Status Dashboards
Fusion Status Dashboard
This status page allows overall assessment of the most relevant information.
To determine the statuses of the Fusion engine and its related processes, the user can observe the flags displayed on the Fusion Status page. The figure below shows all possible badges that can be shown on this page.
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Status badges available on the 'Fusion Status' page of the web interface
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The Antenna extrinsics status badge, displays the average baseline check status over the last 5 seconds. When both GNSS receivers are in RTK fixed, the passed/- failed is based on the difference between the configured and measured baseline. If one or both receivers are not in RTK fixed mode, the check result is "No GNSS fix".
In summary:
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If 80% or more checks are passed in that period, the badge shows "Passed."
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If less than 80% of checks passed and at least one failed check, the badge shows "Failed".
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If less than 80% of checks are passed and there are no failed checks, the badge shows "No GNSS fix".
- Before Fusion is initialized, the GNSS flags on the top bar of the webinterface are represented by circles that display the GNSS receivers’ status, seethe figure below.
- The correction data status will stay blue in this stage while the Fusion init icon will remain red.
- At this stage, the GNSS1/2 status badges display No fix while the status flags on the top bar display the currently received signals (RTK Fix and Float). This is expected behavior when Fusion is not initialized yet.
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Status badges and flags when Fusion is started
- Once Fusion is initialized, the GNSS status icon changes to stress that this status now refers to the processed GNSS signals by the internal Fusion logic.
- After Fusion initialization, the status bar will be updated continuously including the correction data status: The figure below shows that flags and badges are aligned and display the same status.
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Status badges and flags when Fusion is initialized
IMU Convergence
The Vision Navigator requires a start-up procedure before being fully operational. Since firmware 2.102.2, users can initialize Fusion also by using the load pose feature as described in Sec. 5.1. The user must ensure the following requirements are fulfilled to
start the calibration procedure:
- Both receivers have an RTK-fixed status.
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Fusion status view
Once fulfilled, drive approximately 2 minutes under RTK-fixed with some dynamic movement to converge the IMU biases. Perform eight figures and move back-and-forth within a 10 meters area as shown in the figure below. The gyroscope and accelerometer bias will converge to steady values with this procedure. The sensor will raise a flag once it is fully calibrated (see field #22 in the FP_A-ODOMETRY message or fields #18 and #20 in the FP_A-ODOMSTATUS message).
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Example trajectory for the IMU calibration procedure
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Gyroscope and accelerometer biases over time
On the web interface, the user can visualize the status of the calibration procedure and the IMU noise by heading to the "Status → Fusion" page. The IMU status can either be:
- Unknown – Sensor not initialized
- Not converged – No warmstart available
- Warmstarted – IMU bias available
- Rough converged– IMU bias partially approved
- Fine converged– IMU bias fully approved
Similarly, the IMU noise indicators are either: Unknown – Excessive noise– Medium Noise– Low noise
Keep in mind that this indicator is calculated based on the variance of the IMU measurements over a period of time. Some platforms might experience excessive IMU noise without a significant impact on performance. This indicator only informs the user of their system dynamics.
GNSS Status Dashboard
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GNSS status dashboard
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Correction data status table
- Left column: status of first GNSS receiver.
- Right column: status of second GNSS receiver.
- Status flags: these 4 icons indicate the status of the Fusion initialization, GNSS1 and GNSS2 reception, and Correction status. More information on the behavior of these status flags is described at the end of Fusion Status Dashboard .
- Fusion init: GNSS 1: Globally initialized – Locally initialized – Not initialized – Unknown
- GNSS 1: RTK fixed – RTK Float or SPP – No fix – Unknown
- GNSS 2: RTK fixed – RTK Float or SPP – No fix – Unknown
- Correction status: Good corrections – Limited Corrections – No corrections used – No GNSS or Wait for Fusion – Unknown
- Signal levels: histogram of the number of GNSS signals and their corresponding signal levels (measured as the carrier to noise ratio in dBHz). The coloured bars represent the number of signals used in navigation and the gray ones represent the total number of signals tracked. The color scheme used for this histogram corresponds to:
- Reds: low signal levels, typically unusable or imprecise.
