Supported Sensors

OxTS RT3000 Series

oxts-rt
V2.0.5-pr.5
Ethernet
320

PolySync Configuration

The OxTS sensor must be configured and calibrated using the NAVConfig Windows tools provided by the OEM. * Define the node in the SDF Configurator * Determine the IP address of the sensor, and copy the values into the nodes IO parameters section in the SDF Configurator * Run the Dynamic Driver interface

Driver Notes

Command line arguments: * -d * enable additional debugging output [optional]

Input Message Types

Input Message Type Input Message Note
ps_byte_array_msg Raw Ethernet packet stream

Output Message Types

Output Message Type Output Message Note
ps_platform_motion_msg Published to the PolySync bus by default
ps_imu_msg Not published to the bus by default
ps_gps_msg Not published to the bus by default
ps_imu_accuracy_msg Published to the PolySync bus by default
ps_gps_accuracy_msg Published to the PolySync bus by default

Sensor Configuration Parameters

Parameter ID Description Value Type Values Notes
1001 Sensor 0 Identifier 1 1
1002 Sensor 0 X Position 3 0
1003 Sensor 0 Y Position 3 0
1004 Sensor 0 Z Position 3 0
1004 Sensor 0 Z Position 3 0
1005 Sensor 0 Roll Orientation 3 0
1006 Sensor 0 Pitch Orientation 3 0
1007 Sensor 0 Yaw Orientation 3 0
5107 Primary GPS Position Mode 1 0
5108 Primary GPS velocity mode 1 0
5109 Duel antenna system orientation mode 1 0
5110 OxTS navigation status 1 0
5111 Distance (x) to primary GPS antenna relative to the OxTS origin [meters] 3 0
5112 Distance (y) to primary GPS antenna relative to the OxTS origin [meters] 3 0
5113 Distance (z) to primary GPS antenna relative to the OxTS origin [meters] 3 0
5114 Validity of the distance to primary GPS antenna relative to the OxTS origin [value 0 means invalid] 1 0
5115 Heading orientation estimate of the GPS antennas [radians] 3 0
5116 Pitch orientation estimate of the GPS antennas [radians] 3 0
5117 Estimated distance between GPS antennas [meters] 3 0
5118 Validity of the orientation estimate of dual antenna systems [value 0 means invalid] 1 0
5119 Accuracy of the distance (x) to primary GPS antenna [meters] 3 0
5120 Accuracy of the distance (y) to primary GPS antenna [meters] 3 0
5121 Accuracy of the distance (z) to primary GPS antenna [meters] 3 0
5122 Validity of the position accuracy of the primary GPS antenna [value 0 means invalid] 1 0
5123 Accuracy of the heading orientation estimate of the GPS antennas [radians] 3 0
5124 Accuracy of the pitch orientation estimate of the GPS antennas [radians] 3 0
5125 Accuracy of the estimated distance between GPS antennas [meters] 3 0
5126 Validity of the orientation accuracy of the GPS antennas [value 0 means invalid] 1 0
5127 Heading of the vehicle in the RT coordinate frame [radians] 3 0
5128 Pitch of the vehicle in the RT coordinate frame [radians] 3 0
5129 Roll of the vehicle in the RT coordinate frame [radians] 3 0
5130 Validity of the RT to vehicle rotation [value 0 means invalid] 1 0
5131 RT software version 4 N/A
5132 Age of the differential corrections from the base-station [microseconds] 1 0
5133 Differential base-station ID 4 N/A
5134 Time mismatch counter 1 0
5135 IMU time difference [microsecond] 1 0
5136 IMU time margin [microsecond] 1 0
5137 IMU loop time [microseconds] 1 0
5138 Output loop time 1 0
5139 Blended navigation system lag time [microseconds] 1 0
5140 Indicates how long the RT has been running for [microseconds] 1 0
5141 Time of falling edge of event input [UTC microseconds] 1 0
5142 Trigger count - increments each time there is a new trigger 1 0
5143 Heading quality 1 0
5144 Heading search type 1 0
5145 Heading search status 1 0
5146 Heading search ready status 1 0
5147 Initial number of ambiguities in the heading search 1 0
