Platform-gota (TEST EDIT)

A sensor platform consisting of:

• 1x AXIS camera (P1375-E)
• 1x Navico radar 24
• 1x GPS
• 1x Heading sensor
• 1x SDR (AIS)
• 1x RUTX12 (PonyHouse & NMEA enabled 10.10.7.88)

The sensors are interfaced to a keelson data bus:

• AXIS camera -> frames -> keelson
• Navico radar -> OpenDLV/libcluon -> keelson
• GPS -> NMEA -> keelson
• Heading sensor -> NMEA -> keelson
• SDR -->

Network setup

Connected as:

• Ethernet port 1 <->
  • POE SWITCH
    • AXIS camera (10.10.7.61)
    • RUTX12 (NMEA 10.10.7.88)
• Ethernet port 2 <-> Navico Radar 24
• Ethernet port 3 <-> YDEN N2K Gateway
• Ethernet port 6 <-> Eriks L450 (4G router)

Checks:

• ethtool enp1s0 should show --> Link detected: yes
• ethtool enp2s0 should show --> Link detected: yes
• ethtool enp3s0 should show --> Link detected: yes
• ping 10.10.7.61 should work
• ip route show should show a 236.6.7.0/24 route to enp2s0

Configuration:

• netplan config in netplan-platform-gota.yaml
  • Copy file to /etc/netplan/
  • Apply using sudo netplan apply
• Axis camera assumed to be assigned the static IP 10.10.7.61

Live stream/logging software setup

All of the below assumes a crowsnest setup is already up and running according to the base setup.

Clone this repo to (suggestion): /opt/platform-landkrabba and run as follows:

Sensor interfaces:

• Only Lidar: docker-compose -f docker-compose.lidar.yml up -d
• Only AIS receiver: docker-compose -f docker-compose.ais.yml up -d
• Only cameras: docker-compose -f docker-compose.cameras.yml up -d
• Only Radar: docker-compose -f docker-compose.radar.yml up -d
• Only Wind sensor: docker-compose -f docker-compose.nmea0183.yml up -d

Bridges towards Maritimeweb:

• Only mqtt bridge: docker-compose -f docker-compose.bridge.yml up -d
• Only webrtc bridge: docker-compose -f docker-compose.webrtc.yml up -d

To handle multiple services simultaneously, use the following syntax:

docker-compose -f docker-compose.<any>.yml -f docker-compose.<any>.yml -f docker-compose.<any>.yml up -d

Logging to disk (using opendlv):

docker-compose -f docker-compose.logging.yml up -d

The logs are rotated using logrotate according to the config found in logrotate.conf. By default, all data will be put in /opt/recordings/. This is NOT recommended since it may fill the OS disk. If you plan on continously log.

To run bandwidth trials

The iftop utility has been used to run some rudimentary bandwidth trials for the connected sensors, such as:

sudo iftop -i <interface> # Interactive output

or

sudo iftop -t -s 60 -i <interface>  # Running for 60 seconds and then outputting textual output only

Note: The above should be issued with the sensors running!

4G connection bandwidth has been trialed with speedtest-cli, such as:

speedtest-cli

Radar settings

• --cid: CID of the OD4Session to send and receive messages
• --ip: Initial reporting address of the Navico device (Typically 236.6.7.5)
• --port: Initial Navico Broadcast Port (Typically 6878)
• --antenna_height: Height of the sensor above the waterline (in millimetres)
• --bearing_alignment: Unit offset from the centreline of the vehicle (in milliradians). Negative == Left)
• --gain: Set unit Gain (in percentage. Empty is Auto)
• --interface_rejection:
• --local_interface rejection:
• --noise_rejection:
• --transmit_lock: This needs to be set to '0' to enable transmission
• --rain_clutter: (in percentage. Empty is Auto)
• --range_alpha: Set unit A Range (in metres. 50 to 72700)
• --range_bravo: Set unit B Range (in metres. 50 to 72700)
• --scan_speed. (1,2,3. 3 is fastest) The Halo20+ should have a huge range of scan speeds, but this is only what RadarPi uses. Scan speed 3 is 60rpm, and is only accurate to about 2.5km, according to the manual
• --sea_clutter: (in percentage. Empty is Auto)
• --side_lobe_suppression: CONSULT KRISTER ;) BEFORE CHANGING
• --target_boost: (1,2,3. 3 is highest)
• --target_expansion: (1,2,3. 3 is highest)
• --target_seperation: (1,2,3. 3 is highest))
• --doppler: (3 modes for target tracking. Consult ReadMe)
• --id: ID to use for sending radar spokes"
• --verbose: Enable more text output"
• --raw: Enables raw data stream to terminal.