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RTK Service Installation and Configuration Guide is intended for those responsible for installing and configuring the Wenco system programs. This includes Wenco Technical Services personnel and may include mine site system administrators.
RTK Service Installation and Configuration Guide is intended for those responsible for installing and configuring the Wenco system programs. This includes Wenco Technical Services personnel and may include mine site system administrators.
RTK Service Installation and Configuration Guide is intended for those responsible for installing and configuring the Wenco system programs. This includes Wenco Technical Services personnel and may include mine site system administrators.
Wenco International Mining Systems Ltd. 2011 Wenco International Mining Systems Ltd. All rights reserved. 100 - 10271 Shellbridge Way, Richmond, B.C. V6X 2W8 Canada email: documentation@wencomine.com Acrobat is a registered trademark of Adobe Corporation in the USA. Microsoft Windows and Microsoft SQL Server are trademarks or registered trademarks of Microsoft Corporation in the USA and/or other countries. Crystal Reports is a trademark or registered trademark of Business Objects All other products or company names are used for identification purposes only, and may be trademarks of their respective owners. 18/07/2012 What's in this Manual This document contains information on installing and configuring RTK Service. Intended Audience This document is intended for those responsible for installing and configuring the Wenco system programs. This includes Wenco Technical Services personnel and may include mine site system administrators. RTK Service 2012 Wenco International Mining Systems Ltd. i Table of Contents ....................................................................................................................... 1 Chapter 1: Overview .............................................................................................................................. 1 About RTK Service ....................................................................................................................... 4 Chapter 2: Installing RTK Service .............................................................................................................................. 4 Step 1: Install RTK Service .............................................................................................................................. 5 Step 2: Update Receiver IP list .............................................................................................................................. 6 Step 3: Review RTK Service Registry Settings .............................................................................................................................. 10 Step 4: Configure and Start the RTK Service .............................................................................................................................. 11 Step 5: Add the RTK Service to Wenco Control Center .............................................................................................................................. 12 Step 6: Check the log file ....................................................................................................................... 13 Chapter 3: Upgrading RTK Service .............................................................................................................................. 13 Step 1: Stop the Service and run the Install Program ....................................................................................................................... 14 Appendix: Configuring the High Precision GPS Receivers .............................................................................................................................. 14 GPS Base Station High Precision Receiver .............................................................................................................................. 17 MDT High Precision Receiver RTK Service 2012 Wenco International Mining Systems Ltd. 1 Chapter 1: Overview Chapter 1: Overview About RTK Service Real-Time Kinematic (RTK) is a technique used with GPS where a single reference station provides the realtime corrections to GPS data. RTK provides the capability of resolving the position measurement down to centimetre-level. In the Wenco system, a GPS Base Station with Wenco's RTK Service installed (the RTK sender) captures the RTK data from the high precision GPS receiver and forwards it to the shovel's MDT which has Wenco's RTK Service installed (the RTK receiver). The RTK corrections are then applied to the data received on the MDT's High Precision GPS Receiver. The Wenco RTK Service is the data-link component and is responsible for transferring the RTK data captured from the base station to all of the Shovel MDTs. The RTK Service is installed on: the GPS Base Station computer (Sender) the MDTs on shovels (Receiver) RTK Service 2012 Wenco International Mining Systems Ltd. 2 Chapter 1: Overview Data Transfer Protocols: One of the following three protocols can be used for sending the RTK correction data between the RTK Receiver and the RTK Sender. 