5148 Remaining number of ambiguities in the heading search 1 0
5149 Vehicle start initially level option 1 0
5150 Vibration in the environment option 1 0
5151 Expected GPS accuracy or weighing 1 0
5152 UDP output option 1 0
5153 Serial 1 output option 1 0
5154 Serial 2 output option 1 0
5155 Heading search option 1 0
5156 OS version 1 1 0
5157 OS version 2 1 0
5158 OS version 3 1 0
5159 Start-up script version 1 0
5160 Serial number 1 0
5161 Distance (x) to the zero velocity point [meters] 3 0
5162 Distance (y) to the zero velocity point [meters] 3 0
5163 Distance (z) to the zero velocity point [meters] 3 0
5164 Validity of the distance to the zero velocity point [value 0 means invalid] 1 0
5165 Accuracy of the distance (x) to the zero velocity point [meters] 3 0
5166 Accuracy of the distance (y) to the zero velocity point [meters] 3 0
5167 Accuracy of the distance (z) to the zero velocity point [value 0 means invalid] 3 0
5168 Validity of the position accuracy of the zero velocity point [value 0 mean invalid] 1 0
5169 Distance (x) to the advanced slip point [meters] 3 0
5170 Distance (y) to the advanced slip point [meters] 3 0
5171 Distance (z) to the advanced slip point [meters] 3 0
5172 Validity of the distance to the advanced slip point [value 0 means invalid] 1 0
5173 Accuracy of the distance (x) to the advanced slip point [meters] 3 0
5174 Accuracy of the distance (y) to the advanced slip point [meters] 3 0
5175 Accuracy of the distance (z) to the advanced slip point [meters] 3 0
5176 Validity of the position accuracy of the advanced slip point [value 0 means invalid] 1 0
5177 Heading misalignment angle [radians] 3 0
5178 Accuracy of the heading misalignment angle [radians] 3 0
5179 Validity of the heading misalignment angle [radians] 3 0
5180 Wheel speed scaling [pulses per meter] 3 0
5181 Accuracy of the wheel speed scaling [1.0 == 100%] 3 0
5182 Validity of the wheel speed configuration [value 0 means invalid] 1 0
5183 Cyclic wheel speed input counter 1 0
5184 Timestamp of wheel speed input count measurement [UTC microseconds] 1 0
5185 Time since the wheel speed count last changes [microseconds] 1 0
5186 Distance (x) to the wheel speed measurement point [meters] 3 0
5187 Distance (y) to the wheel speed measurement point [meters] 3 0
5188 Distance (z) to the wheel speed measurement point [meters] 3 0
5189 Validity of the wheel speed measurement point [value 0 means invalid] 1 0
5190 Accuracy of the distance (x) to the wheel speed measurement point [meters] 3 0
5191 Accuracy of the distance (y) to the wheel speed measurement point [meters] 3 0
5192 Accuracy of the distance (z) to the wheel speed measurement point [meters] 3 0
5193 Validity of the accuracy of the wheel speed measurement point [value 0 means invalid] 1 0
5194 Frequency of the OmniStar tracking loop [Hertz] 3 0
5195 SNR of the OmniStar signal 3 0
5196 Time of continuous tracking of the OmniStar signal [microseconds] 1 0
5197 OmniStar status 1 0
5198 Characters received on the NAV data port 1 0
5199 Packets received on the UDP port 1 0
5200 Characters received on the NAV data port but not understood by the decoder 1 0
5201 Number of errors received on the NAV data port 1 0
5202 Distance (x) to the additional slip point 1 level arm [meters] 3 0
5203 Distance (y) to the additional slip point 1 level arm [meters] 3 0
5204 Distance (z) to the additional slip point 1 level arm [meters] 3 0
5205 Validity of the distance to the additional slip point 1 level arm [value 0 means invalid] 1 0
5206 Distance (x) to the additional slip point 2 level arm [meters] 3 0
5207 Distance (y) to the additional slip point 2 level arm [meters] 3 0
5208 Distance (z) to the additional slip point 2 level arm [meters] 3 0
5209 Validity of the distance to the additional slip point 2 level arm [value 0 means invalid] 1 0
