Galaxy Tracking Systems VTRAKH150 VEHICLE TRACKING UNIT User Manual Vehicle Location and Tracking System

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Date Submitted	2004-06-23 00:00:00
Date Available	2004-06-23 00:00:00
Creation Date	2004-05-07 12:10:21
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Document Title	Vehicle Location and Tracking System
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Document Author:	obrienm

Vehicle Location and Tracking System
(VLaTS)
Vehicle Transceiver Unit (VTU)
User’s Guide
7 Sept 1999
Prepared By:
Galaxy Scientific Corp.
600 Louis Drive Suite 202
Warminster, PA 18974
(215) 672-8005
FAX (215) 672-8708
Table of Contents
INTRODUCTION .................................................................................................................................. 6
SCOPE ................................................................................................................................................. 6
APPLICABLE DOCUMENTS .............................................................................................................. 6
SPECIFICATIONS ............................................................................................................................... 6
SYSTEM OVERVIEW .......................................................................................................................... 7
5.1
5.2
5.3
5.4
MOBILE COMPONENTS ........................................................................................................................ 7
FIXED COMPONENTS .......................................................................................................................... 8
RF TRANSMISSION SCHEME ............................................................................................................... 8
SYSTEM TIMING.................................................................................................................................. 8
VTU COMPONENTS............................................................................................................................ 9
6.1 VTU SYSTEM ENCLOSURE ................................................................................................................. 9
6.1.1 GPS Receiver.......................................................................................................................... 9
6.1.2 Radio ....................................................................................................................................... 9
6.1.3 System Controller .................................................................................................................... 9
6.2 ANTENNAS AND CABLES ................................................................................................................... 10
6.3 OPTIONAL COMPONENTS .................................................................................................................. 10
6.3.1 Switch Box (Alarms and Indicators) ...................................................................................... 10
6.3.2 Relay Box (Vehicle Controls) ................................................................................................ 10
VTU CONNECTORS AND CONNECTIONS ..................................................................................... 11
7.1
7.2
INPUTS............................................................................................................................................. 13
OUTPUTS ......................................................................................................................................... 14
VTU OPERATIONS............................................................................................................................ 14
8.1 VTU STARTUP ................................................................................................................................. 14
8.2 VTU OPERATING MODES ................................................................................................................. 15
8.2.1 OUT OF SERVICE Operating Mode ..................................................................................... 15
8.2.2 IN SERVICE Operating Mode ............................................................................................... 15
Table of Figures
Figure 1 - Vehicle Location and Tracking System Architecture ....................................... 7
Figure 2 - Vehicle Transceiver Unit (VTU)....................................................................... 9
Figure 3 VTU INPUT PIN DEFINITIONS - 10 pin BROWN Molex Connector ............... 11
Figure 4 VTU POWER CONNECTOR PIN DEFINITIONS - 4 pin WHITE Molex
Connector .............................................................................................................. 12
Figure 5 VTU OUTPUT PIN DEFINITIONS - 8 pin BROWN Molex Connector ............. 13
Galaxy Tracking Systems, L.L.C.
Technical Documentation - VTU
1.0 INTRODUCTION
This document is intended to provide a description of the operation and interfaces of the
Vehicle Transceiver Unit (VTU.
2.0 SCOPE
This document describes
the operation and use of the Vehicle Transceiver Unit (VTU).
