DARPA Grand Challenge Tracking System (DGCTS) User Manual

Transcription

1 DGCTS User Manual, Rev. 1.0 DARPA Grand Challenge Tracking System (DGCTS) User Manual Revision 1.1 Feb. 15, 2004 Omnitech Robotics International LLC 2630 South Raritan Circle Englewood, CO (303)

2 DGCTS User Manual, Rev. 1.0 Table of Contents 1.0 Important Notices Assignment of Liability Package Contents Introduction System Integration Precautions and Warnings Appendix A - Shock/Vibration Testing Reference Mounting Instructions - Similar to DGCSR Technical Support i

3 1.0 Important Notices 1) The DGCTS contains expensive and sensitive electronics and must never be dropped. It should be installed on their vibration isolation mounts in the vehicle as soon as possible to avoid inadvertent damage from dropping. 2) The DGCTS contains expensive and sensitive electronics and must never be exposed to electrostatic discharge (ESD) on the exposed connector pins. All personnel who handle the devices should keep the connector caps installed over the exposed connector pins to minimize the chance of an ESD event. To minimize the probability of an ESD occurrence and potential damage, the connector caps should only be removed in a controlled ESD safe environment once proper ESD precautions have been implemented. Typical ESD prevention measures include the use of an earth ground contact strap or mat in contact with the body of the installer and the ESD sensitive components. Handling the DGC SR components in environments that generate ESD should be avoided, like areas with carpet or anywhere that ESD sparks or shocks to metal objects occur. 3) This manual and the DGCTS system specifications are subject to changes, updates, modifications, or clarifications, as determined by Omnitech Robotics International LLC. Users should periodically check for the latest revisions of all manuals and product information posted at under the DGC heading and links. 7) All DGCTS components were designed with Electromagnetic Compatibility and Interference in mind. Special design precautions have been taken to minimize the noise generated from the DGCTS components and the sensitivity of these component to noise from other sources like the user s DGC competition vehicle ignition or control system. Users should exercise good design practice to minimize the amount of noise (electrical, RF, magnetic) their system produces to assure the best DGCTS radio link range and performance. It is specifically suggested that high noise sources like PWM motor amplifiers, DC/DC converters, and all switching power supplies use LC filters, ferrite EMI suppressors, and proper power ground and chassis ground design practices to limit the noise generated by these components. All contents subject to change. Visit for updates. 1

4 2.0 Assignment of Liability Omnitech Robotics International LLC does not take any responsibility for the safe operation of any DGC competition vehicle or any related equipment or conduct at any time. It is entirely up to each team to implement a comprehensive and conservative safety program to assure safe operation and testing of their competition vehicles at all times. All contents subject to change. Visit for updates. 2

5 3.0 Package Contents Upon receiving the DGCTS materials, you should carefully unpack the contents of all boxes and verify the receipt of all contents using the following checklist: 1 each of a DGCTS 1 each of a GPS antenna with 5 meter long cable and SMA connector 1 each of a magnetic mount satellite modem antenna with 10 antenna cable 1 each of a CA23 Power Cable 1 each of a bag of 4 Vibration Isolation Mounts DGCTS User Manual (this document) All contents subject to change. Visit for updates. 3

6 DGCTS CA23 Power Cable - connects to DGCSR-RX J6:TS GPS Antenna - place on vehicle with groundplane Satellite Antenna - place on vehicle with groundplane Figure 1: The DGCTS Components All contents subject to change. Visit for updates. 4

7 4.0 Introduction The DGCTS system provides a satellite based vehicle tracking capability to remotely monitor the location of the DGC competition vehicles during the competition. It uses a Global Positioning System (GPS) antenna and receiver to determine the location of the vehicle, and a computer and RF modem to send the GPS location information to a satellite network and on to a ground based monitoring station that records and dislplays the location of all vehicles for the DGC event. It is intended that this vehicle tracking unit will be part of a more comprehensive vehicle tracking system for the DGC event, all supporting different aspects of an overall safety management program. The DGCTS obtains it s power from the DGCSR-RX via the J6:TS connector. When the DGCSR is powered on, the DGCTS will be on. If the DGCTS is located outdoors, it will send data to the satellite network, and in so doing will incur a cost for this service. It is requested that teams install and power their DGCTS units until they are comfortable that they are not receiving any interference from this unit, then they can remove the power cable and no longer use the system until the DGC event. Government support personnel will check the DGCTS units out prior to the DGC event and assist in making the DGCTS system operational at that time. All contents subject to change. Visit for updates. 5

8 5.0 System Integration Precautions and Warnings The satellite antenna should have a clear and unobstructed view of the sky from horizon to horizon when installed. It should not be placed in a location that allows the vehicle or other components to block the view of the horizon. Doing so will reduce the relliabiility of the DGCTS, and may necessitate moving the antenna at inspection time prior to the DGC event. Both the satellite antenna and the GPS antenna operate better with a ground plane around them. Ideally these antennas will be placed on the top of a car with at lease 1 foot of metal car sheet metal in all directions. (This is the same for the DGCSR GPS antenna.) The satellite and GPS antennas use coaxial cables, and should not be bent tightly or crushed. Cables should be installed and strain relieved in such a way as to avoid damage from excessive pulling, abrasion, or crushing even when the DGCTS box is in a dynamic environment and moving plus or minus 1 inch in any direction while mounted on the vibration isolation mounts. All contents subject to change. Visit for updates. 6

9 6.0 Appendix A - Shock/Vibration Testing Reference The DGCTS design was tested on a shock and vibration generator to simulate the dynamics of the environment anticipated during the DGC event. If it is mounted on the vibration isolation mounts provided, it will handle the dynamics of this environment without damage or loss of functionality. All contents subject to change. Visit for updates. 7

10 7.0 Mounting Instructions - Similar to DGCSR All contents subject to change. Visit for updates. 8

11 All contents subject to change. Visit for updates. 9

12 All contents subject to change. Visit for updates. 10

13 8.0 Technical Support After reading this users manual, if you have additional questions please check our web-site for updates to this manual or other information. If you still have questions or comments, you can contact us using the following contact information: Omnitech Robotics International LLC 2630 South Raritan Circle Englewood, Co Phone: x159 Fax: web site: All contents subject to change. Visit for updates. 11