Industrial Solutions · Radarteam Cobra series GPR are connected to the Data Logger via Bluetooth interface. Use supplied antenna cable to connect the Data Logger and GPR. If powering

Industrial Solutions

GPR IntegrationApplication Notes

industrial.ugcs.comAugust 2019 Revision 1

Revision History

Revision Date Description

1 29.08.2019 • Initial release

Table of Contents

31 • Abstract . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3Prerequisites

42 • Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4Prerequisites

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4Installation

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5GPR Parameters

83 • Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8After Flight

124 • Legal Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Disclaimer

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Trademarks

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Document License

GPR Integration Application Notes

Copyright © 2019—2020, SPH Engineering 2 Revision 1 • August 2019

1 • Abstract

This document aims to help:

• To connect Data Logger to the Ground Penetrating Radar (GPR);• To use the system in general;• To download logs after flight.

PrerequisitesBefore reading this document one should carefuly read following documents:

• Data Logger User Manual

When using GPR Integration in conjunction with True Terrain Following feature one shouldalso read:

• True Terrain Following Application Notes

These documents may be downloaded from https://industrial.ugcs.com website.

1 • Abstract GPR Integration Application Notes


https://industrial.ugcs.com

2 • Setup

PrerequisitesRequired hardware:

• Drone: DJI A3 based / DJI M600 / DJI M600 Pro• Data Logger + supplied cables• GPR: Radarteam Cobra Plug-In GPR with SE-70 antenna / Radarteam Cobra Plug-In GPR

with SE-150 antenna / Radarteam Cobra Plug-In GPR with CBD antenna / RadSysZond-12e 500A

Required desktop software:

• UgCS v3.2 or higher• UgCS Custom Payload Monitor v3.2 or higher• Putty SSH Client• WinSCP• Mobile device: UgCS for DJI

InstallationInstall the Data Logger according to its user manual.

Radarteam Cobra Plug-In GPR with SE-70 antenna / SE-150 antenna /CBD antennaRadarteam Cobra series GPR are connected to the Data Logger via Bluetooth interface.

Use supplied antenna cable to connect the Data Logger and GPR.

If powering the Cobra GPR from the Data Logger rather than from the internal battery, oneshould connect power cable from the Data Logger 12V power output to the GPR power input.

Bluetooth pairing between the Data Logger and GPR is performed automatically. However, if itdidn’t happen as expected, you may use following instructions to do it manually.

All devices will pair via Bluetooth automatically but CBD. It need to connect using Ethernet.

RadSys ZondConnect GPR’s Ethernet cable to RJ-45 and power cable to 12V power output on the DataLogger.

2 • Setup GPR Integration Application Notes


https://www.ugcs.com/download

https://www.chiark.greenend.org.uk/~sgtatham/putty/latest.html

https://winscp.net/eng/download.php

https://www.ugcs.com/direct-download-ugcs-for-dji

GPR ParametersIn order to configure the GPR Integration one should edit payloadctl.conf file located in/etc/payloadctl/ directory as described in Data Logger User Manual.

GPR Parameters GPR Integration Application Notes


Radarteam Cobra Plug-In GPRTo be used with SE-70 antenna, SE-150 antenna, or CBD antenna.

Table 2•1 — Radarteam Cobra Plug-In GPR specific parameters

ParameterDefaultValue

Description

[GPR]

BT_NAME RT[0-9]+ Bluetooth name of GPR device. May bea regular expression.

TIME_RANGE 800• 800 for new devices• 1600 for old devices

Table 2•2 — Advanced settings (not recommended to be changed)


Description

[GPR]

RAW_SAMPLE_COUNT 526, 534 Raw sample count received from theradar. Used for link quality verification.

RadSys Zond

Table 2•3 — RadSys Zond specific parameters


Description

[PYTHON_GPR]

HOST 192.168.0.10 Hostname or IP address of RadSysZond-12e GPR or Python GPR.

PORT 23 Port of RadSys GPR

PYTHON_GPR 0• 0: Python GPR• 1: Zond-12e GPR

[PYTHON_GPR_CHANNEL1]




Description

CABLES 0

Used in 1-channel GPRs, not used inZond-12e:

• 0: Separated• 1: Combined

CHANNEL_MODE 0

• 0: Channel 1• 1: Channel 2 (not supported)• 2: Two channels (not supported)• 3: Circle mode (not supported)

CIRCLE_CHANNEL false Enable or disable circle channel mode

HIGHT_PASS_FILTER 0

• 0: Off• 1: Weak• 2: Strong• 3: Super Strong

PULSE_DELAY 0From 0 to 1023. Must be set up oncefor each piece of equipment duringcalibration.

REGIME SOUNDING

Possible values are:• SOUNDING: Normal operation

mode• CALIBRATION: Sine wave with

frequency 20 MHz• TEST: Sine wave with constant

period for any settings

SAMPLES_QUANTITY 128 Supported values are: 128, 256, 512,1024

TIME_RANGE 50 Supported values (in ns) are: 12, 25, 50,100, 200, 300, 500, 800, 1200, 2000



3 • Usage

When Bluetooth GPR (Cobra) and Data Logger are enabled for the first time, it will take sometime for them to pair and connect to each other.

Ensure that GPR data is displayed on a chart in the Custom Payload Monitor application andthat logger state is “Logger receives data” (green).

Figure 3•1 — UgCS client and Custom Payload Monitor application open side-by-side

Upload the mission and start its execution in auto mode in the UgCS Client. Data recordingfrom GPR and drone to the microSD card starts automatically after drone taking off. Press theStart Logging button in the Custom Payload Monitor application to manually start recording.Monitor the execution of the mission (in the UgCS Client) and the data coming from GPR (inthe Custom Payload Monitor).