5210 Distance (x) to the additional slip point 3 level arm [meters] 3 0
5211 Distance (y) to the additional slip point 3 level arm [meters] 3 0
5212 Distance (z) to the additional slip point 3 level arm [meters] 3 0
5213 Validity of the distance to the additional slip point 3 level arm [value 0 means invalid] 1 0
5214 Distance (x) to the additional slip point 4 level arm [meters] 3 0
5215 Distance (y) to the additional slip point 4 level arm [meters] 3 0
5216 Distance (z) to the additional slip point 4 level arm [meters] 3 0
5217 Validity of the distance to the additional slip point 4 level arm [value 0 means invalid] 1 0
5218 Primary GPS antenna status 1 0
5219 Primary GPS antenna power status 1 0
5220 CPU time used on the primary GPS card [1.0 ==%100] 3 0
5221 Core noise on the primary GPS card [ps_datarate_kind] 1 0
5222 Baud rate of the primary GPS card [ps_datarate_kind] 1 0
5223 Number of satellites being tracked on the primary GPS card 1 0
5224 Primary GPS position mode 1 0
5225 Primary GPS card core temperature [Celsius] 1 0
5225 Primary GPS receiver supply voltage [volts] 3 0
5227 Secondary GPS antenna status 1 0
5228 Secondary GPS antenna power status 1 0
5229 CPU time used on the secondary GPS card [1.0 == %100] 3 0
5230 Core noise on the secondary GPS card [1.0 == %100] 3 0
5231 Baud rate of the secondary GPS card [ps_datarate_kind] 1 0
5232 Number of satellites being tracked on the secondary GPS card 1 0
5233 Secondary GPS position mode 1 0
5234 Secondary GPS card core temperature [Celsius] 3 0
5235 Secondary GPS receiver supply voltage [volts] 3 0
5236 Distance (x) to the primary GPS antenna (extended range) [meters] 3 0
5237 Distance (y) to the primary GPS antenna (extended range) [meters] 3 0
5238 Distance (z) to the primary GPS antenna (extended range) [meters] 3 0
5239 Validity of the position estimate of the primary GPS antenna (extended range) [value 0 means invalid] 1 0
5240 Surface angle heading rotation [radians] 3 0
5241 Surface angle pitch rotation [radians] 3 0
5242 Surface angle roll rotation [radians] 3 0
5243 Validity of the surface angle definitions [value 0 means invalid] 1 0
5244 Local coordinates origin latitude [radians] 3 0
5245 Local coordinates origin longitude [radians] 3 0
5246 Validity of the local coordinate 1 definitions [value 0 means invalid] 1 0
5247 Local coordinates origin altitude [meters] 3 0
5248 Local coordinates origin heading [radians] 3 0
5249 Validity of the local coordinate 2 definitions [value 0 means invalid] 1 0
5250 Distance (x) to the additional slip point 5 level arm [meters] 3 0
5251 Distance (y) to the additional slip point 5 level arm [meters] 3 0
5252 Distance (z) to the additional slip point 5 level arm [meters] 3 0
5253 Validity of the distance to the additional slip point 5 level arm [value 0 means invalid] 1 0
5254 Distance (x) to the slip point 6 level arm [meters] 3 0
5255 Distance (y) to the slip point 6 level arm [meters] 3 0
5256 Distance (z) to the slip point 6 level arm [meters] 3 0
5257 Validity of the distance to the additional slip point 6 level arm [value 0 means invalid] 1 0
5258 Distance (x) to the additional slip point 7 level arm [meters] 3 0
5259 Distance (y) to the additional slip point 7 level arm [meters] 3 0
5260 Distance (z) to the additional slip point 7 level arm 3 0
5261 Validity of the distance to the additional slip point 7 level arm [value 0 means invalid] 1 0
5262 Distance (x) to the additional slip point 8 level arm 3 3 0
5263 Distance (y) to the additional slip point 8 level arm [meters 3 0
5264 Distance (z) to the additional slip point 8 level arm [meters] 3 0
5265 Validity of the distance to the additional slip point 8 level arm [value 0 means invalid] 1 0