3.0 APPLICABLE DOCUMENTS
Vehicle Location and Tracking System (VLaTS)
Vehicle Tracking Unit (VTU) Installation Guide Revision 1
24 February 1999
Vehicle Location and Tracking System (VLaTS)
Mobile Tracking Unit (MTU) User’s Guide
7 Sept 1999
4.0 Specifications
VHF Receiver:
Frequency:
Frequency Band:
Modulation Format:
Deviation:
Transmission Rate:
Sensitivity:
Multiple frequency operation within band
150 - 174 MHz band typical
GMSK
+/-1.5 kHz
9,600 Baud, 7-bit even parity, 1 stop bit (12.5 kHz BW)
-114 dBm
Frequency:
Frequency Band:
Internal Stability:
Modulation Format:
Deviation:
Transmission Rate:
Transmit Power:
Harmonic Suppression:
Multiple frequency operation within band
150 - 174 MHz band typical
+/- 1.5 ppm
GMSK
+/- 1.5 kHz
9,600 Baud, 7-bit even parity, 1 stop bit (12.5 kHz BW)
2.0 Watts (at 13.5 VDC)
>50 dBc
Update rate:
Position Accuracy:
Velocity Accuracy:
Time Accuracy:
Acquisition Time:
Warm Start:
Cold Start:
Number of Channels:
1 Hz
2m 2D RMS with Differential GPS (included)
100 m 2D RMS when Differential not available
0.1 m/sec
130 ns w/ SA on
Hot Start: < 3 seconds
< 20 seconds
< 2 minutes
12 (All-in-View)
Inputs:
Outputs:
4 Discrete Switch Inputs
4 Discrete Outputs, 15 mA
VHF Transmitter:
GPS Receiver:
Inputs / Outputs
Use or disclosure of data contained on this sheet is subject to the restriction on the title page of this report.
Galaxy Tracking Systems, L.L.C.
Technical Documentation - VTU
Options
Input Switch Box:
Antennas:
Backup Battery:
Connects to V-Trak™, Provides driver with Panic Button / assistance
request functions; alternatively used for status indications
High current relays allow V-Trak™ outputs to be used to control vehicle:
engine kill, unlock door, honk horn, etc.
Magnetic mount, permanent mount, and hidden GPS and VHF antennas
4 hour or 16 hour operation
Voltage:
Current Draw:
12 VDC nominal
250 mA at idle, 1.1 amp while transmitting
Dimensions:
Operating temperature:
16.5 cm x 10 cm x 5 cm
-30°C to +60°C
Output Relays:
Power Requirements:
Physical / Environmental
5.0 SYSTEM OVERVIEW
A typical configuration of Galaxy’s vehicle tracking system is illustrated below.
GPS SATELLITE NETWORK
FIXED TRACKING
UNIT (FTU)
GPS
RF
GPS
Private Vehicle
Transceiver Unit
(VTU)
RF
Mobile
Tracking
unit
(MTU)
RF
RF
RF
Fleet Vehicle
Tranceiver Unit
(VTU)
DIGITAL DATA
LINK (DDL)
RF
DDL
DDL
FTU
CENTRAL BROADCASTING
UNIT (CBU)
DDL
CENTRAL
CENTRAL
COMMAND
COMMAND
CENTER
CENTER
(CCC)
(CCC)
FTU
Figure 1 - Vehicle Location and Tracking System Architecture
5.1 Mobile Components
The Vehicle Transceiver Unit (VTU) is the mobile component of Galaxy’s vehicle
location and tracking system. Each VTU contains a GPS receiver to determine location,
and a VHF radio for communications. VTUs run directly off of vehicular battery power
and are small enough to be easily hidden.
Use or disclosure of data contained on this sheet is subject to the restriction on the title page of this report.
Galaxy Tracking Systems, L.L.C.
Technical Documentation - VTU
Vehicles equipped with VTUs can be commanded to continuously report their position,
speed, and status.
For anti-theft and security related applications, the VTU can provide limited remote
control of vehicle systems (e.g., lights, horn or ignition), as well as automated and
manual alarms.
5.2 Fixed Components
The tracking system’s infrastructure is comprised a powerful transmitter, Central
Broadcasting Unit (CBU), and a host of fixed receivers, Fixed Tracking Units (FTUs),
placed strategically throughout the area of operations to ensure uninterrupted
communications to member vehicles. The CBU operates under the direct control of the
Central Command Center (CCC) which provides the primary operator interface to
command and control the system. The CBU transmits aiding data, system timing data and
VTU commands at precise intervals synchronized to GPS time.
Every VTU command requires an acknowledgment back to the CCC. The exact time and
interval at which the VTU is to transmit its response(s) is contained in the original VTU
command. Vehicle (VTU) transmissions are received by FTU(s) and forwarded by direct
cable connection or telephone line back to the CCC.
