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{{#switch: {{{model}}} | {{#switch: {{{model}}} | ||
| FTM927 | |||
| FTC927 | | FTC927 | ||
| FTM887 | | FTM887 | ||
| FTC887 | | FTC887 | ||
| | | FTC308 | ||
| FTM308 = | |||
== Dead Reckoning == | == Dead Reckoning == | ||
'''Dead Reckoning''' is a navigation technique used to estimate current position of vehicle | '''Dead Reckoning''' is a navigation technique used to estimate current position of vehicle, direction of movement, based on its previous position and known speed. It uses additional sensor data to correct the position received from GNSS receiver. For a detailed explanation and demonstration, check out '''[https://www.youtube.com/watch?v=TOVAL0zRuK0 Dead Reckoning Explained Youtube video]'''.<br> | ||
Usage of Dead Reckoning is essential in scenarios where GNSS signal is weak or unavailable, such as underground parking lots, tunnels or dense forests.<br> | Usage of Dead Reckoning is essential in scenarios where GNSS signal is weak or unavailable, such as underground parking lots, tunnels or dense forests.<br> | ||
Key points to understand before utilizing the Dead Reckoning functionality: | Key points to understand before utilizing the Dead Reckoning functionality: | ||
* Installation | * Installation | ||
* Configuration | * Configuration | ||
* Alignment | * Alignment | ||
=== <u>Prerequisites and Important Settings</u> === | |||
* Device mounting quality – Correct device mounting is critical for Dead Reckoning operation. Improper mounting may result in incorrect sensor data and unreliable Dead Reckoning performance. | |||
* Dead Reckoning alignment maintenance – If Dead Reckoning alignment parameters are no longer valid, send the DR_RESET command and perform calibration. | |||
* Electric and hybrid vehicles – For electric and hybrid vehicles, DIN1 should be used for movement detection to ensure correct Dead Reckoning operation. | |||
* Dead Reckoning is not supported for two‑wheeled vehicles (e.g., motorcycles, scooters). | |||
=== <u>Basic Operation</u> === | |||
'''<u>Installation</u>'''<br> | '''<u>Installation</u>'''<br> | ||
The device must be mounted firmly in the vehicle, with good visibility of the sky. Failure to ensure proper mounting will result in inability to calibrate the device or inaccurate position estimation | The device must be mounted firmly in the vehicle, with good visibility of the sky. Failure to ensure proper mounting will result in inability to calibrate the device or inaccurate position estimation. Following examples ensure that the GNSS antenna is facing towards the sky and there are no physical obstacles, like metal plates, wires, are blocking the GNSS signal. | ||
Good '''mounting''' examples ( <span style="color:red">'''If vehicle has a heated windshield, you should look for an alternative mounting location in the trunk, on some sturdy metal closer to backseat window'''</span>):<br> | Good '''mounting''' examples ( <span style="color:red">'''If vehicle has a heated windshield, you should look for an alternative mounting location in the trunk, on some sturdy metal closer to backseat window'''</span>):<br> | ||
<div style="display: flex; flex-direction: row;"> | <div style="display: flex; flex-direction: row;"> | ||
[[File:FTC927 under the front dashboard in the middle of the car.jpg|thumb|left|280px|Dashboard in the middle of the car mount]] | [[File:FTC927 under the front dashboard in the middle of the car.jpg|thumb|left|280px|link=Special:Redirect/file/FTC927 under the front dashboard in the middle of the car.jpg|Dashboard in the middle of the car mount]] | ||
[[File:FTC927 beneath the speedometer panel.jpg|thumb|left|300px|Beneath the speedometer panel]] | [[File:Dead reckoning Above glove box.jpg|thumb|left|300px|link=Special:Redirect/file/Dead reckoning Above glove box.jpg|Above glove box]] | ||
[[File: | [[File:FTC927 above the glove box.jpg|thumb|left|300px|link=Special:Redirect/file/FTC927 above the glove box.jpg|Above glove box]] | ||
</div> | |||
<div style="display: flex; flex-direction: row;"> | |||
[[File:Dead reckoning In the trunk-1.jpg|thumb|left|300px|link=Special:Redirect/file/Dead reckoning In the trunk-1.jpg|In the trunk]] | |||
[[File:Dead reckoning In the trunk-2.jpg|thumb|left|300px|link=Special:Redirect/file/Dead reckoning In the trunk-2.jpg|In the trunk]] | |||
[[File:FTC927 beneath the speedometer panel.jpg|thumb|left|300px|link=Special:Redirect/file/FTC927 beneath the speedometer panel.jpg|Beneath the speedometer panel]] | |||
</div> | |||
<div style="display: flex; flex-direction: row;"> | |||
[[File:Dead reckoning Under the hood.jpg|thumb|left|300px|link=Special:Redirect/file/Dead reckoning Under the hood.jpg|Under the hood]] | |||
