Configuring your IoT device
GNSS and APNT configuration.
Currently the primary configuration function of the app is focused on GNSS and APNT positioning functionality.
NOTE: APNT is not fitted as standard. Only available on the APNT version of the RockBLOCK PRO
Full device configuration details available here:
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Position Source
Sets the primary source for position sentences exchanged with the app and delivered over the NMEA serial interface.
APNT modes
- Static. The device assumes that it remains in a fixed position. Kalman filter pre-sets or custom settings are not applied. Over time, Static mode will arrive at the most accurate time and position.
- Dynamic. Applies the Kalman filter pre-set or custom settings to better track a moving object.
- Auto. Auto mode uses GNSS source to determine if receiver is moving to automatically switch between static and dynamic mode.
- Custom. Allows the user to set Kalman filter settings to better suit a particular application.
- Maritime. These settings are recommended for larger vessels.
- Walking. Personnel use.
- Driving. Vehicle based applications in relatively flat terrain.
APNT sensitivity
This setting controls the gain of the receiver pre-amplifier. High sensitivity will give the best results when indoors or in areas with a restricted view of the sky. However, when a very high rate of Iridium STL® bursts are available there can be advantages in lowering the sensitivity as this helps to reject bursts that have a degraded measurement quality. This will improve timing and positioning accuracy.
APNT power(saving)
- Off. This setting will give the best performance as ALL of the APNT modules power saving features will be turned off.
- All. Enables all of the APNT modules power saving features. Power saving will be between 300mW to 500mW. Note that one of the power saving features is to turn OFF the GNSS receiver so for any application that uses GNSS (i.e. if the APNT mode is set to Auto, the APNT power(saving) must be set to off)
| Parameter | Description | |
|---|---|---|
| VTC | Vertical Time Constant | Time constant over which the vertical velocity vector is likely to change (seconds) |
| HTC | Horizontal Time Constant | Time constant over which the horizontal velocity vector is likely to change (seconds) |
| VSS | Vertical Steady State | Standard deviation of vertical velocity vector (meters/second, 1-sigma) |
| HSS | Horizontal Steady State | Standard deviation of horizontal velocity vector (meters/second, 1-sigma) |
These parameters affect how the PRO-APNT internal Kalman Filter estimates dynamic position in the absence of bursts or aiding inputs.
The time constant represents the PRESUMED rate at which the velocity vector is liable to change.
The steady state is the PRESUMED standard deviation of the velocity PDF (probability distribution function), in the axis or plane of interest.
A highly-dynamic, fast-moving object would necessitate a large steady state and a small time constant. A slow-moving object that changes direction and speed only rarely would necessitate a small steady state and a large time constant.
For reference the Kalman Filter pre-sets are as follows:
| Pre-set | VTC [s] | HTC [s] | VSS [m/s] | HSS [m/s] |
|---|---|---|---|---|
| Maritime | 5 | 300 | 0.1 | 15 |
| Walking | 5 | 300 | 0.1 | 5 |
| Driving | 30 | 10 | 0.1 | 10 |