OxTS RT3000 Series

  • Interface Name

    oxts-rt

  • Supported Since

    V2.0.5-pr.5

  • Sensor Communication Protocol

    Ethernet

  • PolySync Sensor Type

    320

  • PolySync Configuration

    The OxTS sensor must be configured and calibrated using the NAVConfig Windows tools provided by the OEM.

    * [Define the node](https://help.polysync.io/releases/2.0.8//articles/add-a-sensor-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](https://help.polysync.io/releases/2.0.8//articles/manually-starting-nodes/)

  • 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
    501 Socket 0 Address 4 195.0.0.64
    5100 UDP NCOM data port number 1 3000
    5101 UDP NAV command port number 1 3001
  • 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-dynamic-driver