(window.webpackJsonp=window.webpackJsonp||[]).push([[357],{680:function(t,v,_){"use strict";_.r(v);var s=_(10),a=Object(s.a)({},(function(){var t=this,v=t._self._c;return v("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[v("h1",{attrs:{id:"入门指南"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#入门指南"}},[t._v("#")]),t._v(" 入门指南")]),t._v(" "),v("h2",{attrs:{id:"使用前的准备工作"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#使用前的准备工作"}},[t._v("#")]),t._v(" 使用前的准备工作")]),t._v(" "),v("h3",{attrs:{id:"检查产品配件清单"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#检查产品配件清单"}},[t._v("#")]),t._v(" 检查产品配件清单")]),t._v(" "),v("p",[t._v("用户在上手Epsilon系列产品时,首先检查产品配件是否完整(完整清单见 "),v("RouterLink",{attrs:{to:"/epsilon/02-套件/"}},[t._v("评估套件和配件")]),t._v("):")],1),t._v(" "),v("table",[v("thead",[v("tr",[v("th",[t._v("Epsilon-A")]),t._v(" "),v("th",[t._v("Epsilon-E")]),t._v(" "),v("th",[t._v("Epsilon-N")]),t._v(" "),v("th",[t._v("Epsilon-D")]),t._v(" "),v("th",[t._v("Epsilon-D4G")]),t._v(" "),v("th",[t._v("Epsilon-Dp900")])])]),t._v(" "),v("tbody",[v("tr",[v("td",[v("fdi-img",{attrs:{width:"100%",alt:"Epsilon-A 接口",src:"/epsilon/UserManuals/规格/接口a.png",caption:""}})],1),t._v(" "),v("td",[v("fdi-img",{attrs:{width:"100%",alt:"Epsilon-E 接口",src:"/epsilon/UserManuals/规格/接口e.png",caption:""}})],1),t._v(" "),v("td",[v("fdi-img",{attrs:{width:"100%",alt:"Epsilon-N 接口",src:"/epsilon/UserManuals/规格/接口n.png",caption:""}})],1),t._v(" "),v("td",[v("fdi-img",{attrs:{width:"100%",alt:"Epsilon-D 接口",src:"/epsilon/UserManuals/规格/接口d.png",caption:""}})],1),t._v(" "),v("td",[v("fdi-img",{attrs:{width:"100%",alt:"Epsilon-D4G 接口",src:"/epsilon/UserManuals/规格/接口d4g.png",caption:""}})],1),t._v(" "),v("td",[v("fdi-img",{attrs:{width:"100%",alt:"Epsilon-Dp900 接口",src:"/epsilon/UserManuals/规格/接口d4g.png",caption:""}})],1)]),t._v(" "),v("tr",[v("td",[t._v("AHRS;配件为1根主航插线")]),t._v(" "),v("td",[t._v("1根主航插 + 1根辅航插")]),t._v(" "),v("td",[t._v("1根主航插、1根SMA射频线、1根 GNSS 天线")]),t._v(" "),v("td",[t._v("1根主航插、1根辅航插、2 根射频线、2 根 GNSS 天线")]),t._v(" "),v("td",[t._v("同 D,另含 1根4G 天线;SIM 一般内置")]),t._v(" "),v("td",[t._v("同 D,另含电台专用天线")])])])]),t._v(" "),v("blockquote",[v("p",[v("strong",[t._v("D4G 的 SIM")]),t._v(":通常在出厂前预置;若需客户自备卡,请订购时与商务确认,或邮寄卡片由厂家安装。")])]),t._v(" "),v("h3",{attrs:{id:"检查配套软件、sdk-以及驱动环境"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#检查配套软件、sdk-以及驱动环境"}},[t._v("#")]),t._v(" 检查配套软件、SDK 以及驱动环境")]),t._v(" "),v("p",[t._v("购买后可获得配套软件与开发支持,联机前请确认:")]),t._v(" "),v("ol",[v("li",[v("strong",[t._v("上位机")]),t._v(":"),v("RouterLink",{attrs:{to:"/developers/fdigroundstation/FDIGC.html"}},[t._v("FDIGroundStation")]),t._v("(目前仅支持在windows系统下运行)。")],1),t._v(" "),v("li",[v("strong",[t._v("串口驱动")]),t._v(":请先安装 "),v("a",{attrs:{href:"/pdfs/%E8%BD%AF%E4%BB%B6%E9%A9%B1%E5%8A%A8.zip"}},[t._v("CP210x 串口驱动")]),t._v(",否则 USB 接到电脑后可能无法识别 COM 口。")]),t._v(" "),v("li",[v("strong",[t._v("FDILink SDK")]),t._v(":单片机 / ROS / MATLAB 等环境包,见 "),v("RouterLink",{attrs:{to:"/developers/03-fdilinksdk/"}},[t._v("FDILink SDK")]),t._v("。")],1)]),t._v(" "),v("h2",{attrs:{id:"快速组装"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#快速组装"}},[t._v("#")]),t._v(" 快速组装")]),t._v(" "),v("h3",{attrs:{id:"配件实物图与连接说明"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#配件实物图与连接说明"}},[t._v("#")]),t._v(" 配件实物图与连接说明")]),t._v(" "),v("fdi-img",{attrs:{width:"50%",alt:"评估套件连接示意",src:"/epsilon/04-安装/kit-overview.png",caption:"Epsilon-D4G模组、双 GNSS 天线、4G天线与线束连接示意"}}),t._v(" "),v("h4",{attrs:{id:"航插线缆"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#航插线缆"}},[t._v("#")]),t._v(" 航插线缆")]),t._v(" "),v("ol",[v("li",[v("p",[v("strong",[t._v("主航插(0f-102-9P → MAIN)")]),v("br"),t._v("\n提供 RS232、SYNC / GPIO 与供电。DC 母头规格 "),v("strong",[t._v("5.5×2.5")]),t._v(",供电范围 "),v("strong",[t._v("8–48 V")]),t._v("。模组内部含射频组件,模式切换时瞬时功耗较高,电源宜能提供约 "),v("strong",[t._v("≥ 3 A")]),t._v(" 能力。")]),t._v(" "),v("p",[v("a",{attrs:{href:"/epsilon/UserManuals/%E8%BF%9E%E6%8E%A5/A%E6%AC%BE%E5%9B%9B%E5%88%862.png"}},[t._v("主航插线缆实物图")])])]),t._v(" "),v("li",[v("p",[v("strong",[t._v("辅航插(0f-102-9P → AUX)")]),v("br"),t._v("\n用于 E / D / D4G / Dp900 等型号的 AUX 口,提供 RS422、CAN、USB 等端口。")]),t._v(" "),v("p",[v("a",{attrs:{href:"/epsilon/UserManuals/%E8%BF%9E%E6%8E%A5/B%E6%AC%BE%E4%B8%89%E5%88%86.png"}},[t._v("辅航插线缆实物图")])])])]),t._v(" "),v("p",[t._v("针脚定义见 "),v("RouterLink",{attrs:{to:"/epsilon/03-规格/05.html"}},[t._v("接口连接")]),t._v("。")],1),t._v(" "),v("h4",{attrs:{id:"_4g-天线"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#_4g-天线"}},[t._v("#")]),t._v(" 4G 天线")]),t._v(" "),v("p",[v("a",{attrs:{href:"/epsilon/UserManuals/%E8%BF%9E%E6%8E%A5/4g%E5%90%B8%E7%9B%98.png"}},[t._v("4G天线实物图")])]),t._v(" "),v("p",[t._v("适用于 "),v("strong",[t._v("D4G")]),t._v(" 等带 4G 联网功能的型号:将 4G 天线接到对应射频口,"),v("strong",[t._v("勿紧贴大面积金属")]),t._v(",以免影响联网。")]),t._v(" "),v("h4",{attrs:{id:"sim-卡"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#sim-卡"}},[t._v("#")]),t._v(" SIM 卡")]),t._v(" "),v("ul",[v("li",[v("strong",[t._v("D4G")]),t._v(" 通过内置 4G 接收 RTCM 时需要可用的 SIM;一般出厂预置,订购前请与商家确认。")]),t._v(" "),v("li",[t._v("手机卡与物联网卡均可尝试;物联网卡常绑定单设备,换机可能锁卡,需联系运营商或飞迪解锁。")]),t._v(" "),v("li",[t._v("部分物联网卡有定向 / APN 限制,与所用 CORS 不兼容时可更换卡片或服务商。")])]),t._v(" "),v("h4",{attrs:{id:"gnss-天线"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#gnss-天线"}},[t._v("#")]),t._v(" GNSS 天线")]),t._v(" "),v("p",[v("a",{attrs:{href:"/epsilon/UserManuals/%E8%BF%9E%E6%8E%A5/%E8%98%91%E8%8F%87%E5%A4%B4%E7%BA%BF%E7%BC%86.png"}},[t._v("高精度蘑菇头天线实物图")])]),t._v(" "),v("p",[t._v("套件常用多频蘑菇头天线(配转接线)。