial environments, in which other systems such as mechanical rotary encoders
or lasers cannot function for long periods.
The system composes of mobile units and fixed, wall-mounted units at known positions. The
mobile units compute its position using the delay time of the radio-signals between wall
mounted units and the mobile unit.
LPR-2DB has an in-build communication channel to handle all background communication
necessary for operation of the positioning system. LPR-2DB units use the same frequency
band and the same hardware for communicating as for measuring distance. This means that
no external WLAN or cable networks are needed for transmitting measurement values and
other reference data.
The system is organized in a cellular fashion. 4 to 6 wall-mounted units are arranged to form
a group with a unique group-ID and an individual measurement ID ranging from 0-5 for each
wall-mounted unit. For the communication between the mobile unit and the 6 transponders 6
different measurement channels separated in frequency (FDMA) are used, allowing instant
position computation.
For arrangements with more than 6 transponders neighboring cells with different group IDs
can be set up. To separate the communication of neighboring cells different communication
frequency channels can be assigned for different cells. For some system topologies an
additional cell-master is required to handle measurement timing and communication.
3.1 Technical Data
*1
Transmitting power can be adjusted to assure that emission limits at the antenna are within
legal limits, e.g. 25 mW EIRP in the EU and 10 mW EIRP in the US
*2
Depending on the antenna type, mounting position and environment
System Description
Copyright © Symeo 2012
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Symeo LPR®-System
Operating Mode
Properties
Mode 1: Basic Cell
6 fixed wall-mounted units [LPR-2DB Integral Station], 1 mobile
unit [LPR-2DB Station]; measurement principle: RTOF (round
trip of flight)
Mode 2a: Managed Cell
6 fixed wall-mounted units [LPR-2DB Integral Station], 1Master,
up to 5 mobile units [LPR-2DB Station] ; measurement principle:
RTOF (round trip of flight); cell coordinates are stored on the
mobile unit(s)
Mode 2b: Managed Cell
6 fixed wall-mounted units [LPR-2DB Integral Station], 1 Master,
up to 10 mobile units [LPR-2DB Station] ; measurement
principle: RTOF (round trip of flight); cell coordinates are stored
at the master
Mode 3a: TDOA
6 fixed wall mounted units [LPR-2DB Integral Station], 1 Master,
no limitation of mobile units [LPR-2DB Station] ; measurement
principle: TDOA (time difference of arrival); cell coordinates are
stored on the mobile unit(s)
Mode 3b. TDOA
6 fixed wall mounted units [LPR-2DB Integral Station], 1 Master,
no limitation of mobile units [LPR-2DB Station] ; measurement
principle: TDOA (time difference of arrival); cell coordinates are
stored at the master
The operating mode is normally set by Symeo after consulting the
customer.
LPR®-2DB
Product Documentation
*3
Temperature inside the housing can range from -40°C to 85°C.
3.2 Operating Mode
There are different system topologies to determine a 2D position with a Symeo LPR® system.
Which operating is best suited depends on the application and the environment. It depends
on the number of mobile units you want to track and on the number of cells which are
necessary to cover the environment.
3.2.1 Operation Mode 1: Basic Cell
4-6 fixed mounted units (i.e. at a wall or on light poles) at known positions as basic cell and
one single mobile unit form the setup for mode 1. The fixed mounted units are configured as
reply units or “slave transponders”. Each fixed mounted unit has the same group ID and a
different measurement ID ranging from 0...5. Additionally, the units within the same group
must be set to the same communication channel. The positions of the fixed mounted units
are known to the mobile unit. The measurement of mode 1 is based on the measurement
principle RTOF (Round Trip Of Flight). It is organized as follows:
The mobile unit acts as “master base-station” and sends a measurement command to the
fixed mounted units. The fixed mounted units synchronize to this signal and transmit a return
System Description
Copyright © Symeo 2012
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Symeo LPR®-System
2
2
2
2
2
2
1
3
4
4
4
4 4
4
3 3
3
3
3
LPR®-2DB
Product Documentation
signal with precisely known delay and an individual frequency offset corresponding to the
fixed mounted unit measurement ID. The mobile unit computes the round-trip time-of-flight
and therefore the 1D distance to each transponder. Finally, the mobile unit calculates of all
single 1D distances a 2D position.