1. UDP raw datagrams. The data is sent as raw data packets. Set the registry setting "Use UDP Header" to "No" on both the Sender and Receiver to use raw UDP. If the Receiver is configured in Raw UDP mode it will listen to the UDP port for the latest GPS reference information, when a datagram arrives it will write the data to the serial port. 2. UDP sequenced datagrams. The data is sent in packets with a header containing a timestamp, sequence, and data size. Set the registry setting "Use UDP Header" to "Yes"on both the Sender and Receiver to use UDP with a header. UDP datagrams do not always arrive in the order they were sent, the sequence number allows a receiver to monitor out of order packets. 3. TCP mode. The data is sent in streaming data delivered on TCP client connection, in packets with a header containing a timestamp, sequence, data size, the name of the data source. To use TCP, set the registry settings: RTK TCP Port and RTK Server Address on both the Sender and Receiver. If those registry settings are not set correctly, the system will use UDP. The RTK Sender: sends RTK data via UDP to all receivers listed in the RecvrIPs.txt file creates a TCP server for TCP based receivers using the registry entries "RTK TCP Port" and "RTK Server Address". checks the RecvrlPs.txt file to locate IP addresses to send the information to. If the Recvrlps.txt file does not exist, or is not in a recognizable format, the RTK service terminates. The RTK service will terminate if it a) cannot open a serial connection to the GPS base station b) cannot create a TCP server. c) fails to create a UDP socket. RTK Service 2012 Wenco International Mining Systems Ltd. 3 Chapter 1: Overview The RTK Receiver: listens to the UDP port or TCP port for the latest RTK data and writes the data to the serial port. if the RTK service does not locate a high precision GPS receiver connected to the serial port of the MDT, the service terminates. RTK Service 2012 Wenco International Mining Systems Ltd. 4 Chapter 2: Installing RTK Service Chapter 2: Installing RTK Service Step 1: Install RTK Service Wenco RTK Service is installed on the Wenco Servers, and also on the MDT for each high precision shovel that will be using the RTK data. After installation, the RTK Service needs to be set to "Sender" on the Wenco server. The RTK Service on the MDT is set to "Receiver." This is done using the registry settings (in a later step). To install RTK Service: 1. Log on to the computer as a user with Administrative privileges. 2. Insert the Wenco RTK Service CD-ROM into the CD-ROM drive. 3. Double-click the file setup.exe. 4. Click Next at the Welcome screen. 5. Accept the license agreement. 6. Click Next. 7. Click Install. 8. Click Finish. RTK Service 2012 Wenco International Mining Systems Ltd. 5 Chapter 2: Installing RTK Service Step 2: Update Receiver IP list On the GPS Base Station computer, in the directory containing the RTKS executable, a text file includes a list of all MDT IP address that will be receive the RTK data (receivers). This file is required for UDP. It is not required for TCP. To update the Receiver's list: 1. On the GPS Base Station computer, in the directory containing the RTKS executable, open the RecvrlPs. txt file. 2. Add the IP addresses of all MDTs that will receive the RTK data. Press Enter after each IP address. Ensure that Enter is pressed after the last line in the text file. This is required so that all lines in the text file can be read by the application. The format for the RecvrlPs.txt file is: The text file contains the IP addresses of the receivers. Comments can be added after a double slash "//". For example: 10.0.0.20 //This is Equip 0201 10.0.0.21 //This is Equip 0202 RTK Service 2012 Wenco International Mining Systems Ltd. 6 Chapter 2: Installing RTK Service Step 3: Review RTK Service Registry Settings Sender Registry Settings The Sender is a GPS Base Station with Wenco RTK Service installed and a serial port connection to the high precision GPS receiver. The registry settings for the sender are: HKEY_Local_Machine\Software\Wenco\Wenco RTK Service A Sender will establish a TCP Server using the registry entries RTK TCP Port and RTK Server Address. If the server cannot be created then the service will terminate. Entry Name Default Description Minimum Data Packet Size 8 On the Sender, set the minimum number of bytes that must be received at the GPS