- Greens: good signal levels (40+ dBHz).
- NTRIP correction stream stability and latency statistics: display statistics of the NTRIP correction stream. Note: The user can only rely on these values when the system time is synchronized with either an NTP server or GNSS. These statistics are calculated using only GPS MSM messages (RTCM3 message type 1074, 1075, or 1077), available only in RTCM3.2 and above.
- Latency: measured by comparing the timestamp of the RTCM3 messages to the system time.
- Update rate: indicates how many sets of correction measurements are received per second. Different RTK services have different update rates. Typically it is 1 Hz nominal, but the sensor supports from 0.5 up to 2 Hz.
- Data rate: indicates how much data is received per second. Typically, between 0.5 to 1.5 KB/s.
- Evaluation: This column serves as a display for the quality evaluation of the correction data. It is split into two parts:
- Stability: These values are based on thresholds. For “good” stability, the update rate should be higher than 0.25Hz, the latency lower than 5s, and the maximum latency lower than 10s.
Good – Warning – Poor– No data– Unknown
- Usability: Indicates the usability of the data, which is evaluated by checking the presence and frequency of certain RTCM3 messages, i.e., the availability of MSM4 messages or better. See details in Supported RTCM3 messages.
Good – Warning – Poor– No data– Unknown
- The rows only become available when the stream has run long enough. Changing the NTRIP configuration, internet outages, web interface disconnection, etc., can lead to artifacts.
- Expert mode toggle: Display additional information in the tables.
- GNSS fix types: they can be one of the following:
- No fix – the GNSS receiver has no fix at all.
- Dead-reckoning – The GNSS receiver has lost the fix and is extrapolating the movement.
- Single 2D – autonomous GNSS fix, 2D as only a few signals are available.
- Single 3D – autonomous GNSS fix. Typical situation if no RTK correction data is available.
- RTK float – real-time kinematic fix with ambiguities not fully solved.
- RTK fixed – real-time kinematic fix with ambiguities fully solved.
- Update indicators: these indicators blink whenever the data is updated.
- For GNSS 1 and GNSS2, the indicator blinks at 1 Hz; more or less in sync.
- The NTRIP indicator blinks at 0.2 Hz (every 5 seconds).
- Antenna state and power: displays antenna supervisor state (left badge) and the antenna power supply status (right badge).
- Antenna states:
- Initialising – During startup of the GNSS receiver.
- OK – Antenna detected and OK, power will be On.
- Open – No antenna detected, power will be On.
- Short – Antenna short circuit detected, power will be Off.
- Power states:
- On – Antenna power supply enabled.
- Off – Antenna power supply disabled. Note that after removing the electrical short it can take the GNSS receiver up to one minute to detect this and return to power On.
- Baseline: Relative position (NED coordinates) from the basestation to the rover. As stated the Sensor setup requirements, we recommend the selected basestation to be less than 15 km from the rover.
The 'Time and date' fields display the current estimate using the solutions from each u-blox F9P GNSS receiver independently. The user should not trust these measurements when the values are in gray.
Input/Output Dashboard
On this page the user can see general information such as the currently installed software version, the CPU load and temperature, the internet connectivity, time synchronization, and correction status. If measurements are configured, the status of the inputted data is displayed, see the figure below.
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Measurements Status
From software version 2.63 onwards, users can navigate to "System → Info" to supervise the I/O status. This panel shows statistics for all I/O ports. The available information for output (data sent by the sensor to the user) and input (data received by the sensor from the user) since boot is the following:
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Bytes: Accumulated data size in bytes sent and received from/to this port.
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Messages: Accumulated total number of messages sent and received from/to this port.
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Errors: Accumulated total number of errors sending and receiving data from/to this port.
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For each recognized message: Accumulated total number of messages sent and received from/to this port (e.g., FP_A-ODOMETRY or FP_B-MEASUREMENT
The user can use the two toggle icons, to temporarily set the message counts to zero or to show the relative message count.
The screenshot below shows that for the number of outputted messages on the respective ports and that no errors have occured since boot.
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Input/Output Status dashboard