RTK Service Installation Guide

RTK Service

Installation and Configuration Guide

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: [email protected]

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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

....................................................................................................................... 1Chapter 1: Overview

.............................................................................................................................. 1About RTK Service

....................................................................................................................... 4Chapter 2: Installing RTK Service

.............................................................................................................................. 4Step 1: Install RTK Service

.............................................................................................................................. 5Step 2: Update Receiver IP list

.............................................................................................................................. 6Step 3: Review RTK Service Registry Settings

.............................................................................................................................. 10Step 4: Configure and Start the RTK Service

.............................................................................................................................. 11Step 5: Add the RTK Service to Wenco Control Center

.............................................................................................................................. 12Step 6: Check the log file

....................................................................................................................... 13Chapter 3: Upgrading RTK Service

.............................................................................................................................. 13Step 1: Stop the Service and run the Install Program

....................................................................................................................... 14Appendix: Configuring the High Precision GPS Receivers

.............................................................................................................................. 14GPS Base Station High Precision Receiver

.............................................................................................................................. 17MDT 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


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


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


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



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



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


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


received from the high precision

GPS receiver

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



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


received.


65534.

RTK TCP Port 32200 TCP receivers connect to this

port at the "RTK Server

Address".


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



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



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 \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



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



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\

.

Log file names are in the format 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


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


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



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



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



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



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



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.

RTK ServiceChapter 1: OverviewAbout RTK Service

Chapter 2: Installing RTK ServiceStep 1: Install RTK Service Step 2: Update Receiver IP listStep 3: Review RTK Service Registry SettingsSender Registry SettingsReceiver Registry Settings

Step 4: Configure and Start the RTK ServiceStep 5: Add the RTK Service to Wenco Control CenterStep 6: Check the log file

Chapter 3: Upgrading RTK ServiceStep 1: Stop the Service and run the Install Program

Appendix: Configuring the High Precision GPS ReceiversGPS Base Station High Precision ReceiverMDT High Precision Receiver

Documents

RTK Service Installation Guide