组装注意:")]),t._v(" "),v("ul",[v("li",[t._v("天线置于"),v("strong",[t._v("室外开阔天空")]),t._v("(模组可暂放室内);城市遮挡严重时尽量架高(天台、立柱等)。")]),t._v(" "),v("li",[t._v("远离电机、强射频、开关电源等干扰源。")]),t._v(" "),v("li",[t._v("双天线型号可只接一根,但必须使用"),v("strong",[t._v("主天线(MB)")]),t._v("。")]),t._v(" "),v("li",[t._v("双天线基线建议 "),v("strong",[t._v("≥ 0.4 m")]),t._v(",越长测向越稳(正式装车建议更长,见后文对准说明)。")])]),t._v(" "),v("h2",{attrs:{id:"快速启动"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#快速启动"}},[t._v("#")]),t._v(" 快速启动")]),t._v(" "),v("h3",{attrs:{id:"基本操作"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#基本操作"}},[t._v("#")]),t._v(" 基本操作")]),t._v(" "),v("ol",[v("li",[v("p",[t._v("将GNSS天线放置在载体高处并固定,可以清晰地看到天空。对于D系列模组,主天线与从天线之间尽量无遮挡,间隔(基线长度)越长越好,建议不低于0.4m;")])]),t._v(" "),v("li",[v("p",[t._v("将GNSS天线与 Epsilon 系列系列模组连接,4G天线连接,插上SIM卡;")])]),t._v(" "),v("li",[v("p",[t._v("将模组与计算机通过串口连接,通过DC母头正常供电;")])]),t._v(" "),v("li",[v("p",[t._v("运行电脑上的上位机软件 FDIGroundStation。")])]),t._v(" "),v("li",[v("p",[t._v("点击上位机中的 "),v("strong",[t._v("Communication")]),t._v(" 菜单,在弹窗中选择对应串口;波特率默认为 "),v("strong",[t._v("921600")]),t._v(" bps,一般无需修改。然后点击 "),v("strong",[t._v("Connect")]),t._v(",即可完成模组与上位机的连接。")])])]),t._v(" "),v("fdi-img",{attrs:{width:"70%",alt:"连接上位机",src:"/fdigroundstation/连接上位机.png",caption:"FDIGroundStation 连接上位机"}}),t._v(" "),v("h3",{attrs:{id:"模组-gnss-天线安装位置要求"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#模组-gnss-天线安装位置要求"}},[t._v("#")]),t._v(" 模组/GNSS 天线安装位置要求")]),t._v(" "),v("p",[t._v("车载等场景中,模组与天线的安装位置直接影响性能。选择位置时建议:")]),t._v(" "),v("ol",[v("li",[t._v("工作温度不超过 "),v("strong",[t._v("−40 ℃~+85 ℃")]),t._v("。")]),t._v(" "),v("li",[t._v("保持一定空气流通,避免过热。")]),t._v(" "),v("li",[t._v("尽量远离强振动源。")]),t._v(" "),v("li",[t._v("若暂无法精确测杆臂,模组与 GNSS "),v("strong",[t._v("主天线")]),t._v("宜尽量靠近,减小杆臂效应。")]),t._v(" "),v("li",[t._v("尽量靠近载体重心安装。")]),t._v(" "),v("li",[t._v("若使用磁力计作航向参考,模组距电机、大电流线缆等动态磁干扰源至少约 "),v("strong",[t._v("20 cm")]),t._v("。")])]),t._v(" "),v("p",[t._v("完整固定与场景说明见 "),v("RouterLink",{attrs:{to:"/epsilon/04-安装/模块安装.html"}},[t._v("模块安装")]),t._v("、"),v("RouterLink",{attrs:{to:"/epsilon/04-安装/天线安装.html"}},[t._v("天线安装")]),t._v("。")],1),t._v(" "),v("h3",{attrs:{id:"模组对准与天线杆臂"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#模组对准与天线杆臂"}},[t._v("#")]),t._v(" 模组对准与天线杆臂")]),t._v(" "),v("p",[t._v("最简单的对准方式:模组安装轴与载体轴一致——"),v("strong",[t._v("X 轴指向载体正前,Z 轴垂直向下")]),t._v("(右手系,Y 向右)。")]),t._v(" "),v("fdi-img",{attrs:{width:"60%",alt:"天线与模组安装示意",src:"/epsilon/getting-started/天线模组安装.png",caption:"模组 X 轴朝前、Z 轴朝下;天线相对模组的杆臂示意"}}),t._v(" "),v("p",[v("strong",[t._v("杆臂(天线偏移)")]),t._v(":在模组坐标系下,从模组中心量到主天线相位中心(X 前、Y 右、Z 下)。天线装在模组上方时 "),v("strong",[t._v("Z 为负")]),t._v("。杆臂不准会在转弯、角运动时引入误差。