IO Configuration Parameters

Parameter ID Description Value Type Values Notes
1001 Sensor 0 Identifier 1 1
1002 Sensor 0 X Position 3 0
1003 Sensor 0 Y Position 3 0
1004 Sensor 0 Z Position 3 0
1004 Sensor 0 Z Position 3 0
1005 Sensor 0 Roll Orientation 3 0
1006 Sensor 0 Pitch Orientation 3 0
1007 Sensor 0 Yaw Orientation 3 0
5107 Primary GPS Position Mode 1 0
5108 Primary GPS velocity mode 1 0
5109 Duel antenna system orientation mode 1 0
5110 OxTS navigation status 1 0
5111 Distance (x) to primary GPS antenna relative to the OxTS origin [meters] 3 0
5112 Distance (y) to primary GPS antenna relative to the OxTS origin [meters] 3 0
5113 Distance (z) to primary GPS antenna relative to the OxTS origin [meters] 3 0
5114 Validity of the distance to primary GPS antenna relative to the OxTS origin [value 0 means invalid] 1 0
5115 Heading orientation estimate of the GPS antennas [radians] 3 0
5116 Pitch orientation estimate of the GPS antennas [radians] 3 0
5117 Estimated distance between GPS antennas [meters] 3 0
5118 Validity of the orientation estimate of dual antenna systems [value 0 means invalid] 1 0
5119 Accuracy of the distance (x) to primary GPS antenna [meters] 3 0
5120 Accuracy of the distance (y) to primary GPS antenna [meters] 3 0
5121 Accuracy of the distance (z) to primary GPS antenna [meters] 3 0
5122 Validity of the position accuracy of the primary GPS antenna [value 0 means invalid] 1 0
5123 Accuracy of the heading orientation estimate of the GPS antennas [radians] 3 0
5124 Accuracy of the pitch orientation estimate of the GPS antennas [radians] 3 0
5125 Accuracy of the estimated distance between GPS antennas [meters] 3 0
5126 Validity of the orientation accuracy of the GPS antennas [value 0 means invalid] 1 0
5127 Heading of the vehicle in the RT coordinate frame [radians] 3 0
5128 Pitch of the vehicle in the RT coordinate frame [radians] 3 0
5129 Roll of the vehicle in the RT coordinate frame [radians] 3 0
5130 Validity of the RT to vehicle rotation [value 0 means invalid] 1 0
5131 RT software version 4 N/A
5132 Age of the differential corrections from the base-station [microseconds] 1 0
5133 Differential base-station ID 4 N/A
5134 Time mismatch counter 1 0
5135 IMU time difference [microsecond] 1 0
5136 IMU time margin [microsecond] 1 0
5137 IMU loop time [microseconds] 1 0
5138 Output loop time 1 0
5139 Blended navigation system lag time [microseconds] 1 0
5140 Indicates how long the RT has been running for [microseconds] 1 0
5141 Time of falling edge of event input [UTC microseconds] 1 0
5142 Trigger count - increments each time there is a new trigger 1 0
5143 Heading quality 1 0
5144 Heading search type 1 0
5145 Heading search status 1 0
5146 Heading search ready status 1 0
5147 Initial number of ambiguities in the heading search 1 0
5148 Remaining number of ambiguities in the heading search 1 0
5149 Vehicle start initially level option 1 0
5150 Vibration in the environment option 1 0
5151 Expected GPS accuracy or weighing 1 0
5152 UDP output option 1 0
5153 Serial 1 output option 1 0
5154 Serial 2 output option 1 0
5155 Heading search option 1 0
5156 OS version 1 1 0
5157 OS version 2 1 0
5158 OS version 3 1 0
5159 Start-up script version 1 0
5160 Serial number 1 0
5161 Distance (x) to the zero velocity point [meters] 3 0
5162 Distance (y) to the zero velocity point [meters] 3 0
5163 Distance (z) to the zero velocity point [meters] 3 0
5164 Validity of the distance to the zero velocity point [value 0 means invalid] 1 0
5165 Accuracy of the distance (x) to the zero velocity point [meters] 3 0
5166 Accuracy of the distance (y) to the zero velocity point [meters] 3 0
5167 Accuracy of the distance (z) to the zero velocity point [value 0 means invalid] 3 0
