Command line configuration

Integrated Navigation Configuration

The serial port configuration command is as follow.

INSCOMMAND ENABLE //Turn on inertial navigation mode

SETINSROTATION RBV 0 0 0 //Set the mounting angle (At this time, the INS2000 receiver antenna port is configured when the forward direction of the car body is the same. If there are other installation methods, please contact Aceinna technical staff)

NTRIPCONFIG DTU1 client v1 ServerIP:PortNum Mountpoint username password //Turn on 4G

SETINSTRANSLATION ANT1 0 0 0 0.0 0.0 0.0 //Set the lever arm

SETINSTRANSLATION DUALANT 0 1 0 //Only dual-antenna receiver configuration. Set the lever arm

LOG COM2 BESTPOSA ONTIME 1 //Output from serial port 2

SAVECONFIG //Save configuration

An example of the relevant configuration of the lever arm from the IMU to the main antenna. The main antenna is 0.3 meters to the left of the board (X-axis -0.3m), 1 meter to the rear (Y-axis -1.0m), and 0.3 meters above (Z-axis +0.3m), the configuration is:

SETINSTRANSLATION ANT1 -0.3 -1.0 0.3

The slave antenna is 1m directly in front of the main antenna, the configuration is:

SETINSTRANSLATION DUALANT 0 1 0

RTK Configuration

When the INS2000 is configured as a rover station, it can receive RTCM data through multiple ports such as Ethernet, serial port, USB, etc., and can input multiple sets of RTCM data at the same time, and the receiver is connected to the built-in distribution.

Let’s now configure the commonly used CORS station technology, taking Aceinna’s Ntrip as an example.

This RTK mobile station configuration requires that the INS2000 receiver can be connected to the Internet.

There are two ways for this product to connect to the Internet:

1 Connect the product to a network device such as a mobile router with a network cable.

The configuration command is as follows:

NTRIPCONFIG NCOM1 client V1 60.205.8.49:8002 RTCM32_GGB user password

2 Connect the 4G antenna and insert the 4G card to configure as follows.

The configuration command is as follows:

NTRIPCONFIG DTU1 client V1 60.205.8.49:8002 RTCM32_GGB user password

Data Output Configuration

Support integrated navigation information:

  • INSATT inertial navigation attitude

  • INSPOS inertial navigation position

  • INSPVA inertial navigation position speed and attitude

  • INSPVAX extended inertial navigation position speed and attitude

  • INSSPD inertial navigation horizontal and vertical speed

  • INSVEL inertial navigation northeast sky speed

  • BESTPOS best location

  • BESTVEL best available speed

  • BESTXYZ best position and speed

  • GPGGA GNSS positioning data output sentence

  • KSXT positioning and orientation data

Examples of inertial navigation configuration are as follows:

SETINSROTATION RBV 0 0 90 0.0 0.0 0.0

SETINSTRANSLATION ANT1 0.1 -0.3 1.5 0.1 0.1 0.1

INSCOMMAND ENABLE

LOG COM1 GPGGA ONTIME 1

LOG COM1 INSPVAA ONTIME 1

SAVECONFIG