测量后在上位机参数表中写入,见 "),v("RouterLink",{attrs:{to:"/developers/fdigroundstation/2/杆臂配置.html"}},[t._v("杆臂配置")]),t._v("。")],1),t._v(" "),v("fdi-img",{attrs:{width:"90%",alt:"GNSS 杆臂参数",src:"/sigma/UserManuals/使用/imuAntCal/图片33.png",caption:"FDIGroundStation 中填写 GNSS 杆臂(单位:m)"}}),t._v(" "),v("p",[v("strong",[t._v("双天线(D / D4G / Dp900)")]),t._v(":从天线(ROVER)宜装在主天线(MB)"),v("strong",[t._v("正前方")]),t._v("并尽量拉长基线;无法正前安装时,须测量双天线航向偏差并在上位机中配置。示意与校准见 "),v("RouterLink",{attrs:{to:"/epsilon/04-安装/天线安装.html"}},[t._v("天线安装")]),t._v("、"),v("RouterLink",{attrs:{to:"/epsilon/05-使用/惯导双天线校准.html"}},[t._v("惯导双天线校准")]),t._v("。")],1),t._v(" "),v("fdi-img",{attrs:{width:"70%",alt:"双天线安装示意",src:"/img/install/双天线安装示意图.png",caption:"双天线安装示意:从天线(ROVER)宜位于主天线(MB)前方"}}),t._v(" "),v("h3",{attrs:{id:"rtk-账号配置"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#rtk-账号配置"}},[t._v("#")]),t._v(" RTK 账号配置")]),t._v(" "),v("p",[t._v("内置 GNSS 的型号可配置差分:带 "),v("strong",[t._v("4G")]),t._v(" 的型号可在 FDIGroundStation → Config → "),v("strong",[t._v("DGNSS")]),t._v(" 中填写 CORS 账号(需已购买千寻、中国移动等差分服务);无 4G 的型号则经串口或电台转发 RTCM。推荐方式见下表。")]),t._v(" "),v("table",[v("thead",[v("tr",[v("th",{staticStyle:{"text-align":"left"}},[t._v("型号")]),t._v(" "),v("th",{staticStyle:{"text-align":"left"}},[t._v("推荐方式")])])]),t._v(" "),v("tbody",[v("tr",[v("td",{staticStyle:{"text-align":"left"}},[v("strong",[t._v("D4G")])]),t._v(" "),v("td",{staticStyle:{"text-align":"left"}},[t._v("接好 4G 天线与 SIM,待联网后再在 FDIGroundStation 上位机的 "),v("strong",[t._v("DGNSS")]),t._v(" 界面配置 CORS 账号")])]),t._v(" "),v("tr",[v("td",{staticStyle:{"text-align":"left"}},[v("strong",[t._v("D")])]),t._v(" "),v("td",{staticStyle:{"text-align":"left"}},[t._v("将 "),v("strong",[t._v("COM2")]),t._v(" 端口协议设置为 "),v("strong",[t._v("RTCM")]),t._v(",用电脑端 STRSVR 等向串口转发差分")])]),t._v(" "),v("tr",[v("td",{staticStyle:{"text-align":"left"}},[v("strong",[t._v("Dp900")])]),t._v(" "),v("td",{staticStyle:{"text-align":"left"}},[t._v("配合本地基站与电台接收 RTCM")])])])]),t._v(" "),v("p",[t._v("详细步骤见 "),v("RouterLink",{attrs:{to:"/epsilon/05-使用/RTK配置.html"}},[t._v("RTK 配置")]),t._v("。")],1),t._v(" "),v("h3",{attrs:{id:"磁力计校准"}},[v("a",{staticClass:"header-anchor",attrs:{href:"#磁力计校准"}},[t._v("#")]),t._v(" 磁力计校准")]),t._v(" "),v("p",[t._v("若希望模组上电启动阶段就能获得较准确的航向,须先完成磁力计校准。FDIGroundStation 提供 "),v("strong",[t._v("Mag 6 side Calib")]),t._v("、"),v("strong",[t._v("mag Calib 2D")]),t._v("、"),v("strong",[t._v("mag Calib 3D")]),t._v(" 三种方式,一般推荐 "),v("strong",[t._v("mag Calib 3D")]),t._v(";车载、船载、机载等场景下磁力计无法在全空间运动时,3D 校准不可用,可改用 "),v("strong",[t._v("mag Calib 2D")]),t._v("。具体步骤见 "),v("RouterLink",{attrs:{to:"/epsilon/05-使用/磁力计校准.html"}},[t._v("磁力计校准")]),t._v("。")],1)],1)}),[],!1,null,null,null);v.default=a.exports}}]);