Figure 2 - System setup for mode 1
1: Mobile unit
2: Wall-mounted unit
3: Communication channel (commands)
4: Broadband measurement signals
3.2.2 Operation Mode 2: Managed Cell
Mode 2 is used when several mobile units are present at the same time within the cell. In this
case the measurement intervals between the mobile units are synchronized. This is done by
using the setup of mode 1 and an additional master transponder for coordination. The master
transponder assigns the measurement slots for different mobile units. The mobile unit no
longer initializes the measurement and simply acts as base-station. The measurement of
mode 2 is based on the measurement principle RTOF (Round Trip Of Flight). The detailed
measurement procedure is as follows:
The master transponder repeatedly broadcasts his group-ID. Base-stations in range reply to
this broadcast with their ID. The master transponder keeps a list of active base-stations in
range, assigns measurement slots to the stations and broadcasts them to the individual
stations in range. The base-station then transmits the broadband measurement signal and
computes its position as described in mode 1.
Measurement rate for the stations present can be set to equal distribution for all mobile units
or to a preferred channel with maximum measurement rate for one base-station and slower
measurement rate for the remaining stations.
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System Description
Symeo LPR®-System
3
2
2
2
2
2
2
1
4
5
5 5
5 5
5
4
4
LPR®-2DB
Product Documentation
If desired the master transponder can store the coordinates of the cell (mode 2b). The
master transponder then repeatedly broadcasts his coordinates and all base-stations in
range receive the data. Alternatively the coordinates can be kept on the mobile unit
permanently as in mode 1 (mode 2a).
Finally, depending on the master-transponder type, the position data of the mobile units can
also be transmitted to the master transponder and can be retrieved by the user.
Figure 3 - System setup for mode 2
1: Mobile unit
2: fixed mounted units
3: Master unit
4: Communication channel (commands)
5: Broadband measurement signals
3.2.3 Operation Mode 3: TDOA
Sometimes many mobile units are present in a cell, or measurement of the position of mobile
units at exactly the same time is desired. Using mode 3, only the fixed mounted units
transmit broadband measurement signals. The mobile unit receives these signals and
computes its position from the time-differences of the signals.
Mode 3 has the same basic hardware as mode 2, but the organization of the measurement is
completely different:
The master transponder sends a broadband synchronization signal preceded by the group ID
of the cell. The slave transponders precisely synchronize to this signal and in turn each
transponder transmits the broadband measurement signal. All base-stations within the cell
receive the signal and compute the time-difference between the received signals. The timedifference is used to obtain the position.
System Description
Copyright © Symeo 2012
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Symeo LPR®-System
3
2
2
2
2
2
2
1
1
4
5
5 5
5 5
5
4
4
5
5
5
Additionally to the described solution of a fixed master, there is the
possibility to use a moving master. In this case each fixed mounted unit
can be the master. The sequence is set by the user.
LPR®-2DB
Product Documentation
If desired the master transponder can store the coordinates of the cell (mode 3b). The
master transponder then repeatedly broadcasts his coordinates and all base-stations in
range receive the data. Alternatively the coordinates can be kept on the mobile unit
permanently as in mode 1 (mode 3a).
Figure 4 - System setup for mode 3
1: Mobile units
2: fixed mounted units
3: Master unit
4: Communication channel (commands)
5: Broadband measurement signals
3.3 Vehicle Model
To determine a 2D-position with an LPR-2DB system a Kalmar filter is used. Therefore a
system model is necessary which represents the system. Depending on the vehicle type in
your application different models can be used:
Hover-Track-Model
Vehicle-Track-Model
Depending on the chosen model for the Kalman filter different numbers of states are
estimated (position, velocity, acceleration, angle, etc).
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System Description
Symeo LPR®-System
The model is set by Symeo by delivery.
Reference system crane
y
x
(0,0)
center of antenna
reference system forklift
y
x
center of antenna
center of antenna
(0,0)
rear axle front axle
reference system automobile
y
x
center of antenna
center of antenna
(0,0)
front axle
rear axle
LPR®-2DB
Product Documentation
3.3.1 Hover-Track
The HoverTrack model is used for vehicles that can move in x- and y-direction but cannot
turn over its center. A typical example is the trolley of a crane. The name based on a
hovercraft which can move forward and backward as well as sideward.
To make a 2D-positioning the mobile unit needs at least one antenna. The usage of a
second, third or fourth antenna results in more robust and more reliable position.
Figure 5 – HoverCraft model for a trolley
3.3.2 Vehicle-Track
If the object can also turn around its center the vehicle-track model is used. Examples for the
vehicle model are each kind of steerable vehicles (fork lift, van carrier, automobile, etc.). It is
possible to determine besides the 2D position also the orientation of the vehicle. For this it is
at least a second antenna necessary.
Figure 6 – Vehicle Model for a forklift and a trolley
3.4 System Design
Each LPR unit (base station, integral station) contains a DSP. For each LPR unit a
configuration file is provided by SYMEO.