</div> | </div> | ||
Bad '''mounting''' examples:<br> | Bad '''mounting''' examples:<br> | ||
<div style="display: flex; flex-direction: row;"> | <div style="display: flex; flex-direction: row;"> | ||
[[File:Dead Reckoning Unwanted movements will be detected by the IMU.png|thumb|left|280px|Unwanted movements will be detected by the IMU]] | [[File:Dead Reckoning Unwanted movements will be detected by the IMU.png|thumb|left|280px|link=Special:Redirect/file/Dead Reckoning Unwanted movements will be detected by the IMU.png|Unwanted movements will be detected by the IMU]] | ||
[[File:Dead Reckoning Metal parts above the mount.png|thumb|left|300px|Metal parts above the mount]] | [[File:Dead Reckoning Metal parts above the mount.png|thumb|left|300px|link=Special:Redirect/file/Dead Reckoning Metal parts above the mount.png|Metal parts above the mount]] | ||
[[File:Dead Reckoning vibration could cause unwanted device movements.png|thumb|left|300px|Places, where vibration could cause unwanted device movements]] | [[File:Dead Reckoning vibration could cause unwanted device movements.png|thumb|left|300px|link=Special:Redirect/file/Dead Reckoning vibration could cause unwanted device movements.png|Places, where vibration could cause unwanted device movements]] | ||
</div> | </div> | ||
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''The Dead Reckoning feature is configurable via the Dead Reckoning section in the GNSS settings group under System view in TCT.'' | ''The Dead Reckoning feature is configurable via the Dead Reckoning section in the GNSS settings group under System view in TCT.'' | ||
Parameter list can be found [[ | Parameter list can be found [[{{{model}}}_System#Parameter_list|here]]. | ||
===== Dead Reckoning alignment status ===== | ===== Dead Reckoning alignment status ===== | ||
| Line 329: | Line 343: | ||
* '''99''' - Standby: Dead Reckoning is in standby mode ('''NOTE''': this status is availabe with 3.7.X or newer firmware version) | * '''99''' - Standby: Dead Reckoning is in standby mode ('''NOTE''': this status is availabe with 3.7.X or newer firmware version) | ||
===== Turning alignment ===== | |||
The turning alignment is a 1-byte AVL ID ('''1434''') that indicates the current percentage of the turning alignment of the device. | |||
===== Straight alignment ===== | |||
The straight alignment is a 1-byte AVL ID ('''1435''') that indicates the current percentage of the straight alignment of the device. | |||
''' | |||
'''<u>Alignment</u>'''<br> | '''<u>Alignment</u>'''<br> | ||
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# Avoid driving in underground tunnels or areas with poor GNSS signal, otherwise alignment needs to be restarted from the second step. | # Avoid driving in underground tunnels or areas with poor GNSS signal, otherwise alignment needs to be restarted from the second step. | ||
[[File:Dead Reckoning TCT Swift .png|right|400px]] | [[File:Dead Reckoning TCT Swift .png|right|400px]] | ||
=== <u>Standby mode</u> === | === <u>Standby mode</u> === | ||
| Line 370: | Line 389: | ||
=== <u>Limitations</u> === | === <u>Key Performance Indicators (based on performed tests)</u> === | ||
* '''GNSS denied operation (1 km)''' | |||
** When driving 1 km without a GNSS signal (including 15–20 turns), the positional error is ≤ 25 m, achieved in at least 8 out of 10 field tests.<br> | |||
** Dead Reckoning continues operating beyond 1 km; however, positional error may increase after this threshold.<br> | |||
* '''Recovery after DR Standby (Sleep Mode)''' | |||
** After exiting DR Standby (Sleep Mode), the system correctly reconstructs the driven route for up to 5 minutes or 1000 m, with a positional error of ≤ 50 m, achieved in at least 8 out of 10 field tests.<br> | |||
* '''Real world driving variability''' | |||
** Real world driving conditions may vary and can impact performance results. | |||
=== <u>Limitations, Edge Cases & Additional Notes</u> === | |||
There are some important things to keep in mind when using the Dead Reckoning functionality. The algorithm tries to correct for these issues, but sometimes they can still affect how well Dead Reckoning works. | There are some important things to keep in mind when using the Dead Reckoning functionality. The algorithm tries to correct for these issues, but sometimes they can still affect how well Dead Reckoning works. | ||
* '''Loss of alignment during drifting''' – Dead Reckoning alignment will be lost during drifting, when the actual movement vector does not correspond to the vehicle heading. Re‑alignment is required. | |||
* '''Overshooting''' - May occur when the vehicle travels straight for more than 50 m at speeds below 20 km/h. In such cases, positional overshoot may be observed. An example is shown in the attached image. | |||