Base Station before the data is sent to the Shovel MDTs. This does not need to be set for the Receiver. OutputDebug Msg No Log debug information. RTK UDP Port 32100 On the RTK Sender this is the port where the reference data is sent out. The value is between 1 and 65534. RTK TCP Port 32200 TCP Port used by the Sender The value is between 1 and 65534. RTK Server Address blank IP Address of RTK server. This must be set to the correct IP address on both Sender and Receiver. SerialPort blank On the RTK Sender this is the port where the reference data is received from the high precision GPS receiver RTK Service 2012 Wenco International Mining Systems Ltd. 7 Chapter 2: Installing RTK Service Options: Com1: to Com9: (include the colon). Or use the format \\.\COMXX to set COM ports greater than or equal to 10. ServiceMode Sender Options: Receiver or Sender. Trace Detail 100 This sets the number of packets that are received before the RTK process log is updated with information from outgoing packets. If set to 0 then no details will be written. Use UDP Header No Set to Yes on both Sender and Receiver to send packets with the UDP Header. Set to No on both Sender/Receiver to send raw UDP messages. RTK Service 2012 Wenco International Mining Systems Ltd. 8 Chapter 2: Installing RTK Service Receiver Registry Settings The Receiver is a Shovel MDT with RTK Service installed. The registry settings for the receiver are: HKEY_Local_Machine\Software\Wenco\Wenco RTK Service Entry Name Default Description Data Transport UDP The network protocol that the receiver should use, values can be UDP or TCP. Minimum Data Packet Size 8 This does not need to be set for the Receiver. OutputDebug Msg No Log debug information. RTK UDP Port 32100 On the RTK Receiver this is the port where the reference data is received. The value is between 1 and 65534. RTK TCP Port 32200 TCP receivers connect to this port at the "RTK Server Address". The value is between 1 and 65534. RTK Server Address blank IP Address of RTK server. This must be set to the correct IP address on both Sender and Receiver. SerialPort blank On the Receiver this is the port where the reference data is output to the high precision GPS receiver. Options: Com1: to Com9: (include the colon). Or use the format \\.\COMXX to set COM ports greater than or equal to 10. RTK Service 2012 Wenco International Mining Systems Ltd. 9 Chapter 2: Installing RTK Service ServiceMode Receiver Options: Receiver or Sender. Trace Detail 100 This sets the number of packets that are received before the RTK process log is updated with information from incoming packets. If set to 0 then no details will be written. Use UDP Header No Set to Yes on both Sender and Receiver to send packets with the UDP Header. Set to No on both Sender/Receiver to send raw UDP messages. RTK Service 2012 Wenco International Mining Systems Ltd. 10 Chapter 2: Installing RTK Service Step 4: Configure and Start the RTK Service On the GPS Base Station computer and the MDTs, set the RTK Service to start using the wencoservices account and set the service to start automatically. To configure the RTK Service: 1. Open Control Panel. 2. Select Administrative Tools. 3. Select Services. 4. Double click on Wenco RTK Service. 5. Click the Log On tab. 6. Select This account. 7. Type in <Domain Name>\wencoservices or click browse to search for the wencoservices account. Note: The wencoservices account is a user account required for services that need to access Wenco system files. This account is created once on the domain controller for the network and then applied to Wenco services that need to use the account. Refer to the document Wenco Installations - Appendix for instructions on how to create the account if it has not already been created on your network. 8. Enter the password for the wencoservices account. 9. Click Apply. 10. Click the General tab. 11. Set the Startup Type to Automatic. 12. Click Apply. 13. Click Start. 14. Click OK. RTK Service 2012 Wenco International Mining Systems Ltd. 11 Chapter 2: Installing RTK Service Step 5: Add the RTK Service to Wenco Control Center Follow the steps below to make it possible to start and stop the RTK Service on the GPS Base Station computer (the Sender) from Wenco Control Center. To see the RTK Service in Wenco Control Center: 1. Start Wenco User Manager. 2. Under the Server Names tab, add the name of the GPS Base Station computer. This sets the GPS Base Station computer to display in Wenco Control Center. 3. Save the change in Wenco User Manager. 