5.3 RF Transmission Scheme
Galaxy’s system currently supports sixteen radio channels. Each channel is comprised of
a receive / transmit frequency pair within the radio’s operating frequency range. Each
channel is divided using a Time Division Multiple Access (TDMA) transmission scheme
that begins on a one-hour boundary and repeats every 30 seconds. Each 30-second cycle
is divided into five six-second frames. The frames are further divided into 100 msec
“slots”.
The first six time slots of each frame are allocated to CBU transmissions. The remaining
time slots are allocated dynamically to specific VTUs under control of the command
center.
5.4 System Timing
Accurate time is required to maintain the TDMA transmission scheme employed for VHF
communications. All system components are synchronized to within a few milliseconds
of each other using the GPS 1 PPS output pulse.
Use or disclosure of data contained on this sheet is subject to the restriction on the title page of this report.
Galaxy Tracking Systems, L.L.C.
Technical Documentation - VTU
VTU Components
VLaTS Vehicle Tracking Unit (VTU)
p,v,t, ID,status
GPS
UHF
Commands,
Timing
Vehicl e
Discretes
GPS Subsys tem
(GPS Receiv er)
p,v,t
ID, status
Configurati on,
Initializ ation,
GPS Correcti ons
Movement,
SOS,
Assistanc e,
Car Alarm
Status Includes:
Hardware status
GPS Tracki ng s tatus
Discretes status
Unauthoriz ed Mov ement
Armed,
Indic ators
SOS,
Assistanc e
Digital Baseband
Subsystem
(Micro Controller)
Packets ,
Timing data /
control
Communications
Subsystem
(Radio Modem)
Features
3 Freq between (450-470 Mhz)
9600 baud GMSK modulati on
Forward Error Correcti on (Hamming c ode, Data Interleavi ng)
2 watt transmit power
20 K range
Figure 2 - Vehicle Transceiver Unit (VTU)
6.1 VTU System Enclosure
6.1.1 GPS Receiver
Every VTU contains a GPS receiver and is equipped with a GPS antenna and an antenna
cable. The receiver is differentially aided through the RF link to provide vehicle position
accuracy to within a few meters and synchronized system time accurate to within .5 ms.
The position information is transmitted to the command center at a precise predetermined
moment based on system time.
The GPS receiver will report a position at 0 degrees latitude and 0 degrees longitude
unless it can find and track GPS satellites. This takes less than a minute under normal
circumstances.
6.1.2 Radio
The VTU radio is capable of operation on 16 distinct frequencies over the frequency
range of 150 to 174 MHz at 2 watts. Frequencies are preset at the factory and selected for
operation from the command center via the RF link.
6.1.3 System Controller
The system controller is the heart of the VTU. It integrates the radio and GPS, contains
the system logic the overall operation of the VTU. It is comprised of a single board
Use or disclosure of data contained on this sheet is subject to the restriction on the title page of this report.
Galaxy Tracking Systems, L.L.C.
Technical Documentation - VTU
embedded controller equipped with a Motorola M68HC11E1 microcontroller, 32
Kilobytes of flash ROM, 32 Kilobytes of SRAM and various support components to
enable the circuitry to perform the desired tasks. In addition, the baseband board is
equipped with a MX-COM 909A single chip GMSK data pump modem for the purpose
of providing the communications subsystem with modulation and Forward Error
Correction (FEC) for data transmission and reception.
6.2 Antennas and Cables
A GPS Antenna, a UHF antenna, associated cables and power cabling are included with
each VTU. GPS antennas are available as permanently mounted units, temporary
magnetic mount units or as covert units. Similar options are available for UHF antennas.
Refer to the VTU Installation Guide details.
6.3 Optional Components
6.3.1 Switch Box (Alarms and Indicators)
As an option, a small switch box can be acquired for installation in VTU equipped
vehicles. The box houses the three momentary contact switches for issuing alarms and
arming the unauthorized movement sensor and four LED indicators. Three of the
indicators display alarm status, the fourth monitors VTU power and transmit activity.
The switch box is small enough that it can be mounted unobtrusively in the passenger
compartment in such a way that the operator can monitor status, but it will go unnoticed
by other occupants (or a thief).
