Also check our unboxing video here for an overview of the contents of the starter kit and how to start using your Xsens Vision Navigator.
1. Power on the Vision Navigator (Step 1) and connect to the sensor over Ethernet or Wi-Fi (Step 2)
2. Provide internet access to the Vision Navigator (Step 3)
3. Provide RTK corrections via NTRIP (Step 4)
4. Head into an open area with a clear view of the sky to achieve an RTK fixed on both GNSS receivers (Step 7)
5. Start the Fusion engine (Step 9) and perform IMU calibration (Step 10)
1. To power on the Vision Navigator, either:
A. Connect the Vision Navigator to an external power supply
B. Connect the battery provided with the starter kit
2. To power off the Vision Navigator, simply disconnect the power supply
Note
- Ensure the power cable is securely fastened to the Vision Navigator.
- The power supply must be able to deliver 10 W at a 5-36 V voltage. The absolute maximum ratings are -14 V to 40 V, and operating conditions are 4.5 V to 36 V.
- Do not disconnect the power while recording, as information might be lost. After stopping a recording, wait at least 15 seconds before powering down.
- While it is possible to power the Vision Navigator via the USB-C port, it is not recommended to do so during operation.
1. Connect the Vision Navigator either via:
A. Ethernet (recommended)
http://10.0.2.1/ or http://fp-xxxxxx.local/B. Wi-Fi
fp-xxxxxx using the default password 1234567890http://10.0.1.1/ or http://fp-xxxxxx.local/
Note
- Wi-Fi is only suitable as a service interface. Use Ethernet for regular operation.
- Connect the Wi-Fi antenna as the range without it is limited to only half a meter.
- To set up a password for the web interface, refer to the Web interface tools.
- When employing an intermediary device, such as a router, configure the sensor as a DHCP client. The network’s DHCP server will assign a dynamic IP to the sensor. Thus, the 10.0.1.1 and 10.0.2.1 IPs do not apply anymore.
GNSS corrections for the Vision Navigator are typically delivered over the internet, which necessitates connectivity to a network with internet access.
1. Navigate to Configuration ↪ Network
2. Establish a network connection over:
A. Ethernet (recommended)
B. Wi-Fi
Note
- The Vision Navigator can only access the Internet if set as a DHCP client or with a static IP.
- An Ethernet connection is always prioritized over Wi-Fi for Internet access.
- Set the network as default to automatically reconnect to it after a disconnection or reboot
- 2.4 GHz is preferred over 5 GHz for Wi-Fi connections due to its range and reliability.
- The only supported Wi-Fi security configuration is wpa-psk (WPA2).
- The network SSID must be alphanumeric.
- Most Wi-Fi 6E access points use 802.11ax by default, which is not supported. It must be configured to one of the supported bands.
1. Navigate to Configuration ↪ GNSS
2. Select a source for corrections:
A. NTRIP client (recommended)
B. I/O port
C. TCP client
Note
- The geodetic coordinate system is defined by the correction service provider.
- Ensure that your selected correction stream has a base station nearby (ideally closer than 15km) or good VRS coverage.
- For more information, refer to Correction service configuration of the Integration manual.
1. Navigate to Configuration ↪ Fusion
2. Select the tuning mode based on the following table
| Mode | Application | v Range | ω Range |
| Generic | Default mode that covers most platforms’ dynamics | ± 3 m/s | ± 1.5 rad/s |
| Slow robot | Dynamics similar to that of a slow-moving robot | ± 3 m/s | ± 0.5 rad/s |
| Lawnmower | Dynamics similar to that of a lawnmower | ± 3 m/s | ± 1.0 rad/s |
| Car | Dynamics similar to that of a passenger car | ± 22 m/s | ± 0.5 rad/s |
3. Set the GNSS antenna extrinsics within millimeter accuracy
Note
- Enabling wheelspeed sensor is recommended for optimal performance.
- If using the Starter Kit, select the Standard Starter Kit preset to retrieve the extrinsics.
- The Autostart option enables the Fusion Engine to initialize automatically on system boot-up.