4. Start or refresh Wenco Control Center. The RTK Service displays in the list and can be started or stopped using Wenco Control Center. RTK Service 2012 Wenco International Mining Systems Ltd. 12 Chapter 2: Installing RTK Service Step 6: Check the log file Log files are for diagnostic purposes. For example, if a service fails to start, you can check the log file for a message describing the problem. Log files are located in the folder where the application is installed. For example in c:\Program Files\Wenco\ <Wenco Service Name>. Log file names are in the format <Wenco Service Name> plus DDMMYYHHMMSS_x.log where DD is day, MM is month, YY is year, HH is hour, MM is minutes, SS is seconds, and X is a number from 0 to 999 indicating the number of log files generated since the service was last started. When the existing log file grows large, the service creates a new log file with the same file name but including _1 or _2 (up to 999) at the end of the log file name. RTK Service 2012 Wenco International Mining Systems Ltd. 13 Chapter 3: Upgrading RTK Service Chapter 3: Upgrading RTK Service Step 1: Stop the Service and run the Install Program If you are upgrading a system that has an earlier version of RTK Service, stop the service and then run the updated installation kit for the service. Note: It is no longer necessary to uninstall the service before running the updated installation kit. RTK Service 2012 Wenco International Mining Systems Ltd. 14 Appendix: Configuring the High Precision GPS Receivers Appendix: Configuring the High Precision GPS Receivers GPS Base Station High Precision Receiver These instructions are for the Novatel High Precision GPS receiver. The Novatel receiver at the GPS Base station can be configured using the GPS Base Station computer or by using a laptop that connects to the receiver during installation. Before configuring the GPS receiver, place the high precision GPS receiver in the location at the GPS Base Station where it will sit for operational use. If you move the receiver at any time after configuring it, you will need to repeat these configuration steps. To configure the high precision GPS receiver at the GPS Base Station: 1. Create a hyperterminal connection to the high precision GPS receiver from the installation computer: a) Connect the com port of the installation computer to the com port of the high precision GPS receiver. b) Start Hyperterminal on the installation computer. c) Enter a connection Name. For example "Configure HP Receiver". d) Click OK. e) Select the com port to use from the Connect Using list. f) Click OK. g) Enter the Port Settings: Bits per second: 9600 (the Novatel uses 9600). Data bits: 8 Parity: None Stop bits: 1 Flow control: None h) Click OK. During the configuration of the high precision receivers you will enter commands into the hyperterminal screen. When you type a command into the hyperterminal screen you do not see what you have typed. Therefore, check the results after entering a command for "invalid message". When you see "invalid message" on the screen, you need to reenter the command. RTK Service 2012 Wenco International Mining Systems Ltd. 15 Appendix: Configuring the High Precision GPS Receivers 2. Type the following command into the hyperterminal screen to ensure that you have a connection to the receiver: log comconfig Note:You need to check the connection to ensure that the receiver is connected for the freset (next step). The com ports and connection information will display once the command is accepted (and if there is a connection between the installation computer and the high precision GPS receiver). 3. Type the following command to reset the connection: freset 4. Type the following configuration command again to ensure that the connection to the Novatel receiver still exists after the freset. log comconfig After a freset the log comconfig command displays the default settings for the receiver: For example: 6. Configure the GPS Base Station high precision receiver by using one of the following methods. Method 1: Run the GPS commands from a file: a) Open the Config_HPGSP_Sender.txt file from the installation kit. b) Ensure com ports used at your mine are entered. c) Save the text file. d) In hyperterminal, select Transfer > Send Text File. e) Select the Config_HPGPS_Sender.txt file. f) Click Open. Method 2: Type the commands followed by Enter into the hyperterminal screen. Note in this example, com1 is the port on the high precision receiver that the installation computer is using to connect to the receiver. Com2 is the port on the high precision receiver that outputs the GPS data to the MDTs. If another port is used at your mine, then enter that port. log com1 GPGGARTK ontime 0.5 RTK Service 2012 Wenco International Mining Systems Ltd. 16 Appendix: Configuring the High Precision GPS Receivers log com1 GPVTG ontime 0.5 log com1 GPGST ontime 10 log com1 GPZDA ontime 60 interfacemode com2 none CMR save config 7. Wait approximately 30 minutes. This allows the high precision GPS receiver to gather GPS data. 8. Type the following command to get the current GPS location for the fixed