[[File:Dead Reckoning - Overshooting.png|300px|link=Special:Redirect/file/Dead Reckoning - Overshooting.png]] | |||
* '''Position accuracy may decrease''' - If the device cannot receive a GNSS signal for a long time, the estimated position may become less accurate. This is because the sensors inside the device can only estimate the position for a limited time without help from GNSS. | * '''Position accuracy may decrease''' - If the device cannot receive a GNSS signal for a long time, the estimated position may become less accurate. This is because the sensors inside the device can only estimate the position for a limited time without help from GNSS. | ||
For example: If a courier spends up to 30 minutes unloading in the underground car park, DR will remain accurate. Otherwise, positioning information will become less accurate. | For example: If a courier spends up to 30 minutes unloading in the underground car park, DR will remain accurate. Otherwise, positioning information will become less accurate. | ||
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[[File:GNSS Multipath.png|350px]] | [[File:GNSS Multipath.png|350px]] | ||
=== <u> | === <u>AVL ID list</u> === | ||
<table class="nd-othertables_2" style="width:100%; border-collapse: collapse;"> | <table class="nd-othertables_2" style="width:100%; border-collapse: collapse;"> | ||
<tr> | <tr> | ||
| Line 403: | Line 435: | ||
<td style="vertical-align: middle; text-align: center;">1</td> | <td style="vertical-align: middle; text-align: center;">1</td> | ||
<td style="vertical-align: middle; text-align: center;"> </td> | <td style="vertical-align: middle; text-align: center;"> </td> | ||
<td style="vertical-align: middle; text-align: center;">[[ | <td style="vertical-align: middle; text-align: center;">[[{{{model}}}_System#Dead_Reckoning_alignment_status|Dead Reckoning alignment status]]</td> | ||
</tr> | </tr> | ||
<tr> | <tr> | ||
| Line 413: | Line 445: | ||
<td style="vertical-align: middle; text-align: center;">1</td> | <td style="vertical-align: middle; text-align: center;">1</td> | ||
<td style="vertical-align: middle; text-align: center;">%</td> | <td style="vertical-align: middle; text-align: center;">%</td> | ||
<td style="vertical-align: middle; text-align: center;">[[ | <td style="vertical-align: middle; text-align: center;">[[{{{model}}}_System#Turning_alignment|Turning alignment]]</td> | ||
</tr> | </tr> | ||
<tr> | <tr> | ||
| Line 423: | Line 455: | ||
<td style="vertical-align: middle; text-align: center;">1</td> | <td style="vertical-align: middle; text-align: center;">1</td> | ||
<td style="vertical-align: middle; text-align: center;">%</td> | <td style="vertical-align: middle; text-align: center;">%</td> | ||
<td style="vertical-align: middle; text-align: center;">[[ | <td style="vertical-align: middle; text-align: center;">[[{{{model}}}_System#Straight alignment|Straight alignment]]</td> | ||
</tr> | |||
</table> | |||
=== <u>Parameter list</u> === | |||
<table class="nd-othertables_2" style="width:100%; border-collapse: collapse;"> | |||
<tr> | |||
<th style="width:8%; vertical-align: middle; text-align: left;">Property ID in AVL packet</th> | |||
<th style="width:15%; vertical-align: middle; text-align: center;">Property Name</th> | |||
<th style="width:5%; vertical-align: middle; text-align: center;">Bytes</th> | |||
<th style="width:10%; vertical-align: middle; text-align: center;">Min Value</th> | |||
<th style="width:10%; vertical-align: middle; text-align: center;">Max Value</th> | |||
<th style="width:5%; vertical-align: middle; text-align: center;">Multiplier</th> | |||
<th style="width:5%; vertical-align: middle; text-align: center;">Units</th> | |||
<th style="width:32%; vertical-align: middle; text-align: left;">Description</th> | |||
</tr> | </tr> | ||
<tr> | <tr> | ||
<td style="vertical-align: middle; text-align: center;"> | <td style="vertical-align: middle; text-align: center;">123</td> | ||
<td style="vertical-align: middle; text-align: center;"> | <td style="vertical-align: middle; text-align: center;">Alignment auto-save</td> | ||
<td style="vertical-align: middle; text-align: center;">-</td> | <td style="vertical-align: middle; text-align: center;">-</td> | ||
<td style="vertical-align: middle; text-align: center;">0</td> | <td style="vertical-align: middle; text-align: center;">0</td> | ||
| Line 433: | Line 479: | ||
<td style="vertical-align: middle; text-align: center;">-</td> | <td style="vertical-align: middle; text-align: center;">-</td> | ||
<td style="vertical-align: middle; text-align: center;">-</td> | <td style="vertical-align: middle; text-align: center;">-</td> | ||