5168 Validity of the position accuracy of the zero velocity point [value 0 mean invalid] 1 0
5169 Distance (x) to the advanced slip point [meters] 3 0
5170 Distance (y) to the advanced slip point [meters] 3 0
5171 Distance (z) to the advanced slip point [meters] 3 0
5172 Validity of the distance to the advanced slip point [value 0 means invalid] 1 0
5173 Accuracy of the distance (x) to the advanced slip point [meters] 3 0
5174 Accuracy of the distance (y) to the advanced slip point [meters] 3 0
5175 Accuracy of the distance (z) to the advanced slip point [meters] 3 0
5176 Validity of the position accuracy of the advanced slip point [value 0 means invalid] 1 0
5177 Heading misalignment angle [radians] 3 0
5178 Accuracy of the heading misalignment angle [radians] 3 0
5179 Validity of the heading misalignment angle [radians] 3 0
5180 Wheel speed scaling [pulses per meter] 3 0
5181 Accuracy of the wheel speed scaling [1.0 == 100%] 3 0
5182 Validity of the wheel speed configuration [value 0 means invalid] 1 0
5183 Cyclic wheel speed input counter 1 0
5184 Timestamp of wheel speed input count measurement [UTC microseconds] 1 0
5185 Time since the wheel speed count last changes [microseconds] 1 0
5186 Distance (x) to the wheel speed measurement point [meters] 3 0
5187 Distance (y) to the wheel speed measurement point [meters] 3 0
5188 Distance (z) to the wheel speed measurement point [meters] 3 0
5189 Validity of the wheel speed measurement point [value 0 means invalid] 1 0
5190 Accuracy of the distance (x) to the wheel speed measurement point [meters] 3 0
5191 Accuracy of the distance (y) to the wheel speed measurement point [meters] 3 0
5192 Accuracy of the distance (z) to the wheel speed measurement point [meters] 3 0
5193 Validity of the accuracy of the wheel speed measurement point [value 0 means invalid] 1 0
5194 Frequency of the OmniStar tracking loop [Hertz] 3 0
5195 SNR of the OmniStar signal 3 0
5196 Time of continuous tracking of the OmniStar signal [microseconds] 1 0
5197 OmniStar status 1 0
5198 Characters received on the NAV data port 1 0
5199 Packets received on the UDP port 1 0
5200 Characters received on the NAV data port but not understood by the decoder 1 0
5201 Number of errors received on the NAV data port 1 0
5202 Distance (x) to the additional slip point 1 level arm [meters] 3 0
5203 Distance (y) to the additional slip point 1 level arm [meters] 3 0
5204 Distance (z) to the additional slip point 1 level arm [meters] 3 0
5205 Validity of the distance to the additional slip point 1 level arm [value 0 means invalid] 1 0
5206 Distance (x) to the additional slip point 2 level arm [meters] 3 0
5207 Distance (y) to the additional slip point 2 level arm [meters] 3 0
5208 Distance (z) to the additional slip point 2 level arm [meters] 3 0
5209 Validity of the distance to the additional slip point 2 level arm [value 0 means invalid] 1 0
5210 Distance (x) to the additional slip point 3 level arm [meters] 3 0
5211 Distance (y) to the additional slip point 3 level arm [meters] 3 0
5212 Distance (z) to the additional slip point 3 level arm [meters] 3 0
5213 Validity of the distance to the additional slip point 3 level arm [value 0 means invalid] 1 0
5214 Distance (x) to the additional slip point 4 level arm [meters] 3 0
5215 Distance (y) to the additional slip point 4 level arm [meters] 3 0
5216 Distance (z) to the additional slip point 4 level arm [meters] 3 0
5217 Validity of the distance to the additional slip point 4 level arm [value 0 means invalid] 1 0
5218 Primary GPS antenna status 1 0
5219 Primary GPS antenna power status 1 0
5220 CPU time used on the primary GPS card [1.0 ==%100] 3 0