Press the Stop Logging button if the data recording is no longer needed. Data recording stopsautomatically after drone landing and disarming. Power off the drone. Then turn off the DJIRemote Controller and the mobile device. Close UgCS Client and Custom Payload Monitorapplications.

After FlightRadar logs downloadRadar *.sgy files may be obtained with help of a Custom Payload Monitor application. First,open the download window from an application menu (Tools > Download):

3 • Usage GPR Integration Application Notes


Figure 3•2 — Custom Payload Monitor files download option

Fill in the Data Logger IP address, username and password (initially the are filled with defaultvalue). Select a destination directory for downloaded files by clicking a Browse button andselecting a desired directory.

Figure 3•3 — Custom Payload Monitor download window

Press the Download button and wait for files to download. After a success message appears,examine the selected directory.

By default only files for a current date are downloaded. In order to download all available*.sgy files, check the Download files for all dates option. More advanced download optionsmay be specified in a configuration file.

Onboard software outputOnboard software produces several type of logs:

• GPR data log with -gpr.sgy suffix,• Position log with -position.csv suffix, and• System log with -system.log suffix.

Logs are stored in payload_logs folder on microSD card.



The filename contains sequential number (000001, 000002 etc.) before time synchronizationand data and time (in YEAR-MONTH-DAY-HOUR-MIN-SEC format) after synchronization withGPS. Time is UTC.

Logging (except system log) is started only by command from Custom Payload Monitor(using Start/Stop Logging button) or automatically after taking off. The system log starts afteronboard software is started.

The logs with the same file names have been created simultaneously. When the filename is tobe changed (e.g. after time synchronization) new set of logs is created.

There are two ways to download logs:

• By downloading via the Custom Payload Monitor;• By connecting via Wi-Fi or Ethernet (see Data Logger Wi-Fi and wired credentials in its

User Manual).

When the second way is chosen you will find logs in/run/media/mmcblk1p1/payload_logs directory.

GPR data logs (-gpr.sgy suffix) contain radar trace data in SEG-Y format. These files can beanalysed in PC applications such as Prism2 or similar software capable to read and processGPR data in SEG-Y format.

Position logs (-position.csv suffix) contain comma separated drone attitude values andGPS coordinates linked to correspondent trace.

System log (-system.log extension) is a journal of various system events. Please keep itwhile contacting our support team.

Custom Payload Monitor configurationThe Custom Payload Monitor application can be manually configured by editing theconfiguration file. Close the application before editing the configuration file. The configurationfile is located by default at:

%LocalAppData%\UgCS-CustomPayload\configuration\custom-payload\custom-payload.xml

Following chart configuration parameters are supported:

• XMin: Manually set minimum value for the X (Amplitude) axis on a chart• XMax: Manually set maximum value for the X (Amplitude) axis on a chart• TimeMin: Manually set minimum value for the Y (Time) axis on a chart• TimeMax: Manually set maximum value for the Y (Time) axis on a chart• DownloadMask: Files mask for a download. {0} stands for a current date part

(“yyyy-MM-dd”) and may be omitted.• RemoteDownloadPath: Path on an onboard computer to download files from

For example, the configuration file may look like this:



<?xml version="1.0" encoding="utf-16"?><CustomPayload><DownloadMask>{0}*.sgy</DownloadMask><RemoteDownloadPath>/run/media/mmcblk1p1/gprlogs</RemoteDownloadPath><ServerHost>localhost</ServerHost><ServerLogin>admin</ServerLogin><ServerPort>3334</ServerPort><TimeMin>100</TimeMin><TimeMax>1200</TimeMax><XMax>200.25</XMax></CustomPayload>



4 • Legal Notice

SPH Engineering reserves the right to make corrections, enhancements, improvements andother changes to its products and services and to discontinue any product or service.

Buyers should obtain the latest relevant information before placing orders and should verifythat such information is current and complete.

Buyer acknowledges and agrees that it is solely responsible for compliance with all legal,regulatory and safety-related requirements concerning its products, and any use of ourproducts in its applications, notwithstanding any applications-related information or supportthat may be provided by SPH Engineering. Buyer represents and agrees that it has all thenecessary expertise to create and implement safeguards which anticipate dangerousconsequences of failures, monitor failures and their consequences, lessen the likelihood offailures that might cause harm and take appropriate remedial actions. Buyer will fullyindemnify SPH Engineering and its representatives against any damages arising out of theuse of any our products in safety-critical applications.

DisclaimerInformation in this document is subject to change without notice and does not represent acommitment on the part of SPH Engineering. SPH Engineering provides this document “as is”without warranty of any kind, expressed or implied, including, but not limited to, the impliedwarranties of fitness or merchantability for a particular purpose. SPH Engineering may makeimprovements and/or changes in this document or in the product(s) and/or the program(s)described in this document at any time.

TrademarksUgCS is a registered trademark of SPH Engineering.

All other trademarks and registered trademarks mentioned in this document are the propertyof their respective owners.

Document LicenseDocument contents are licensed under Creative CommonsAttribution-NonCommercial-NoDerivatives 4.0 International License (CC BY-NC-ND 4.0).

Latest documentation is available on industrial.ugcs.com

[email protected] www.ugcs.com

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Industrial Solutions · Radarteam Cobra series GPR are connected to the Data Logger via Bluetooth interface. Use supplied antenna cable to connect the Data Logger and GPR. If powering