6.3.2 Relay Box (Vehicle Controls)
The VTU provide four outputs suitable for controlling relays. With the relays installed in
various automotive systems, lights, horn, ignition, etc. the VTU can be controlled or
disabled by suitably equipped chase vehicles. Refer to the Mobile Tracking Unit (MTU)
User’s Guide.
This type of installation is very model or even vehicle specific and is ordinarily left to
qualified mechanics or motor pool personnel.
Use or disclosure of data contained on this sheet is subject to the restriction on the title page of this report.
Galaxy Tracking Systems, L.L.C.
Technical Documentation - VTU
7.0 VTU Connectors and Connections
Figure 3 VTU INPUT PIN DEFINITIONS - 10 pin BROWN Molex Connector
Pin
10
PIN
PIN
PIN
PIN
Function
DO NOT CONNECT, UNIT MAY BE DAMAGED BY ANY CONNECTION TO THIS
Ground
DO NOT CONNECT, UNIT MAY BE DAMAGED BY ANY CONNECTION TO THIS
DO NOT CONNECT, UNIT MAY BE DAMAGED BY ANY CONNECTION TO THIS
DO NOT CONNECT, UNIT MAY BE DAMAGED BY ANY CONNECTION TO THIS
NO CONNECTION
Input, Alarm Discrete--connect to ground (pin 9) to activate
Input, Unauthorized Movement Discrete--connect to ground (pin 9) to activate
Input, Roadside Assistance request Discrete--connect to ground (pin 9) to activate
Input, SOS Input Discrete--connect to ground (pin 9) to activate
Use or disclosure of data contained on this sheet is subject to the restriction on the title page of this report.
Galaxy Tracking Systems, L.L.C.
Technical Documentation - VTU
Figure 4 VTU POWER CONNECTOR PIN DEFINITIONS - 4 pin WHITE Molex
Connector
Pin
Function
Chassis Ground
VCC +12V
No Connection
Ignition Sense-- +12V if engine on/ 0 V if off
Use or disclosure of data contained on this sheet is subject to the restriction on the title page of this report.
Galaxy Tracking Systems, L.L.C.
Technical Documentation - VTU
Figure 5 VTU OUTPUT PIN DEFINITIONS - 8 pin BROWN Molex Connector
Pin
Function
Power / Transmit LED (Connect anode of LED to this pin, cathode to pin 9 of the 10 pin Molex or other ground
point) Illuminates when unit is powered, blinks off during transmit.
Unauthorized Movement Indicator LED (Connect cathode of LED to this pin, anode through 500 ohm resistor to
12V)
Roadside Assistance request Indicator LED (Connect cathode of LED to this pin, anode through 500 ohm resistor to
12V)
SOS Indicator LED (Connect cathode of LED to this pin, anode through 500 ohm resistor to 12V)
Engine Disable Relay control—Inactive: 0V. Active: 5V to shut off engine. WARNING, This output can only
provide 20 ma of current. Drawing more than 20 ma at this pin will destroy the device. There MUST be a current
amplification device at this output to drive the relay.
Signal Light Relay control—Inactive: 0V. Active: oscillates to 0 to 5V to flash signal lights. WARNING, This
output can only provide 20 ma of current. Drawing more than 20 ma at this pin will destroy the device. There MUST
be a current amplification device at this output to drive the relay.
Horn Relay control—Inactive: 0V. Active: oscillates 0 to 5V to honk horn. WARNING, This output can only
provide 20 ma of current. Drawing more than 20 ma at this pin will destroy the device. There MUST be a current
amplification device at this output to drive the relay.
Headlights Relay control—Inactive: 0V. Active: oscillates 0 to 5V to flash headlights. WARNING, This output can
only provide 20 ma of current. Drawing more than 20 ma at this pin will destroy the device. There MUST be a
current amplification device at this output to drive the relay.
The VTU is equipped with a total of four inputs (J2) and eight outputs (J1).