- If the baseline check error pop-up appears, please verify your GNSS extrinsics and check that the selected base-station is closer than 25km (refer to Fusion Status Dashboard of the Integration manual)
- The GNSS extrinsics are set relative to the ‘X’ on the sensor.
- The antenna reference point refers to its phase center (see antenna datasheet).
1. Navigate to Configuration ↪ I/O to the Output generators section
2. Set the Output frequency (Hz), Output translation (m), and Output rotation (degrees)
3. Navigate to Output messages section and select the desired messages and output channels
Note
- The output translation is set relative to the 'X' on the sensor.
- The high-precision NMEA format contains non-standard fields which allow higher precision in the timing, position, and heading values.
- A higher output frequency requires a higher I/O bandwidth. For example, IMU messages require significant bandwidth and should be enabled with discretion.
- All available messages are documented at Input/Output messages.
- For the LLH output, the sensor assumes that the correction data employs the WGS84 geodetic datum.
- Enabling more messages will consume more CPU resources and might impact the sensor's performance. Only enable them when necessary, preferably on one port only.
1. Navigate to Status ↪ GNSS
2. Ensure the correction data is connected and stable
3. Ensure both of the GNSS receivers to be of “RTK Fixed” status
Note
- Initialize outdoors, as some casters require an initial position estimate to provide corrections.
- Most signals should ideally be above 42 dBHz.
- Antenna state and power should be OK and On.
- If an RTK fixed is not achieved in less than two minutes, move away from obstructions, ensure no USB3 devices or unshielded cables. are near the GNSS antennas, and verify that your selected base station is closer than 25km.
1. Navigate to Configuration ↪ Camera
2. Ensure that feature-sparse regions and static objects (e.g. vehicle’s structure) are cropped from the image
Note
- The auto-exposure of the camera is affected by the crop mask.
- The sensor can look forwards or backwards.
- Employ an external lighting source if working in low-lighting conditions.
1. Navigate to Status ↪ Fusion
2. Click the Start button and head into an open area with a clear view of the sky to achieve an “RTK fixed” on both GNSS receivers. This process should take less than 2 minutes
3. Ensure that all message outputs on the status page are activated and the arrow in the map is accurately indicating the heading of the sensor
The Vision Navigator requires a start-up procedure before being fully operational. The user must ensure the following requirements are fulfilled to start the calibration procedure:
1. Ensure both receivers obtain RTK fixed status
2. Start the Fusion engine, and ensure extrinsics are correct
3. Move the sensor under RTK fixed status with some dynamic motion
4. Calibrate until IMU biases are converged (IMU status must show “Converged”)
Note
- After converging, the IMU biases will be saved to be used in the next initialization procedure. Thus, the calibration will be significantly faster.
- The IMU biases will continue to be estimated any time the sensor is under ”RTK fixed”.
- IMU’s “Excessive noise” only indicates that the measurements present significant mechanical vibrations; however, this is not necessarily noise (e.g. moving on rocky terrain).
1. Navigate to System ↪ Logs
2. Choose the logging location
A. Internal disk: Embedded memory, max. around 6 GB (up to ~20min of “Maximal“ recording)
B. External USB: Storage connected to USB-C port. May consume additional CPU resources
3. Choose the logging level
A. Minimal: Smallest file, only minimal data (no GNSS or camera)
B. Medium: Larger file, does not contain images.
C. Maximal: Largest file, contains all data (incl. images). Allows to reprocess the trajectory
4. Retrieve the logs from the web-interface by clicking on the log name
5. Get support
A. Browse the Vision Navigator documentation for an extensive description of all features
B. Email [email protected] to get access to the Dashboard, and upload the log files to the Data Uploader* to accelerate debugging and analyze the sequence
C. Request customer support via the Request Support page or email [email protected]
1. Navigate to System ↪ Update
2. Drag/drop the corresponding SWU file inside the marked area.
3. Wait for a few minutes for the update to process. The sensor will automatically restart after the update is completed
Note
- Find the latest available firmware and release notes at Release Notes and Change Logs.
- Firmware updates are released every 6-10 weeks. Please email [email protected] to be added to the distribution list.