Robot Modes - Vehico

Enabling Vehico Mode

1. Connect VBOX Manager to the VBOX.
    
2. Enter the 'SETUP' menu of VBOX Manager.
    
    
3. Select the 'Robot Modes' option and choose 'Configure'.

4. Scroll to 'Vehico' and select, 

5. Click on 'Disabled' and select 'Enable'.

5. Scroll to 'Auto Configure' and select.

Configuration Settings

Selecting the ‘Vehico - Auto Configure' option within VBOX Manager will automatically configure the VBOX to work with the Vehico system by applying the following settings:
 

• Dynamic Mode – 'High'
• Log Rate – '100 Hz'
• Hi Dynamic KF – 'Disabled'
• DGPS Mode – 'RTCM v3*'
• Dual Antenna Mode – 'Disabled'
• IMU Integration – 'Enabled'
• IMU Roof Mount – 'Disabled'
• On units without a CAN Hub:
  • VCI CAN bus – 'RS232 port'
  • VCI CAN Rate – '500 kbit/s'
  • VCI Termination – 'Enabled’
• On units with a CAN Hub:
  • VCI CAN Rate – '500 kbit/s'
  • VCI2 Termination – 'Enabled’
• The following CAN IDs will also be switched on, more information on these is available here:-
  • 329
  • 32A
• The following CAN pass through channels will be applied:-
  • 600 - X Acceleration

*Please note that the user must manually select the correct DGPS serial rate that relates to the radio system they are using.

**1.000 m is the default dual antenna separation. If it is not possible to gain a 1 m separation, then the user will have to enter the required separation value in the 'Dual Antenna' area of VBOX Manager.

Once the option has been selected, the VBOX Kalman Filter position clamp will change from 2 mm per sample to 1 mm per sample, offering a smoother position and heading transition once GNSS lock as been established after a GNSS signal degrade/denial phase. This is a safety feature that prevents sudden position corrections.

Setting the Datum Point

The Datum point is the origin point of the local X-Y coordinate system, from which all positional information will reference. Selecting will use the current location of the GPS antenna as the Datum point.

Setting the Track Direction

The track direction dictates the direction which the Vehico system will consider it’s ‘North’ value. VBOX 3i will automatically work out the heading and apply this heading as the track direction.
 

1. After setting the 'Datum Point' drive along the track to another location.
    
2. Scroll to 'Track Dir.' and select.

Setting the Heading

Alternatively to setting the 'Track Direction', a numerical heading value can be manually entered.

1. Scroll to 'Enter Heading' and select.
   
   
    
2. Enter the heading value by pressing the scroll wheel to move along the digits and rotating to the desired number, selecting past the final digit will store the value.

Saving, Loading and Clearing the Datum Point, Track Direction and Heading

Once the user has defined the Datum point and track direction, it is possible to save this information to be recalled at a later date. To do this the user must save the information by pressing the ‘Save’ option within VBOX Manager, doing this will allow the user to either create a new file or overwrite an existing file.

Once saved, it is possible to load this information into the VBOX using the ‘Load’ option on VBOX Manager, allowing the user to select the required file.

To clear the current track direction and datum point, the user can use the ‘Clear’ function. Selecting this option will clear the current track direction before setting the current antenna location as the datum point.