7.1 Inputs
Three of the inputs (pins 1-3 on J2) interface to the Switch Box option. The functions
currently served by these connections are SOS, request for roadside assistance and
arming of the unauthorized movement sensor. A momentary contact switch is provided
on the Switch Box for each of the three inputs. When pressed, two of the switches issue
silent alarms (SOS, Assistance) and the third toggles the unauthorized movement sensor
Use or disclosure of data contained on this sheet is subject to the restriction on the title page of this report.
Galaxy Tracking Systems, L.L.C.
Technical Documentation - VTU
between the armed and disarmed states. The remaining input is used to sense activation
of the vehicle alarm system (if present).
7.2 Outputs
Each of the three Switch Box switches have an associated status LED output (pins 5-7 on
J1). When one of the silent alarm switches is pressed, the corresponding LED will flash
at a 1 Hz rate to indicate an alarm has been sent to the command center. When the alarm
is acknowledged, the LED lights continuously. The LED can only be extinguished (and
the alarm cleared) from the command center. The third LED is lit when the unauthorized
movement sensor is armed.
The fourth output (pin 8) drives an LED that indicates VTU power and blinks off
whenever the VTU transmits.
The remaining four outputs (pins 4, 5, 6 and 7) can drive small loads (<20mA) and must
be interfaced to real world circuits through high current drivers (MOSFETS) or relays.
These outputs are dedicated to the control of external devices such as vehicle accessories,
horns, etc.
8.0 VTU Operations
8.1 VTU Startup
The VTU initializes first time power is applied after installation. Most importantly, the
GPS receiver must find and track satellites, compute its position and synchronize to GPS
time. A clear view of the sky and the GPS satellite constellation is required to do this. If
the vehicle is parked in a garage or is shaded from the sky, it should be moved to a
location with an unobstructed view of the sky. The vehicle SHOULD REMAIN
STATIONARY until the GPS receiver has had time to initialize (30 minutes or less).
It is absolutely imperative that GPS initialize properly. All VTU and CBU
communications are synchronized to GPS time. An unsynchronized VTU may transmit
within some other VTU’s time slot (in which case both VTUs seem to disappear) or may
not transmit at all.
To verify that the VTU is ready for use, a series of commands are issued form the
command center. A number of ONE-SHOT commands are transmitted first. A ONE
SHOT requests a single response from the VTU no matter what its operating mode. Any
response from the VTU verifies the communication link and that VTU time keeping via
GPS has been established.
Next the VTU is commanded to IN SERVICE mode. Proper initialization of the VTU is
indicated when the correct time, GPS tracking status and position are returned to the
command center in the IN SERVICE response. If the status is not correct, additional
ONE-SHOT commands are transmitted to the VTU until the responses (IN SERVICE
messages) indicate that initialization is complete. At this point the VTU is ready for use.
Use or disclosure of data contained on this sheet is subject to the restriction on the title page of this report.
Galaxy Tracking Systems, L.L.C.
Technical Documentation - VTU
Once the VTU has been initialized the first time, it will be able to reinitialize within a
minute unless it has been disconnected from vehicle battery power for a long period of
time (greater than a week).
8.2 VTU Operating Modes
The VTU operates in one of two modes, IN SERVICE or OUT OF SERVICE. In either
mode, the VTU receives commands over the UHF radio link from the command center.
The VTU confirms each command by responding with either an IN SERVICE or OUT
OF SERVICE message.
Commanded settings and status are maintained through power outages.
8.2.1 OUT OF SERVICE Operating Mode
The VTU is factory configured to begin life in the OUT OF SERVICE operating mode.
OUT OF SERVICE is a standby mode that is also used to verify unit communications.
While in this mode, the VTU will transmit an OUT OF SERVICE response to all
commands except the IN SERVICE command.
When OUT OF SERVICE, all in-vehicle alarms are disabled, (see SELFACTIVATION).
8.2.1.1 OUT OF SERVICE Operating Mode Commands
The commands available with OUT OF SERVICE follow.
IN SERVICE Command
Upon receipt of an IN SERVICE command, the VTU will change operating mode to IN
SERVICE and transmit an IN SERVICE message to report the change in mode. The
VTU is set operational by this command and can begin to report position, time, status and
on-board alarms.