<td style="vertical-align: middle; text-align: center;"> | <td style="vertical-align: middle; text-align: center;">This option saves calibration data to device memory, enabling a faster recalibration after device restart. <br> '''0''' = Disable <br> '''1''' = Enable </td> | ||
</tr> | </tr> | ||
<tr> | <tr> | ||
| Line 443: | Line 489: | ||
<td style="vertical-align: middle; text-align: center;">1</td> | <td style="vertical-align: middle; text-align: center;">1</td> | ||
<td style="vertical-align: middle; text-align: center;">(s) seconds</td> | <td style="vertical-align: middle; text-align: center;">(s) seconds</td> | ||
<td style="vertical-align: middle; text-align: center;">The standby timeout is the time after which device will attempt to correct the position based on correction strategy.<br> Default value = '''0''' </td> | <td style="vertical-align: middle; text-align: center;">The standby timeout is the time after which device will attempt to correct the position based on correction strategy.<br> Default value = '''1800''' </td> | ||
</tr> | |||
<tr> | |||
<td style="vertical-align: middle; text-align: center;">125</td> | |||
<td style="vertical-align: middle; text-align: center;">Standby mode</td> | |||
<td style="vertical-align: middle; text-align: center;">-</td> | |||
<td style="vertical-align: middle; text-align: center;">0</td> | |||
<td style="vertical-align: middle; text-align: center;">1</td> | |||
<td style="vertical-align: middle; text-align: center;">-</td> | |||
<td style="vertical-align: middle; text-align: center;">-</td> | |||
<td style="vertical-align: middle; text-align: center;">The standby mode is the mode in which the device will attempt to correct the position based on correction strategy. <br>'''0''' = Realignment<br>'''1''' = Preserve alignment</td> | |||
</tr> | </tr> | ||
</table> | </table> | ||
}} | }} | ||
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</td> | </td> | ||
<td style="vertical-align: middle; horizontal-align: center; min-width: 150px; border-bottom: 3px solid #336699;"> | <td style="vertical-align: middle; horizontal-align: center; min-width: 150px; border-bottom: 3px solid #336699;"> | ||
*Ignition is | *Configured '''Ignition source''' is on.<br> | ||
*Movement is detected.<br> | *Movement is detected by the configured '''Movement source.<br> | ||
{{#if: {{FTX Pin Support List|model={{{model}}}|pin=DIN1}} | *DIN1 is activated }} {{#if: {{FTX Pin Support List|model={{{model}}}|pin=DIN2}} | *DIN2 is activated }} {{#if: {{FTX Pin Support List|model={{{model}}}|pin=DIN3}} | *DIN3 is activated }} | {{#if: {{FTX Pin Support List|model={{{model}}}|pin=DIN1}} | *DIN1 is activated }} {{#if: {{FTX Pin Support List|model={{{model}}}|pin=DIN2}} | *DIN2 is activated }} {{#if: {{FTX Pin Support List|model={{{model}}}|pin=DIN3}} | *DIN3 is activated }} | ||
*Periodic wake-up (if enabled).<br></td> | *Periodic wake-up (if enabled).<br></td> | ||
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</td> | </td> | ||
<td style="vertical-align: middle; horizontal-align: center; min-width: 150px; border-bottom: 3px solid #336699;"> | <td style="vertical-align: middle; horizontal-align: center; min-width: 150px; border-bottom: 3px solid #336699;"> | ||
*Ignition is | *Configured '''Ignition source''' is on.<br> | ||
*Movement is detected. | *Movement is detected by the configured '''Movement source.<br> | ||
*Periodic wake-up (if enabled). | *Periodic wake-up (if enabled). | ||
</td> | </td> | ||
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*No open Data sockets (ignored with enabled permanent link)<br> | *No open Data sockets (ignored with enabled permanent link)<br> | ||
*No active FOTA WEB connection progress. | *No active FOTA WEB connection progress. | ||
*No signal is detected on Digital Input 1 | |||
</td> | </td> | ||
<td style="vertical-align: middle; horizontal-align: center; min-width: 150px; border-bottom: 3px solid #336699;"> | <td style="vertical-align: middle; horizontal-align: center; min-width: 150px; border-bottom: 3px solid #336699;"> | ||
* | *Movement detected by the accelerometer. | ||
* | *Signal detected on Digital Input 1 | ||
'''Note:''' In Power Off Sleep mode, the main application is not running. Ignition and Movement sources are not monitored and cannot trigger a wake-up event. | |||
</td> | </td> | ||
<td style="vertical-align: middle; horizontal-align: center; min-width: 100px; border-bottom: 3px solid #336699;"> | <td style="vertical-align: middle; horizontal-align: center; min-width: 100px; border-bottom: 3px solid #336699;"> | ||
| Line 700: | Line 755: | ||
*SNTP time synchronization | *SNTP time synchronization | ||
*Overspeeding | *Overspeeding | ||
*Towing Detection | |||
*Trip | *Trip | ||
*Unplug Detection | *Unplug Detection | ||