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System Description
Symeo LPR®-System
LPR-2DB Station (Mobile
unit):
basestation_config.txt
LPR-2DB Integral Station
(Fixed-mounted unit /
transponder):
stationXX0_config.txt
stationXX1_config.txt
stationXX2_config.txt
stationXX3_config.txt
stationXX4_config.txt
stationXX5_config.txt (XX: Cell-ID)
Master LPR-2DB Integral
Station (Fixed-mounted
master unit /master
transponder):
stationxxM_config.txt (XX: Cell-ID)
DSP
LPR-2DB
Integral Station/
Transponder
DSP
Master LPR2DB Integral
Station/ Master
Mobile unit/ base station
ARM9
DSP
RS232
User
RS232 Service
TCP/IP
User & Service
RS232
User & Service
access via radio
channel (FSK channel)
access via
TCP/IP or
serial interface
access via radio
channel (FSK channel)
LPR®-2DB
Product Documentation
The configuration files are:
The settings for the files are described in chapter 7.2.
The access to the LPR-2DB Station can either be done via TCP/IP or via RS232 interface.
The LPR-2DB Integral Station and the master LPR-2DB Integral Station can only be
accessed via the frequency channel of the mobile station.
Figure 7 – LPR units including DSP: Access to the DSP via TCP/IP, RS232 or frequency
channel
In chapter 7.3 all different connections to the LPR stations are described. To configure the
connection via TCP/IP web interface exists (chapter 0).
3.4.1 2D Positioning
Each mobile unit calculates the distance of its antennas to each LPR-2DB Integral Station/
transponder. A positioning does not happen in this moment, only the calculation of 6 single
1D distance measurements.
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System Description
Symeo LPR®-System
DSP
ARM9 (SW
FusionEngine)
PC (SW
FusionEngine)
RS232
RS
232
(optional: Netcat)
PC (SW
Symeo Map)
PC (SW
Symeo Map)
Mobile Einheit
TCP/IP
RS
232
TCP/IP
In mode 1 (Basic Cell) and in mode 2a (Managed Cell) the cell
coordinates of the transponders are stored in the Fusion Engine. In
mode 2b (Managed Cell) and mode 3 (TDOA) the coordinates of the
transponders are stored in the cell master.
LPR®-2DB
Product Documentation
These 1D distances are forwarded to the software FusionEngine. The FusionEngine can
either be on the ARM9 board of the mobile unit or on a separate PC of the customer. In the
software FusionEngine all 1D distance measurement are merged to a 2D positioning.
Figure 8 – cycle of a 2D positioning measurement and possible interfaces
Furthermore in the files for the FusionEngine are set the parameters of the model (see
chapter 3.3) as well as the settings for the antennas (coordinates, calibration).
The position calculated in the FusionEngine can be graphical shown with the software
Symeo MAP (see chapter 0).
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System Description
Symeo LPR®-System
All corresponding installation, repair and servicing work must be carried
out by qualified and trained technicians.
Technical Data
Power draw
RS232 port, 4 W
TCP/IP port, 6 W
Voltage range
10-36VDC
Dimensions (LxWxH)
260 x 160 x 91 mm
Type of protection
IP 65 with appropriate cable connectors
Connections
Power-Supply and Communication: Plugged connection
Antenna: Screwed cable gland
LPR®-2DB
Product Documentation
4 Hardware
4.1 System components – Overview
The system can exist of multiple cells and mobile units for the vehicles. Each cell exists of 4
to 6 LPR transponder stations (type integral). Depending on the chosen operating mode a
master is added to each cell. The 4 to 6 LPR-2DB Integral Stations/ Transponders as well as
the master LPR-2DB Integral Station/ maser transponder is mounted at a fixed place, e.g. a
wall or light poles. On the mobile units LPR stations (type: compact, BSB000313,
BSB000319, BSB000603, BSB000604, BSB000605, BSB000606) are installed.
Additional hardware for the mobile units are connector boxes, connector cables and
antennas.
For the determination of the position of the LPR-2DB Integral Station at the light poles or at
the wall the system range of max. 300 meters and the position of the antennas on the
vehicles are important.