8.2.2 IN SERVICE Operating Mode
When commanded IN SERVICE, the VTU will respond with a single IN SERVICE
message at the exact time indicated in the command packet. While IN SERVICE, the
VTU transmits an IN SERVICE message in response to all commands. The VTU will
also transmit an IN SERVICE message in response to alarms activated by the vehicle
operator (e.g., SOS) or events (e.g., unauthorized movement).
8.2.2.1IN SERVICE Operating Mode Commands
The commands available with IN SERVICE follow.
OUT OF SERVICE
The VTU will change operating mode to OUT OF SERVICE and transmit an OUT OF
SERVICE message to report the change in mode. On-board alarms are disabled. All
subsequent commands (except IN SERVICE) are answered with an OUT OF SERVICE
message.
Use or disclosure of data contained on this sheet is subject to the restriction on the title page of this report.
Galaxy Tracking Systems, L.L.C.
Technical Documentation - VTU
ONE SHOT
The one-shot command is a request for a single position / status report. The VTU
responds with a single IN SERVICE message containing current status, position, speed
and time.
ACTIVATE TRACKING
The ACTIVATE TRACKING command causes the VTU to begin regular position
reporting. The rate and the exact moment at which the VTU reports and the frequency on
which the report is transmitted are all contained in the command. Tracking mode is used
to monitor vehicle movements and status in real-time and to vector pursuit vehicles to
intercept points.
DEACTIVATE TRACKING
Position reporting ceases when DEACTIVATE TRACKING is commanded. The VTU
responds with one last IN SERVICE message to indicate the change in tracking status.
Commanding the VTU OUT OF SERVICE also stops tracking reports, however, in this
case, the VTU responds with a single OUT OF SERVICE message to report its change in
operating mode.
POLL REQUEST
The POLL REQUEST equivalent to issuing a ONE SHOT to every member a group
(fleet) of vehicles. Upon receipt of a POLL REQUEST each VTU will compare the
transmitted poll information to poll classes defined internally. If there is a match, the
VTU will transmit an IN SERVICE message at the frequency and in the time slot
specified in the matching poll class. Poll classes are factory configured to allow low
priority status reporting for large groups of related vehicles.
Poll responses are low priority. If the VTU is responding to a command or a selfactivation the poll request is ignored. A scheduled poll response is automatically canceled
if the VTU receives a command packet or self-activates. Polls do not extend beyond the
end of the 30-second cycle in which the poll was requested. If the VTU schedules a poll
response, it will ignore any new poll packets until the scheduled poll response completes.
SELF ACTIVATION (SOS)
A vehicle (VTU) does not report its position on a regular basis until it is commanded to
ACTIVATE by the command center. In emergency situations, however, the VTU can
request to begin regular position reporting in order to be tracked by “SELF
ACTIVATING”.
The conditions that can result in SELF-ACTIVATIONS are SOS, request for roadside
assistance, unauthorized movement and vehicle alarm. SOS and the roadside assistance
requests are initiated when the operator depresses a switch (if equipped with the switch
box option). If the operator has armed the VTU motion sensor (included in the switch box
Use or disclosure of data contained on this sheet is subject to the restriction on the title page of this report.
Galaxy Tracking Systems, L.L.C.
Technical Documentation - VTU
option), movement of the vehicle beyond a few hundred feet or at speeds in excess of 20
KPH will trigger a SELF-ACTIVATION.
If the vehicle has an alarm system with an appropriate output signal, it can be connected
to the VTU. Triggering the vehicle alarm will then also generate a SELF-ACTIVATION.
SELF ACTIVATION ACKNOWLEDGEMENT
Once a SELF-ACTIVATION has occurred, the corresponding status LED on the switch
box will blink until the SELF-ACTIVATION has been acknowledged by the command
center, at which point the LED will glow steadily.
RESET ALARMS
The SELF-ACTIVATION condition can only be cleared from the command center after
the situation causing it has been addressed. Clearing the SELF-ACTIVATION
extinguishes the LED. The reset command clears all Self Activations currently in process
in the VTU, including those that have not been acknowledged.
Use or disclosure of data contained on this sheet is subject to the restriction on the title page of this report.

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Title                           : Vehicle Location and Tracking System
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