location of the high precision GPS receiver (after the receiver has been running for 30 minutes or longer): log besposa 9. After the log besposa command runs, you will see a text result. Write down the three numbers that display after "FIXEDPOS". These are the latitude, longitude, and elevation of the receiver. For example: 10. Configure the output for the GPS data by using one of the following methods. Method 1: Run the GPS commands from a file: a) Open the Config_HPGSP_Sender2.txt file from the installation kit. b) Edit the fix position parameters to include the latitude, longitude and elevation result from the log besposa command. c) Ensure com ports used at your mine are entered. d) Save the text file. e) In Hyperterminal, select Transfer > Send Text File. f) Select the Config_HPGPS_Sender2.txt file. Method 2: Type the commands followed by Enter into the hyperterminal screen. (Note: edit the fix position command to include the longitude, latitude and elevation for your mine.) fix position 1 2 3 log com2 cmrobs ontime 2 log com2 cmrref ontime 10 log com2 cmrdesc ontime 10 5 saveconfig 11. On the GPS Base Station computer, ensure that the RTK Service 2012 Wenco International Mining Systems Ltd. 17 Appendix: Configuring the High Precision GPS Receivers registry setting for the RTK Service is set to "Sender". 12. Start the RTK Service (if it is already started, then stop and restart the service). 13. Check the log file for the RTK Service (under program files\Wenco\RTK Service) to ensure that there are no errors. MDT High Precision Receiver These instructions are for the Novatel High Precision GPS receiver. The Novatel receiver for a MDT is configured using a laptop that connects to the receiver during installation. To configure the high precision GPS receiver at the MDT: 1. Create a hyperterminal connection to the high precision GPS receiver from the installation computer: a) Connect the com port of the installation computer to the comm port of the high precision GPS receiver. b) Start Hyperterminal on the installation computer. c) Enter a connection Name. For example "Configure HP Receiver". d) Click OK. e) Select the com port to use from the Connect Using list. f) Click OK. g) Enter the Port Settings: Bits per second: 9600 (the Novatel uses 9600). Data bits: 8 Parity: None Stop bits: 1 Flow control: None h) Click OK. During the configuration of the high precision receivers you will enter commands into the hyperterminal screen. When you type a command into the hyperterminal screen you do not see what you have typed. Therefore, check the results after entering a command for "invalid message". When you see "invalid message" on the screen, you need to reenter the command. 2. Reset the high precision GPS receiver: a) Type the following command into the hyperterminal screen to ensure that you have a connection to the RTK Service 2012 Wenco International Mining Systems Ltd. 18 Appendix: Configuring the High Precision GPS Receivers receiver. log comconfig Note: If there is no display on the hyperterminal screen after entering this command, try resetting the hyperterminal Port Settings to different values. b) Type the following command to reset the connection to the Novatel Receiver default settings: freset c) Type the configuration command again to check the connection after the freset: log comconfig 3. Configure the MDT's high precision GPS receiver by using one of the following methods. Method 1: Run the commands from a file: a) Open the Config_HPGSP_Receiver.txt file from the installation kit. b) Ensure com ports used at your mine are correct in the text file. c) Save the text file. d) In Hyperterminal, select Transfer > Send Text File. e) Select the Config_HPGPS_Receiver.txt file. Method 2: Type the commands followed by Enter into the hyperterminal screen. Note: in this example, com2 is the port on the HPGPS receiver that outputs the GPS-NMEA data to the MDT. Com3 is the port on the HPGPS receiver that listens for the RTK data from the MDT. log com1 gpggartk ontime 0.5 log com1 gpvtg ontime 0.5 log com1 gpgst ontime 10 log com1 gpzda ontime 60 interfacemode com2 cmr none saveconfig 4. Wait approximately twenty minutes until you see strings that start with $GPGGA that have "W,4" in the string as shown in the example below. If the high precision receiver is receiving RTK data, you will see: RTK Service 2012 Wenco International Mining Systems Ltd. 19 Appendix: Configuring the High Precision GPS Receivers If the high precision receiver is not receiving RTK data, you will see: 5. On the MDT, ensure that the registry setting for the RTK Service is set to "Receiver". 6. Start the RTK Service (if it is already started, then stop and restart the service). 7. Check the log file for the RTK Service (under program files\Wenco\RTK Service) to ensure that there are no errors.