ACENAV CLI

The “AceNav” is a Command Line Interface (CLI) software runs on user computers, to connect and interact with Aceinna GNSS/INS navigation devices for user parameter settings, GNSS RTK correction streaming from a NTRIP server, and output data logging and parsing.

System requirement

Ubuntu 18.04:

​ Python 3.7

​ Lib: tcpdump, https://scapy.readthedocs.io/en/latest/installation.html#debian-ubuntu-fedora

Windows 10:

​ Python 3.7

​ Lib: npcap, https://scapy.readthedocs.io/en/latest/installation.html#windows

GNSS/INS operation user settings

Run the CLI software and connect with the INS401 system for the first time, there is a “setting” folder generated with subfolders named by Aceinna GNSS/INS navigation devices. Each type of device has a JSON format of configuration file, all the user settings including GNSS RTK correction NTRIP account information, IMU to GNSS antenna lever arm and so on. User must modify the related configurations/settings to achieve effective GNSS/INS operation. For example, user should change the NTRIP settings (IP address, port, mount point, account, and password) to accessible GNSS correction service.

Commands

Log data

Run the following command to log all data output from Ethernet port to binary files, and streaming GNSS RTK correction data through Ethernet port to the unit (e.g. on Ubuntu)

INS401

./acenav -i 100base-t1

INS402

./acenav -i 100base-t1 --device-type INS402 

A “data” subfolder will be created for the first time, and every session of data logging will be stored in a subfolder inside the “data” folder.

Parse Data

Run the following command to parse the logged data into text or csv files,

INS401

./acenav parse -t ins401 -p <path to data folder/session data subfolder>

INS402

./acenav parse -t ins402 -p <path to data folder/session data subfolder>

Save Settings

If user changed the GNSS/INS user settings in the "ins401.json" or "ins402.json" file, and wants to make it effective, run the data logging command with "-s" option like below, and the changed user settings will be saved into flash

INS401

./acenav -i 100base-t1 -s

INS402

./acenav -i 100base-t1 --device-type INS402 -s

Firmware Upgrade

INS401

INS401 supports In-Application Programming (IAP) firmware upgrade through the Ethernet interface, run the executable with the CLI option, and prompt for user input

./acenav -i 100base-t1 --cli
# console display with connection information
# prompt for user input, type in command and file path after the arrow symbol
# firmware is fully upgraded by default, contains a list of the components which are 
# rtk, ins and sdk
>>upgrade <INS401 FW file path>

# one or more firmware components (rtk, ins, sdk, imu_boot(if firmware is merged), imu(if firmware is merged)) 
# are optionally upgraded
>>upgrade <INS401 FW file path> <one or more components are optional, the names of adjacent components are separated by a space bar>

eg:
>>upgrade <INS401 FW file path> rtk ins sdk imu_boot imu

After successful FW upgrade, the INS401 system restarts and starts logging data automatically.

INS402

INS402 supports In-Application Programming (IAP) firmware upgrade through the Ethernet interface, run the executable with the CLI option, and prompt for user input

./acenav -i 100base-t1 --device-type INS402 --cli
# console display with connection information
# prompt for user input, type in command and file path after the arrow symbol
# firmware is fully upgraded by default, contains a list of the components which are 
# rtk, ins, sdk and sdk_2
>>upgrade <INS402 FW file path>

# one or more firmware components(rtk, ins, sdk, sdk_2, imu_boot(if firmware is merged), imu(if firmware is merged)) are optionally upgraded
>>upgrade <INS402 FW file path> <one or more components are optional, the names of adjacent components are separated by a space bar>

eg:
>>upgrade <INS402 FW file path> rtk ins sdk sdk_2 imu_boot imu

After successful FW upgrade, the INS402 system restarts and starts logging data automatically.

Set the Unit Serial Number

INS401

./acenav -i 100base-t1 -sn <Ins401 serial number>

INS402

./acenav -i 100base-t1 --device-type INS402 -sn <Ins402 serial number>

Configure Algorithm Parameters(Only support INS402 now)

./acenav -i 100base-t1 --device-type INS402 --cli
# console display with connection information
# prompt for user input, type in command and file path after the arrow symbol
>>configure <INS402 algorithm parameters file path>

CAN-FD app

Run

please run $Env:PYTHONPATH="./src/aceinna/devices/widgets;"+$Env:PYTHONPATH in powershell
to set env:PYTHONPATH then

./acenav -i canfd

or run acenav-cli whit run_with_bat.bat

• run with canfd
  set "canfd_type": "canfd",
• run with can
  set "canfd_type": "can"

Parse Data

./acenav parse -t ins401c -p