4.2 LPR-2DB Station (mobile station)
4.2.1 Overview compact station
Following hardware exists for an LPR station on the mobile unit:
BSB000313 (single receiver, TCP/IP interface, 2 antenna ports)
BSB000319 (single receiver, RS232 interface, 2 antenna ports)
BSB000603 (double receiver, TCP/IP interface, 4 antenna ports)
BSB000604 (double receiver, RS232 interface, 4 antenna ports)
BSB000605 (double receiver, TCP/IP interface, 2 antenna ports)
BSB000606 (double receiver, RS232 interface, 2 antenna ports)
4.2.2 Technical data compact station
Hardware
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Symeo LPR®-System
Ethernet: Plugged connection
Antennas
Connection of up to 4 independent antennas
Compliance
CE mark
1
91
260
160
2
3
4
5
Description of Interfaces
1
Pressure equalization membrane.
The membrane prevents forming of condensation water inside the Compact Station.
The pressure equalization membrane must not be changed or covered!
2
Network (optional).
The standard industrial Ethernet port of the station is designed as a Harting type
push pull connector.
3, 4
Antenna connections.
The antennas are connected to the Compact Station via a specially converted low-
loss HF cable with N-plug.
3: Antenna port no. 1,
4: Antenna port no. 2.
5
Power supply with integrated communication ports.
Power is supplied via a Lumberg Type 0233 08 push pull connector. There is no
power switch because of the intended area of application. A 3 Ampere (slow blow)
fuse is mounted inside the Compact Station.
LPR®-2DB
Product Documentation
4.2.3 Station BSB000313, BSB000319
Figure 9- interfaces of LPR station on vehicle as a single receiver
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Hardware
Symeo LPR®-System
1
2
3
4
5
6
7
Technical Data and Description of Interfaces
1, 3, 5, 7
Antenna connections.
The antennas are connected to the Compact Station via a specially converted
low-loss HF cable with N-plug.
1: Antenna port no. 1,
3: Antenna port no. 2,
5: Antenna port no. 4,
7: Antenna port no. 3,
2
Network (optional).
The standard industrial Ethernet port of the station is designed as a Harting
type push pull connector.
4
Pressure equalization membrane.
The membrane prevents forming of condensation water inside the Compact
Station. The pressure equalization membrane must not be changed or covered!
6
Power supply with integrated communication ports.
Power is supplied via a Lumberg Type 0233 08 push pull connector. There is
no power switch because of the intended area of application. A 3 Ampere (slow
blow) fuse is mounted inside the Compact Station.
LPR®-2DB
Product Documentation
4.2.4 Station BSB000603, BSB000604, BSB000605, BSB000606
Figure 10 - interfaces of LPR station on a vehicle as double receiver
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Hardware
Symeo LPR®-System
For configuration of the connector with cables, you have to identify the
matching pin assignment on the solder side.
The connectors have an anti twist device.
Option 1: It is possible to order cables (length: 5 m) by Symeo with
integrated Lumberg connector and cut cable head (see chapter 4.3).
Option 2: It is possible to order a connector box to wire all cables (see
chapter 4.3.2).
When plugging the push pull connectors into their sockets check that
the plug doesn’t slip out of the socket when pulling slightly at the cable.
Pin
Function
1
UBB (+)
2
UBB (-)
3
LPR data port RXD
4
LPR data port TXD
5
Network diagnostic port RXD
6
Network diagnostic port TXD
7
GND-RS232
8
GND RS232
LPR®-2DB
Product Documentation
4.2.5 Lumberg Connector Type 0233 08
Figure 11 - Solder side view of the pin
assignment of the Lumberg power connector
plug (power supply with integrated service
port)
4.3 Cables for Compact Station
4.3.1 Cable for Power Supply
Cables are delivered with a cable length of 5m and can be cut to the required length.
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Hardware
Symeo LPR®-System
PIN-Assignment of Cable Lumberg Connector 0223 08
Plug
Lumberg 0223 08
Cable
8-wire AWG24 UL/CSA; cladding diameter = 6.4mm
Color according to DIN
47100)
Pin / color
Function
1 – white
UBB (+)
2 – brown
UBB (-)
3 – green
LPR Dataport RXD
4 – yellow
LPR Dataport TXD
5 – grey
Network diagnostics port RXD
6 – pink
Network diagnostics port TXD
7 – blue
GND-RS232
8 – red
GND-RS232 and shielding
Consider the dependency of the maximum baud rate according to the
cable length:
15m: 19.200baud
5m: 57.600baud
<2m: 115.200baud
If this cable is only used for power supply, the TXD-wires of the cable
must be terminated. Otherwise signals from other systems can disturb
the system via the TXD-wire. Then measurements can fail. You have to
LPR®-2DB
Product Documentation
Figure 12 – Cable for power supply with integrated RS232 interface
According to the cable length the baud rate at the stations has to be adjusted.
Copyright © Symeo 2012
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Hardware
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