5221 Core noise on the primary GPS card [ps_datarate_kind] 1 0
5222 Baud rate of the primary GPS card [ps_datarate_kind] 1 0
5223 Number of satellites being tracked on the primary GPS card 1 0
5224 Primary GPS position mode 1 0
5225 Primary GPS card core temperature [Celsius] 1 0
5225 Primary GPS receiver supply voltage [volts] 3 0
5227 Secondary GPS antenna status 1 0
5228 Secondary GPS antenna power status 1 0
5229 CPU time used on the secondary GPS card [1.0 == %100] 3 0
5230 Core noise on the secondary GPS card [1.0 == %100] 3 0
5231 Baud rate of the secondary GPS card [ps_datarate_kind] 1 0
5232 Number of satellites being tracked on the secondary GPS card 1 0
5233 Secondary GPS position mode 1 0
5234 Secondary GPS card core temperature [Celsius] 3 0
5235 Secondary GPS receiver supply voltage [volts] 3 0
5236 Distance (x) to the primary GPS antenna (extended range) [meters] 3 0
5237 Distance (y) to the primary GPS antenna (extended range) [meters] 3 0
5238 Distance (z) to the primary GPS antenna (extended range) [meters] 3 0
5239 Validity of the position estimate of the primary GPS antenna (extended range) [value 0 means invalid] 1 0
5240 Surface angle heading rotation [radians] 3 0
5241 Surface angle pitch rotation [radians] 3 0
5242 Surface angle roll rotation [radians] 3 0
5243 Validity of the surface angle definitions [value 0 means invalid] 1 0
5244 Local coordinates origin latitude [radians] 3 0
5245 Local coordinates origin longitude [radians] 3 0
5246 Validity of the local coordinate 1 definitions [value 0 means invalid] 1 0
5247 Local coordinates origin altitude [meters] 3 0
5248 Local coordinates origin heading [radians] 3 0
5249 Validity of the local coordinate 2 definitions [value 0 means invalid] 1 0
5250 Distance (x) to the additional slip point 5 level arm [meters] 3 0
5251 Distance (y) to the additional slip point 5 level arm [meters] 3 0
5252 Distance (z) to the additional slip point 5 level arm [meters] 3 0
5253 Validity of the distance to the additional slip point 5 level arm [value 0 means invalid] 1 0
5254 Distance (x) to the slip point 6 level arm [meters] 3 0
5255 Distance (y) to the slip point 6 level arm [meters] 3 0
5256 Distance (z) to the slip point 6 level arm [meters] 3 0
5257 Validity of the distance to the additional slip point 6 level arm [value 0 means invalid] 1 0
5258 Distance (x) to the additional slip point 7 level arm [meters] 3 0
5259 Distance (y) to the additional slip point 7 level arm [meters] 3 0
5260 Distance (z) to the additional slip point 7 level arm 3 0
5261 Validity of the distance to the additional slip point 7 level arm [value 0 means invalid] 1 0
5262 Distance (x) to the additional slip point 8 level arm 3 3 0
5263 Distance (y) to the additional slip point 8 level arm [meters 3 0
5264 Distance (z) to the additional slip point 8 level arm [meters] 3 0
5265 Validity of the distance to the additional slip point 8 level arm [value 0 means invalid] 1 0

Node Configuration Parameters

Parameter ID Description Value Type Values Notes
800 Active Coordinate Frame Identifier 1 4
2002 Publishes message type “ps_byte_array_msg” (value 0 means disabled) 1 0
2032 Publishes message type “ps_platform_motion_msg” (value 0 means disabled) 1 1
2034 Publishes message type “ps_imu_msg” (value 0 means disabled) 1 0
2036 Publishes message type “ps_gps_msg” (value 0 means disabled) 1 0
2050 Publishes message type “ps_imu_accuracy_msg” (value 0 means disabled) 1 1
2048 Publishes message type “ps_gps_accuracy_msg” (value 0 means disabled) 1 1
42 PolySync-Abstraction-Layer Interface File Name 4 /usr/local/polysync/lib/libps_oxts_rt_interface.so
40 Executable File Path 4 /usr/local/polysync/bin/polysync-core-dynamic-driver